# US 10,499,607 B2 · Vision system for teat detection

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- Number: US 10,499,607 B2
- Document ID: US10499607B2
- Status: Granted
- Kind: B2
- Application number: 15/448,761
- Filed: 2017-03-03
- Published: 2018-02-22
- Granted: 2019-12-10
- Earliest claimed: 2016-08-17
- Assignees: Technologies Holdings Corp.
- Applicants: Technologies Holdings Corp.
- Inventors: Mark A. Foresman; Marijn Van Anart; Peter Willem van der Sluis
- Web page: https://patentgrep.com/patent/US10499607B2

## CPC

- A01J 5/007: Monitoring milking processes; Control or regulation of milking machines
- A01J 5/017: Automatic attaching or detaching of clusters
- A01J 5/0175: {Attaching of clusters}
- A01J: MANUFACTURE OF DAIRY PRODUCTS

## Abstract

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.

## Claims

### Claim 1

A vision system comprising:
a robotic arm that attaches a teat cup to a dairy livestock in a stall;
a laser that generates a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;
one or more memory devices that stores historical teat location information for a plurality of teats of the dairy livestock; and
a processor communicatively coupled to the laser and the one or more memory devices, wherein the processor:
determines, from the historical teat location information, a first expected teat position associated with a first teat and a second expected teat position associated with a second teat;
determines a distance between the first expected teat position and the second expected teat position;
determines that the distance is less than or equal to a predetermined distance;
in response to determining that the distance is less than or equal to the predetermined distance, commands the robotic arm to move to a first location that is between the first expected teat position and the second expected teat position;
commands the robotic arm to move up a predetermined amount after the robotic arm moves to the first location;
commands the laser to perform a scan of the dairy livestock after the robotic arm moves up the predetermined amount;
accesses a first profile signal generated by the laser from the first scan;
determines that both first and second teats are found in the first profile signal; and
in response to determining that both first and second teats are found in the first profile signal, commands the robotic arm to attach the teat cup to the first or second teats.

### Claim 2 (depends on 1)

The vision system of claim 1, wherein the predetermined amount is less than or equal to 5 mm.

### Claim 3 (depends on 1)

The vision system of claim 1, wherein the predetermined distance is less than or equal to 5 cm.

### Claim 4 (depends on 1)

The vision system of claim 1, wherein the processor further:
in response to determining that both first and second teats are not found in the first profile signal, commands the robotic arm to move up the predetermined amount; and
commands the laser to perform the scan of the dairy livestock again.

### Claim 5 (depends on 1)

The vision system of claim 1, wherein the first location is equidistant between the first expected teat position and the second expected teat position.

### Claim 6 (depends on 1)

The vision system of claim 1, wherein the laser is coupled to the robotic arm.

### Claim 7 (depends on 1)

The vision system of claim 1, wherein the processor further:
in response to determining that the distance is not less than or equal to the predetermined distance, executes a different algorithm for attaching the teat cup to the dairy livestock.

### Claim 8

One or more computer-readable non-transitory storage media comprising software that is operable when executed by one or more processors to:
determine that a distance between a first expected teat position and a second expected teat position is less than or equal to a predetermined distance, the first expected teat position associated with a first teat of a dairy livestock and the second expected teat position associated with a second teat of the dairy livestock;
in response to determining that the distance is less than or equal to the predetermined distance, command a robotic arm to move to a first location that is between the first expected teat position and the second expected teat position;
command the robotic arm to move up a predetermined amount after the robotic arm moves to the first location;
command a laser to perform a scan of the dairy livestock after the robotic arm moves up the predetermined amount;
determine that the first and second teats are found in the scan; and
in response to determining that the first and second teats are found in the scan, command the robotic arm to attach a teat cup to the first or second teats.

### Claim 9 (depends on 8)

The one or more computer-readable non-transitory storage media of claim 8, wherein:
the predetermined amount is less than or equal to 5 mm; and
the predetermined distance is less than or equal to 5 cm.

### Claim 10 (depends on 8)

The one or more computer-readable non-transitory storage media of claim 8, the software further operable when executed by the one or more processors to:
in response to determining that at least one of the first and second teats are not found in the scam, command the robotic arm to move up the predetermined amount; and
command the laser to perform the scan of the dairy livestock again.

### Claim 11 (depends on 8)

The one or more computer-readable non-transitory storage media of claim 8, wherein the first location is equidistant between the first expected teat position and the second expected teat position.

### Claim 12 (depends on 8)

The one or more computer-readable non-transitory storage media of claim 8, wherein the laser is coupled to the robotic arm.

### Claim 13 (depends on 8)

The one or more computer-readable non-transitory storage media of claim 8, the software further operable when executed by the one or more processors to:
in response to determining that the distance is not less than or equal to the predetermined distance, execute a different algorithm for attaching the teat cup to the dairy livestock.