| 摘要 |
A voluntary milking system (10) comprises read/write transponders (16A, 16B) for securing to the animal (14) to be milked, a computer (28) responsive to information from the transponders and to derive a first set of milking location co-ordinates for the teat cups, and positioning means (30) operative to move a teat-detection device (38) to or towards said first set of milking location co-ordinates. If the first set of milking co-ordinates do not correspond to the optimum milking location co-ordinates for the teat cups, the positioning means (30) operates to move the teat cups to the optimum milking location co-ordinates (32) in response to information from the teat-detection device (38). The system is completed by updating means (22, 28) for updating the information in the transponder (16A, 16B) in response to a determination of said optimum milking location co-ordinates.
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