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61. 发明授权

US08807086B2 Automated system for applying disinfectant to the teats of dairy livestock 有权
标题翻译：将消毒剂应用于乳制品家禽乳头的自动化系统
公开(公告)号：US08807086B2
公开(公告)日：2014-08-19
申请号：US13454975
申请日：2012-04-24
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J7/04
CPC分类号： 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
摘要： A system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage, a second member pivotally attached to the first member, and a spray tool member pivotally attached to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool may discharge a disinfectant to the teats of the dairy livestock.
摘要翻译：将消毒剂施加到奶牛家畜的乳头的系统包括安装在轨道上的滑架，滑架可操作以沿轨道横向平移。该系统还包括机器人手臂，其包括枢转地附接到滑架的第一构件，可枢转地附接到第一构件的第二构件和可枢转地附接到第二构件的喷射工具构件。机器手臂还包括附接到喷雾工具构件的喷雾工具。该系统还包括控制器，其可操作以使机器人手臂的至少一部分在奶牛家畜的后腿之间延伸，使得喷雾工具可以将消毒剂排放到乳品牲畜的奶嘴上。

62. 发明授权

US08752504B2 Milking system shut-off and sensors 有权
标题翻译：挤奶系统关闭和传感器
公开(公告)号：US08752504B2
公开(公告)日：2014-06-17
申请号：US13115587
申请日：2011-05-25
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J3/00 , A01J5/00
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。

63. 发明授权

US08671885B2 Vision system for robotic attacher 有权
标题翻译：机器人护理者的视觉系统
公开(公告)号：US08671885B2
公开(公告)日：2014-03-18
申请号：US13095994
申请日：2011-04-28
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J5/00
CPC分类号： A01J5/0175 , A01J5/007 , A01J5/017 , A01K1/12 , G06T7/001 , G06T7/74 , G06T7/77 , G06T2207/10012 , H04N13/204
摘要： In certain embodiments, a system includes a controller operable to access a first image generated by a first camera. The controller determines a reference point from at least one main feature of a dairy livestock included in the first image. The controller is further operable to access a second image generated by the second camera. The second image includes at least a portion of an udder of the dairy livestock. The controller determines a location of a teat of the dairy livestock based on the second image.
摘要翻译：在某些实施例中，系统包括可操作以访问由第一相机生成的第一图像的控制器。控制器从包括在第一图像中的乳品牲畜的至少一个主要特征确定参考点。控制器还可操作以访问由第二相机生成的第二图像。第二图像包括乳制品家畜的至少一部分。所述控制器基于所述第二图像确定所述乳品牲畜的奶头的位置。

64. 发明授权

US08393296B2 Milking box with robotic attacher including rotatable gripping portion and nozzle 有权
标题翻译：具有机器人护理者的挤奶箱，包括可旋转夹持部分和喷嘴
公开(公告)号：US08393296B2
公开(公告)日：2013-03-12
申请号：US13454833
申请日：2012-04-24
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J5/00 , A01J5/017
CPC分类号： 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
摘要： In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.
摘要翻译：在某些实施例中，系统包括前壁，大体上平行于前壁定位的后壁，以及分别在前壁和后壁之间延伸的第一和第二侧壁。所述第一侧壁包括门，所述第二侧壁与所述第一侧壁间隔开，使得所述前壁，所述后壁，所述第一侧壁和所述第二侧壁限定了足够尺寸的挤奶箱档位适应奶牛家畜。该系统包括邻近后壁设置的设备部分。设备部分容纳机器人附件，其被配置为在位于挤奶箱档位内的乳品牲畜的后腿之间延伸，以便将挤奶设备附接到奶牛家畜。

65. 发明申请

US20120277913A1 Vision System for Robotic Attacher 有权
标题翻译：机器人观察系统
公开(公告)号：US20120277913A1
公开(公告)日：2012-11-01
申请号：US13095994
申请日：2011-04-28
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： B25J13/08 , A01J5/017
CPC分类号： A01J5/0175 , A01J5/007 , A01J5/017 , A01K1/12 , G06T7/001 , G06T7/74 , G06T7/77 , G06T2207/10012 , H04N13/204
摘要： In certain embodiments, a system includes a controller operable to access a first image generated by a first camera. The controller determines a reference point from at least one main feature of a dairy livestock included in the first image. The controller is further operable to access a second image generated by the second camera. The second image includes at least a portion of an udder of the dairy livestock. The controller determines a location of a teat of the dairy livestock based on the second image.
摘要翻译：在某些实施例中，系统包括可操作以访问由第一相机生成的第一图像的控制器。控制器从包括在第一图像中的乳品牲畜的至少一个主要特征确定参考点。控制器还可操作以访问由第二相机生成的第二图像。第二图像包括乳制品家畜的至少一部分。所述控制器基于所述第二图像确定所述乳品牲畜的奶头的位置。

66. 发明申请

US20120272906A1 Milking Box With Robotic Attacher 有权
公开(公告)号：US20120272906A1
公开(公告)日：2012-11-01
申请号：US13454490
申请日：2012-04-24
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J5/017 , A01J5/007 , A01J5/00
CPC分类号： 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
摘要： In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

67. 发明申请

US20120222622A1 Automated System for Applying Disinfectant to the Teats of Dairy Livestock 有权
标题翻译：自动化系统将消毒剂应用于奶牛的奶酪
公开(公告)号：US20120222622A1
公开(公告)日：2012-09-06
申请号：US13454975
申请日：2012-04-24
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J7/04 , A01J5/003
CPC分类号： 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
摘要： A system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage, a second member pivotally attached to the first member and a spray tool member pivotally attached to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool may discharge a disinfectant to the teats of the dairy livestock.
摘要翻译：将消毒剂施加到奶牛家畜的乳头的系统包括安装在轨道上的滑架，滑架可操作以沿轨道横向平移。该系统还包括机器人臂，其包括可枢转地附接到滑架的第一构件，可枢转地附接到第一构件的第二构件和可枢转地附接到第二构件的喷射工具构件。机器手臂还包括附接到喷雾工具构件的喷雾工具。该系统还包括控制器，其可操作以使机器人手臂的至少一部分在奶牛家畜的后腿之间延伸，使得喷雾工具可以将消毒剂排放到乳品牲畜的奶嘴上。

68. 发明申请

US20120216753A1 Automated System for Applying Disinfectant to the Teats of Dairy Livestock 有权
公开(公告)号：US20120216753A1
公开(公告)日：2012-08-30
申请号：US13454386
申请日：2012-04-24
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J7/04 , A01J7/00
CPC分类号： 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
摘要： A system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage, a second member pivotally attached to the first member and a spray tool member pivotally attached to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool may discharge a disinfectant to the teats of the dairy livestock.

69. 发明申请

US20120204807A1 Vision System for Facilitating the Automated Application of Disinfectant to the Teats of Dairy Livestock 有权
标题翻译：促进消毒剂自动应用于乳制品畜牧业的视觉系统
公开(公告)号：US20120204807A1
公开(公告)日：2012-08-16
申请号：US13454298
申请日：2012-04-24
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J7/04 , B25J13/08 , B25J19/04
CPC分类号： 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
摘要： In certain embodiments, a system includes a controller operable to access an image signal generated by a camera. The accessed image signal corresponds to one or more features of the rear of a dairy livestock. The controller is further operable to determine positions of each of the hind legs of the dairy livestock based on the accessed image signal. The controller is further operable to determine a position of an udder of the dairy livestock based on the accessed image signal and the determined positions of the hind legs of the dairy livestock. The controller is further operable to determine, based on the image signal and the determined position of the udder of the dairy livestock, a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock.
摘要翻译：在某些实施例中，系统包括可操作以访问由相机生成的图像信号的控制器。所访问的图像信号对应于奶牛家畜背部的一个或多个特征。控制器还可操作以基于所访问的图像信号来确定乳品牲畜的每个后腿的位置。控制器还可操作以基于所访问的图像信号和确定的乳品牲畜的后腿位置来确定乳品牲畜的乳房的位置。控制器还可操作以基于图像信号和确定的乳品家畜的确定位置来确定喷雾位置，喷雾工具可以从喷雾位置将消毒剂施加到乳制牲畜的乳头。

70. 发明申请

US20120048207A1 Automated System for Applying Disinfectant to the Teats of Dairy Livestock 有权
标题翻译：自动化系统将消毒剂应用于奶牛的奶酪
公开(公告)号：US20120048207A1
公开(公告)日：2012-03-01
申请号：US13095963
申请日：2011-04-28
申请人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
发明人： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC分类号： A01J7/04 , A01K29/00
CPC分类号： 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
摘要： In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.
摘要翻译：在某些实施方案中，将消毒剂施加到奶牛家畜的乳头的系统包括安装在轨道上的滑架，滑架可操作以沿轨道横向平移。该系统还包括机器人臂，其包括枢转地附接到滑架的第一构件，使得第一构件可围绕与滑架的连接点旋转，第二构件可枢转地附接到第一构件，使得第二构件可围绕连接到第一构件的点，以及可旋转地附接到第二构件的喷射工具构件，使得喷射工具构件可以围绕与第二构件的连接点旋转。机器手臂还包括附接到喷雾工具构件的喷雾工具。所述系统还包括控制器，其可操作以使所述机器人手臂的至少一部分在奶牛家畜的后腿之间延伸，使得所述喷雾工具位于喷雾位置，所述喷雾工具可以从所述喷雾位置将一定数量的消毒剂排放到奶牛的奶头。

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