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51.发明授权公开(公告)号：US09439392B2
公开(公告)日：2016-09-13
申请号：US14329655
申请日：2014-07-11
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 controller and a robotic arm. The controller receives an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform. The controller also determines whether a milking cluster is attached to the dairy livestock. 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.
Abstract translation: 用于操作机器人手臂的系统包括控制器和机器臂。 控制器接收指示，其中奶牛家畜所在的旋转挤奶平台的失速已经移动到与旋转挤奶平台分离的机器人手臂附近的区域中。 控制器还确定挤奶集群是否连接到奶牛家畜。 如果控制器确定挤奶组不连接到奶牛家畜，则机器人手臂通信地耦合到控制器并且在奶牛家畜的腿之间延伸。 如果控制器确定挤奶集群连接到奶牛家畜，则机器臂不会延伸到奶牛家畜的腿部之间。
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52.发明授权公开(公告)号：US09433184B2
公开(公告)日：2016-09-06
申请号：US14260585
申请日：2014-04-24
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 method for applying disinfectant to the teats of a dairy livestock, comprises receiving a trigger signal indicating that a stall of a rotary milking platform housing a dairy livestock is located adjacent to a track, the track having a carriage carrying a robotic arm mounted thereto. The method continues by communicating a first signal to a first actuator coupled to the track and the carriage, the first signal causing operation of the first actuator such that the carriage moves along the track in relation to the rotary milking platform. The method concludes by communicating one or more additional signals to one or more actuators of the robotic arm, the one or more additional signals causing operation of the 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.
Abstract translation: 一种将消毒剂施加到奶牛家畜的乳头的方法，包括接收一个触发信号，指示容纳奶牛类牲畜的旋转式挤奶平台的失速位于轨道附近，该轨道具有一个带有安装在其上的机器手臂的托架。 该方法继续通过将第一信号传递到耦合到轨道和托架的第一致动器，第一信号引起第一致动器的操作，使得滑架相对于旋转挤奶平台沿着轨道移动。 该方法的结论是将一个或多个附加信号传递到机器人臂的一个或多个致动器，所述一个或多个附加信号引起机器人臂的一个或多个致动器的操作，使得机器人手臂的至少一部分在 奶牛家畜的后腿。
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公开(公告)号：US20160235030A1
公开(公告)日：2016-08-18
申请号：US15135608
申请日：2016-04-22
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 includes a milking stall to accommodate a dairy livestock and a robotic attacher. The robotic attacher extends under the dairy livestock and comprises a nozzle. The robotic attacher is operable to rotate such that, during a first operation, the nozzle is positioned generally on the bottom of the robotic attacher, and during a second operation, the nozzle is positioned generally on the top of the robotic attacher.
Abstract translation: 一个系统包括一个挤奶摊位，以容纳一个奶牛家畜和一个机器人护理员。 机器人护理员在奶牛家畜身下延伸，并包括喷嘴。 机器人附件可操作以旋转，使得在第一操作期间，喷嘴通常定位在机器人附件的底部上，并且在第二操作期间，喷嘴通常定位在机器人附件的顶部。
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公开(公告)号：US20160235027A1
公开(公告)日：2016-08-18
申请号：US15135695
申请日：2016-04-22
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 method comprises extending a robotic attacher under a dairy livestock positioned in a milking stall, wherein the robotic attacher comprises a nozzle that is positioned generally on the bottom of the robotic attacher during a first operation. The method further comprises rotating the robotic attacher during a second operation such that the nozzle is positioned generally on the top of the robotic attacher.
Abstract translation: 一种方法包括将机器人接头延伸到位于挤奶摊位内的奶牛家畜下，其中机器人接头包括在第一操作期间通常定位在机器人附件的底部上的喷嘴。 该方法还包括在第二操作期间旋转机器人附件，使得喷嘴通常位于机器人附件的顶部。
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55.发明授权公开(公告)号：US09126335B2
公开(公告)日：2015-09-08
申请号：US14186604
申请日：2014-02-21
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 method for applying a substance to the teats of a dairy livestock comprises extending a robotic arm between the legs of a dairy livestock positioned in a stall. The method continues by rotating a linear member of a spray tool about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the hind legs of the dairy livestock. The method continues by discharging a substance as the linear member rotates.
Abstract translation: 将物质施加到乳制牲畜的乳头的方法包括将机器人手臂放置在位于档位中的乳品牲畜的腿之间。 该方法通过围绕垂直于机器人臂的轴线旋转喷射工具的线性构件而继续，其中当机器人手臂在后部腿之间延伸时，线性构件具有位于机器人臂的外周边内的周边 奶牛家畜。 当线性构件旋转时，该方法继续通过排出物质。
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Patent Agency Ranking
公开(公告)号：US20140326187A1
公开(公告)日：2014-11-06
申请号：US14331819
申请日：2014-07-15
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a gripping portion coupled to the supplemental arm. The gripping portion comprises at least one nozzle and is operable to rotate such that during a first mode of operation, the nozzle is positioned away from the top of the gripping portion, and during a second mode of operation, the nozzle is positioned generally on the top of the gripping portion.
Abstract translation: 机器人附件包括主臂，联接到主臂的辅助臂和联接到辅助臂的抓握部分。 所述抓握部分包括至少一个喷嘴并且可操作以旋转，使得在第一操作模式期间，所述喷嘴定位成远离所述抓握部分的顶部，并且在第二操作模式期间，所述喷嘴通常位于所述喷嘴 抓握部分的顶部。
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57.发明申请公开(公告)号：US20140158063A1
公开(公告)日：2014-06-12
申请号：US14182162
申请日：2014-02-17
Applicant: TECHNOLOGIES HOLDINGS CORP
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01K13/00
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 method comprises determining a tangent to the rear of an udder of a dairy livestock, and determining a tangent to the bottom of the udder of the dairy livestock. The method continues by determining a position relative to the intersection of the two tangents, and extending a robot arm to the determined position.
Abstract translation: 一种方法包括确定乳品牲畜的乳房的后方的切线，以及确定乳品牲畜乳房底部的切线。 该方法通过确定相对于两个切线的交点的位置来继续，并且将机器人臂延伸到确定的位置。
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公开(公告)号：US20180160645A1
公开(公告)日：2018-06-14
申请号：US15895473
申请日：2018-02-13
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/00 , A01J5/003 , A01K1/12 , A01J5/017 , H04N5/247 , A01K5/02 , A01J7/02 , A01J9/00 , A01J5/06 , G06T7/70 , G06K9/00 , G06T1/00 , A01J5/01 , A01K11/00 , A01K1/00 , A01K5/00 , A01J5/013 , A01J7/04 , B25J19/02 , A01J7/00 , A01J5/007 , B25J13/08
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.
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公开(公告)号：US20180103604A1
公开(公告)日：2018-04-19
申请号：US15841418
申请日：2017-12-14
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem Van der Sluis , Ype Groensma
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 robotic attacher includes an arm that extends between the legs of a dairy livestock and a gripping portion coupled to the arm. The gripping portion is operable to rotate such that at a first time, a nozzle is positioned generally on the bottom of the gripping portion, and at a second time, the nozzle is positioned generally on the top of the gripping portion.
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公开(公告)号：US09901067B2
公开(公告)日：2018-02-27
申请号：US15634457
申请日：2017-06-27
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem Van der Sluis , Ype Groensma
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 method of operating a robotic attacher, comprises extending a robotic attacher between the legs of a dairy livestock. The method further comprises attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method further comprises rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.
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