公开(公告)号：US20160150755A1

公开(公告)日：2016-06-02

申请号：US14901149

申请日：2014-04-07

Applicant: DELAVAL HOLDING AB

Inventor： Thomas AXELSSON ,  Kerstin HOLMSTROM

IPC: A01J7/02

CPC classification number: A01J7/025 ,  A01J7/02

Abstract: An arrangement for cleaning an end effector (21) carried by a robotic manipulation device (9a, 9b, 9c) includes an end effector cleaning station (18) mounted within a working area of the robotic manipulation device (9a, 9b, 9c), with a spray device (26) configured to provide at least one liquid jet. A control unit (11) is, when it is time to clean the end effector (21), configured to activate the robotic manipulation device (9a, 9b, 9c) such that it moves the end effector (21) downwards from a position above the end effector cleaning station (18) to a position where it is hit by the liquid jet, wherein during this movement the end effector (21) is substantially vertical.

Abstract translation: 用于清洁由机器人操纵装置（9a，9b，9c）携带的末端执行器（21）的装置包括安装在机器人操纵装置（9a，9b，9c）的工作区域内的末端执行器清洁站（18） 其中喷雾装置（26）构造成提供至少一种液体喷射。 控制单元（11）当要清洁末端执行器（21）的时候被配置为激活机器人操纵装置（9a，9b，9c），使得其从上方的位置向下移动末端执行器（21） 末端执行器清洁站（18）移动到其被液体射流撞击的位置，其中在该移动期间，末端执行器（21）基本垂直。

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。