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NL1006804C2 - Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier. - Google Patents

Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier. Download PDF

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Publication number
NL1006804C2
NL1006804C2 NL1006804A NL1006804A NL1006804C2 NL 1006804 C2 NL1006804 C2 NL 1006804C2 NL 1006804 A NL1006804 A NL 1006804A NL 1006804 A NL1006804 A NL 1006804A NL 1006804 C2 NL1006804 C2 NL 1006804C2
Authority
NL
Netherlands
Prior art keywords
sensor device
receiving element
space
transmitter
aiming
Prior art date
Application number
NL1006804A
Other languages
English (en)
Dutch (nl)
Inventor
Rene Fransen
Alexander Van Der Lely
Original Assignee
Maasland Nv
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
Priority to NL1006804A priority Critical patent/NL1006804C2/nl
Application filed by Maasland Nv filed Critical Maasland Nv
Priority to DK05075286.4T priority patent/DK1555544T3/da
Priority to ES98939019T priority patent/ES2243003T3/es
Priority to DE69841591T priority patent/DE69841591D1/de
Priority to EP05075286A priority patent/EP1555544B1/fr
Priority to DK98939019T priority patent/DK0951651T3/da
Priority to PCT/NL1998/000460 priority patent/WO1999009430A2/fr
Priority to EP98939019A priority patent/EP0951651B1/fr
Priority to DE69830472T priority patent/DE69830472T2/de
Priority to JP51305399A priority patent/JP4368429B2/ja
Application granted granted Critical
Publication of NL1006804C2 publication Critical patent/NL1006804C2/nl
Priority to US09/299,105 priority patent/US6118118A/en

Links

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
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • 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
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Acoustics & Sound (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
NL1006804A 1997-08-20 1997-08-20 Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier. NL1006804C2 (nl)

Priority Applications (11)

Application Number Priority Date Filing Date Title
NL1006804A NL1006804C2 (nl) 1997-08-20 1997-08-20 Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier.
ES98939019T ES2243003T3 (es) 1997-08-20 1998-08-13 Aparato sensor y metodo para determinar la posicion de un objeto, en particular un pezon de un animal que ha de ser ordeñado.
DE69841591T DE69841591D1 (de) 1997-08-20 1998-08-13 Sensorvorrichtung sowie -verfahren zur Positionsbestimmung eines Objekts, im speziellen einer Zitze eines zu melkenden Tieres
EP05075286A EP1555544B1 (fr) 1997-08-20 1998-08-13 Un dispositif ainsi qu'une méthode de détection d'un objet en particulier du pis d'un animal à traire
DK05075286.4T DK1555544T3 (da) 1997-08-20 1998-08-13 Et sensorapparat samt en fremgangsmåde til bestemmelse af positionen af et objekt, især en patte af et dyr der skal malkes
DK98939019T DK0951651T3 (da) 1997-08-20 1998-08-13 Sensorapparat samt fremgangsmåde til at bestemme positionen af et objekt, især en patte af et dyr der skal malkes
PCT/NL1998/000460 WO1999009430A2 (fr) 1997-08-20 1998-08-13 Appareil de detection et procede de determination de la position d'un objet, notamment la mamelle d'un animal a traire
EP98939019A EP0951651B1 (fr) 1997-08-20 1998-08-13 Appareil de detection et procede de determination de la position d'un objet, notamment la mamelle d'un animal a traire
DE69830472T DE69830472T2 (de) 1997-08-20 1998-08-13 Sensorvorrichtung und Verfahren zur Ermittlung der Position eines Objekts in einem Raum, insbesondere einer Zitze eines zu melkenden Tieres
JP51305399A JP4368429B2 (ja) 1997-08-20 1998-08-13 センサ装置
US09/299,105 US6118118A (en) 1997-08-20 1999-04-19 Sensor apparatus and method to scan separate overlapping space volumes to locate object therein

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1006804A NL1006804C2 (nl) 1997-08-20 1997-08-20 Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier.
NL1006804 1997-08-20

Publications (1)

Publication Number Publication Date
NL1006804C2 true NL1006804C2 (nl) 1999-02-23

Family

ID=19765517

Family Applications (1)

Application Number Title Priority Date Filing Date
NL1006804A NL1006804C2 (nl) 1997-08-20 1997-08-20 Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier.

Country Status (8)

Country Link
US (1) US6118118A (fr)
EP (2) EP0951651B1 (fr)
JP (1) JP4368429B2 (fr)
DE (2) DE69841591D1 (fr)
DK (2) DK0951651T3 (fr)
ES (1) ES2243003T3 (fr)
NL (1) NL1006804C2 (fr)
WO (1) WO1999009430A2 (fr)

Cited By (23)

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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

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SE514473C2 (sv) * 1999-03-02 2001-02-26 Alfa Laval Agri Ab Skyddsanordning för en spenlokaliserare
NL1012529C2 (nl) * 1999-07-07 2001-01-09 Lely Res Holding Inrichting voor het melken van dieren, zoals koeien.
EP1253440B1 (fr) * 2001-04-24 2011-07-13 Lely Enterprises AG Dispositif de détermination de la position d'une mamelle d'un animal
US6729262B2 (en) * 2002-10-04 2004-05-04 Innovative Automation, Inc. Live capture automated milking apparatus and method
DE602004000749T2 (de) 2003-09-30 2007-02-08 Lely Enterprises Ag Vorrichtung und Verfahren zum Melken eines milchgebenden Tieres
NL1024935C2 (nl) 2003-12-03 2005-06-06 Lely Entpr Ag Inrichting voor het melken van dieren.
CA3034793C (fr) * 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Duree de deplacement de systeme de localisation de mamelle
NL1032435C2 (nl) 2006-09-05 2008-03-06 Maasland Nv Inrichting voor het automatisch melken van een melkdier.
US7408838B1 (en) * 2007-01-22 2008-08-05 Scale Master Technologies, Llc Digitizing planimeter
NL1033590C2 (nl) * 2007-03-26 2008-09-29 Maasland Nv Onbemand voertuig voor het afgeven van voer aan een dier.
AU2009206799A1 (en) * 2008-01-22 2009-07-30 Delaval Holding Ab Arrangement and method for determining the position of an animal
EP3281517A3 (fr) 2008-07-15 2018-04-25 Lely Patent N.V. Système de traitement pour animaux laitiers
NL1035701C2 (nl) * 2008-07-15 2010-01-18 Lely Patent Nv Melkdierbehandelingsinrichting.
NL1036328C2 (nl) * 2008-12-18 2010-06-21 Lely Patent Nv Systeem voor het aanbrengen van een speenbeker op een speen.
KR20130115093A (ko) * 2010-05-14 2013-10-21 데어리 체크, 인코포레이티드. 공간상에서 물체의 위치를 결정하기 위한 센서 어레이
KR20130115205A (ko) 2010-06-04 2013-10-21 데어리 체크, 인코포레이티드. 모듈형 조작 장치
JP5644437B2 (ja) * 2010-12-03 2014-12-24 富士通株式会社 距離測定装置および距離測定方法
EP2654410B1 (fr) * 2010-12-22 2015-07-08 DeLaval Holding AB Procédé et dispositif de protection d'un dispositif de détection optique contre une contamination
JP5853838B2 (ja) * 2011-07-12 2016-02-09 株式会社デンソー 車載レーザレーダ装置
DE102013012789A1 (de) * 2013-07-31 2015-02-05 Valeo Schalter Und Sensoren Gmbh Abtastende optoelektronische Detektionseinrichtung und Kraftfahrzeug mit einer solchen Detektionseinrichtung
DE102015013710A1 (de) * 2015-10-23 2017-04-27 Wabco Gmbh Sensoreinrichtung zur Erfassung von Umgebungsinformationen
NL2036192B1 (nl) 2023-11-06 2025-05-14 Lely Patent Nv Robotmelksysteem

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GB2176668A (en) * 1985-05-28 1986-12-31 Plessey Co Plc Locating electric railway power supply
EP0360354A1 (fr) * 1988-09-21 1990-03-28 C. van der Lely N.V. Dispositif de traite d'un animal et procédé de mise en place de gobelets trayeurs
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US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
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
US10595500B2 (en) 2010-08-31 2020-03-24 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
US10477828B2 (en) 2010-08-31 2019-11-19 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8707905B2 (en) 2010-08-31 2014-04-29 Technologies Holdings Corp. Automated system for applying 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
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
US8726843B2 (en) 2010-08-31 2014-05-20 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
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
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
US9894876B2 (en) 2010-08-31 2018-02-20 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
US9433184B2 (en) 2010-08-31 2016-09-06 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
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JP4368429B2 (ja) 2009-11-18
DE69830472T2 (de) 2006-03-23
DE69841591D1 (de) 2010-05-12
EP0951651A1 (fr) 1999-10-27
JP2001504944A (ja) 2001-04-10
ES2243003T3 (es) 2005-11-16
EP1555544A3 (fr) 2005-08-03
EP1555544A2 (fr) 2005-07-20
WO1999009430A2 (fr) 1999-02-25
WO1999009430A3 (fr) 1999-06-24
US6118118A (en) 2000-09-12
EP0951651B1 (fr) 2005-06-08
DE69830472D1 (de) 2005-07-14
DK0951651T3 (da) 2005-10-10
DK1555544T3 (da) 2010-06-07
EP1555544B1 (fr) 2010-03-31

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