SYSTEM AND METHOD FOR IMPROVED ATTACHMENT OF A CUP TO A DAIRY ANIMAL

摘要

A system comprises a robotic arm, camera, and a controller. The camera is positioned on a surface of the robotic arm and emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm. The controller instructs the robotic arm to grip a milking cup, and determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera. The controller instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear, release the milking cup in response to the milking cup being attached to the teat. move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup, and to move away from the teat.

主权项

1. A system, comprising:
a robotic arm; a camera positioned on a surface of the robotic arm and that emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm; and a controller communicatively coupled to the robotic arm, wherein the controller:
instructs the robotic arm to grip a milking cup;determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera;instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear;instructs the robotic arm to release the milking cup in response to the milking cup being attached to the teat;instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup; andinstructs the robotic arm to move away from the teat.