| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an automatic conveying system for milking units which can surely prevent the contact of milking units with each other or the contact of the milking unit with an obstacle or the like, even when equipped with a guide rail portion having a complicated travel path having a branched portion, thus enhancing reliability and safety. <P>SOLUTION: The automatic conveying system for milking units includes:obstacle detection means Ms attached to milking units Usa, Usb and including a plurality of obstacle sensors 3f, 3p, 3q, 3r for detecting obstacles in different directions including at least self-propelled forward direction; and control means Mc for controlling to stop the movement of a moving means Mm, when at least one obstacle sensor 3f (3p, 3q or 3r) among a plurality of the obstacle sensors 3f, 3p, 3q, 3r is detected. <P>COPYRIGHT: (C)2011,JPO&INPIT |
