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公开(公告)号：US09770007B2
公开(公告)日：2017-09-26
申请号：US14764595
申请日：2014-02-05
Applicant: DELAVAL HOLDING AB
Inventor： Kerstin Holmstrom , Henrik Olander
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.
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公开(公告)号：US09872478B2
公开(公告)日：2018-01-23
申请号：US14901149
申请日：2014-04-07
Applicant: DELAVAL HOLDING AB
Inventor： Thomas Axelsson , Kerstin Holmstrom
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.
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公开(公告)号：US09826709B2
公开(公告)日：2017-11-28
申请号：US14764590
申请日：2014-02-05
Applicant: DELAVAL HOLDING AB
Inventor： Kerstin Holmstrom , Henrik Olander
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.
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