In picking up tools in an automatic milking arrangement, the positions of the tools are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools have predefined locations relative to one another. Therefore, any second tool candidate is disregarded, which is detected at a separation distance from a first tool candidate when the separation distance exceeds a first threshold distance in relation to the predefined relative locations.

A system includes a robotic arm, an imaging device coupled to the robotic arm, a board coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The board is able to pivot from a down position to an up position and has an aperture through which the imaging device can pass through when the board lowers from the up position to the down position. The processor is coupled to both the imaging device and the board and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the board from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.

A system includes a robotic arm, an imaging device coupled to the robotic arm, a tail positioner coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The tail positioner is able to move from a down position to an up position. The processor is coupled to both the imaging device and the tail positioner and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.

A system comprises a milking box, a robotic attacher, a sensor, and a controller. The milking box has a stall to accommodate a dairy livestock. The stall comprises a first exit gate on a first side of the stall leading to a first sorting region and a second exit gate on a second side of the stall leading to a second sorting region. The robotic attacher extends from the rear between the hind legs of the dairy livestock. The sensor identifies the dairy livestock within the milking box stall. The controller selects and opens the first exit gate or the second exit gate based at least in part upon the identity of the dairy livestock.

Milking robot device for automatically milking a dairy animal, comprising a milking box having milking cups and a robot arm having an end effector for applying the milking cups to the teats of the dairy animal, on which milking box the robot arm is suspended above the dairy animal to be milked. The robot arm comprises a first arm part connected to the milking box by a first joint, and a second arm part connected to the first arm part by a second joint and provided with an end effector. The first and second arm part, respectively, is pivotable in a vertical plane with respect to the milking box and the first arm part, respectively, by a first and second actuator, respectively. The end effector is movable within an operating range by the robot arm. The milking robot comprises a weight compensation device having a spring device between the milking box and the robot arm. This is configured to exert a first torque about the first joint and a second torque about the second joint, in such a way that, viewed over the operating range, the first torque compensates for the torque exerted by gravity on the arm about the first joint by at least half, in particular by at least 90%, and the second torque compensates for the torque exerted by gravity on the arm about the second joint by at least half, in particular by at least 90%. Consequently, a compact robot arm is provided, the joints which are suspended relatively high up can be protected from dirt in an efficient manner, and they can be operated using much lighter actuators, so that a great deal of energy can also be saved.

A method for applying disinfectant to the teats of a dairy livestock includes determining that a stall of a rotary milking platform housing a dairy livestock is located adjacent to a track that has a carriage carrying a robotic arm. The method continues by communicating a first signal that causes operation of a first actuator such that the carriage moves along the track in relation to the rotary milking platform and independent of any physical coupling between the carriage and the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method concludes by communicating one or more additional signals that causes operation of one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of a dairy livestock.

A robotic attacher includes an arm that extends between the legs of a dairy livestock and a gripping portion coupled to the 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.

A system comprises a milking box, a robotic attacher, a sensor, and a controller. The milking box has a stall to accommodate a dairy livestock. The stall comprises a first exit gate on a first side of the stall leading to a first sorting region and a second exit gate on a second side of the stall leading to a second sorting region. The robotic attacher extends from the rear between the hind legs of the dairy livestock. The sensor identifies the dairy livestock within the milking box stall. The controller selects and opens the first exit gate or the second exit gate based at least in part upon the identity of the dairy livestock in order to direct the first dairy livestock into either the first sorting region or the second sorting region.

A system for operating a robotic arm, comprises a controller and a robotic arm. The controller accesses an image of the rear of dairy livestock located in a stall of a rotary milking platform 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 comprising a robotic arm, a plurality of grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.