MILKING SYSTEM COMPRISING A MILKING ROBOT
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United States of America Patent
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Issued Date -
Jun 6, 2024
app pub date -
Mar 17, 2022
filing date -
Mar 18, 2021
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Abstract
A milking system that includes milking cups, a milking robot with a robot arm configured to attach each of the milking cups to a respective teat, a sensor that detects two adjacent teats, and a control arrangement communicatively connected to the sensor (160) and the robot arm, where the control arrangement is configured to determine a distance between the two adjacent teats, select one of the two adjacent teats to commence attachment of a first milking cup if the distance fulfils a distance criterion, and generate a command to the robot arm to commence the milking cup attachment to the selected teat.
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