Henk Hofman,Cor de Ruijter,Menno Koekoek,Peter Willem van der Sluis
申请号：
US15333836
公开号：
US20170035017A1
申请日:
2016.10.25
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A system comprises a robotic arm, camera, and a controller. The camera is positioned on a surface of the robotic arm and emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm. The controller instructs the robotic arm to grip a milking cup, and determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera. The controller instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear, release the milking cup in response to the milking cup being attached to the teat. move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup, and to move away from the teat.
