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    System and Method for Controlling the Position of a Robot Carriage Based on the Position of a Milking Stall of an Adjacent Rotary Milking Platform
    41.
    发明申请
    System and Method for Controlling the Position of a Robot Carriage Based on the Position of a Milking Stall of an Adjacent Rotary Milking Platform 有权
    基于相邻旋转挤奶平台挤奶失速位置控制机器人支架位置的系统和方法

    公开(公告)号：US20120210938A1

    公开(公告)日：2012-08-23

    申请号：US13448897

    申请日：2012-04-17

    Applicant: Henk Hofman ,  Cor De Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

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

    IPC: A01J5/007 ,  A01J5/003 ,  A01J7/04 ,  A01J5/017

    CPC classification number: A01J5/007 ,  A01J5/003 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/04 ,  A01K1/126

    Abstract: A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller is operable to receive both a first rotary encoder signal indicating a first rotational position of a milking stall of the rotary milking platform (corresponding to a starting linear position of the robot carriage) and a second rotary encoder signal indicating a second rotational position of the milking stall. The controller is further operable to determine, based on a difference between the first and second signals, a desired linear position of the robot carriage on the carriage track (a position corresponding to the second rotational position of the milking stall). The controller is further operable to communicate a position signal to a carriage actuator, the position signal causing the carriage actuator to move the robot carriage to the desired linear position.

    Abstract translation: 系统包括邻近旋转挤奶平台定位的滑架轨道，安装到滑架轨道的机器人滑架和控制器。 控制器可操作以接收指示旋转挤奶平台的挤奶档位的第一旋转位置（对应于机器人滑架的起始线性位置）的第一旋转编码器信号和指示第二旋转编码器信号的第二旋转编码器信号， 挤奶摊。 控制器还可操作以基于第一和第二信号之间的差异来确定机器人滑架在滑架轨道上的期望线性位置（对应于挤奶档的第二旋转位置的位置）。 控制器还可操作以将位置信号传送到滑架致动器，该位置信号使滑架致动器将机器人滑架移动到期望的直线位置。

    System and Method for Determining Whether to Operate a Robot in Conjunction with a Rotary Parlor
    42.
    发明申请
    System and Method for Determining Whether to Operate a Robot in Conjunction with a Rotary Parlor 审中-公开
    用于确定是否操作机器人与旋转客厅相关的系统和方法

    公开(公告)号：US20120200674A1

    公开(公告)日：2012-08-09

    申请号：US13449002

    申请日：2012-04-17

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

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

    IPC: H04N13/02 ,  G06K9/00

    CPC classification number: A01J7/04 ,  A01J5/0175 ,  A01K1/126

    Abstract: In certain embodiments, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first hind location of a first hind leg of a dairy livestock based at least in part on visual data captured by the three-dimensional camera and determine a second hind location of a second hind leg of the dairy livestock based at least in part on the visual data. The processor is further operable to determine a measurement, wherein the measurement is the distance between the first hind location and the second hind location. Additionally, the processor is operable to determine whether the measurement exceeds a minimum threshold.

    Abstract translation: 在某些实施例中，系统包括三维相机和通信地耦合到三维相机的处理器。 处理器可操作以至少部分地基于由三维摄像机捕获的视觉数据来确定奶牛家畜的第一后腿的第一后部位置，并且基于所述乳制品牲畜的第二后腿确定第二后部位置 至少部分在视觉数据上。 处理器还可操作以确定测量，其中测量是第一后部位置与第二后部位置之间的距离。 另外，处理器可操作以确定测量是否超过最小阈值。

    Vision system for leg detection
    46.
    发明授权
    Vision system for leg detection 有权

    公开(公告)号：US11832582B2

    公开(公告)日：2023-12-05

    申请号：US16092333

    申请日：2017-08-17

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost ,  Marijn Van Aart ,  Peter Willem van der Sluis ,  Alireza Janani

    IPC: A01J5/00 ,  A01J5/007 ,  A01J5/017 ,  G06T7/73 ,  G06V10/25 ,  G06V10/44 ,  G06V10/50 ,  G06V10/75 ,  G06V20/10 ,  G06V20/64 ,  H04N13/204 ,  H04N13/271

    CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175 ,  G06T7/75 ,  G06V10/25 ,  G06V10/44 ,  G06V10/50 ,  G06V10/751 ,  G06V20/10 ,  G06V20/647 ,  H04N13/204 ,  H04N13/271 ,  G06T2207/10028 ,  G06T2207/30204 ,  G06V2201/06

    Abstract: A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).

    SYSTEM AND METHOD FOR LIQUID HYDROCARBON DESULFURIZATION
    47.
    发明申请
    SYSTEM AND METHOD FOR LIQUID HYDROCARBON DESULFURIZATION 有权

    公开(公告)号：US20220033719A1

    公开(公告)日：2022-02-03

    申请号：US17398579

    申请日：2021-08-10

    Applicant: Alternative Petroleum Technologies Holdings Corp.

    Inventor： Jack Lawrence Waldron

    IPC: C10G53/14

    Abstract: A method of desulfurizing a liquid hydrocarbon having the steps of: adding a liquid hydrocarbon to a vessel, the hydrocarbon having a sulfur content; adding a catalyst and an oxidizer to create a mixture; oxidizing at least some of the sulfur content of the liquid hydrocarbon to form oxidized sulfur in the liquid hydrocarbon; separating the liquid hydrocarbon from the mixture; and removing at least some of the oxidized sulfur from the liquid hydrocarbon. Such methods can be carried out by batch or continuously. Systems for undertaking such methods are likewise disclosed.

    Robotic arm and preparation cup system
    49.
    发明授权
    Robotic arm and preparation cup system 有权

    公开(公告)号：US10306864B2

    公开(公告)日：2019-06-04

    申请号：US15249646

    申请日：2016-08-29

    Applicant: Technologies Holdings Corp.

    Inventor： Robert J. Godfrey ,  Bradley A. Schaller

    IPC: A01J5/003 ,  A01J5/017 ,  A01J7/00 ,  B25J19/02 ,  A01J5/08 ,  A01J7/04

    Abstract: A system comprising a robotic arm, a plurality of grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.

    System and method for preparation cup attachment
    50.
    发明授权
    System and method for preparation cup attachment 有权

    公开(公告)号：US10306863B2

    公开(公告)日：2019-06-04

    申请号：US15204918

    申请日：2016-07-07

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost

    IPC: A01J3/00 ,  A01J5/017 ,  A01J5/007

    Abstract: A robotic arm maneuvers a teat preparation cup and executes instructions from a robotic arm controller. The controller comprises an interface, a memory, and a processor. The processor instructs the sensor to perform a first scan. If the first scan discovers a first set of teats, the processor moves the robotic arm a first distance and instructs the sensor to perform a second scan. If the second scan discovers a second set of teats, the processor moves the robotic arm to a location under the first teat, and instructs the sensor to perform a third scan. The processor determines if the third scan discovers a third set of teats. If each of the first set, second set, and third set of discovered teats comprises the first teat, the processor instructs the robotic arm to attach the preparation cup to the first teat.

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