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公开(公告)号：US10602712B2
公开(公告)日：2020-03-31
申请号：US14644784
申请日：2015-03-11
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: An apparatus comprises a cup holder bracket and a cup holder. The cup holder bracket comprises a hinge that allows the cup holder bracket to pivot between a substantially horizontal position when closed to a substantially vertical position when opened. The cup holder is coupled to the cup holder bracket and comprises a rimmed structure configured to hold an attachment end of a cup when the cup holder bracket is closed.
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公开(公告)号：US10349618B2
公开(公告)日：2019-07-16
申请号：US16206839
申请日：2018-11-30
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.
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公开(公告)号：US10127446B2
公开(公告)日：2018-11-13
申请号：US14843219
申请日：2015-09-02
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system comprises a memory operable to store first light intensity information for a first pixel of an image that includes a dairy livestock, and second light intensity information for a second pixel of the image, wherein the second pixel is adjacent to the first pixel. The system further comprises a processor communicatively coupled to the memory and operable to determine that a difference between the first light intensity information and the second light intensity information exceeds a threshold, and discard one of the first pixel or the second pixel from the image.
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公开(公告)号：US09980458B2
公开(公告)日：2018-05-29
申请号：US15240289
申请日：2016-08-18
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track from a first linear position to a second linear position, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines the second linear position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track from the first linear position to the second linear position in conjunction with the movement of the rotary milking platform.
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公开(公告)号：US20180064062A1
公开(公告)日：2018-03-08
申请号：US15810774
申请日：2017-11-13
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Michael A. Mills , Peter Willem van der Sluis
CPC classification number: A01K1/12 , A01J5/00 , A01J5/007 , A01J5/0175
Abstract: A system includes an equipment portion and a plurality of milking box stalls arranged adjacent to the equipment portion. Each of the milking box stalls is of a size sufficient to accommodate a dairy livestock. The system further includes a robotic attacher housed in the equipment portion and configured to service each of the plurality of milking box stalls at different times. The robotic attacher has a gripping portion with a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.
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Patent Agency Ranking
公开(公告)号：US09648839B2
公开(公告)日：2017-05-16
申请号：US14842034
申请日：2015-09-01
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , A01J7/04 , A01K1/126
Abstract: A system comprises a robotic arm operable to extend between the legs of a dairy livestock located in a milking stall of a rotary milking platform, a camera operable to generate an image signal corresponding to a rear of the dairy livestock, and a controller communicatively coupled to the robotic arm and the camera. The controller determines whether a milking claw is attached to the teats of the dairy livestock by receiving the image signal generated by the camera and processing the image signal. If it is determined based on the image signal that the milking claw is not attached, the controller controls the robotic arm to extend between the legs of the dairy livestock. If it is determined based on the image signal that the milking claw is attached, the controller controls the robotic arm not to extend between the legs of the dairy livestock.
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公开(公告)号：US20170116726A1
公开(公告)日：2017-04-27
申请号：US15401234
申请日：2017-01-09
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC: G06T7/00 , G06T7/593 , G06T7/70 , A01K29/00 , G06K9/52 , A01J5/017 , A01J5/007 , H04N13/02 , G06T7/20
CPC classification number: G06T7/0004 , A01J5/007 , A01J5/0175 , A01K29/005 , G06K9/52 , G06T7/20 , G06T7/593 , G06T7/70 , G06T2207/10028 , G06T2207/30108 , G06T2207/30128 , H04N7/18 , H04N7/183 , H04N13/204 , H04N13/271 , H04N2013/0081
Abstract: A system for processing an image includes a three-dimensional camera that captures an image of a dairy livestock, wherein the image comprises a plurality of adjacent pixels, each pixel associated with a depth location. The system further includes a processor communicatively coupled to the three-dimensional camera. The processor determines that the depth locations of a first portion of the adjacent pixels fluctuate beyond a predetermined threshold over time, and discards the first portion of the adjacent pixels from the image based at least in part upon the determination.
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公开(公告)号：US20160360722A1
公开(公告)日：2016-12-15
申请号：US15245254
申请日：2016-08-24
Applicant: TECHNOLOGIES HOLDINGS CORP
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/007 , A01J7/00 , A01J7/025 , A01K1/12 , A01K13/003 , G05B15/02 , G05B2219/2661 , G05B2219/45113 , Y10S901/02 , Y10S901/40 , Y10S901/47
Abstract: A robotic attacher retrieves a preparation cup from an equipment area of a milking box located behind a dairy livestock. The robotic attacher attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the right front teat, the left front teat, the left rear teat, and the right rear teat.
Abstract translation: 机器人服务员从位于奶牛家畜后面的挤奶箱的设备区域取出准备杯。 机器人服务员将准备杯依次附加到乳制品牲畜的奶嘴上。 序列包括将准备杯连接到右前乳头，左前乳头，左后乳头和右后乳头。
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49.发明申请公开(公告)号：US20160353700A1
公开(公告)日：2016-12-08
申请号：US15240289
申请日：2016-08-18
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track from a first linear position to a second linear position, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines the second linear position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track from the first linear position to the second linear position in conjunction with the movement of the rotary milking platform.
Abstract translation: 系统包括邻近旋转挤奶平台定位的线性滑架轨道，位于滑架轨道上的机器人滑架，使得机器人滑架可沿着滑架轨道从第一线性位置移动到第二线性位置，以及控制器。 控制器确定旋转挤奶平台的挤奶失速从第一旋转位置移动到第二旋转位置。 所述控制器进一步确定所述滑架轨道上的所述机器人滑架对应于所述旋转挤奶平台的挤奶档的运动的第二线性位置。 控制器还将位置信号传递给耦合到机器人托架和托架轨道的托架致动器。 位置信号使托架致动器结合旋转挤奶平台的运动，将托架履带沿托架轨道从第一直线位置移动到第二直线位置。
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50.发明授权Milking box with robotic attacher, vision system, and vision system cleaning device 有权具有机器人护理者，视力系统和视觉系统清洁装置的挤奶箱公开(公告)号：US09374976B2
公开(公告)日：2016-06-28
申请号：US14940851
申请日：2015-11-13
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/007 , A01J5/00 , A01J5/0175 , A01J7/02 , A01K1/12 , B25J19/023 , H04N5/2252 , H04N5/2253 , H04N13/204 , H04N13/239
Abstract: A system includes a robotic attacher comprising a main arm and a supplemental arm operable to extend into a stall portion of a milking box. A camera couples to the supplemental arm. The supplemental arm comprises a camera-facing nozzle operable to spray the camera with a cleanser.
Abstract translation: 一种系统包括机器人护理器，其包括主臂和可操作以延伸到挤奶箱的失速部分中的辅助臂。 相机与辅助臂相连。 补充臂包括可操作以用清洁剂喷洒相机的照相机面向喷嘴。
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