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公开(公告)号：US09510553B2
公开(公告)日：2016-12-06
申请号：US14402711
申请日：2013-03-15
申请人： DELAVAL HOLDING AB
发明人： Dorota Anglart , Mikael Kallman , Sten Mellberg
CPC分类号： A01J5/0175 , A01J5/003 , A01J5/007 , A01J7/00 , A01K29/005 , G06T7/0004
摘要： A combined teat position and breeding rating determining arrangement for a milking system having a milking stall, a movable robot arm for automatically attaching teat cups to the teats of the milking animal, and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement includes a three-dimensional camera directed towards the udder of the milking animal that repeatedly records three-dimensional images of the udder, and a processing unit that repeatedly detects the udder or teats of the milking animal, determines their positions based on the recorded three-dimensional images, automatically determines the shapes of the udder or teats based on the repeatedly recorded three-dimensional images, and automatically calculates a breeding rating based on the determined shapes of the udder or teats of the milking animal.
摘要翻译： 用于具有挤奶档位的挤奶系统的组合乳头位置和育种评级确定装置，用于将挤奶杯自动连接到挤奶动物的乳头的可移动机器人手臂，以及用于根据确定的控制装置控制机器人手臂的运动 挤奶动物的乳头位置。 该装置包括针对挤奶动物的乳房的三维照相机，其重复地记录乳房的三维图像，以及重复检测挤奶动物的乳房或乳头的处理单元，基于记录的乳头状态确定其位置 三维图像基于重复记录的三维图像自动确定乳房或乳头的形状，并且基于确定的挤奶动物的乳头或乳头的形状自动计算育种评级。
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公开(公告)号：US09504225B2
公开(公告)日：2016-11-29
申请号：US15008695
申请日：2016-01-28
CPC分类号： A01J7/005 , A01J3/00 , A01J5/007 , A01J5/01 , A01J5/013 , A01J5/0133 , A01J5/0135 , A01J5/0138 , A01J5/04
摘要： A method comprises receiving a flow of milk at an inlet of a manifold. The inlet comprises a first end coupled to a hose that receives a flow of milk from a teat cup and a second end terminating in a chamber of the manifold. The manifold comprises one or more other inlets and a plurality of outlets. The plurality of outlets includes one or more milk collector outlets and one or more drain outlets. The method proceeds by causing the flow of milk to be directed to a corresponding milk collector outlet by causing a shut-off valve corresponding to the inlet to open, and by causing a drain valve corresponding to the inlet to close. The method concludes by causing the flow of milk to be directed to a corresponding drain outlet by causing the drain valve corresponding to the inlet to open.
摘要翻译： 一种方法包括在歧管的入口处接收牛奶流。 入口包括联接到软管的第一端，其接收来自奶杯的牛奶流，以及终止于歧管的腔室中的第二端。 歧管包括一个或多个其它入口和多个出口。 多个出口包括一个或多个集奶器出口和一个或多个排水出口。 通过使对应于入口的截止阀打开，并且通过使与入口对应的排水阀关闭，导致牛奶的流动被引导到相应的收集器出口。 该方法的结论是通过使对应于入口的排放阀打开来使牛奶的流动被引导到相应的排出口。
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公开(公告)号：US09402364B2
公开(公告)日：2016-08-02
申请号：US14181127
申请日：2014-02-14
CPC分类号： A01J5/0175
摘要： A robotic milking system suitable for use with conventional milking clusters. Clusters are withdrawn to a generally known position upon release from a cow with the cups hanging down below the bowl. The cups are then located in a confined region from where they are picked up by a robotic arm and attached to teats of a cow. The arrangement allows a single robotic arm to service multiple bales of a rotary milking parlor.
摘要翻译： 适用于常规挤奶集群的机器人挤奶系统。 从奶牛释放后，将集群撤回到通常已知的位置，杯子垂下碗下方。 然后，杯子位于一个受限制的区域，从那里它们被机器手臂拾取并连接到一头母牛的奶头上。 该装置允许单个机器臂来服务多个旋转挤奶厅的捆包。
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公开(公告)号：US08978583B2
公开(公告)日：2015-03-17
申请号：US13519349
申请日：2011-02-08
申请人： Uzi Birk , Mats Nilsson , Gert Danneker , Thomas Axelsson , Jan Eriksson
发明人： Uzi Birk , Mats Nilsson , Gert Danneker , Thomas Axelsson , Jan Eriksson
CPC分类号： A01K1/126
摘要： An animal treating arrangement includes a carrying device beside a milking platform rotating with a velocity and having animal places housing animals. The carrying device includes a fundament, a first bearing device (12) provided on the fundament, an arm (13) connected to the first bearing device permitting the arm to rotate in relation to the fundament around a first axis, a support platform (15) connected to the arm (13). A drive arrangement moves the support platform and includes a first drive member (31) rotating the arm around the first axis. A sensor (37) communicates with a control unit (36) and senses an instantaneous value of the velocity. The control unit controls the first drive member to move the support platform to follow the milking platform from a start position to an end position during a part of the rotation of the milking platform.
摘要翻译： 动物处理装置包括在速度旋转的挤奶平台旁边的携带装置，并且具有容纳动物的动物场所。 承载装置包括基座，设置在基座上的第一轴承装置（12），连接到第一轴承装置的臂（13），允许臂围绕第一轴线相对于基部旋转;支撑平台（15） ）连接到臂（13）。 驱动装置移动支撑平台并且包括围绕第一轴线旋转臂的第一驱动构件（31）。 传感器（37）与控制单元（36）通信并感测速度的瞬时值。 控制单元控制第一驱动构件以在挤奶平台的一部分旋转期间移动支撑平台以使挤奶平台从起始位置到终点位置。
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公开(公告)号：US08944004B2
公开(公告)日：2015-02-03
申请号：US13141189
申请日：2009-12-10
申请人： Hans Holmgren , Thomas Axelsson
发明人： Hans Holmgren , Thomas Axelsson
CPC分类号： A01J7/04 , A01J5/0175
摘要： A detecting arrangement is provided for a teat cleaning device including a teat cleaning cup in which teats of milking animals are contained during cleaning thereof. The detecting arrangement comprises a measuring device provided for automatically measuring a teat related parameter in or adjacent to the teat cleaning cup at completion of a teat cleaning process, and a processing device operatively connected to the measuring device and provided for automatically comparing the measured teat related parameter with a reference value and for automatically determining whether the teat of the milking animal has been contained in the teat cleaning cup unfolded during the teat cleaning process based on the comparison.
摘要翻译： 提供了一种用于奶头清洁装置的检测装置，其包括其清洁期间容纳挤奶动物的乳头的奶头清洁杯。 该检测装置包括一个测量装置，用于在乳头清洁过程完成时自动测量奶嘴清洁杯中或其附近的乳头相关参数，以及可操作地连接到测量装置并被提供用于自动比较测量的乳头相关 参数，并且基于比较，自动确定挤奶动物的乳头是否已经被包含在乳头清洁过程中展开的乳头清洁杯中。
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公开(公告)号：US08807080B2
公开(公告)日：2014-08-19
申请号：US12439824
申请日：2007-08-28
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
CPC分类号： A01J5/017 , A01J5/0175 , G01S17/42 , G01S17/88 , Y10S901/09 , Y10S901/46
摘要： An implement for automatically milking a dairy animal, such as a cow, comprises a milking parlor, a sensor for observing a teat, and a milking robot for automatically attaching a teat cup to the teat. The milking robot comprises a robot control that is connected to the sensor. The sensor comprises a radiation source for emitting light, a receiver for receiving electromagnetic radiation reflected from the dairy animal, a lens, and sensor control unit. The sensor comprises a matrix with a plurality of rows and a plurality of columns of receivers. The sensor control unit is designed to determine for each of the receivers a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate the distance from the sensor to a plurality of points on the part to be observed of the dairy animal.
摘要翻译： 用于自动挤奶的动物如奶牛的工具包括挤奶室，用于观察奶头的传感器和用于将奶杯自动地连接到奶头的挤奶机器人。 挤奶机器人包括连接到传感器的机器人控制。 传感器包括用于发射光的辐射源，用于接收从乳制动物反射的电磁辐射的接收器，透镜和传感器控制单元。 传感器包括具有多行和多列接收器的矩阵。 传感器控制单元被设计成为每个接收器确定发射和反射的电磁辐射之间的相位差，以便计算从传感器到待观察部分的多个点的距离。
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7.发明授权System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform 有权基于相邻的旋转挤奶平台的挤奶档的位置来控制机器人托架的位置的系统和方法公开(公告)号：US08800487B2
公开(公告)日：2014-08-12
申请号：US13448897
申请日：2012-04-17
摘要： A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller is operable to receive both a first rotary encoder signal indicating a first rotational position of a milking stall of the rotary milking platform (corresponding to a starting linear position of the robot carriage) and a second rotary encoder signal indicating a second rotational position of the milking stall. The controller is further operable to determine, based on a difference between the first and second signals, a desired linear position of the robot carriage on the carriage track (a position corresponding to the second rotational position of the milking stall). The controller is further operable to communicate a position signal to a carriage actuator, the position signal causing the carriage actuator to move the robot carriage to the desired linear position.
摘要翻译： 系统包括邻近旋转挤奶平台定位的滑架轨道，安装到滑架轨道的机器人滑架和控制器。 控制器可操作以接收指示旋转挤奶平台的挤奶档位的第一旋转位置（对应于机器人滑架的起始线性位置）的第一旋转编码器信号和指示第二旋转编码器信号的第二旋转编码器信号， 挤奶摊。 控制器还可操作以基于第一和第二信号之间的差异来确定机器人滑架在滑架轨道上的期望线性位置（对应于挤奶档的第二旋转位置的位置）。 控制器还可操作以将位置信号传送到滑架致动器，该位置信号使滑架致动器将机器人滑架移动到期望的直线位置。
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公开(公告)号：US08752504B2
公开(公告)日：2014-06-17
申请号：US13115587
申请日：2011-05-25
CPC分类号： A01J7/005 , A01J3/00 , A01J5/007 , A01J5/01 , A01J5/013 , A01J5/0133 , A01J5/0135 , A01J5/0138 , A01J5/04
摘要： In certain embodiments, an apparatus includes a plurality of inlets and a plurality of outlets. Each inlet is adapted to receive a flow of milk from a dairy livestock, and each outlet is adapted to receive a flow of milk from a corresponding one or more inlets. The plurality of outlets include one or more milk collector outlets and one or more drain outlets. Each milk collector outlet is adapted to direct the flow of milk received from the corresponding one or more inlets to a milk collector. Each drain outlet is adapted to direct the flow of milk received from the corresponding one or more inlets to a discard area. The apparatus further includes one or more valves each associated with one of the plurality of inlets. The one or more valves are adapted to direct the flow of milk received at the associated inlet to either a corresponding one of the one or more milk collector outlets or a corresponding one of the one or more drain outlets.
摘要翻译： 在某些实施例中，装置包括多个入口和多个出口。 每个入口适于从奶牛家畜接收牛奶流，并且每个出口适于从相应的一个或多个入口接收牛奶流。 多个出口包括一个或多个牛奶收集器出口和一个或多个排出口。 每个收集器出口适于将从相应的一个或多个入口接收的牛奶流引导到牛奶收集器。 每个排水出口适于将从相应的一个或多个入口接收的牛奶流引导到丢弃区域。 该装置还包括一个或多个与每个入口中的一个相关联的阀。 所述一个或多个阀适于将接收在相关入口处的牛奶流引导到所述一个或多个集奶器收集器出口中的相应一个或所述一个或多个排水出口中相应的一个。
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公开(公告)号：US08746177B2
公开(公告)日：2014-06-10
申请号：US13527655
申请日：2012-06-20
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
CPC分类号： A01J5/003 , A01J5/017 , A01J5/0175 , A01J5/04 , A01J5/10
摘要： A milking implement comprising a frame with, disposed thereon, at least one teat cup holder with a teat cup movable relative thereto, and a replacing element connected with the teat cup, wherein the frame further includes an intermediate arm connected with the frame and with the teat cup holder and having a first joint and a second joint about which the teat cup holder and the intermediate arm, respectively, are tiltable with the aid of the replacing element, and a spring coupled with the teat cup holder and the frame and, if desired, with the intermediate arm.
摘要翻译： 一种挤奶器具，其包括框架，其上设置有至少一个具有可相对于其移动的奶头杯的奶头杯保持器，以及与所述奶杯连接的替换元件，其中所述框架还包括与所述框架连接的中间臂 乳头杯保持器，并且具有第一关节和第二关节，奶杯杯保持器和中间臂分别在该第一关节和第二关节处借助于替换元件可倾斜，以及与奶杯杯架和框架联接的弹簧，如果 需要与中间臂。
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公开(公告)号：US08662013B2
公开(公告)日：2014-03-04
申请号：US13564481
申请日：2012-08-01
申请人： Massimo Serafini
发明人： Massimo Serafini
CPC分类号： A01J5/041
摘要： A gripping device (10, 10′) for a milking unit (12, 12′) provided with a manifold (14, 62), a pulse tube (16, 64), shells and teat-cups to be connected to the udders of the animal, the gripping device applied to a terminal portion of the pulse tube (16, 64) connected to the manifold (14, 62), said device comprising means for a firm, safe and ergonomic grip and means for a quick replacement and maintenance of the unit or components thereof.
摘要翻译： 一种用于挤压单元（12,12'）的夹紧装置（10,10'），其设置有歧管（14,62），脉冲管（16,64），壳体和奶杯，其连接到乳房 动物，夹持装置施加到连接到歧管（14,62）的脉冲管（16,64）的端子部分，所述装置包括用于牢固，安全和符合人体工程学的夹持装置以及用于快速更换和维护的装置 的单位或组成部分。
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