公开(公告)号：US10743512B2

公开(公告)日：2020-08-18

申请号：US16026190

申请日：2018-07-03

申请人： MAASLAND N.V.

发明人： Karel Van Den Berg

IPC分类号： A01J5/017 ,  G01S17/42 ,  G01S17/88

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.

公开(公告)号：US08920578B2

公开(公告)日：2014-12-30

申请号：US13705233

申请日：2012-12-05

申请人： Maasland N.V.

发明人： Karel Van Den Berg ,  Gerard Mostert

IPC分类号： A01J7/02

CPC分类号： A01J7/025

摘要： A teat cup cleaning device having a heating chamber, provided with a discharge which is closable by a valve, and arranged for connection to a teat cup. A filling device is provided for filling the heating chamber with an amount of cleaning liquid, and a heating arrangement is 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. The valve opens in this situation to deliver the heated cleaning liquid to the teat cup. The teat cup cleaning device also comprising a connecting line between a liquid supply and the discharge.

摘要翻译： 一种具有加热室的奶杯洗涤装置，其具有能够被阀关闭并且被布置成连接到奶杯的排出口。 提供一种填充装置，用于用一定量的清洗液填充加热室，并且设置加热装置，以将加热室内的内容物加热到高于环境压力下清洗液的沸点Tk的温度T。 在这种情况下，阀门打开，将加热的清洗液输送到奶杯。 乳头杯清洁装置还包括在液体供应和排放之间的连接线。

公开(公告)号：US08807080B2

公开(公告)日：2014-08-19

申请号：US12439824

申请日：2007-08-28

申请人： Karel Van Den Berg

发明人： Karel Van Den Berg

IPC分类号： A01J3/00 ,  A01J5/00

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 parlor, 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。

公开(公告)号：US08746177B2

公开(公告)日：2014-06-10

申请号：US13527655

申请日：2012-06-20

申请人： Karel Van Den Berg

发明人： Karel Van Den Berg

IPC分类号： A01J3/00 ,  A01J5/00

CPC分类号： A01J5/003 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/10

摘要： A milking implement comprising a frame with, disposed thereon, at least one teat cup holder with a teat cup movable relative thereto, and a replacing element connected with the teat cup, wherein the frame further includes an intermediate arm connected with the frame and with the teat cup holder and having a first joint and a second joint about which the teat cup holder and the intermediate arm, respectively, are tiltable with the aid of the replacing element, and a spring coupled with the teat cup holder and the frame and, if desired, with the intermediate arm.

摘要翻译： 一种挤奶器具，其包括框架，其上设置有至少一个具有可相对于其移动的奶头杯的奶头杯保持器，以及与所述奶杯连接的替换元件，其中所述框架还包括与所述框架连接的中间臂 乳头杯保持器，并且具有第一关节和第二关节，奶杯杯保持器和中间臂分别在该第一关节和第二关节处借助于替换元件可倾斜，以及与奶杯杯架和框架联接的弹簧，如果 需要与中间臂。

公开(公告)号：US08220412B2

公开(公告)日：2012-07-17

申请号：US12439838

申请日：2007-08-15

申请人： Karel Van Den Berg

发明人： Karel Van Den Berg

IPC分类号： A01J3/00 ,  A01J5/00

CPC分类号： A01J5/003 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/10

摘要： A milking implement comprising a frame with, disposed thereon, at least one teat cup holder with a teat cup movable relative thereto, and a replacing element connected with the teat cup, wherein the frame further includes an intermediate arm connected with the frame and with the teat cup holder and having a first joint and a second joint about which the teat cup holder and the intermediate arm, respectively, are tiltable with the aid of the replacing element, and a spring coupled with the teat cup holder and the frame and, if desired, with the intermediate arm.

摘要翻译： 一种挤奶器具，其包括框架，其上设置有至少一个具有可相对于其移动的奶头杯的奶头杯保持器，以及与所述奶杯连接的替换元件，其中所述框架还包括与所述框架连接的中间臂 乳头杯保持器，并且具有第一关节和第二关节，奶杯杯保持器和中间臂分别在该第一关节和第二关节处借助于替换元件可倾斜，以及与奶头杯保持器和框架联接的弹簧，如果 需要与中间臂。

公开(公告)号：US07690327B2

公开(公告)日：2010-04-06

申请号：US11639180

申请日：2006-12-15

申请人： Karel Van Den Berg

发明人： Karel Van Den Berg

IPC分类号： A01J3/00

CPC分类号： A01K1/12 ,  A01K15/003 ,  A01K15/02

摘要： A method of milking an animal involves admitting the animal into a milking box and expelling the animal from the milking box, the milking box comprising a connecting device, such as a robot arm, for automatically connecting a teat cup to a teat of the animal. The step of expelling the animal from the milking box is carried out using the robot arm. An installation for milking an animal is also described, the installation being provided with a milking box for the animal; a robot arm for automatically connecting a teat cup to a teat of the animal; and a device for expelling the animal from the milking box. The device for expelling the animal from the milking box comprises part of the robot arm.

摘要翻译： 挤奶动物的方法包括将动物进入挤奶箱并从挤奶箱排出动物，挤奶箱包括用于将奶杯自动连接到动物的乳头的连接装置，例如机器人手臂。 使用机器人臂进行从挤奶箱排出动物的步骤。 还描述了用于挤奶动物的装置，该装置设置有用于动物的挤奶箱; 用于将奶杯自动连接到动物的乳头的机器人手臂; 以及从挤奶箱排出动物的装置。 从挤奶箱排出动物的装置包括机器人手臂的一部分。

公开(公告)号：US20100006034A1

公开(公告)日：2010-01-14

申请号：US12565026

申请日：2009-09-23

申请人： Karel VAN DEN BERG

发明人： Karel VAN DEN BERG

IPC分类号： A01K5/02 ,  A01J5/00

CPC分类号： A01K5/0266 ,  A01K5/02 ,  A01K9/00 ,  G01S7/4802 ,  G01S17/36 ,  G01S17/88 ,  G01S17/89 ,  G05D1/0242 ,  G05D2201/0216

摘要： An unmanned vehicle for supplying feed to an animal, which is provided with a frame, with propulsion mechanism disposed thereon, feed supplier for supplying feed and navigator connected to the propulsion mechanism with a sensor for forming an image of an observation area, wherein the sensor comprises: a source of radiation for emitting modulated electromagnetic radiation, a receiver device for radiation reflected by an object, comprising a matrix with rows and columns of receivers, an optical device and sensor image processor configured to determine for the receivers a phase difference between the emitted electromagnetic radiation and the reflected electromagnetic radiation in order to calculate a distance from the receiver to the object. Through use of the unmanned vehicle device an excellent and reliable navigation is possible, so that, for example, milk can be conveyed efficiently from a milking implement to a calf.

摘要翻译： 一种用于向动物供给饲料的无人驾驶车辆，其具有设置在其上的推进机构的饲料供给器，用于供应与用于形成观察区域的图像的传感器连接到推进机构的饲料和导航器，其中所述传感器 包括：用于发射调制的电磁辐射的辐射源，用于由物体反射的辐射的接收器装置，包括具有行和列的接收器的矩阵，光学装置和传感器图像处理器，被配置为为接收机确定相位差 发射的电磁辐射和反射的电磁辐射，以便计算从接收器到物体的距离。 通过使用无人驾驶车辆装置，可以进行优良且可靠的导航，使得例如可以将牛奶从挤奶工具有效地传送到小腿。

公开(公告)号：US20090133635A1

公开(公告)日：2009-05-28

申请号：US12296940

申请日：2007-03-23

申请人： Howard Sie ,  Lucien Eliza Niels Voogd ,  Karel Van Den Berg

发明人： Howard Sie ,  Lucien Eliza Niels Voogd ,  Karel Van Den Berg

IPC分类号： A01K5/02 ,  A01K15/04

CPC分类号： A01K1/0209 ,  A01K1/0017 ,  A01K5/02 ,  E05Y2201/604 ,  E05Y2201/638 ,  E05Y2201/688 ,  E05Y2900/11 ,  E05Y2900/40

摘要： A method of feeding an animal in a feeding box. The method comprises at least the following steps, the steps a-c not necessarily taking place in the given sequence: a) identifying the animal in the feeding box, b) closing the feeding box, in such a way that access to the feeding box is impeded for an animal outside the feeding box, c) supplying feed to the animal in the feeding box in a chosen eating period of time. An installation for feeding an animal, which installation is provided with a frame that encloses at any rate at least partially a frame area. A neutral position means for positioning a passage means into one particular neutral position.

摘要翻译： 饲料箱饲养动物的方法。 该方法至少包括以下步骤，步骤ac不一定以给定的顺序发生：a）识别饲料箱中的动物，b）关闭饲喂箱，使得进入饲养箱的通路受到阻碍 对于饲养箱外的动物，c）在所选择的进食时间段内将饲料供给饲料箱中的动物。 用于饲养动物的装置，该装置设置有至少部分框架区域以任何速率包围的框架。 中间位置用于将通道装置定位在一个特定的中立位置。

公开(公告)号：US6142098A

公开(公告)日：2000-11-07

申请号：US478350

申请日：2000-01-06

申请人： Karel van den Berg

发明人： Karel van den Berg

IPC分类号： A01J5/017 ,  A01J5/08 ,  A01J5/16

CPC分类号： A01J5/08 ,  A01J5/0175

摘要： At least part of the length of a teat cup for milking the teat of an animal is flexible or deformable or both. The teat cup is mounted on a robot arm in a fully automated milking system so as to be releasably retained on the robot arm in a fixed, predetermined orientation relative thereto. A compression spring coated with vulcanized rubber is retained in the cover or jacket of the teat cup. A cord connected to the upper part of the teat cup is pulled to bend the teat cup by at least about 90.degree. relative to the vertical so that undesired material is less likely to enter the opening at the top of the teat cup and the teat cup is more compact and shorter between milkings. The cord used to bend the teat cup also function to retain the teat cup firmly on the robot arm in its fixed orientation relative thereto when the teat cup is not connected or being connected to a teat. When the cord is released the spring in the teat cup's jacket causes the teat cup to assume its operable upright disposition. The spring also facilitates the pulsation function of the teat cup and reduces the wear to which the pulsation liner is otherwise subjected.

摘要翻译： 用于挤奶动物的乳头的奶头杯的长度的至少一部分是柔性的或可变形的或两者都是。 奶杯在全自动挤奶系统中安装在机器人手臂上，以便以相对于其的固定的预定方向可释放地保持在机器人手臂上。 涂覆有硫化橡胶的压缩弹簧保留在奶杯的盖子或护套中。 拉动连接到奶杯的上部的绳索，以使奶杯相对于垂直线至少约90度弯曲，使得不期望的材料不太可能进入奶杯和奶杯的顶部的开口 在挤奶之间更紧凑和更短。 用于弯曲奶杯的绳索还用于当奶杯不连接或连接到奶头时，将奶头杯牢固地保持在与其相对的固定方向上的机器人手臂上。 当电线松开时，奶杯杯的外套中的弹簧会使奶杯承担其可操作的直立布置。 该弹簧还有助于乳头杯的脉动功能，并减少脉动衬垫另外受到的磨损。

公开(公告)号：US6109012A

公开(公告)日：2000-08-29

申请号：US24969

申请日：1997-02-06

申请人： Nanno Geert Staal ,  Maarten Koorn ,  Alfonsus Jacobus van den Engel

发明人： Nanno Geert Staal ,  Maarten Koorn ,  Alfonsus Jacobus van den Engel

IPC分类号： A01D78/10

CPC分类号： A01D78/1014

摘要： A hay-making machine comprising motor-driven working members which rotate about upwardly orientated shafts. The working members are divided into three groups arranged in rows extending transversely to the direction of travel of the machine. A central group is at the rear of the machine and two outboard groups extend outwardly from a location forward of the central rear group in such a manner that the inner working member of each outboard group overlaps (as seen in the direction of travel) the outer working member of the central rear group. The machine includes a frame on which the three groups of working members are mounted. Each group includes four working members. The outer two working members of the outboard groups are foldable to a position over the two inner working members of each of these groups about horizontal axes. Then the outboard groups, as so folded, can be pivoted about vertical axes so that they are positioned along side the frame. The outer working members of the central rear group can be pivoted about horizontal axes extending in the direction of travel of the machine by ninety degrees whereby the machine, in its transport position, is less than about three meters in width compared to its working width of about twelve meters in width.

摘要翻译： 一种干草机，包括围绕向上定向的轴旋转的电动工作构件。 工作构件被分成三组，其排列成横向于机器行进方向的行。 中心组在机器的后部，两个外侧组从中央后组的前方的位置向外延伸，使得每个外侧组的内部工作构件重叠（如在行进方向上看到的那样）外部 中央后组工作人员。 机器包括一个框架，三组工作构件安装在该框架上。 每组包括四名工作成员。 外侧组的外部两个工作构件可折叠到围绕水平轴线的这些组中的每一个的两个内部工作构件上方的位置。 那么如此折叠的外侧组件可围绕垂直轴线枢转，使得它们沿着框架的侧面定位。 中央后组的外部工作构件可以围绕在机器行进方向上延伸的水平轴线枢转九十度，从而在其运输位置上的机器的宽度小于其三分之一米宽 大约十二米宽。