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1. 发明授权

US09681634B2 System and method to determine a teat position using edge detection in rear images of a livestock from two cameras 有权
公开(公告)号：US09681634B2
公开(公告)日：2017-06-20
申请号：US13448751
申请日：2012-04-17
申请人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： H04N7/18 , A01J5/017 , A01J5/007 , G06T7/73
CPC分类号： A01J5/0175 , A01J5/007 , G06T7/75 , G06T2207/30128
摘要： A system includes a first camera, a second camera, and a processor wherein the second camera has a higher resolution than the first camera. The processor is communicatively coupled to the first camera and the second camera and is operable to determine a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by the first camera. The processor is also operable to determine a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by the second camera.

2. 发明授权

US09282718B2 Milking box with robotic attacher 有权
公开(公告)号：US09282718B2
公开(公告)日：2016-03-15
申请号：US13454876
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： A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , A01J5/00 , A01J7/04 , A01J7/00 , B25J13/08 , B25J19/02 , A01J9/00
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.

3. 发明授权

US09215861B2 Milking box with robotic attacher and backplane for tracking movements of a dairy animal 有权
标题翻译：带有机器人护理者和背板的奶瓶，用于跟踪奶牛动物的运动
公开(公告)号：US09215861B2
公开(公告)日：2015-12-22
申请号：US13448993
申请日：2012-04-17
申请人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/007 , A01K1/12
CPC分类号： A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
摘要： A milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface.
摘要翻译：挤奶箱包括失速部分和位于失速部分中的背板。响应于施加到背板的接触表面的压力，背板向失速部分的后部移动。响应于从接触表面移除的压力，底板向失速部分的前部移动。

4. 发明授权

US09161512B2 Milking box with robotic attacher comprising an arm that pivots, rotates, and grips 有权
标题翻译：具有机器人护理者的挤奶箱包括枢转，旋转和夹持的臂
公开(公告)号：US09161512B2
公开(公告)日：2015-10-20
申请号：US13449105
申请日：2012-04-17
申请人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/017 , A01K1/12 , B25J9/04
CPC分类号： A01J5/0175 , A01K1/12 , B25J9/04 , B25J9/045 , B25J9/104 , Y10S901/14 , Y10S901/19 , Y10S901/21 , Y10S901/29 , Y10S901/31
摘要： In certain embodiments, robotic attacher comprises a supplemental arm comprising a fixed portion and a gripping portion. The fixed portion comprises a pivot assembly and a rotating assembly. The pivot assembly pivots the gripping portion between maximum-left, maximum-right, and centered positions. The rotating assembly rotates the gripping portion between upright and upside down positions. The gripping portion comprises a gripper comprising claw arms operable to open and close.
摘要翻译：在某些实施例中，机器人附件包括一个辅助臂，它包括固定部分和一个抓握部分。固定部分包括枢转组件和旋转组件。枢轴组件使握持部分在最大左，最大右对中和中心位置之间枢转。旋转组件将握持部分在直立和倒置位置之间旋转。抓握部分包括夹持器，其包括可操作以打开和关闭的爪臂。

5. 发明授权

US09049843B2 Milking box with a robotic attacher having a three-dimensional range of motion 有权
标题翻译：具有三维运动范围的机器人护理者的挤奶箱
公开(公告)号：US09049843B2
公开(公告)日：2015-06-09
申请号：US13449142
申请日：2012-04-17
申请人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/017 , A01K1/12
CPC分类号： A01J5/0175 , A01J5/007 , A01K1/12
摘要： In certain embodiments, a robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a plurality of actuators operable to move the main arm and supplemental arm in response to signals from a controller. The actuators comprise first, second, and third actuators operable to move the main arm in x-, y-, and z-directions, respectively. The actuators further comprise fourth and fifth actuators operable to pivot a gripping portion of the supplemental arm in a first z-direction and a second z-direction, respectively, with the second z-direction being opposite the first z-direction.
摘要翻译：在某些实施例中，机器人附件包括主臂，耦合到主臂的辅助臂和可操作以响应于来自控制器的信号移动主臂和辅助臂的多个致动器。致动器包括可操作以分别在x，y和z方向上移动主臂的第一，第二和第三致动器。执行器还包括第四和第五致动器，其可操作以分别在第一z方向和第二z方向上枢转辅助臂的夹持部分，其中第二z方向与第一z方向相反。

6. 发明授权

US08813680B2 Milking box with robotic attacher 有权
公开(公告)号：US08813680B2
公开(公告)日：2014-08-26
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： A01J5/00 , A01K1/12 , 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.

7. 发明授权

US08640646B2 Robot and method for milking a cow by this robot 有权
标题翻译：用机器人挤奶牛的机器人和方法
公开(公告)号：US08640646B2
公开(公告)日：2014-02-04
申请号：US13260730
申请日：2010-03-25
申请人： Peter Willem Van Der Sluis , Hendrik Hofman
发明人： Peter Willem Van Der Sluis , Hendrik Hofman
IPC分类号： A01J5/017
CPC分类号： A01J5/017 , A01J5/0175 , A01J5/041 , A01K1/126
摘要： The present invention relates to a robot (6) for moving a milking cup or milking cups (7) from a first resting position to a second operational position or vice versa, in which second position it connects to a cows' teat or teats for collecting milk, wherein it comprises a frame (9), which frame supports a movable arm (10) that has a free extremity (11) at which it is provided with a gripper or grippers (12) for the milking cup or cups (7).
摘要翻译：本发明涉及一种用于将挤奶杯或挤奶杯（7）从第一休息位置移动到第二操作位置或反之亦然的机器人（6），其中第二位置连接到奶牛的奶头或奶头以用于收集牛奶，其中其包括框架（9），该框架支撑具有自由端（11）的可移动臂（10），在所述可移动臂上设置有用于挤奶杯或杯（7）的夹持器（12）。

8. 发明授权

US08601979B2 Milking box and cow stable comprising such a milking box 有权
标题翻译：包括这样一个挤奶箱的挤奶箱和牛奶
公开(公告)号：US08601979B2
公开(公告)日：2013-12-10
申请号：US13588770
申请日：2012-08-17
申请人： Peter Willem Van Der Sluis
发明人： Peter Willem Van Der Sluis
IPC分类号： A01J5/017
CPC分类号： A01K1/12 , A01K1/0017
摘要： Milking box or boxes for cows, each milking box having two entrance fences for entry and two exit fences, wherein one first entrance fence and one first exit fence form a first pair of fences positioned at a first side, and one second entrance fence and one second exit fence form a second pair of fences at a second side which is opposite the first side. This type of milking box used in a cow stable further comprises resting boxes, at least one feeder trough, a separation zone or zones, and walking paths, wherein at least the resting boxes are placed at the first side of the milking box or boxes, and that at the second side of the milking box or boxes at least one is placed selected from the group comprising at least one feeder trough, a separation zone or zones, or outdoors.
摘要翻译：每个挤奶箱具有用于进入的两个入口围栏和两个出口围栏，其中一个第一入口围栏和一个第一出口围栏形成位于第一侧的第一对栅栏和一个第二入口围栏和一个第一入口围栏第二出口围栏在与第一侧相对的第二侧形成第二对栅栏。在奶牛稳定器中使用的这种类型的挤奶箱还包括休息箱，至少一个进料槽，分离区或区和步行路径，其中至少将休息盒放置在挤奶箱或盒的第一侧，并且在挤奶箱或盒子的第二侧，至少一个放置在从包括至少一个给料槽，分隔区或区域或室外的组中选择。

9. 发明申请

US20120275662A1 System and Method for Analyzing Data Captured by a Three-Dimensional Camera 有权
标题翻译：用于分析三维相机拍摄的数据的系统和方法
公开(公告)号：US20120275662A1
公开(公告)日：2012-11-01
申请号：US13448913
申请日：2012-04-17
申请人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： G06K9/46 , H04N13/02
CPC分类号： A01J5/007 , A01J5/017 , A01J5/0175 , A01J7/00 , G06K9/6202 , G06T7/0004 , G06T7/73 , G06T2207/10028 , G06T2207/30128 , H04N5/2252 , H04N13/204
摘要： In an exemplary embodiment, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first edge of a dairy livestock, determine a second edge of the dairy livestock, determine a third edge of the dairy livestock, and determine a fourth edge of the dairy livestock.
摘要翻译：在示例性实施例中，系统包括三维相机和通信地耦合到三维相机的处理器。处理器可操作以确定奶牛家畜的第一边缘，确定奶牛家畜的第二边缘，确定奶牛家畜的第三边缘，并且确定奶牛家畜的第四边缘。

10. 发明申请

US20120273006A1 CLEANING SYSTEM FOR A MILKING BOX STALL 有权
标题翻译：一个烤箱清洁系统
公开(公告)号：US20120273006A1
公开(公告)日：2012-11-01
申请号：US13449173
申请日：2012-04-17
申请人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： B08B9/093 , A01J5/007 , A01J7/02
CPC分类号： A01J7/025 , A01J7/022 , A01K1/12
摘要： In certain embodiments, a system comprises a milk collecting system, a teat cup holder, and a cleansing hose system. The milk collecting system comprises a teat cup, a milk collector, and a milking hose system connecting the teat cup to the milk collector. The teat cup holder stores the teat cup of the milk collecting system such that a nozzle of the teat cup holder substantially aligns with an opening of the teat cup. The cleansing hose system connects the nozzle of the teat cup holder to one or more cleanser sources and operable to backwash at least a portion of the milk collecting system by injecting a cleanser from one or more of the cleanser sources through the nozzle and into the teat cup.
摘要翻译：在某些实施方案中，系统包括牛奶收集系统，奶杯杯保持器和清洁软管系统。该奶收集系统包括一个奶杯，一个收集收集器和一个挤奶软管系统，将乳头杯与奶收集器相连。奶杯杯架存储了乳汁收集系统的奶杯，使得奶头杯保持器的喷嘴基本上与奶杯的开口对准。清洁软管系统将奶杯杯保持器的喷嘴连接到一个或多个清洁剂源，并且可操作以通过从一个或多个清洁剂源通过喷嘴注入清洁剂并进入奶嘴来反洗洗涤至少一部分乳汁收集系统杯子。

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