Automated milking parlor for dairy cattle uses optical sensors to detect positions of teats and attach suction pipes, requires minimal human labor

摘要

The milking parlor contains two rows of three milking boxes (1) and two preparation boxes (25). The cows are first taken into cleaning boxes (25) where automatic washing mechanisms (26) clean the udders. The cows are then shut into the milking boxes (1) which have feeding troughs (22) at one end. The suction mechanisms (2, 23) are positioned under the udders and robot arms (4) detect the teats. The robot picks up and connects the suction cups.