公开(公告)号：US20170094935A1

公开(公告)日：2017-04-06

申请号：US15381403

申请日：2016-12-16

Applicant: Technologies Holdings Corp.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J7/04 ,  B25J9/00 ,  A01K13/00 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  B25J9/16 ,  A01J5/003

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: A method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.

公开(公告)号：US09775325B2

公开(公告)日：2017-10-03

申请号：US15370571

申请日：2016-12-06

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J7/04 ,  A01K13/00 ,  B25J9/16 ,  A01K29/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  G06T1/00 ,  G06T7/73 ,  A01J7/00 ,  B25J11/00 ,  G06T7/00 ,  G06T7/13 ,  B25J9/00 ,  H04N7/18

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The plurality of spray nozzles are coupled to the linear member.

公开(公告)号：US20170079233A1

公开(公告)日：2017-03-23

申请号：US15370210

申请日：2016-12-06

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J5/00 ,  A01J7/04 ,  A01K11/00 ,  A01J5/007 ,  A01J5/017

CPC classification number: A01J5/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/06 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01J9/00 ,  A01K1/0023 ,  A01K1/0029 ,  A01K1/12 ,  A01K5/00 ,  A01K5/02 ,  A01K11/006 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/45113 ,  G06K9/00362 ,  G06T1/0014 ,  G06T7/70 ,  H04N5/247 ,  H04N13/204 ,  Y10S901/02 ,  Y10S901/47

Abstract: A method of operating a robotic attacher, includes suspending a robotic attacher from a rail and extending the robotic attacher between the legs of a dairy livestock. The method continues by attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method concludes by rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.

公开(公告)号：US20170290287A1

公开(公告)日：2017-10-12

申请号：US15634457

申请日：2017-06-27

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J5/017 ,  A01J7/04 ,  H04N13/02 ,  G06T7/70 ,  G06T1/00 ,  B25J19/02 ,  G06K9/00

CPC classification number: A01J5/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/06 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01J9/00 ,  A01K1/0023 ,  A01K1/0029 ,  A01K1/12 ,  A01K5/00 ,  A01K5/02 ,  A01K11/006 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/45113 ,  G06K9/00362 ,  G06T1/0014 ,  G06T7/70 ,  H04N5/247 ,  H04N13/204 ,  Y10S901/02 ,  Y10S901/47

Abstract: A method of operating a robotic attacher, comprises extending a robotic attacher between the legs of a dairy livestock. The method further comprises attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method further comprises rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.

公开(公告)号：US20170079235A1

公开(公告)日：2017-03-23

申请号：US15370571

申请日：2016-12-06

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J7/04 ,  B25J9/16 ,  A01J5/007 ,  A01K13/00 ,  A01K1/12 ,  A01J5/003

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The plurality of spray nozzles are coupled to the linear member.

公开(公告)号：US20180103604A1

公开(公告)日：2018-04-19

申请号：US15841418

申请日：2017-12-14

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J5/017 ,  G06T7/70 ,  G06K9/00 ,  A01J7/04 ,  B25J19/02 ,  G06T1/00

CPC classification number: A01J5/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/06 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01J9/00 ,  A01K1/0023 ,  A01K1/0029 ,  A01K1/12 ,  A01K5/00 ,  A01K5/02 ,  A01K11/006 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/45113 ,  G06K9/00362 ,  G06T1/0014 ,  G06T7/70 ,  H04N5/247 ,  H04N13/204 ,  Y10S901/02 ,  Y10S901/47

Abstract: A robotic attacher includes an arm that extends between the legs of a dairy livestock and a gripping portion coupled to the arm. The gripping portion is operable to rotate such that at a first time, a nozzle is positioned generally on the bottom of the gripping portion, and at a second time, the nozzle is positioned generally on the top of the gripping portion.

公开(公告)号：US09901067B2

公开(公告)日：2018-02-27

申请号：US15634457

申请日：2017-06-27

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J5/01 ,  A01J5/017 ,  B25J19/02 ,  A01J7/04 ,  G06K9/00 ,  G06T7/70 ,  G06T1/00 ,  H04N13/02

CPC classification number: A01J5/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/06 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01J9/00 ,  A01K1/0023 ,  A01K1/0029 ,  A01K1/12 ,  A01K5/00 ,  A01K5/02 ,  A01K11/006 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/45113 ,  G06K9/00362 ,  G06T1/0014 ,  G06T7/70 ,  H04N5/247 ,  H04N13/204 ,  Y10S901/02 ,  Y10S901/47

Abstract: A method of operating a robotic attacher, comprises extending a robotic attacher between the legs of a dairy livestock. The method further comprises attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method further comprises rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.

公开(公告)号：US09737039B2

公开(公告)日：2017-08-22

申请号：US15370210

申请日：2016-12-06

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J5/00 ,  A01J5/003 ,  A01K1/00 ,  A01J5/017 ,  A01K1/12 ,  A01J7/04 ,  A01J5/007 ,  A01J7/00 ,  B25J13/08 ,  B25J19/02 ,  A01J9/00 ,  A01J7/02 ,  A01K5/02 ,  H04N5/247 ,  A01J5/06 ,  A01J5/013 ,  A01K5/00 ,  A01K11/00 ,  G06K9/00 ,  H04N13/02 ,  G06T7/70 ,  A01J5/01 ,  G06T1/00

CPC classification number: A01J5/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/06 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01J9/00 ,  A01K1/0023 ,  A01K1/0029 ,  A01K1/12 ,  A01K5/00 ,  A01K5/02 ,  A01K11/006 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/45113 ,  G06K9/00362 ,  G06T1/0014 ,  G06T7/70 ,  H04N5/247 ,  H04N13/204 ,  Y10S901/02 ,  Y10S901/47

Abstract: A method of operating a robotic attacher, includes suspending a robotic attacher from a rail and extending the robotic attacher between the legs of a dairy livestock. The method continues by attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method concludes by rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.

公开(公告)号：US20170042109A1

公开(公告)日：2017-02-16

申请号：US15333301

申请日：2016-10-25

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J5/017 ,  A01K1/00 ,  A01K11/00 ,  A01K5/02 ,  A01J5/003 ,  G06T1/00 ,  A01J5/013 ,  A01J5/007 ,  A01J7/04 ,  A01J5/06 ,  A01J5/01 ,  A01K1/12 ,  A01J9/00

CPC classification number: A01J5/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/06 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01J9/00 ,  A01K1/0023 ,  A01K1/0029 ,  A01K1/12 ,  A01K5/00 ,  A01K5/02 ,  A01K11/006 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/45113 ,  G06K9/00362 ,  G06T1/0014 ,  G06T7/70 ,  H04N5/247 ,  H04N13/204 ,  Y10S901/02 ,  Y10S901/47

Abstract: A robotic attacher comprises a gripping portion, a vision system positioned on a first surface of the gripping portion, and at least one nozzle positioned on a second surface of the gripping portion. The gripping portion is rotates about a longitudinal axis such that during a first time, the vision system is positioned generally on the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion.

Abstract translation: 机器人附件包括夹持部分，位于抓握部分的第一表面上的视觉系统以及位于抓握部分的第二表面上的至少一个喷嘴。 抓握部分围绕纵向轴线旋转，使得在第一次期间，视觉系统通常定位在抓握部分的顶部上，并且在第二时间期间，喷嘴大致位于抓握部分的顶部上。