A three-dimensional camera of an automatic milking system records image data representing an outer surface of a teat of a dairy animal in three dimensions. Based on the image data, a processing unit performs a geometric analysis and calculates at least one size measure of the teat. A user interface presents output data reflecting the size-related classification of the teat.

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 vision system that includes a robotic arm and a three-dimensional (3D) camera operably coupled to a processor. The processor is configured to position the robotic arm adjacent to the dairy livestock and acquire a 3D image using the 3D camera. The processor is further configured to identify a set of teat candidates within the 3D image and to filter the set of teat candidates based on one or more filtering rules. The processor is further configured to determine an aggregate teat candidate score for the consolidated set of teat candidates, compare the aggregate teat candidate score to a score threshold value, and update teat location information for the dairy livestock in response to determining the aggregate teat candidate score is greater than or equal to the score threshold value.

A robotic arm maneuvers a teat preparation cup and executes instructions from a robotic arm controller. The controller comprises an interface, a memory, and a processor. The processor instructs the sensor to perform a first scan. If the first scan discovers a first set of teats, the processor moves the robotic arm a first distance and instructs the sensor to perform a second scan. If the second scan discovers a second set of teats, the processor moves the robotic arm to a location under the first teat, and instructs the sensor to perform a third scan. The processor determines if the third scan discovers a third set of teats. If each of the first set, second set, and third set of discovered teats comprises the first teat, the processor instructs the robotic arm to attach the preparation cup to the first 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 milking system that includes milking cups, a milking robot with a robot arm configured to attach each of the milking cups to a respective teat, a sensor that detects two adjacent teats, and a control arrangement communicatively connected to the sensor (160) and the robot arm, where the control arrangement is configured to determine a distance between the two adjacent teats, select one of the two adjacent teats to commence attachment of a first milking cup if the distance fulfils a distance criterion, and generate a command to the robot arm to commence the milking cup attachment to the selected teat.

A system comprises a memory operable to store first light intensity information for a first pixel of an image that includes a dairy livestock, and second light intensity information for a second pixel of the image. The system further comprises a processor communicatively coupled to the memory and operable to determine that a difference between the first light intensity information and the second light intensity information exceeds a threshold, and discard one of the first pixel or the second pixel from the image. The system further includes a robotic attacher configured to position milking equipment relative to the dairy livestock based at least in part upon the light intensity image, excluding the discarded pixel

An implement for keeping dairy animals, provided with a first and a second production unit and with a care unit having a plurality of subunits, wherein each production unit is provided with at least one accommodation area for a production group, which comprises a group of lactating dairy animals, and with a milking implement for milking the production group, wherein the subunits of the care unit at least include a calving unit for separately accommodating dairy animals in a calving period, and a milking implement for milking newly calved dairy animals, and an infirmary unit for separately accommodating sick animals, and wherein the care unit forms a connection between the production units. There is thus provided a compact disposition, comprising efficient and short distances, for dairy animals requiring care.