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公开(公告)号：US20200344972A1
公开(公告)日：2020-11-05
申请号：US16092333
申请日：2017-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost , Marijn Van Aart , Peter Willem Van Der Sluis , Alireza Janani
IPC: A01J5/007 , A01J5/017 , G06K9/62 , H04N13/204 , H04N13/271 , G06K9/46 , G06K9/32 , G06K9/00 , G06T7/73
Abstract: A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).
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公开(公告)号：US20180049394A1
公开(公告)日：2018-02-22
申请号：US15448879
申请日：2017-03-03
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Marijn Van Anart
CPC classification number: A01J5/007 , A01J5/0175 , G01B11/24 , G06K9/00664
Abstract: A system includes a robotic arm, memory, and a processor. The processor is configured to access first and second success counters stored in the memory. The first success counter is associated with a first attach algorithm and the second success counter is associated with a second attach algorithm. The processor is further configured to determine whether the first success counter is greater than the second success counter. The processor is further configured to execute the first attach algorithm if the first success counter is greater than the second success counter, and to execute the second attach algorithm if the first success counter is not greater than the second success counter. The processor is further configured to increment the first success counter if the first attach algorithm is successful, and to increment the second success counter if the second attach algorithm is successful.
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公开(公告)号：US10349614B2
公开(公告)日：2019-07-16
申请号：US15448879
申请日：2017-03-03
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Marijn Van Anart
Abstract: A system includes a robotic arm, memory, and a processor. The processor is configured to access first and second success counters stored in the memory. The first success counter is associated with a first attach algorithm and the second success counter is associated with a second attach algorithm. The processor is further configured to determine whether the first success counter is greater than the second success counter. The processor is further configured to execute the first attach algorithm if the first success counter is greater than the second success counter, and to execute the second attach algorithm if the first success counter is not greater than the second success counter. The processor is further configured to increment the first success counter if the first attach algorithm is successful, and to increment the second success counter if the second attach algorithm is successful.
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公开(公告)号：US10051832B2
公开(公告)日：2018-08-21
申请号：US15282479
申请日：2016-09-30
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Peter Willem van der Sluis , Robert J. Godfrey
CPC classification number: A01J5/007 , A01J5/0175 , A01J7/00 , B25J9/1697 , G05B2219/45113 , G06T7/70 , G06T2207/10028
Abstract: A system includes a robotic arm, an imaging device coupled to the robotic arm, a tail positioner coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The tail positioner is able to move from a down position to an up position. The processor is coupled to both the imaging device and the tail positioner and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.
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公开(公告)号：US20180232885A1
公开(公告)日：2018-08-16
申请号：US15953218
申请日：2018-04-13
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
IPC: G06T7/11 , H04N13/204 , G06T7/33 , H04N13/122 , G06T1/00 , G06T7/50 , A01K29/00 , A01J7/00 , G06T7/194
CPC classification number: G06T7/11 , A01J7/00 , A01K29/00 , G06T1/0014 , G06T7/12 , G06T7/13 , G06T7/181 , G06T7/194 , G06T7/33 , G06T7/50 , G06T7/73 , G06T7/75 , G06T2200/04 , G06T2207/10012 , G06T2207/10028 , H04N13/204 , H04N13/271 , H04N2013/0081
Abstract: A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and s to identify a thigh gap region from the one or more regions. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to identify one or more tail candidates within the tail detection region, to identify a tail candidate that corresponds with a tail model as the tail, and to determine position information for the tail.
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Patent Agency Ranking
公开(公告)号：US09984470B2
公开(公告)日：2018-05-29
申请号：US15239425
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: G06T7/11 , A01J7/00 , A01K29/00 , G06T1/0014 , G06T7/0042 , G06T7/0081 , G06T7/0083 , G06T7/13 , G06T7/194 , G06T7/33 , G06T7/50 , G06T7/75 , G06T2200/04 , G06T2207/10012 , G06T2207/10028 , G06T2207/20136 , H04N13/204
Abstract: A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall, a memory, and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and apply the thigh gap detection rule set to the one or more regions to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to partition the 3D image within the tail detection region to generate a plurality of image depth planes, examine each of the plurality of image depth planes, and determine position information for the tail of the dairy livestock in response to identifying the tail of the dairy livestock.
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公开(公告)号：US09980457B2
公开(公告)日：2018-05-29
申请号：US15239597
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , G06T1/0014 , H04N13/204
Abstract: A system that includes a laser, a three-dimensional (3D) camera, a memory, and a processor. The processor is configured to determine the position of a first teat candidate relative to a second teat candidate, assign the first teat candidate and the second teat candidate as a left teat candidate or right teat candidate, and receive a teat identifier for a target teat. The processor is configured to determine whether the left or right teat candidate is within a teat location range of the target teat and to link the teat identifier with the left teat candidate or right teat candidate based on the determination.
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公开(公告)号：US09974278B2
公开(公告)日：2018-05-22
申请号：US15239526
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost , Marinus P. Van Aart
CPC classification number: A01J5/007 , A01J5/017 , G06T1/0014 , G06T7/0042 , G06T7/11 , G06T7/33 , G06T2207/10004
Abstract: A system that includes a laser, a memory, and a processor. The processor is configured to receive a teat position associated with an unknown teat, determine a first position distance between the teat position and a first teat, determine a second position distance between the teat position and a second teat, determine a third position distance between the teat position and a third teat, and determine a fourth position distance between the teat position and a fourth teat. The processor is further configured to compare the first position distance, the second position distance, the third position distance, and the fourth position distance to determine a smallest position distance from the unknown teat, identify a teat of the dairy livestock corresponding with the smallest position distance, associate a teat identifier for the unknown teat with the identified teat, and store the association in the memory.
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公开(公告)号：US20180049395A1
公开(公告)日：2018-02-22
申请号：US15448914
申请日：2017-03-03
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: A01J5/007 , A01J5/0175 , G01B11/24 , G06K9/00335
Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a location of an expected teat position of a dairy livestock and to command the laser to perform two scans of the dairy livestock. The processor is further configured to determine whether a first teat is found in both of the scans, and if so, determine whether locations of the first teat in the two scans are within a predetermined distance of each other. The processor is further configured to, in response to determining that locations of the first teat in the two scans are within the predetermined distance of each other, command the robotic arm to move to a location corresponding to the location of the first teat and to command the robotic arm to attach a teat cup to the first teat.
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公开(公告)号：US09807971B1
公开(公告)日：2017-11-07
申请号：US15239300
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , G06K9/00208 , G06K9/00664 , G06K9/3233 , G06K9/4604 , G06K9/4642 , G06K9/6202 , G06K2209/19 , G06T7/001 , G06T7/0044 , G06T2207/10028 , G06T2207/30204 , H04N13/204 , H04N13/271
Abstract: A system including a 3D camera, memory, and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and apply the thigh gap detection rule set to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region, demarcate a teat detection region, partition the 3D image within the teat detection region to generate a plurality of image depth planes, and examine each of the plurality of image depth planes. The processor is further configured to identify one or more teat candidates within the image depth plane, apply the teat detection rule set to the one or more teat candidates to identify one or more teats, and determine position information for the one or more teats.
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