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公开(公告)号：US20140196665A1
公开(公告)日：2014-07-17
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
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。
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公开(公告)号：US10595501B2
公开(公告)日：2020-03-24
申请号：US15841467
申请日：2017-12-14
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J7/04 , A01K13/00 , G06T7/73 , G06T7/13 , B25J9/16 , A01K29/00 , A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , G06T1/00 , A01J7/00 , B25J11/00 , G06T7/00 , B25J9/00 , H04N7/18 , G05B19/042
Abstract: A method for applying disinfectant to the teats of a dairy livestock includes determining that a stall of a rotary milking platform housing a dairy livestock is located adjacent to a track that has a carriage carrying a robotic arm. The method continues by communicating a first signal that causes operation of a first actuator such that the carriage moves along the track in relation to the rotary milking platform and independent of any physical coupling between the carriage and the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method concludes by communicating one or more additional signals that causes operation of one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of a dairy livestock.
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公开(公告)号：US20190090449A1
公开(公告)日：2019-03-28
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
CPC classification number: A01J5/0175 , A01J5/00 , A01J5/007 , A01J5/017 , A01J7/04 , A01K1/12 , A01K13/001
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：US10172320B2
公开(公告)日：2019-01-08
申请号：US15274213
申请日：2016-09-23
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a robotic arm positioned in an equipment area of a milking box that includes a stall portion housing a dairy livestock with four teats. The robotic arm retrieves a cup, and for a plurality of teats of the dairy livestock, the robotic arm attaches the cup to a teat, detaches the cup from the teat, and maintains the cup within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into the equipment portion of the milking box after it is detached from the last teat of the dairy livestock.
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公开(公告)号：US09980460B2
公开(公告)日：2018-05-29
申请号：US15333836
申请日：2016-10-25
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/003 , A01J5/007 , G06T1/0014 , G06T7/73
Abstract: A system comprises a robotic arm, camera, and a controller. The camera is positioned on a surface of the robotic arm and emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm. The controller instructs the robotic arm to grip a milking cup, and determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera. The controller instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear, release the milking cup in response to the milking cup being attached to the teat. move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup, and to move away from the teat.
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Patent Agency Ranking
公开(公告)号：US09930861B2
公开(公告)日：2018-04-03
申请号：US15239992
申请日：2016-08-18
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/00 , A01K1/12 , A01J5/003 , A01K1/00 , A01J5/017 , A01J7/04 , A01J5/007 , A01J7/00 , B25J13/08 , B25J19/02 , A01J9/00 , A01J7/02 , A01K5/02 , H04N5/247 , A01J5/06 , A01J5/013 , A01K5/00 , A01K11/00 , G06K9/00 , H04N13/02 , G06T7/70 , A01J5/01 , G06T1/00
CPC classification number: A01J5/00 , A01J5/003 , A01J5/007 , A01J5/01 , A01J5/013 , A01J5/017 , A01J5/0175 , A01J5/04 , A01J5/06 , A01J7/00 , A01J7/025 , A01J7/04 , A01J9/00 , A01K1/0023 , A01K1/0029 , A01K1/12 , A01K5/00 , A01K5/02 , A01K11/006 , B25J13/08 , B25J19/023 , G05B2219/45113 , G06K9/00362 , G06T1/0014 , G06T7/70 , H04N5/247 , H04N13/204 , Y10S901/02 , Y10S901/47
Abstract: A system comprises a milking box, a robotic attacher, a sensor, and a controller. The milking box has a stall to accommodate a dairy livestock. The stall comprises a first exit gate on a first side of the stall leading to a first sorting region and a second exit gate on a second side of the stall leading to a second sorting region. The robotic attacher extends from the rear between the hind legs of the dairy livestock. The sensor identifies the dairy livestock within the milking box stall. The controller selects and opens the first exit gate or the second exit gate based at least in part upon the identity of the dairy livestock in order to direct the first dairy livestock into either the first sorting region or the second sorting region.
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公开(公告)号：US20180084753A1
公开(公告)日：2018-03-29
申请号：US15828553
申请日：2017-12-01
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
Abstract: A system for operating a robotic arm, comprises a controller and a robotic arm. The controller accesses an image of the rear of dairy livestock located in a stall of a rotary milking platform and, in conjunction with the stall of the rotary milking platform in which a dairy livestock is located moving into an area adjacent a robotic arm, determines whether a milking cluster is attached to the dairy livestock based at least in part upon the image. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.
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公开(公告)号：US09894876B2
公开(公告)日：2018-02-20
申请号：US15614693
申请日：2017-06-06
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J7/04 , A01K13/00 , B25J9/16 , A01K29/00 , A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , G06T1/00 , G06T7/73 , A01J7/00 , B25J11/00 , G06T7/00 , G06T7/13 , B25J9/00 , H04N7/18
CPC classification number: A01J7/04 , A01J5/003 , A01J5/007 , A01J5/0175 , A01J7/00 , A01K1/126 , A01K13/001 , A01K29/00 , B25J9/0027 , B25J9/0093 , B25J9/0096 , B25J9/1679 , B25J9/1684 , B25J9/1697 , B25J11/0045 , G05B19/042 , G05B2219/2661 , G05B2219/45113 , G06T1/0014 , G06T7/0004 , G06T7/13 , G06T7/73 , G06T7/74 , G06T2200/04 , G06T2207/10004 , G06T2207/10021 , G06T2207/10028 , H04N7/183 , Y10S901/02 , Y10S901/06 , Y10S901/07 , Y10S901/09 , Y10S901/41 , Y10S901/43 , Y10S901/47
Abstract: A system for operating a robotic arm, comprises a camera, a controller and a robotic arm. The camera captures an image of a rear of a dairy livestock located in a stall of a rotary milking platform. The controller receives the image and in conjunction with the stall of the rotary milking platform in which a dairy livestock is located moving into an area adjacent a robotic arm, determines whether a milking cluster is attached to the dairy livestock based at least in part upon the image. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.
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公开(公告)号：US09775325B2
公开(公告)日：2017-10-03
申请号：US15370571
申请日：2016-12-06
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem Van der Sluis , Ype Groensma
IPC: A01J7/04 , A01K13/00 , B25J9/16 , A01K29/00 , A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , G06T1/00 , G06T7/73 , A01J7/00 , B25J11/00 , G06T7/00 , G06T7/13 , B25J9/00 , H04N7/18
CPC classification number: A01J7/04 , A01J5/003 , A01J5/007 , A01J5/0175 , A01J7/00 , A01K1/126 , A01K13/001 , A01K29/00 , B25J9/0027 , B25J9/0093 , B25J9/0096 , B25J9/1679 , B25J9/1684 , B25J9/1697 , B25J11/0045 , G05B19/042 , G05B2219/2661 , G05B2219/45113 , G06T1/0014 , G06T7/0004 , G06T7/13 , G06T7/73 , G06T7/74 , G06T2200/04 , G06T2207/10004 , G06T2207/10021 , G06T2207/10028 , H04N7/183 , Y10S901/02 , Y10S901/06 , Y10S901/07 , Y10S901/09 , Y10S901/41 , Y10S901/43 , Y10S901/47
Abstract: A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The plurality of spray nozzles are coupled to the linear member.
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公开(公告)号：US20170245454A1
公开(公告)日：2017-08-31
申请号：US15596792
申请日：2017-05-16
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/003 , A01J5/017 , A01J5/04 , A01J7/04 , A01J9/00 , H04N5/247 , A01K1/12 , A01K5/02 , A01K11/00 , B25J13/08 , B25J19/02 , G06K9/00 , A01J5/007 , A01K1/00
Abstract: A method comprises positioning a robotic attacher under a dairy livestock located in a milking stall, wherein the robotic attacher comprises a nozzle. The method continues by rotating the robotic attacher such that the nozzle is positioned generally on the top of the robotic attacher and performing a spraying operation using the nozzle. The method concludes by retracting the robotic attacher from under the dairy livestock.
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