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公开(公告)号：US09474246B2
公开(公告)日：2016-10-25
申请号：US14982044
申请日：2015-12-29
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01K1/12 , A01J5/003 , A01K1/00 , A01J5/017 , A01J5/00 , A01J7/04 , A01J5/007 , A01J7/00 , B25J13/08 , B25J19/02 , A01J9/00
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, move in at least one direction along the x-axis, y-axis, and z-axis, and attach milking equipment to 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.
Abstract translation: 系统包括挤奶箱，机器人附件，传感器和控制器。 挤奶箱有一个摊位可容纳一个奶牛家畜。 摊位包括在通往第一分拣区域的档位的第一侧上的第一出口门和通向第二分拣区域的摊位的第二侧上的第二出口门。 机器人护理员从奶牛家畜的后腿之间的后部延伸，沿着x轴，y轴和z轴沿至少一个方向移动，并将挤奶设备附接到奶牛家畜。 传感器识别挤奶箱内的奶牛家禽。 控制器至少部分地基于奶牛家畜的身份选择并打开第一出口门或第二出口，以便将第一奶牛家畜引导到第一分拣区域或第二分拣区域中。
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72.发明申请公开(公告)号：US20160278336A1
公开(公告)日：2016-09-29
申请号：US15177375
申请日：2016-06-09
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 moving a carriage along a track. The carriage carries a robotic arm and the track is adjacent to a stall of a rotary milking platform housing a dairy livestock. The robotic arm comprises a first member pivotally attached to the carriage, a second member pivotally attached to the first member, and a spray tool member pivotally attached to the second member. The method continues by extending the robotic arm between the hind legs of the dairy livestock while the rotary milking platform rotates such that a spray tool of the spray tool member is located at a spray position from which the spray tool may discharge disinfectant to the teats of the dairy livestock.
Abstract translation: 一种将消毒剂应用于奶牛家畜的乳头的方法，包括沿轨道移动托架。 托架带有一个机器手臂，该轨道与一个装有奶牛家畜的旋转挤奶平台的摊位相邻。 机器臂包括枢转地附接到滑架的第一构件，可枢转地附接到第一构件的第二构件和可枢转地附接到第二构件的喷射工具构件。 该方法通过将机器人臂延伸在奶牛家畜的后腿之间，同时旋转挤奶平台旋转，使得喷雾工具构件的喷雾工具位于喷雾位置，喷雾工具可以从喷雾位置将消毒剂排放到喷雾器的乳头 奶牛家畜。
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公开(公告)号：US09402365B2
公开(公告)日：2016-08-02
申请号：US14727921
申请日：2015-06-02
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/017 , A01K1/12 , A01J5/00 , A01J7/04 , A01J5/007 , A01J7/00 , B25J13/08 , B25J19/02 , A01J9/00
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 includes a front wall, a rear wall opposite the front wall, and first and second side walls extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall that accommodates a dairy livestock. The system includes an equipment portion adjacent to the rear wall. It houses a separation container that receives milk to be discarded from the dairy livestock. The equipment portion further houses a robotic attacher that extends from behind and between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.
Abstract translation: 系统包括前壁，与前壁相对的后壁，以及在前壁和后壁之间延伸的第一和第二侧壁。 所述第一侧壁包括门，所述第二侧壁与所述第一侧壁间隔开，使得所述前壁，所述后壁，所述第一侧壁和所述第二侧壁限定了挤奶箱档位， 家畜。 该系统包括邻近后壁的设备部分。 它装有一个分离容器，接收从奶牛家畜中丢弃的牛奶。 设备部分还容纳机器人护理者，其从位于挤奶箱档位内的乳品牲畜的后部后方延伸，以便将挤奶设备附接到奶牛家畜。
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公开(公告)号：US09326480B2
公开(公告)日：2016-05-03
申请号：US14331819
申请日：2014-07-15
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/00 , A01J5/017 , A01K1/12 , A01J7/04 , A01J5/007 , A01J7/00 , B25J13/08 , B25J19/02 , A01J9/00
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 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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Patent Agency Ranking
75.发明申请AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DIARY LIVESTOCK 有权自动化系统，适用于不适用于DIARY LIVESTOCK的身体公开(公告)号：US20140318471A1
公开(公告)日：2014-10-30
申请号：US14329655
申请日：2014-07-11
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J7/04
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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76.发明申请公开(公告)号：US20140318470A1
公开(公告)日：2014-10-30
申请号：US14329548
申请日：2014-07-11
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J7/04
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 carriage and a robotic arm. The carriage is mounted on a track adjacent to a rotary milking platform having a substantially circular perimeter and a stall for a dairy livestock. The carriage moves along a substantially straight portion of the track tangent to and outside the perimeter of the rotary milking platform at a rate based at least in part upon a speed of rotation of the rotary milking platform. The carriage moves in a direction corresponding to the direction of rotation of the rotary milking platform and such movement of the carriage is independent of any physical coupling between the carriage and the rotary milking platform. The robotic arm extends between the legs of the dairy livestock, and remains extended between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.
Abstract translation: 用于操作机器人臂的系统包括滑架和机器臂。 托架安装在与具有基本上圆形周边的旋转挤奶平台相邻的轨道上，并且用于奶制牲畜的档位。 滑架沿着至少部分地基于旋转挤奶平台的旋转速度的速度沿着轨道的基本上直的部分切线到旋转挤奶平台的周边和外侧。 滑架在与旋转挤奶平台的旋转方向相对应的方向上移动，并且滑架的这种移动与托架和旋转挤奶平台之间的任何物理联接无关。 机器手臂在奶牛家畜的腿之间延伸，并且随着失速与机器人手臂相邻旋转而保持在奶牛家畜的腿之间延伸。
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77.发明申请公开(公告)号：US20140172164A1
公开(公告)日：2014-06-19
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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公开(公告)号：US20140158052A1
公开(公告)日：2014-06-12
申请号：US14178750
申请日：2014-02-12
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/00
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 includes a milking box and a robotic attacher. The milking box has a stall to accommodate a dairy livestock. 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箱和一个机器人装置。 挤奶箱有一个摊位可容纳一个奶牛家畜。 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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79.发明申请公开(公告)号：US20140147016A1
公开(公告)日：2014-05-29
申请号：US14169677
申请日：2014-01-31
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 determining a spray position for a spray tool includes accessing an image signal generated by a camera, the image signal corresponding to at least an udder of a dairy livestock. The method further includes processing the accessed image signal to determine a tangent to the rear and a tangent to the bottom of the udder of the dairy livestock. The method concludes by determining a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock, wherein the spray position is a position relative to the intersection of the two tangents.
Abstract translation: 一种用于确定喷雾工具的喷射位置的方法包括：访问由照相机产生的图像信号，所述图像信号对应于乳品牲畜的至少一个乳房。 该方法还包括处理所访问的图像信号以确定后方的切线和乳品牲畜的乳房底部的切线。 该方法通过确定喷雾位置来确定喷雾位置，该喷雾工具可以将消毒剂施加到乳制牲畜的乳头，其中喷雾位置是相对于两个切线的交点的位置。
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