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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 2168. Отображено 100.
01-03-2012 дата публикации

Vision System for Facilitating the Automated Application of Disinfectant to the Teats of Dairy Livestock

Номер: US20120048208A1
Автор: Henk Hofman, Peter Willem Van Der Sluis, Ype Groensma
Принадлежит: TECHNOLOGIES HOLDINGS CORP

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.

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Номер записи: 1
01-11-2012 дата публикации

System and Method for Improved Attachment of a Cup to a Dairy Animal

Номер: US20120272903A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup.

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Номер записи: 2
01-11-2012 дата публикации

Milking Box With Robotic Attacher

Номер: US20120272910A1
Автор: Henk Hofman, Peter Willem Van Der Sluis, Ype Groensma
Принадлежит: TECHNOLOGIES HOLDINGS CORP

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.

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Номер записи: 3
01-11-2012 дата публикации

Vision System and Method of Operation

Номер: US20120274761A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

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.

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Номер записи: 4
01-11-2012 дата публикации

System and Method for Analyzing Data Captured by a Three-Dimensional Camera

Номер: US20120275662A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

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.

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Номер записи: 5
29-11-2012 дата публикации

An animal treating arrangement

Номер: US20120298043A1
Автор: Gert Danneker, Jan Eriksson, Mats Nilsson, Thomas Axelsson, Uzi Birk
Принадлежит: DELAVAL HOLDING AB

An animal treating arrangement includes a carrying device beside a milking platform rotating with a velocity and having animal places housing animals. The carrying device includes a fundament, a first bearing device ( 12 ) provided on the fundament, an arm ( 13 ) connected to the first bearing device permitting the arm to rotate in relation to the fundament around a first axis, a support platform ( 15 ) connected to the arm ( 13 ). A drive arrangement moves the support platform and includes a first drive member ( 31 ) rotating the arm around the first axis. A sensor ( 37 ) communicates with a control unit ( 36 ) and senses an instantaneous value of the velocity. The control unit controls the first drive member to move the support platform to follow the milking platform from a start position to an end position during a part of the rotation of the milking platform.

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Номер записи: 6
09-05-2013 дата публикации

Dairy parlor curb lighting system and methods

Номер: US20130112144A1
Автор: Ivanovich Wasuck
Принадлежит: GEA Farm Technologies Inc

A dairy parlor light unit for mounting on or in a milking stall curb to illuminate an underside of an animal in the milking stall.

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Номер записи: 7
20-06-2013 дата публикации

Cabinet in a milking parlour

Номер: US20130152861A1
Автор: Leif Johannesson, Mikael Källman
Принадлежит: DELAVAL HOLDING AB

A teat cup magazine ( 1 ), arranged to store at least two teat cups ( 3 ), includes a removing device for each teat cup ( 3 ), which is arranged to retract the teat cup ( 3 ) into the teat cup magazine when a milking process has finished. Each removing device includes a cylinder ( 8 ) and a piston ( 9 ). The cylinders ( 8 ) of the removing devices are formed by at least one cylinder profile ( 35, 38, 39 ), manufactured in one piece, which constitutes the sole load-bearing structure of the teat cup magazine. The at least one cylinder profile ( 35, 38, 39 ) includes on one side, integrated attachment zones ( 37 ) for attaching milking components, and on an opposite side, a guiding track ( 13 ) for each cylinder ( 8 ), adapted for a movable guiding element ( 6 ) supporting a milk tube ( 4 ) and a pulse tube ( 5 ) connected to the teat cup.

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Номер записи: 8
04-07-2013 дата публикации

MILKING SYSTEM AND METHOD FOR MILKING A HERD OF DAIRY ANIMALS

Номер: US20130167775A1
Автор: VAN DE WALLE Jacobus Izaak
Принадлежит: LELY PATENT N.V.

A milking system for milking a herd of dairy animals includes a first milking device and a second milking device, an identification device for identifying dairy animals to be milked of a herd of dairy animals, and a control device for determining an estimated treatment time of each dairy animal to be milked. The control device also classifies each dairy animal to be milked with the aid of a criterion on the basis of the estimated treatment time in at least a first or second group of dairy animals. The milking system admits the first group of dairy animals to preferably only the first milking device and admits the second group to preferably only the second milking device. 1. A milking system comprising a first milking device , an identification device for identifying dairy animals to be milked of a herd of dairy animals , and a control device which is configured to determine an estimated treatment time of each dairy animal to be milked , and wherein the control device is configured to classify each dairy animal to be milked that has been identified by the identification device with the aid of a criterion on the basis of the estimated treatment time in at least a first or second group of dairy animals , and wherein the milking system is configured to admit at least one dairy animal classified in the first group to the first milking device in order to milk said dairy animal by the first milking device , wherein the milking system comprises a second milking device , and the milking system is configured to admit at least one dairy animal classified in the second group to the second milking device in order to milk said dairy animal by the second milking device.2. The milking system according to claim 1 , wherein the first milking device and the second milking device are each provided with a plurality of milking stalls for in each case one dairy animal claim 1 , and wherein the milking system is configured to admit a plurality of dairy animals classified in the first group ...

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Номер записи: 9
18-07-2013 дата публикации

CONTROL SYSTEM FOR AT LEAST ONE FLEXIBLE TUBULAR ELEMENT CONNECTED TO A CUP-SHAPED MEMBER

Номер: US20130180455A1
Автор: Holmertz Nils-Erik, Mellberg Sten
Принадлежит: DELAVAL HOLDING AB

A control system for at least one flexible tubular element connected to a cup-shaped member includes a positioning mechanism arranged to hold the cup-shaped member and the tubular element in a parking position in a magazine when the cup-shaped member is not used, and to allow a pull-out motion of the tubular element when the cup-shaped member is moved from the parking position in the magazine to an attaching position on a teat of an animal by a gripping member. The control system further includes a control unit arranged to control the positioning mechanism such that it provides a pull-out motion of the tubular element with a controlled speed when the cup-shaped member is moved from the parking position to the attaching position on a teat of an animal by the gripping member. 116-. (canceled)17. A control system for controlling a tubular element positioning mechanism , comprising:{'b': '14', 'a control unit (); and'}{'b': 3', '7, 'a magazine (, ) comprising a positioning mechanism,'}{'b': '14', 'the positioning mechanism controlled by the control unit (),'}{'b': 5', '6', '9', '4', '8, 'the positioning mechanism holding a flexible tubular element (, , ) connected to a cup-shaped member (, ),'}{'b': 5', '6', '9', '4', '8', '3', '7', '4', '8, 'the positioning mechanism holding the tubular element (, , ) and the cup-shaped member (, ) in a parking position in the magazine (, ) when the cup-shaped member (, ) is not used,'}{'b': 4', '8', '1', '12, 'i': 'a', 'the cup-shaped member (, ) being movable from the parking position to an attaching position on a teat of an animal () by a gripping member (),'}{'b': 5', '6', '9', '4', '8', '12', '1, 'i': 'a', 'the positioning mechanism providing, under control of the control unit, a pull-out motion of the tubular element (, , ) when the cup-shaped member (, ) is moved, by the gripping member (), from the parking position to the attaching position on a teat of an animal (),'}{'b': 12', '4', '8', '1', '14', '5', '6', '9, 'i': 'a', ' ...

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Номер записи: 10
08-08-2013 дата публикации

CONTROL SYSTEM AND A METHOD FOR MILKING MEMBERS IN A MILKING PARLOUR

Номер: US20130199449A1
Автор: Daniel Marc
Принадлежит:

A control system and a method for milking members in a milking parlour having plural milking stalls. The control system includes a local control unit in each milking stall automatically preparing the milking member for a milking operation by setting a vacuum valve in an open position when the milking member is moved from a storage position, and a control unit setting the milking stalls in the milking parlour in a pre-cleaning mode when a milking operation is still in progress in at least one other of the milking stalls. In this case, the local control units prepare the milking members for a cleaning operation instead of a milking operation by maintaining the vacuum valve in a closed position when the milking member is moved from a storage position, until the cleaning operation of the milking member is started. 115-. (canceled)16. A control system for milking members in a milking parlour , comprising:{'b': 23', '26', '3', '4', '3', '4, 'a local control unit (, ) in each of a plurality of milking stalls (, ), each milking stall (, ) comprising'}{'b': 14', '1', '3', '4', '14', '27, 'i) a milking member () attachable to an animal () present in the milking stall (, ), the milking member () receiving a vacuum pressure based on a position of a vacuum valve (),'}{'b': 25', '29', '14, 'ii) a storage device (, ) holding the milking member () in a storage position when the milking member is not in use for milking the animal, and'}{'b': 18', '14, 'iii) a cleaning unit () arranged to clean the milking member (),'}{'b': 14', '23', '26', '14', '27', '14, 'wherein, when the milking member () is moved from the storage position for a milking operation, the local control unit (, ) automatically prepares the milking member () for the milking operation by setting the vacuum valve () from a closed position to an open position to provide the vacuum pressure to the milking member (); and'}{'b': 11', '12', '3', '4', '3', '4', '3', '4, 'a control unit (, ) connected to at least two of the ...

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Номер записи: 11
19-09-2013 дата публикации

MILKING PARLOUR FOR ANIMALS

Номер: US20130239897A1
Автор: Axelson Thomas, Birk Uzi
Принадлежит: DELAVAL HOLDING AB

A milking parlour for animals comprising at least one milking stall arranged to receive an animal in a predetermined milking position, teat cups arranged to be used in milking the animal in the milking stall, a teat cup carrier arranged to store the teat cups in the milking stall when they are not used, and at least one robot arm provided with at least one gripping member arranged to grip a teat cup in the teat cup carrier and attach the teat cup on the teat of an animal in the milking stall. The teat cup carrier stores the teat cups in a storing area located at least partly in front of the front legs of the animal with respect to the direction of the animal when it stands in the predetermined milking position in the milking stall. 116-. (canceled)17. A milking parlour for an animal , comprising:{'b': '3', 'a milking stall () arranged to receive the animal in a predetermined milking position along a longitudinal direction of the milking stall;'}{'b': 9', '4', '3, 'teat cups () arranged to be used in milking the animal () when the animal is in the predetermined milking position in the milking stall ();'}{'b': 8', '9', '9, 'a movable teat cup carrier () storing the teat cups () when the teat cups () are not in use;'}{'b': 10', '16', '8', '10', '16', '8', '1', '2', '8', '4, 'i': 'a', 'a positioning unit (, ) connected to the teat cup carrier (), the positioning unit (, ) operative to displace the teat cup carrier () between i) a storing area (A) and ii) a gripping area (A) by displacing the teat cup carrier () below the animal and between front legs () of the animal along a line running between the front legs and between rear legs of the animal,'}{'b': 4', '3', '1', '8', '8', '4', '4, 'i': 'a', 'wherein, when the animal is located in the predetermined milking position () in the milking stall (), the storing area (A) locates the teat cup carrier () below a body of the animal and along the line running between the front legs and between rear legs of the animal, with the ...

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Номер записи: 12
19-09-2013 дата публикации

DAIRY ANIMAL TREATMENT SYSTEM

Номер: US20130239898A1
Автор: Van Adrichem Paulus Jacobus Maria, Van Den Berg Karel, Wisse Dik-Jan
Принадлежит: LELY PATENT N.V.

There is provided a method and system for connecting a teat cup () to a first teat () of an udder (). In connecting, a first reference position () on the first teat () is taken for connecting, until that reference position () is covered by the teat cup (), or is otherwise no longer observed. Then, a further reference position () on the udder is taken for tracking movements by the dairy animal. Thus the optimum reference position () is used for connecting, while when this optimum position is no longer available, a further reference position () is taken. 1. Method for automatically connecting an object to a teat of an udder of a milking animal , by means of a milking robot with a robot arm and a position determining device for determining reference positions on the animal with respect to one of a teat cup and the robot arm , the method comprising the steps ofa) determining a first reference position of a part of the first teat to which an object is to be connected, wherein the object is a teat cup,b) positioning the teat cup below said teat by means of the robot arm and on the basis of the first reference positionc) moving the teat cup onto the teat,wherein the first reference position is observed and tracked during step b) and/or c) characterized by the steps ofd) determining a further reference position of another part of said udder with respect to one of the teat cup, the robot arm and the first reference position, ande) tracking said further reference position while the first reference position is not being observed with at least a predetermined accuracy or reliability, and performing the moving of the teat cup on the basis of the tracked further reference position.2. Method according to claim 1 , wherein the first reference position is on a tip part of the teat claim 1 , and in particular is the teat tip.3. Method according to claim 1 , wherein the tracking of the further reference position is performed during at least a part of step c).4. Method claim 1 , ...

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Номер записи: 13
26-09-2013 дата публикации

METHOD AND APPARATUS FOR PROTECTING AN OPTICAL DETECTION DEVICE FROM CONTAMINATION

Номер: US20130247827A1
Автор: ANDERSSON Jan-Erik, Hallstrom Anders
Принадлежит:

A milking system includes a milking robot with a robot arm for applying teat cups to the teats of an animal, an optical detector () for detecting radiation emitted and/or reflected from the animal and a controller. The detector has a housing () with a window () and a detecting element () enclosed in the housing that is sensitive to the emitted or reflected radiation passing through the window. In order to prevent contamination from impacting on the detector window, an airflow arrangement is provided that can be connected to a source of pressurized air and has at least one aperture () disposed adjacent the detector window () for generating a curtain of air that flows parallel with the surface of the window. The controller controls the generation of the air curtain to coincide with the start of at least one further operation controlled by the controller. 117-. (canceled)18. A milking system , comprising:{'b': '20', 'a controller ();'}{'b': 1', '110', '50', '20', '1, 'a milking robot () with a robot arm () that applies teat cups () to the teats of an animal, said controller () connected to said milking robot and controlling operation of said milking robot (); and'}{'b': 40', '20', '40', '40, 'an optical detector () that detects radiation from the animal to determine the position of teats of the animal, said controller () connected to said optical detector () and controlling operation of said optical detector (),'}{'b': 410', '420', '430', '420', '440', '440', '450', '420', '420, 'said detector having i) a housing () with a window () that is substantially transparent to said radiation, ii) a detecting element () that is enclosed within said housing and receives said radiation through said window (), and iii) an airflow arrangement (), said airflow arrangement () provided with a connection to a source of pressurized air and having an aperture () disposed adjacent the detector window () for generating an air curtain that flows across a surface of said detector window (), ...

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Номер записи: 14
26-12-2013 дата публикации

HUMAN ASSISTED MILKING ROBOT AND METHOD

Номер: US20130340682A1
Автор: Bareket Tal
Принадлежит: Mirobot Ltd.

A human operated control device for assisting a plurality of milking robots includes a controller adapted for controlling communication with a plurality of milking robots operated substantially simultaneously, graphical user interface (GUI) adapted for displaying information received from at least one milking robot and for receiving input from a human supervisor for operating the at least one milking robot based on the displayed information, and a processor adapted to convert the input received from the human supervisor into a command for operating the at least one milking robot from which the information was received. A milking robot for operating milking equipment is adapted to operate in one of an automated mode of operation and a human assisted mode of operation. 125-. (canceled)26. A milking robot for operating milking equipment comprising:a location computation unit adapted for locating at least one teat for milking;at least one robotic arm or robotic platform adapted for maneuvering milking equipment;a motion control unit adapted for controlling movement of the at least one robotic arm or robotic platform; anda controller for controlling operation of the milking robot and the milking equipment, wherein the controller is adapted operate in one of an automated mode of operation and a human assisted mode of operation and wherein the controller is adapted to communicate with a control device that is human operated.27. The milking robot of claim 26 , wherein the controller is adapted to switch from the automated mode of operation to the human assisted mode of operation in response to failure to perform a task.28. The milking robot of claim 26 , wherein the controller is adapted to switch from the automated mode of operation to the human assisted mode of operation in response to failure to attach a milking cluster to the dairy animal within a predefined time limit or after a predefined number of trials.29. The milking robot claim 26 , wherein the controller is ...

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Номер записи: 15
02-01-2014 дата публикации

SYSTEM AND METHOD FOR THREE DIMENSIONAL TEAT MODELING FOR USE WITH A MILKING SYSTEM

Номер: US20140000520A1
Автор: Bareket Tal
Принадлежит: Mirobot Ltd.

A teat modeling device includes a housing with an illumination unit operative to project a structured light pattern on at least one teat of a dairy animal and a camera axially aligned with the illumination unit and positioned between the illumination unit and the at least one teat of the dairy animal, wherein the camera is operative to capture images of the structured light pattern reflected off the at least one teat. A teat modeling device further includes a memory unit storing expected shape parameters of the at least one teat based on a pre-defined shape of the at least one teat and a processor operative to compute a three dimensional model of the at least one teat based on the stored parameters, positioning of the reflected pattern on the image and spacing between elements of the reflected pattern. 1. A method for three dimensional modeling of teats of a dairy animal , the method comprising:illuminating at least one teat of a dairy animal with a structured light pattern;capturing an image of the structured light pattern reflected from the at least one teat;determining positioning of the reflected pattern on the image;determining spacing between elements of the reflected pattern; andcomputing a three dimensional model of the at least one teat based on the determined positioning and the determined spacing, wherein a shape of the three dimensional model is pre-defined.2. The method according to claim 1 , wherein the pre-defined shape of the at least one teat is a cylindrical shape.3. The method according to claim 1 , wherein the at least one teat is illuminated with a matrix pattern formed from a plurality of illumination spots and wherein the method comprises determining three dimensional coordinates of spots reflected off the at least one teat.4. (canceled)5. The method according to claim 3 , wherein a coordinate value along an axis perpendicular to the image plane is computed from the determined spacing between the spots reflected off the at least one teat.6. ...

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Номер записи: 16
13-02-2014 дата публикации

Milking Cluster and Milking Parlor Having Such a Milking Cluster

Номер: US20140041591A1
Автор: Krone Otto
Принадлежит: GEA FARM TECHNOLOGIES GMBH

A milking cluster for a milking parlour for milking milk-giving animals, having at least one teat cup unit having a housing, a teat cup, a drive appliance, a pulling element arrangement connected to the teat cup, and the pulling element arrangement has a segment unit having at least two pulling elements. 1. A milking cluster for a milking parlor for milking milk-producing animals , the milking cluster comprising:a teat cup unit having a teat cup;a drive device; anda pulling element arrangement connected between the teat cup and the drive device, the pulling element arrangement including a segment unit and a plurality of pulling elements.2. The milking cluster of claim 1 , wherein the teat cup unit is movable between a park position in which the teat cup assumes a position that is inclined with respect to the perpendicular claim 1 , a positioning position in which the teat cup is in a substantially perpendicular position claim 1 , and a milking position in which the teat cup is connected to an associated teat of the animal to be milked.3. The milking cluster of claim 1 , wherein the segment unit comprises:a fixing device joined to the teat cup;a tilt segment adjacent to the fixing device;an intermediate segment; anda fixing segment, joined to a teat cup unit housing.4. The milking cluster of claim 3 , wherein the fixing device further comprises: an inclined tilt portion claim 3 , and the tilt segment has an inclined contact portion which bears against the inclined tilt portion when the teat cup unit is in a park position.5. The milking cluster of claim 1 , wherein the at least two pulling elements of the pulling element arrangement are arranged one above the other.6. The milking cluster of claim 1 , and further comprising:a tilt lever operatively connected between the drive device and the pulling elements; anda tilt drive operatively connected to the tilt lever.7. The milking cluster of claim 6 , wherein the tilt lever is movable by the drive device into a first ...

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Номер записи: 17
04-01-2018 дата публикации

METHOD FOR PRODUCTION OF MILK WITH A HIGH CONTENT OF NATIVE VITAMIN D

Номер: US20180000043A1
Автор: Gnann Tony
Принадлежит:

The invention relates to a method for the production of milk with a high content of native vitamin D3, comprising the irradiation of one or more lactating animals in a roofed enclosure, having at least one luminaire with a lamp emitting UV-A and UV-B radiation, and the milking of animals. The method allows producing milk having a high content of native vitamin D. The method also leads to an improved milk yield per animal. 1. A method for the production of milk with a high native vitamin D3 content , comprising the irradiation of one or more lactating animals in a roofed enclosure having at least one luminaire comprising a lamp which emits UV-A radiation and UV-B radiation , and the milking of the animals.2. A method according to claim 1 , the luminaire comprising a lamp cover which is permeable to UV-B radiation of a wavelength of 300 nm claim 1 , the lamp cover being formed of quartz glass claim 1 , borosilicate glass claim 1 , polymethyl methacrylate claim 1 , polymethylpentene claim 1 , fluorinated ethylene propylene or polytetrafluoroethylene.3. A method according to for increasing the native vitamin D3 content of the milk and/or for increasing the milk yield per animal.4. A method according to claim 1 , the emission spectrum of the lamp comprising visible light and/or the lamp having a color rendering index of greater than 40.5. A method according to claim 1 , the radiation component in the VIS range in the emission spectrum of the lamp being at least 70%.6. A method according to claim 1 , the UV-B radiation component in the emission spectrum of the lamp being at least 0.1% claim 1 , of the irradiation intensity of the lamp and/or the UV-B radiation component in the emission spectrum of the lamp being less than 5% of the irradiation intensity of the lamp.7. A method according to claim 1 , the UV-B radiation component in the emission spectrum of the lamp being at least 0.5% of the irradiation intensity of the lamp and/or the UV-B radiation component in the ...

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Номер записи: 18
05-01-2017 дата публикации

Gripper for Arranging Teat Cups on an Animal for Milking, Robot Arm and Milking Machine Provided Therewith, and Method Therefor

Номер: US20170000074A1
Автор: Berghuis Raymond Roger, Hofman Henk
Принадлежит: Technologies Holdings Corp.

The present invention relates to a gripper (), robot arm () and milking machine provided therewith, and method for arranging teat cups () in automatic manner on teats of an udder of an animal for milking. The gripper according to the invention comprises: —a fixation part () for holding at least one teat cup; and—transport means () for positioning the teat cup in the gripper relative to the at least one fixation part. 1. Gripper mountable on an arm of a milking machine for the purpose of arranging teat cups in automatic manner on teats of an udder of an animal for milking , the gripper comprising:a fixation part for holding at least one teat cup; andtransport means for positioning the teat cup in the grip pea relative to the fixation part.2. Gripper as claimed in claim 1 , comprising at least two fixation parts for holding the at least one teat cup.3. Gripper as claimed in claim 1 , wherein the transport means comprise a conveyor belt extending substantially in longitudinal direction of the fixation parts.4. Gripper as claimed in claim 1 , wherein the fixation part further comprises a magnet for holding the at least one teat cup movably in the gripper.5. Gripper as claimed in claim 1 , wherein the claim 1 , at least one fixation part is configured such that at least two teat cups can be held simultaneously.6. Gripper as claimed in claim 5 , wherein the second teat cup can be positioned behind the first teat cup as seen in longitudinal direction of the at least one fixation part.7. Gripper as claimed in claim 1 , further comprising a tilting mechanism.8. Gripper as claimed in claim 7 , wherein the tilting mechanism is configured such that a movement of the teat cup is possible in a substantially vertical plane.9. Gripper as claimed in claim 1 , further comprising a rotation mechanism.10. Gripper as claimed in claim 9 , wherein the rotation mechanism is configured such that a movement of the teat cup is possible in a substantially horizontal plane.11. Gripper as ...

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Номер записи: 19
01-01-2015 дата публикации

MILKING MACHINE AND A METHOD OF OPERATING SUCH A MILKING MACHINE

Номер: US20150000601A1
Автор: MOSTERT Gerard
Принадлежит: LELY PATENT N.V.

The invention relates to a milking machine comprising at least one teat cup, a milk conduit and a milk collecting container. The milking machine is arranged to repeatedly go through a teat searching phase and a milking phase. The milk conduit is with one end connected to an outlet of the teat cup and with an other end connected to the milk collecting container. The milking machine comprises a milking pump arranged to apply a predetermined and controlled vacuum to the milk conduit to transport milk from the teat cup via the outlet to the milk collecting container during the milking phase. The milking machine comprises a suction pump arranged to generate a suction flow through the teat cup towards and through the outlet during a teat searching phase. 118-. (canceled)19. A milking machine arranged to repeatedly go through a teat searching phase and a milking phase , and comprising at least one teat cup with an outlet , a milk collecting container , a milk conduit connecting the outlet of the teat cup and the milk collecting container , and a milking pump arranged to apply a predetermined and controlled vacuum to the milk conduit to transport milk from the teat cup via the outlet to the milk collecting container during the milking phase , the milking machine comprises a separate suction pump arranged to generate a suction flow through the teat cup towards and through the outlet during a teat searching phase.20. Milking machine according to claim 19 , wherein the milking machine is a robotic milking machine claim 19 , comprising a teat position detection system and a robot arm arranged to connect the at least one teat cup to a teat under the control of the teat position detection system.21. Milking machine according to claim 19 , wherein the milking pump is a positive displacement pump claim 19 , in particular a rotary vane pump or a piston pump.22. Milking machine according to claim 19 , wherein the suction pump is a turbo pump claim 19 , preferably an unregulated turbo ...

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Номер записи: 20
12-01-2017 дата публикации

SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE

Номер: US20170006818A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

A system includes a robotic arm positioned in an equipment area of a milking box that includes a stall portion housing a dairy livestock with four teats. The robotic arm retrieves a cup, and for a plurality of teats of the dairy livestock, the robotic arm attaches the cup to a teat, detaches the cup from the teat, and maintains the cup within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into the equipment portion of the milking box after it is detached from the last teat of the dairy livestock. 1. A method , comprising:housing a dairy livestock in a stall portion of a milking box;retrieving, by a robotic attacher, a cup; attaching the cup to the teat;', 'detaching the cup from the teat; and', 'maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock;, 'for each of a plurality of teats of a dairy livestock, using the robotic arm to perform the steps ofretracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.2. The method of claim 1 , wherein the cup comprises a preparation cup.3. The method of claim 1 , wherein the cup comprises a teat cup.4. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of right front teat claim 1 , left front teat claim 1 , left rear teat claim 1 , and right rear teat.5. The method of claim 4 , wherein retrieving the cup comprises retrieving the cup from the left side of an equipment area of the milking box.6. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of left front teat claim 1 , right front teat claim 1 , right rear teat claim 1 , and left rear ...

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Номер записи: 21
11-01-2018 дата публикации

SYSTEM AND METHOD FOR PREPARATION CUP ATTACHMENT

Номер: US20180007859A1
Автор: Foresman Mark A., Prevost Bradley J.
Принадлежит:

A robotic arm maneuvers a teat preparation cup and executes instructions from a robotic arm controller. The controller comprises an interface, a memory, and a processor. The processor instructs the sensor to perform a first scan. If the first scan discovers a first set of teats, the processor moves the robotic arm a first distance and instructs the sensor to perform a second scan. If the second scan discovers a second set of teats, the processor moves the robotic arm to a location under the first teat, and instructs the sensor to perform a third scan. The processor determines if the third scan discovers a third set of teats. If each of the first set, second set, and third set of discovered teats comprises the first teat, the processor instructs the robotic arm to attach the preparation cup to the first teat. 1. A system comprising:a robotic arm having a sensor, wherein the robotic arm is operable to maneuver a teat preparation cup and execute instructions received from a robotic arm controller; and an interface operable to communicate with the robotic arm and the sensor;', 'a memory operable to store one or more teat identifiers associated with one or more teats of a dairy livestock; and', select a first teat identifier from the memory and instruct the sensor to perform a first scan;', 'if the first scan discovers a first set of one or more teats, record a first set of identifiers stored in the memory corresponding to the first set of teats, move the robotic arm a first distance toward the dairy livestock and instruct the sensor to perform a second scan;', 'if the second scan discovers a second set of one or more teats, record a second set of identifiers stored in the memory corresponding to the second set of teats, determine that the first recorded set of teat identifiers and the second recorded set of teat identifiers each comprises the first teat identifier, move the robotic arm to a location under the first teat, and instruct the sensor to perform a third scan ...

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Номер записи: 22
22-01-2015 дата публикации

Space Divider of a Milking Parlor Arrangement, and Milking Parlor Arrangement

Номер: US20150020738A1
Автор: Balkenhol Reinhard, Hensel Derk, Hille Dieter, Hönscheid Armin, Krone Otto, Mader Thomas, Teckentrup Rolf, Trossehl Marc, Wiethoff Magnus
Принадлежит:

A space divider () of a milking parlor arrangement (′″) for at least one milking parlor () for milking milk-producing animals (T), wherein the space divider () is arranged approximately parallel to a longitudinal axis of the animal (T) to be milked, has an arm device () having a milking cluster (), which can be adjusted from a parking position to a working position and back. The arm device () is arranged with the milking cluster () in the parking position in the space divider () and can be adjusted into the working position laterally to the animal (T) to be milked between the front and rear legs thereof. The space divider () is designed in such a way that no additional space is required between adjacent animals (T), so that many animals (T) can be milked in a milking parlor arrangement (′″) while the smallest possible amount of space is required. 1. A divider for a longitudinal side of a milking parlor milking stall for milking milk-producing animals , the divider comprising:an arm device for supporting a milking cluster and adjusting between a parked position arranged in the divider and an operating position, determined to be between front and hind legs of the milk-producing animal.2. (canceled)3. The divider of claim 1 , wherein the arm device is further adjustable between an attachment position and the parked position and the operating position claim 1 , wherein the attachment position is predetermined to support the milking cluster in a position for the automatic attachment of the milking cluster to teats of the milk-producing animal claim 1 , and further comprising:a position sensor operatively associated with the arm device for obtaining teat position data of the milk-producing animal.4. The divider of claim 1 , wherein the arm device operating position is a fixed preliminary position defined by stop and to support the milking cluster in the fixed preliminary position.5. The divider of wherein the arm device comprises:an upper arm; anda lower arm coupled to ...

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Номер записи: 23
22-01-2015 дата публикации

MILKING PARLOR ARRANGEMENT WITH AN INNER ROBOT DEVICE

Номер: US20150020739A1
Автор: Krone Otto, Mader Thomas, Schneider Erich, Schulze-Wartenhorst Bernhard, SUHR Olaf
Принадлежит:

The invention relates to a milking parlor arrangement (), in particular a milking carousel, comprising at least one milking parlor () for milking milk-producing animals (T) and comprising an inner robot device with at least one robot arm (). The at least one milking parlor () comprises two longitudinal sides and two narrow sides, namely a head narrow side and a hindquarters narrow side, one narrow side being paired with the head side of a milk-producing animal (T) to be milked as the head narrow side. The milking parlor also comprises an arm device () with a milking machine (), said arm device being adjustable between a parked position and a working position and back. The at least one robot arm () is arranged on the head narrow side paired with the head side of the animal (T) to be milked of the at least one milking parlor () of the milking parlor arrangement () in order to adjust the arm device (). 1. A milking parlor arrangement comprising:at least one milking parlor for milking milk-producing animals an inner robot device having at least one robot arm, wherein the at least one milking parlor comprises:two longitudinal sides; a head narrow side; and a hind quarter narrow side, and the head narrow side is associated with the head end of an animal to be milked anda robot arm device for adjusting a milking cluster between a park position and an operating position, and the robot arm is arranged on the head narrow side of the at least one milking parlor for adjusting the arm device.2. The milking parlor arrangement of claim 1 , wherein the park position of the arm device is arranged along one of the longitudinal sides of the milking parlor.3. The milking parlor arrangement of claim 1 , and further comprising:a controller for automatically adjusting the robot arm for adjusting the arm device between the park position and the operating position for automatically positioning the milking cluster onto the teats of the animal to be milked.4. The milking parlor arrangement of ...

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Номер записи: 24
26-01-2017 дата публикации

MILKING BOX WITH ROBOTIC ATTACHER COMPRISING AN ARM THAT PIVOTS, ROTATES, AND GRIPS

Номер: US20170020100A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

A robotic attacher includes a main arm that is suspended vertically from a rail, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm includes a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental 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. 1. An apparatus , comprising:a robotic attacher comprising a main arm that is suspended vertically from a rail, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis, wherein the supplemental arm comprises a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm, and between at least a maximum-left position, a maximum-right position, and a centered position; and a first actuator operable to extend and retract a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion; and', 'a second actuator operable to extend and retract a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion., 'the pivot assembly comprising2. The apparatus of claim 1 , further comprising a third actuator operable to pivot the gripping portion to the centered position by pushing a plate against the first and ...

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Номер записи: 25
22-01-2015 дата публикации

SYSTEM AND METHOD FOR ANALYZING DATA CAPTURED BY A THREE-DIMENSIONAL CAMERA

Номер: US20150022641A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

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. 1. A system , comprising:a three-dimensional camera that captures visual data associated with a dairy livestock; determines a first edge of the dairy livestock based at least in part upon the visual data, wherein the first edge includes a first hip and an outer portion of a first hind leg of the dairy livestock;', 'determines a second edge of the dairy livestock based at least in part upon the visual data, wherein the second edge includes an inner portion of the first hind leg and a first portion of an udder of the dairy livestock;', 'determines a third edge of the dairy livestock based at least in part upon the visual data, wherein the third edge includes a second hip and an outer portion of a second hind leg of the dairy livestock;', 'determines a fourth edge of the dairy livestock based at least in part upon the visual data, wherein the fourth edge includes an inner portion of the second hind leg and a second portion of the udder of the dairy livestock; and', 'calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge, the second edge, the third edge, and the fourth edge; and, 'a processor communicatively coupled to the three-dimensional camera, wherein the processora robotic attacher that moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.2. The system of claim 1 , wherein the visual data comprises a plurality of pixels and the processor determines at least one edge of the dairy livestock by comparing depth locations of the plurality of pixels to each other.3. The system of claim 1 , ...

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Номер записи: 26
25-01-2018 дата публикации

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

Номер: US20180020631A1
Автор: Hofman Hendrik, van der Sluis Peter
Принадлежит:

This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying test 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. 115-. (canceled)16. A double grabber mounted on an arm of a robotic attacher , the double grabber comprising:a first housing part operable to hold a first teat cup; anda second housing part operable to hold a second teat cup and positioned side-by-side with the first housing part;wherein the first housing part is operable to retract longitudinally in relation to the arm of the robotic attacher in conjunction with the second housing part attaching the second teat cup to a dairy livestock; andwherein the second housing part is operable to retract longitudinally in relation to the arm of the robotic attacher in conjunction with the first housing part attaching the first teat cup to the dairy livestock.17. The double grabber of claim 16 , further comprising a cylinder to pivot the first housing part.18. The double grabber of claim 16 , wherein:the first housing part is operable to pivot downwardly in relation to the second housing part in conjunction with the second housing part attaching the second teat cup to the dairy livestock; andthe second housing part is operable to pivot downwardly in relation to the first housing part in conjunction with the first housing part attaching the first ...

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Номер записи: 27
25-01-2018 дата публикации

SPACE DIVIDER OF A MILKING PARLOR ARRANGEMENT, AND MILKING PARLOR ARRANGEMENT

Номер: US20180020632A1
Автор: Balkenhol Reinhard, Hensel Derk, Hille Dieter, Hönscheid Armin, Krone Otto, Mader Thomas, Matty Adip, Teckentrup Rolf, Trossehl Marc, Wiethoff Magnus
Принадлежит:

A space divider of a milking parlor arrangement for at least one milking parlor for milking milk-producing animals, wherein the space divider is arranged approximately parallel to a longitudinal axis of the animal to be milked, has an arm device having a milking cluster, which can be adjusted from a parking position to a working position and back. The arm device is arranged with the milking cluster in the parking position in the space divider and can be adjusted into the working position laterally to the animal to be milked between the front and rear legs thereof. The space divider may include a replaceable service unit. 1. A divider for a longitudinal side of a milking parlor milking stall for milking milk producing animals , the divider comprising:an arm device for supporting a milking cluster, and the arm device is adjustable between a parked position arranged in the divider and an operating position between front and hind legs of the milk-producing animal; anda service unit which is insertable and removeable.2. The divider of claim 1 , wherein the divider defines an accommodating space in which the service unit is disposed.3. The divider of claim 2 , wherein the accommodating space is positioned in a hindquarter portion of the divider.4. The divider of claim 2 , wherein the accommodating space is closable by a cover.5. The divider of claim 1 , wherein the service unit contains service-specific parts.6. The divider of claim 1 , wherein the service unit contains milk-channeling parts.7. The divider of claim 2 , wherein the service unit is disposed within the accommodating space and is connected to an installation by a connecting device.8. The divider of claim 2 , wherein the service unit has a carrying frame disposed in the accommodating space to support milk-channeling parts.9. The divider of claim 2 , and the service unit further comprises:a central communication line connected between the service unit and a control unit that is arranged on an upper side of a ...

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Номер записи: 28
25-01-2018 дата публикации

MILKING SYSTEM

Номер: US20180020633A1
Автор: Gehm Lanny, Gehm William
Принадлежит:

Improving milking system performance through the incorporation of a source of greater than atmospheric pressure air into a pulsator while limiting total pressure in the teat cup. The system is further improved by providing an improved supply of regulated vacuum to the milking cluster throughout the milking process. The system is further improved with a monitoring and detecting the functional failure of the pulsation assemblies. Additional system improvements are provided with the addition of a fresh air valve assembly, a wireless method of regulating vacuum levels and the remote location of a pulsator assembly in a basement style parlor. 1. A pulsator for alternatingly supplying air and vacuum to a pulsation chamber to open and close a flexible liner of a teat cup assembly of a milking system attached to an animal comprising: a first solenoid housing having a first end open to a channel and a second end;', 'a first solenoid having an interior end, located within the channel of the first solenoid housing;', 'a respective inlet and a respective outlet through which greater than atmospheric pressure air can be respectively supplied to the pulsation chamber of the teat cup assembly; and', 'a first solenoid valve plunger reciprocally movable in the first solenoid housing with a first end in the channel for sealing the inlet from the outlet and a second end opposite the first end;, 'a first valve comprising a second solenoid housing having a first end open to a channel and a second end a second solenoid having an interior end, within the channel of the second solenoid housing;', 'a respective inlet and a respective outlet through which a vacuum can be respectively supplied to the pulsation chamber of the teat cup assembly; and', 'a second solenoid valve plunger reciprocally movable in the second solenoid housing with a first end in the channel for sealing the inlet from the outlet and a second end opposite the first end;, 'a second valve comprisinga common outlet ...

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Номер записи: 29
31-01-2019 дата публикации

ROBOT AND METHOD FOR MILKING A COW BY THIS ROBOT

Номер: US20190029214A1
Автор: Hofman Henk, Van Der Sluis Peter Willem
Принадлежит:

A milking robot includes a movable arm having a first end that couples to a frame and a free extremity at a second end that extends telescopically in a longitudinal direction. The milking robot further includes at least one gripper coupled to the free extremity of the movable arm at the second end, wherein the gripper is extendable away from the movable arm in the longitudinal direction based at least in part upon the telescopic extension of the free extremity. 1. A milking robot , comprising:a movable arm having a first end that couples to a frame and a free extremity at a second end that extends telescopically in a longitudinal direction; andat least one gripper coupled to the free extremity of the movable arm at the second end, wherein the gripper is extendable away from the movable arm in the longitudinal direction based at least in part upon the telescopic extension of the free extremity.2. The milking robot of claim 1 , wherein the at least one gripper is swivably mounted to the movable arm such that it moves between a first position parallel to the movable arm's longitudinal direction and a second position at which the gripper extends sideways in a horizontal plane away from the movable arm's longitudinal direction.3. The milking robot of claim 1 , wherein the at least one gripper is one of a plurality of grippers.4. The milking robot of claim 3 , wherein the plurality of grippers comprises four grippers.5. The milking robot of claim 4 , wherein a first pair of the four grippers are arranged in a side-by-side configuration in front of a second pair of four grippers that are also arranged in a side-by-side configuration.6. The milking robot of claim 3 , wherein the plurality of grippers are individually controllable for selective operation of each of the grippers.7. The milking robot of claim 1 , wherein the at least one gripper comprises a plurality of cooperating fingers for gripping a milking cup.8. The milking robot of claim 1 , wherein the at least one ...

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Номер записи: 30
09-02-2017 дата публикации

SYSTEM AND METHOD FOR IMPROVED ATTACHMENT OF A CUP TO A DAIRY ANIMAL

Номер: US20170035017A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

A system comprises a robotic arm, camera, and a controller. The camera is positioned on a surface of the robotic arm and emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm. The controller instructs the robotic arm to grip a milking cup, and determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera. The controller instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear, release the milking cup in response to the milking cup being attached to the teat. move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup, and to move away from the teat. 1. A system , comprising:a robotic arm;a camera positioned on a surface of the robotic arm and that emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm; and instructs the robotic arm to grip a milking cup;', 'determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera;', 'instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear;', 'instructs the robotic arm to release the milking cup in response to the milking cup being attached to the teat;', 'instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup; and', 'instructs the robotic arm to move away from the teat., 'a controller communicatively coupled to the robotic arm, wherein the controller2. The system of claim 1 , wherein instructing the robotic arm to move the milking cup towards the teat comprises instructing the robotic arm to move to a set of ...

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Номер записи: 31
11-02-2016 дата публикации

IMPLEMENT FOR KEEPING DAIRY ANIMALS

Номер: US20160037745A1
Автор: PETERSEN Gerth
Принадлежит: LELY PATENT N.V.

An implement for keeping dairy animals, provided with a first and a second production unit and with a care unit having a plurality of subunits, wherein each production unit is provided with at least one accommodation area for a production group, which comprises a group of lactating dairy animals, and with a milking implement for milking the production group, wherein the subunits of the care unit at least include a calving unit for separately accommodating dairy animals in a calving period, and a milking implement for milking newly calved dairy animals, and an infirmary unit for separately accommodating sick animals, and wherein the care unit forms a connection between the production units. There is thus provided a compact disposition, comprising efficient and short distances, for dairy animals requiring care. 1. An implement for keeping dairy animals ,provided with a first and a second production unit and a care unit having a plurality of subunits, wherein each production unit is provided with at least one accommodation area for a production group, wherein the production group comprises a group of lactating dairy animals, and with a milking implement for milking the production group, andwherein the subunits of the care unit comprise at least: a calving unit for separate accommodation of at least one dairy animal in a calving period, a milking implement for milking at least one just calved dairy animal, and an infirmary unit for separate accommodation of at least one sick animal,and wherein the care unit forms a connection between the production units.2. The implement according to claim 1 , wherein at least one milking implement of at least one production unit is positioned at the side thereof which is contiguous to the care unit.3. The implement according to claim 1 , wherein the subunits of the care unit comprise a dry animal unit for separate accommodation of at least one dry dairy animal.4. The implement according to claim 1 , wherein the care unit comprises an ...

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Номер записи: 32
11-02-2016 дата публикации

MILKING BOX WITH ROBOTIC ATTACHER AND BACKPLANE FOR TRACKING MOVEMENTS OF A DAIRY ANIMAL

Номер: US20160037746A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

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. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock located in the stall portion. A controller determines the position of the backplane relative to the rear of the stall portion. The controller determines an x-offset based at least in part upon the position of the backplane relative to the rear of the stall portion, wherein the x-offset increases as the dairy livestock moves toward the front of the stall and the x-offset decreases as the dairy livestock moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher in an x-direction, the amount of movement determined at least in part according to the x-offset. 1. A milking box , comprising:a stall portion; move toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane; and', 'move toward the front of the stall portion in response to pressure removed from the contact surface;, 'a backplane positioned in the stall portion of the milking box, and configured toa robotic attacher configured to extend from the rear of the stall portion and between the hind legs of a dairy livestock located in the stall portion; determine the position of the backplane relative to the rear of the stall portion;', 'determine an x-offset based at least in part upon the position of the backplane relative to the rear of the stall portion, wherein the x-offset increases as the dairy livestock moves toward the front of the stall and the x-offset decreases as the dairy livestock moves toward the rear of the stall; and', 'communicate a signal to move the robotic attacher in ...

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Номер записи: 33
11-02-2016 дата публикации

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

Номер: US20160037747A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

A system includes a 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 movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines a position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track to the determined position in conjunction with the movement of the rotary milking platform. 1. A system for controlling the position of a robot carriage , comprising:a 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 determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position;', 'determines a position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform; and', 'communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track, the position signal causing the carriage actuator to move the robot carriage along the carriage track to the determined position in conjunction with the movement of the rotary milking platform., 'a controller that2. The system of claim 1 , wherein the robot carriage comprises a robot arm having a spray tool operable to discharge an amount of disinfectant to the teats of a dairy livestock located in the milking stall of the milking platform as the rotary milking platform ...

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Номер записи: 34
07-02-2019 дата публикации

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

Номер: US20190037796A1
Автор: Hofman Hendrik, van der Sluis Peter
Принадлежит:

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. 115-. (canceled)16. A method for operating a double grabber mounted on an arm of a robotic attacher , the method comprising:holding a first teat cup using a first housing part of the double grabber;holding a second teat cup using a second housing part of the double grabber, wherein the second housing part is positioned side-by-side with the first housing part;attaching the first teat cup to the dairy livestock using the first housing part;retracting the second housing part longitudinally in relation to the arm of the robotic attacher in conjunction with the first housing part attaching the first teat cup to a dairy livestock;attaching the second teat cup to the dairy livestock using the second housing part;retracting the first housing part longitudinally in relation to the arm of the robotic attacher in conjunction with the second housing part attaching the second teat cup to the dairy livestock.17. The method of claim 16 , further comprising:pivoting the second housing part downwardly in relation to the first housing part in conjunction with the first housing part attaching the first teat cup to the dairy livestock; andpivoting the first housing part downwardly in relation to the second ...

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Номер записи: 35
18-02-2016 дата публикации

System and method of attaching cups to a dairy animal

Номер: US20160044887A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A robotic attacher retrieves cups from the right side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the right front teat, a second cup to the left front teat, a third cup to the right rear teat, and a fourth cup to the left rear teat.

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Номер записи: 36
16-02-2017 дата публикации

MILKING CLUSTER AND MILKING PARLOR HAVING SUCH A MILKING CLUSTER

Номер: US20170042110A1
Автор: Auburger Markus, Krone Otto
Принадлежит:

A milking cluster for a milking parlour for milking milk-giving animals, having at least one teat cup unit having a housing, a teat cup, a drive appliance, a pulling element arrangement connected to the teat cup, and the pulling element arrangement has a segment unit having at least two pulling elements. 1. A milking cluster for a milking parlor for milking milk-producing animals , the milking cluster comprising:a teat cup unit having a teat cup;a drive device; anda pulling element arrangement connected between the teat cup and the drive device, and the pulling element arrangement includes a segment unit defining an interior space and a plurality of pulling elements, and wherein the segment unit includes a first segment, an intermediate segment, and a fixing segment, and at least two of the pulling elements are arranged at least partially within the interior space of the segment unit.2. The milking cluster of claim 1 , wherein the teat cup unit is movable between a park position in which the teat cup assumes a position that is inclined with respect to vertical claim 1 , a positioning position in which the teat cup is in a substantially vertical position claim 1 , and a milking position in which the teat cup is connected to an associated teat of the animal to be milked.3. The milking cluster of claim 1 , wherein the segment unit comprises:a fixing device joined to the teat cup; andwherein the first segment includes a tilt segment adjacent to the fixing device; andthe fixing segment is joined to a teat cup unit housing.4. The milking cluster of claim 3 , wherein the fixing device further comprises: an inclined tilt portion claim 3 , and the tilt segment has an inclined contact portion which bears against the inclined tilt portion when the teat cup unit is in a park position.5. The milking cluster of claim 1 , wherein the fixing segment is mounted to the drive device.6. The milking cluster of claim 1 , and further comprising:a tilt lever operatively connected between ...

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Номер записи: 37
14-02-2019 дата публикации

ROTARY QUICKSTART

Номер: US20190045737A1
Автор: Seehafer John, Willfahrt Todd
Принадлежит:

A milking system includes an assembly, a controller, and a milking cluster configured to attach to one or more teats of a livestock. The assembly includes a clevis, a piston, a pulley system, and a sensor. The clevis includes a first member, a second member, a base member, and a cylinder. The cylinder is coupled to the base member. The piston is positioned at least partially within the cylinder, and is configured to move within the cylinder. The pulley system of the assembly includes a cord configured to be coupled to the milking cluster. The assembly includes a sensor configured to generate a displacement signal in response to detecting that a portion of the clevis is within a predefined distance of the sensor. 1. A system comprising:a milking cluster configured to attach to one or more teats of a livestock; a pulley system comprising a cord, wherein the cord comprises a first end coupled to the milking cluster; and', a first member comprising a first aperture configured to couple the pulley system to the clevis;', 'a second member comprising a second aperture configured to couple the pulley system to the clevis;', 'a base member coupled to the first member and the second member; and', 'a cylinder coupled to the base member;, 'a clevis comprising, 'a piston positioned at least partially within the cylinder and configured to move within the cylinder;', 'a sensor configured to generate a displacement signal in response to detecting that a portion of the clevis is within a predefined distance of the sensor; and, 'an assembly comprisinga controller configured to receive the displacement signal from the sensor.2. The system of claim 1 , wherein:the controller is further configured to generate a release signal in response to receiving the displacement signal from the sensor; and receive the release signal from the controller; and', 'cause the piston to move within the cylinder., 'the cylinder is configured to3. The system of claim 1 , wherein:the clevis comprises a first ...

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Номер записи: 38
23-02-2017 дата публикации

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

Номер: US20170049068A1
Автор: Hofman Hendrik, van der Sluis Peter
Принадлежит: Technologies Holdings Corp.

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. 1. Double grabber mountable onto an arm of a robotic attacher for applying teat cups to an udder of an animal , the double grabber comprising:a first housing part provided with a first magnet designed for holding a first teat cup;a second housing part, installed substantially in a horizontal plane adjacent to the first housing part, provided with a second magnet designed for holding a second teat cup;whereby each housing part is operable to pivot separately from each other in a vertical direction around a horizontal axis.2. Double grabber according to claim 1 , further comprising a cylinder to pivot the first housing part.3. Double grabber according to claim 1 , whereby the magnet comprises a permanent magnet installed in a movable fashion in or at the first housing part.4. Double grabber according to claim 3 , whereby the permanent magnet is movable substantially in the lengthwise direction of the arm.5. Double grabber according to claim 3 , whereby the permanent magnet is operatively connected with a first drive for moving the magnet inside the first housing part.6. Double grabber according to claim 1 , whereby at least one of the housing parts is provided with a sliding mechanism ...

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Номер записи: 39
22-02-2018 дата публикации

Vision System with Teat Identification

Номер: US20180049388A1
Автор: Foresman Mark A., Prevost Bradley J., Van Aart Marinus P.
Принадлежит:

A system that includes a laser, a memory, and a processor. The processor is configured to receive a teat position associated with an unknown teat, determine a first position distance between the teat position and a first teat, determine a second position distance between the teat position and a second teat, determine a third position distance between the teat position and a third teat, and determine a fourth position distance between the teat position and a fourth teat. The processor is further configured to compare the first position distance, the second position distance, the third position distance, and the fourth position distance to determine a smallest position distance from the unknown teat, identify a teat of the dairy livestock corresponding with the smallest position distance, associate a teat identifier for the unknown teat with the identified teat, and store the association in the memory. 1. A vision system comprising:a robotic arm comprising a laser configured to scan at least a portion of a dairy livestock in a stall;a memory configured to store teat location information comprising teat locations for a plurality of teats of the dairy livestock; and position the laser adjacent to the dairy livestock;', 'determine a robot position offset between a center line of the dairy livestock and a position of the robotic arm;', 'apply the robot position offset to the teat location information associated with the plurality of teats to shift the teat locations for the plurality of teats;', 'generate a teat position associated with an unknown teat based on the scan of the at least a portion of the dairy livestock;', 'determine a first position distance between the teat position and a first shifted teat location for a first teat of the plurality of teats;', 'determine a second position distance between the teat position and a second shifted teat location for a second teat of the plurality of teats;', 'determine a third position distance between the teat position and a ...

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Номер записи: 40
22-02-2018 дата публикации

Vision System with Teat Detection

Номер: US20180049389A1
Автор: Foresman Mark A., Prevost Bradley J.
Принадлежит:

A system that includes a laser configured to generate a profile signal of at least a portion of a dairy livestock, a memory operable to store a teat detection rule set, 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 one or more edge pairs from among the one or more edge pair candidates based on the comparison. The processor is further configured to apply the teat detection rule set to the one or more edge pairs to identify one or more teat candidates from among the one or more edge pairs and determine position information for the one or more teat candidates. 1. A vision system comprising: information associated with a relative distance between the dairy livestock and the laser;', 'one or more rising distance gradients indicating an increase in the distance between the dairy livestock and the laser; and', 'one or more falling distance gradients indicating a decrease in the distance between the dairy livestock and the laser;, 'a laser configured to generate a profile signal of at least a portion of a dairy livestock, wherein the profile signal comprisesa memory operable to store a teat detection rule set; and obtain the profile signal;', 'detect one or more edge pair candidates in the profile signal, wherein each of the one or more edge pair candidates comprises complementary distance gradients comprising a rising distance gradient and a falling distance gradient;', '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;', 'identify one or more edge pairs from among the one or more edge pair candidates based on the comparison, wherein each of the one or more edge pairs comprises complementary ...

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Номер записи: 41
22-02-2018 дата публикации

Vision System with Teat Candidate Identification

Номер: US20180049390A1
Автор: Bradley J. Prevost, Mark A. Foresman
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A system that includes a laser, a three-dimensional (3D) camera, a memory, and a processor. The processor is configured to determine the position of a first teat candidate relative to a second teat candidate, assign the first teat candidate and the second teat candidate as a left teat candidate or right teat candidate, and receive a teat identifier for a target teat. The processor is configured to determine whether the left or right teat candidate is within a teat location range of the target teat and to link the teat identifier with the left teat candidate or right teat candidate based on the determination.

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Номер записи: 42
22-02-2018 дата публикации

Vision System with Tail Positioner

Номер: US20180049391A1
Автор: Foresman Mark A., Godfrey Robert J., Van Der Sluis Peter Willem
Принадлежит:

A system includes a robotic arm, an imaging device coupled to the robotic arm, a tail positioner coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The tail positioner is able to move from a down position to an up position. The processor is coupled to both the imaging device and the tail positioner and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device. 1. A system comprising:a robotic arm;one or more grabbers coupled to the robotic arm at a first end, each of the one or more grabbers configured to hold a teat cup for obtaining milk from a dairy livestock;an imaging device coupled to the robotic arm and configured to capture imaging data of a rearview of the dairy livestock through a field of view of the imaging device; a fluid diverter operable to divert fluid away from the imaging device; and', 'an aperture that the imaging device passes through when the tail positioner lowers from the up position to the down position;, 'a tail positioner coupled to the robotic arm and configured to pivot between up and down positions, the tail positioner comprising identify a tail of the dairy livestock within the imaging data captured by the imaging device; and', 'send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device., 'a processor communicatively coupled to the imaging device and the tail positioner, the processor configured to2. The system of claim 1 , wherein the imaging device comprises a three dimensional (3D) camera.3. The system of claim 1 , wherein the imaging device comprises a laser.4. The system of claim ...

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Номер записи: 43
22-02-2018 дата публикации

Vision System for Teat Detection

Номер: US20180049392A1
Автор: Foresman Mark A., Van Anart Marijn, Van Der Sluis Peter Willem
Принадлежит:

A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a distance between a left and right teat of a dairy livestock is less than or equal to a predetermined distance, and if so, command the robotic arm to move to a scan location that is between the left and right teats. The processor is further configured to command the laser to perform a scan of the teats after the robotic arm is at the scan location and to determine whether the left and right teats are found in the scan. If both the left and right teats are found in the scan, the processor commands the robotic arm to attach a teat cup to either the left or right teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine, from the historical teat location information, a first expected teat position associated with a first teat and a second expected teat position associated with a second teat;', 'determine a distance between the first expected teat position and the second expected teat position;', 'determine that the distance is less than or equal to a predetermined distance;', 'in response to determining that the distance is less than or equal to the predetermined distance, command the robotic arm to move to a first location that is between the first expected teat position and the second expected teat position;', 'command the robotic arm to move up a predetermined amount after the robotic arm moves to the first location;', 'command the laser to perform a scan of the dairy livestock after the robotic arm moves up the predetermined amount;', 'access a first profile ...

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Номер записи: 44
22-02-2018 дата публикации

Vision System for Teat Detection

Номер: US20180049393A1
Автор: Foresman Mark A., Van Anart Marijn
Принадлежит:

A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a first location corresponding to an expected teat position of a first teat. The processor is further configured to determine whether the first teat is found in a first scan by the laser, and if so, command the robotic arm to move to a second location corresponding to the location in the scan. The processor is further configured to determine whether the first teat is found in a second scan by the laser, and if so, determine whether the first teat is within a predetermined distance from a current location of the robotic arm. If the first teat is within the predetermined distance from the current location of the robotic arm, the processor commands the robotic arm to attach a teat cup to the first teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser coupled to the robotic arm and configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine, from the historical teat location information, an expected teat position associated with a first teat;', 'command the robotic arm to move to a first location corresponding to the expected teat position;', 'command the robotic arm to move up a predetermined amount after the robotic arm moves to the first location corresponding to the expected teat position;', 'command the laser to perform a first scan of the dairy livestock after the robotic arm moves up the predetermined amount;', 'access a first profile signal generated by the laser from the first scan;', 'determine that the first teat is found in the first profile signal, the first teat located at a first scan ...

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Номер записи: 45
22-02-2018 дата публикации

Vision System for Teat Detection

Номер: US20180049394A1
Автор: Marijn Van Anart, Mark A. Foresman
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A system includes a robotic arm, memory, and a processor. The processor is configured to access first and second success counters stored in the memory. The first success counter is associated with a first attach algorithm and the second success counter is associated with a second attach algorithm. The processor is further configured to determine whether the first success counter is greater than the second success counter. The processor is further configured to execute the first attach algorithm if the first success counter is greater than the second success counter, and to execute the second attach algorithm if the first success counter is not greater than the second success counter. The processor is further configured to increment the first success counter if the first attach algorithm is successful, and to increment the second success counter if the second attach algorithm is successful.

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Номер записи: 46
22-02-2018 дата публикации

Vision System for Teat Detection

Номер: US20180049395A1
Автор: Foresman Mark A., Prevost Bradley J.
Принадлежит:

A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a location of an expected teat position of a dairy livestock and to command the laser to perform two scans of the dairy livestock. The processor is further configured to determine whether a first teat is found in both of the scans, and if so, determine whether locations of the first teat in the two scans are within a predetermined distance of each other. The processor is further configured to, in response to determining that locations of the first teat in the two scans are within the predetermined distance of each other, command the robotic arm to move to a location corresponding to the location of the first teat and to command the robotic arm to attach a teat cup to the first teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser coupled to the robotic arm and configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine, from the historical teat location information, an expected teat position associated with a first teat;', 'command the robotic arm to move to a first location corresponding to the expected teat position;', 'command the laser to perform first and second scans of the dairy livestock after the robotic arm moves to the first location corresponding to the expected teat position;', 'access a first profile signal and a second profile signal generated, respectively, by the laser from the first and second scans;', 'determine that the first teat is found in both the first and second profile signals;', 'in response to determining that the first teat is found in both the first and second profile ...

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Номер записи: 47
22-02-2018 дата публикации

Vision System for Teat Detection

Номер: US20180049396A1
Автор: Foresman Mark A., Godfrey Robert J., Janani Alireza, Van Der Sluis Peter Willem
Принадлежит:

A system includes a robotic arm, a laser, and a processor. The processor is configured to determine that a teat cup is to be attached to a front teat of a dairy livestock, and in response, determine an amount of separation between the front teat and a rear teat. The processor is further configured to calculate, if the amount of separation between the front and rear teats is greater than or equal to a predetermined distance, an updated front teat position based on the amount of separation between the front and rear teats and command the robotic arm to move to the updated front teat position. The processor is further configure to determine whether the front teat is found in a scan of the dairy livestock by the laser, and if so, command the robotic arm to attach the teat cup to the front teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine that the teat cup is to be attached to a front teat of the dairy livestock;', 'determine, from the historical teat location information, an amount of separation between the front teat and a rear teat of the dairy livestock, the front teat having a front teat position;', 'determine that the amount of separation between the front teat and the rear teat is greater than or equal to a predetermined distance;', 'in response to determining that the amount of separation between the front teat and the rear teat is greater than or equal to the predetermined distance, calculate an updated front teat position based on the amount of separation between the front teat and the rear teat;', 'command the robotic arm to move to a first location ...

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Номер записи: 48
22-02-2018 дата публикации

Vision System for Teat Detection

Номер: US20180049397A1
Автор: Marijn Van Anart, Mark A. Foresman, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a first teat of a diary livestock is found in a first scan of the dairy livestock by the laser, and if so, command the robotic arm to move to a location corresponding to the location of the first teat. The processor is further configured to increment a counter associated with the first teat and then determine whether the counter equals a predetermined number. If the counter equals the predetermined number, the processor commands the robotic arm to attach a teat cup to the first teat. If the counter does not equal the predetermined number, the processor determines whether the first teat is found in a second scan by the laser. If the first teat is found in the second scan, the processor commands the robotic arm to attach the teat cup to the first teat.

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Номер записи: 49
03-03-2016 дата публикации

A MILKING STALL

Номер: US20160057972A1
Автор: FAGERVALL (deceased) Mikael, Larsson Magnus, SJOLUND Helene
Принадлежит:

A milking stall that houses one animal at a time. The milking stall includes a fence arrangement defining an interior space of the milking stall and made up of i) a stationary first long side, ii) a second long side extending along the first long side and having a central fence portion supporting a first entrance gate and a first exit gate, iii) a first short side attached to the first long side as a second entrance gate (), and iv) a second short side attached to the first long side as a second exit gate. 115-. (canceled)161. A milking stall that houses one animal () at a time , comprising:{'b': '3', 'a fence arrangement () defining an interior space of the milking stall and being comprised of'}{'b': '9', 'i) a stationary first long side () extending in a longitudinal first direction between a first terminal end and an opposite, second terminal end,'}{'b': 9', '9', '8', '4', '8', '6', '8', '16', '4', '6, 'ii) a second long side spaced apart from the first long side () and extending in the first direction on a first side of the first long side (), the second long side being comprised of a) a central fence portion () with a first terminal end and an opposite, second terminal end, b) a first entrance gate () pivotably attached to a first terminal end of the central fence portion (), and c) a first exit gate () pivotably attached to a second terminal end of the central fence portion (), a first entrance area () being located adjacent the first entrance gate () and a first exit area being located adjacent the first exit gate (),'}{'b': 5', '5', '18, 'iii) a first short side () having a first terminal end and an opposite, second terminal end, the first terminal end of the first short side being pivotably attached to the first terminal end of the first long side as a second entrance gate (), a second entrance area () being located adjacent the second entrance gate, the first short side being shorter than the first and second long sides, and'}{'b': 7', '7', '20', '7, 'iv) ...

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Номер записи: 50
01-03-2018 дата публикации

ROBOT AND METHOD FOR MILKING A COW BY THIS ROBOT

Номер: US20180054998A1
Автор: Hofman Henk, Van Der Sluis Peter Willem
Принадлежит:

A milking robot comprises a movable arm having a length in a longitudinal direction, and at least one gripper swivably mounted to the movable arm such that it moves between a first position parallel to the movable arm's longitudinal direction and a second position at which the gripper extends sideways in a horizontal plane away from the movable arm's longitudinal direction. 1. A milking robot , comprising:a movable arm having a length in a longitudinal direction; andat least one gripper swivably mounted to the movable arm such that it moves between a first position parallel to the movable arm's longitudinal direction and a second position at which the gripper extends sideways in a horizontal plane away from the movable arm's longitudinal direction.2. The milking robot of claim 1 , wherein the at least one gripper comprises a plurality of cooperating fingers for gripping a milking cup.3. The milking robot of claim 1 , wherein the at least one gripper comprises a clamping apparatus that pinches off and holds a milking hose that connects to a milking cup.4. The milking robot of claim 1 , wherein the at least one gripper is one of a plurality of grippers.4. The milking robot of claim 4 , wherein the plurality of grippers comprises four grippers.625. The milking robot of claim 4 , wherein a first pair of the four grippers are arranged in a side-by-side configuration in front of a second pair of four grippers that are also arranged in a side-by-side configuration.7. The milking robot of claim 4 , wherein the plurality of grippers are individually controllable for selective operation of each of the grippers.8. The milking robot of claim 1 , further comprising a frame that is movable along a guide track that is positioned adjacent to a rotary platform such that the frame can move in conjunction with the movement of the rotary platform claim 1 , wherein the movable arm is coupled to the frame.9. The milking robot of claim 8 , wherein the movable arm and the frame move along ...

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Номер записи: 51
01-03-2018 дата публикации

Robotic arm and preparation cup system

Номер: US20180054999A1
Автор: Bradley A. Schaller, Robert J. Godfrey
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A system comprising a robotic arm, a plurality of grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.

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Номер записи: 52
21-02-2019 дата публикации

MILKING PARLOR COMPRISING A DRIVING ASSEMBLY FOR MILKING PARLOR GATES

Номер: US20190053464A1
Автор: Mader Thomas
Принадлежит:

A milking parlor for milking dairy animals, having a pillar, a gate pillar provided with a pivoting entrance gate and a pivoting exit gate, and a bridge located on the pillar and the gate pillar; the milking parlor further includes a driving assembly that is located within the bridge and is coupled to the entrance gate and the exit gate. 1. A milking parlor for milking dairy animals , comprising:a pillar;a gate pillar;a pivoting entrance gate operatively joined to the gate pillar;a pivoting exit gate operatively joined to the gate pillar;a bridge mounted on the pillar and the gate pillar; anda driving assembly mounted at least partially inside the bridge and coupled to the entrance gate and the exit gate.2. The milking parlor of claim 1 , wherein the driving assembly comprises:an entrance gate drive; andan exit gate drive.3. The milking parlor of and further comprising:a first gearing coupled between the entrance gate and the entrance gate drive; anda second gearing coupled between the exit gate and the exit gate drive.4. The milking parlor of claim 3 , wherein the first gearing comprises a lever claim 3 , and the second gearing comprises a lever.5. The milking parlor of claim 4 , wherein the entrance gate is substantially secured against rotation to a vertically mounted entrance gate shaft claim 4 , and the exit gate is substantially secured against rotation to a vertically mounted exit gate shaft.6. The milking parlor of claim 5 , wherein the entrance gate shaft is secured against rotation to the lever of the first gearing and the exit gate shaft is secured against rotation to the lever of the second gearing.7. The milking parlor of claim 6 , wherein the entrance gate shaft is mounted on a vertical longitudinal side of a support body of the gate pillar claim 6 , and the exit gate shaft is mounted on another vertical longitudinal side of the support body of the gate pillar.8. The milking parlor of claim 7 , wherein the entrance gate drive and the exit gate drive ...

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Номер записи: 53
05-03-2015 дата публикации

ROBOTIC ARM WITH DOUBLE GRABBER AND METHOD OF OPERATION

Номер: US20150059649A1
Автор: Godfrey Robert J., Schaller Brad A., Toepfer Kent B., Van Der Sluis Peter Willem
Принадлежит:

A robotic attacher comprises a main arm suspended from a rail, a supplemental arm coupled to the main arm, and a gripping portion coupled to an extension of the supplemental arm. The gripping portion comprises a first grabber positioned side-by-side with a second grabber. The first grabber is operable to attach a first teat cup to a first teat of a dairy livestock and the second grabber is operable to tilt downward independent of the first grabber in conjunction with the first grabber attaching the first teat cup. The second grabber is operable to attach a second teat cup to a second teat of the dairy livestock and the first grabber is operable to tilt downward independent of the second grabber in conjunction with the second grabber attaching the second teat cup. 1. A robotic attacher , comprising:a main arm suspended from a rail;a supplemental arm coupled to the main arm; anda gripping portion coupled to an extension of the supplemental arm and comprising a first grabber positioned side-by-side with a second grabber; a first magnet stored in a first housing and operable to contact a first teat cup; and', 'a first air cylinder coupled to the first magnet and operable to extend the first magnet such that the first magnet contacts the first teat cup, and to retract the first magnet such that the first magnet releases the first teat cup;, 'the first grabber comprising a second magnet stored in a second housing and operable to contact a second teat cup; and', 'a second air cylinder coupled to the second magnet and operable to extend the second magnet such that the second magnet contacts the second teat cup, and to retract the second magnet such that the second magnet releases the teat cup., 'the second grabber comprising2. The robotic attacher of claim 1 , wherein the extension of the supplemental arm coupled to the first and second grabbers is operable to rotate about a longitudinal axis of the supplemental arm.3. The robotic attacher of claim 2 , further comprising:a ...

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Номер записи: 54
20-02-2020 дата публикации

MILKING SYSTEM COMPRISING A MILKING CUP WITH A SENSOR AND A POWER SUPPLY

Номер: US20200053973A1
Автор: DE GROOT PIETER GERLOF, STEENBERGEN Rik
Принадлежит: LELY PATENT N.V.

A milking system for milking a dairy animal includes a milking cup to be attached to a teat of the dairy animal and milking the milk, and an electronic component. The electronic component includes a sensor which is arranged in or on the milking cup for measuring a value of a variable related to the milking, a transmitter for transmitting the measured values, and a power supply for supplying the sensor and/or the transmitter with electrical energy. The power supply may include an inductive power supply with a first coil component and a second coil component, where the first coil component and the electronic component are electrically connected to each other, and where the second coil component is electrically directly connectable to an external source of electrical energy. The milking system also includes a fastening means which holds the first coil component and the second coil component together. 1: A milking system for milking a dairy animal , comprising:a milking cup to be attached to a teat of the dairy animal and milking milk from the dairy animal, andan electronic component with a sensor which is arranged in or on the milking cup for measuring a value of a variable related to the milking, a transmitter for transmitting the measured values, and a power supply for supplying the sensor and/or the transmitter with electrical energy,wherein the power supply comprises an inductive power supply with a first coil component and a second coil component,wherein the first coil component and the electronic component are electrically connected to each other in a direct and fixed manner, and wherein the second coil component is electrically directly connectable to an external source of electrical energy,wherein the milking system furthermore comprises a fastening means which holds the first coil component and the second coil component together, even during milking.2: The milking system as claimed in claim 1 , wherein the fastening means is detachable by a user in order to ...

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Номер записи: 55
20-02-2020 дата публикации

MILKING DEVICE FOR MILKING DAIRY ANIMALS WITH RINSING FUNCTION

Номер: US20200053974A1
Автор: WIEDEMANN Martin
Принадлежит:

A milking system for milking dairy animals with a preparation station that automatically prepares at least one teat of a dairy animal before applying milking equipment, and a milking station in which one of the animals is milked at a time, the preparation station configured to receive at least one animal to be milked, the milking system has at least one teat cup that receives a teat of the dairy animal to be milked, and the preparation station has a dispensing means that applies a pretreatment solution onto the at least one teat of the animal when it passes through the preparation station, the teat cup having a rinsing function by which the received teat is cleaned prior to the milking process, and the rinsing function removes the pretreatment solution applied onto the teat at the preparation station from the teat in a rinsing process. 11010. A milking system () configured to milk dairy animals , the milking system () comprising:{'b': 12', '42, 'a preparation station () for automatically preparing at least one teat (Z) of a dairy animal (T) before applying milking equipment (); and'}{'b': 14', '12, 'at least one milking station (), located forward from the preparation station () along a route for leading the dairy animal from the preparation station, in which one of the dairy animals (T) is milked at a time,'}{'b': '12', 'wherein the preparation station () receives at least one dairy animal (T) to be milked,'}{'b': 10', '70, 'wherein the milking system () has at least one teat cup () that receives a teat (Z) of the dairy animal (T) to be milked,'}{'b': 12', '22', '24', '22', '16', '18', '22', '24', '28', '12', '16', '18, 'wherein the preparation station () includes a teat preparation section delimited by an access (), an exit () located remotely from the access (), and lateral boundary means (, ) extending between the access () and the exit (), and also includes a dispensing means () that applies a pretreatment solution onto the at least one teat (Z) of the dairy ...

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Номер записи: 56
10-03-2016 дата публикации

SYSTEM AND METHOD FOR ANALYZING DATA CAPTURED BY A THREE-DIMENSIONAL CAMERA

Номер: US20160066529A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

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 and second edge of a dairy livestock. The first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock. The second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock. The processor calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge. A robotic attacher moves toward the udder of the dairy livestock based at least in part upon the calculated reference point. 1. A system , comprising:a three-dimensional camera that captures visual data associated with a dairy livestock; determines a first edge of the dairy livestock based at least in part upon the visual data, wherein the first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock;', 'determines a second edge of the dairy livestock based at least in part upon the visual data, wherein the second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock; and', 'calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge; and, 'a processor communicatively coupled to the three-dimensional camera, wherein the processora robotic attacher that moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.2. The system of claim 1 , wherein the visual data comprises a plurality of pixels and the processor determines at least one edge of the dairy livestock by comparing depth locations of the plurality of pixels to each other.3. The system of claim 1 , wherein the visual data comprises a plurality of pixels and the processor determines at least one ...

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Номер записи: 57
10-03-2016 дата публикации

MILKING BOX WITH ROBOTIC ATTACHER AND VISION SYSTEM

Номер: US20160066530A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, van der Sluis Peter
Принадлежит:

A system includes a robotic attacher comprising a main arm and a supplemental arm operable to extend into a stall portion of a milking box. A camera couples to the supplemental arm. The supplemental arm comprises a camera-facing nozzle operable to spray the camera with a cleanser. 1. A milking system , comprising: a main arm; and', 'a supplemental arm, the supplemental arm operable to extend into a stall portion of a milking box;, 'a robotic attacher comprisinga camera coupled to the supplemental arm; anda camera-facing nozzle coupled to the supplemental arm and operable to spray the camera with a cleanser.2. The system of claim 1 , wherein the camera comprises a two-dimensional camera coupled to a gripping portion of the supplemental arm.3. The system of claim 1 , wherein the camera comprises a protective layer in front of a lens of the camera and the camera-facing nozzle sprays the cleanser on the protective layer.4. The system of claim 1 , further comprising a controller that is programmed to communicate a signal instructing the camera-facing nozzle to spray the camera with cleanser.5. The system of claim 4 , wherein the controller is programmed to communicate the signal in response to determining that a milking cycle has been completed.7. The system of claim 6 , wherein the two-dimensional camera includes a transmitter operable to transmit a two-dimensional signal at a fixed angle and a lens operable to receive a reflection of the two-dimensional signal.8. The system of claim 7 , wherein the fixed angle comprises an upward angle between substantially 5 and 35 degrees relative to an x-axis of the arm. This application is a continuation application of pending U.S. patent application Ser. No. 13/448,882 entitled “Milking Box with Robotic Attacher and Vision System”, filed Apr. 17, 2012 which is a continuation-in-part application of pending U.S. patent application Ser. No. 13/095,983 entitled “Milking Box with Robotic Attacher”, filed Apr. 28, 2011, which is now U.S ...

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Номер записи: 58
08-03-2018 дата публикации

Arrangement of milking box stalls

Номер: US20180064062A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Michael A. Mills, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A system includes an equipment portion and a plurality of milking box stalls arranged adjacent to the equipment portion. Each of the milking box stalls is of a size sufficient to accommodate a dairy livestock. The system further includes a robotic attacher housed in the equipment portion and configured to service each of the plurality of milking box stalls at different times. The robotic attacher has a gripping portion with a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.

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Номер записи: 59
09-03-2017 дата публикации

SYSTEM AND METHOD FOR TREATING LIVESTOCK

Номер: US20170064919A1
Автор: Cohen Itamar, Garti Efraim, PINSKY Niv
Принадлежит:

A system and method for treating livestock may include a ramp for containing dairy livestock and one or more mobile units configured to travel on the ramp, below the dairy livestock, and perform at least one action related to a treatment of the livestock. A mobile unit may be adapted to travel to a predefined location within a stall, and attach a milking equipment unit to a cow in the stall. A plurality of mobile units and a central management unit may be configured to dynamically cause at least some of the plurality of mobile units to each perform a portion of a treatment or task. 1. A system for treating dairy livestock having fore legs and hind legs , the system comprising: a plurality of adjacent milking stations positioned around said annular driven milking platform;', 'at least one teat cup holder positioned between two adjacent milking stations, wherein said teat cup holder comprises teat cups;, 'a milking parlor comprising an annular rotary driven milking platform configured to rotate and providing a support surface for livestock to stand during milking or treatment, wherein said annular rotary driven milking platform further comprises a guide rail track positioned along at least a portion of the support surface of the milking platform; and', travel along a predefined path defined by said guide rail track, wherein said predefined path is at least partially defined between the fore legs and hind legs of the dairy livestock standing at adjacent milking stations; and', 'use said treatment unit to perform at least one action related to a treatment of the dairy livestock;', 'wherein the treatment unit includes an arm configured to remove the teat cups from the teat cup holder and connect them to the dairy livestock; and, 'at least one mobile unit positioned on said guide rail track and comprising means for enabling mobility of the mobile unit, a treatment unit for treating livestock and a processor for automatically controlling, communicating and executing ...

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Номер записи: 60
12-03-2015 дата публикации

Method And Device For Optically Determining A Position And/Or Orientation Of An Object In Space

Номер: US20150071491A1
Автор: FEDORENKO Sergey Igorevitch, Korovin Konstantin
Принадлежит:

The invention relates to a method for optically determining the position and/or orientation of an object in space on the basis of images from at least one camera (). At least one 2D image of the object is recorded; 2D contour information is extracted from the image. On the basis of the contour information, at least one area () of the object is determined. Furthermore, 3D information is obtained from the at least one 2D image or a further 2D image. A portion situated within the determined area () of the object is selected from this 3D information. The position and/or orientation of the object is then determined on the basis of the selected portion of the 3D information. The invention furthermore relates to a use of the method, a device for carrying out the method and a milking robot with such a device. 1. A method for optically determining the position and/or orientation of an object in space on the basis of at least one images from at least one camera , the method comprising the steps of:recording at least one 2D image of the object and extracting 2D contour information from the image;calculating a model contour line depending on the 2D contour information;determining, on the basis of the model contour line, at least one area of the object;generating 3D information from the at least one 2D imageselecting at least a portion of the 3D information that is situated within the determined area of the object anddetermining a position and/or orientation of the object on the basis of the selected portion of the 3D information, wherein a surface contour of the object is defined by a body of revolution of the model contour line, and wherein the position and/or the orientation of the body of revolution in space is varied such that the measured 3D information from the selected area is situated closely to a lateral surface of the body of revolution.2. The method of claim 1 , in which the 2D contour information is extracted from the at least one 2D image as a contour line.3. The ...

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Номер записи: 61
12-03-2015 дата публикации

System and method for filtering data captured by a 2d camera

Номер: US20150071499A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A system comprises a memory operable to store light intensity information for a plurality of neighboring pixels of an image that includes a dairy livestock. The system further comprises a processor communicatively coupled to the memory. The processor determine that a difference between the light intensity information for a first pixel of the plurality of neighboring pixels and at least some of the other neighboring pixels exceeds a threshold. The processor further discards the first pixel and determines a location of a teat of the dairy livestock based on the image, excluding the discarded pixel.

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Номер записи: 62
24-03-2022 дата публикации

POSITION-DETERMINING DEVICE

Номер: US20220087208A1
Автор: DE WAARD Nicky, GANEFF Martin Ivan
Принадлежит: LELY PATENT N.V.

A position-determining device, and a milking device, that determines a relative position of an object and includes a 3D time-of-flight camera with a 2D arrangement of pixels configured to repeatedly record an image of a space. A control unit is connected and includes an image-processing device. The 3D time-of-flight camera has a controllable light source and is configured to record a 2D image by means of reflected emitted light and collect distance information. The image-processing device is configured to recognize an object in the 2D image using image-processing criteria and determine distance information and relative position by analysing the 2D image and the distance information. Due to the fact that distance information, which is often much more noisy than 2D brightness information, can be determined with far fewer image points, the position is determined more quickly and reliably. 2. The position-determining device according to claim 1 , wherein the image-processing device is configured to determine a subset of the possible object in the 2D image as only 1 pixel.3. The position-determining device according to claim 1 , wherein the image-processing device is configured to determine the subset of the possible object in the 2D image as precisely 2 or 3 pixels.4. The position-determining device according to claim 1 , wherein the 2D arrangement of pixels also comprises colour pixels claim 1 , wherein the 3D time-of-flight camera is configured to record a colour image of the space.5. The position-determining device according to claim 1 , wherein the image-processing device is configured to determine distance information for each of the possible objects for an associated subset of pixels if it recognises several different sets of pixels of the recorded image as possible objects claim 1 , and is furthermore configured to classify the possible objects on the basis of the determined distance information according to a predetermined classification criterion.6. A position- ...

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Номер записи: 63
18-03-2021 дата публикации

MILKING SYSTEM

Номер: US20210076631A1
Автор: VAN DE MEERENDONK Robertus Carolus Maria
Принадлежит:

A milking system includes an automatic robotic milking device having a control unit, and is configured to milk a dairy animal fully automatically to form a milking. The system also includes a milk treatment device connected to the milking device for receiving and treating the milked milk of the milking. The milking device includes an animal identification device which is operatively connected to the control unit for identifying the dairy animal and comprises an animal database with information about at least the composition of the milk from the dairy animal, and/or a milk sensor device which is operatively connected to the control unit for collecting information about the composition of the milked milk. The milk treatment device is connected to the control unit and includes a standardization device which is configured to standardize a fat content and/or a protein content of the milk of the milking. 1. A milking system , comprising:an automatic robotic milking device having a control unit, the milking device being configured to milk a dairy animal fully automatically to form a milking, anda milk treatment device connected to the milking device for receiving and treating milked milk of the milking, an animal identification device which is operatively connected to the control unit for identifying the dairy animal, the identification device comprising an animal database with information about at least a composition of the milk from the dairy animal, and/or', 'a milk sensor device operatively connected to the control unit for collecting information about the composition of the milked milk,, 'wherein the milking device further compriseswherein the milk treatment device is connected to the control unit for receiving said information, and the milk treatment device comprises a standardization device which is configured to standardize a fat content and/or a protein content of the milk of the milking,wherein the milk treatment device controls the standardization device in ...

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Номер записи: 64
26-03-2015 дата публикации

CROWD GATE CONTROL SYSTEM AND METHOD

Номер: US20150083047A1
Автор: Siddell James D.
Принадлежит:

A method for controlling a crowd gate comprises operating a milking parlor for a plurality of dairy livestock. The milking parlor comprises an entrance located adjacent to a holding pen, and a crowd gate that forms a side of the holding pen and moves toward and away from the entrance to the milking parlor. The method further comprises determining that dairy livestock should enter the milking parlor, and operating the crowd gate in response to determining that dairy livestock should enter the milking parlor. Operating the crowd gate comprises moving the crowd gate away from the entrance to the milking parlor prior to initiating movement towards the entrance, pausing the movement of the crowd gate, and moving the crowd gate towards the entrance of the milking parlor. 1. A method for controlling a crowd gate , comprising:storing a triggering threshold associated with a counter related to a milking parlor for dairy livestock, wherein the milking parlor includes an entrance located adjacent to a holding pen, and a crowd gate that forms a side of the holding pen and moves toward and away from the entrance to the milking parlor;determining whether the counter has reached a triggering threshold; and a pre-forward reverse step, wherein the crowd gate moves away from the entrance to the milking parlor prior to initiating movement towards the entrance;', 'a first pause step, wherein the crowd gate does not move with respect to the entrance to the milking parlor; and', 'a forward step, wherein the crowd gate moves towards the entrance to the milking parlor., 'initiating a first mode of operation of the crowd gate in response to determining that the counter has reached the triggering threshold, wherein the first mode of operation comprises2. The method of claim 1 , wherein the first mode of operation further comprises:a second pause step, wherein the crowd gate does not move with respect to the entrance to the milking parlor; anda post-forward reverse step wherein the crowd gate ...

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Номер записи: 65
12-06-2014 дата публикации

MILKING BOX AND COW STABLE COMPRISING SUCH A MILKING BOX

Номер: US20140158051A1
Автор: Van Der Sluis Peter Willem
Принадлежит: Technologies Holdings Corporation

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. 12.-. (canceled)3. A milking box comprising:two entrance fences 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 of the milking box;wherein one second entrance fence and one second exit fence form a second pair of fences positioned at a second side of the milking box which is opposite the first side; andwherein a dairy livestock can enter either the first entrance fence or the second entrance fence and exit either the first exit fence or the second exit fence.4. A stable , comprising:a milking box comprising a first entrance fence and a first exit fence on a first side and a second entrance fence and a second exit fence on a second side opposite to the first side;a resting box positioned adjacent to the milking box; anda walking path positioned between the resting box and the milking box.5. The stable of claim 4 , wherein a dairy livestock can enter either the first entrance fence or the second entrance fence of the milking box claim 4 , and exit either the first exit fence or the second exit fence of the milking box.6. A stable claim 4 , comprising:a plurality of rows of resting boxes;positioned at the end of at ...

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Номер записи: 66
12-06-2014 дата публикации

DEVICE TO MOTIVATE AN ANIMAL TO LEAVE A MILKING STALL

Номер: US20140158065A1
Автор: Axelson Johan, Gudmundsson Mats
Принадлежит: DELAVAL HOLDING AB

A device to motivate an animal to leave a milking stall includes at least a first unit configured to motivate the animal to leave the milking stall by a first motivation means; a second unit configured to motivate the animal to leave the milking stall by a second motivation means which is of a different type than the first motivation means; and a control unit configured, when it is time for the animal to leave the milking stall, to activate at least one of the first and second units such that the animal in the milking stall will be motivated to leave the milking stall. 116-. (canceled)1712. A device to motivate an animal () to leave a milking stall () after each of plural milkings , comprising:{'b': 12', '19, 'plural motivation units (-) that each produce a motivation means that motivates the animal to leave the milking stall,'}{'b': 12', '19', '12', '19, 'wherein a first of said motivation units (-) is located within the milking stall and produces a first motivation means, a second of said motivation units (-) is located within the milking stall and produces a second motivation means, and the first motivation means is different from the second motivation means; and'}{'b': 10', '1', '2', '12', '19', '12', '19, 'a control unit () that i) determines a time for the animal () to leave the milking stall () after each of the plural milkings, and ii) is operatively connected to each of said motivation units (-) to selectively activate each of said motivation units (-) to produce a selected one of the motivation means, wherein,'}{'b': 12', '19', '1', '2, 'said control unit is provided with software that makes and executes a selection, from plural alternative selections, concerning which of said motivation units (-) to activate at the determined time for the animal () to leave the milking stall () after a current one of the plural milkings, said selection being based to provide different types of motivation means for each of the plural milkings,'}{'b': 1', '2, 'a first of ...

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Номер записи: 67
24-03-2016 дата публикации

Device for milking animals

Номер: US20160081295A1
Автор: Antoon Peter Andre Theelen, Villads KRISTENSEN, Wilhelmus Johannes Adrianus Van Lier
Принадлежит: Lely Patent NV

A device for milking animals including a plurality of milking stations, wherein each milking station includes a milk collecting container and a displacing mechanism for displacing liquid from the milk collecting container. The milk collecting container (is connected to a first discharge line and to a second discharge line, a second central milk line is connected to the second discharge line for leading milk from a plurality of milking stations to a collective liquid discharge and further includes a line cleaning device connected to the second central milk line for cleaning at least the second central milk line with a cleaning liquid, wherein the connection of the line cleaning device with the second central milk line is located at least equally far from the liquid discharge as the connection of a second discharge line with the second central milk line.

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Номер записи: 68
23-03-2017 дата публикации

Robotic attacher and method of operation

Номер: US20170079233A1
Автор: Henk Hofman, Peter Willem Van Der Sluis, Ype Groensma
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A method of operating a robotic attacher, includes suspending a robotic attacher from a rail and extending the robotic attacher between the legs of a dairy livestock. The method continues by attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method concludes by rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.

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Номер записи: 69
19-06-2014 дата публикации

System and method of attaching cups to a dairy animal

Номер: US20140165916A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A robotic attacher retrieves cups from the left side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.

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Номер записи: 70
19-06-2014 дата публикации

ROBOT MILKING ARM AND A METHOD OF ATTACHING MILKING CUPS

Номер: US20140165917A1
Автор: Glover Thomas, Grimshaw Bryan Gordon, McKenzie Matthew Iain, Seaton Mark Hamish
Принадлежит: Scott Milktech Limited

A robotic milking system suitable for use with conventional milking clusters. Clusters are withdrawn to a generally known position upon release from a cow with the cups hanging down below the bowl. The cups are then located in a confined region from where they are picked up by a robotic arm and attached to teats of a cow. The arrangement allows a single robotic arm to service multiple bales of a rotary milking parlour. 1. A robotic milking system comprising:a milking cluster having a plurality of cups connected to a bowl;a retractor to withdraw the cluster so that the cups hang down below the bowl;a robotic arm that is not permanently attached to the milking cluster arranged to acquire and hold the plurality of cups of the cluster as they hang below the bowl and actuators for moving the arm to facilitate the attachment of the cups to an animal; andone or more guide arms positionable with respect to the robotic arm in a first configuration to define a radially tapering opening between the robotic arm and the guide arm to assist in locating cups within the tapering opening and positionable with respect to the robotic arm in a second configuration in which the cups are brought into closer proximity to the robotic arm for capture.2. A robotic milking system as claimed in including a pair of guide arms on either side of the robotic arm.3. A robotic milking system as claimed in wherein each guide arm is rotatable with respect to the robotic arm.4. A robotic milking system as claimed in wherein the one or more guide arms are mounted to the robotic arm.5. A robotic milking system as claimed in wherein the robotic arm includes grippers to acquire the cups.6. A robotic milking system as claimed in wherein one or more guide arms are moveable along the robotic arm from a position proximate the grippers to a position away from the grippers.7. A robotic milking system as claimed in including a guide assembly including a stand and a guide carriage moveably mounted on the stand ...

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Номер записи: 71
31-03-2016 дата публикации

ARRANGEMENT OF MILKING BOX STALLS

Номер: US20160088814A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Mills Michael A., Van Der Sluis Peter Willem
Принадлежит:

A system includes includes a first milking box stall of a size sufficient to accommodate a first dairy livestock and a second milking box stall of a size sufficient to accommodate a second dairy livestock. The first and second milking box stalls face opposite directions. An equipment portion is located between the first milking box stall and the second milking box stall. A robotic attacher is housed in the equipment portion and configured to service both stalls at different times. 1. A system , comprising:a first milking box stall of a size sufficient to accommodate a first dairy livestock;a second milking box stall of a size sufficient to accommodate a second dairy livestock, wherein the first and second milking box stalls face opposite directions;an equipment portion located between the first milking box stall and the second milking box stall; anda robotic attacher housed in the equipment portion and configured to service both stalls at different times.2. The system of claim 1 , wherein the equipment portion and the milking box stalls define a first milking box stall cluster claim 1 , and the system comprises a second milking box cluster comprising a plurality of milking box stalls serviced by a second robotic attacher.3. The system of claim 1 , wherein the robotic attacher:extends, during a first time period, between the rear legs of the first dairy livestock located in the first milking box stall in order to attach milking equipment to the dairy livestock; andextends, during a second time period, between the rear legs of the second dairy livestock located in the second milking box stall in order to attach milking equipment to the second dairy livestock.4. The system of claim 1 , wherein the robotic attacher moves between the first milking box stall and the second milking box stall in order to service both stalls claim 1 , the movement comprising one or more of:pivoting between the first milking box stall and the second milking box stall;moving laterally between ...

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Номер записи: 72
30-03-2017 дата публикации

ARM DEVICE FOR A MILKING PARLOR ARRANGEMENT FOR THE AUTOMATIC MILKING OF MILK-PRODUCING ANIMALS, DIVIDER FOR A MILKING PARLOR ARRANGEMENT, AND MILKING PARLOR ARRANGEMENT

Номер: US20170086419A1
Автор: Krone Otto
Принадлежит:

An arm device for a milking parlor arrangement for the automatic milking of milk-producing animals comprises an arm and a holder, which is coupled to the arm in a pivotable manner and has a milking cluster, wherein the arm is connected to an arm-drive shaft and is mounted such that it can be rotated about an arm axis, wherein a holder-drive shaft is mounted in the arm-drive shaft such that it can be rotated independently of the arm-drive shaft, wherein the arm-drive shaft and the holder-drive shaft are designed such that they can be coupled to a drive unit, wherein the arm device has at least one transmission element in the form of a pulling means for transmitting rotary or pivoting movements. The at least one transmission element is fixed in each case to respective wheels, with which it interacts in order to transmit rotary or pivoting movements. The invention also relates to a divider for a milking parlor arrangement having said arm device, and to a milking-parlor arrangement. 1. An arm device for supporting a milking cluster in a milking parlor arrangement for automatically milking milk-producing animals , the arm device comprising:an arm drive shaft defining an arm axis;an arm rotatably joined to the arm drive shaft for movement about the arm axis;a milking cluster holder, pivotably coupled to the arm;a holder drive shaft mounted at least partially in the arm drive shaft so as to be rotatable independently of the arm drive shaft;a drive unit couplable to the arm drive shaft and the holder drive shaft;an arm drive transmission element operatively engaged between the drive unit and the arm drive shaft;a holder drive transmission element operatively engaged between the holder drive shaft and the milking cluster holder;an arm drive wheel, operatively engaged with the arm shaft and the arm drive transmission element; anda holder drive wheel operatively engaged with the holder drive shaft and the holder drive transmission element.2. The arm device of claim 1 , wherein ...

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Номер записи: 73
30-03-2017 дата публикации

MILKING APPARATUS AND A METHOD FOR PRESENTING A TEAT CUP FOR ATTACHING TO AN ANIMAL

Номер: US20170086420A1
Автор: Harty, Harty John, JR. Edmond Patrick
Принадлежит: DAIRYMASTER

A rotary milking platform () includes a plurality of apparatus, each having a platform () which forms a segment of the rotary platform (). The platforms () define respective animal accommodating locations () for animals to be milked. A communicating opening () in each platform () is closed by a pair of closure plates () which are pivotal upwardly into an open state for separating the hind legs of an animal. A carriage () which is slideably carried beneath the platform () of each apparatus () in the directions of the arrows A and B. A teat cup carrier () is pivotally mounted in the carriage () of each apparatus () and is pivotal from a first state with teat cups () in the carrier () in a protective state extending horizontally and a second state with the teat cups () in a ready state extending vertically upwardly and ready for manual placement onto the teats of an animal. The carriage () is urgeable into a first position with the teat cup carrier () in the first state and with the teat cups () sealably engaged in plug elements () which include jetters () for use in rinsing and washing the milking system. The carriage () is moveable from the first position to a second position with the teat cup carrier () substantially aligned with the udder of an animal so that when the teat cup carrier () is urged into the second state, the teat cups () can be manually urged upwardly by hand and attached to the teat of the animal. 1. Apparatus for presenting a teat cup for attaching to a teat of an animal to be milked , the apparatus comprising a support means adapted for mounting beneath an upwardly facing major surface of a platform on which an animal stands during milking thereof , and a teat cup carrier for holding the teat cup , the teat cup carrier being mounted on the support means and being adapted for holding the teat cup beneath the animal in a ready state with the teat cup ready to be urged upwardly from the teat cup carrier for attaching to the teat of the animal.2. ...

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Номер записи: 74
30-03-2017 дата публикации

DEVICE FOR DIRECTED ANIMAL TRAFFIC

Номер: US20170086422A1
Автор: Barba Marcelo, Beiwinkel Heinz-Josef, Schomaker Michael
Принадлежит:

The invention relates to a device for directed animal traffic, comprising at least three sectors, a loop path, which is connected to the sectors, and, for each sector, a segment of the loop path that forms a transition region from the sector into the loop path, wherein the segment comprises a swinging gate, which allows an animal to enter the loop path from a sector and allows only one walking direction of the animal in the loop path, and a selection unit arranged after the swinging gate as viewed in the walking direction of the animal, by means of which selection unit the animal is directed into the sector or can walk further on the loop path. 1. A device for directing animal traffic , comprising:at least three sectors, a loop passage connected to the sectors and each sector includes a segment of the loop passage, which segment forms a transition region from a sector into the loop passage; and each segment includes an animal entry swinging gate opening into the loop passage and permitting only one direction of movement of the animal in the loop passage; anda selection unit arranged downstream of at least one of the swinging gates, as viewed in the direction of movement of the animal, to direct an animal into the sector or further along the loop passage.2. The device of claim 1 , and further comprising:a milking area that is at least part of the loop passage.3. The device of claim 1 , and further comprising:a milking area connected via an entrance and an exit to the loop passage, and wherein the selection unit is provided in the loop passage, to direct an animal into the milking area or further along the loop passage, and at least one of the swinging gates is arranged in the exit, to permit entry of an animal from the milking area into the loop passage and provide only one direction of movement of the animal in the loop passage.4. The device of claim 1 , and further comprising:a control device to control the selection units and/or the swinging gates.5. The device of ...

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Номер записи: 75
05-05-2022 дата публикации

Means and methods for free dome range

Номер: US20220132796A1
Автор: Eyal Brayer
Принадлежит: Dairycs Automatic Milking Ltd

The present invention discloses a free dome range (FDR) where dairy animals have a free access to their stall to concurrently eat and to be milked. The FDR comprises a plurality of stalls; at least one of said stalls is characterized by a front side and rear opposite side into which a dairy animal is at least temporarily accommodated, head fronting said front side; a plurality of main living areas (MLAs); at least one of said MLAs is in connection with at least one of said stalls by means a plurality of gates. The FDR further comprising a substantially horizontally positioned elevated rail system comprising a plurality of elevated rails, and a plurality of mobile milking units (MMUs), each of said MMUs is configured to transport on said elevated rail to a dairy animal at its stall, and milk the animal while it is eating.

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Номер записи: 76
05-04-2018 дата публикации

AUTOMATED CLUSTER REMOVER

Номер: US20180092327A1
Автор: Frederiksen Joergen, Hansen Ejvind D.
Принадлежит:

A system includes a cylinder and a piston that moves within the cylinder from a retracted position to an extended position. A vacuum port facilitates application of a vacuum pressure to the cylinder that results in a vacuum force being applied to the piston, which causes the piston to move toward a top end of the cylinder to the retracted position. A spring member applies a spring force to the piston when the piston is in the retracted position. The spring force offsets at least a portion of the vacuum force. A sensor generates a displacement signal in response to detecting movement of the piston from the retracted position toward the extended position. A control unit receives the displacement signal generated by the sensor and generates a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to the vacuum port. 1. A system , comprising:a cylinder;a piston positioned within the cylinder, the piston operable to move within the cylinder from a retracted position to an extended position;a vacuum port facilitating application of a vacuum pressure to the cylinder, the vacuum pressure resulting in a vacuum force being applied to the piston, the vacuum force causing the piston to move toward a top end of the cylinder to the retracted position;a spring member configured to apply a spring force to the piston when the piston is in the retracted position, the spring force offsetting at least a portion of the vacuum force;a sensor operable to generate a displacement signal in response to detecting movement of the piston from the retracted position toward the extended position, and receive the displacement signal generated by the sensor;', 'generate, in response to receiving the displacement signal, a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to the vacuum port, the valve control signal causing the valve to move from a first position in which the vacuum pressure is ...

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Номер записи: 77
28-03-2019 дата публикации

SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE

Номер: US20190090449A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock. 1. A method , comprising:housing a dairy livestock in a stall portion of a milking box;retrieving, by a robotic attacher, a cup; attaching the cup to the teat;', 'detaching the cup from the teat; and', 'maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock; and, 'for each of a plurality of teats of a dairy livestock, using the robotic arm to perform the steps ofretracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.2. The method of claim 1 , wherein the cup comprises a preparation cup.3. The method of claim 1 , wherein the cup comprises a teat cup.4. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of right front teat claim 1 , left front teat claim 1 , left rear teat claim 1 , and right rear teat.5. The method of claim 4 , wherein retrieving the cup comprises retrieving the cup from the left side of an equipment area of the milking box.6. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of left front teat claim 1 , right front teat claim 1 , right rear teat claim ...

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Номер записи: 78
28-03-2019 дата публикации

MULTIPLE CELL VOLUNTARY MILKING METHOD AND SYSTEM, COMPRISING A MOBILE MILKING ROBOT HAVING A MINIMAL FOOTPRINT

Номер: US20190090451A1
Автор: Drori Oren, PINSKY Niv, SHALEM Doron
Принадлежит: Afimilk Agricultural Cooperative Ltd.

A voluntary milking system and method for treating dairy livestock having fore legs and hind legs, wherein the system comprises milking stalls voluntarily accessible to animals that are milked by mobile units configured to travel between the fore and hind legs of the animal. 1. Voluntary livestock milking system comprising:a plurality of voluntarily accessible milking stalls for holding dairy livestock, wherein the dairy livestock freely roam in an area outside the milking stalls and enter the milking stalls, without human intervention, for milking;vertical upright teat cup holders comprising teat cups, which are part of the milking stalls and are connected directly to the main milk-line; and [ travel between the fore legs and hind legs of the dairy livestock; and', 'use the equipment to perform at least one action related to a treatment of the dairy livestock;, 'equipment for treating livestock and a processor, wherein the mobile unit is configured to, 'wherein the equipment includes an arm configured to withdraw the teat cups from the vertical teat cup holder and connect them to the dairy livestock., 'at least one mobile unit comprising2. The system according to claim 1 , wherein the milking stalls in the plurality of milking stalls are adjacent to one another claim 1 , and wherein each milking stall is voluntarily accessible claim 1 , not depending on the occupancy of any of the other adjacent milking stalls.3. The system according to claim 1 , wherein the milking stall has a front end and a rear end and wherein the milking stall is designed for the animal to enter and exit the milking stall from the rear end.4. The system according to claim 3 , wherein the milking stall is wide enough for the animal to rotate within the milking stall in order to exit the milking stall from the rear end.5. The system according to claim 3 , wherein the milking stall is designed for the animal to back out of the rear end of the milking stall in order to exit the milking stall.6. ...

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Номер записи: 79
06-04-2017 дата публикации

MILKING DEVICE

Номер: US20170094934A1
Автор: REGELINK Frank Gerard, Van Adrichem Paulus Jacobus Maria, Van Den Berg Karel
Принадлежит: LELY PATENT N.V.

A milking device including a base frame, a functional frame coupled to the base frame and configured to move relative to the base frame with a teat detector and at least one milking cup holder with a milking cup to move relative to the milking cup holder. The functional frame can be filled relative to the base frame through an angle around at least one horizontal tilting axis transversely to a connection line between the teat detector and the milking cup holder. There may be two horizontal tilting axes, and consequently the functional frame can be subjected to a combination of a primary tilting movement and a secondary tilting movement. It is then possible to adjust an optimal level for the functional frame, and also an optimal mutual height relation of the teat detector and the milking cup in the milking cup holder. 115-. (canceled)16. A milking device comprising:a base frame;a functional frame coupled to the base frame and moveable relative to the base frame, including teat detection means and at least one milking cup holder with a milking cup moveable relative to the milking cup holder; andtilting means for tilting of the functional frame relative to the base frame through an angle around at least one horizontal tilting axis transversely to a connection line between the teat detection means and the milking cup holder.17. The milking device as claimed in claim 16 , wherein the tilting means is configured to vary claim 16 , by the tilting of the functional frame relative to the base frame claim 16 , a level of the functional frame as a whole with respect to the base frame claim 16 , and wherein the tilting axis traverses the base frame and is situated outside the functional frame.18. The milking device as claimed in claim 16 , wherein the tilting axis traverses the functional frame at a position between a section of the functional frame where the teat detection means is located and a section of the functional frame where the milking cup holder is located.19. The ...

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Номер записи: 80
23-04-2015 дата публикации

ARRANGEMENT AND METHOD FOR A MILKING SYSTEM

Номер: US20150107518A1
Автор: Anglart Dorota, Kallman Mikael, Mellberg Sten
Принадлежит: DELAVAL HOLDING AB

A combined teat position and breeding rating determining arrangement for a milking system having a milking stall, a movable robot arm for automatically attaching teat cups to the teats of the milking animal, and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement includes a three-dimensional camera directed towards the udder of the milking animal that repeatedly records three-dimensional images of the udder, and a processing unit that repeatedly detects the udder or teats of the milking animal, determines their positions based on the recorded three-dimensional images, automatically determines the shapes of the udder or teats based on the repeatedly recorded three-dimensional images, and automatically calculates a breeding rating based on the determined shapes of the udder or teats of the milking animal. 129-. (canceled)303581511191921. A combined teat position and breeding rating determining method for a milking system () comprising a milking stall () that houses a milking animal () during milking of the milking animal , a movable robot arm () that automatically attaches teat cups () to teats of the milking animal in the milking stall , and a control device () that controls movement of said robot arm based on determined positions of the teats of the milking animal , the control device () including a processing part () , said method comprising:{'b': 42', '21', '41, 'a recording step of automatically and repeatedly recording () three-dimensional images of the milking animal in real time by a three-dimensional camera () directed () towards the udder of the milking animal in the milking stall;'}{'b': '4', "a position determination step of the processing part repeatedly and automatically detecting and determining one of the group consisting of i) the udder of the milking animal and the udder's position, and ii) the teats of the milking animal and teat () positions, based on said ...

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Номер записи: 81
23-04-2015 дата публикации

SYSTEM AND METHOD FOR MILKING STALL ASSIGNMENT USING REAL-TIME LOCATION

Номер: US20150107519A1
Автор: Erdman Roger K., Johnson David A., Nelson William S., Rajkondawar Parimal G., Steingraber Gary C., Thompson Paul D.
Принадлежит:

A system comprises a memory and a processor. The memory stores information about a milking stall where a dairy livestock is located at a first time, and a coordinate location of the dairy livestock at a second time. The processor is communicatively coupled to the memory and determines if the coordinate location of the dairy livestock at the second time is different than the milking stall where the dairy livestock is located at the first time. If the coordinate location where the dairy livestock is located at the second time is not the milking stall, the processor generates an error flag associated with the dairy livestock. 1. A system for milking stall assignment , comprising: first location information associated with a dairy livestock, the first location information comprising a coordinate location of the dairy livestock within a milking parlor at a first time; and', 'second location information associated with the dairy livestock, the second location information comprising a coordinate location of the dairy livestock within the milking parlor at a second time;', 'and, 'a memory that stores analyzes the first location information to identify a milking stall in which the dairy livestock is located at the first time;', 'assigns the dairy livestock to the milking stall in which the dairy cow is located at the first time;', 'analyzes the stored second location information to identify a milking stall in which the dairy livestock is located at the second time;', 'determines whether the milking stall in which the dairy livestock is located at the second time is the milking stall assigned to the dairy livestock; and', 'if the milking stall in which the dairy livestock is located at the second time is not the milking stall assigned to the dairy livestock, generates an error flag associated with the dairy livestock., 'a processor communicatively coupled to the memory and that2. The system of claim 1 , wherein the first location information is generated by a real-time ...

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Номер записи: 82
19-04-2018 дата публикации

ROBOTIC ATTACHER AND METHOD OF OPERATION

Номер: US20180103604A1
Автор: Groensma Ype, Hofman Henk, Van Der Sluis Peter Willem
Принадлежит:

A robotic attacher includes an arm that extends between the legs of a dairy livestock and a gripping portion coupled to the arm. The gripping portion is operable to rotate such that at a first time, a nozzle is positioned generally on the bottom of the gripping portion, and at a second time, the nozzle is positioned generally on the top of the gripping portion. 1. A robotic attacher , comprising:an arm that extends between the legs of a dairy livestock;a gripping portion coupled to the arm and operable to rotate such that at a first time, a nozzle is positioned generally on the bottom of the gripping portion, and at a second time, the nozzle is positioned generally on the top of the gripping portion.2. The robotic attacher of claim 1 , wherein the gripping portion is further operable to attach a milking cup to a teat of a dairy animal during the first time.3. The robotic attacher of claim 1 , wherein the nozzle is operable to spray a disinfectant substance to a teat of a dairy animal during the second time.4. The robotic attacher of claim 1 , wherein the gripping portion comprises a wrist operable to perform a tilt movement.5. The robotic attacher of claim 1 , wherein the gripping portion comprises a wrist operable to perform a pivot movement.6. The robotic attacher of claim 1 , further comprising a vision system positioned on a first surface of the robotic attacher claim 1 , wherein the nozzle is positioned on a second surface of the robotic attacher substantially opposite the first surface.7. The robotic attacher of claim 6 , wherein the vision system facilitates positioning the robotic attacher to attach the milking cup during the first time.8. A robotic attacher claim 6 , comprising:an arm that extends between the legs of a dairy livestock;a gripping portion coupled to the arm and operable to rotate such that during a milking operation, a nozzle is positioned generally on the bottom of the gripping portion, and during a spraying operation, the nozzle is ...

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Номер записи: 83
30-04-2015 дата публикации

AUTOMATED CLUSTER REMOVER

Номер: US20150114299A1
Автор: Frederiksen Joergen, Hansen Ejvind D.
Принадлежит:

A method comprises receiving a displacement signal generated by a sensor, the displacement signal generated by the sensor in response to detecting movement of a piston from a retracted position in a cylinder toward an extended position in the cylinder. The method further comprises generating, in response to receiving the displacement signal, a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to a vacuum port of the cylinder. The valve control signal causes the valve to move from a first position in which a vacuum pressure is applied to the cylinder via the vacuum port to a second position in which atmospheric pressure is applied to the cylinder via the vacuum port. 1. A method , comprising:receiving a displacement signal generated by a sensor, the displacement signal generated by the sensor in response to detecting movement of a piston from a retracted position in a cylinder toward an extended position in the cylinder;generating, in response to receiving the displacement signal, a first valve control signal to be communicated to a first valve located on a first vacuum line connecting a vacuum source to a vacuum port of the cylinder, the first valve control signal causing the first valve to move from a first position in which a vacuum pressure is applied to the cylinder via the vacuum port to a second position in which atmospheric pressure is applied to the cylinder via the vacuum port; andgenerating, in response to receiving the displacement signal, a second valve control signal to be communicated to a second valve located on a second vacuum line connecting the vacuum source to a cluster control valve, the second valve control signal causing the second valve to move from a second position in which atmospheric pressure is supplied to the second vacuum line to a first position in which a vacuum pressure is supplied to the second vacuum line.2. The method of claim 1 , wherein:the cluster control valve is located on ...

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Номер записи: 84
10-07-2014 дата публикации

AUTONOMOUS DEVICE FOR EXECUTING ONE OR MORE OPERATIONS ON OR NEAR THE TEATS OF A DAIRY ANIMAL FOR THE PURPOSE OF MILKING THE DAIRY ANIMAL AND METHOD OF MILKING A DAIRY ANIMAL

Номер: US20140190414A1
Автор: Van Den Berg Karel
Принадлежит: LELY PATENT N.V.

An autonomous device for executing one or more operations on or near the teats of a dairy animal for the purpose of milking the dairy animal, including a self-propelled wheeled undercarriage which can travel freely across a floor surface in at least two independent directions, and a robot arm which is fitted to the undercarriage and configured to execute the one or more operations on or near the teats of the dairy animal, the device configured to execute the one or more operations in a milking device with a milking floor on which the dairy animals are situated during milking, and the device being supported on a stationary pit floor during the execution of the one or more operations, which pit floor is at a lower level than the milking floor. 1. An autonomous device for executing one or more operations on or near teats of a dairy animal for the purpose of milking the dairy animal , comprising:a self-propelled wheeled undercarriage which can travel across a floor surface, anda robot arm fitted to the undercarriage and configured to execute the one or more operations on or near the teats of the dairy animal,wherein the device is configured to execute the one or more operations in a milking device with a rotatable milking floor on which the dairy animals are situated during milking, andwherein the device is supported on a stationary pit floor during the execution of the one or more operations, which pit floor is situated at least 50 centimeters lower than the milking floor such that an average milker can carry out the operations required for milking on the dairy animal while standing on the pit floor.2. The device according to claim 1 , wherein the device is configured to execute one or more of the following operations on or near the teats of the dairy animal:cleaning and/or disinfecting the teats of a dairy animal;attaching one or more milking cups to one or more teats of a dairy animal;reattaching the one or more milking cups to one or more teats of a dairy animal; ...

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Номер записи: 85
10-07-2014 дата публикации

ROBOT AND METHOD FOR MILKING A COW BY THIS ROBOT

Номер: US20140190415A1
Автор: Hofman Hendrik, Van Der Sluis Peter Willem
Принадлежит: Technologies Holdings Corporation

A milking robot comprising a movable arm and a plurality of grippers. The movable arm has a length in a longitudinal direction. The plurality of grippers are swivably mounted to the movable arm such that each gripper moves between a first position parallel to the movable arm's longitudinal direction and a second position at which the gripper extends sideways in a horizontal plane away from the movable arm's longitudinal direction. 1. A milking robot , comprising;a movable arm having a length in a longitudinal direction; anda plurality of grippers swivably mounted to the movable arm such that each gripper moves between a first position parallel to the movable arm's longitudinal direction and a second position at which the gripper extends sideways in a horizontal plane away from the movable arm's longitudinal direction.2. The milking robot of claim 1 , wherein at least one gripper comprises a plurality of cooperating fingers for gripping a milking cup.3. The milking robot of claim 1 , wherein at least one gripper comprises a clamping apparatus that pinches off and holds a milking hose that connect to a milking cup.4. The milking robot of claim 1 , wherein the movable arm moves one or more milking cups from a resting position to an operational position claim 1 , and in the operational position claim 1 , at least one gripper connects a milking cup to a teat of a dairy livestock.5. The milking robot of claim 1 , wherein the plurality of grippers comprises four grippers.6. The milking robot of claim 1 , wherein the plurality of grippers are individually controllable for selective operation of each of the grippers.7. The milking robot of claim 1 , wherein the movable arm is arranged for cooperation with a rotor that houses a plurality of dairy livestock such that the movable arm moves at the rotor's circumference so as to maintain for a time-period depending on the rotor's rotational speed a stationary position relative to a preselected part of the moving rotor.8. The ...

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Номер записи: 86
28-04-2016 дата публикации

MILKING BOX WITH ROBOTIC ATTACHER

Номер: US20160113227A1
Автор: Groensma Ype, Hofman Henk, Van Der Sluis Peter Willem
Принадлежит:

A system comprises a milking box, a robotic attacher, a sensor, and a controller. The milking box has a stall to accommodate a dairy livestock. The stall comprises a first exit gate on a first side of the stall leading to a first sorting region and a second exit gate on a second side of the stall leading to a second sorting region. The robotic attacher extends from the rear between the hind legs of the dairy livestock, move in at least one direction along the x-axis, y-axis, and z-axis, and attach milking equipment to the dairy livestock. The sensor identifies the dairy livestock within the milking box stall. The controller selects and opens the first exit gate or the second exit gate based at least in part upon the identity of the dairy livestock in order to direct the first dairy livestock into either the first sorting region or the second sorting region. 1. A system , comprising:a milking box having a stall to accommodate a dairy livestock, wherein the stall comprises a first exit gate on a first side of the stall leading to a first sorting region and a second exit gate on a second side of the stall leading to a second sorting region; extend from the rear between the hind legs of the dairy livestock;', 'move in at least one direction along the x-axis, y-axis, and z-axis; and', 'attach milking equipment to the dairy livestock;, 'a robotic attacher configured toa sensor configured to identify the dairy livestock within the milking box stall; anda controller configured to select and open the first exit gate or the second exit gate based at least in part upon the identity of the dairy livestock in order to direct the first dairy livestock into either the first sorting region or the second sorting region.2. The system of claim 1 , wherein the stall further comprises an entrance gate and the controller is further operable to close the entrance gate upon determining that the dairy livestock is within the milking box stall.3. The system of claim 1 , wherein the milking ...

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Номер записи: 87
18-04-2019 дата публикации

Vision System with Teat Detection

Номер: US20190110429A1
Автор: Foresman Mark A., Prevost Bradley J.
Принадлежит:

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. 1. A vision system comprising: one or more rising distance gradients indicating an increase in the distance between the dairy livestock and the laser; and', 'one or more falling distance gradients indicating a decrease in the distance between the dairy livestock and the laser; and, 'a laser configured to generate a profile signal of at least a portion of a dairy livestock, wherein the profile signal comprises obtain the profile signal;', 'detect one or more edge pair candidates in the profile signal, wherein each of the one or more edge pair candidates comprises complementary distance gradients comprising a rising distance gradient and a falling distance gradient;', 'compare the complementary distance gradients of each of the one or more edge pair candidates to a threshold value to be considered an edge pair;', 'identify an edge pair from among the one or more edge pair candidates as a teat candidate based on the comparison; and', 'determine position information for the teat candidate., 'a processor operably coupled to the laser, and configured to2. The system of claim 1 , wherein identifying the edge pair from among the one or more edge pair candidates as the teat candidate further comprises:comparing the edge pair to a teat model; andidentifying the edge pair as the teat candidate in response to determining the edge pair corresponds with the teat ...

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Номер записи: 88
17-07-2014 дата публикации

VISION SYSTEM FOR ROBOTIC ATTACHER

Номер: US20140196665A1
Автор: Groensma Ype, Hofman Henk, Van Der Sluis Peter Willem
Принадлежит: Technologies Holdings Corp.

A system includes a robotic arm on which at least one camera is attached. It further includes a memory and a controller communicatively coupled to the memory. The memory stores historical information associated with a dairy livestock. The historical information include a previously-determined location of a teat of the dairy livestock. The controller moves the camera on the robotic arm toward the previously-determined location of the teat. The camera generates an image of the teat of the dairy livestock from a position to which it is moved, and the controller determines a current location of the teat of the dairy livestock based at least in part on the image. 1. A system , comprising:a robotic arm on which at least one camera is attached;a memory that stores historical information associated with a dairy livestock, the historical information including a previously-determined location of a teat of the dairy livestock;a controller communicatively coupled to the memory and that instructs the robotic arm to move the camera toward the previously-determined location of the teat, wherein the camera generates an image of the teat of the dairy livestock from a position to which it is moved, and the controller determines a current location of the teat of the dairy livestock based at least in part on the image.2. The system of claim 1 , wherein the robotic arm attaches milking equipment to the teat between the hind legs of the dairy livestock based at least in part upon the determined location of the teat.3. The system of claim 2 , wherein the milking equipment comprises a milking cup.4. The system of claim 1 , wherein the controller receives identification information for the dairy livestock and accesses the historical information for the dairy livestock based at least in part on the identification information.5. The system of claim 1 , wherein the camera comprises a three dimensional camera.6. The system of claim 1 , wherein the dairy livestock is located in a milking stall.7 ...

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Номер записи: 89
07-05-2015 дата публикации

Stray Light Compensation Method and System for Time of Flight Camera Systems

Номер: US20150122183A1
Автор: Oggier Thierry
Принадлежит:

A method and system to compensate for stray light errors in time of flight (TOF) camera systems uses reference targets in the in the field of view (FOV) that can be used to measure stray light. In different embodiments, one or more reference targets are used. 1. A time of flight camera system , comprising:a time of flight camera including a controller for determining ranges of objects; anda reference target system;wherein the controller determines a range to an object of interest based on the measurement of the object of interest and the measurement of the reference target system.2. A system as claimed in claim 1 , wherein the reference target system is at a known range.3. A system as claimed in claim 1 , wherein the reference target system has a low reflectivity.4. A system as claimed in claim 1 , wherein the reference target system has a reflectance of less than 20%.5. A system as claimed in claim 1 , wherein the reference target system has a reflectance of less than 10%.6. A system as claimed in claim 1 , wherein the controller estimates an amount of stray light for the object of interest.7. A system as claimed in claim 1 , wherein the reference target system includes a low reflectivity target and a high reflectivity target.8. A system as claimed in claim 1 , wherein the reference target system includes a low reflectivity target have a reflectance of less than 10% and a high reflectivity target have a reflectance of greater than 50%.9. A system as claimed in claim 1 , wherein the reference target system includes a low reflectivity target have a reflectance of less than 10% and a high reflectivity target have a reflectance of greater than 60%.10. A system as claimed in claim 1 , wherein the controller monitors changes in a range of the reference target system due to stray light and corrects the range of the object of interest.11. A cow milking system including the time of flight camera system of claim 1 , and a robot arm comprising a cup for attaching to a cow ...

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Номер записи: 90
05-05-2016 дата публикации

SYSTEM AND METHOD FOR IMPROVED ATTACHMENT OF A CUP TO A DAIRY ANIMAL

Номер: US20160120143A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup. 1. A system , comprising:a milking stall comprising an equipment portion located in the rear of the milking stall;a robotic arm positioned in the equipment portion of the milking stall;a camera positioned on a surface of the robotic arm and that emits a laser signal at a non-zero angle to a longitudinal axis of the robotic arm; and instructs the robotic arm to grip a milking cup;', 'determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera;', 'instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear;', 'instructs the robotic arm to release the milking cup in response to the milking cup being attached to the teat;', 'instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup; and', 'instructs the robotic arm to move away from the teat., 'a controller communicatively coupled to the robotic arm and the pulsating device, wherein the controller2. The system of claim 1 , wherein instructing the robotic arm to move the milking cup towards the teat comprises instructing the robotic arm to move to a set ...

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Номер записи: 91
03-05-2018 дата публикации

MILKING ROBOT

Номер: US20180116172A1
Автор: BREVET Michiel, KRAAIJ Dirk
Принадлежит: LELY PATENT N.V.

Milking robot device for automatically milking a dairy animal, comprising a milking box having milking cups and a robot arm having an end effector for applying the milking cups to the teats of the dairy animal, on which milking box the robot arm is suspended above the dairy animal to be milked. The robot arm comprises a first arm part connected to the milking box by a first joint, and a second arm part connected to the first arm part by a second joint and provided with an end effector. The first and second arm part, respectively, is pivotable in a vertical plane with respect to the milking box and the first arm part, respectively, by a first and second actuator, respectively. The end effector is movable within an operating range by the robot arm. The milking robot comprises a weight compensation device having a spring device between the milking box and the robot arm. This is configured to exert a first torque about the first joint and a second torque about the second joint, in such a way that, viewed over the operating range, the first torque compensates for the torque exerted by gravity on the arm about the first joint by at least half, in particular by at least 90%, and the second torque compensates for the torque exerted by gravity on the arm about the second joint by at least half, in particular by at least 90%. Consequently, a compact robot arm is provided, the joints which are suspended relatively high up can be protected from dirt in an efficient manner, and they can be operated using much lighter actuators, so that a great deal of energy can also be saved. 1. A milking robot device for automatically milking a dairy animal , comprising a milking box having a plurality of milking cups and a robot arm having an end effector for applying the milking cups to the teats of the dairy animal , on which milking box the robot arm is suspended above the dairy animal to be milked , wherein the robot arm comprises a first arm part connected to the milking box by a first ...

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Номер записи: 92
27-04-2017 дата публикации

SYSTEM AND METHOD FOR FILTERING DATA CAPTURED BY A 3D CAMERA

Номер: US20170116726A1
Автор: de Ruijter Cor, Hofman Henk, Koekoek Menno, Van Der Sluis Peter Willem
Принадлежит:

A system for processing an image includes a three-dimensional camera that captures an image of a dairy livestock, wherein the image comprises a plurality of adjacent pixels, each pixel associated with a depth location. The system further includes a processor communicatively coupled to the three-dimensional camera. The processor determines that the depth locations of a first portion of the adjacent pixels fluctuate beyond a predetermined threshold over time, and discards the first portion of the adjacent pixels from the image based at least in part upon the determination. 1. A system for processing an image , comprising:a three-dimensional camera that captures an image of a dairy livestock, wherein the image comprises a plurality of adjacent pixels, each pixel associated with a depth location; and determines that the depth locations of a first portion of the adjacent pixels fluctuate beyond a predetermined threshold over time; and', 'discards the first portion of the adjacent pixels from the image based at least in part upon the determination., 'a processor communicatively coupled to the three-dimensional camera, wherein the processor2. The system of claim 1 , wherein the processor further determines that the depth locations of a second portion of the adjacent pixels do not fluctuate beyond the predetermined threshold over time.3. The system of claim 2 , wherein the second portion of the adjacent pixels comprise visual data of the dairy livestock and the first portion of adjacent pixels comprise visual data of an object other than the dairy livestock.4. The system of claim 1 , wherein the image of the dairy livestock comprises an image of a rear portion of the dairy livestock.5. The system of claim 1 , wherein the processor determines the depth locations of the adjacent pixels by measuring the time of flight of a light signal between the three-dimensional camera and the adjacent pixels.6. The system of claim 1 , wherein the threshold comprises a distance threshold.7. ...

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Номер записи: 93
12-05-2016 дата публикации

A GRIPPING DEVICE FOR A ROBOTIC MANIPULATION DEVICE ADAPTED TO GRIP AND ATTACH TEAT CUPS TO AN ANIMAL

Номер: US20160128298A1
Автор: Holmertz Nils-Erik, Obermuller Helmut
Принадлежит:

A gripping device for a robotic manipulation device that grips and attaches teat cups to an animal. The gripping device for each teat cup to be gripped and attached includes a holding member configured to releasably hold a teat cup, and a power member configured to move the holding member from a base position (p) to a raised position (p) in which the teat cup can be attached to a teat. The gripping device for each teat cup to be gripped and attached includes a movable cover portion movably arranged between a covering position, in which it covers the opening of the teat cup, and a non-covering position, in which the opening of the teat cup is exposed. When power member lifts the holding member from the base position to the raised position, the movable cover portion moves from the covering position to the non-covering position. 118-. (canceled)191210107412b. A gripping device () connectable to a robotic arm () of a robotic manipulation device () that grips and attaches teat cups () to an animal () , the gripping device () comprising:{'b': 16', '22', '23, 'a cover element (, , );'}{'b': '18', 'plural gripping members (), each gripping member having an open position that releases a corresponding teat cup and a closed position that grips the corresponding teat cup,'}{'b': 21', '1', '2', '7', '4, 'plural power members () operatively connected to a respective gripping member to move the gripping member between i) a first base position (p) relative to the cover element, to ii) a second raised position (p) relative to the cover element in which the teat cup () can be attached to a teat of the animal (), the second raised position being closer to the cover element than the first base position;'}{'b': 16', '22', '23', '7', '7', '7', '7, 'i': a', 'a', 'a', 'a', 'a, 'plural movable cover portions (, , ) associated with the cover element, each movable cover portion movably arranged between i) a covering position that covers an opening () of the corresponding teat cup teat cup () ...

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Номер записи: 94
10-05-2018 дата публикации

MILKING BOX AND COW STABLE COMPRISING SUCH A MILKING BOX

Номер: US20180125028A1
Автор: Van Der Sluis Peter Willem
Принадлежит:

A milking box includes two entrance fences and two exit fences. A first entrance fence and a first exit fence form a first pair of fences positioned at a first side of the milking box. A second entrance fence and a second exit fence form a second pair of fences positioned at a second side of the milking box which is opposite the first side. The first entrance fence operates independently of the second entrance fence, the first exit fence, and the second exit fence. The second entrance fence operates independently of the first entrance fence, the first exit fence, and the second exit fence. The first exit fence operates independently of the first entrance fence, the second entrance fence, and the second exit fence. The second exit fence operates independently of the first entrance fence, the second entrance fence, and the first exit fence. 1. A milking box , comprising:two entrance fences and two exit fences;wherein a first entrance fence and a first exit fence form a first pair of fences positioned at a first side of the milking box;wherein a second entrance fence and a second exit fence form a second pair of fences positioned at a second side of the milking box which is opposite the first side;wherein the first entrance fence operates independently of the second entrance fence, the first exit fence, and the second exit fence;wherein the second entrance fence operates independently of the first entrance fence, the first exit fence, and the second exit fence;wherein the first exit fence operates independently of the first entrance fence, the second entrance fence, and the second exit fence; andwherein the second exit fence operates independently of the first entrance fence, the second entrance fence, and the first exit fence.2. The milking box of claim 1 , wherein:a dairy livestock can enter the first entrance fence and have access to both the first exit fence and the second exit fence; andthe dairy livestock can enter the second entrance fence and have access to ...

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Номер записи: 95
19-05-2016 дата публикации

ARRANGEMENT FOR MILKING ANIMALS

Номер: US20160135424A1
Автор: Bosma Epke
Принадлежит:

A arrangement for milking animals includes a milking station, a transport conduit, a main milk tank storing milk from the milking station, a connection conduit extending from the transport conduit to the main milk tank, a cleaning liquid arrangement, and a valve arrangement. From the milking station a connection pipe leads to the transport conduit at a connection point. The cleaning liquid arrangement is connected to the transport conduit via the valve arrangement. The valve arrangement is positionable in at least a first position and a second position. In the first position the transport conduit forms a loop such that two flow paths from the connection point to the connection conduit are provided by the transport conduit, and in the second position the loop is interrupted such that one flow path only from the connection point to the connection conduit is provided by the transport conduit. 117-. (canceled)182. An arrangement () for milking animals comprising:{'b': 4', '36, 'at least one milking station () comprising a milking station pump ();'}{'b': 8', '4, 'a main milk tank () for storing the milk from the at least one milking station ();'}{'b': 12', '4, 'a connection pipe () connected to an outlet of the at least one milking station ();'}{'b': 6', '12', '14', '6', '4', '12', '14, 'a transport conduit () connected to to the connection pipe () at a connection point (), the transport conduit () transporting the milk received from at least one milking station () via the connection pipe () at the connection point ();'}{'b': 10', '6', '8, 'a connection conduit () extending from the transport conduit () to the main milk tank ();'}{'b': 18', '6', '18, 'a valve arrangement () arranged in the transport conduit (), the valve arrangement () being positionable in at least a first position and a second position; and'}{'b': 16', '16', '6', '18, 'a cleaning liquid arrangement (), the cleaning liquid arrangement () being connectable to the transport conduit () via the valve ...

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Номер записи: 96
07-08-2014 дата публикации

System and method of attaching a cup to a dairy animal according to a sequence

Номер: US20140216349A1
Автор: Cor De Ruijter, Henk Hofman, Menno Koekoek, Peter Willem Van Der Sluis
Принадлежит: TECHNOLOGIES HOLDINGS CORP

A system includes a milking box and a robotic arm. The milking box comprises a stall portion that houses a dairy livestock with four teats. The robotic arm performs the following operation for a plurality of teats of the dairy livestock: retrieves a cup; attaches the cup to a teat; and detaches the cup from the teat. The cup is maintained within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into an equipment area of the milking box after it is detached from the last teat of the dairy livestock.

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Номер записи: 97
25-05-2017 дата публикации

METHOD AND SYSTEM FOR MANAGING DAIRY ANIMALS

Номер: US20170142937A1
Автор: DE GROOT Ester
Принадлежит: LELY PATENT N.V.

A living area includes a lying and eating area and a milking area. The living area is connected to a separation area by a selection device. A subgroup of dairy animals to be separated is determined together with a desired end time at which the dairy animals to be separated should be present in the separation area. For each individual dairy animal from the subgroup to be separated, an individual separation period is determined separately which runs from the individually determined start time until the end time. A dairy animal which walks to the selection device is guided by the selection device to the separation area if the dairy animal belongs to the subgroup of dairy animals to be separated and if said dairy animal is present at the selection device during the individual separation period determined for said dairy animal. The activity of each dairy animal in the group of dairy animals is observed by an observation system while the dairy animal is in the lying and eating area. The individual separation period of each individual dairy animal from the subgroup to be separated depends on the activity of said dairy animal observed by the observation system. 1. A method for managing a group of dairy animals in a system for keeping dairy animals , wherein the system comprises:a living area such as a stable which comprises a lying and eating area and a milking area, wherein the milking area is provided with a milking station for automatic milking of a dairy animal;a selection device;a separation area which is separate from the living area and is connected to the living area by means of the selection device;wherein the method comprises the steps of:determining a subgroup of dairy animals to be separated from the group of dairy animals;determining an end time at which it is desired that the one or more dairy animals of the subgroup to be separated is/are present in the separation area;determining separately an individual separation period for each individual dairy animal ...

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Номер записи: 98
07-05-2020 дата публикации

Milking Cluster Support Arm with Automatic Hose Support Drop

Номер: US20200137976A1
Автор: Jonathan V. Shore
Принадлежит: GEA Farm Technologies Inc

A milker unit detacher with an adjustable and releasable hose support and a support arm that pivots about a tilted axis to bias the support arm toward a milking position to maintain engagement with the adjustable hose support member.

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Номер записи: 99
17-06-2021 дата публикации

System and method for milking of a dairy animal

Номер: US20210176951A1
Автор: Nicky DE WAARD
Принадлежит: Lely Patent NV

A dairy animal treatment system for fully automatically performing a teat-related operation on a dairy animal, including a treatment location for receiving the dairy animal, a treatment device which is configured for performing the teat-related operation on the dairy animal, a teat-detecting device for determining a teat position of the teat of the dairy animal, a dairy animal position-determining device for repeatedly determining an animal position of said dairy animal with respect to the milking stall and/or the dairy animal position-determining device, a robot arm for moving the treatment device towards the teat, and a control device which is configured to control the robot arm on the basis of the determined animal position and the determined teat position. The dairy animal position-determining device comprises a mm-wavelength radar device which transmits a radar signal having a wavelength in the mm range.

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Номер записи: 100