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公开(公告)号：US10143179B2
公开(公告)日：2018-12-04
申请号：US14663072
申请日：2015-03-19
Applicant: TECHNOLOGIES HOLDINGS, CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a gripping portion coupled to the supplemental arm. The supplemental arm moves in an x-direction and a y-direction. The gripping portion moves in a first z-direction in relation to the supplemental arm. The gripping portion also moves in a second z-direction opposite the first z-direction in relation to the supplemental arm.
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公开(公告)号：US09582871B2
公开(公告)日：2017-02-28
申请号：US14842874
申请日：2015-09-02
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: 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
Abstract: A system for processing an image comprises a three-dimensional camera that captures an image of a dairy livestock and a processor communicatively coupled to the three-dimensional camera. The processor accesses a first pixel having a first depth location, a second pixel having a second depth location, and a third pixel having a third depth location. The processor determines that the second pixel is an outlier among the first pixel and the third pixel based upon the first depth location, the second depth location, and the third depth location, and discards the second pixel from the image based at least in part upon the determination.
Abstract translation: 用于处理图像的系统包括捕获奶牛家畜的图像的三维照相机和通信地耦合到三维照相机的处理器。 处理器访问具有第一深度位置的第一像素，具有第二深度位置的第二像素和具有第三深度位置的第三像素。 处理器基于第一深度位置，第二深度位置和第三深度位置确定第二像素是第一像素和第三像素中的异常值，并且至少部分地基于来自图像的第二像素丢弃 决心。
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3.发明授权Milking box with robotic attacher comprising an arm that pivots, rotates, and grips 有权具有机器人护理者的挤奶箱包括枢转，旋转和夹持的臂公开(公告)号：US09491924B2
公开(公告)日：2016-11-15
申请号：US14842906
申请日：2015-09-02
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01K1/12 , B25J9/04 , B25J9/045 , B25J9/104 , Y10S901/14 , Y10S901/19 , Y10S901/21 , Y10S901/29 , Y10S901/31
Abstract: An apparatus comprises a milking box having a stall to accommodate a dairy livestock and a robotic attacher. The robotic attacher comprises a main arm that is suspended vertically from a rail of the milking box, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm comprises a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm.
Abstract translation: 一种装置包括具有用于容纳奶牛家畜的摊位的挤奶箱和机器人配件。 所述机器人附件包括从所述挤奶箱的轨道垂直悬挂的主臂，以及辅助臂，所述辅助臂沿着纵向轴线与所述主臂联接并水平延伸。 补充臂包括枢转组件，该枢转组件沿着与辅助臂的纵向方向横切的方向围绕基本上平行于机器人附件的主臂的垂直轴线枢转抓握部分。
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公开(公告)号：US20160066530A1
公开(公告)日：2016-03-10
申请号：US14940851
申请日：2015-11-13
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter van der Sluis
CPC classification number: A01J5/007 , A01J5/00 , A01J5/0175 , A01J7/02 , A01K1/12 , B25J19/023 , H04N5/2252 , H04N5/2253 , H04N13/204 , H04N13/239
Abstract: 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.
Abstract translation: 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。
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5.发明申请MILKING BOX WITH ROBOTIC ATTACHER COMPRISING AN ARM THAT PIVOTS, ROTATES, AND GRIPS 有权带有机器人的包装箱，包括销售，旋转和货架的手提箱公开(公告)号：US20150373943A1
公开(公告)日：2015-12-31
申请号：US14842906
申请日：2015-09-02
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01K1/12 , B25J9/04 , B25J9/045 , B25J9/104 , Y10S901/14 , Y10S901/19 , Y10S901/21 , Y10S901/29 , Y10S901/31
Abstract: An apparatus comprises a milking box having a stall to accommodate a dairy livestock and a robotic attacher. The robotic attacher comprises a main arm that is suspended vertically from a rail of the milking box, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm comprises a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm.
Abstract translation: 一种装置包括具有用于容纳奶牛家畜的摊位的挤奶箱和机器人配件。 所述机器人附件包括从所述挤奶箱的轨道垂直悬挂的主臂，以及辅助臂，所述辅助臂沿着纵向轴线与所述主臂联接并水平延伸。 补充臂包括枢转组件，该枢转组件沿着与辅助臂的纵向方向横切的方向围绕基本上平行于机器人附件的主臂的垂直轴线枢转抓握部分。
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Patent Agency Ranking
6.发明申请公开(公告)号：US20150366155A1
公开(公告)日：2015-12-24
申请号：US14842034
申请日：2015-09-01
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , A01J7/04 , A01K1/126
Abstract: A system comprises a robotic arm operable to extend between the legs of a dairy livestock located in a milking stall of a rotary milking platform, a camera operable to generate an image signal corresponding to a rear of the dairy livestock, and a controller communicatively coupled to the robotic arm and the camera. The controller determines whether a milking claw is attached to the teats of the dairy livestock by receiving the image signal generated by the camera and processing the image signal. If it is determined based on the image signal that the milking claw is not attached, the controller controls the robotic arm to extend between the legs of the dairy livestock. If it is determined based on the image signal that the milking claw is attached, the controller controls the robotic arm not to extend between the legs of the dairy livestock.
Abstract translation: 一种系统包括可操作以在位于旋转挤奶平台的挤奶档位中的乳品牲畜的腿部之间延伸的机器人臂，可操作以产生对应于乳品牲畜后部的图像信号的照相机，以及通信地耦合到 机器手臂和相机。 控制器通过接收由照相机产生的图像信号并处理图像信号来确定挤奶爪是否附着到奶牛家畜的乳头。 如果基于图像信号确定没有安装挤奶爪，则控制器控制机器人臂在奶牛家畜的腿之间延伸。 如果基于图像信号确定挤奶爪被附接，则控制器控制机器人手臂不会在奶牛家畜的腿之间延伸。
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公开(公告)号：US09171208B2
公开(公告)日：2015-10-27
申请号：US14548399
申请日：2014-11-20
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: G06K9/0055 , A01J5/007 , A01J5/0175 , G06T7/136 , G06T7/73 , G06T2207/30128 , H04N5/30 , H04N9/04
Abstract: A system comprises a memory operable to store light intensity information for a plurality of neighboring pixels of an image that includes a dairy livestock. The system further comprises a processor communicatively coupled to the memory. The processor determine that a difference between the light intensity information for a first pixel of the plurality of neighboring pixels and at least some of the other neighboring pixels exceeds a threshold. The processor further discards the first pixel and determines a location of a teat of the dairy livestock based on the image, excluding the discarded pixel.
Abstract translation: 系统包括可操作以存储包括奶牛家畜的图像的多个相邻像素的光强度信息的存储器。 系统还包括通信地耦合到存储器的处理器。 处理器确定多个相邻像素中的第一像素的光强度信息与至少一些其它相邻像素的光强度信息之间的差异超过阈值。 处理器进一步丢弃第一像素并基于图像确定乳品牲畜的乳头的位置，排除丢弃的像素。
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公开(公告)号：US20150071499A1
公开(公告)日：2015-03-12
申请号：US14548399
申请日：2014-11-20
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: G06K9/0055 , A01J5/007 , A01J5/0175 , G06T7/136 , G06T7/73 , G06T2207/30128 , H04N5/30 , H04N9/04
Abstract: A system comprises a memory operable to store light intensity information for a plurality of neighboring pixels of an image that includes a dairy livestock. The system further comprises a processor communicatively coupled to the memory. The processor determine that a difference between the light intensity information for a first pixel of the plurality of neighboring pixels and at least some of the other neighboring pixels exceeds a threshold. The processor further discards the first pixel and determines a location of a teat of the dairy livestock based on the image, excluding the discarded pixel.
Abstract translation: 系统包括可操作以存储包括奶牛家畜的图像的多个相邻像素的光强度信息的存储器。 系统还包括通信地耦合到存储器的处理器。 处理器确定多个相邻像素中的第一像素的光强度信息与至少一些其它相邻像素的光强度信息之间的差异超过阈值。 处理器进一步丢弃第一像素并基于图像确定乳品牲畜的乳头的位置，排除丢弃的像素。
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公开(公告)号：US20190090449A1
公开(公告)日：2019-03-28
申请号：US16206839
申请日：2018-11-30
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/00 , A01J5/007 , A01J5/017 , A01J7/04 , A01K1/12 , A01K13/001
Abstract: A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.
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公开(公告)号：US10172320B2
公开(公告)日：2019-01-08
申请号：US15274213
申请日：2016-09-23
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a robotic arm positioned in an equipment area of a milking box that includes a stall portion housing a dairy livestock with four teats. The robotic arm retrieves a cup, and for a plurality of teats of the dairy livestock, the robotic arm attaches the cup to a teat, detaches the cup from the teat, and maintains the cup within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into the equipment portion of the milking box after it is detached from the last teat of the dairy livestock.
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