NL8801785A - Ultrasonic sensor unit and milking set provided with a central ultrasonic sensor unit. - Google Patents

Ultrasonic sensor unit and milking set provided with a central ultrasonic sensor unit. Download PDF

Info

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
Authority
NL
Netherlands
Prior art keywords
ultrasonic
sensor unit
ultrasonic sensor
mirror
transducer
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 NL8801785 priority Critical
Priority to NL8801785A priority patent/NL8801785A/en
Priority claimed from DE1989628489 external-priority patent/DE68928489T2/en
Publication of NL8801785A publication Critical patent/NL8801785A/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06Systems determining the position data of a target
    • G01S15/42Simultaneous measurement of distance and other co-ordinates
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01JMANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00Milking machines or devices
    • A01J5/017Automatic attaching or detaching of clusters
    • A01J5/0175Attaching of clusters
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87Combinations of sonar systems
    • G01S15/876Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10KSOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00Methods 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
    • G10K11/18Methods or devices for transmitting, conducting, or directing sound
    • G10K11/26Sound-focusing or directing, e.g. scanning
    • G10K11/28Sound-focusing or directing, e.g. scanning using reflection, e.g. parabolic reflector

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 SENSOREENHEID ULTRASOUND SENSOR UNIT BN MILK RUN WITH AN ULTRASOUND SENSOR CENTRAL 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 very 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 use in agriculture are described in the European patent applications EP-A-0213660, EP-A-0232568 and EP-A-0270165 and the Dutch non-prepublished patent applications 88.00042 and 88.00272, all in the name of 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 disclose sensors for use in automatic milking devices, and, more particularly, for the search and tracking of 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. By moving the transducer with respect to an ultrasonic mirror, to be scanned is varied range, e.g. made larger or smaller. 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. Thus, for example. In the cone-shaped reflecting surface described in the Dutch non-prepublished Patent Application 88.00042, this cone-shaped reflection surface can be moved downwards or upwards, so that a narrower or wider beam.

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. Preferably, however, be applied to the sensor unit as claimed in claims 2 and / or 3, so that it becomes possible to scan an area around the transducer, as well as off by only a predetermined angle, or stopping of the rotating ultrasonic mirror, a more or less restricted segment of a circle scan. Voor het volgen van een bepaalde speen zal het reflectievlak veelal stilgezet worden. In order to follow a specific teat, the reflection plane will often be shut put.

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; 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 de sensoreenheid, in meer detail getoond, onder de uier van een koe; Figure 2 is the sensor unit, shown in more detail, under the udder of a cow.; fig. 3 een andere voorkeursuitvoeringsvorm van de ultrasone sensoreenheid volgens de onderhavige uitvinding; Figure 3 shows another preferred embodiment of the ultrasonic sensor unit according to the present invention; FIG. en fig. 4 een doorsnede over de lijn IV-IV uit fig. 3. and FIG. 4 is a sectional view taken on the line IV-IV in 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. A robot installation 1 (fig. 1) or corresponding installation for automatically connecting teat cups 2 to the udder of a cow, and the subsequent removal of milk is described in the previously mentioned patent applications of the same applicant. 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. The articulated robot arm 3 can be controlled automatically by means of an ultrasonic sensor unit 6 according to the present invention, which is centrally disposed on a milking cluster 7.

Ultrasone sensoreenheid 6 (fig. 2) omvat een ultrasone sensoreenheid 7 die ultrasone golven volgens de pijlen a uitzendt, resp. Ultrasonic sensor unit 6 (Fig. 2) comprises an ultrasonic sensor unit 7, which emits ultrasonic waves according to the arrows a, resp. ontvangt. receive. Boven de ultrasone transducent 8 is een ultrasoonspiegel 9 opgesteld. Above the ultrasonic transducer 8 is arranged an ultrasonic mirror 9. 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. This ultrasonic mirror 9 is arranged in a hollow tube 11 which is drivable by means of a gear transmission 12 by a schematically shown electric motor 13. Een staander 14 is vast met het melkstel 7 verbonden en voorzien van aansluitingen 16 resp. An upright 14 is fixedly connected to the milking unit 7 is connected, and provided with connections 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. A tube 11 is connected through a schematically indicated bearings 18, 19 around upright 14 rotatable.

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. The electric motor can be controlled electrically in such a manner that the tube 11 and, accordingly, the mirror 9 rotates around a whole and, therefore, a circular or control area is scanned around the transducer. 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. This will be the case if the relative positions of teats 21 should be laid down from the udder 22 of a cow, not shown. 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. If an udder or teat of a cow, from a position, as shown in FIG. 1 is to be detected, only over a limited angle, the tube 11 can be done by the electric motor 13, e.g. to be back and rotated again, so that a limited line-of circle segment is scanned, in what segment of a circle to be expected of the udder or teat has, because of the known predetermined 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. In the in Fig. 2, position shown is precisely the teat cup in front of the milking unit 7 is raised, and will be virtually stationary, the tube 11 relative to the transducer 14, so that the teat 21 in front of the udder 22 is continuously detected by the ultrasonic transducer 8 . 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. If a deviation from the correct position of the teat 21 is detected with respect to the cup 2, as a rule, can therefore instantaneously milking rack 7 as according to arrows B to be adjusted is substantially two-dimensional.

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. Another preferred embodiment of an ultrasonic sensor unit 26 (FIG. 3) according to the present invention is by means of a one-piece spring 27 to a carrier-construction 28 of a rack 29 for four, is attached for the sake of clarity omitted teat cups. Slechts de bevestigingspunten 31 voor de melkbekers aan een tableau 32 zijn aangegeven. Only the points of attachment 31 for the teat cups are indicated on a work support 32. Het tableau 32 is met veren 33 en schroefbouten 40 aan de draagconstruktie 28 met beperkte uitslag beweegbaar bevestigd. The tablet 32 ​​is connected to springs 33 and screw bolts 40 on the draagconstruktie 28 movably mounted with limited results. De sensoreenheid 26 steekt van opzij tussen de niet afgebeelde melkbekers. The sensor unit 26 extends from the side, between the non-shown teat cups. 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. With the aid of inbusschroefbouten 34 and slots 35 is a housing 36, and thus an ultrasonic-mirror 37 relative to an intermediate piece 38 and accordingly to lock the draagconstruktie 28 adjustable. In het huis 36 is voorts een elektromotor 39 met een schroefbout 41 in het huis 36 is vastgezet; In the housing 36 is also an electric motor 39 with a threaded bolt 41 is fixedly put in the housing 36; 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. a drive gear 42 connected to a gear ring 43 which is fixedly connected to ultrasonic mirror 37, is thus coupled into the housing 36 to the electric motor 39. Voorts is een bovenwaarts gerichte transducent 44 met schematische aangeduide aansluiting 46 in het huis opgesteld. Further, an upwardly-facing transducer 44 with a diagrammatically indicated connection 46 arranged in the housing. De ultrasone golven planten zich voort volgens de gestreept puntenlijn C. The ultrasonic waves propagate according to the striped dotted 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. As can be seen in FIG. 4, the ultrasonic mirror 37 may be carried out in a standing direction slightly convex, as well as in the landscape orientation (Fig. 3), so that the ultrasonic waves reflected by the mirror in addition also be ge-focus degree. Indien de ultrasone bundel dient de diver- geren, kan het ultrasone spiegelvlak enigszins bol zijn uitgevoerd. If the ultrasonic beam is rendered the Diver, the ultrasonic mirror face can be slightly convex.

Bij voorkeur zijn de elektrische motors 13 resp. Preferably, the electric motors 13, respectively. 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. 39 designed as a so-called stepping motor, so that the position and the angular rotation of the ultrasonic mirror surface not to be measured and / or calculated from the rotation time, but from the position immediately is available at the output of the stepping 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, are both distance and direction of a (moving) object, relative to the fixed transducer is 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. An ultrasonic sensor unit for detecting and / or tracking an object, which emits a transducer ultrasonic radiation in a specific area, which is reflected against a reflection surface of an ultra-soon mirror and wherein said ultrasonic mirror and transducer in such a way relative to each other are movable that it be scanned by the sensor unit area is variable.
2. Ultrasone sensoreenheid volgens conclusie 1, waarbij de ultrasoon-spiegel roteerbaar is ten opzichte van de ultrasone transducent. 2. Ultrasonic Sensor unit according to claim 1, wherein the ultrasonic mirror is rotatable with respect to the ultrasonic transducer.
3. Ultrasone sensoreenheid volgens conclusie 1 of 2, waarbij tweedimensionale positie-informatie omtrent het object bij de sensor beschikbaar is. 3. Ultrasonic Sensor unit according to claim 1 or 2, wherein said two-dimensional position information about the object is available from the sensor.
4. Ultrasone sensoreenheid volgens conclusie 1, 2 of 3, waarbij de ultrasoon-spiegel een enigszins bol of hol keervlak omvat. 4. An ultrasonic sensor unit according to claim 1, 2 or 3, wherein the ultrasonic mirror comprises a slightly convex or concave reverse surface.
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. 5. An ultrasonic sensor unit according to any one of claims 1-4, wherein a motor for moving the time-plane, or further from the ultrasonic transducer is disposed.
6. Ultrasone sensoreenheid volgens conclusie 5, voorzien van overdrachtsmiddelen voor het overdragen van de motorbeweging naar de ultrasoon-spiegel. 6. An ultrasonic sensor unit according to claim 5, provided with transfer means for transferring movement of the motor to the ultrasonic mirror.
7. Ultrasone sensoreenheid volgens een van de conclusies 2-6, waarbij de motor een elektrische stappenmotor is. 7. An ultrasonic sensor unit according to any one of claims 2-6, wherein the motor is an electric stepping motor.
8. Melkstel voorzien van vier melkbekers, waarbij een ultrasone sensoreenheid centraal ten opzichte van de vier melkbekers is opgesteld. 8. A milking set provided with four milking cups, wherein an ultrasonic sensor unit centrally in relation to the four teat cups is arranged.
9. Melkstel volgens conclusie 8, waarbij de ultrasone sensoreenheid, voorzien van een elektromotor, aan een draagorgaan voor het melkstel is bevestigd. 9. A milking set according to claim 8, wherein the ultrasonic sensor unit, provided with an electric motor, is attached to a carrying means for the milking unit.
NL8801785A 1988-07-13 1988-07-13 Ultrasonic sensor unit and milking set provided with a central ultrasonic sensor unit. NL8801785A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NL8801785 1988-07-13
NL8801785A NL8801785A (en) 1988-07-13 1988-07-13 Ultrasonic sensor unit and milking set provided with a central ultrasonic sensor unit.

Applications Claiming Priority (15)

Application Number Priority Date Filing Date Title
NL8801785A NL8801785A (en) 1988-07-13 1988-07-13 Ultrasonic sensor unit and milking set provided with a central ultrasonic sensor unit.
DE1989628489 DE68928489T2 (en) 1988-01-08 1989-01-06 A device for positioning an animal terminal 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,
DE1989628489 DE68928489D1 (en) 1988-01-08 1989-01-06 A device for positioning an animal terminal for an automatic milking system and method for automatically milking an animal
EP94201682A EP0619941A3 (en) 1988-01-08 1989-01-06 Element for positioning an animal.
DE1989628724 DE68928724D1 (en) 1988-01-08 1989-01-06 Robot system and method 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
DE1989628724 DE68928724T2 (en) 1988-01-08 1989-01-06 Robot system and method for searching a moving object
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
JP01004566A JP3119359B2 (en) 1988-01-08 1989-01-09 Automatic milking ultrasonic detectors and an automatic milking apparatus and milking method using it
US07/294,794 US5020477A (en) 1988-01-08 1989-01-09 Automatic milking device and method of operation thereof
DK7489A DK7489A (en) 1988-01-08 1989-01-09 An ultrasonic detector, method for locating a mobile object, ultrasonic sensor, the location of the structural part to an animal, the terminal apparatus for an automatic milking equipment, and the method of automatically milking an animal.
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

Publications (1)

Publication Number Publication Date
NL8801785A true NL8801785A (en) 1990-02-01

Family

ID=19852626

Family Applications (1)

Application Number Title Priority Date Filing Date
NL8801785A NL8801785A (en) 1988-07-13 1988-07-13 Ultrasonic sensor unit and milking set provided with a central ultrasonic sensor unit.

Country Status (1)

Country Link
NL (1) NL8801785A (en)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8393296B2 (en) 2011-04-28 2013-03-12 Technologies Holdings Corp. Milking box with robotic attacher including rotatable gripping portion and nozzle
US8590488B2 (en) 2010-08-31 2013-11-26 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
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
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
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
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
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation

Cited By (104)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9433184B2 (en) 2010-08-31 2016-09-06 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
US9980458B2 (en) 2010-08-31 2018-05-29 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
US8707905B2 (en) 2010-08-31 2014-04-29 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8720383B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8720382B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8726843B2 (en) 2010-08-31 2014-05-20 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9894876B2 (en) 2010-08-31 2018-02-20 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
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
US8807085B2 (en) 2010-08-31 2014-08-19 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8807086B2 (en) 2010-08-31 2014-08-19 Technologies Holdings Corp Automated system for applying disinfectant to the teats of dairy livestock
US9888664B2 (en) 2010-08-31 2018-02-13 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9775325B2 (en) 2010-08-31 2017-10-03 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
US9737043B2 (en) 2010-08-31 2017-08-22 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9706747B2 (en) 2010-08-31 2017-07-18 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9686961B2 (en) 2010-08-31 2017-06-27 Technologies Holdings Corp. Automated system for moving a robotic arm along a rotary milking platform
US9686962B2 (en) 2010-08-31 2017-06-27 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9648839B2 (en) 2010-08-31 2017-05-16 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9648843B2 (en) 2010-08-31 2017-05-16 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9126335B2 (en) 2010-08-31 2015-09-08 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US8590488B2 (en) 2010-08-31 2013-11-26 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9560832B2 (en) 2010-08-31 2017-02-07 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9549531B2 (en) 2010-08-31 2017-01-24 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9516854B2 (en) 2010-08-31 2016-12-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9480238B2 (en) 2010-08-31 2016-11-01 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9247709B2 (en) 2010-08-31 2016-02-02 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
US9474248B2 (en) 2010-08-31 2016-10-25 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9462782B2 (en) 2010-08-31 2016-10-11 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
US9462781B2 (en) 2010-08-31 2016-10-11 Technologies Holdings Corp. Automated system for moving a robotic arm along a rotary milking platform
US9439392B2 (en) 2010-08-31 2016-09-13 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8393296B2 (en) 2011-04-28 2013-03-12 Technologies Holdings Corp. Milking box with robotic attacher including rotatable gripping portion and nozzle
US9282718B2 (en) 2011-04-28 2016-03-15 Technologies Holdings Corp. Milking box with robotic attacher
US9326480B2 (en) 2011-04-28 2016-05-03 Technologies Holdings Corp. Milking box with robotic attacher
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9374975B2 (en) 2011-04-28 2016-06-28 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9374974B2 (en) 2011-04-28 2016-06-28 Technologies Holdings Corp. Milking box with robotic attacher
US9374979B2 (en) 2011-04-28 2016-06-28 Technologies Holdings Corp. Milking box with backplane and robotic attacher
US9374976B2 (en) 2011-04-28 2016-06-28 Technologies Holdings Corp. Milking box with robotic attacher, vision system, and vision system cleaning device
US9402365B2 (en) 2011-04-28 2016-08-02 Technologies Holdings Corp. Milking box with robotic attacher
US9282720B2 (en) 2011-04-28 2016-03-15 Technologies Holdings Corp. Arrangement of milking box stalls
US9271471B2 (en) 2011-04-28 2016-03-01 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9439390B2 (en) 2011-04-28 2016-09-13 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9462780B2 (en) 2011-04-28 2016-10-11 Technologies Holdings Corp. Vision system for robotic attacher
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9468188B2 (en) 2011-04-28 2016-10-18 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9253959B2 (en) 2011-04-28 2016-02-09 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US9480236B2 (en) 2011-04-28 2016-11-01 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US9485955B2 (en) 2011-04-28 2016-11-08 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9491924B2 (en) 2011-04-28 2016-11-15 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9504224B2 (en) 2011-04-28 2016-11-29 Technologies Holdings Corp. Milking box with robotic attacher
US9510554B2 (en) 2011-04-28 2016-12-06 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9183623B2 (en) 2011-04-28 2015-11-10 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9171208B2 (en) 2011-04-28 2015-10-27 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9549529B2 (en) 2011-04-28 2017-01-24 Technologies Holdings Corp. Robotic attacher and method of operation
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9582871B2 (en) 2011-04-28 2017-02-28 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9615537B2 (en) 2011-04-28 2017-04-11 Technologies Holdings Corp. Milking box with backplane responsive robotic attacher
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9648840B2 (en) 2011-04-28 2017-05-16 Technologies Holdings Corp. Milking robot with robotic arm, vision system, and vision system cleaning device
US9681635B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. Milking box with robotic attacher
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
US9686959B2 (en) 2011-04-28 2017-06-27 Technologies Holdings Corp. Milking box with robotic attacher
US9686960B2 (en) 2011-04-28 2017-06-27 Technologies Holdings Corp. Milking box with robotic attacher
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9706745B2 (en) 2011-04-28 2017-07-18 Technologies Holdings Corp. Vision system for robotic attacher
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US9737042B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9737048B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. Arrangement of milking box stalls
US9737040B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9737041B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9737039B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. Robotic attacher and method of operation
US9743635B2 (en) 2011-04-28 2017-08-29 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9756830B2 (en) 2011-04-28 2017-09-12 Technologies Holdings Corp. Milking box with robotic attacher
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9763422B2 (en) 2011-04-28 2017-09-19 Technologies Holdings Corp. Milking box with robotic attacher
US8826858B2 (en) 2011-04-28 2014-09-09 Technologies Holdings Corp. Milking box with robotic attacher
US9883654B2 (en) 2011-04-28 2018-02-06 Technologies Holdings Corp. Arrangement of milking box stalls
US8813680B2 (en) 2011-04-28 2014-08-26 Technologies Holdings Corp. Milking box with robotic attacher
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US9901067B2 (en) 2011-04-28 2018-02-27 Technologies Holdings Corp. Robotic attacher and method of operation
US9930861B2 (en) 2011-04-28 2018-04-03 Technologies Holdings Corp. Milking box with robotic attacher
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9980459B2 (en) 2011-04-28 2018-05-29 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9980460B2 (en) 2011-04-28 2018-05-29 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10143179B2 (en) 2011-04-28 2018-12-04 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US10172320B2 (en) 2011-04-28 2019-01-08 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US10303939B2 (en) 2011-04-28 2019-05-28 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10327415B2 (en) 2011-04-28 2019-06-25 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US8651051B2 (en) 2011-04-28 2014-02-18 Technologies Holdings Corp. Milking box with robotic attacher
US10349618B2 (en) 2011-04-28 2019-07-16 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US10362759B2 (en) 2011-04-28 2019-07-30 Technologies Holdings Corp. Milking box with robotic attacher
US10373306B2 (en) 2011-04-28 2019-08-06 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera

Similar Documents

Publication Publication Date Title
EP1279327B1 (en) An implement for automatically milking animals
EP0448132B1 (en) An implement for milking an animal
EP1043642B1 (en) Robot system having image processing function
EP1039263B1 (en) Surveying system
US5479876A (en) Automatic milking
DE69734623T2 (en) surveying system
US4507910A (en) Automatic sonar activated height control for a header
CA2661133C (en) Implement for automatically milking a dairy animal
EP0188303B1 (en) Implement for automatically milking an animal
KR100707237B1 (en) Ultrasonic probe
EP1038266B1 (en) Device for performing automatic teatcup attachment
US4920520A (en) Method of and a device for safeguarding a vehicle or machinery movable in space
US5675552A (en) Sonar apparatus having a steerable beam
EP1211928B1 (en) An apparatus and a method for improving teatcup attachment, by using illuminating and image capturing means
EP0194729B1 (en) Implement for milking animals
US4414792A (en) Height control for agricultural machine
EP0310235A2 (en) Tracking laser interferometer
CA1272406A (en) Three dimensional imaging device
CA2290547C (en) A method and apparatus for directing energy based range detection sensors
US5127409A (en) Ultrasound Doppler position sensing
EP1293184A2 (en) Walking auxiliary for person with dysopia
US4980871A (en) Ultrasonic tracking system
US6647919B2 (en) Device for determining the position of a teat of an animal
EP0565189A2 (en) A construction for automatically milking animals
US6080108A (en) Scanning aid for quantified three dimensional ultrasonic diagnostic imaging

Legal Events

Date Code Title Description
A1B A search report has been drawn up
BT A document has been added to the application laid open to public inspection
BV The patent application has lapsed