A system for controlling the position of a robot carriage includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a rotational movement of a milking stall of the rotary milking platform, and determines a linear movement of the robot carriage on the carriage track corresponding to the rotational movement of the milking stall of the rotary milking platform. The controller further communicates a signal to a carriage actuator coupled to the robot carriage and the carriage track. The signal causes the carriage actuator to move the robot carriage along the carriage track according to the determined linear movement as the rotary milking platform rotates.

A system for controlling the position of a robot carriage includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a rotational movement of a milking stall of the rotary milking platform, and determines a linear movement of the robot carriage on the carriage track corresponding to the rotational movement of the milking stall of the rotary milking platform. The controller further communicates a signal to a carriage actuator coupled to the robot carriage and the carriage track. The signal causes the carriage actuator to move the robot carriage along the carriage track according to the determined linear movement as the rotary milking platform rotates.

A system includes a robotic arm and a controller. The controller accesses a first image and a second image generated by a first camera. The controller determines a reference point based at least in part on the first image. The controller determines a position of a teat of the dairy livestock based at least in part on the second image. The controller instructs the robotic arm to grip a milking cup and move it towards the determined position of the teat between the hind legs of the dairy livestock from the rear. The controller then instructs the robotic arm to release the milking cup, to move in an upward direction towards an udder of the dairy livestock, and to move away from the teat.

A system includes a robotic arm and a controller. The controller accesses a first image and a second image generated by a first camera. The controller determines a reference point based at least in part on the first image. The controller determines a position of a teat of the dairy livestock based at least in part on the second image. The controller instructs the robotic arm to grip a milking cup and move it towards the determined position of the teat between the hind legs of the dairy livestock from the rear. The controller then instructs the robotic arm to release the milking cup, to move in an upward direction towards an udder of the dairy livestock, and to move away from the teat.

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.

A voluntary milking system and method for treating dairy livestock having fore legs and hind legs, wherein the system comprises milking stalls voluntarily accessible to animals that are milked by mobile units configured to travel between the fore and hind legs of the animal.

A voluntary milking system and method for treating dairy livestock having fore legs and hind legs, wherein the system comprises milking stalls voluntarily accessible to animals that are milked by mobile units configured to travel between the fore and hind legs of the animal.

Disclosed is a system for treating dairy livestock having fore legs and hind legs, wherein the system comprises a milking parlor ramp, livestock stalls positioned along at least part of the milking parlor ramp, wherein each stall is configured to contain one dairy livestock, at least one vertical upright teat cup holder comprising teat cups and a mobile unit. The mobile unit comprises equipment for treating livestock and a processor, where the mobile unit is configured to travel between the fore legs and hind legs of the dairy livestock on the milking parlor ramp and use the equipment to perform at least one action related to a treatment of the dairy livestock. Also disclosed is that the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock.

Disclosed is a system for treating dairy livestock having fore legs and hind legs, wherein the system comprises a milking parlor ramp, livestock stalls positioned along at least part of the milking parlor ramp, wherein each stall is configured to contain one dairy livestock, at least one vertical upright teat cup holder comprising teat cups and a mobile unit. The mobile unit comprises equipment for treating livestock and a processor, where the mobile unit is configured to travel between the fore legs and hind legs of the dairy livestock on the milking parlor ramp and use the equipment to perform at least one action related to a treatment of the dairy livestock. Also disclosed is that the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock.

A rotary dairy cow milking platform that rotates about a rotational axis and has a plurality of pre-fabricated moulded bail floor defining modular components 1-10 and a supporting substructure 12, 13 14. Each modular component is detachable from the substructure and has been pre-formed independently of any components from the substructure. Each modular component is also totally or at least in part formed from a fibre reinforced resin based composite material. The modular components each have a mould defined rigid exoskeleton 34 wrapped about an inlay or an imbedded core 33 of another material moulded within the exoskeleton. The end peripheries of the modular components are substantially radially aligned with respect to the axis of rotation of the milking platform. Further, the modular components have been assembled onto the substructure to form a substantially annular deck of the milking platform.