Abstract: A milking robot comprises a frame that is movable along a guide track that is positioned adjacent to a rotary platform such that the frame can move in conjunction with the movement of the rotary platform. The milking robot further comprises a moveable arm having a first end that couples to the frame and a second end that extends in a longitudinal direction, and at least one gripper coupled to the movable arm at the second end. The gripper is extendable in the longitudinal direction of the movable arm.

Abstract: A system includes a front wall, a rear wall opposite the front wall, and first and second side walls extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall that accommodates a dairy livestock. The system includes an equipment portion adjacent to the rear wall. It houses a separation container that receives milk to be discarded from the dairy livestock. The equipment portion further houses a robotic attacher that extends from behind and between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

Abstract: A system includes a first milking box stall cluster comprising a first plurality of milking box stalls and a first robotic attacher associated with the first milking box stall cluster. The first robotic attacher is positioned to service each of the first plurality of milking box stalls. The system further includes a second milking box cluster comprising a second plurality of milking box stalls. It is positioned adjacent to the first milking box stall cluster. A second robotic attacher is associated with the second milking box stall cluster and is positioned to service each of the second plurality of milking box stalls.

Abstract: A spray tool coupled to a robotic arm includes a linear member, a first spray nozzle and a second spray nozzle. The linear member rotates about an axis that is perpendicular to the robotic arm. The linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The first spray nozzle is coupled to the linear member proximate a first end of the linear member. The second spray nozzle is coupled to the linear member proximate a second end of the linear member.

Abstract: A method for applying a substance to the teats of a dairy livestock comprises extending a robotic arm between the legs of a dairy livestock positioned in a stall. The method continues by rotating a linear member of a spray tool about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the hind legs of the dairy livestock. The method continues by discharging a substance as the linear member rotates.

Abstract: In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

Abstract: In certain embodiments, a system includes a first milking box stall of a size sufficient to accommodate a dairy livestock. The system also includes an equipment portion located adjacent to the first milking box stall. The equipment portion houses a robotic attacher. The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is located adjacent to the equipment portion. The robotic attacher is configured to service both the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock.

Abstract: A system for processing an image comprises a three-dimensional camera that captures an image of a dairy livestock. A processor is communicatively coupled to the three-dimensional camera. The processor accesses a first pixel having a first depth location, and a second pixel having a second depth location. The processor determines that the second depth location is not within a threshold distance of the first depth location, and discards the second pixel from the image based at least in part upon the determination.

Abstract: An apparatus comprises a cup holder bracket and a cup holder. The cup holder bracket comprises a hinge that allows the cup holder bracket to pivot between a substantially horizontal position when closed to a substantially vertical position when opened. The cup holder is coupled to the cup holder bracket and comprises a rimmed structure configured to hold an attachment end of a cup when the cup holder bracket is closed.

Abstract: In an exemplary embodiment, a system includes a three-dimensional camera and a processor. The processor is operable to access a first portion of visual data captured by the three-dimensional camera wherein the visual data comprises an image of a dairy livestock and access a second portion of the visual data, wherein the first portion and the second portion are aligned in a first dimension. The processor is further operable to determine a first coordinate, wherein the first coordinate comprises a location of the first portion in a second dimension, the second dimension orthogonal to the first dimension and determine a second coordinate, wherein the second coordinate comprises a location of the second portion in the second dimension. The processor is further operable to determine a first distance exceeds a distance threshold, wherein the first distance is the distance between the first coordinate and the second coordinate in the second dimension.

Abstract: In certain embodiments, a robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a plurality of actuators operable to move the main arm and supplemental arm in response to signals from a controller. The actuators comprise first, second, and third actuators operable to move the main arm in x-, y-, and z-directions, respectively. The actuators further comprise fourth and fifth actuators operable to pivot a gripping portion of the supplemental arm in a first z-direction and a second z-direction, respectively, with the second z-direction being opposite the first z-direction.

Abstract: In certain embodiments, a milking box comprises a storage area comprising a retractable hose, a hose lift belt, a cup holder base, a cup holder, and a cup holder bracket. The retractable hose couples to a cup and suspends the cup in the storage area. The hose lift belt couples to the retractable hose and is operable to retract the retractable hose. The cup holder base defines an aperture through which the retractable hose is positioned. The cup holder comprises a rimmed structure adapted to hold an attachment end of the cup. The cup holder is coupled to the cup holder bracket. The cup holder bracket is operable to open and close such that when closed, the rimmed structure of the cup holder aligns with the attachment end of the cup that is suspended from the retractable hose.

Abstract: A system comprises a memory operable to store light intensity information for a plurality of neighboring pixels of an image that includes a dairy livestock. The system further comprises a processor communicatively coupled to the memory. The processor determine that a difference between the light intensity information for a first pixel of the plurality of neighboring pixels and at least some of the other neighboring pixels exceeds a threshold. The processor further discards the first pixel and determines a location of a teat of the dairy livestock based on the image, excluding the discarded pixel.

Abstract: In an exemplary embodiment, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first edge of a dairy livestock, determine a second edge of the dairy livestock, determine a third edge of the dairy livestock, and determine a fourth edge of the dairy livestock.

Abstract: In an exemplary embodiment, a system includes a camera and a processor communicatively coupled to the camera. The processor is operable to access visual data captured by the camera, wherein the visual data comprises an image of a dairy livestock and determine that an intensity measurement of a first portion of the visual data exceeds an intensity threshold. The processor is further operable to filter the first portion of the visual data in response to determining that the intensity measurement exceeds the threshold. The processor is also operable to determine a coordinate of a teat of the dairy livestock based at least in part upon the visual data, excluding filtered portions of the visual data.

Abstract: In an exemplary embodiment, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first edge of a dairy livestock, determine a second edge of the dairy livestock, determine a third edge of the dairy livestock, and determine a fourth edge of the dairy livestock.

Abstract: A robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a gripping portion coupled to the supplemental arm. The gripping portion comprises at least one nozzle and is operable to rotate such that during a first mode of operation, the nozzle is positioned away from the top of the gripping portion, and during a second mode of operation, the nozzle is positioned generally on the top of the gripping portion.

Abstract: A system for operating a robotic arm, comprises a controller and a robotic arm. The controller receives an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform. The controller also determines whether a milking cluster is attached to the dairy livestock. 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.

Abstract: A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller causes the robot carriage to move linearly along the carriage track in conjunction with a rotational movement of the rotary milking platform such that a first linear position of the robot carriage aligns with a first rotational position of a milking stall of the rotary milking platform and a second linear position of the robot carriage aligns with a second rotational position of the milking stall of the rotary milking platform.

Abstract: A robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a gripping portion coupled to the supplemental arm. The gripping portion is operable to rotate such that at a first time, a nozzle is positioned generally on the bottom of the gripping portion, and at a second time, the nozzle is positioned generally on the top of the gripping portion.