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公开(公告)号：US08373109B2
公开(公告)日：2013-02-12
申请号：US12900524
申请日：2010-10-08
申请人： Gerrit Boersma , Karel Van Den Berg
发明人： Gerrit Boersma , Karel Van Den Berg
CPC分类号： A01J5/0175 , G01S7/4815 , G01S17/48 , G06K9/2036
摘要： The invention provides a detection device for determining position information from an object to the detection device, wherein the position information includes at least a distance from that object to the detection device. The detection device includes: a light source arranged to emit light; a control device arranged to control the light source; a light measuring device comprising a 2D classification of light sensitive elements and arranged to measure reflected light and to generate a corresponding measuring signal; a signal processing device arranged to process the measuring signal to position information, including distance information, of the object with respect to the detection device, wherein the signal processing device includes an object recognition device is configured to recognize at least one of: an udder, a teat, a and respective parts thereof, and wherein at least one of the light measuring device has an absolute sensitivity maximum with a wavelength between 400 and 570 nm, and the light source has an absolute emission maximum with a wavelength between 400 and 570 nm.
摘要翻译： 本发明提供了一种用于确定从物体到检测装置的位置信息的检测装置，其中位置信息至少包括从该物体到检测装置的距离。 检测装置包括：发光装置的光源; 布置成控制所述光源的控制装置; 光测量装置，其包括光敏元件的2D分类，并被布置成测量反射光并产生相应的测量信号; 信号处理装置，其被配置为处理所述测量信号以相对于所述检测装置定位所述对象的位置信息，其中所述信号处理装置包括对象识别装置，被配置为识别以下至少一个：乳房， 乳头及其各自的部分，并且其中至少一个光测量装置具有波长在400和570nm之间的绝对灵敏度最大值，并且光源具有波长在400和570nm之间的绝对发射最大值 。
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公开(公告)号：US08355835B2
公开(公告)日：2013-01-15
申请号：US12444411
申请日：2007-09-19
IPC分类号： G05D3/12
摘要： A system for demarcating an area comprises a first vehicle, an attachment point, a demarcating element, a motor and a vehicle control unit. The demarcating element extends from the first vehicle to the attachment point. The system furthermore comprises a camera, which camera is operatively connected to the vehicle control unit.
摘要翻译： 用于划分区域的系统包括第一车辆，附接点，分界元件，马达和车辆控制单元。 分界元件从第一车辆延伸到附接点。 该系统还包括相机，该相机可操作地连接到车辆控制单元。
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公开(公告)号：US20120234355A1
公开(公告)日：2012-09-20
申请号：US13487222
申请日：2012-06-03
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
摘要： The milking machine and method of cleaning the same comprises more than one teat cup with a teat cup liner and a discharge, a pulsator with a control device, and a cleaning device to clean the teat cup by supplying cleaning liquid in the teat cup, wherein the control device is configured to adjust per teat cup, during the cleaning, the flow of the cleaning liquid through the teat cup liner and the discharge by pulsation of the teat cup liner. The teat cup liner itself acts as a valve during the cleaning. This has the advantage that a separate cleaning valve in the milk line is not required, which results in a simpler and more reliable construction.
摘要翻译： 挤奶机及其清洗方法包括多于一个具有奶头杯衬垫和排出口的奶杯，具有控制装置的波轮和清洁装置，以通过在奶杯中提供清洁液来清洁奶杯，其中 控制装置被配置为在清洁期间调整每个奶杯，通过奶杯杯衬套的清洁液体的流动以及奶杯杯衬套的脉动排出。 乳清杯衬套本身在清洁过程中充当阀门。 这样做的优点在于，不需要在牛奶线中单独的清洗阀，这样可以使结构更简单和更可靠。
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公开(公告)号：US07997233B2
公开(公告)日：2011-08-16
申请号：US12444415
申请日：2007-10-02
摘要： A system for demarcating an area comprises a movable demarcating element, and a control system for determining the magnitude and/or the moment of a next move of the movable demarcating element. The system furthermore comprises one or more observation devices for observing an entity near the movable demarcating element, such as a position of a dairy animal or an amount of grass in the area. The observation devices are operatively connected to the control system for transmitting a signal from the observation means to the control system. The control system is designed to receive and process the signal from the observation means to determine the magnitude and/or the moment of the next move of the movable demarcating element.
摘要翻译： 用于划定区域的系统包括可移动分界元件和用于确定可移动分界元件的下一次移动的大小和/或力矩的控制系统。 该系统还包括用于观察可移动分界元件附近的实体的一个或多个观察装置，例如乳制动物的位置或该区域中的草量。 观察装置可操作地连接到控制系统，用于将来自观察装置的信号传输到控制系统。 控制系统被设计成接收和处理来自观察装置的信号以确定可移动分界元件的下一次移动的幅度和/或力矩。
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公开(公告)号：US20110083700A1
公开(公告)日：2011-04-14
申请号：US12971048
申请日：2010-12-17
申请人： Karel Van Den Berg , Gerard Mostert
发明人： Karel Van Den Berg , Gerard Mostert
CPC分类号： A01J7/025
摘要： A teat cup cleaning device comprises a heating chamber provided with a discharge outlet that is closable by a valve and arranged for connection to a teat cup. A filling device is arranged for filling the heating chamber with an amount of cleaning liquid and retaining a given quantity of gas. The chamber is provided with a heating arrangement arranged to heat the contents of the heating chamber to a temperature T higher than the boiling point Tk of the cleaning liquid at ambient pressure. On operation of the valve superheated cleaning liquid is discharged to clean a teat cup.
摘要翻译： 奶杯清洁装置包括加热室，该加热室设置有排出口，该排出口可被阀闭合并且布置成连接到奶杯。 填充装置布置成用一定量的清洁液填充加热室并保持给定量的气体。 该室设置有加热装置，其布置成将加热室的内容物加热到高于环境压力下的清洗液的沸点Tk的温度T. 在操作过程中，过热清洗液被排出以清洁奶杯。
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公开(公告)号：US20100186675A1
公开(公告)日：2010-07-29
申请号：US12439824
申请日：2007-08-28
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
CPC分类号： A01J5/017 , A01J5/0175 , G01S17/42 , G01S17/88 , Y10S901/09 , Y10S901/46
摘要： An implement for automatically milking a dairy animal, such as a cow, comprises a milking parlour, a sensor for observing a teat, and a milking robot for automatically attaching a teat cup to the teat. The milking robot comprises a robot control that is connected to the sensor. The sensor comprises a radiation source for emitting light, a receiver for receiving electromagnetic radiation reflected from the dairy animal, a lens, and sensor control unit. The sensor comprises a matrix with a plurality of rows and a plurality of columns of receivers. The sensor control unit is designed to determine for each of the receivers a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate the distance from the sensor to a plurality of points on the part to be observed of the dairy animal.
摘要翻译： 用于自动挤奶的动物如奶牛的工具包括挤奶室，用于观察奶头的传感器和用于将奶杯自动地连接到奶头的挤奶机器人。 挤奶机器人包括连接到传感器的机器人控制。 传感器包括用于发射光的辐射源，用于接收从乳制动物反射的电磁辐射的接收器，透镜和传感器控制单元。 传感器包括具有多行和多列接收器的矩阵。 传感器控制单元被设计成为每个接收器确定发射和反射的电磁辐射之间的相位差，以便计算从传感器到待观察部分的多个点的距离。
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公开(公告)号：US20100126423A1
公开(公告)日：2010-05-27
申请号：US12625596
申请日：2009-11-25
申请人： Karel Van Den Berg , Iwan Yves Vlaar , Howard Sie
发明人： Karel Van Den Berg , Iwan Yves Vlaar , Howard Sie
IPC分类号： A01K5/02
CPC分类号： A01K5/0266 , B66C3/02
摘要： The invention provides a feed displacement device for picking up, displacing and dispensing material, in particular livestock feed, including a rail system and a trolley with a gripping device, which trolley is movable over the rail system, and is configured to pick up and dispense the material, wherein the rail system includes a fixed rail part and a displaceable rail part which is connectable to the latter, wherein the trolley is movable directly over the fixed and displaceable rail parts, and in such a manner that the trolley can cover a surface area for picking up the material from various positions. The trolley is easily positionable over an area where material, such as feed, is to be picked up. As a result thereof, no robot arm or the like has to swing out sideways and thus no unnecessarily large forces act thereon. In addition, the device overall is compact since the trolley is in effect displaceable in two directions by combining the displaceability along the displaceable rail part and the displaceability of the displaceable rail part itself.
摘要翻译： 本发明提供了一种用于拾取，移动和分配材料的进给移动装置，特别是牲畜饲料，包括轨道系统和具有夹持装置的手推车，该手推车可在轨道系统上移动，并且构造成拾取和分配 所述材料，其中所述轨道系统包括固定轨道部分和可连接到所述轨道部分的可移动轨道部分，其中所述手推车可在所述固定和可移动的轨道部分上直接移动，并且使得所述手推车能够覆盖表面 从不同职位拾取材料的区域。 手推车可以很容易地定位在要拾取材料（如饲料）的区域上。 因此，机器人手臂等不得向侧面摆动，因此不会产生不必要的大的作用力。 此外，由于手推车通过组合可移动轨道部分的可移动性以及可移动导轨部件本身的可移动性而在两个方向上实际上可移位，所以该装置整体是紧凑的。
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公开(公告)号：US20100049392A1
公开(公告)日：2010-02-25
申请号：US12444411
申请日：2007-09-19
摘要： A system for demarcating an area comprises a first vehicle, an attachment point, a demarcating element, a motor and a vehicle control unit. The demarcating element extends from the first vehicle to the attachment point. The system furthermore comprises a camera, which camera is operatively connected to the vehicle control unit.
摘要翻译： 用于划分区域的系统包括第一车辆，附接点，分界元件，马达和车辆控制单元。 分界元件从第一车辆延伸到附接点。 该系统还包括相机，该相机可操作地连接到车辆控制单元。
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公开(公告)号：US07640889B2
公开(公告)日：2010-01-05
申请号：US10248799
申请日：2003-02-19
IPC分类号： A01J5/00
CPC分类号： A01K1/12 , A01J5/003 , A01J5/0175
摘要： An assembly and method for feeding and milking animals is disclosed. The assembly is provided with an area where the animals are allowed to move freely, with a number of juxtaposed feeding stations for the animals, and with a retaining device for retaining an animal at a feeding station. The retaining device can be activated for retaining an animal and can be deactivated for releasing an animal. A mobile milking robot connects at least one teat cup to a teat of an animal, a computer system controlling the operation and movement of the milking robot. The mobile milking robot is a self-propelled mobile milking robot, and the retaining device is fixedly disposed at the feeding station.
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公开(公告)号：US20090069968A1
公开(公告)日：2009-03-12
申请号：US12297686
申请日：2007-03-23
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
CPC分类号： A01K5/0266 , A01K1/105
摘要： An unmanned autonomous vehicle for displacing feed lying on a floor is provided with two wheels that are separately drivable, a distance determining device for determining the distance from the vehicle to a wall portion, an orientation determining device for determining the orientation of the centre line of the vehicle relative to the wall portion, a torque difference determining device for determining the torque difference between the wheels, a control unit for controlling the vehicle and moving it in a direction of travel, and a feed displacing arrangement for displacing feed substantially sidewardly. The control unit may be programmed in such a way that during operation the vehicle will maintain a distance determined by the distance determining device to the wall portion, which distance is greater than or equal to a pre-adjusted minimum distance to the wall portion. During operation the centre line of the vehicle may be maintained with an orientation determined by the orientation determining device relative to the wall portion, which orientation is at least almost equal to a pre-adjusted orientation. During operation the drivable wheels of the vehicle may show a torque difference determined by the torque difference determining device, which difference can then be maintained at a value smaller than or equal to a pre-adjusted maximum torque.
摘要翻译： 用于移动位于地板上的饲料的无人驾驶自动车辆设置有可独立驱动的两个轮子，用于确定从车辆到壁部分的距离的距离确定装置，用于确定中心线的方位的方向确定装置 所述车辆相对于所述壁部分，用于确定所述车轮之间的转矩差的转矩差确定装置，用于控制所述车辆并且沿行进方向移动的控制单元以及用于基本上侧向移位的供给位移装置。 控制单元可以以这样的方式进行编程：在操作期间，车辆将保持由距离确定装置确定的与壁部分的距离，该距离大于或等于预先调节的与壁部分的最小距离。 在操作期间，可以通过由取向确定装置相对于壁部确定的取向来维持车辆的中心线，该取向至少几乎等于预调节的取向。 在操作期间，车辆的可驱动轮可以显示由扭矩差确定装置确定的扭矩差，然后该差可以保持在小于或等于预调节的最大扭矩的值。
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