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    SYSTEM AND METHOD FOR ANALYZING DATA CAPTURED BY A THREE-DIMENSIONAL CAMERA
    51.
    发明申请
    SYSTEM AND METHOD FOR ANALYZING DATA CAPTURED BY A THREE-DIMENSIONAL CAMERA 有权
    用于分析由三维摄像机捕获的数据的系统和方法

    公开(公告)号：US20160066529A1

    公开(公告)日：2016-03-10

    申请号：US14941830

    申请日：2015-11-16

    Applicant: TECHNOLOGIES HOLDINGS CORP.

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

    IPC: A01J5/007 ,  H04N13/02 ,  H04N5/225 ,  A01J5/017

    CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/00 ,  G06K9/6202 ,  G06T7/0004 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/30128 ,  H04N5/2252 ,  H04N13/204

    Abstract: 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 and second edge of a dairy livestock. The first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock. The second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock. The processor calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge. A robotic attacher moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.

    Abstract translation: 系统包括三维相机和通信地耦合到三维相机的处理器。 处理器可操作以确定奶牛家畜的第一和第二边缘。 第一边缘包括第一后​​腿的内部部分和乳品牲畜的乳房的第一部分。 第二边缘包括第二后腿的内部部分和乳制牲畜的乳房的第二部分。 所述处理器至少部分地基于所述第一边缘和所述第二边缘来计算与所述乳制品牲畜的乳房相关联的参考点。 至少部分地基于所计算的参考点，机器人护理员朝向乳品牲畜的乳房移动。

    ROBOT AND METHOD FOR MILKING A COW BY THIS ROBOT
    52.
    发明申请
    ROBOT AND METHOD FOR MILKING A COW BY THIS ROBOT 有权
    机器人和通过这个机器人烧烤的方法

    公开(公告)号：US20150264885A1

    公开(公告)日：2015-09-24

    申请号：US14728033

    申请日：2015-06-02

    Applicant: TECHNOLOGIES HOLDINGS CORP.

    Inventor： Peter Willem van der Sluis ,  Henk Hofman

    IPC: A01J5/017 ,  A01J5/04

    CPC classification number: A01J5/017 ,  A01J5/0175 ,  A01J5/041 ,  A01K1/126

    Abstract: A milking robot comprises a frame that is movable along a guide track that is positioned adjacent to a rotary platform such that the frame can move in conjunction with the movement of the rotary platform. The milking robot further comprises a moveable arm having a first end that couples to the frame and a second end that extends in a longitudinal direction, and at least one gripper coupled to the movable arm at the second end. The gripper is extendable in the longitudinal direction of the movable arm.

    Abstract translation: 挤奶机器人包括可沿着邻近旋转平台定位的导轨移动的框架，使得框架可以与旋转平台的移动一起移动。 挤奶机器人还包括可移动臂，其具有联接到框架的第一端和沿纵向方向延伸的第二端，以及在第二端处联接到可动臂的至少一个夹持器。 夹持器可在可动臂的纵向延伸。

    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
    54.
    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
    基于相邻旋转式平台平台的机场位置控制机器人运动位置的系统和方法

    公开(公告)号：US20140318460A1

    公开(公告)日：2014-10-30

    申请号：US14329399

    申请日：2014-07-11

    Applicant: TECHNOLOGIES HOLDINGS CORP.

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

    IPC: 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 causes the robot carriage to move linearly along the carriage track in conjunction with a rotational movement of the rotary milking platform such that a first linear position of the robot carriage aligns with a first rotational position of a milking stall of the rotary milking platform and a second linear position of the robot carriage aligns with a second rotational position of the milking stall of the rotary milking platform.

    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。 控制器使得机器人滑架结合旋转挤奶平台的旋转运动沿着滑架轨道线性移动，使得机器人滑架的第一线性位置与旋转挤奶平台的挤奶档位的第一旋转位置对齐，并且 机器人滑架的第二线性位置与旋转挤奶平台的挤奶档位的第二旋转位置对齐。

    SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE
    56.
    发明申请
    SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE 有权
    根据序列将杯子连接到奶类动物的系统和方法

    公开(公告)号：US20140216349A1

    公开(公告)日：2014-08-07

    申请号：US14244490

    申请日：2014-04-03

    Applicant: TECHNOLOGIES HOLDINGS CORP.

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

    IPC: A01J5/00 ,  A01K1/12

    CPC classification number: A01J5/0175 ,  A01J5/00 ,  A01J5/007 ,  A01J5/017 ,  A01J7/04 ,  A01K1/12 ,  A01K13/001

    Abstract: A system includes a milking box and a robotic arm. The milking box comprises a stall portion that houses a dairy livestock with four teats. The robotic arm performs the following operation for a plurality of teats of the dairy livestock: retrieves a cup; attaches the cup to a teat; and detaches the cup from the teat. The cup is maintained 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 an equipment area of the milking box after it is detached from the last teat of the dairy livestock.

    Abstract translation: 系统包括挤奶箱和机器人手臂。 挤奶箱包括一个摊位部分，其中装有一个具有四个奶头的奶牛家畜。 机器人手臂为奶牛家畜的多个奶头执行以下操作：取出杯子; 把杯子放在奶头上 并将杯子从奶头中分离出来。 从杯子连接到奶牛家畜的第一个奶嘴的时候杯子被连接到奶牛的最后一个奶嘴的时候，杯子保持在挤奶箱的失速部分内。 在从奶瓶的最后一个奶头脱离之后，杯子被缩回到挤奶箱的设备区域中。

    Vision system for leg detection
    57.
    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).

    ROBOTIC ARM WITH DOUBLE BRUSH TOOL
    59.
    发明申请
    ROBOTIC ARM WITH DOUBLE BRUSH TOOL 审中-公开

    公开(公告)号：US20190230889A1

    公开(公告)日：2019-08-01

    申请号：US15948139

    申请日：2018-04-09

    Applicant: Technologies Holdings Corp

    Inventor： Joel R. Henry ,  Bruce A. Schroeder ,  Adam R. Hachey ,  Rizwan Ajaz ,  Peter Willem van der Sluis

    IPC: A01J7/04 ,  B25J9/16 ,  B25J15/00 ,  B25J15/04 ,  B25J5/02

    Abstract: An apparatus includes a platform, controller, and first and second extension members, brush tool members, and brush tools. The platform has a length orthogonal to and greater than its width. The first and second extension members are movably coupled to the platform and their longitudinal axes are parallel to the length of the platform. The first and second brush tool members are coupled to and extend along the longitudinal axes of the first and second extension members respectively. The first and second brush tools are coupled to and extend along the longitudinal axes of the first and second brush tool members respectively. The controller moves the first extension member towards the front end of the platform, retracts the first extension member towards the back end of the platform, and at a second time after the first time, moves the second extension member towards the front end of the platform.

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