公开(公告)号：US4838207A

公开(公告)日：1989-06-13

申请号：US222611

申请日：1988-07-21

申请人： Cornelis J. G. Bom ,  Karel van den Berg

发明人： Cornelis J. G. Bom ,  Karel van den Berg

IPC分类号： A01J5/00 ,  A01J5/017 ,  A01J7/00 ,  A01K1/12 ,  G01S15/42 ,  G01S15/88

CPC分类号： A01J5/0175 ,  G01S15/42 ,  G01S15/88

摘要： An implement for milking an animal, such as a cow, that comprises a milking parlor where the animal can be positioned so that a robot arm which carries teat cups for application to the animal's teats can be positioned between the animal's front and rear legs. The robot arm is linked to a padded sensor that contacts the animal's hindquarters such that the robot arm maintains a relatively stable position between the animal's legs upon the animal's forward or rearward movement. The end of the robot arm can be located precisely relatively to the teats by an ultrasonic sensor. The implement provides for individual application of each teat cup to a teat and, once the teat cup is attached to the teat, the teat cup to be released from the robot arm so that a flexible connecting member provides the link between the rotor arm and the teat cup during milking. Upon completion of the milking, the flexible connecting member is used to pull the teat cup to the robot arm and seat it thereon.

公开(公告)号：US07415941B1

公开(公告)日：2008-08-26

申请号：US09642828

申请日：2000-08-22

申请人： Karel van den Berg

发明人： Karel van den Berg

IPC分类号： A01K5/00 ,  A01K5/02 ,  G01G13/22 ,  G01G13/00

CPC分类号： A01K5/01 ,  A01K5/0225 ,  A01K5/0275 ,  A01K5/0283 ,  A01K7/00

摘要： An apparatus for feeding and providing water to animals, such as cows or goats, comprises a framework having a central axis. A plurality of reservoirs are connected to a framework in its upper aspects and feeding troughs are disposed below the reservoirs. At least one metering device for metering feed or drink or both to the feeding troughs is provided between the reservoirs and feeding troughs. Each feeding trough has a sensor for identifying an animal feeding at the feeding trough. The metering device which delivers feed or water or both to the feeding trough is controlled by a computer memory to deliver selected fodder from the reservoirs to each feeding trough in accordance for the nutritional needs of the animal which is at said trough. The control of the fodder relates both to the speed that the animal is eating and to data stored in the memory as to the nutrition needs of that animal. Vertical partitions are disposed between feeding troughs and separate same sufficiently so that the animals do not disturb each other. A magnetic separation member, which may be an electromagnet, is provided to remove any metal which may be mixed with the fodder delivered to the feeding troughs. The components of the apparatus can be connected to the framework without tools.

摘要翻译： 用于向动物（例如牛或山羊）喂食和提供水的装置包括具有中心轴线的框架。 多个储存器在其上部方面连接到框架，并且进料槽设置在储存器下方。 在储存器和进料槽之间提供至少一个用于计量进料或饮料或两者供给槽的计量装置。 每个进料槽具有用于识别在进料槽处的动物进料的传感器。 将进料或水或两者输送到进料槽的计量装置由计算机存储器控制，以根据在所述槽处的动物的营养需要将选定的饲料从储存器输送到每个进料槽。 饲料的控制与动物正在进食的速度和存储在记忆体中的关于动物的营养需求的数据有关。 垂直隔板设置在进料槽之间，并且充分分离，使得动物不会彼此干扰。 提供可以是电磁体的磁分离构件以去除可能与输送到进料槽的饲料混合的任何金属。 设备的组件可以连接到框架而无需工具。

公开(公告)号：US07228815B2

公开(公告)日：2007-06-12

申请号：US10250254

申请日：2003-06-18

申请人： Martinus Petrus Kortekaas ,  Karel van den Berg

发明人： Martinus Petrus Kortekaas ,  Karel van den Berg

IPC分类号： A01J5/00 ,  A01J7/00

CPC分类号： A01J5/0175

摘要： A method of performing an animal related action on an animal by means of a robot arm is disclosed. The method includes carrying out measurements on the animal by means of a sensor for locating at least one animal part, generating, on the basis of the measurements, a list of data each corresponding to a possible animal part, comparing the data on the list with historical data regarding at least one animal part, assigning to each of the data on the list, on the basis of the comparison, a probability value for actual correspondence with at least one animal part, selecting as target position that possible target position that corresponds to the data on the list having the highest probability value and moving the robot arm to the target position which corresponds to the animal part found and performing there the animal related action.

摘要翻译： 公开了一种通过机器人手臂对动物进行动物相关作用的方法。 该方法包括通过用于定位至少一个动物部分的传感器对动物进行测量，在测量的基础上，生成与可能的动物部分相对应的数据列表，将列表上的数据与 关于至少一个动物部分的历史数据，基于比较分配列表中的每个数据，将与至少一个动物部分的实际对应的概率值，作为对应于可能的目标位置的目标位置， 具有最高概率值的列表中的数据并将机器人手臂移动到与发现动物相关动作的动物部分相对应的目标位置。

公开(公告)号：US07032682B2

公开(公告)日：2006-04-25

申请号：US09764292

申请日：2001-03-14

申请人： Karel van den Berg

发明人： Karel van den Berg

IPC分类号： A01B63/00

CPC分类号： A01K1/01 ,  A01K1/0128 ,  A47L2201/04

摘要： An unmanned vehicle for displacing manure in a stable or field which comprises a steering unit for steering the vehicle and a frame. Two wheels and a manure displacing blade which depend from the frame provide the entire support for the vehicle, the vehicle's center of gravity being in an axis which falls between the wheels and the blade. A freely turnable circular bumper is also carried by the frame and prevents the vehicle from colliding with obstacles in the area wherein it operates. The vehicle also includes orientation and steering components as well as sensors for controlling the course of travel of the vehicle within the area and, such as the circular bumper, to prevent it from colliding with obstacles in the area.

摘要翻译： 一种用于在稳定或场中移动粪便的无人车辆，其包括用于转向车辆的转向单元和框架。 两个轮子和一个从框架上取出的肥料移位叶片为车辆提供了整个支撑，车辆的重心位于落在轮子和叶片之间的轴线上。 一个可自由转动的圆形缓冲器也由框架承载，并防止车辆与其操作的区域中的障碍物碰撞。 车辆还包括定向和转向部件以及用于控制车辆在该区域内的行驶过程的传感器，以及例如圆形缓冲器，以防止其与该区域中的障碍物碰撞。

公开(公告)号：US06941891B2

公开(公告)日：2005-09-13

申请号：US10718705

申请日：2003-11-24

申请人： Karel van den Berg

发明人： Karel van den Berg

IPC分类号： A01K5/02 ,  G01G9/00 ,  G01G13/22 ,  G01G17/00 ,  G01G19/52 ,  G01G21/23

CPC分类号： G01G21/23 ,  A01K5/0275 ,  A01K5/0283 ,  G01G13/22

摘要： A feed metering device for distributing fodder and/or drink in metered portions to an animal. The feed metering device is provided with a feed unit for containing fodder and/or drink, an entrance opening to the feed unit, and a feed supplying device for supplying an amount of fodder and/or drink to the feed unit. The feed metering device is provided with a closing means that is movable across the entrance opening in order to deter an animal visiting the feed unit from taking fodder and/or drink. The closing means rotates about an axis, the closing means being driven by a roll that contacts the closing means, which roll is driven by a motor.

摘要翻译： 一种用于将饲料和/或饮料在计量部分分配给动物的饲料计量装置。 进料计量装置设置有用于容纳饲料和/或饮料的进料单元，进料单元的入口和用于向进料单元供应一定量的饲料和/或饮料的进料供应装置。 进给计量装置设置有可移动穿过入口的关闭装置，以阻止访问进料单元的动物进食和/或饮料。 关闭装置绕轴线旋转，关闭装置由接触闭合装置的辊驱动，该辊由马达驱动。

公开(公告)号：US06823818B2

公开(公告)日：2004-11-30

申请号：US10085060

申请日：2002-03-01

申请人： Karel van den Berg ,  Howard Sie ,  Lucien Eliza Niels Voogd

发明人： Karel van den Berg ,  Howard Sie ,  Lucien Eliza Niels Voogd

IPC分类号： A01K502

CPC分类号： A01K5/02 ,  A01K5/0275

摘要： A feed metering apparatus for supplying a consumable substance to a feeding trough for consumption by an animal, such as a dairy cow, while at least one further animal that has voluntary access to the same trough to consume a consumable substance therefrom is waiting for the animal at the feeding trough to depart. The feeding trough has an entrance opening which can be closed by a closing member. The apparatus intermittently supplies a quantity of a consumable substance to the feeding trough. The feeding trough has a weighing mechanism for continuously weighing the amount of the consumable substance in the feeding trough. A control mechanism is provided for closing the feeding trough's opening and there is a timing component. The control mechanism closes the opening of the feeding trough based on the combination of a lower threshold value of the amount of consumable substance remaining in the feeding trough as determined by the weighing mechanism and an upper threshold value of the duration of time since an animal at the feeding trough either stopped consuming a consumable substance therefrom or slowed its pace of doing so to a predetermined amount.

摘要翻译： 一种饲料计量装置，用于将消耗性物质供给到饲养槽以供动物（例如奶牛）消费，同时至少另外一种进一步动物进入同一槽以消耗消耗性物质等待动物 在送料槽出发。 进料槽具有能够被封闭构件封闭的入口。 设备间歇地向供给槽供给一定量的消耗品。 进料槽具有称量机构，用于连续称量供料槽中的消耗物质的量。 提供一个控制机构用于关闭进料槽的开口，并且有一个定时部件。 控制机构基于由称量机构确定的进料槽中剩余的可消耗物质的量的下限阈值与从动物的时间长度的上限阈值的组合来关闭供给槽的开度 进料槽停止消耗可消耗物质或将其步骤的速度放慢到预定的量。

公开(公告)号：US06796271B2

公开(公告)日：2004-09-28

申请号：US10249955

申请日：2003-05-22

申请人： Karel van den Berg

发明人： Karel van den Berg

IPC分类号： A01J504

CPC分类号： A01J5/007 ,  A01J5/041 ,  A01J5/047

摘要： A device for automatically milking an animal. The device is provided with at least two teat cups to be connected to respective teats of the animal. The milking vacuum unit generates a milking vacuum in the teat cups, which milking vacuum unit comprises at least two vacuum lines that are each connectable to a respective teat cup. The milking vacuum unit comprises a common vacuum pump and a common buffer vessel to which vacuum can be applied by use of the common vacuum pump. All vacuum lines are connectable to the common buffer vessel. An individual buffer vessel is provided in each vacuum line and is disposed between the common buffer vessel and the respective teat cup. An individual buffer vessel is provided with a respective individual vacuum pump for applying vacuum to the individual buffer vessel.

摘要翻译： 用于自动挤奶的装置。 该装置设置有至少两个奶杯以连接到动物的相应乳头。 挤奶真空单元在挤奶杯中产生挤奶真空，挤奶真空单元包括至少两根各自连接到相应的奶杯的真空管线。 挤奶真空装置包括一个共用的真空泵和一个通用的缓冲容器，真空可以通过使用普通的真空泵进行加压。 所有真空管线都可连接到公共缓冲容器。 在每个真空管线中设置单个缓冲容器，并且设置在公共缓冲容器和相应的奶杯之间。 单独的缓冲容器设置有相应的单独的真空泵，用于向单个缓冲容器施加真空。

公开(公告)号：US06651584B2

公开(公告)日：2003-11-25

申请号：US09828911

申请日：2001-04-10

申请人： Karel van den Berg

发明人： Karel van den Berg

IPC分类号： A01K502

CPC分类号： G01G21/23 ,  A01K5/0275 ,  A01K5/0283 ,  G01G13/22

摘要： A feed metering device for distributing feed (fodder or drink, or both) in metered portions to an animal. The device comprises a feed unit for receiving and containing said feed which includes an entrance opening and receives said feed from a feed supplying device. The amount of feed provided by the feed supplying device to the feed unit is governed by data from an animal identification device that identifies the animal that will consume the feed in the feed unit and a weighing device that determines the amount of feed remaining from the last feeding in the feeding unit. Deterring devices include a closing device for the entrance opening to the feed unit which can be closed to deter animals found ineligible by the animal identification device to consume feed at the feeding unit. The closing device for the entrance opening rotates about an axis and is driven by a roll that contacts the closing device. The roll is driven by a motor and may provide data to the feed supplying device as to the amount of feed remaining in the feed unit so that the amount metered to the feed unit is governed by the amount of feed remaining in the feed unit and the identity of the animal which will then consume feed from the feed unit. Other deterring devices include a loudspeaker, a light and a voltage applied to parts which the animal may touch.

摘要翻译： 一种用于将饲料（饲料或饮料或两者）分配给计量部分的饲料计量装置。 该装置包括用于接收和容纳所述进料的进料单元，所述进料包括入口，并从进料供应装置接收所述进料。 由饲料供给装置提供给饲料单元的饲料量由动物识别装置的数据支配，动物识别装置识别将在饲料单元中消耗饲料的动物，以及用于确定最后饲料剩余饲料量的称重装置 喂饲单元。 防护装置包括用于进入进料单元的入口的关闭装置，其可以被关闭以阻止动物识别装置发现不合格的动物消耗进料单元上的进料。 用于入口开口的关闭装置围绕一个轴线旋转并且由接触闭合装置的辊驱动。 辊由电动机驱动，并且可以向进给供给装置提供关于供给单元中剩余的进料量的数据，使得计量到进料单元的量由进料单元中剩余的进料量决定， 然后动物的身份将从饲料单元消耗饲料。 其他阻止装置包括扬声器，光和施加到动物可能接触的部分的电压。

公开(公告)号：US06520113B2

公开(公告)日：2003-02-18

申请号：US10058795

申请日：2002-01-30

申请人： Karel van den Berg ,  Lucien Eliza Niels Voogd ,  Howard Sie

发明人： Karel van den Berg ,  Lucien Eliza Niels Voogd ,  Howard Sie

IPC分类号： A01K6102

CPC分类号： A01K5/02 ,  A01K5/0275

摘要： A device for supplying fodder to animals such as cows which has a plurality of hoppers containing fodder wherein each hopper may have a different type of fodder. A plurality of feeding troughs are provided which are accessible to animals to feed therefrom. Each hopper has a conveyor for conveying fodder from that hopper to a control component that has a receptacle which receives fodder from selected hoppers. Under control of the control component selected conveyors in the hoppers convey predetermined amounts of fodder therefrom to the receptacle. The receptacle has a bottom which can be opened and from which fodder falls through a pipe or chute to a selected trough. The device is provided with a container which may be one of the hoppers edible separating material which may be supplied to the receptacle to form a layer on top of which fodder is received and is wrapped, at least in part, by the edible separating material as it falls through the bottom of the receptacle into the underlying pipe or chute. The control component includes a memory that contains data as to the adhesiveness of the fodder contained in each of the hoppers and causes fodder to be conveyed to the receptacle and therefrom in the order of increasing adhesiveness thereof. The edible separating material is a material that at least substantially does not adhere to components of the device with which it comes into contact.

摘要翻译： 用于向诸如母牛的动物供应饲料的装置，其具有多个含有饲料的料斗，其中每个料斗可以具有不同类型的饲料。 提供了可供动物进入的多个供给槽。 每个料斗具有用于将饲料从该料斗输送到具有从所选料斗接收饲料的容器的控制部件的输送机。 在控制部件的控制下，料斗中选择的输送机将预定量的饲料从其输送到容器。 容器具有可以打开的底部，并且从其中的饲料通过管道或滑槽落到选定的槽中。 该装置设置有容器，该容器可以是可食用分离材料之一，其可以供应到容器以在其顶部上形成一层，饲料被接收并且至少部分地由可食用分离材料包裹，如 它通过容器的底部落入下面的管道或滑道。 控制部件包括存储器，其包含关于每个料斗中所含的饲料的粘附性的数据，并且使得饲料以增加其粘附性的顺序被输送到容器和其中。 可食用分离材料是至少基本上不粘附到与其接触的装置的部件的材料。

公开(公告)号：US06508109B2

公开(公告)日：2003-01-21

申请号：US09881809

申请日：2001-06-18

申请人： Karel van den Berg

发明人： Karel van den Berg

IPC分类号： G01F172

CPC分类号： G01F1/74 ,  A01J5/01 ,  G01F1/72 ,  G01F3/38

摘要： A method and device for making measurements of the characteristics of a fluid, particularly the milk, which flows in pulsations in a conduit. The device has a measuring region wherein at least one characteristic of the fluid is determined. The measurement is made during an optimal measuring window which constitutes a time interval while a pulsation of the fluid is received in the measuring region which contains a sensor or sensors for measuring one or more selected characteristics of the fluid, such as color, conductivity or acoustic qualities. The measuring region may be in a bypass passageway in the conduit which may be incorporated in a teat cup. The pulsations in the teat cup may be used to define an optimal measuring window for measuring one or more characteristics of the fluid as it flows in pulsations through the conduit. The sensed entry or approach of a pulsation into the measuring region may also be used to define the optimal measuring window.

摘要翻译： 一种用于测量在管道中脉动中流动的流体特别是牛奶的特性的方法和装置。 该装置具有其中确定流体的至少一个特性的测量区域。 在包含传感器的测量区域中接收到流体的脉动的最佳测量窗口期间进行测量，并且测量流体的一种或多种选定特性的传感器，例如颜色，导电性或声学 品质 测量区域可以在导管中的旁路通道中，其可以并入奶杯中。 乳头杯中的脉动可以用于限定用于测量流体在通过导管的脉动中流动的一个或多个特性的最佳测量窗口。 感测到的进入或进入测量区域的脉动也可以用于定义最佳测量窗口。