09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
44 - Services médicaux, services vétérinaires, soins d'hygiène et de beauté; services d'agriculture, d'horticulture et de sylviculture.
Produits et services
Downloadable mobile applications for retrieving and displaying animal biometric data and for managing and controlling in the nature of editing, organizing, and modifying animal biometric data; Downloadable computer software for retrieving and displaying animal biometric data and for managing and controlling in the nature of editing, organizing, and modifying animal biometric data Developing and hosting a server on a global computer network for retrieving and displaying animal biometric data and for managing and controlling in the nature of editing, organizing, and modifying animal biometric data; Design and development of virtual private network (VPN) operating software for retrieving and displaying animal biometric data and for managing and controlling in the nature of editing, organizing, and modifying animal biometric data Providing a web site featuring technology that enables users to retrieve and display animal biometric data and for managing and controlling in the nature of editing, organizing, and modifying animal biometric data
A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).
A01J 5/00 - Machines ou dispositifs pour la traite
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G06V 10/25 - Détermination d’une région d’intérêt [ROI] ou d’un volume d’intérêt [VOI]
G06V 10/44 - Extraction de caractéristiques locales par analyse des parties du motif, p. ex. par détection d’arêtes, de contours, de boucles, d’angles, de barres ou d’intersectionsAnalyse de connectivité, p. ex. de composantes connectées
G06V 10/50 - Extraction de caractéristiques d’images ou de vidéos en effectuant des opérations dans des blocs d’imagesExtraction de caractéristiques d’images ou de vidéos en utilisant des histogrammes, p. ex. l’histogramme de gradient orienté [HoG]Extraction de caractéristiques d’images ou de vidéos en utilisant l’addition des valeurs d’intensité d’imageAnalyse de projection
G06V 10/75 - Organisation de procédés de l’appariement, p. ex. comparaisons simultanées ou séquentielles des caractéristiques d’images ou de vidéosApproches-approximative-fine, p. ex. approches multi-échellesAppariement de motifs d’image ou de vidéoMesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexteSélection des dictionnaires
03 - Produits cosmétiques et préparations de toilette; préparations pour blanchir, nettoyer, polir et abraser.
05 - Produits pharmaceutiques, vétérinaires et hygièniques
Produits et services
Chemical preparations for the cleaning of commercial milking equipment Sanitizing products, namely, preparations for the sanitizing of commercial milking equipment
03 - Produits cosmétiques et préparations de toilette; préparations pour blanchir, nettoyer, polir et abraser.
04 - Huiles et graisses industrielles; lubrifiants; combustibles
05 - Produits pharmaceutiques, vétérinaires et hygièniques
06 - Métaux communs et minerais; objets en métal
07 - Machines et machines-outils
08 - Outils et instruments à main
09 - Appareils et instruments scientifiques et électriques
11 - Appareils de contrôle de l'environnement
17 - Produits en caoutchouc ou en matières plastiques; matières à calfeutrer et à isoler
19 - Matériaux de construction non métalliques
20 - Meubles et produits décoratifs
21 - Ustensiles, récipients, matériaux pour le ménage; verre; porcelaine; faience
Produits et services
(1) Sanitizing products comprising chemicals and chemical preparations for the cleaning and sanitizing of commercial milking equipment
(2) Lubricating greases and oils for industrial machine parts and electrical connections
(3) Disinfectant products comprising disinfecting teat dip for cows; pre-moistened medicated towelettes
(4) Metal brackets, pipe fittings and tubing used in vacuum pipeline, milk pipeline, and clean in place, CIP, pipeline, refrigeration lines, detacher mounting and meter mounting, metal milk stalls; metal drain valves attached at the outlet of a milk tank cooler and wash pump
(5) Milking equipment and milking components therefor comprising claw-type teat cups, teat cup assemblers, teat cup washers, and teat cup stoppers, pulsator and pulsation controllers, receiver jars, pipeline milk valves; Vacuum systems for milking cows comprising vacuum pumps, variable frequency drive, balance tank and vacuum regulator, vacuum sensor, and part and fittings therefor; Milk transfer system for interim heat removal from milk comprising stainless steel tubing, receiver for milk, and milk pump and variable frequency drive, plate cooler, milking unit, drain valves and a vacuum trap safety valve; Clean in place, CIP, and sanitation systems comprising rubber jetters and jetter storage holders that connect to the milking unit, sinks for dispensing water, water diverter valve, washer controls for dispensing chemicals and chemical preparations and air injectors, all of the foregoing used for cleaning of milking units, milk transfer systems, and milk storage tanks; Cow traffic systems comprising power operated crowd gate that keeps minimum spaces between cows and pushes them toward to the milking stall, milking stalls that position the cows for milking, animal sort gates for separating cows; Robotic milking systems comprising milking stall, detacher, milk meter, computer hardware and software that controls the operations of the milking robot, automatically attaching milking units to cows, dispensing feed to cows, monitoring cows during milking, and exiting the cow when milking is completed; Automatic cow traffic system for the purposes of animal identification and monitoring comprising radio frequency controls, antennas, transponders, and hardware and software that is used for her management
(6) Hand tools comprising wrenches for valves, vacuum-monitoring gage, pipefitting wrenches, crimping pliers and wire strippers
(7) Electrical testing meters; information management systems comprising computer hardware and software that manages and controls cow milking machinery, automatic feeders for cows, and sorting and weighing cows; Electronic apparatus that tests stability of vacuum in milking units and pipelines; Electronic cooler washer controllers that control sanitizing of milk tanks and temperature of milk; Milking unit detacher and milk meter comprising an electronically operated device that senses milk flow, measures milk volume and removes milking unit from cows; External measuring stick comprising glass tube on the outside of a tank that measures the level of milk in a tank; Robotic milking systems comprising computer hardware and software that controls the operations of the milking robot, automatically attaching milking units to cows, dispensing feed to cows, monitoring cows during milking, and exiting the cow when milking is completed, milking stall, detacher, milk meter
(8) Refrigeration system comprising compressors, condensers, milk storage tanks, wash controls, all for storing and cooling milk and cleaning the tank; Refrigerated pre-cooling systems for milk comprising plate cooler; refrigerated milk chillers comprising metal cabinets and plates; Heat recovery systems comprising steel water tank and heat transfer plate for use with compressor condenser units that circulate refrigerant through a system that converts heat from milk into heat for water
(9) Non-metal tubing used in pipeline vacuum, milking, and CIP systems, refrigeration systems, detachers and meters, and robotic milking systems
(10) Non-metal brackets and pipe fittings used in pipeline vacuum, milking, and CIP systems, refrigeration systems, detachers and meters; plastic drain valve attached at the outlet of a milk tank cooler and wash pump
(11) Pre-moistened towelettes for cleaning
A milking claw (100) for efficiently drawing milk is disclosed. The milking claw (100) includes a claw top (102) and a claw bottom (104). The claw top (102) includes a pair of front inlets (110), a pair of rear inlets (114), and an outlet (120). The front inlets (110) and the rear inlets (114) extend upwardly from a top surface of the claw top (102) and are spaced on opposite sides of a longitudinal axis (118) of the claw top (102). The outlet (120) includes an air channel (206) along a direction parallel to the longitudinal axis (118) and a flow passage disposed below the air channel (206). The flow, passage includes a horizontal portion (208, 210) and a vertical portion (212). The claw bottom (104) is disposed below the claw top (102) and includes a dividing wall (306), a sump (308), and a raised knob (301, 310) disposed within the sump (308).
A milking claw for efficiently drawing milk is disclosed. The milking claw includes a claw top and a claw bottom. The claw top includes a pair of front inlets, a pair of rear inlets, and an outlet. The front inlets and the rear inlets extend upwardly from a top surface of the claw top and are spaced on opposite sides of a longitudinal axis of the claw top. The outlet includes an air channel along a direction parallel to the longitudinal axis and a flow passage disposed below the air channel. The flow passage includes a horizontal portion and a vertical portion. The claw bottom is disposed below the claw top and includes a dividing wall, a sump, and a raised knob disposed within the sump.
A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 2038, 203) of a diary livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).
An apparatus Includes a carriage, a foundation, a pivot coupler, a platform, a coupler, a linear actuator, an extension member, a spray tool member, arid a controller. The carriage moves along the track. The foundation is coupled to tile carriage. The pivot coupler is coupled to the foundation. The coupler is coupled to the platform. The coupler couples the platform to the pivot coupler. The extension member Is coupled to the linear actuator. The spray tool member is coupled to the extension member. The controller is configured to cause the carriage to move along the track,: the platform -to pivot, and the extension member to move in the lengthwise direction to position a spray tool coupled to the spray tool member at a spray position: from which the spray tool may discharge a solution to a teat of a dairy livestock.
An apparatus includes a platform, controller, and first and second extension members, brush tool members, and brush tools. The platform has a length orthogonal to and greater than its width. The first and second extension members are movably coupled to the platform and their longitudinal axes are parallel to the length of the platform. The first and second brush tool members are coupled to and extend along the longitudinal axes of the first and second extension members respectively. The first and second brush tools are coupled to and extend along the longitudinal axes of the first and second brush tool members respectively. The controller moves the first extension member towards the front end of the platform, retracts the first extension member towards the back end of the platform, and at a second time after the first time, moves the second extension member towards the front end of the platform.
A system includes a platform, an extension member, a spray tool member, and a spray tool. The platform is coupled to and positioned above the carriage. The platform has a length greater than and orthogonal to its width. The extension member is coupled to the platform and its longitudinal axis is parallel to the platform's length. The spray tool member's back end is coupled to the extension member's front end. The spray tool is coupled to the spray tool member's front end and includes a first nozzle oriented in a first direction, a second nozzle oriented in the first direction and positioned in line with the first nozzle, a third nozzle oriented in a second direction and positioned between and offset from the first and second nozzles, and a fourth nozzle oriented in a third direction and positioned between and offset from the first and second nozzles.
A vision system that includes a robotic arm and a three-dimensional (3D) camera operably coupled to a processor. The processor is configured to acquire a 3D image and identify a teat of the dairy livestock within the 3D image. The processor is further configured to determine a distance between a portion of a robotic arm and an approach vector for the teat, to compare the distance between the portion of the robotic arm and the approach vector for the teat and the attachment range threshold value, and to send instructions to the robotic arm based on the comparison.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06T 1/00 - Traitement de données d'image, d'application générale
A01J 7/00 - Accessoires pour les machines ou les dispositifs pour la traite
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
G06T 7/55 - Récupération de la profondeur ou de la forme à partir de plusieurs images
G06T 7/521 - Récupération de la profondeur ou de la forme à partir de la télémétrie laser, p. ex. par interférométrieRécupération de la profondeur ou de la forme à partir de la projection de lumière structurée
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
A vision system that includes a robotic arm and a three-dimensional (3D) camera operably coupled to a processor. The processor is configured to position the robotic arm adjacent to the dairy livestock and acquire a 3D image using the 3D camera. The processor is further configured to identify a set of teat candidates within the 3D image and to filter the set of teat candidates based on one or more filtering rules. The processor is further configured to determine an aggregate teat candidate score for the consolidated set of teat candidates, compare the aggregate teat candidate score to a score threshold value, and update teat location information for the dairy livestock in response to determining the aggregate teat candidate score is greater than or equal to the score threshold value.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
H04N 13/271 - Générateurs de signaux d’images où les signaux d’images générés comprennent des cartes de profondeur ou de disparité
G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
G06T 7/246 - Analyse du mouvement utilisant des procédés basés sur les caractéristiques, p. ex. le suivi des coins ou des segments
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur les caractéristiques
G06T 7/521 - Récupération de la profondeur ou de la forme à partir de la télémétrie laser, p. ex. par interférométrieRécupération de la profondeur ou de la forme à partir de la projection de lumière structurée
20.
System and method of attaching a cup to a dairy animal according to a sequence
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.
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
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.
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.
An apparatus includes a tube, first and second pairs of electrodes, a reference device, and a processor. The processor determines a speed of a fluid traveling between the first and second pairs of electrodes and determines a reference conductance of the fluid using the reference device. The processor also determines a measured conductance of the fluid using at least one of the first and second pairs of electrodes and determines, based on the reference conductance and the measured conductance, a cross-sectional area of the fluid at an electrode. The processor further adds a correction factor to the determined speed to produce a bulk speed of the fluid. The processor further determines a volumetric flow rate of the fluid based on the bulk speed and the determined area and determines a volume of the fluid based on the determined volumetric flow rate.
G01F 15/075 - Intégration pour obtenir le débit total, p. ex. en utilisant un mécanisme intégrateur actionné mécaniquement en utilisant des moyens d'intégration actionnés électriquement
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
25.
System and method for filtering data captured by a 2D camera
A system comprises a memory operable to store first light intensity information for a first pixel of an image that includes a dairy livestock, and second light intensity information for a second pixel of the image. The system further comprises a processor communicatively coupled to the memory and operable to determine that a difference between the first light intensity information and the second light intensity information exceeds a threshold, and discard one of the first pixel or the second pixel from the image. The system further includes a robotic attacher configured to position milking equipment relative to the dairy livestock based at least in part upon the light intensity image, excluding the discarded pixel
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
An apparatus includes a carriage, camera, spray tool, and controller. The carriage is movably coupled to a track. The camera and spray tool are coupled to the carriage. The controller moves the carriage along the track away from a starting position based on a first signal from the camera, and as the carriage moves away from the starting position, discharges, through the spray tool, a solution for a first time. The controller moves the carriage towards the starting position after the solution has been discharged for the first time, and based on a second signal from the camera as the carriage moves towards the starting position and before the carriage reaches the starting position, moves the carriage away from the starting position. As the carriage moves away from the starting position, the controller discharges, through the spray tool, the solution for a second time.
A system includes a robotic arm, an imaging device coupled to the robotic arm, a board 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 board is able to pivot from a down position to an up position and has an aperture through which the imaging device can pass through when the board lowers from the up position to the down position. The processor is coupled to both the imaging device and the board 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 board from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A system for controlling the position of a robot carriage includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a rotational movement of a milking stall of the rotary milking platform, and determines a linear movement of the robot carriage on the carriage track corresponding to the rotational movement of the milking stall of the rotary milking platform. The controller further communicates a signal to a carriage actuator coupled to the robot carriage and the carriage track. The signal causes the carriage actuator to move the robot carriage along the carriage track according to the determined linear movement as the rotary milking platform rotates.
A robotic arm that extends in a longitudinal direction includes a pivot assembly that pivots a gripping portion around an axis that is substantially perpendicular to the robotic arm, in a direction transverse to the longitudinal direction of the robotic arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
32.
System and method for improved attachment of a cup to a dairy animal
A system includes a robotic arm and a controller. The controller accesses a first image and a second image generated by a first camera. The controller determines a reference point based at least in part on the first image. The controller determines a position of a teat of the dairy livestock based at least in part on the second image. The controller instructs the robotic arm to grip a milking cup and move it towards the determined position of the teat between the hind legs of the dairy livestock from the rear. The controller then instructs the robotic arm to release the milking cup, to move in an upward direction towards an udder of the dairy livestock, and to move away from the teat.
A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and s to identify a thigh gap region from the one or more regions. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to identify one or more tail candidates within the tail detection region, to identify a tail candidate that corresponds with a tail model as the tail, and to determine position information for the tail.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur les caractéristiques
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G06T 7/50 - Récupération de la profondeur ou de la forme
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
G06T 7/246 - Analyse du mouvement utilisant des procédés basés sur les caractéristiques, p. ex. le suivi des coins ou des segments
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur les caractéristiques
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. 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.
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
G06T 1/00 - Traitement de données d'image, d'application générale
A01J 5/04 - Machines ou dispositifs pour la traite par action pneumatique sur les tétines
A method for operating a valve, comprises directing fluid flow through a housing of the valve, wherein the fluid flows into the housing through a housing inlet and flows out of the housing through a housing outlet. The method continues by directing a first electric current into a solenoid coupled to the housing to generate a first magnetic field, wherein the first magnetic field exerts a force upon a plunger positioned inside the housing and causes the plunger to magnetically connect to a magnet. The method continues by directing a second electrical current into the solenoid to generate a second magnetic field, wherein the second magnetic field exerts a force upon the plunger causing the plunger to disconnect from the magnet and engage with the housing outlet. Fluid flows into the inlet through a milking hose, and fluid flows out of the outlet into a milking pipeline.
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
A01J 5/04 - Machines ou dispositifs pour la traite par action pneumatique sur les tétines
F16K 31/06 - Moyens de fonctionnementDispositifs de retour à la position de repos électriquesMoyens de fonctionnementDispositifs de retour à la position de repos magnétiques utilisant un aimant
F16K 31/08 - Moyens de fonctionnementDispositifs de retour à la position de repos électriquesMoyens de fonctionnementDispositifs de retour à la position de repos magnétiques utilisant un aimant utilisant un aimant permanent
F16K 51/02 - Autres détails non particuliers aux types de soupapes ou clapets ou autres appareils d'obturation spécialement conçus pour les installations de vide poussé
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.
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.
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.
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
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.
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
G01B 11/24 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
G01B 11/24 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).
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.
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
G01B 11/24 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes
A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall, a memory, and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and apply the thigh gap detection rule set to the one or more regions to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to partition the 3D image within the tail detection region to generate a plurality of image depth planes, examine each of the plurality of image depth planes, and determine position information for the tail of the dairy livestock in response to identifying the tail of the dairy livestock.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
G06T 1/00 - Traitement de données d'image, d'application générale
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
A01J 7/00 - Accessoires pour les machines ou les dispositifs pour la traite
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
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.
A system comprising a teat preparation cup coupled to a vacuum pump. A first pressure sensor measures the vacuum level of the vacuum pump. A second pressure sensor measures vacuum level inside the preparation cup. The system further comprises a controller comprising an interface, a memory, and a processor.
The processor determines if the vacuum pump has sufficient vacuum level and communicates instructions to induce a partial vacuum in the teat preparation cup. The processor determines if the teat preparation cup has a vacuum level greater than a vacuum threshold value and when this condition is achieved, communicates instructions to initiate a teat preparation cycle comprising allowing fluid flowing from a fluid source container through the teat preparation cup into a fluid disposal container.
A system comprising a robotic arm and a robotic arm controller. The robotic arm receives instructions from the robotic arm controller and moves along a path. The robotic arm controller comprises an interface, a memory, and a processor. The interface communicates with the robotic arm. The memory stores a first path and a second path. The processor applies a decreasing weight to the waypoints of the first path and an increasing weight to the waypoints of the second path. The processor combines the weighted waypoints of the first path and the second path to generate a third path wherein the third path defines a transition path from the first path to the second path. The processor further instructs the robotic arm to transition from the first path to the second path by traversing the third path.
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.
A system that includes a three-dimensional (3D) camera configured to capture 3D images of a dairy livestock. The system further includes a memory operable to store a thigh gap detection rule set and a processor operably coupled to the 3D camera and the memory. The processor is configured to obtain the 3D image, to identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and to apply the thigh gap detection rule set to the one or more regions to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region. The processor is configured to reduce the width of the access region by shifting a first vertical edge and a second vertical edge of the access region and to determine position information for the first vertical edge and the second vertical edge.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
A system including a 3D camera, memory, and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and apply the thigh gap detection rule set to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region, demarcate a teat detection region, partition the 3D image within the teat detection region to generate a plurality of image depth planes, and examine each of the plurality of image depth planes. The processor is further configured to identify one or more teat candidates within the image depth plane, apply the teat detection rule set to the one or more teat candidates to identify one or more teats, and determine position information for the one or more teats.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
An apparatus that includes a housing (204) with an input port (106) and a first output port (108). A piston (202) is disposed within a bore (205) of the housing and includes a bypass via (212) disposed transversely within the bore and a bypass tube (214) disposed longitudinally within the bore. The bypass tube is configured to provide a flow path from the bypass via to a second output port (110) on the bypass tube. The piston includes a sleeve (216) disposed concentrically around the bypass tube. An interior chamber (222) is defined by an exterior surface of the sleeve and an interior surface of the bore of the housing. The piston is configurable between a first configuration that provides a first flow path between the input port and the first output port via the interior chamber and a second configuration that provides a second flow path between the input port and the second output port via the bypass tube.
F16K 11/07 - Soupapes ou clapets à voies multiples, p. ex. clapets mélangeursRaccords de tuyauteries comportant de tels clapets ou soupapesAménagement d'obturateurs et de voies d'écoulement spécialement conçu pour mélanger les fluides dont toutes les faces d'obturation se déplacent comme un tout comportant uniquement des tiroirs à éléments de fermeture glissant linéairement à glissières cylindriques
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
An apparatus that includes a housing with an input port and a first output port. A piston is disposed within a bore of the housing and includes a bypass via disposed transversely within the bore and a bypass tube disposed longitudinally within the bore. The bypass tube is configured to provide a flow path from the bypass via to a second output port on the bypass tube. The piston includes a sleeve disposed concentrically around the bypass tube. An interior chamber is defined by an exterior surface of the sleeve and an interior surface of the bore of the housing. The piston is configurable between a first configuration that provides a first flow path between the input port and the first output port via the interior chamber and a second configuration that provides a second flow path between the input port and the second output port via the bypass tube.
F16K 11/07 - Soupapes ou clapets à voies multiples, p. ex. clapets mélangeursRaccords de tuyauteries comportant de tels clapets ou soupapesAménagement d'obturateurs et de voies d'écoulement spécialement conçu pour mélanger les fluides dont toutes les faces d'obturation se déplacent comme un tout comportant uniquement des tiroirs à éléments de fermeture glissant linéairement à glissières cylindriques
A01J 5/04 - Machines ou dispositifs pour la traite par action pneumatique sur les tétines
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
A milk meter operably coupled to a controller, the milk meter comprising an inlet, an outlet, an inner column coupled to an opening of the outlet. The milk meter further comprises a conductivity sensor comprising a first conductive strip positioned at a first portion of the milk meter and a second conductive strip positioned substantially parallel to the first conductive strip wherein the conductivity sensor measures a change in resistance between the first and second conductive strips as fluid collects inside the milk meter before the fluid exits the milk meter through the outlet opening. The controller is operable to receive data about the fluid from the conductivity sensor and calculate a total quantity of fluid flow through the milk meter over a period of time.
G01F 22/00 - Procédés ou appareils pour la mesure du volume des fluides ou des matériaux solides fluents, non prévus ailleurs
G01F 22/02 - Procédés ou appareils pour la mesure du volume des fluides ou des matériaux solides fluents, non prévus ailleurs comportant un mesurage de pression
G01F 23/14 - Indication ou mesure du niveau des liquides ou des matériaux solides fluents, p. ex. indication en fonction du volume ou indication au moyen d'un signal d'alarme par mesurage de la pression
G01F 23/16 - Indication ou mesure du niveau des liquides ou des matériaux solides fluents, p. ex. indication en fonction du volume ou indication au moyen d'un signal d'alarme par mesurage de la pression les dispositifs d'indication, d'enregistrement ou d'alarme étant actionnés par des moyens mécaniques ou hydrauliques, p. ex. en utilisant un gaz, du mercure ou un diaphragme comme élément de transmission, ou par une colonne de liquide
G01F 23/24 - Indication ou mesure du niveau des liquides ou des matériaux solides fluents, p. ex. indication en fonction du volume ou indication au moyen d'un signal d'alarme en mesurant des variables physiques autres que les dimensions linéaires, la pression ou le poids, selon le niveau à mesurer, p. ex. par la différence de transfert de chaleur de vapeur ou d'eau en mesurant les variations de résistance de résistances électriques produites par contact avec des fluides conducteurs
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
G01F 1/00 - Mesure du débit volumétrique ou du débit massique d'un fluide ou d'un matériau solide fluent, dans laquelle le fluide passe à travers un compteur par un écoulement continu
G01F 23/18 - Indication ou mesure du niveau des liquides ou des matériaux solides fluents, p. ex. indication en fonction du volume ou indication au moyen d'un signal d'alarme par mesurage de la pression les dispositifs d'indication, d'enregistrement ou d'alarme étant actionnés électriquement
A valve apparatus comprises a housing, a solenoid operable to receive electrical current flow, and an enclosure, the enclosure housing the solenoid, a magnet coupled to the enclosure, a plunger comprising a stopper and a conductive portion, and a spring coupled to the plunger. When the solenoid receives a first current, the solenoid applies a first magnetic force onto the plunger causing the stopper to disengage from the housing outlet, the conductive portion of the plunger magnetically connects with the magnet, and the stopper remains disengaged from the housing outlet after the first period of time expires. When the conductive portion is magnetically connected to the magnet and the solenoid receives a second current, the solenoid applies a second magnetic force onto the plunger causing the conductive portion of the plunger to disconnect from the magnet so that the stopper engages with the housing outlet.
A01J 5/04 - Machines ou dispositifs pour la traite par action pneumatique sur les tétines
F16K 31/06 - Moyens de fonctionnementDispositifs de retour à la position de repos électriquesMoyens de fonctionnementDispositifs de retour à la position de repos magnétiques utilisant un aimant
F16K 51/02 - Autres détails non particuliers aux types de soupapes ou clapets ou autres appareils d'obturation spécialement conçus pour les installations de vide poussé
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
F16K 31/08 - Moyens de fonctionnementDispositifs de retour à la position de repos électriquesMoyens de fonctionnementDispositifs de retour à la position de repos magnétiques utilisant un aimant utilisant un aimant permanent
A milk meter operably coupled to a controller, the milk meter comprising an inlet, an outlet, an inner column coupled to an opening of the outlet. The milk meter further comprises a conductivity sensor comprising a first conductive strip positioned at a first portion of the milk meter and a second conductive strip positioned substantially parallel to the first conductive strip wherein the conductivity sensor measures a change in resistance between the first and second conductive strips as fluid collects inside the milk meter before the fluid exits the milk meter through the outlet opening. The controller is operable to receive data about the fluid from the conductivity sensor and calculate a total quantity of fluid flow through the milk meter over a period of time.
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
A01J 7/00 - Accessoires pour les machines ou les dispositifs pour la traite
G01F 1/00 - Mesure du débit volumétrique ou du débit massique d'un fluide ou d'un matériau solide fluent, dans laquelle le fluide passe à travers un compteur par un écoulement continu
G01F 1/34 - Mesure du débit volumétrique ou du débit massique d'un fluide ou d'un matériau solide fluent, dans laquelle le fluide passe à travers un compteur par un écoulement continu en utilisant des effets mécaniques en mesurant la pression ou la différence de pression
G01F 1/56 - Mesure du débit volumétrique ou du débit massique d'un fluide ou d'un matériau solide fluent, dans laquelle le fluide passe à travers un compteur par un écoulement continu en utilisant des effets électriques ou magnétiques
G01F 1/64 - Mesure du débit volumétrique ou du débit massique d'un fluide ou d'un matériau solide fluent, dans laquelle le fluide passe à travers un compteur par un écoulement continu en utilisant des effets électriques ou magnétiques en mesurant des courants électriques passant à travers l’écoulement de fluideMesure du débit volumétrique ou du débit massique d'un fluide ou d'un matériau solide fluent, dans laquelle le fluide passe à travers un compteur par un écoulement continu en utilisant des effets électriques ou magnétiques en mesurant le potentiel électrique produit par l’écoulement de fluide, p. ex. par effet électrochimique, effet de contact ou effet de frottement
A01J 5/013 - Détection sur place de la mastite dans le lait
G01F 23/14 - Indication ou mesure du niveau des liquides ou des matériaux solides fluents, p. ex. indication en fonction du volume ou indication au moyen d'un signal d'alarme par mesurage de la pression
G01F 23/18 - Indication ou mesure du niveau des liquides ou des matériaux solides fluents, p. ex. indication en fonction du volume ou indication au moyen d'un signal d'alarme par mesurage de la pression les dispositifs d'indication, d'enregistrement ou d'alarme étant actionnés électriquement
G01F 23/24 - Indication ou mesure du niveau des liquides ou des matériaux solides fluents, p. ex. indication en fonction du volume ou indication au moyen d'un signal d'alarme en mesurant des variables physiques autres que les dimensions linéaires, la pression ou le poids, selon le niveau à mesurer, p. ex. par la différence de transfert de chaleur de vapeur ou d'eau en mesurant les variations de résistance de résistances électriques produites par contact avec des fluides conducteurs
A valve apparatus comprises a housing, a solenoid operable to receive electrical current flow, and an enclosure, the enclosure housing the solenoid, a magnet coupled to the enclosure, a plunger comprising a stopper and a conductive portion, and a spring coupled to the plunger. When the solenoid receives a first current, the solenoid applies a first magnetic force onto the plunger causing the stopper to disengage from the housing outlet, the conductive portion of the plunger magnetically connects with the magnet, and the stopper remains disengaged from the housing outlet after the first period of time expires. When the conductive portion is magnetically connected to the magnet and the solenoid receives a second current, the solenoid applies a second magnetic force onto the plunger causing the conductive portion of the plunger to disconnect from the magnet so that the stopper engages with the housing outlet.
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
F16K 31/08 - Moyens de fonctionnementDispositifs de retour à la position de repos électriquesMoyens de fonctionnementDispositifs de retour à la position de repos magnétiques utilisant un aimant utilisant un aimant permanent
66.
Automated system for applying disinfectant to the teats of dairy livestock
A method for applying disinfectant to the teats of a dairy livestock comprises moving a robotic arm along a track in relation to a rotary milking platform housing a dairy livestock and independent of any physical coupling between the robotic arm and the rotary milking platform. The rotary milking platform has a substantially circular perimeter. The track is positioned outside the perimeter of the rotary milking platform. At least a portion of the track is straight and offset in relation to the rotary milking platform. The robotic arm comprises an arm member operable to pivot about an axis that is parallel to the track, and a spray tool attached to one end of the arm member. The method further comprises extending the robotic arm between the hind legs of the dairy livestock while the rotary milking platform rotates such that the spray tool is located at a spray position from which it may discharge disinfectant to the teats of the dairy livestock.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c.-à-d. systèmes dans lesquels le signal vidéo n'est pas diffusé
G05B 19/042 - Commande à programme autre que la commande numérique, c.-à-d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
A system 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. The robotic attacher comprises a gripping portion having 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.
A method of operating a robotic attacher, comprises extending a robotic attacher between the legs of a dairy livestock. The method further comprises 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 further comprises 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.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06T 1/00 - Traitement de données d'image, d'application générale
A system for operating a robotic arm, comprises a camera, a controller and a robotic arm. The camera captures an image of a rear of a dairy livestock located in a stall of a rotary milking platform. The controller receives the image and in conjunction with the stall of the rotary milking platform in which a dairy livestock is located moving into an area adjacent a robotic arm, determines whether a milking cluster is attached to the dairy livestock based at least in part upon the image. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
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.
A method includes positioning a robotic attacher under a dairy livestock located in a milking stall, wherein the robotic attacher comprises a nozzle. The method continues by rotating the robotic attacher such that the nozzle is positioned generally on the top of the robotic attacher and performing a spraying operation using the nozzle. The method concludes by retracting the robotic attacher from under the dairy livestock.
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
A01J 5/01 - Débitmètres pour le laitDispositifs de détection du débit de lait
G06T 1/00 - Traitement de données d'image, d'application générale
A01J 5/04 - Machines ou dispositifs pour la traite par action pneumatique sur les tétines
72.
Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
A system includes a controller and a robotic arm. The controller accesses an image signal of an udder of a dairy livestock, and determines a spray position by processing the accessed image signal to determine a tangent at the rear of the udder and a tangent at the bottom of the udder. The spray position is a position relative to the intersection of the two tangents. A robotic arm communicatively coupled to the controller positions a spray tool at the spray position.
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
A teat preparation liner (20) comprising an inlet (24) for fluid flow into the liner, an opening (28), a liner cavity (54) and a spray ring (50). The liner cavity is positioned adjacent to the opening inside the liner and surrounds a portion of the liner. The spray ring has a hollow interior and a plurality of apertures (52). The spray ring is coupled to the inlet so that fluid flows from the inlet into the hollow interior of the spray ring and out of the spray ring through the plurality of apertures. The spray ring is positioned inside the liner cavity so that the plurality of apertures face the inside of the liner opening. The spray ring is operable to encircle a dairy animal teat that is positioned inside the liner via the liner opening to simultaneously direct fluid flow from the inlet onto multiple portions of the teat via the apertures.
A milking cup comprising a body having a top portion and a bottom portion. The top portion has a first lip formed thereon and the bottom portion has a second lip formed thereon. The first lip and the second lip are separated by a distance. The milking cup further comprises a rotating shell positioned between and secured by the first lip and the second lip, wherein the rotating shell encircles the body and is operable to rotate around the body independently of the movement of the other portions of the body. The rotating shell has a length that corresponds to the distance between the first lip and the second lip.
A milking cup comprising a body having a top portion and a bottom portion. The top portion has a first lip formed thereon and the bottom portion has a second lip formed thereon. The first lip and the second lip are separated by a distance. The milking cup further comprises a rotating shell positioned between and secured by the first lip and the second lip, wherein the rotating shell encircles the body and is operable to rotate around the body independently of the movement of the other portions of the body. The rotating shell has a length that corresponds to the distance between the first lip and the second lip.
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
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.
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.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
A method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
G06T 1/00 - Traitement de données d'image, d'application générale
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
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.
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The plurality of spray nozzles are coupled to the linear member.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c.-à-d. systèmes dans lesquels le signal vidéo n'est pas diffusé
82.
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
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.
A robotic attacher comprises a gripping portion, a vision system positioned on a first surface of the gripping portion, and at least one nozzle positioned on a second surface of the gripping portion. The gripping portion is rotates about a longitudinal axis such that during a first time, the vision system is positioned generally on the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion.
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
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.
A method comprises receiving a flow of milk at an inlet of a manifold. The inlet comprises a first end coupled to a hose that receives a flow of milk from a teat cup and a second end terminating in a chamber of the manifold. The manifold comprises one or more other inlets and a plurality of outlets. The plurality of outlets includes one or more milk collector outlets and one or more drain outlets. The method proceeds by causing the flow of milk to be directed to a corresponding milk collector outlet by causing a shut-off valve corresponding to the inlet to open, and by causing a drain valve corresponding to the inlet to close. The method concludes by causing the flow of milk to be directed to a corresponding drain outlet by causing the drain valve corresponding to the inlet to open.
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.
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
87.
Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
A system includes a camera, a controller and a robotic arm. The camera generates an image of an udder of a dairy livestock. The controller determines a position of the udder of the dairy livestock based at least in part upon the image. The controller further determines a spray position based at least in part upon the determined position of the udder of the dairy livestock. Determining the spray position includes processing the accessed image to determine a tangent at the rear of the udder and a tangent at the bottom of the udder. The spray position is a position relative to the intersection of the two tangents. The robotic arm is communicatively coupled to the controller and positions a spray tool at the spray position.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
A gripper mounted on an arm of a milking machine includes a first clamping part extending from the arm in a longitudinal direction, and a second claiming part extending from the arm in the longitudinal direction. The second clamping part is positioned substantially parallel to the first clamping part such that the first and second clamping parts are configured to hold a first teat cup. The gripper further includes a first conveying belt running lengthwise along the first clamping part in the longitudinal direction. The gripper further includes a second conveying belt running lengthwise along the second clamping part in the longitudinal direction. The first and second conveying belts transport the first teat cup in the longitudinal direction.
A robotic attacher retrieves a preparation cup from an equipment area located behind a dairy livestock and attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the left front teat, the right front teat, the right rear teat, and the left rear teat.
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 7/00 - Accessoires pour les machines ou les dispositifs pour la traite
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
G05B 15/02 - Systèmes commandés par un calculateur électriques
90.
Automated system for moving a robotic arm along a rotary milking platform
A system for operating a robotic arm comprises a carriage and a robotic arm. The carriage is mounted on a track adjacent to a rotary milking platform having a substantially circular perimeter and a stall for a dairy livestock. The carriage moves along a substantially straight portion of the track tangent to and outside the perimeter of the rotary milking platform at a rate based at least in part upon a speed of rotation of the rotary milking platform. The carriage moves in a direction corresponding to the direction of rotation of the rotary milking platform and such movement of the carriage is independent of any physical coupling between the carriage and the rotary milking platform. The robotic arm extends between the legs of the dairy livestock.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
A robotic attacher retrieves a preparation cup from an equipment area of a milking box located behind a dairy livestock. The robotic attacher attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the right front teat, the left front teat, the left rear teat, and the right rear teat.
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 7/00 - Accessoires pour les machines ou les dispositifs pour la traite
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
G05B 15/02 - Systèmes commandés par un calculateur électriques
92.
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
A system includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track from a first linear position to a second linear position, 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 the second linear 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 from the first linear position to the second linear position in conjunction with the movement of the rotary milking platform.
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.
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. 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.
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
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.
A01J 5/007 - Surveillance des procédés de traiteCommande ou régulation des machines à traire
A01J 7/00 - Accessoires pour les machines ou les dispositifs pour la traite
A01J 7/02 - Accessoires pour les machines ou les dispositifs pour la traite pour nettoyer ou désinfecter les machines ou les dispositifs pour la traite
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
G05B 15/02 - Systèmes commandés par un calculateur électriques
96.
System and method for milking stall assignment using real-time location
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.
A system for operating a robotic arm, comprises a controller and a robotic arm. The controller receives an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform. The controller also determines whether a milking cluster is attached to the dairy livestock. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
A connector plug comprises a hook with flexible edges. The hook has a first beveled surface and a second flat surface. A stopper is coupled to the flat surface of the hook by a first barrel portion of the connector plug. The stopper is coupled to a plurality of ridges with flexible edges by a second barrel portion. The plurality of ridges are also coupled to each other by the second barrel portion. A via extends through the connector plug from one end of the connector plug to the other end of the connector plug.
H01R 13/52 - Boîtiers protégés contre la poussière, les projections, les éclaboussures, l'eau ou les flammes
H02G 15/013 - Moyens d'étanchéité pour entrées de câble
H01R 13/502 - SoclesBoîtiers composés de différentes pièces
H01R 25/00 - Pièces de couplage adaptées à la coopération simultanée avec plusieurs pièces complémentaires identiques, p. ex. pour la distribution d'énergie à plusieurs circuits
H02G 3/08 - Boîtes de distributionBoîtes de connexion ou de dérivation
H02G 15/007 - Dispositifs pour atténuer la contrainte mécanique
99.
Cleaning device for cleaning teats of an animal for milking, milking machine provided therewith and method therefor
moving means (48, 50, 56) connected to the frame for displacing the cleaning head relative to the teats such that the teats are cleanable using the cleaning elements.
A01J 5/017 - Fixation ou libération automatiques des ensembles de ventouses
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
B60S 3/06 - Appareils pour le nettoyage de véhicules, ne faisant pas partie intégrante de ces derniers pour les extérieurs de véhicules terrestres avec corps rotatif en contact avec les véhicules
A46B 9/02 - Position ou disposition des soies par rapport à la surface de la monture, p. ex. inclinées, en rangées, en groupes
100.
Automated system for applying disinfectant to the teats of dairy livestock
A method for applying disinfectant to the teats of a dairy livestock, comprises moving a carriage along a track. The carriage carries a robotic arm and the track is adjacent to a stall of a rotary milking platform housing a dairy livestock. The robotic arm comprises a first member pivotally attached to the carriage, a second member pivotally attached to the first member, and a spray tool member pivotally attached to the second member. The method continues by extending the robotic arm between the hind legs of the dairy livestock while the rotary milking platform rotates such that a spray tool of the spray tool member is located at a spray position from which the spray tool may discharge disinfectant to the teats of the dairy livestock.
A01J 7/04 - Accessoires pour les machines ou les dispositifs pour la traite pour le traitement des pis ou des tétines, p. ex. pour le nettoyage
A01K 13/00 - Dispositifs pour panser ou soigner les animaux, p. ex. étrillesProtège-fanonsTrousse-queueDispositifs pour empêcher les animaux de mordre leurs mangeoiresDispositifs de lavageProtection contre les conditions climatiques ou les insectes
