Henk Hofman,Peter Willem van der Sluis,Ype Groensma
申请号：
US15614693
公开号：
US09894876B2
申请日:
2017.06.06
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A system for operating a robotic arm, comprises a camera, a controller and a robotic arm. The camera captures an image of a rear of a dairy livestock located in a stall of a rotary milking platform. The controller receives the image and in conjunction with the stall of the rotary milking platform in which a dairy livestock is located moving into an area adjacent a robotic arm, determines whether a milking cluster is attached to the dairy livestock based at least in part upon the image. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.
