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公开(公告)号：US10817970B2
公开(公告)日：2020-10-27
申请号：US16256558
申请日：2019-01-24
发明人： Mark A. Foresman , Richard B. Voigt
IPC分类号： G06K9/00 , G06T1/00 , A01J7/00 , B25J13/08 , B25J19/04 , G06T7/12 , G06T7/13 , G06T7/55 , G06T7/521 , G06T7/73 , G06T7/11 , A01J5/007 , A01J5/017
摘要： A vision system that includes a robotic arm and a three-dimensional (3D) camera operably coupled to a processor. The processor is configured to acquire a 3D image and identify a teat of the dairy livestock within the 3D image. The processor is further configured to determine a distance between a portion of a robotic arm and an approach vector for the teat, to compare the distance between the portion of the robotic arm and the approach vector for the teat and the attachment range threshold value, and to send instructions to the robotic arm based on the comparison.
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公开(公告)号：US10653103B2
公开(公告)日：2020-05-19
申请号：US15948400
申请日：2018-04-09
摘要： An apparatus includes a carriage, a platform, an extension member, and a spray tool member. The carriage moves along the track in a lateral direction. The platform is coupled to and positioned above the carriage. The length of the platform is greater than and orthogonal to the width of the platform and transverse to the lateral direction when in an operational state. The platform pivots about a fulcrum positioned between the platform and the carriage such that the front end and the back end of the platform move vertically in opposite directions. The extension member is movably coupled to the platform and has a longitudinal axis parallel to the length of the platform. The extension member extends away from the carriage in a first mode and retracts towards the carriage in a second mode. The spray tool member is coupled to the front end of the extension member.
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公开(公告)号：US10595500B2
公开(公告)日：2020-03-24
申请号：US15828553
申请日：2017-12-01
IPC分类号： A01J7/04 , A01K13/00 , G06T7/73 , G06T7/13 , B25J9/16 , A01K29/00 , A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , G06T1/00 , A01J7/00 , B25J11/00 , G06T7/00 , B25J9/00 , H04N7/18 , G05B19/042
摘要： A system for operating a robotic arm, comprises a controller and a robotic arm. The controller accesses an image of the rear of dairy livestock located in a stall of a rotary milking platform and, in conjunction with the stall of the rotary milking platform in which a dairy livestock is located moving into an area adjacent a robotic arm, determines whether a milking cluster is attached to the dairy livestock based at least in part upon the image. 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.
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公开(公告)号：US10477827B2
公开(公告)日：2019-11-19
申请号：US15455382
申请日：2017-03-10
摘要： A system includes a robotic arm, a laser, and a processor. The processor is configured to determine that a teat cup is to be attached to a front teat of a dairy livestock, and in response, determine an amount of separation between the front teat and a rear teat. The processor is further configured to calculate, if the amount of separation between the front and rear teats is greater than or equal to a predetermined distance, an updated front teat position based on the amount of separation between the front and rear teats and command the robotic arm to move to the updated front teat position. The processor is further configure to determine whether the front teat is found in a scan of the dairy livestock by the laser, and if so, command the robotic arm to attach the teat cup to the front teat.
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公开(公告)号：US10383305B1
公开(公告)日：2019-08-20
申请号：US16157673
申请日：2018-10-11
发明人： Mark A. Foresman , Bradley J. Prevost , Marijn Van Aart , Peter Willem van der Sluis , Alireza Janani
摘要： A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 2038, 203) of a diary livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).
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公开(公告)号：US10357015B2
公开(公告)日：2019-07-23
申请号：US14534766
申请日：2014-11-06
摘要： A robotic attacher comprises a main arm suspended from a rail, a supplemental arm coupled to the main arm, and a gripping portion coupled to an extension of the supplemental arm. The gripping portion comprises a first grabber positioned side-by-side with a second grabber. The first grabber is operable to attach a first teat cup to a first teat of a dairy livestock and the second grabber is operable to tilt downward independent of the first grabber in conjunction with the first grabber attaching the first teat cup. The second grabber is operable to attach a second teat cup to a second teat of the dairy livestock and the first grabber is operable to tilt downward independent of the second grabber in conjunction with the second grabber attaching the second teat cup.
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公开(公告)号：US10349619B2
公开(公告)日：2019-07-16
申请号：US15100220
申请日：2014-07-21
摘要： The present invention relates to a cleaning device (4) for cleaning and pretreating teats of an animal for milking, milking machine (2) provided therewith and method therefor. The cleaning device according to the invention comprises: a frame (52) provided with an arm (6); a cleaning head arranged on the arm and provided with a rotatable holder (12) on which one or more rotatable cleaning elements (14) are provided; and moving means (48, 50, 56) connected to the frame for displacing the cleaning head relative to the teats such that the teats are cleanable using the cleaning elements.
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公开(公告)号：US10349615B2
公开(公告)日：2019-07-16
申请号：US15448914
申请日：2017-03-03
摘要： A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a location of an expected teat position of a dairy livestock and to command the laser to perform two scans of the dairy livestock. The processor is further configured to determine whether a first teat is found in both of the scans, and if so, determine whether locations of the first teat in the two scans are within a predetermined distance of each other. The processor is further configured to, in response to determining that locations of the first teat in the two scans are within the predetermined distance of each other, command the robotic arm to move to a location corresponding to the location of the first teat and to command the robotic arm to attach a teat cup to the first teat.
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公开(公告)号：US10285378B2
公开(公告)日：2019-05-14
申请号：US15009297
申请日：2016-01-28
摘要： A milking cup comprising a body having a top portion and a bottom portion. The top portion has a first lip formed thereon and the bottom portion has a second lip formed thereon. The first lip and the second lip are separated by a distance. The milking cup further comprises a rotating shell positioned between and secured by the first lip and the second lip, wherein the rotating shell encircles the body and is operable to rotate around the body independently of the movement of the other portions of the body. The rotating shell has a length that corresponds to the distance between the first lip and the second lip.
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公开(公告)号：US10154645B2
公开(公告)日：2018-12-18
申请号：US15977333
申请日：2018-05-11
摘要： A system includes a robotic arm, an imaging device coupled to the robotic arm, a board 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 board is able to pivot from a down position to an up position and has an aperture through which the imaging device can pass through when the board lowers from the up position to the down position. The processor is coupled to both the imaging device and the board 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 board 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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