公开(公告)号：US08624744B2

公开(公告)日：2014-01-07

申请号：US12812635

申请日：2009-01-16

Applicant: Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

Inventor： Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

IPC: G08B21/00

CPC classification number: A01K1/126 ,  A01J5/017 ,  A01J5/0175 ,  A01K1/12 ,  G01S5/16 ,  G01S11/12 ,  G01S17/89

Abstract: An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats. The image processing device is also configured to repeatedly detect the plurality of teat cups and determine the positions of the teat cups in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teat cups located in the magazine. The arrangement also includes a control device configured to control a robot arm, based on the determined positions of the teats of the milking animal and the determined positions of the teat cups, to automatically attach at least one teat cup to at least one teat of the milking animal in the milking stall.

Abstract translation: 提供了一种布置，用于将挤奶杯连接到具有用于在挤奶期间容纳挤奶动物的挤奶档位的旋转挤奶系统中的挤奶动物的奶头。 该装置包括：三维照相机，被配置为指向挤奶档中的挤奶动物的乳房，并且实时地重复记录挤奶动物的乳房的三维图像。 三维摄像机进一步被构造成指向位于盒中的奶杯，并且实时地重复记录奶头杯的三维图像。 该装置还包括图像处理装置，其被配置为基于所述重复记录的乳头的三维图像，重复地检测挤奶动物的乳头并确定三个空间维度中的乳头的位置。 图像处理装置还被配置为基于位于盒中的乳头杯的所述重复记录的三维图像重复地检测多个奶头杯并确定三分之一空间尺寸的奶杯的位置。 该装置还包括控制装置，其被配置为基于所确定的挤奶动物的乳头的位置和确定的奶杯的位置来控制机器人手臂，以将至少一个奶杯自动附接到至少一个奶头 在挤奶摊位挤奶动物。

公开(公告)号：US20130074775A1

公开(公告)日：2013-03-28

申请号：US13701562

申请日：2011-06-01

Applicant: Jan-Erik Andersson ,  Thomas Axelsson

Inventor： Jan-Erik Andersson ,  Thomas Axelsson

IPC: A01J5/00

CPC classification number: A01J5/007 ,  A01J5/00 ,  A01J5/003 ,  A01J5/0175 ,  B25J9/101

Abstract: A milking arrangement includes a milking robot (10) having a first link (L1), a second link (L2), a third link (L3), an end effector (E), sensor (16) and a control unit (15). The first link is rotatable to a first angle within a first angle range (α1) via a first joint (11). The second link is rotatable to a second angle within a second angle range (α2) via a second joint (12). The third link (L3) is rotatable to a third angle within a third angle range (α3) via third joint (13). The links (L1, L2, L3) are rotatable so that the end effector is movable within a three-dimensional workspace (W). Each position of the end effector within the workspace corresponds to a single combination of the first, second and third angles.

Abstract translation: 挤奶装置包括具有第一连杆（L1），第二连杆（L2），第三连杆（L3），末端执行器（E），传感器（16）和控制单元（15）的挤奶机器人（10） 。 第一连杆经由第一接头（11）可转动到第一角度范围（α1）内的第一角度。 第二连杆可经由第二接头（12）在第二角度范围（α2）内旋转至第二角度。 第三连杆（L3）经由第三接头（13）在第三角度范围（α3）内可旋转到第三角度。 连杆（L1，L2，L3）是可旋转的，使得末端执行器可在三维工作空间（W）内移动。 工作空间内的端部执行器的每个位置对应于第一，第二和第三角度的单一组合。

公开(公告)号：US08281743B2

公开(公告)日：2012-10-09

申请号：US12738989

申请日：2008-11-17

Applicant: Thomas Axelsson ,  Uzi Birk

Inventor： Thomas Axelsson ,  Uzi Birk

IPC: A01J5/00 ,  A01K1/12

CPC classification number: A01J5/0175 ,  A01K1/126

Abstract: An apparatus for milking an animal provides a milking parlor (1) with a robotic manipulation device (25) and a milking stall (5) provided on a platform (3) moveable relative to the robotic manipulation device (25). An electric control system is adapted to vary the movement of the platform in response to the performance of the robotic manipulation device (25) in servicing the milking stall (5).

Abstract translation: 用于挤奶动物的装置提供了一种具有机器人操纵装置（25）和设置在相对于机器人操纵装置（25）可移动的平台（3））上的挤奶档（5）的挤奶厅（1）。 电气控制系统适于响应于机器人操纵装置（25）在维护挤奶档（5）时的性能而改变平台的运动。

公开(公告)号：US20100300362A1

公开(公告)日：2010-12-02

申请号：US12739020

申请日：2008-11-17

Applicant: Gert Danneker ,  Thomas Axelsson ,  Jan Eriksson

Inventor： Gert Danneker ,  Thomas Axelsson ,  Jan Eriksson

IPC: A01J5/007 ,  A01J5/003

CPC classification number: A01K1/126 ,  A01J5/0175

Abstract: An apparatus and method for locating a teat cup for use in a milking parlour. The apparatus includes a milking stall (7) provided on a rotatable platform (9) and a system (19, 245, 23, 25) for controlling movement of a teat cup magazine (20) relative to the stall (7). The movement control system permits movement of the magazine (20) between first and second predefined positions relative to the milking stall (7).

Abstract translation: 一种用于定位用于挤奶室的奶杯的装置和方法。 该设备包括设置在可旋转平台（9）上的挤奶档（7）和用于控制奶杯杯架（20）相对于档（7）的运动的系统（19,25,23,25）。 移动控制系统允许仓（20）相对于挤奶档（7）在第一和第二预定位置之间移动。

公开(公告)号：US08505483B2

公开(公告)日：2013-08-13

申请号：US13696840

申请日：2011-06-10

Applicant: Thomas Axelsson

Inventor： Thomas Axelsson

IPC: A01J7/00

CPC classification number: A01J5/0175

Abstract: A milking arrangement in includes a milking robot with a gripper (10). The robot includes a base, a link arrangement attached to the base and rotatable around a base axis via a base joint. The gripper (10) has a proximal end and a distal end and is attached to the link arrangement at the proximal end. The gripper has an extension plane and a longitudinal center axis (x4) extending in the extension plane through the proximal end and the distal end. The longitudinal center axis divides the gripper in a primary side (10a) and a secondary side (10b). The gripper has a plurality of separate gripping recesses (11-14), each being configured to grip a respective teatcup. The gripping recesses are asymmetrically positioned with respect to the longitudinal center axis.

Abstract translation: 挤奶装置包括具有夹持器（10）的挤奶机器人。 机器人包括基座，连接装置，其连接到基座并通过基座接头可围绕基座轴线旋转。 夹持器（10）具有近端和远端，并且在近端附接到连杆装置。 夹持器具有延伸平面和在延伸平面中通过近端和远端延伸的纵向中心轴线（x4）。 纵向中心轴将夹持器在初级侧（10a）和次级侧（10b）中分开。 夹持器具有多个单独的夹持凹部（11-14），每个夹持凹槽构造成夹持相应的乳头杯。 夹紧凹槽相对于纵向中心轴线不对称地定位。

公开(公告)号：US20130061807A1

公开(公告)日：2013-03-14

申请号：US13696840

申请日：2011-06-10

Applicant: Thomas Axelsson

Inventor： Thomas Axelsson

IPC: A01J7/00 ,  A01J5/003

CPC classification number: A01J5/0175

Abstract: A milking arrangement in includes a milking robot with a gripper (10). The robot includes a base, a link arrangement attached to the base and rotatable around a base axis via a base joint. The gripper (10) has a proximal end and a distal end and is attached to the link arrangement at the proximal end. The gripper has an extension plane and a longitudinal center axis (x4) extending in the extension plane through the proximal end and the distal end. The longitudinal center axis divides the gripper in a primary side (10a) and a secondary side (10b). The gripper has a plurality of separate gripping recesses (11-14), each being configured to grip a respective teatcup. The gripping recesses are asymmetrically positioned with respect to the longitudinal center axis.

Abstract translation: 挤奶装置包括具有夹持器（10）的挤奶机器人。 机器人包括基座，连接装置，其连接到基座并通过基座接头可围绕基座轴线旋转。 夹持器（10）具有近端和远端，并且在近端附接到连杆装置。 夹持器具有延伸平面和在延伸平面中通过近端和远端延伸的纵向中心轴线（x4）。 纵向中心轴将夹持器在初级侧（10a）和次级侧（10b）中分开。 夹持器具有多个单独的夹持凹部（11-14），每个夹持凹槽构造成夹持相应的乳头杯。 夹紧凹槽相对于纵向中心轴线不对称地定位。

公开(公告)号：US08291860B2

公开(公告)日：2012-10-23

申请号：US12739020

申请日：2008-11-17

Applicant: Gert Danneker ,  Thomas Axelsson ,  Jan Eriksson

Inventor： Gert Danneker ,  Thomas Axelsson ,  Jan Eriksson

IPC: A01K1/12 ,  A01J5/017

CPC classification number: A01K1/126 ,  A01J5/0175

Abstract: An apparatus and method for locating a teat cup for use in a milking parlor. The apparatus includes a milking stall (7) provided on a rotatable platform (9) and a system (19, 245, 23, 25) for controlling movement of a teat cup magazine (20) relative to the stall (7). The movement control system permits movement of the magazine (20) between first and second predefined positions relative to the milking stall (7).

Abstract translation: 一种用于定位用于挤奶室的奶杯的装置和方法。 该设备包括设置在可旋转平台（9）上的挤奶档（7）和用于控制奶杯杯架（20）相对于档（7）的运动的系统（19,25,23,25）。 移动控制系统允许仓（20）相对于挤奶档（7）在第一和第二预定位置之间移动。

公开(公告)号：US20100300490A1

公开(公告)日：2010-12-02

申请号：US12739423

申请日：2008-11-17

Applicant: Thomas Axelsson

Inventor： Thomas Axelsson

IPC: B08B9/00 ,  B08B3/00

CPC classification number: A01J7/025

Abstract: A system and method of cleaning a plurality of teat cups (8a-d) includes using a robotic manipulation device (2) to move the plurality of teat cups (8a-d) from a first position to a second position, and cleaning the teat cups (8a-d) at a second position, wherein the robotic manipulation device (2) deposits the teat cups (8a-d) individually, in turn, at the second position.

Abstract translation: 清洁多个奶杯（8a-d）的系统和方法包括使用机器人操纵装置（2）将多个奶杯（8a-d）从第一位置移动到第二位置，并且清洁奶头 在第二位置处的杯（8a-d），其中所述机器人操纵装置（2）分别在所述第二位置处分别地将所述奶杯（8a-d）分别存放。

公开(公告)号：US20100278374A1

公开(公告)日：2010-11-04

申请号：US12303418

申请日：2007-07-12

Applicant: Anders Hallstrom ,  Thomas Axelsson

Inventor： Anders Hallstrom ,  Thomas Axelsson

IPC: G06K9/00

CPC classification number: A01J5/0175

Abstract: An apparatus (10) for recognizing and determining the position of at least one teat cup (401, 402, 403, 404) of at least one teat cup magazine (42, 421, 422). The apparatus (10) emits waves (20) into a region (A) which is expected to contain a teat cup or teat cups (401, 402, 403, 404). The apparatus (10) also includes a detector (260) for detecting reflections of the waves (20). The apparatus (10) also includes a unit (24) for evaluating the reflections in order to determine if the reflections originate from the teat cup or cups (401, 402, 403, 404). Furthermore, the apparatus (10) also includes a unit (26) for determining the position of the teat cup or cups (401, 402, 403, 404) if it is established that the reflections originate from the teat cup (401, 402, 403, 404).

Abstract translation: 一种用于识别和确定至少一个奶杯杯（42,421,422）的至少一个奶杯（401,402,403,404）的位置的装置（10）。 装置（10）将波（20）发射到预期包含奶杯或奶杯（401,402,403,404）的区域（A）中。 装置（10）还包括用于检测波（20）的反射的检测器（260）。 装置（10）还包括用于评估反射的单元（24），以便确定反射是否源于奶杯或杯（401,402,403,404）。 此外，如果确定反射来源于奶杯（401,402,404,404），装置（10）还包括用于确定奶杯或杯（401,402,403,404）的位置的单元（26） 403,404）。

公开(公告)号：US08342124B2

公开(公告)日：2013-01-01

申请号：US12739423

申请日：2008-11-17

Applicant: Thomas Axelsson

Inventor： Thomas Axelsson

IPC: A01J5/017

CPC classification number: A01J7/025

Abstract: A system and method of cleaning a plurality of teat cups (8a-d) includes using a robotic manipulation device (2) to move the plurality of teat cups (8a-d) from a first position to a second position, and cleaning the teat cups (8a-d) at a second position, wherein the robotic manipulation device (2) deposits the teat cups (8a-d) individually, in turn, at the second position.

Abstract translation: 清洁多个奶杯（8a-d）的系统和方法包括使用机器人操纵装置（2）将多个奶杯（8a-d）从第一位置移动到第二位置，并且清洁奶头 在第二位置处的杯（8a-d），其中所述机器人操纵装置（2）分别在所述第二位置处分别地将所述奶杯（8a-d）分别存放。