DK3202254T3 - Malkerobot med kombineret 2D og 3D kamerasystem - Google Patents

Malkerobot med kombineret 2D og 3D kamerasystem Download PDF

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Publication number
DK3202254T3
DK3202254T3 DK17158431.1T DK17158431T DK3202254T3 DK 3202254 T3 DK3202254 T3 DK 3202254T3 DK 17158431 T DK17158431 T DK 17158431T DK 3202254 T3 DK3202254 T3 DK 3202254T3
Authority
DK
Denmark
Prior art keywords
combined
camera system
milking robot
milking
robot
Prior art date
Application number
DK17158431.1T
Other languages
English (en)
Inventor
Henk Hofman
Ruijter Cor De
Menno Koekoek
Der Sluis Peter Willem Van
Original Assignee
Technologies Holdings Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=46028222&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DK3202254(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from US13/095,983 external-priority patent/US9107378B2/en
Priority claimed from US13/449,105 external-priority patent/US9161512B2/en
Priority claimed from US13/448,951 external-priority patent/US8746176B2/en
Priority claimed from US13/448,993 external-priority patent/US9215861B2/en
Priority claimed from US13/449,162 external-priority patent/US8683946B2/en
Priority claimed from US13/449,173 external-priority patent/US9357744B2/en
Priority claimed from US13/449,142 external-priority patent/US9049843B2/en
Priority claimed from US13/449,056 external-priority patent/US9043988B2/en
Priority claimed from US13/448,882 external-priority patent/US9258975B2/en
Application filed by Technologies Holdings Corp filed Critical Technologies Holdings Corp
Publication of DK3202254T3 publication Critical patent/DK3202254T3/da
Application granted granted Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J7/00—Accessories for milking machines or devices
    • A01J7/02—Accessories for milking machines or devices for cleaning or sanitising milking machines or devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/12—Milking stations
DK17158431.1T 2011-04-28 2012-04-26 Malkerobot med kombineret 2D og 3D kamerasystem DK3202254T3 (da)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
US13/095,983 US9107378B2 (en) 2011-04-28 2011-04-28 Milking box with robotic attacher
US13/448,951 US8746176B2 (en) 2011-04-28 2012-04-17 System and method of attaching a cup to a dairy animal according to a sequence
US13/448,993 US9215861B2 (en) 2011-04-28 2012-04-17 Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US13/449,105 US9161512B2 (en) 2011-04-28 2012-04-17 Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US13/449,162 US8683946B2 (en) 2011-04-28 2012-04-17 System and method of attaching cups to a dairy animal
US13/449,173 US9357744B2 (en) 2011-04-28 2012-04-17 Cleaning system for a milking box stall
US13/449,142 US9049843B2 (en) 2011-04-28 2012-04-17 Milking box with a robotic attacher having a three-dimensional range of motion
US13/449,056 US9043988B2 (en) 2011-04-28 2012-04-17 Milking box with storage area for teat cups
US13/448,882 US9258975B2 (en) 2011-04-28 2012-04-17 Milking box with robotic attacher and vision system
EP12719210.2A EP2701494B1 (en) 2011-04-28 2012-04-26 Milking box with robotic attacher

Publications (1)

Publication Number Publication Date
DK3202254T3 true DK3202254T3 (da) 2020-07-20

Family

ID=46028222

Family Applications (4)

Application Number Title Priority Date Filing Date
DK17158431.1T DK3202254T3 (da) 2011-04-28 2012-04-26 Malkerobot med kombineret 2D og 3D kamerasystem
DK17158441.0T DK3202255T3 (da) 2011-04-28 2012-04-26 Malkeboks med rensesystem
DK17158447.7T DK3202259T3 (da) 2011-04-28 2012-04-26 Malkeboks med robotfastgørelse
DK17158453.5T DK3202257T3 (da) 2011-04-28 2012-04-26 Malkeboks med mange holdere til patte- eller rengøringskopper

Family Applications After (3)

Application Number Title Priority Date Filing Date
DK17158441.0T DK3202255T3 (da) 2011-04-28 2012-04-26 Malkeboks med rensesystem
DK17158447.7T DK3202259T3 (da) 2011-04-28 2012-04-26 Malkeboks med robotfastgørelse
DK17158453.5T DK3202257T3 (da) 2011-04-28 2012-04-26 Malkeboks med mange holdere til patte- eller rengøringskopper

Country Status (4)

Country Link
EP (8) EP3202258A1 (da)
CA (11) CA2928689C (da)
DK (4) DK3202254T3 (da)
WO (1) WO2012149099A1 (da)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
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CH705153A1 (fr) * 2011-06-24 2012-12-31 Heidi Hall Mors et système pour envoyer une substance visqueuse et/ou liquide dans la bouche d'un animal.
EP3010332B1 (en) * 2013-06-18 2019-07-24 DeLaval Holding AB Method and apparatus for cleaning an optical detection device
WO2015084247A1 (en) 2013-12-05 2015-06-11 Delaval Holding Ab Time-of-flight camera system, robot milking system comprising a time-of-flight camera system and method of operating a time-of-flight camera system
CN105993965A (zh) * 2016-06-28 2016-10-12 冯晋芳 一种旋转式挤奶平台
CN110370055B (zh) * 2019-08-30 2021-03-16 六安市龙兴汽车零部件有限公司 一种用于机器人机械臂加工的移动式夹紧机构
CA3155598A1 (en) 2019-10-02 2021-04-08 Farm Improvements Limited Sprayer with articulated arm and sensor system

Family Cites Families (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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NL9401937A (nl) † 1994-04-27 1995-12-01 Maasland Nv Werkwijze voor het automatisch melken van dieren en inrichting waarin deze werkwijze kan worden toegepast.
NL1001645C2 (nl) 1995-11-14 1997-05-21 Maasland Nv Constructie met een inrichting voor het melken van dieren.
NL1002319C2 (nl) * 1996-02-13 1997-08-14 Maasland Nv Inrichting voor het automatisch melken van dieren.
WO1998001022A1 (en) * 1996-07-05 1998-01-15 Maasland N.V. An implement for automatically milking animals
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SE9701231D0 (sv) * 1997-04-04 1997-04-04 Alfa Laval Agri Ab Apparatus and method for recognising and determining the position of part of an animal
WO1998045808A1 (en) * 1997-04-04 1998-10-15 Alfa Laval Agri Ab Method and apparatus for generating image information when carrying out animal related operations
SE9702902D0 (sv) * 1997-08-08 1997-08-08 Alfa Laval Agri Ab A teatcup supplying and retrieving device and an automatic milking apparatus therefor
SE512334C2 (sv) † 1998-06-24 2000-02-28 Alfa Laval Agri Ab Hållare för spenkoppar och sätt för att rengöra spenkoppar i en hållare för spenkoppar
SE513142C2 (sv) 1998-09-04 2000-07-17 Alfa Laval Agri Ab Mjölkningsrobot och slangstyranordning i en dylik robot
SE9901859D0 (sv) * 1999-05-21 1999-05-21 Alfa Laval Agri Ab An animal stall with gates
SE9903857D0 (sv) 1999-10-26 1999-10-26 Alfa Laval Agri Ab Means for improved milking
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US8398634B2 (en) * 2002-04-18 2013-03-19 Intuitive Surgical Operations, Inc. Wristed robotic surgical tool for pluggable end-effectors
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NL1021430C1 (nl) * 2002-08-06 2004-02-10 Lely Entpr Ag Inrichting voor het bewaken van een melktank, samenstel van een melkrobot met automatische opstartinrichting en een dergelijke inrichting.
GB0408968D0 (en) * 2004-04-22 2004-05-26 Duke James R J Milking equipment
DE102004033637B4 (de) * 2004-03-23 2012-07-26 Wilfried Hatzack Haltevorrichtung für Melkbecher mit einem Antrieb zur Erzeugung einer Bewegung
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CA2626286C (en) 2005-10-24 2014-05-27 Delaval Holding Ab Arrangement and method for visual detection in a milking system
DE102006053602A1 (de) 2006-11-14 2008-05-15 Jakob Maier Reinigungsanlage für Melkbecher
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EP2060169B1 (en) * 2007-11-16 2014-12-24 DeLaval Holding AB Apparatus and method for cleaning a milking system
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AU2010305869A1 (en) † 2009-10-14 2012-03-15 Delaval Holding Ab A clean-in-place device for a milk conveying system

Also Published As

Publication number Publication date
EP3245866B2 (en) 2024-02-14
CA2928688A1 (en) 2012-07-04
CA2928689A1 (en) 2012-07-04
EP3202258A1 (en) 2017-08-09
DK3202255T3 (da) 2020-07-06
CA2913440A1 (en) 2012-07-04
EP3202259B1 (en) 2020-11-04
CA2775177C (en) 2013-12-24
CA2913433C (en) 2016-07-19
CA2891987C (en) 2016-02-09
CA2829924A1 (en) 2012-07-04
CA2829657A1 (en) 2012-07-04
EP3202257A1 (en) 2017-08-09
CA2829656C (en) 2015-07-14
CA2829924C (en) 2015-08-18
WO2012149099A1 (en) 2012-11-01
CA2928689C (en) 2017-05-23
CA2891987A1 (en) 2012-07-04
DK3202257T3 (da) 2020-07-13
CA2913434A1 (en) 2012-07-04
EP3202256A1 (en) 2017-08-09
EP3202259A1 (en) 2017-08-09
CA2928688C (en) 2016-11-15
EP3202254B1 (en) 2020-04-22
EP3202255A1 (en) 2017-08-09
EP3202257B1 (en) 2020-04-15
CA2829659C (en) 2015-12-29
CA2829657C (en) 2015-10-20
EP3202255B2 (en) 2023-08-16
CA2829659A1 (en) 2012-07-04
CA2775177A1 (en) 2012-07-04
EP3202255B1 (en) 2020-04-01
EP3202254A1 (en) 2017-08-09
EP2701494B1 (en) 2017-03-29
EP3245866B1 (en) 2020-07-15
CA2829656A1 (en) 2012-07-04
DK3202259T3 (da) 2021-02-08
EP2701494A1 (en) 2014-03-05
EP3245866A1 (en) 2017-11-22
CA2913433A1 (en) 2012-07-04
CA2913434C (en) 2016-07-19
CA2913440C (en) 2016-06-14

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