# US 9,433,184 B2 · Automated system for applying disinfectant to the teats of dairy livestock

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- Number: US 9,433,184 B2
- Document ID: US9433184B2
- Status: Granted
- Kind: B2
- Application number: 14/260,585
- Filed: 2014-04-24
- Published: 2014-08-21
- Granted: 2016-09-06
- Earliest claimed: 2010-08-31
- Assignees: Technologies Holdings Corp.
- Applicants: Technologies Holdings Corp.
- Inventors: Henk Hofman; Peter Willem van der Sluis; Ype Groensma
- Web page: https://patentgrep.com/patent/US9433184B2

## CPC

- A01J 7/04: for treatment of udders or teats, e.g. for cleaning
- A01J 5/003: Movable milking machines
- A01J 5/007: Monitoring milking processes; Control or regulation of milking machines
- A01J 5/0175: {Attaching of clusters}
- A01J 7/00: Accessories for milking machines or devices
- A01K 1/126: {Carousels}
- A01K 13/001: {Washing, cleaning, or drying devices (for veterinary purposes A61D7/00, A61D11/00)}
- A01K 29/00: Other apparatus for animal husbandry
- A01K 29/004: {for influencing biological activity}
- B25J 9/0027: {Means for extending the operation range}
- B25J 9/0093: {co-operating with conveyor means}
- B25J 9/0096: {co-operating with a working support, e.g. work-table}
- B25J 9/1679: {characterised by the tasks executed}
- B25J 9/1684: {Tracking a line or surface by means of sensors}
- B25J 9/1697: {Vision controlled systems}
- B25J 11/0045: {Manipulators used in the food industry}
- G05B 19/042: using digital processors (G05B19/05 takes precedence)
- G06T 1/0014: {Image feed-back for automatic industrial control, e.g. robot with camera (robots B25J19/023)}
- G06T 7/0004: {Industrial image inspection}
- G06T 7/13: Edge detection
- G06T 7/73: using feature-based methods
- H04N 7/183: {for receiving images from a single remote source}
- G05B 2219/2661: Milking robot
- G05B 2219/45113: Animal handling, milking robot
- G06T 7/74: {involving reference images or patches}
- G06T 2200/04: involving 3D image data
- G06T 2207/10004: Still image; Photographic image
- G06T 2207/10021: Stereoscopic video; Stereoscopic image sequence
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- Y10S 901/02: Arm motion controller
- Y10S 901/06: Communication with another machine
- Y10S 901/07: Conveyor
- Y10S 901/09: Closed loop, sensor feedback controls arm movement
- Y10S 901/41: Tool
- Y10S 901/43: Spray painting or coating
- Y10S 901/47: Optical
- A01J: MANUFACTURE OF DAIRY PRODUCTS
- A01K: ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A method for applying disinfectant to the teats of a dairy livestock, comprises receiving a trigger signal indicating that a stall of a rotary milking platform housing a dairy livestock is located adjacent to a track, the track having a carriage carrying a robotic arm mounted thereto. The method continues by communicating a first signal to a first actuator coupled to the track and the carriage, the first signal causing operation of the first actuator such that the carriage moves along the track in relation to the rotary milking platform. The method concludes by communicating one or more additional signals to one or more actuators of the robotic arm, the one or more additional signals causing operation of the one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of a dairy livestock.

## Claims

### Claim 1

A method for applying disinfectant to the teats of a dairy livestock, comprising:
communicating a first signal to a first actuator coupled to a carriage carrying a robotic arm, the first signal causing operation of the first actuator such that the carriage moves along a track, wherein the track is adjacent to a stall of a rotary milking platform housing a dairy livestock, and the robotic arm comprises:
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;
communicating a second signal to a second actuator coupled to the carriage and the first member, the second signal causing operation of the second actuator such that the first member rotates about the point of attachment to the carriage;
communicating a third signal to a third actuator coupled to the first member and the second member, the third signal causing operation of the third actuator such that the second member rotates about the point of attachment to the first member;
communicating a fourth signal to a fourth actuator coupled to the second member and the spray tool member, the fourth signal causing operation of the fourth actuator such that the spray tool member rotates about the point of attachment to the second member; and
extending the robotic arm between the hind legs of the dairy livestock 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.

### Claim 2

A method for applying disinfectant to the teats of a dairy livestock, comprising:
receiving a trigger signal indicating that a stall of a rotary milking platform having a substantially circular perimeter and housing a dairy livestock is located adjacent to a track that is positioned along the perimeter of the rotary milking platform, the track having a carriage carrying a robotic arm mounted thereto;
communicating a first signal to a first actuator coupled to the carriage, the first signal causing operation of the first actuator such that the carriage moves along the track in relation to the rotary milking platform and independent of any physical coupling between the carriage and the rotary milking platform;
communicating one or more additional signals to one or more actuators of the robotic arm, the one or more additional signals causing operation of the one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of the dairy livestock.

### Claim 3 (depends on 2)

The method of claim 2, further comprising accessing a rotary encoder signal generated by a rotary encoder of the rotary milking platform, the rotary encoder signal based at least in part upon the rotational speed of the rotary milking platform.

### Claim 4 (depends on 3)

The method of claim 3, wherein the first signal causes operation of the first actuator such that the carriage moves along the track at a speed based at least in part upon the rotational speed of the rotary milking platform.

### Claim 5 (depends on 2)

The method of claim 2, wherein the robotic arm comprises:
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.

### Claim 6 (depends on 5)

The method of claim 5, wherein communicating one or more additional signals to one or more actuators of the robotic arm comprises:
communicating a second signal to a second actuator coupled to the carriage and the first member, the second signal causing operation of the second actuator such that the first member rotates about the point of attachment to the carriage;
communicating a third signal to a third actuator coupled to the first member and the second member, the third signal causing operation of the third actuator such that the second member rotates about the point of attachment to the first member; and
communicating a fourth signal to a fourth actuator coupled to the second member and the spray tool member, the fourth signal causing operation of the fourth actuator such that the spray tool member rotates about the point of attachment to the second member.

### Claim 7 (depends on 5)

The method of claim 5, wherein at least a portion of the robotic arm extends between the hind legs of the dairy livestock such that a spray tool of the spray tool member is located at a spay position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.

### Claim 8 (depends on 2)

The method of claim 2, further comprising communicating a signal to a spray tool of the robotic arm, the signal causing the spray tool to apply disinfectant to the teats of the dairy livestock.

### Claim 9 (depends on 2)

The method of claim 2, further comprising determining, prior to communicating the one or more additional signals to one or more actuators of the robotic arm, whether a milking cluster is attached to the teats of the dairy livestock.

### Claim 10

A method for applying disinfectant to the teats of a dairy livestock, comprising:
accessing a rotary encoder signal generated by a rotary encoder of a rotary milking platform having a substantially circular perimeter, the rotary encoder signal based at least in part upon a rotational speed of the rotary milking platform, wherein the rotary milking platform comprises a stall housing a dairy livestock;
receiving a trigger signal indicating that the stall of the rotary milking platform housing the dairy livestock is located adjacent to a track positioned along the perimeter of the rotary milking platform, the track having a carriage carrying a robotic arm mounted thereto;
communicating a first signal to a first actuator coupled to the carriage, the first signal causing operation of the first actuator such that the carriage moves along the track in relation to the rotary milking platform and independent of any physical coupling between the carriage and the rotary milking platform, wherein the first signal causes operation of the first actuator such that the carriage moves along the track at a speed based at least in part upon the rotational speed of the rotary milking platform; and
communicating one or more additional signals to one or more actuators of the robotic aim, the one or more additional signals causing operation of the one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of the dairy livestock.

### Claim 11 (depends on 10)

The method of claim 10, wherein the robotic arm comprises:
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.

### Claim 12 (depends on 11)

The method of claim 11, wherein communicating one or more additional signals to one or more actuators of the robotic arm comprises:
communicating a second signal to a second actuator coupled to the carriage and the first member, the second signal causing operation of the second actuator such that the first member rotates about the point of attachment to the carriage;
communicating a third signal to a third actuator coupled to the first member and the second member, the third signal causing operation of the third actuator such that the second member rotates about the point of attachment to the first member; and
communicating a fourth signal to a fourth actuator coupled to the second member and the spray tool member, the fourth signal causing operation of the fourth actuator such that the spray tool member rotates about the point of attachment to the second member.

### Claim 13 (depends on 10)

The method of claim 10, wherein at least a portion of the robotic arm extends between the hind legs of the dairy livestock such that a spray tool of the spray tool member is located at a spay position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.

### Claim 14 (depends on 11)

The method of claim 11, further comprising communicating a signal to a spray tool of the robotic arm, the signal causing the spray tool to apply disinfectant to the teats of the dairy livestock.

### Claim 15 (depends on 11)

The method of claim 11, further comprising determining, prior to communicating the one or more additional signals to one or more actuators of the robotic arm, whether a milking cluster is attached to the teats of the dairy livestock.