NL8801785A - Ultrasonic detector for automatic milking device - uses ultrasonic sensors for feeding and-or following teat of cow, and terminal appts. for controlling milking operation - Google Patents

Ultrasonic detector for automatic milking device - uses ultrasonic sensors for feeding and-or following teat of cow, and terminal appts. for controlling milking operation Download PDF

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Publication number
NL8801785A
NL8801785A NL8801785A NL8801785A NL8801785A NL 8801785 A NL8801785 A NL 8801785A NL 8801785 A NL8801785 A NL 8801785A NL 8801785 A NL8801785 A NL 8801785A NL 8801785 A NL8801785 A NL 8801785A
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NL
Netherlands
Prior art keywords
ultrasonic
sensor unit
ultrasonic sensor
mirror
unit according
Prior art date
Application number
NL8801785A
Other languages
Dutch (nl)
Original Assignee
Multinorm Bv
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
Application filed by Multinorm Bv filed Critical Multinorm Bv
Priority to NL8801785A priority Critical patent/NL8801785A/en
Priority to DE68928724T priority patent/DE68928724T2/en
Priority to DE68928489T priority patent/DE68928489T2/en
Priority to EP89200035A priority patent/EP0323875A3/en
Priority to EP91200695A priority patent/EP0439239B1/en
Priority to EP94201682A priority patent/EP0619941A3/en
Priority to EP91200696A priority patent/EP0440313B1/en
Priority to JP01004566A priority patent/JP3119359B2/en
Priority to US07/294,794 priority patent/US5020477A/en
Priority to DK007489A priority patent/DK7489A/en
Publication of NL8801785A publication Critical patent/NL8801785A/en
Priority to US07/625,357 priority patent/US5056466A/en
Priority to US08/085,687 priority patent/US5379721A/en
Priority to US08/370,317 priority patent/US5524572A/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/18—Methods or devices for transmitting, conducting or directing sound
    • G10K11/26—Sound-focusing or directing, e.g. scanning
    • G10K11/28—Sound-focusing or directing, e.g. scanning using reflection, e.g. parabolic reflectors

Abstract

The ultrasonic detector comprises a transmitter and a receiver for ultrasonic waves and a conical reflection surface disposed in the vicinity of the transmitter for reflection of the ultrasonic waves, in order to obtain a detection field of predetermined dimensions. In the vicinity of the receiver a conical reflection surface is disposed for determining the area within which the ultrasonic waves are reflected back to the receiver. The transmitter and receiver are integrated into a transmitter/ receiver unit. The transmitter/receiver unit is disposed in lying position while the conical reflection surface is located above it. The reflections from the moving teat measured by the ultrasonic sensors (52, 69, 71) are converted into sampled digital values/delta x, delta y) being relative position coordinates w.r.t. the sensors.

Description

ULTRASONE SENSOREENHEID BN MELKSTEL VOORZIEN VAN EEN CENTRALE ULTRASONE SENSOREENHEIDULTRASONIC SENSOR UNIT BN MILKET FITTED WITH A CENTRAL ULTRASONIC SENSOR UNIT

Ultrasone sensoreenheden worden veel toegepast in industriële en agrarische omgevingen, daar deze weinig gevoelig voor vervuiling en robuust zijn.Ultrasonic sensor units are widely used in industrial and agricultural environments, as they are less sensitive to pollution and robust.

Ultrasone sensoreenheden voor toepassing in de landbouw zijn beschreven in de Europese octrooiaanvragen EP-A-0 213 660, EP-A-0 232 568 en EP-A-0 270 165 en de Nederlandse niet-voorgepubliceerde octrooiaanvragen 88.00042 en 88.00272, alle ten name van dezelfde aanvraagster.Ultrasonic sensor units for agricultural use are described in European patent applications EP-A-0 213 660, EP-A-0 232 568 and EP-A-0 270 165 and Dutch non-prepublished patent applications 88.00042 and 88.00272, all in particular from the same applicant.

Bovengenoemde publicaties beschrijven allen sensoren voor toepassing in automatische melkinrichtingen, en meer in het bijzonder voor het zoeken en volgen van de uier en/of speen van een koe.The above publications all describe sensors for use in automatic milking devices, and more particularly for searching and tracking the udder and / or teat of a cow.

De onderhavige uitvinding betreft een ultrasone sensoreenheid volgens conclusie 1.The present invention relates to an ultrasonic sensor unit according to claim 1.

Door het bewegen van de transducent ten opzichte van een ultrasoonspiegel, wordt het af te tasten gebied gevarieerd, bijv. groter of kleiner gemaakt. Zo kan bijv. in het in de Nederlandse niet-voorgepubliceerde octrooiaanvrage 88.00042 beschreven kegelvormige reflectievlak, dit kegelvormige reflectievlak beneden- of bovenwaarts bewogen worden, zodat een smallere of bredere bundel ontstaat.By moving the transducer relative to an ultrasonic mirror, the area to be scanned is varied, e.g. made larger or smaller. For example, in the conical reflecting surface described in Dutch non-prepublished patent application 88,00042, this conical reflecting surface can be moved downwards or upwards, so that a narrower or wider beam is created.

Bij voorkeur wordt echter de sensoreenheid volgens conclusies 2 en/of 3 toegepast, opdat het mogelijk wordt een gebied rond de transducent af te tasten, alsmede door het slechts over een bepaalde hoek of stilzetten van de roterende ultrasoonspiegel, een meer of minder beperkt cirkelsegment af te tasten. Voor het volgen van een bepaalde speen zal het reflectievlak veelal stilgezet worden.Preferably, however, the sensor unit according to claims 2 and / or 3 is used, so that it becomes possible to scan an area around the transducer, as well as by scanning the circle segment to a greater or lesser extent by only rotating the rotating ultrasonic mirror at a certain angle or stopping it. touch. The reflection surface will usually be stopped for tracking a particular teat.

Verdere voordelen, kenmerken en details van de onderhavige uitvinding zullen duidelijk worden gemaakt aan de hand van een tekening, waarin tonen: fig. 1 een perspectivisch, gedeeltelijk weggebroken en gedeeltelijk schematisch aanzicht van een automatische melkinrichting, voorzien van een voorkeursuitvoeringsvorm van een ultrasone sensoreenheid volgens de onderhavige uitvinding; fig. 2 de sensoreenheid, in meer detail getoond, onder de uier van een koe; fig. 3 een andere voorkeursuitvoeringsvorm van de ultrasone sensoreenheid volgens de onderhavige uitvinding; en fig. 4 een doorsnede over de lijn IV-IV uit fig. 3.Further advantages, features and details of the present invention will be made clear with reference to a drawing, in which: Fig. 1 shows a perspective, partly broken away and partly schematic view of an automatic milking device, provided with a preferred embodiment of an ultrasonic sensor unit according to the present invention; Fig. 2 shows the sensor unit, in more detail, under the udder of a cow; Fig. 3 is another preferred embodiment of the ultrasonic sensor unit according to the present invention; and fig. 4 shows a section along the line IV-IV from fig. 3.

Een robotinstallatie 1 (fig. 1) of overeenkomstige installatie voor het automatisch aanbrengen van melkbekers 2 aan de uier van een koe en het opvolgend afnemen van melk is beschreven in de eerdergenoemde octrooiaanvragen van dezelfde aanvraagster. De scharnierbare robotarm 3 is automatisch bestuurbaar met behulp van een ultrasone sensoreenheid 6 volgens de onderhavige uitvinding, die centraal op een melkstel 7 is opgesteld.A robot installation 1 (fig. 1) or corresponding installation for the automatic application of teat cups 2 to the udder of a cow and the subsequent removal of milk is described in the aforementioned patent applications of the same applicant. The articulated robot arm 3 is automatically controllable with the aid of an ultrasonic sensor unit 6 according to the present invention, which is arranged centrally on a milking cluster 7.

Ultrasone sensoreenheid 6 (fig. 2) omvat een ultrasone sensoreenheid 7 die ultrasone golven volgens de pijlen a uitzendt, resp. ontvangt. Boven de ultrasone transducent 8 is een ultrasoonspiegel 9 opgesteld. Deze ultrasoonspiegel 9 is aangebracht in een holle buis 11 die met behulp van een tandwieloverbrenging 12 door een schematisch aangegeven elektromotor 13 aandrijfbaar is. Een staander 14 is vast met het melkstel 7 verbonden en voorzien van aansluitingen 16 resp.Ultrasonic sensor unit 6 (Fig. 2) comprises an ultrasonic sensor unit 7 which emits ultrasonic waves according to the arrows a, respectively. receive. An ultrasonic mirror 9 is arranged above the ultrasonic transducer 8. This ultrasonic mirror 9 is arranged in a hollow tube 11 which is drivable by means of a gear transmission 12 by a schematically indicated electric motor 13. An upright 14 is fixedly connected to the milking cluster 7 and provided with connections 16 and 16, respectively.

17 voor elektrische aansluiting van de transducent 8. Buis 11 is via een schematisch aangeduide lagers 18, 19 rond staander 14 roteerbaar.17 for electrical connection of the transducer 8. Tube 11 is rotatable around upright 14 via bearings 18, 19 schematically indicated.

De elektromotor kan zodanig elektrisch worden aangestuurd, dat de buis 11 en derhalve de spiegel 9 geheel rond draait en derhalve een cirkel-of regelgebied rond de transducent wordt afgetast. Dit zal het geval zijn indien de onderlinge posities van spenen 21 van de uier 22 van een niet getoonde koe dienen te worden vastgesteld. Indien een uier of speen van een koe vanuit een stand, zoals weergegeven in fig. 1 dient te worden opgespoord, kan de buis 11 door de elektromotor 13 bijv. slechts over een beperkte hoek worden heen en weer gedraaid, opdat een beperkt regel-of cirkelseg- ment wordt afgetast, in welk cirkelsegment de uier of speen te verwachten is, vanwege de bekende bepaalde positie van de koe.The electric motor can be electrically driven such that the tube 11 and therefore the mirror 9 rotates completely and therefore a circle or control area around the transducer is scanned. This will be the case if the mutual positions of teats 21 of the udder 22 of a cow (not shown) are to be determined. If a cow's udder or teat is to be detected from a position as shown in Fig. 1, the tube 11 can for instance only be rotated back and forth by the electric motor 13, so that a limited control or circle segment is scanned, in which circle segment the udder or teat is to be expected, because of the known determined position of the cow.

In de in fig. 2 getoonde stand wordt juist de melkbeker rechtsvoor van het melkstel 7 omhoog gebracht en zal de buis 11 vrijwel stilstaan ten opzichte van de transducent 14, opdat de speen 21 rechtsvoor van de uier 22 voortdurend door de ultrasone transducent 8 wordt gedetecteerd. Indien een afwijking van de juiste stand van de speen 21 ten opzichte van de beker 2 wordt gedetecteerd, kan in de regel dus ogenblikkelijk melkrek 7 volgens pijlen B in hoofdzaak tweedimensionaal worden bijgestuurd.In the position shown in fig. 2, just the teat cup at the front right of the milking cluster 7 is raised and the tube 11 will be virtually stationary with respect to the transducer 14, so that the teat 21 at the front right of the udder 22 is continuously detected by the ultrasonic transducer 8 . If a deviation from the correct position of the teat 21 with respect to the cup 2 is detected, it is therefore generally possible to adjust the milk rack 7 according to arrows B in an instant substantially two-dimensionally.

Een andere voorkeursuitvoeringsvorm van een ultrasone sensoreenheid 26 (fig. 3) volgens de onderhavige uitvinding is met behulp van een eendelige veer 27 aan een draag-construktie 28 van een rek 29 voor vier, voor de duidelijkheid weggelaten melkbekers bevestigd. Slechts de bevestigingspunten 31 voor de melkbekers aan een tableau 32 zijn aangegeven. Het tableau 32 is met veren 33 en schroefbouten 40 aan de draagconstruktie 28 met beperkte uitslag beweegbaar bevestigd. De sensoreenheid 26 steekt van opzij tussen de niet afgebeelde melkbekers. Met behulp van inbusschroefbouten 34 en sleuven 35 is een huis 36 en daarmede een ultrasoon-spiegel 37 ten opzichte van een tussenstuk 38 en derhalve de draagconstruktie 28 verstelbaar vast te zetten. In het huis 36 is voorts een elektromotor 39 met een schroefbout 41 in het huis 36 is vastgezet; een op een aandrijftandwiel 42 aangesloten tandkrans 43 die met ultrasone spiegel 37 vast verbonden is, is zodoende in het huis 36 met de elektromotor 39 gekoppeld. Voorts is een bovenwaarts gerichte transducent 44 met schematische aangeduide aansluiting 46 in het huis opgesteld. De ultrasone golven planten zich voort volgens de gestreept puntenlijn C.Another preferred embodiment of an ultrasonic sensor unit 26 (FIG. 3) of the present invention is attached to a support structure 28 of a rack 29 for four teat cups omitted for clarity by means of a one-piece spring 27. Only the attachment points 31 for the teat cups on a tray 32 are indicated. The tray 32 is movably attached to the support structure 28 with springs 33 and screw bolts 40 with limited deflection. The sensor unit 26 projects from the side between the teat cups (not shown). With the help of Allen screw bolts 34 and slots 35, a housing 36 and with it an ultrasonic mirror 37 can be fixed in relation to an intermediate piece 38 and therefore the support construction 28. In the housing 36, an electric motor 39 is further secured in the housing 36 with a screw bolt 41; a gear ring 43 connected to a driving gear 42, which is fixedly connected to ultrasonic mirror 37, is thus coupled in the housing 36 to the electric motor 39. Furthermore, an upwardly directed transducer 44 with schematically indicated connection 46 is arranged in the housing. The ultrasonic waves propagate along the dashed dot line C.

Zoals in fig. 4 te zien is, kan de ultrasoonspiegel 37 in staande richting enigszins convex zijn uitgevoerd, evenals in liggende richting (fig. 3), opdat de ultrasone golven door de spiegel behalve gereflecteerd eveneens ge-focusseerd worden. Indien de ultrasone bundel dient de diver- geren, kan het ultrasone spiegelvlak enigszins bol zijn uitgevoerd.As can be seen in FIG. 4, the ultrasonic mirror 37 in the portrait direction may be slightly convex, as well as in the horizontal direction (FIG. 3), so that the ultrasonic waves through the mirror are reflected as well as reflected. If the ultrasonic beam is to diverge, the ultrasonic mirror surface may be slightly convex.

Bij voorkeur zijn de elektrische motors 13 resp. 39 als zogeheten stappenmotor uitgevoerd, opdat de stand en de hoekverdraaiing van het ultrasone spiegelvlak niet gemeten en/of uit de omwentelingstijd berekend te worden, edoch de stand direkt aan de uitgang van de stappenmotor beschikbaar is.Preferably, the electric motors 13 and 13, respectively. 39 is designed as a so-called stepper motor, so that the position and the angular rotation of the ultrasonic mirror plane are not measured and / or can be calculated from the revolution time, but the position is available directly at the output of the stepper motor.

Volgens uitvoeringsvormen van de onderhavige uitvinding worden zowel afstand als richting van een (bewegend) object ten opzichte van de vaste transducent op eenvoudige wijze gemeten.According to embodiments of the present invention, both distance and direction of a (moving) object relative to the fixed transducer are measured in a simple manner.

Claims (9)

1. Ultrasone sensoreenheid voor het opsporen en/of volgen van een object, waarbij een transducent ultrasone straling in een bepaald gebied uitzendt, welke tegen een reflectievlak van een ultrassoon spiegel wordt gereflecteerd en waarbij ultrasoon-spiegel en transducent zodanig ten opzichte van elkaar beweegbaar zijn, dat het door de sensoreenheid af te tasten gebied varieerbaar is.1. Ultrasonic sensor unit for detecting and / or tracking an object, wherein a transducer emits ultrasonic radiation in a certain area, which is reflected against a reflection surface of an ultrasonic mirror and wherein the ultrasonic mirror and transducer are movable relative to each other that the area to be scanned by the sensor unit is variable. 2. Ultrasone sensoreenheid volgens conclusie 1, waarbij de ultrasoon-spiegel roteerbaar is ten opzichte van de ultrasone transducent.The ultrasonic sensor unit according to claim 1, wherein the ultrasonic mirror is rotatable relative to the ultrasonic transducer. 3. Ultrasone sensoreenheid volgens conclusie 1 of 2, waarbij tweedimensionale positie-informatie omtrent het object bij de sensor beschikbaar is.Ultrasonic sensor unit according to claim 1 or 2, wherein two-dimensional position information about the object is available at the sensor. 4. Ultrasone sensoreenheid volgens conclusie 1, 2 of 3, waarbij de ultrasoon-spiegel een enigszins bol of hol keervlak omvat.Ultrasonic sensor unit according to claim 1, 2 or 3, wherein the ultrasonic mirror comprises a slightly convex or concave reversal face. 5. Ultrasone sensoreenheid volgens een van de conclusies 1-4, waarbij een motor voor het bewegen van het keer-vlak onder of bezijden de ultrasone transducent is opgesteld.The ultrasonic sensor unit according to any one of claims 1 to 4, wherein a motor for moving the reverse face is arranged below or to the side of the ultrasonic transducer. 6. Ultrasone sensoreenheid volgens conclusie 5, voorzien van overdrachtsmiddelen voor het overdragen van de motorbeweging naar de ultrasoon-spiegel.Ultrasonic sensor unit according to claim 5, provided with transfer means for transferring the motor movement to the ultrasonic mirror. 7. Ultrasone sensoreenheid volgens een van de conclusies 2-6, waarbij de motor een elektrische stappenmotor is.The ultrasonic sensor unit according to any one of claims 2-6, wherein the motor is an electric stepper motor. 8. Melkstel voorzien van vier melkbekers, waarbij een ultrasone sensoreenheid centraal ten opzichte van de vier melkbekers is opgesteld.8. Milking cluster provided with four teat cups, an ultrasonic sensor unit being arranged centrally with respect to the four teat cups. 9. Melkstel volgens conclusie 8, waarbij de ultrasone sensoreenheid, voorzien van een elektromotor, aan een draagorgaan voor het melkstel is bevestigd.Milking cluster according to claim 8, wherein the ultrasonic sensor unit, provided with an electric motor, is attached to a milking cluster supporting member.
NL8801785A 1988-01-08 1988-07-13 Ultrasonic detector for automatic milking device - uses ultrasonic sensors for feeding and-or following teat of cow, and terminal appts. for controlling milking operation NL8801785A (en)

Priority Applications (13)

Application Number Priority Date Filing Date Title
NL8801785A NL8801785A (en) 1988-07-13 1988-07-13 Ultrasonic detector for automatic milking device - uses ultrasonic sensors for feeding and-or following teat of cow, and terminal appts. for controlling milking operation
EP94201682A EP0619941A3 (en) 1988-01-08 1989-01-06 Element for positioning an animal.
DE68928489T DE68928489T2 (en) 1988-01-08 1989-01-06 Device for positioning an animal, terminal for an automatic milking system and method for automatically milking an animal
EP89200035A EP0323875A3 (en) 1988-01-08 1989-01-06 Ultrasonic detector, methods for searching a moving object, ultrasonic sensor unit, element for positioning an animal, terminal apparatus for an automatic milking system, and method for automatically milking an animal
EP91200695A EP0439239B1 (en) 1988-01-08 1989-01-06 Method and robot system for searching a moving object,
DE68928724T DE68928724T2 (en) 1988-01-08 1989-01-06 Method and robot system for searching a moving object
EP91200696A EP0440313B1 (en) 1988-01-08 1989-01-06 Element for positioning an animal, terminal apparatus for an automatic milking system, and method for automatically milking an animal
JP01004566A JP3119359B2 (en) 1988-01-08 1989-01-09 Ultrasonic detector for automatic milking apparatus, automatic milking apparatus and milking method using the same
US07/294,794 US5020477A (en) 1988-01-08 1989-01-09 Automatic milking device and method of operation thereof
DK007489A DK7489A (en) 1988-01-08 1989-01-09 ULTRASONIC DETECTOR, PROCEDURE FOR LOCATING A MOVABLE ITEM, ULTRASONIC SENSOR, CONSTRUCTION PART FOR LOCATION OF AN ANIMAL, TERMINAL APPLIANCE FOR AN AUTOMATIC MILKING PLANT, AND MAKE OUT
US07/625,357 US5056466A (en) 1988-01-08 1990-12-11 Positioning means for an animal relative to automatic milking apparatus
US08/085,687 US5379721A (en) 1988-01-08 1993-06-25 Automatic milking apparatus
US08/370,317 US5524572A (en) 1988-01-08 1995-01-10 Method for automatic milking

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL8801785A NL8801785A (en) 1988-07-13 1988-07-13 Ultrasonic detector for automatic milking device - uses ultrasonic sensors for feeding and-or following teat of cow, and terminal appts. for controlling milking operation
NL8801785 1988-07-13

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NL8801785A true NL8801785A (en) 1990-02-01

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NL8801785A NL8801785A (en) 1988-01-08 1988-07-13 Ultrasonic detector for automatic milking device - uses ultrasonic sensors for feeding and-or following teat of cow, and terminal appts. for controlling milking operation

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US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
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US9681634B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. System and method to determine a teat position using edge detection in rear images of a livestock from two cameras
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US8726843B2 (en) 2010-08-31 2014-05-20 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9763424B1 (en) 2010-08-31 2017-09-19 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9433184B2 (en) 2010-08-31 2016-09-06 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US10595501B2 (en) 2010-08-31 2020-03-24 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US10595500B2 (en) 2010-08-31 2020-03-24 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US10477828B2 (en) 2010-08-31 2019-11-19 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US10327414B2 (en) 2010-08-31 2019-06-25 Technologies Holdings Corp. 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
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. 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
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