Abstract: A milking system includes a milking robot with a robot arm for applying teat cups to the teats of an animal, an optical detector (40) for detecting radiation emitted and/or reflected from the animal and a controller. The detector has a housing (410) with a window (420) and a detecting element (430) enclosed in the housing that is sensitive to the emitted or reflected radiation passing through the window. In order to prevent contamination from impacting on the detector window, an airflow arrangement is provided that can be connected to a source of pressurized air and has at least one aperture (411) disposed adjacent the detector window (420) for generating a curtain of air that flows parallel with the surface of the window. The controller controls the generation of the air curtain to coincide with the start of at least one further operation controlled by the controller.

Abstract: Teat cups are fetched from a teat cup magazine by a gripper carried on a robotic arm. The gripper grips and removes teat cups from the teat cup magazine. The gripper also holds at least one teat cup during transport thereof towards an udder where an animal's teats are located. A positioning element determines position estimates representing at least one spatial characteristic of the udder. Based on the position estimates, the robotic arm and the gripper are controlled to attach the teat cups to the teats where the position estimates constitutes a basis for controlling the robotic arm and the gripper to remove teat cups from the teat cup magazine in such a manner that a teat-receiving end of the teat cup attains a horizontal level in the gripper, which horizontal level is adapted to the at least one spatial characteristic of the udder.

Abstract: A milking system includes a milking robot with a robot arm for applying teat cups to the teats of an animal, an optical detector (40) for detecting radiation emitted and/or reflected from the animal and a controller. The detector has a housing (410) with a window (420) and a detecting element (430) enclosed in the housing that is sensitive to the emitted or reflected radiation passing through the window. In order to prevent contamination from impacting on the detector window, an airflow arrangement is provided that can be connected to a source of pressurized air and has at least one aperture (411) disposed adjacent the detector window (420) for generating a curtain of air that flows parallel with the surface of the window. The controller controls the generation of the air curtain to coincide with the start of at least one further operation controlled by the controller.

Abstract: An apparatus (10) for recognizing and determining the position of at least one teat cup (401, 402, 403, 404) of at least one teat cup magazine (42, 421, 422). The apparatus (10) emits waves (20) into a region (A) which is expected to contain a teat cup or teat cups (401, 402, 403, 404). The apparatus (10) also includes a detector (260) for detecting reflections of the waves (20). The apparatus (10) also includes a unit (24) for evaluating the reflections in order to determine if the reflections originate from the teat cup or cups (401, 402, 403, 404). Furthermore, the apparatus (10) also includes a unit (26) for determining the position of the teat cup or cups (401, 402, 403, 404) if it is established that the reflections originate from the teat cup (401, 402, 403, 404).

Abstract: Teat cups are fetched from a teat cup magazine by a gripper carried on a robotic arm. The gripper grips and removes teat cups from the teat cup magazine. The gripper also holds at least one teat cup during transport thereof towards an udder where an animal's teats are located. A positioning element determines position estimates representing at least one spatial characteristic of the udder. Based on the position estimates, the robotic arm and the gripper are controlled to attach the teat cups to the teats where the position estimates constitutes a basis for controlling the robotic arm and the gripper to remove teat cups from the teat cup magazine in such a manner that a teat-receiving end of the teat cup attains a horizontal level in the gripper, which horizontal level is adapted to the at least one spatial characteristic of the udder.

Abstract: An arrangement for fetching a teat cup from a teat cup magazine in which each teat cup has a respective fixed position includes a reference entity in a fixed spatial relationship to the teat cup magazine and each teat cup stored therein; a remote detecting element that registers wireless energy reflected by the reference entity, and based thereon determines a respective position for the teat cup relative to a robotic arm. The robotic arm carries a gripper element configured to hold the teat cup during removal thereof from the teat cup magazine. The reference entity is configured to allow the remote detecting element to receive wireless energy reflected against the reference entity while moving the robotic arm towards the least one teat cup for removing the at least teat cup from the teat cup magazine.

Abstract: An apparatus (10) for recognizing and determining the position of at least one teat cup (401, 402, 403, 404) of at least one teat cup magazine (42, 421, 422). The apparatus (10) emits waves (20) into a region (A) which is expected to contain a teat cup or teat cups (401, 402, 403, 404). The apparatus (10) also includes a detector (260) for detecting reflections of the waves (20). The apparatus (10) also includes a unit (24) for evaluating the reflections in order to determine if the reflections originate from the teat cup or cups (401, 402, 403, 404). Furthermore, the apparatus (10) also includes a unit (26) for determining the position of the teat cup or cups (401, 402, 403, 404) if it is established that the reflections originate from the teat cup (401, 402, 403, 404).

Abstract: The present invention relates to an apparatus (10) for recognising and determining the position of at least one teat (11, 12) of a milking animal (14). The apparatus (10) includes a scanning head (16) comprising a light source (18) and a camera (22). The light source (18) emits light (20) into a region which is expected to contain a teat or teats (11, 12) and the camera (22) captures images formed by the light (20). In a first scanning mode (I), the scanning head (16) is moved from a low initial position (A) upwards in a circular coil (see FIG. 2a) until the position of at least a first teat (11; 12) has been established. Thereafter, in a second scanning mode (II), the scanning head (16) is moved upwards in a circular coil (see FIG. 2b) until the positions of all teats (11, 12) have been established, or a predetermined time limit has elapsed during the scanning procedure. The coil traversed during the first scanning mode (I) is wider than the coil traversed during the second scanning mode (II). (FIGS.

Abstract: A method for milking and after-treating an animal by using an automatic milking system comprising means for locating the teats of the animal, means for milking the animal and means for performing an after-treatment of the animal. The method comprises an additional step of locating at least one teat of the animal a second time, the additional step being performed prior to the step of performing an after-treatment operation.

Abstract: A spray drying system having a whirl chamber nozzle with a bypass and for atomization of a liquid. The whirl chamber of the nozzle has a central discharge orifice, from which a ring-shaped bypass passage extends radially outwards. This ensures that substantially no air enters the bypass from the whirl chamber, while providing acceptably low flow growth values.