Abstract: A system includes a first milking box stall of a size sufficient to accommodate a first dairy livestock and a second milking box stall of a size sufficient to accommodate a second dairy livestock. The first and second milking box stalls face opposite directions. An equipment portion is located between the first milking box stall and the second milking box stall. A robotic attacher is housed in the equipment portion and configured to service both stalls at different times. The robotic attacher comprises a gripping portion having a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.

Abstract: A system includes a first milking box stall of a size sufficient to accommodate a first dairy livestock and a second milking box stall of a size sufficient to accommodate a second dairy livestock. The first and second milking box stalls face opposite directions. An equipment portion is located between the first milking box stall and the second milking box stall. A robotic attacher is housed in the equipment portion and configured to service both stalls at different times. The robotic attacher comprises a gripping portion having a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.

Abstract: A robotic attacher retrieves first and second cups from the right side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching the first cup to the right front teat and a second cup to the left front teat of the dairy livestock. The robotic attacher retrieves third and fourth cups from the right side of the equipment area and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching the third cup to the right rear teat and the fourth cup to the left rear teat.

Abstract: A robotic attacher retrieves a preparation cup from an equipment area of a milking box located behind a dairy livestock. The robotic attacher attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the right front teat, the left front teat, the left rear teat, and the right rear teat.

Abstract: 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 and second edge of a dairy livestock. The first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock. The second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock. The processor calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge. A robotic attacher moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.

Abstract: A robotic attacher retrieves cups from the left side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.

Abstract: A robotic attacher retrieves a preparation cup from an equipment area located behind a dairy livestock and attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the left front teat, the right front teat, the right rear teat, and the left rear teat.

Abstract: A system includes includes a first milking box stall of a size sufficient to accommodate a first dairy livestock and a second milking box stall of a size sufficient to accommodate a second dairy livestock. The first and second milking box stalls face opposite directions. An equipment portion is located between the first milking box stall and the second milking box stall. A robotic attacher is housed in the equipment portion and configured to service both stalls at different times.

Abstract: A system includes a first camera, a second camera, and a processor wherein the second camera has a higher resolution than the first camera. The processor is communicatively coupled to the first camera and the second camera and is operable to determine a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by the first camera. The processor is also operable to determine a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by the second camera.

Abstract: A system comprises a robotic arm operable to extend between the legs of a dairy livestock located in a milking stall of a rotary milking platform, a camera operable to generate an image signal corresponding to a rear of the dairy livestock, and a controller communicatively coupled to the robotic arm and the camera. The controller determines whether a milking claw is attached to the teats of the dairy livestock by receiving the image signal generated by the camera and processing the image signal. If it is determined based on the image signal that the milking claw is not attached, the controller controls the robotic arm to extend between the legs of the dairy livestock. If it is determined based on the image signal that the milking claw is attached, the controller controls the robotic arm not to extend between the legs of the dairy livestock.

Abstract: In certain embodiments, a system comprises a milk collecting system, a teat cup holder, and a cleansing hose system. The milk collecting system comprises a teat cup, a milk collector, and a milking hose system connecting the teat cup to the milk collector. The teat cup holder stores the teat cup of the milk collecting system such that a nozzle of the teat cup holder substantially aligns with an opening of the teat cup. The cleansing hose system connects the nozzle of the teat cup holder to one or more cleanser sources and operable to backwash at least a portion of the milk collecting system by injecting a cleanser from one or more of the cleanser sources through the nozzle and into the teat cup.

Abstract: A milking robot comprises a robotic arm, a camera coupled to the robotic arm, a camera-facing nozzle coupled to the robotic arm, and a controller. The robotic arm extends in a longitudinal direction between the hind legs and from the rear of a dairy livestock located in a milking stall. The camera-facing nozzle sprays a protective layer of the camera with a cleanser. The controller communicates a signal instructing the camera-facing nozzle to spray the camera with cleanser.

Abstract: A system for processing an image includes a three-dimensional camera that captures an image of a dairy livestock, wherein the image comprises a plurality of adjacent pixels, each pixel associated with a depth location. The system further includes a processor communicatively coupled to the three-dimensional camera. The processor determines that the depth locations of a first portion of the adjacent pixels fluctuate beyond a predetermined threshold over time, and discards the first portion of the adjacent pixels from the image based at least in part upon the determination.

Abstract: A milking box comprises a stall portion having a longitudinal axis. A backplane is positioned in the stall portion and moves toward the rear of the stall portion along the longitudinal axis in response to pressure applied, and toward the front of the stall portion in response to pressure removed. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock. A controller determines the position of the backplane relative to the rear of the stall portion and determines a positional offset that increases as the dairy livestock moves toward the front of the stall and decreases as it moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher along the longitudinal axis. The amount of movement is determined at least in part according to the positional offset.

Abstract: A system for processing an image comprises a three-dimensional camera that captures an image of a dairy livestock and a processor communicatively coupled to the three-dimensional camera. The processor accesses a first pixel having a first depth location, a second pixel having a second depth location, and a third pixel having a third depth location. The processor determines that the second pixel is an outlier among the first pixel and the third pixel based upon the first depth location, the second depth location, and the third depth location, and discards the second pixel from the image based at least in part upon the determination.

Abstract: 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.

Abstract: A robotic attacher includes a main arm that is suspended vertically from a rail, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm includes a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.

Abstract: A system includes a robotic arm positioned in an equipment area of a milking box that includes a stall portion housing a dairy livestock with four teats. The robotic arm retrieves a cup, and for a plurality of teats of the dairy livestock, the robotic arm attaches the cup to a teat, detaches the cup from the teat, and maintains the cup within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into the equipment portion of the milking box after it is detached from the last teat of the dairy livestock.

Abstract: A robotic attacher retrieves a preparation cup from an equipment area located behind a dairy livestock and attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the left front teat, the right front teat, the right rear teat, and the left rear teat.

Abstract: A robotic attacher retrieves a preparation cup from an equipment area of a milking box located behind a dairy livestock. The robotic attacher attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the right front teat, the left front teat, the left rear teat, and the right rear teat.