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

摘要

In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup.

主权项

1. A system, comprising:
a milking stall comprising an equipment portion located in the rear of the milking stall; a robotic arm positioned in the equipment portion of the milking stall; a camera positioned on a surface of the robotic arm and that emits a laser signal at a non-zero angle to a longitudinal axis of the robotic arm; and a controller communicatively coupled to the robotic arm and the pulsating device, 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.