公开(公告)号：US20180049392A1

公开(公告)日：2018-02-22

申请号：US15448761

申请日：2017-03-03

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Marijn Van Anart ,  Peter Willem van der Sluis

IPC: A01J5/007 ,  A01J5/017 ,  G01B11/24

CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175

Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a distance between a left and right teat of a dairy livestock is less than or equal to a predetermined distance, and if so, command the robotic arm to move to a scan location that is between the left and right teats. The processor is further configured to command the laser to perform a scan of the teats after the robotic arm is at the scan location and to determine whether the left and right teats are found in the scan. If both the left and right teats are found in the scan, the processor commands the robotic arm to attach a teat cup to either the left or right teat.

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

IPC: G06K9/00 ,  A01J5/007 ,  A01J5/017 ,  G01B11/24

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.

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

IPC: A01J5/007 ,  A01J5/017 ,  G01B11/24

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.

公开(公告)号：US10349613B2

公开(公告)日：2019-07-16

申请号：US15448854

申请日：2017-03-03

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Marijn Van Anart

IPC: G06K9/00 ,  A01J5/007 ,  A01J5/017 ,  G01B11/24

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 first location corresponding to an expected teat position of a first teat. The processor is further configured to determine whether the first teat is found in a first scan by the laser, and if so, command the robotic arm to move to a second location corresponding to the location in the scan. The processor is further configured to determine whether the first teat is found in a second scan by the laser, and if so, determine whether the first teat is within a predetermined distance from a current location of the robotic arm. If the first teat is within the predetermined distance from the current location of the robotic arm, the processor commands the robotic arm to attach a teat cup to the first teat.

公开(公告)号：US20180049397A1

公开(公告)日：2018-02-22

申请号：US15448821

申请日：2017-03-03

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Marijn Van Anart ,  Peter Willem van der Sluis

IPC: A01J5/017 ,  B25J9/16 ,  B25J11/00 ,  B25J19/02 ,  A01J5/007 ,  A01K1/12

CPC classification number: A01J5/0175 ,  A01J5/007 ,  A01K1/12 ,  B25J9/1697 ,  B25J19/022

Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a first teat of a diary livestock is found in a first scan of the dairy livestock by the laser, and if so, command the robotic arm to move to a location corresponding to the location of the first teat. The processor is further configured to increment a counter associated with the first teat and then determine whether the counter equals a predetermined number. If the counter equals the predetermined number, the processor commands the robotic arm to attach a teat cup to the first teat. If the counter does not equal the predetermined number, the processor determines whether the first teat is found in a second scan by the laser. If the first teat is found in the second scan, the processor commands the robotic arm to attach the teat cup to the first teat.

公开(公告)号：US20180049393A1

公开(公告)日：2018-02-22

申请号：US15448854

申请日：2017-03-03

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Marijn Van Anart

IPC: A01J5/007 ,  A01J5/017 ,  G01B11/24

CPC classification number: A01J5/007 ,  A01J5/0175 ,  G01B11/24

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 first location corresponding to an expected teat position of a first teat. The processor is further configured to determine whether the first teat is found in a first scan by the laser, and if so, command the robotic arm to move to a second location corresponding to the location in the scan. The processor is further configured to determine whether the first teat is found in a second scan by the laser, and if so, determine whether the first teat is within a predetermined distance from a current location of the robotic arm. If the first teat is within the predetermined distance from the current location of the robotic arm, the processor commands the robotic arm to attach a teat cup to the first teat.