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1. 发明公开

EP3806620A1 MILKING CLAW 审中-公开
公开(公告)号：EP3806620A1
公开(公告)日：2021-04-21
申请号：EP19732825.5
申请日：2019-06-05
申请人： Technologies Holdings Corp.
发明人： BARDOSY, Gregory, S. , SPAETH, Anthony, P. , LUZADER, David, J.
IPC分类号： A01J5/04

2. 发明授权

EP3202259B1 MILKING BOX WITH ROBOTIC ATTACHER 有权
公开(公告)号：EP3202259B1
公开(公告)日：2020-11-04
申请号：EP17158447.7
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/017 , A01J5/04 , A01K1/12

3. 发明授权

EP3202255B1 MILKING BOX WITH CLEANING SYSTEM 有权
公开(公告)号：EP3202255B1
公开(公告)日：2020-04-01
申请号：EP17158441.0
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/017 , A01J7/02

4. 发明公开

EP3366120A1 METHOD OF OPERATING A VISION SYSTEM FOR ROBOTIC ATTACHER 无效
公开(公告)号：EP3366120A1
公开(公告)日：2018-08-29
申请号：EP18161860.4
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , VAN DER SLUIS, Peter William , KOEKOCK, Menno
IPC分类号： A01J5/017 , G06T7/246
CPC分类号： A01J5/0175 , G06T7/246 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241
摘要： In an exemplary embodiment, 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.

5. 发明授权

EP2701490B1 ARRANGEMENT OF MILKING BOX STALLS 有权
公开(公告)号：EP2701490B1
公开(公告)日：2018-08-29
申请号：EP12718865.4
申请日：2012-04-27
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , MILLS, Michael A. , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/00 , A01J5/017 , A01K1/12
CPC分类号： A01K1/12 , A01J5/00 , A01J5/007 , A01J5/0175
摘要： In certain embodiments, a system includes a first milking box stall (122) of a size sufficient to accommodate a dairy livestock. The system also includes an equipment portion (128) located adjacent to the first milking box stall. The equipment portion (128) houses a robotic attacher (150). The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is located adjacent to the equipment portion. The robotic attacher (150) is configured to service both the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock. In certain embodiments, a system includes a first milking box stall (122) of a size sufficient to accommodate a dairy livestock. The system also includes an equipment portion (128) located adjacent to the first milking box stall. The equipment portion (128) houses a robotic attacher (150). The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is located adjacent to the equipment portion. The robotic attacher (150) is configured to service both the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock.

6. 发明授权

EP2838348B1 SYSTEM AND METHOD FOR USING ROBOTS IN CONJUNCTION WITH A ROTARY MILKING PLATFORM 有权
公开(公告)号：EP2838348B1
公开(公告)日：2018-07-25
申请号：EP12719229.2
申请日：2012-04-27
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , STEINGRABER, Gary, C. , VAN DER SLUIS, Peter, Willem
IPC分类号： A01J5/017 , A01J7/04
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.

7. 发明授权

EP2907377B1 Vision system for robotic attacher 失效转让
标题翻译：机器人助理视觉系统
公开(公告)号：EP2907377B1
公开(公告)日：2018-04-25
申请号：EP15157468.8
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： Hofman, Henk , de Ruijter, Cor , Van der Sluis, Peter Willem , Koekock, Menno
IPC分类号： A01J5/017
CPC分类号： A01J5/0175 , G06T7/246 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241
摘要： In an exemplary embodiment, 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.

8. 发明公开

EP3305069A1 AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK 有权
标题翻译：将消毒剂应用于乳房家畜的自动系统
公开(公告)号：EP3305069A1
公开(公告)日：2018-04-11
申请号：EP17196326.7
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter, William
IPC分类号： A01K1/12 , A01J7/04
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，系统包括与旋转挤奶平台相邻定位的滑架轨道，安装到滑架轨道的机器人滑架以及控制器。控制器可操作地接收指示旋转式挤奶平台的挤奶挤奶机的第一旋转位置（对应于机器人支架的起始线性位置）的第一旋转编码器信号和指示旋转挤奶平台的第二旋转位置的第二旋转编码器信号旋转式挤奶平台的挤奶档。控制器还可操作用于基于接收的第一和第二信号之间的差确定机器人滑架在滑架轨道上的期望线性位置（对应于挤奶机的第二旋转位置的位置）。所述控制器还可操作以将位置信号传送到滑架致动器，所述位置信号使所述滑架致动器将所述机器人滑架沿所述滑架轨道移动到所述期望的线性位置。

9. 发明公开

EP3202258A1 METHOD OF ATTACHING CUPS TO A MILKING ANIMAL'S TEATS 审中-公开
标题翻译：将奶杯安装到奶牛的奶嘴上的方法
公开(公告)号：EP3202258A1
公开(公告)日：2017-08-09
申请号：EP17158458.4
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/00 , A01K1/12
CPC分类号： A01J5/0175 , A01J7/02
摘要： In certain embodiments, a system includes a robotic attacher (150) comprising a main arm (152) and a supplemental arm (154) operable to extend into a stall portion of a milking box. A camera (158a,158b) couples to the supplemental arm (154). The supplemental arm comprises a camera-facing nozzle operable to spray the camera (158a,158b) with a cleanser.
摘要翻译：在某些实施例中，一种系统包括机器人连接器（150），该机器人连接器包括主臂（152）和可操作以延伸到挤奶箱的失速部分中的辅助臂（154）。照相机（158a，158b）连接到辅助臂（154）。辅助臂包括可操作以用清洁剂喷射照相机（158a，158b）的面向照相机的喷嘴。

10. 发明公开

EP3202255A1 MILKING BOX WITH CLEANING SYSTEM 有权
标题翻译：带清洁系统的奶箱
公开(公告)号：EP3202255A1
公开(公告)日：2017-08-09
申请号：EP17158441.0
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/00 , A01K1/12
摘要： In certain embodiments, a system includes a robotic attacher (150) comprising a main arm (152) and a supplemental arm (154) operable to extend into a stall portion of a milking box. A camera (158a,158b) couples to the supplemental arm (154). The supplemental arm comprises a camera-facing nozzle operable to spray the camera (158a,158b) with a cleanser.
摘要翻译：在某些实施例中，一种系统包括机器人连接器（150），该机器人连接器包括主臂（152）和可操作以延伸到挤奶箱的失速部分中的辅助臂（154）。照相机（158a，158b）连接到辅助臂（154）。辅助臂包括可操作以用清洁剂喷射照相机（158a，158b）的面向照相机的喷嘴。

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