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

摘要

A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller causes the robot carriage to move linearly along the carriage track in conjunction with a rotational movement of the rotary milking platform such that a first linear position of the robot carriage aligns with a first rotational position of a milking stall of the rotary milking platform and a second linear position of the robot carriage aligns with a second rotational position of the milking stall of the rotary milking platform.

主权项

1. A system for controlling the position of a robot carriage, comprising:
a carriage track positioned adjacent to a rotary milking platform; a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track; and a controller that:
determines a first rotational position of a milking stall of the rotary milking platform, the first rotational position corresponding to a first position of the robot carriage on the carriage track;determines a second rotational position of the milking stall of the rotary milking platform;determines, based on a difference between the second rotational position and the first rotational position, a second position of the robot carriage on the carriage track, the second position of the robot carriage being a position corresponding to the second rotational position of the milking stall of the rotary milking platform; andcommunicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track, the position signal causing the carriage actuator to move the robot carriage along the carriage track to the second position in conjunction with the movement of the rotary milking platform to the second rotational position.