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    Vision system for robotic attacher
    41.
    发明授权
    Vision system for robotic attacher 有权
    机器人护理者的视觉系统

    公开(公告)号：US09462780B2

    公开(公告)日：2016-10-11

    申请号：US14217750

    申请日：2014-03-18

    Applicant: TECHNOLOGIES HOLDINGS CORP.

    Inventor： Henk Hofman ,  Peter Willem van der Sluis ,  Ype Groensma

    IPC: A01J5/017 ,  A01J5/02

    CPC classification number: A01J5/0175 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  G06T7/001 ,  G06T7/74 ,  G06T7/77 ,  G06T2207/10012 ,  H04N13/204

    Abstract: A system includes a robotic arm on which at least one camera is attached. It further includes a memory and a controller communicatively coupled to the memory. The memory stores historical information associated with a dairy livestock. The historical information include a previously-determined location of a teat of the dairy livestock. The controller moves the camera on the robotic arm toward the previously-determined location of the teat. The camera generates an image of the teat of the dairy livestock from a position to which it is moved, and the controller determines a current location of the teat of the dairy livestock based at least in part on the image.

    Abstract translation: 一个系统包括一个机器人手臂，至少有一个相机被连接到机器人手臂上。 它还包括通信地耦合到存储器的存储器和控制器。 记忆存储与奶牛家畜相关的历史信息。 历史信息包括以前确定的奶牛的乳头位置。 控制器将机器人手臂上的相机移动到奶头的预先确定的位置。 相机从其移动的位置产生乳品牲畜的奶头的图像，并且控制器至少部分地基于图像来确定乳品牲畜的奶头的当前位置。

    MILKING BOX WITH BACKPLANE AND ROBOTIC ATTACHER
    42.
    发明申请
    MILKING BOX WITH BACKPLANE AND ROBOTIC ATTACHER 有权
    具有背板和机器人的医用箱

    公开(公告)号：US20160235028A1

    公开(公告)日：2016-08-18

    申请号：US15136460

    申请日：2016-04-22

    Applicant: TECHNOLOGIES HOLDINGS CORP

    Inventor： Henk Hofman ,  Cor de Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

    IPC: A01J5/007 ,  A01K5/02 ,  A01K1/12 ,  A01K1/01

    CPC classification number: A01J5/007 ,  A01J5/0175 ,  A01K1/01 ,  A01K1/0103 ,  A01K1/12 ,  A01K5/02 ,  A01K11/006 ,  G05B2219/45094

    Abstract: A milking box comprises a stall portion having a longitudinal axis. A backplane is positioned in the stall portion and moves toward the rear of the stall portion along the longitudinal axis in response to pressure applied, and toward the front of the stall portion in response to pressure removed. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock. A controller determines the position of the backplane relative to the rear of the stall portion and determines a positional offset that increases as the dairy livestock moves toward the front of the stall and decreases as it moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher along the longitudinal axis. The amount of movement is determined at least in part according to the positional offset.

    Abstract translation: 挤奶箱包括具有纵向轴线的失速部分。 背板位于失速部分中，并且响应于施加的压力而沿着纵向轴线朝向失速部分的后部移动，并且响应于去除的压力朝向失速部分的前部移动。 一名机器人护卫员从摊档部分的后部延伸出来，并在奶牛家畜的后腿之间延伸。 控制器确定背板相对于失速部分的后部的位置，并且确定当乳品牲畜向失速的前方移动时增加的位置偏移，并且随着朝向档位的后方移动而减小。 控制器进一步传送信号以使机器人附件沿着纵向轴线移动。 移动量至少部分地根据位置偏移确定。

    Milking box with backplane and robotic attacher
    44.
    发明授权
    Milking box with backplane and robotic attacher 有权
    带背板和机器人服务员的挤奶箱

    公开(公告)号：US09374979B2

    公开(公告)日：2016-06-28

    申请号：US14921066

    申请日：2015-10-23

    Applicant: TECHNOLOGIES HOLDINGS CORP

    Inventor： Henk Hofman ,  Cor de Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

    IPC: A01J5/007 ,  A01K1/12 ,  A01J5/017 ,  A01K1/01 ,  A01K5/02 ,  A01K11/00

    CPC classification number: A01J5/007 ,  A01J5/0175 ,  A01K1/01 ,  A01K1/0103 ,  A01K1/12 ,  A01K5/02 ,  A01K11/006 ,  G05B2219/45094

    Abstract: A milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock located in the stall portion. A controller determines the position of the backplane relative to the rear of the stall portion. The controller determines an x-offset based at least in part upon the position of the backplane relative to the rear of the stall portion, wherein the x-offset increases as the dairy livestock moves toward the front of the stall and the x-offset decreases as the dairy livestock moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher in an x-direction, the amount of movement determined at least in part according to the x-offset.

    Abstract translation: 挤奶箱包括失速部分和位于失速部分中的背板。 响应于施加到背板的接触表面的压力，背板向失速部分的后部移动。 响应于从接触表面移除的压力，底板向失速部分的前部移动。 一个机器人的附属装置从档位部分的后部和位于档位部分的一个奶牛家畜的后腿之间延伸。 控制器确定背板相对于失速部分的后部的位置。 控制器至少部分地基于背板相对于失速部分的后部的位置来确定x偏移，其中x偏移随着奶牛家畜向失速的前方移动而增加，并且x偏移减小 因为奶牛家畜向档位的后方移动。 所述控制器进一步传达信号以沿x方向移动所述机器人附件，所述移动量至少部分地根据所述x偏移确定。

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