A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and 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 plurality of spray nozzles are coupled to the linear member.

A system for operating a robotic arm, comprises a camera, a controller and a robotic arm. The camera captures an image of a rear of a dairy livestock located in a stall of a rotary milking platform. The controller receives the image and in conjunction with the stall of the rotary milking platform in which a dairy livestock is located moving into an area adjacent a robotic arm, determines whether a milking cluster is attached to the dairy livestock based at least in part upon the image. 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.

A system for operating a robotic arm, comprises a camera, a controller and a robotic arm. The camera captures an image of a rear of a dairy livestock located in a stall of a rotary milking platform. The controller receives the image and in conjunction with the stall of the rotary milking platform in which a dairy livestock is located moving into an area adjacent a robotic arm, determines whether a milking cluster is attached to the dairy livestock based at least in part upon the image. 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.

A system includes a controller and a robotic arm. The controller accesses an image signal of an udder of a dairy livestock, and determines a spray position by processing the accessed image signal to determine a tangent at the rear of the udder and a tangent at the bottom of the udder. The spray position is a position relative to the intersection of the two tangents. A robotic arm communicatively coupled to the controller positions a spray tool at the spray position.

A system includes a controller and a robotic arm. The controller accesses an image signal of an udder of a dairy livestock, and determines a spray position by processing the accessed image signal to determine a tangent at the rear of the udder and a tangent at the bottom of the udder. The spray position is a position relative to the intersection of the two tangents. A robotic arm communicatively coupled to the controller positions a spray tool at the spray position.

A system includes a milking box stall of a size sufficient to accommodate a dairy livestock. The milking box stall comprises a front wall, a rear wall, a first side wall and a second side wall. The system further includes an equipment portion located adjacent to the rear wall. The equipment portion comprises a separation container for use with only the milking box stall and that is operable to receive milk from the dairy livestock to be discarded if it is determined to be bad milk. The equipment portion further comprises a receiver jar for use with only the milking box stall and that is operable to receive milk from the dairy livestock if it is determined to be good milk.

A system includes a milking box stall of a size sufficient to accommodate a dairy livestock. The milking box stall comprises a front wall, a rear wall, a first side wall and a second side wall. The system further includes an equipment portion located adjacent to the rear wall. The equipment portion comprises a separation container for use with only the milking box stall and that is operable to receive milk from the dairy livestock to be discarded if it is determined to be bad milk. The equipment portion further comprises a receiver jar for use with only the milking box stall and that is operable to receive milk from the dairy livestock if it is determined to be good milk.

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.

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.

A system for operating a robotic arm comprises a carriage, a controller communicatively coupled to the carriage and a robotic arm coupled to the carriage. The carriage is mounted on a track adjacent to a rotary milking platform having a stall for a dairy livestock. The carriage moves along the track in a direction corresponding to a direction of rotation of the rotary milking platform. The controller determines a rate for the carriage to move along the track based at least in part upon a speed of rotation of the rotary milking platform. The robotic arm extends between the legs of the dairy livestock.