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1. 发明申请

WO2018035336A1 VISION SYSTEM FOR TEAT DETECTION 审中-公开
标题翻译：用于TEAT检测的视觉系统
公开(公告)号：WO2018035336A1
公开(公告)日：2018-02-22
申请号：PCT/US2017/047365
申请日：2017-08-17
申请人： TECHNOLOGIES HOLDINGS CORP.
发明人： FORESMAN, Mark, A. , PREVOST, Bradley, J. , VAN AART, Marijn , VAN DER SLUIS, Peter, Willem , JANANI, Alireza , GODFREY, Robert, J.
IPC分类号： A01J5/017
CPC分类号： A01J5/0175
摘要： A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).
摘要翻译：一种腿（205）检测系统，包括：机器人手臂（200），该机器人手臂包括用于保持奶头杯（203,210）以用于附接到奶嘴（1102,1104,1304）的抓握部分（208）（200,202,203）中的一个或多个;以及其中，成像系统，所述成像系统联接到所述机器人臂（200），并且被配置成捕捉所述奶牛牲畜（200,202,203）的后视图的第一三维（3D）图像（138,2400,2500）），所述成像系统包括3D照相机（136,138）或激光器（132），其中所述第一3D图像（138,2400,2500）的每个像素与深度值相关联; （402）的参考（3D）3D图像（138,2400,2500）的一个或多个存储器（104）装置，其中没有任何乳品牲畜（200,202,203）; 以及通信地耦合到所述成像系统和所述一个或多个存储器（104）设备的处理器（102），所述处理器（102）被配置为：访问所述第一3D图像（138,2400,2500）和所述参考（3D）3D 图像（138,2400,2500）; 从所述参考（3D）3D图像（138,2400,2500）中减去所述第一3D图像（138,2400,2500）以产生第二3D图像（138,2400,2500）; 对所述第二3D图像（138,2400,2500）执行形态学图像（138,2400,2500）处理以产生第三3D图像（138,2400,2500）;并且其中，对所述第三3D图像（138,2400,2500）上的阈值进行图像（138,2400,2500）以产生第四3D图像（138,2400,2500）。来自第四3D图像（138,2400,2500）的群集（2616,2618,2626,2628）数据; 使用来自所述第四3D图像（138,2400,2500）的所述群集数据来识别所述奶牛家畜（200,202,203）的一个或多个腿（205）; 并且提供用于机器人手臂（200）的运动的指令以避免所识别的一个或多个腿（205），同时将奶头杯（203,210）附接到奶嘴（1102,1104,1106,1108,203S，203）的奶嘴奶牛牲畜（200,202,203）。

2. 发明申请

WO2017189292A1 ACTUATING DUMP VALVE 审中-公开
标题翻译：执行转向阀
公开(公告)号：WO2017189292A1
公开(公告)日：2017-11-02
申请号：PCT/US2017/028253
申请日：2017-04-19
申请人： TECHNOLOGIES HOLDINGS CORP.
发明人： OSTERBRINK, Brian, E. , GODFREY, Robert, J. , ZELL, Craig, M.
IPC分类号： F16K11/07 , A01J7/02
CPC分类号： F16K11/0716 , A01J5/04 , A01J5/044 , A01J7/02 , Y10T137/0424
摘要： An apparatus that includes a housing (204) with an input port (106) and a first output port (108). A piston (202) is disposed within a bore (205) of the housing and includes a bypass via (212) disposed transversely within the bore and a bypass tube (214) disposed longitudinally within the bore. The bypass tube is configured to provide a flow path from the bypass via to a second output port (110) on the bypass tube. The piston includes a sleeve (216) disposed concentrically around the bypass tube. An interior chamber (222) is defined by an exterior surface of the sleeve and an interior surface of the bore of the housing. The piston is configurable between a first configuration that provides a first flow path between the input port and the first output port via the interior chamber and a second configuration that provides a second flow path between the input port and the second output port via the bypass tube.
摘要翻译：包括具有输入端口（106）和第一输出端口（108）的壳体（204）的装置。活塞（202）设置在壳体的孔（205）内并且包括横向设置在孔内的旁路通路（212）和纵向设置在孔内的旁路管（214）。旁路管构造成提供从旁路通路到旁路管上的第二输出端口（110）的流动路径。活塞包括围绕旁路管同心布置的套筒（216）。内室（222）由套筒的外表面和外壳的孔的内表面限定。活塞可配置在经由内部腔室在输入端口与第一输出端口之间提供第一流动路径的第一配置与经由旁路管道在输入端口与第二输出端口之间提供第二流动路径的第二配置之间

3. 发明申请

WO2017132427A1 MILKING CUP WITH ROTATING SHELL 审中-公开
标题翻译：奶壶与旋转外壳
公开(公告)号：WO2017132427A1
公开(公告)日：2017-08-03
申请号：PCT/US2017/015207
申请日：2017-01-27
申请人： TECHNOLOGIES HOLDINGS CORP.
发明人： SCHALLER, Bradley, A. , GODFREY, Robert, J.
IPC分类号： A01J5/08
CPC分类号： A01J5/02 , A01J5/08
摘要： A milking cup comprising a body having a top portion and a bottom portion. The top portion has a first lip formed thereon and the bottom portion has a second lip formed thereon. The first lip and the second lip are separated by a distance. The milking cup further comprises a rotating shell positioned between and secured by the first lip and the second lip, wherein the rotating shell encircles the body and is operable to rotate around the body independently of the movement of the other portions of the body. The rotating shell has a length that corresponds to the distance between the first lip and the second lip.
摘要翻译：挤奶杯包括具有顶部和底部的主体。顶部具有形成于其上的第一唇部，底部具有形成于其上的第二唇部。第一唇部和第二唇部分开一段距离。挤奶杯还包括位于第一唇缘和第二唇缘之间并由第一唇缘和第二唇缘固定的旋转壳体，其中旋转壳体围绕主体并且可操作以独立于主体的其他部分的运动围绕主体旋转。旋转壳体的长度对应于第一唇部和第二唇部之间的距离。

4. 发明申请

WO2016079601A1 DOUBLE-GRIPPER FOR THE APPLICATION OF TEAT CUPS TO AN ANIMAL TO BE MILKED, RINSE CUP FOR THIS AND MILKING MACHINE PROVIDED THEREWITH, AND A METHOD FOR MILKING 审中-公开
标题翻译：用于将牛肉应用于动物饲料的双重抓斗，以及为此提供的洗衣机和用于奶制品的方法
公开(公告)号：WO2016079601A1
公开(公告)日：2016-05-26
申请号：PCT/IB2015/053243
申请日：2015-05-04
申请人： TECHNOLOGIES HOLDINGS CORP.
发明人： HOFMAN, Hendrick , VAN DER SLUIS, Peter
IPC分类号： A01J5/017
CPC分类号： A01J5/0175 , A01J7/04 , B25J11/0045 , B25J15/0052 , B25J15/0616 , F16B1/00 , F16B2001/0035 , Y10S901/40
摘要： This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes: - a first housing part provided with a first magnet designed to hold a first teat cup; - a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup; - whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.
摘要翻译：本发明涉及一种双抓斗，其冲洗杯和提供其的挤奶机，以及用于将奶杯自动应用于要挤奶的动物乳房的乳头的方法。根据本发明的双抓斗包括： - 第一壳体部分，设置有设计成保持第一奶杯的第一磁体; - 第二壳体部分，其基本上安装在靠近所述第一壳体部分的水平平面中，设置有设计成保持第二奶杯的第二磁体; - 由此每个壳体部分设置有分离的枢转装置，其可以被启动并被设计成使得相关的壳体部件围绕枢转轴线枢转，所述旋转轴线在使用中基本上在水平方向上延伸，基本上在臂的宽度方向上。

5. 发明申请

WO2012149075A2 AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK 审中-公开
标题翻译：自动化系统，适用于乳制品的消毒
公开(公告)号：WO2012149075A2
公开(公告)日：2012-11-01
申请号：PCT/US2012/035074
申请日：2012-04-26
申请人： TECHNOLOGIES HOLDINGS CORP. , HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter, Willem
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter, Willem
IPC分类号： A01K1/12
CPC分类号： A01K1/126 , A01J7/04
摘要： In certain embodiments, 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 of the rotary milking platform. The controller is further operable to determine, based on a difference between the received 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 along the carriage track to the desired linear position.
摘要翻译：在某些实施例中，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，旋转挤奶平台的挤奶摊位。控制器还可操作以基于接收到的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的线性位置（与挤奶档的第二旋转位置相对应的位置）。控制器还可操作以将位置信号传递到滑架致动器，该位置信号使得滑架致动器将机器人滑架沿滑架轨道移动到期望的线性位置。

6. 发明申请

WO2012030502A1 VISION SYSTEM FOR FACILITATING THE AUTOMATED APPLICATION OF DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK 审中-公开
标题翻译：自动应用对乳制品的消毒作用的视觉系统
公开(公告)号：WO2012030502A1
公开(公告)日：2012-03-08
申请号：PCT/US2011/047511
申请日：2011-08-12
申请人： TECHNOLOGIES HOLDINGS CORP. , HOFMAN, Henk , VAN DER SLUIS, Peter, Willem , GROENSMA, Ype
发明人： HOFMAN, Henk , VAN DER SLUIS, Peter, Willem , GROENSMA, Ype
IPC分类号： A01J5/007 , A01J7/04 , A01J5/017
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。

7. 发明申请

WO2012009256A3 TEATCUP LINER SERIES WITH VARYING MOUTHPIECE FLEXIBILITY 审中-公开
公开(公告)号：WO2012009256A3
公开(公告)日：2012-01-19
申请号：PCT/US2011/043515
申请日：2011-07-11
申请人： TECHNOLOGIES HOLDINGS CORP. , CHOWDHURY, Mofazzal, H.
发明人： CHOWDHURY, Mofazzal, H.
IPC分类号： A01J5/08
摘要： A teatcup liner comprises an upper mouthpiece, an intermediate barrel and a lower connecting tube. The upper mouthpiece further comprises a mouthpiece transition, a mouthpiece lip, and a groove on an outer surface of the upper mouthpiece to provide flexibility in the upper mouthpiece. The intermediate barrel extends along an axial direction for receiving a teat inserted axially thereinto through said mouthpiece.

8. 发明申请

WO2017136615A1 TEAT PREPARATION SPRAY RING 审中-公开
标题翻译： TEAT准备喷雾环
公开(公告)号：WO2017136615A1
公开(公告)日：2017-08-10
申请号：PCT/US2017/016326
申请日：2017-02-03
申请人： TECHNOLOGIES HOLDINGS CORP.
发明人： GODFREY, Robert, J. , FRAKES, Eugene, P.
IPC分类号： A01J7/04
CPC分类号： A01J7/04
摘要： A teat preparation liner (20) comprising an inlet (24) for fluid flow into the liner, an opening (28), a liner cavity (54) and a spray ring (50). The liner cavity is positioned adjacent to the opening inside the liner and surrounds a portion of the liner. The spray ring has a hollow interior and a plurality of apertures (52). The spray ring is coupled to the inlet so that fluid flows from the inlet into the hollow interior of the spray ring and out of the spray ring through the plurality of apertures. The spray ring is positioned inside the liner cavity so that the plurality of apertures face the inside of the liner opening. The spray ring is operable to encircle a dairy animal teat that is positioned inside the liner via the liner opening to simultaneously direct fluid flow from the inlet onto multiple portions of the teat via the apertures.
摘要翻译：奶嘴准备衬里（20）包括用于流体流入衬里的入口（24），开口（28），衬套腔（54）和喷射环（50）。衬管腔定位在衬管内部的开口附近并且围绕衬管的一部分。喷雾环具有中空内部和多个孔（52）。喷射环与入口连接，使得流体从入口流入喷射环的中空内部并通过多个孔流出喷射环。喷雾环定位在衬套腔内，使得多个孔面向衬套开口的内部。喷雾环可操作以包围通过衬里开口定位在衬里内的乳品动物奶嘴，以同时引导流体从入口经由孔口进入奶头的多个部分。

9. 发明申请

WO2013158126A1 SYSTEM AND METHOD FOR USING ROBOTS IN CONJUNCTION WITH A ROTARY MILKING PLATFORM 审中-公开
标题翻译：使用机器人与旋转式搅拌平台相连的系统和方法
公开(公告)号：WO2013158126A1
公开(公告)日：2013-10-24
申请号：PCT/US2012/035363
申请日：2012-04-27
申请人： TECHNOLOGIES HOLDINGS CORP. , HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , STEINGRABER, Gary, C. , VAN DER SLUIS, Peter, Willem
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , STEINGRABER, Gary, C. , VAN DER SLUIS, Peter, Willem
IPC分类号： A01K1/12 , A01J5/017
CPC分类号： A01J7/04 , A01J5/0175
摘要： In certain embodiments, a system includes a first robotic device positioned proximate to a first milking stall of a rotary milking platform. The rotary milking platform has a plurality of milking stalls. The first robotic device is operable to prepare the teats of a first dairy livestock located in the first milking stall. The system also includes a second robotic device positioned proximate to a second milking stall of the rotary milking platform. The second robotic device is operable to attach a first milking device to the teats of a second dairy livestock located in the second milking stall. The system also includes a third robotic device proximate to a third milking stall of the rotary milking platform. The third robotic device is operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall. The system also includes a fourth robotic device positioned proximate to a fourth milking stall of the rotary milking platform. The fourth robotic device is operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in the fourth milking stall subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.
摘要翻译：在某些实施例中，系统包括靠近旋转挤奶平台的第一挤奶档位定位的第一机器人装置。旋转挤奶平台具有多个挤奶档。第一机器人装置可操作以制备位于第一挤奶摊位中的第一奶牛牲畜的奶头。该系统还包括靠近旋转挤奶平台的第二挤奶档位置的第二机器人装置。第二机器人装置可操作以将第一挤奶装置附接到位于第二挤奶档位中的第二乳品牲畜的奶头。该系统还包括靠近旋转挤奶平台的第三挤奶档位的第三机器人装置。第三机器人装置可操作以将第二挤奶装置附接到位于第三挤奶摊位中的第三奶牛牲畜的奶头。该系统还包括靠近旋转挤奶平台的第四挤奶档位置的第四机器人装置。第四机器人装置可操作以在从第四奶牛家畜的乳头移除第三挤奶装置之后，向位于第四挤奶摊位中的第四奶牛的奶头施用消毒剂。

10. 发明申请

WO2012149075A3 SYSTEM FOR CONTROLLING THE POSITION OF A ROBOT CARRIAGE 审中-公开
标题翻译：用于控制机器人运输的位置的系统
公开(公告)号：WO2012149075A3
公开(公告)日：2013-03-28
申请号：PCT/US2012035074
申请日：2012-04-26
申请人： TECHNOLOGIES HOLDINGS CORP , HOFMAN HENK , DE RUIJTER COR , KOEKOEK MENNO , VAN DER SLUIS PETER WILLEM
发明人： HOFMAN HENK , DE RUIJTER COR , KOEKOEK MENNO , VAN DER SLUIS PETER WILLEM
IPC分类号： A01K1/12
CPC分类号： A01K1/126 , A01J7/04
摘要： In certain embodiments, 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 of the rotary milking platform. The controller is further operable to determine, based on a difference between the received 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 along the carriage track to the desired linear position.
摘要翻译：在某些实施例中，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，旋转挤奶平台的挤奶摊位。控制器还可操作以基于接收到的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的线性位置（与挤奶档的第二旋转位置相对应的位置）。控制器还可操作以将位置信号传递到滑架致动器，该位置信号使得滑架致动器将机器人滑架沿滑架轨道移动到期望的线性位置。

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