公开(公告)号：US20150366157A1

公开(公告)日：2015-12-24

申请号：US14764595

申请日：2014-02-05

Applicant: DeLaval Holding AB

Inventor： Kerstin HOLMSTROM ,  Henrik OLANDER

IPC: A01J7/04 ,  B25J9/16

CPC classification number: A01J7/04 ,  A01J5/0175 ,  A01K13/001 ,  B25J9/1664 ,  B25J9/1697 ,  Y10S901/09

Abstract: Automatic teat treatment method and apparatus for treatment operations on teats of an animal using a robot apparatus. The method includes initiating automatic detection of spatial teat positions and registering the spatial positions of the detected teats; and deriving a dedicated treating action effective to move the treating device through a dedicated path defined by the registered spatial teat positions and carrying out treatment by moving the treating device through the dedicated path. When not all of the spatial positions are detected, then the method registers the spatial position of each detected teat and derives an adapted treating action effective to move the treating device through an adapted path defined by the registered spatial teat positions and by approximated spatial locations. When no teat spatial positions have been detected, the method derives a default treating action effective to move the treating device through a default treating path.

Abstract translation: 使用机器人装置的动物奶头的自动乳头处理方法和装置。 该方法包括启动空间乳头位置的自动检测和记录检测到的乳头的空间位置; 并且导出有效地使处理装置移动通过由注册的空间乳头位置限定的专用路径并且通过使处理装置移动通过专用路径来执行治疗的专用治疗动作。 当不是全部检测到空间位置时，该方法记录每个检测到的乳头的空间位置，并且导出适合的治疗动作，以有效地使处理装置通过由注册的空间乳头位置和近似空间位置定义的适应路径移动。 当没有检测到奶头空间位置时，该方法导出有效地将处理装置移动通过默认处理路径的默认处理动作。

公开(公告)号：US20150366156A1

公开(公告)日：2015-12-24

申请号：US14764590

申请日：2014-02-05

Applicant: DeLaval Holding AB

Inventor： Kerstin HOLMSTRÖM ,  Henrik OLANDER

IPC: A01J7/04

CPC classification number: A01J7/04 ,  A01J5/0175

Abstract: An automatic teat treatment method and apparatus uses a control system and an associated robot apparatus with an arm that carries a treatment apparatus, to establish a treatment operation start time and establish the presence of an animal at a treatment location, and then (i) initiate detection of a spatial teat position of a first teat, (ii) register the spatial position, (iii) derive a dedicated teat-treating action, (iv) carry out the teat-treating action, and (v) successively repeat the initiating, registering, deriving, and treating steps once in respect of each teat until all teats are treated, where, when after the start time, a predefined point in time is passed before any of the preceding steps is completed, the method is interrupted and a default treating action for treating all remaining untreated teats is derived and carried out by the treatment apparatus and thereafter the robot arm is retracted.

Abstract translation: 一种自动乳头治疗方法和装置使用具有手臂的控制系统和相关联的机器人装置，所述手臂携带治疗装置，建立治疗操作开始时间并在治疗位置建立动物的存在，然后（i）启动 检测第一乳头的空间乳头位置，（ii）记录空间位置，（iii）导出专门的乳头处理动作，（iv）进行奶头处理动作，和（v）连续地重复发起， 注册，推导和处理关于每个奶头的步骤，直到所有奶头被处理，其中何时在开始时间之后，在任何前述步骤完成之前传递预定义的时间点，该方法被中断并且是默认的 用于处理所有剩余未处理的乳头的处理动作由处理装置导出并执行，之后机器人手臂缩回。

公开(公告)号：US20150296742A1

公开(公告)日：2015-10-22

申请号：US14440602

申请日：2013-11-19

Applicant: DELAVAL HOLDING AB

Inventor： Jan ERIKSSON ,  Henrik OLANDER

IPC: A01K1/12 ,  A01J7/00

CPC classification number: A01K1/12 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126

Abstract: A leg spreading device for an animal in a milking stall includes a first and second elongated elements forming a first raised surface provided with a left side edge and a second raised surface provided with a right side edge. The elongated elements are oriented in a manner such that a transverse distance (w) between the left side edge of the first raised surface and the right side edge of the second raised surface increases continuously in a longitudinal direction of the elongated elements from a first transverse distance in the first longitudinal position to a second transverse distance in a second longitudinal position.

Abstract translation: 用于挤奶档位中的动物的腿部扩展装置包括形成设置有左侧边缘的第一凸起表面的第一和第二细长元件以及设置有右侧边缘的第二凸起表面。 细长元件被定向成使得第一凸起表面的左侧边缘和第二凸起表面的右侧边缘之间的横向距离（w）在细长元件的纵向方向上从第一横向 在第一纵向位置到第二纵向位置的第二横向距离的距离。