-
公开(公告)号：US09357744B2
公开(公告)日：2016-06-07
申请号：US13449173
申请日：2012-04-17
摘要： In certain embodiments, a system comprises a milk collecting system, a teat cup holder, and a cleansing hose system. The milk collecting system comprises a teat cup, a milk collector, and a milking hose system connecting the teat cup to the milk collector. The teat cup holder stores the teat cup of the milk collecting system such that a nozzle of the teat cup holder substantially aligns with an opening of the teat cup. The cleansing hose system connects the nozzle of the teat cup holder to one or more cleanser sources and operable to backwash at least a portion of the milk collecting system by injecting a cleanser from one or more of the cleanser sources through the nozzle and into the teat cup.
摘要翻译： 在某些实施方案中，系统包括牛奶收集系统，奶杯杯保持器和清洁软管系统。 该奶收集系统包括一个奶杯，一个收集收集器和一个挤奶软管系统，将乳头杯与奶收集器相连。 奶杯杯架存储了乳汁收集系统的奶杯，使得奶头杯保持器的喷嘴基本上与奶杯的开口对准。 清洁软管系统将奶杯杯保持器的喷嘴连接到一个或多个清洁剂源，并且可操作以通过从一个或多个清洁剂源通过喷嘴注入清洁剂并进入奶嘴来反洗洗涤至少一部分乳汁收集系统 杯子。
-
公开(公告)号：US09265227B2
公开(公告)日：2016-02-23
申请号：US13448873
申请日：2012-04-17
CPC分类号： A01J5/0175 , A01J5/003 , A01J5/007 , G06T1/0014 , G06T7/73
摘要： In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup.
-
公开(公告)号：US09043988B2
公开(公告)日：2015-06-02
申请号：US13449056
申请日：2012-04-17
摘要： In certain embodiments, a milking box comprises a storage area comprising a retractable hose, a hose lift belt, a cup holder base, a cup holder, and a cup holder bracket. The retractable hose couples to a cup and suspends the cup in the storage area. The hose lift belt couples to the retractable hose and is operable to retract the retractable hose. The cup holder base defines an aperture through which the retractable hose is positioned. The cup holder comprises a rimmed structure adapted to hold an attachment end of the cup. The cup holder is coupled to the cup holder bracket. The cup holder bracket is operable to open and close such that when closed, the rimmed structure of the cup holder aligns with the attachment end of the cup that is suspended from the retractable hose.
摘要翻译： 在某些实施例中，挤奶箱包括存储区域，该存储区域包括可伸缩软管，软管提升带，杯架底座，杯架和杯架支架。 可缩回的软管连接到杯子并将杯子悬挂在存储区域中。 软管提升带连接到可伸缩软管，并可操作以缩回可伸缩软管。 杯架基部限定了可缩回软管定位的孔。 杯架包括适于保持杯的附接端的边框结构。 杯架连接到杯架托架上。 杯架支架可操作以打开和关闭，使得当关闭时，杯架的边缘结构与从可伸缩软管悬挂的杯的附接端对齐。
-
4.发明授权System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform 有权基于相邻的旋转挤奶平台的挤奶档的位置来控制机器人托架的位置的系统和方法公开(公告)号：US08800487B2
公开(公告)日：2014-08-12
申请号：US13448897
申请日：2012-04-17
摘要： A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller is operable to receive both a first rotary encoder signal indicating a first rotational position of a milking stall of the rotary milking platform (corresponding to a starting linear position of the robot carriage) and a second rotary encoder signal indicating a second rotational position of the milking stall. The controller is further operable to determine, based on a difference between the first and second signals, a desired linear position of the robot carriage on the carriage track (a position corresponding to the second rotational position of the milking stall). The controller is further operable to communicate a position signal to a carriage actuator, the position signal causing the carriage actuator to move the robot carriage to the desired linear position.
摘要翻译： 系统包括邻近旋转挤奶平台定位的滑架轨道，安装到滑架轨道的机器人滑架和控制器。 控制器可操作以接收指示旋转挤奶平台的挤奶档位的第一旋转位置（对应于机器人滑架的起始线性位置）的第一旋转编码器信号和指示第二旋转编码器信号的第二旋转编码器信号， 挤奶摊。 控制器还可操作以基于第一和第二信号之间的差异来确定机器人滑架在滑架轨道上的期望线性位置（对应于挤奶档的第二旋转位置的位置）。 控制器还可操作以将位置信号传送到滑架致动器，该位置信号使滑架致动器将机器人滑架移动到期望的直线位置。
-
公开(公告)号：US09258975B2
公开(公告)日：2016-02-16
申请号：US13448882
申请日：2012-04-17
CPC分类号： A01J5/007 , A01J5/00 , A01J5/0175 , A01J7/02 , A01K1/12 , B25J19/023 , H04N5/2252 , H04N5/2253 , H04N13/204 , H04N13/239
摘要： A system includes a robotic attacher comprising a main arm and a supplemental arm operable to extend into a stall portion of a milking box. A camera couples to the supplemental arm. The supplemental arm comprises a camera-facing nozzle operable to spray the camera with a cleanser.
摘要翻译： 一种系统包括机器人护理器，其包括主臂和可操作以延伸到挤奶箱的失速部分中的辅助臂。 相机与辅助臂相连。 补充臂包括可操作以用清洁剂喷洒相机的照相机面向喷嘴。
-
公开(公告)号：US09058657B2
公开(公告)日：2015-06-16
申请号：US13448840
申请日：2012-04-17
CPC分类号： G06T7/0004 , A01J5/007 , A01J5/0175 , A01K29/005 , G06K9/52 , G06T7/20 , G06T7/593 , G06T7/70 , G06T2207/10028 , G06T2207/30108 , G06T2207/30128 , H04N7/18 , H04N7/183 , H04N13/204 , H04N13/271 , H04N2013/0081
摘要： In an exemplary embodiment, a system includes a three-dimensional camera and a processor. The processor is operable to access a first portion of visual data captured by the three-dimensional camera wherein the visual data comprises an image of a dairy livestock and access a second portion of the visual data, wherein the first portion and the second portion are aligned in a first dimension. The processor is further operable to determine a first coordinate, wherein the first coordinate comprises a location of the first portion in a second dimension, the second dimension orthogonal to the first dimension and determine a second coordinate, wherein the second coordinate comprises a location of the second portion in the second dimension. The processor is further operable to determine a first distance exceeds a distance threshold, wherein the first distance is the distance between the first coordinate and the second coordinate in the second dimension.
摘要翻译： 在示例性实施例中，系统包括三维相机和处理器。 处理器可操作以访问由三维摄像机捕获的视觉数据的第一部分，其中视觉数据包括奶牛家畜的图像并且访问视觉数据的第二部分，其中第一部分和第二部分对准 在第一维度。 处理器还可操作以确定第一坐标，其中第一坐标包括第二维度中的第一部分的位置，第二维度与第一维度正交并确定第二坐标，其中第二坐标包括位置 第二维度中的第二部分。 处理器还可操作以确定第一距离超过距离阈值，其中第一距离是第二维度中的第一坐标和第二坐标之间的距离。
-
公开(公告)号：US20120274761A1
公开(公告)日：2012-11-01
申请号：US13448751
申请日：2012-04-17
CPC分类号： A01J5/0175 , A01J5/007 , G06T7/75 , G06T2207/30128
摘要： In an exemplary embodiment, a system includes a first camera, a second camera, and a processor wherein the second camera has a higher resolution than the first camera. The processor is communicatively coupled to the first camera and the second camera and is operable to determine a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by the first camera. The processor is also operable to determine a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by the second camera.
摘要翻译： 在示例性实施例中，系统包括第一相机，第二相机和处理器，其中第二相机具有比第一相机更高的分辨率。 处理器通信地耦合到第一相机和第二相机，并且可操作以至少部分地基于由第一相机获取的视觉数据来确定乳品家畜的乳房的中心坐标。 处理器还可操作以至少部分地基于由第二相机捕获的中心坐标和视觉数据来确定乳品牲畜的奶头的位置。
-
8.发明申请MILKING BOX WITH ROBOTIC ATTACHER AND BACKPLANE FOR TRACKING MOVEMENTS OF A DAIRY ANIMAL 有权用于跟踪动物的运动的机器人和背板的洗衣盒公开(公告)号：US20120272912A1
公开(公告)日：2012-11-01
申请号：US13448993
申请日：2012-04-17
CPC分类号： A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
摘要： In certain embodiments, a milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface.
摘要翻译： 在某些实施例中，挤奶箱包括失速部分和位于失速部分中的背板。 响应于施加到背板的接触表面的压力，背板向失速部分的后部移动。 响应于从接触表面移除的压力，底板向失速部分的前部移动。
-
9.发明申请SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE 有权根据序列将杯子连接到奶类动物的系统和方法公开(公告)号：US20120272904A1
公开(公告)日：2012-11-01
申请号：US13448951
申请日：2012-04-17
IPC分类号： A01J5/007
CPC分类号： A01J5/0175 , A01J5/00 , A01J5/007 , A01J5/017 , A01J7/04 , A01K1/12 , A01K13/001
摘要： In certain embodiments, a robotic attacher performs a method of attaching and detaching a cup from the teats of a dairy livestock in the sequence of right front teat, left front teat, left rear teat, and right rear teat. The method comprises the steps of determining a reference point and then, for each teat, positioning the cup relative to the reference point, determining a location of the teat, attaching the cup to the teat, and detaching the cup from the teat. In certain alternate embodiments, the sequence of attaching and detaching the cup comprises left front teat, right front teat, right rear teat, and left rear teat.
摘要翻译： 在某些实施方案中，机器人附着器执行以右前乳头，左前乳头，左后乳头和右后乳头的顺序将杯从奶牛家畜的乳头附着和分离的方法。 该方法包括以下步骤：确定参考点，然后，对于每个奶头，相对于参考点定位杯子，确定奶头的位置，将杯子连接到奶头，以及将奶杯从奶头上分离。 在某些替代实施例中，连接和分离杯子的顺序包括左前乳头，右前乳头，右后乳头和左后乳头。
-
10.发明申请System and Method for Using Robots in Conjunction With a Rotary Milking Platform 审中-公开使用机器人与旋转挤奶平台相结合的系统和方法公开(公告)号：US20120216748A1
公开(公告)日：2012-08-30
申请号：US13449951
申请日：2012-04-18
申请人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Gary C. Steingraber , Peter Willem van der Sluis
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Gary C. Steingraber , Peter Willem van der Sluis
CPC分类号： A01J5/007 , A01J5/0175 , A01J7/04 , A01K1/126 , B25J11/00
摘要： In certain embodiments, a system includes a first robotic device operable to prepare the teats of a first dairy livestock located in a first milking stall of a rotary milking platform. The system also includes a second robotic device operable to attach a first milking device to the teats of a second dairy livestock located in a second milking stall of the rotary milking platform. The system also includes a third robotic device operable to attach a second milking device to the teats of a third dairy livestock located in a third milking stall of the rotary milking platform. The system also includes a fourth robotic device operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in a fourth milking stall of the rotary milking platform subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.
摘要翻译： 在某些实施例中，系统包括第一机器人装置，其可操作以制备位于旋转挤奶平台的第一挤奶档位中的第一奶牛牲畜的奶头。 该系统还包括第二机器人装置，其可操作以将第一挤奶装置附接到位于旋转挤奶平台的第二挤奶档位中的第二乳房牲畜的奶头。 该系统还包括第三机器人装置，其可操作以将第二挤奶装置附接到位于旋转挤奶平台的第三挤奶档位中的第三奶牛家畜的奶头。 该系统还包括第四机器人装置，其可操作以将脱水剂施加到位于旋转挤奶平台的第四挤奶档位中的第四奶牛的奶头的奶头上，之后从第四乳制牲畜的奶头中取出第三挤奶装置 。
-
-
-
-
-
-
-
-
-
搜索结果
35 条记录 (耗时 0.024 秒)
