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公开(公告)号：US20130239898A1
公开(公告)日：2013-09-19
申请号：US13988587
申请日：2011-11-07
CPC分类号： A01J5/0175 , A01J5/007
摘要： There is provided a method and system for connecting a teat cup (4) to a first teat (1) of an udder (3). In connecting, a first reference position (10) on the first teat (1) is taken for connecting, until that reference position (10) is covered by the teat cup (4), or is otherwise no longer observed. Then, a further reference position (11) on the udder is taken for tracking movements by the dairy animal. Thus the optimum reference position (10) is used for connecting, while when this optimum position is no longer available, a further reference position (11) is taken.
摘要翻译： 提供了一种用于将奶杯（4）连接到乳房（3）的第一乳头（1）的方法和系统。 在连接中，取第一奶头（1）上的第一参考位置（10）用于连接，直到该参考位置（10）被奶杯（4）覆盖，否则将不再被观察到。 然后，采取乳房上的进一步参考位置（11）来跟踪奶牛的动作。 因此，最佳基准位置（10）用于连接，而当该最佳位置不再可用时，进一步参考位置（11）。
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公开(公告)号：US08528143B2
公开(公告)日：2013-09-10
申请号：US13211344
申请日：2011-08-17
IPC分类号： A47L11/00
CPC分类号： A01K1/01 , A01K1/0128
摘要： The present invention relates to an unmanned self-propelled and self-steering device for removing manure present on a floor, including a manure slide with a sliding wall which, when viewed in the customary direction of travel of the device, forms a first contact surface for manure present on the floor, and comprising a drive device for the travelling over the floor, wherein the drive device comprises a rotatingly driven drive which is in driving engagement with the floor during operation and which is located in front of the sliding wall.
摘要翻译： 本发明涉及一种用于去除地板上存在的粪便的无人自行式和自动转向装置，包括具有滑动壁的粪便滑动件，当沿装置的常规行进方向观察时，该装置形成第一接触表面 用于在地板上存在的粪便，并且包括用于在地板上行进的驱动装置，其中驱动装置包括旋转驱动的驱动器，其在操作期间与地板驱动接合并且位于滑动壁的前面。
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43.发明授权Installation for supplying liquid feed to an animal and an autonomously displaceable vehicle for use in such an installation 有权用于向动物提供液体饲料的安装和用于这种安装的自主移动的车辆公开(公告)号：US08316799B2
公开(公告)日：2012-11-27
申请号：US13072902
申请日：2011-03-28
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
CPC分类号： A01K5/0266 , A01K9/00
摘要： An installation for supplying liquid feed to an animal, such as a calf. The installation comprises one or more feed loading places and one or more feed unloading places, and one or more vehicles that are autonomously displaceable, controlled by a microprocessor or the like, between one or more feed loading places and one or more feed unloading places, each vehicle comprising a drinking nozzle, such as a flexible teat, which is movably mounted relative to the remaining part of the displaceable vehicle, and a height adjusting device for adjusting a height of the drinking nozzle.
摘要翻译： 用于向动物（例如小牛）供应液体饲料的装置。 该装置包括一个或多个进料装载位置和一个或多个进料卸载位置，以及一个或多个可由微处理器等控制的一个或多个载体，位于一个或多个进料装载位置和一个或多个进料卸载位置之间， 每个车辆包括相对于可移动车辆的剩余部分可移动地安装的诸如柔性乳头的饮用喷嘴和用于调节饮用喷嘴的高度的高度调节装置。
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44.发明授权Method of controlling a milking implement, a software program for and an implement performing the method 有权控制挤奶工具的方法，执行该方法的软件程序和工具公开(公告)号：US08286583B2
公开(公告)日：2012-10-16
申请号：US12440020
申请日：2007-08-28
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
IPC分类号： A01J5/007
CPC分类号： A01J5/0175 , A01J5/007 , A01J5/0075 , A01J5/01 , A01J5/08
摘要： A method of controlling a milking implement for automatically milking a dairy animal with an udder, such as a cow, which milking implement includes a camera and a teat cup. More particularly, the method includes attaching the teat cup to a teat of the udder, followed by producing by the camera an image of at least a part of the udder and of at least a part of the teat cup, making an analysis of the image of the udder with the teat cup, and performing at least one control action by the milking implement, based on the analysis.
摘要翻译： 一种控制挤奶工具的方法，用于使用乳房（例如牛）自动挤奶乳制动物，挤奶工具包括照相机和奶杯。 更具体地，该方法包括将奶杯连接到乳房的乳头，随后由相机产生乳房的至少一部分和乳头杯的至少一部分的图像，从而对图像进行分析 根据分析，通过挤奶杯对乳房进行至少一个控制动作。
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公开(公告)号：US08281744B2
公开(公告)日：2012-10-09
申请号：US11958400
申请日：2007-12-18
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
IPC分类号： A01J5/00
CPC分类号： A01J5/003 , A01J5/0175 , A01J7/025
摘要： An autonomous mobile milking implement having a frame with, a sub-frame which is adjustable in height and which has at least one teat cup holder and a teat cup movable relative thereto. The teat cup holder is tiltable, via a tilting mechanism coupled to the teat cup holder and the frame between a substantially vertical position and a second partially inverted position. The milking implement protects the teat cups against contamination and is capable of storing them in a compact manner.
摘要翻译： 一种具有框架的自主移动挤奶器具，其具有高度可调节的子框架，并且具有至少一个奶杯杯架和可相对于其移动的奶头杯。 奶杯杯架可经由倾斜机构倾斜，所述倾斜机构联接到奶杯杯架和框架处于基本垂直位置和第二部分倒置位置之间。 挤奶工具保护乳头杯免受污染，并且能够以紧凑的方式存储它们。
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公开(公告)号：US07578259B2
公开(公告)日：2009-08-25
申请号：US11798405
申请日：2007-05-14
CPC分类号： A01J7/04 , A01J5/003 , A01J5/0175 , A01J7/025
摘要： A teat cup carrier is designed to be able to co-operate with a feed platform, which teat cup carrier is freely movable relative to the feed platform. The teat cup carrier carries, besides teat cups, further milking elements for milking an animal, the further milking elements including at least a milk storage vessel for storing milk, a milking vacuum source and a pulsation vacuum source. The milk storage vessel is provided with a milk outlet. The freely movable teat cup carrier is in particular a self-propelled (autonomous) mobile teat-cup-carrying robot and comprises a control unit for controlling the functioning of the mobile teat-cup-carrying robot.
摘要翻译： 奶杯杯架被设计成能够与饲料平台配合，饲料杯托架可相对于饲料平台自由移动。 除了奶杯之外，奶头杯托架还携带用于挤奶动物的进一步的挤奶元件，进一步的挤奶元件至少包括用于储存牛奶的牛奶储存容器，挤奶真空源和脉动真空源。 牛奶储存容器设有牛奶出口。 可自由移动的奶头杯托架特别是自推进（自动）移动式奶杯携带机器人，并且包括用于控制移动奶杯携带机器人的功能的控制单元。
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47.发明授权Device for and a method of automatically supplying feed and/or drink to an animal 失效用于自动向动物供应饲料和/或饮料的装置和方法公开(公告)号：US07503281B2
公开(公告)日：2009-03-17
申请号：US11287216
申请日：2005-11-28
IPC分类号： A01K5/00
CPC分类号： A01K5/025 , A01K5/02 , A01K11/006
摘要： The invention relates to a device for automatically supplying feed and/or drink to an animal, comprising at any rate at least one trough, a flap, a control unit for controlling the flap, so that the flap is capable of being put in an open position and in a closed position for giving the animal access to the trough, respectively preventing the animal from having access to the trough, and an identification device for identifying the animal and for emitting an identification signal that is indicative of the identified animal. The control unit is provided with a memory, which memory is suitable for storing a first set of identification data in relation to animals that are allowed to have access to the trough and a second set of identification data in relation to animals that are not allowed to have access to the trough, with a comparing device for comparing the identification signal with the first and the second set of identification data in the memory, the control unit always keeping the flap in the open position or releasing the flap from the closed position if the identification signal belongs to the first set, and the control unit keeping the flap in the closed position or releasing the flap from the open position for enabling it to assume the closed position if the identification signal belongs to the second set.
摘要翻译： 本发明涉及一种用于自动地向动物供应饲料和/或饮料的装置，包括至少一个槽，瓣片，用于控制瓣的控制单元，使得瓣片能够被打开 位置并且处于关闭位置，用于使动物进入槽，分别防止动物进入槽，以及识别装置，用于识别动物并发出指示所识别的动物的识别信号。 控制单元设置有存储器，该存储器适于存储关于被允许访问槽的动物的第一组识别数据，以及关于不允许访问槽的动物的第二组识别数据 具有用于将识别信号与存储器中的第一和第二组识别数据进行比较的比较装置，控制单元始终将襟翼保持在打开位置或者将襟翼从关闭位置释放，如果 识别信号属于第一组，并且控制单元将翼片保持在关闭位置，或者如果识别信号属于第二组，则将其从打开位置释放以使其能够呈现关闭位置。
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48.发明申请Assembly of Milking a Robot With a Milking Robot Feeding Place, Such as a Milking Robot Feed Trough, and a Device For Gripping and Displacing Material, Such as For Example Roughage and/or Concentrate For Animals 审中-公开挤奶机器人的装配，例如挤奶机器人进料槽，以及用于抓握和置换材料的装置，例如用于动物的例如粗饲料和/或浓缩物公开(公告)号：US20080251024A1
公开(公告)日：2008-10-16
申请号：US12088855
申请日：2006-09-28
IPC分类号： A01K5/02
CPC分类号： B66C3/02 , A01K5/02 , A01K5/0266
摘要： An assembly of a milking robot with a milking robot feeding place, such as a milking robot feed trough, and a device for gripping and displacing material, such as for example roughage and/or concentrate for animals. The device is provided with a gripper (2) for gripping, then displacing and subsequently supplying the material. The device comprises control means for displacing the gripper (2) to the milking robot and for controlling the gripper for supplying the material to the milking robot feeding place of the milking robot.
摘要翻译： 具有挤奶机器人进给位置的挤奶机器人的组件，例如挤奶机器人进料槽，以及用于夹持和置换材料的装置，例如用于动物的粗饲料和/或浓缩物。 该装置设置有夹持器（2），用于夹持，然后移位并随后供应材料。 该装置包括用于将夹持器（2）移动到挤奶机器人的控制装置，并且用于控制用于将材料供应到挤奶机器人的挤奶机器人进给位置的夹具。
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公开(公告)号：US07428880B2
公开(公告)日：2008-09-30
申请号：US11898015
申请日：2007-09-07
IPC分类号： A01J5/017
CPC分类号： A01J5/0175
摘要： A method of automatically milking a dairy animal by means of an automatic milking device is disclosed. The method may include successively the steps of: a) automatic connection of a first teat cup to a first teat of the dairy animal, and b) pushing away the first teat cup connected to the first teat. c) automatic connection of a second teat cup to a second teat of the dairy animal after the first teat cup has been connected to the first teat.
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公开(公告)号：US07370604B2
公开(公告)日：2008-05-13
申请号：US10962474
申请日：2004-10-13
IPC分类号： A01J3/00
摘要： A method of milking an animal, in which method a movable milking platform is used. The method comprises the following steps: setting the movable milking platform in motion, allowing an animal access to the milking platform, supplying a sort of feed to an animal on the milking platform, subsequently allowing the animal exit from the milking platform, and milking the animal on the milking platform during a milking period. The method further comprises the step of providing the animal a span of time on the milking platform in which the animal is not milked, the span of time having a magnitude that amounts to at least approximately half the milking period. The speed of movement of the milking platform being selected at least partially on the basis of a feed consumption duration of an animal present on the milking platform, such that the span of time has such a magnitude that an animal is provided a sufficient time to substantially complete its feed consumption during their stay on the platform, said span of time being smaller than 75 minutes.
摘要翻译： 一种挤奶动物的方法，其中使用可移动的挤奶平台。 该方法包括以下步骤：使可移动的挤奶平台运动，允许动物进入挤奶平台，向挤奶平台上的动物提供一种饲料，随后允许动物从挤奶平台出口，并将挤奶 在挤奶期间在挤奶平台上的动物。 该方法还包括在动物未被挤奶的挤奶平台上为动物提供一段时间的步骤，时间跨度至少大约等于挤奶时间的一半。 挤奶平台的移动速度至少部分地基于存在于挤奶平台上的动物的饲料消耗持续时间来选择，使得时间跨度具有这样的大小，以使动物被提供足够的时间以基本上 在停留在平台上完成其饲料消耗量，时间长度小于75分钟。
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