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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：US10130067B2
公开(公告)日：2018-11-20
申请号：US15904676
申请日：2018-02-26
Applicant: Technologies Holdings Corp.
Inventor： Hendrik Hofman , Peter van der Sluis
Abstract: This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab, according to the invention, includes: —a first housing part provided with a first magnet designed to hold a first teat cup; —a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.
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公开(公告)号：US10051832B2
公开(公告)日：2018-08-21
申请号：US15282479
申请日：2016-09-30
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Peter Willem van der Sluis , Robert J. Godfrey
CPC classification number: A01J5/007 , A01J5/0175 , A01J7/00 , B25J9/1697 , G05B2219/45113 , G06T7/70 , G06T2207/10028
Abstract: A system includes a robotic arm, an imaging device coupled to the robotic arm, a tail positioner coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The tail positioner is able to move from a down position to an up position. The processor is coupled to both the imaging device and the tail positioner and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.
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公开(公告)号：US20180232885A1
公开(公告)日：2018-08-16
申请号：US15953218
申请日：2018-04-13
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
IPC: G06T7/11 , H04N13/204 , G06T7/33 , H04N13/122 , G06T1/00 , G06T7/50 , A01K29/00 , A01J7/00 , G06T7/194
CPC classification number: G06T7/11 , A01J7/00 , A01K29/00 , G06T1/0014 , G06T7/12 , G06T7/13 , G06T7/181 , G06T7/194 , G06T7/33 , G06T7/50 , G06T7/73 , G06T7/75 , G06T2200/04 , G06T2207/10012 , G06T2207/10028 , H04N13/204 , H04N13/271 , H04N2013/0081
Abstract: A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and s to identify a thigh gap region from the one or more regions. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to identify one or more tail candidates within the tail detection region, to identify a tail candidate that corresponds with a tail model as the tail, and to determine position information for the tail.
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Patent Agency Ranking
公开(公告)号：US09984470B2
公开(公告)日：2018-05-29
申请号：US15239425
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: G06T7/11 , A01J7/00 , A01K29/00 , G06T1/0014 , G06T7/0042 , G06T7/0081 , G06T7/0083 , G06T7/13 , G06T7/194 , G06T7/33 , G06T7/50 , G06T7/75 , G06T2200/04 , G06T2207/10012 , G06T2207/10028 , G06T2207/20136 , H04N13/204
Abstract: A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall, a memory, and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and apply the thigh gap detection rule set to the one or more regions to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to partition the 3D image within the tail detection region to generate a plurality of image depth planes, examine each of the plurality of image depth planes, and determine position information for the tail of the dairy livestock in response to identifying the tail 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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公开(公告)号：US09980457B2
公开(公告)日：2018-05-29
申请号：US15239597
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , G06T1/0014 , H04N13/204
Abstract: A system that includes a laser, a three-dimensional (3D) camera, a memory, and a processor. The processor is configured to determine the position of a first teat candidate relative to a second teat candidate, assign the first teat candidate and the second teat candidate as a left teat candidate or right teat candidate, and receive a teat identifier for a target teat. The processor is configured to determine whether the left or right teat candidate is within a teat location range of the target teat and to link the teat identifier with the left teat candidate or right teat candidate based on the determination.
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公开(公告)号：US09974278B2
公开(公告)日：2018-05-22
申请号：US15239526
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost , Marinus P. Van Aart
CPC classification number: A01J5/007 , A01J5/017 , G06T1/0014 , G06T7/0042 , G06T7/11 , G06T7/33 , G06T2207/10004
Abstract: A system that includes a laser, a memory, and a processor. The processor is configured to receive a teat position associated with an unknown teat, determine a first position distance between the teat position and a first teat, determine a second position distance between the teat position and a second teat, determine a third position distance between the teat position and a third teat, and determine a fourth position distance between the teat position and a fourth teat. The processor is further configured to compare the first position distance, the second position distance, the third position distance, and the fourth position distance to determine a smallest position distance from the unknown teat, identify a teat of the dairy livestock corresponding with the smallest position distance, associate a teat identifier for the unknown teat with the identified teat, and store the association in the memory.
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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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