METHOD OF RETRIEVING AND ATTACHING TEAT CUPS TO DAIRY LIVESTOCK

摘要

A method, comprising: retrieving, by a robotic attacher, a cup; determining a reference point; for each teat of a dairy livestock, performing the steps of: positioning the cup relative to the reference point; determining a location of the teat; attaching the cup to the teat; and detaching the cup from the teat; wherein the steps are performed in a sequence of right front teat, left front teat, left rear teat, and right rear teat.