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1. 发明申请

US20190110429A1 Vision System with Teat Detection 审中-公开
公开(公告)号：US20190110429A1
公开(公告)日：2019-04-18
申请号：US16192535
申请日：2018-11-15
申请人： Technologies Holding Corp.
发明人： Mark A. Foresman , Bradley J. Prevost
IPC分类号： A01J5/007 , A01J5/017 , G06T7/50 , G06K9/46 , G06K9/62 , G06K9/00 , G06T7/00 , G06T7/13 , G06T7/521 , G06T7/73 , G06T7/33 , G06T7/246
摘要： A system that includes a laser configured to generate a profile signal of at least a portion of a dairy livestock and a processor. The processor is configured to obtain the profile signal and detect one or more edge pair candidates in the profile signal, compare the complementary distance gradients of each of the one or more edge pair candidates to a minimum distance gradient length to be considered an edge pair, and identify an edge pair from among the one or more edge pair candidates as a teat candidate based on the comparison. The processor is further configured to determine position information for the teat candidate.

2. 发明申请

US20180235169A1 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 审中-公开
公开(公告)号：US20180235169A1
公开(公告)日：2018-08-23
申请号：US15950466
申请日：2018-04-11
申请人： TECHNOLOGIES HOLDING CORP.
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/007 , A01J7/04 , A01J5/017 , A01J5/003 , A01K1/12
CPC分类号： A01J5/007 , A01J5/003 , A01J5/017 , A01J5/0175 , A01J7/04 , A01K1/126
摘要： A system for controlling the position of a robot carriage includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a rotational movement of a milking stall of the rotary milking platform, and determines a linear movement of the robot carriage on the carriage track corresponding to the rotational movement of the milking stall of the rotary milking platform. The controller further communicates a signal to a carriage actuator coupled to the robot carriage and the carriage track. The signal causes the carriage actuator to move the robot carriage along the carriage track according to the determined linear movement as the rotary milking platform rotates.

3. 发明授权

US11096370B2 Milking box with robotic attacher comprising an arm that pivots, rotates, and grips 有权
公开(公告)号：US11096370B2
公开(公告)日：2021-08-24
申请号：US15950560
申请日：2018-04-11
申请人： TECHNOLOGIES HOLDING CORP.
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01K5/01 , A01K5/00 , A01J5/017 , A01K1/12 , B25J9/10 , B25J9/04
摘要： A robotic arm that extends in a longitudinal direction includes a pivot assembly that pivots a gripping portion around an axis that is substantially perpendicular to the robotic arm, in a direction transverse to the longitudinal direction of the robotic arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.

4. 发明授权

US10327414B2 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
公开(公告)号：US10327414B2
公开(公告)日：2019-06-25
申请号：US15950466
申请日：2018-04-11
申请人： TECHNOLOGIES HOLDING CORP.
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/007 , A01J7/04 , A01K1/12 , A01J5/017 , A01J5/003
摘要： A system for controlling the position of a robot carriage includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a rotational movement of a milking stall of the rotary milking platform, and determines a linear movement of the robot carriage on the carriage track corresponding to the rotational movement of the milking stall of the rotary milking platform. The controller further communicates a signal to a carriage actuator coupled to the robot carriage and the carriage track. The signal causes the carriage actuator to move the robot carriage along the carriage track according to the determined linear movement as the rotary milking platform rotates.

5. 发明申请

US20180228115A1 MILKING BOX WITH ROBOTIC ATTACHER COMPRISING AN ARM THAT PIVOTS, ROTATES, AND GRIPS 审中-公开
公开(公告)号：US20180228115A1
公开(公告)日：2018-08-16
申请号：US15950560
申请日：2018-04-11
申请人： TECHNOLOGIES HOLDING CORP.
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/017 , B25J9/10 , B25J9/04 , A01K1/12
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： A robotic arm that extends in a longitudinal direction includes a pivot assembly that pivots a gripping portion around an axis that is substantially perpendicular to the robotic arm, in a direction transverse to the longitudinal direction of the robotic arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.

6. 发明授权

US10327415B2 System and method for improved attachment of a cup to a dairy animal 有权
公开(公告)号：US10327415B2
公开(公告)日：2019-06-25
申请号：US15950654
申请日：2018-04-11
申请人： TECHNOLOGIES HOLDING CORP.
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/00 , A01J5/017 , A01J5/003 , A01J5/007 , G06T1/00 , G06T7/73
摘要： A system includes a robotic arm and a controller. The controller accesses a first image and a second image generated by a first camera. The controller determines a reference point based at least in part on the first image. The controller determines a position of a teat of the dairy livestock based at least in part on the second image. The controller instructs the robotic arm to grip a milking cup and move it towards the determined position of the teat between the hind legs of the dairy livestock from the rear. The controller then instructs the robotic arm to release the milking cup, to move in an upward direction towards an udder of the dairy livestock, and to move away from the teat.

7. 发明申请

US20180228116A1 SYSTEM AND METHOD FOR IMPROVED ATTACHMENT OF A CUP TO A DAIRY ANIMAL 审中-公开
公开(公告)号：US20180228116A1
公开(公告)日：2018-08-16
申请号：US15950654
申请日：2018-04-11
申请人： TECHNOLOGIES HOLDING CORP.
发明人： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
IPC分类号： A01J5/017 , A01J5/003 , A01J5/007 , G06T1/00 , G06T7/73
CPC分类号： A01J5/0175 , A01J5/003 , A01J5/007 , G06T1/0014 , G06T7/73
摘要： A system includes a robotic arm and a controller. The controller accesses a first image and a second image generated by a first camera. The controller determines a reference point based at least in part on the first image. The controller determines a position of a teat of the dairy livestock based at least in part on the second image. The controller instructs the robotic arm to grip a milking cup and move it towards the determined position of the teat between the hind legs of the dairy livestock from the rear. The controller then instructs the robotic arm to release the milking cup, to move in an upward direction towards an udder of the dairy livestock, and to move away from the teat.

8. 发明申请

US20140245656A1 HYDRONIC HEATING SYSTEM AND METHOD FOR PEST CONTROL 审中-公开
标题翻译：水暖加热系统及其控制方法
公开(公告)号：US20140245656A1
公开(公告)日：2014-09-04
申请号：US14276372
申请日：2014-05-13
申请人： Technologies Holding Corp.
发明人： Todd R. DeMonte , Sean M. Ebert , Michael J. Steffes
IPC分类号： A01M1/20
CPC分类号： A01M1/2094
摘要： A method for killing pests including bed bugs in an affected area comprises heating a fluid to a first temperature and supplying the fluid to each of a plurality of heat exchanger units. The method continues by positioning each of the plurality of heat exchanger units within an associated region of an affected area, each heat exchanger unit being operable to emit heated air by transferring heat from the fluid to ambient air within the affected area. The method concludes by positioning a plurality of air movers proximate to each of the plurality of heat exchanger units, the plurality of air movers being operable to circulate heated air emitted by the plurality of heat exchanger units and inhibit stratification of the heated air. In operation, a temperature difference between the fluid received by the plurality of heat exchanger units and the ambient air within the affected area results in the affected area being raised to a target temperature greater than 122 degrees Fahrenheit.
摘要翻译：一种杀死病虫害的方法，包括在受影响的区域中包括床虫，包括将流体加热到第一温度，并将流体供应到多个热交换器单元中的每一个。该方法继续通过将多个热交换器单元中的每一个定位在受影响区域的相关区域内，每个热交换器单元可操作以通过将热量从流体传递到受影响区域内的环境空气来发射加热的空气。该方法的结论是将多个送风机定位成靠近多个热交换器单元中的每一个，多个空气推动器可操作以循环由多个热交换器单元排出的加热空气并且抑制加热空气的分层。在操作中，由多个热交换器单元接收的流体与受影响区域内的环境空气之间的温差导致受影响的区域升高到大于122华氏度的目标温度。

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