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.

An apparatus includes a carriage, a foundation, a pivot coupler, a platform, a coupler, a linear actuator, an extension member, a spray tool member, and a controller. The carriage moves along the track. The foundation is coupled to the carriage. The pivot coupler is coupled to the foundation. The coupler is coupled to the platform. The coupler couples the platform to the pivot coupler. The extension member is coupled to the linear actuator. The spray tool member is coupled to the extension member. The controller is configured to cause the carriage to move along the track, the platform to pivot, and the extension member to move in the lengthwise direction to position a spray tool coupled to the spray tool member at a spray position from which the spray tool may discharge a solution to a teat of a dairy livestock.

A system includes a platform, an extension member, a spray tool member, and a spray tool. The platform is coupled to and positioned above the carriage. The platform has a length greater than and orthogonal to its width. The extension member is coupled to the platform and its longitudinal axis is parallel to the platform's length. The spray tool member's back end is coupled to the extension member's front end. The spray tool is coupled to the spray tool member's front end and includes a first nozzle oriented in a first direction, a second nozzle oriented in the first direction and positioned in line with the first nozzle, a third nozzle oriented in a second direction and positioned between and offset from the first and second nozzles, and a fourth nozzle oriented in a third direction and positioned between and offset from the first and second nozzles.

An apparatus includes a platform, controller, and first and second extension members, brush tool members, and brush tools. The platform has a length orthogonal to and greater than its width. The first and second extension members are movably coupled to the platform and their longitudinal axes are parallel to the length of the platform. The first and second brush tool members are coupled to and extend along the longitudinal axes of the first and second extension members respectively. The first and second brush tools are coupled to and extend along the longitudinal axes of the first and second brush tool members respectively. The controller moves the first extension member towards the front end of the platform, retracts the first extension member towards the back end of the platform, and at a second time after the first time, moves the second extension member towards the front end of the platform.

An apparatus includes a carriage, a platform, an extension member, and a spray tool member. The carriage moves along the track in a lateral direction. The platform is coupled to and positioned above the carriage. The length of the platform is greater than and orthogonal to the width of the platform and transverse to the lateral direction when in an operational state. The platform pivots about a fulcrum positioned between the platform and the carriage such that the front end and the back end of the platform move vertically in opposite directions. The extension member is movably coupled to the platform and has a longitudinal axis parallel to the length of the platform. The extension member extends away from the carriage in a first mode and retracts towards the carriage in a second mode. The spray tool member is coupled to the front end of the extension member.

An apparatus includes a carriage, platform, extension member, brush tool member, brush tool, and controller. The carriage is coupled to and moves along a track. The platform has a length orthogonal to and greater than its width and transverse to the lateral direction when in an operational state. The platform pivots such that its front and back ends move vertically in opposite directions. The extension member is movably coupled to the platform and its longitudinal axis is parallel to the platform's length. The back end of the brush tool member is coupled to the front end of the extension member. The brush tool is coupled to the front end of the brush tool member. The controller configured moves the extension member towards the front end of the platform such that a portion of the brush tool extends beyond the front end of the platform.

A milking robot includes a movable arm having a first end that couples to a frame and a free extremity at a second end that extends telescopically in a longitudinal direction. The milking robot further includes at least one gripper coupled to the free extremity of the movable arm at the second end, wherein the gripper is extendable away from the movable arm in the longitudinal direction based at least in part upon the telescopic extension of the free extremity.

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.

The present invention discloses a free dome range (FDR) where dairy animals have a free access to their stall to concurrently eat and to be milked. The FDR comprises a plurality of stalls; at least one of said stalls is characterized by a front side and rear opposite side into which a dairy animal is at least temporarily accommodated, head fronting said front side; a plurality of main living areas (MLAs); at least one of said MLAs is in connection with at least one of said stalls by means a plurality of gates. The FDR further comprising a substantially horizontally positioned elevated rail system comprising a plurality of elevated rails, and a plurality of mobile milking units (MMUs), each of said MMUs is configured to transport on said elevated rail to a dairy animal at its stall, and milk the animal while it is eating.

A robotic attacher comprises a main arm suspended from a rail, a supplemental arm coupled to the main arm, and a gripping portion coupled to an extension of the supplemental arm. The gripping portion comprises a first grabber positioned side-by-side with a second grabber. The first grabber is operable to attach a first teat cup to a first teat of a dairy livestock and the second grabber is operable to tilt downward independent of the first grabber in conjunction with the first grabber attaching the first teat cup. The second grabber is operable to attach a second teat cup to a second teat of the dairy livestock and the first grabber is operable to tilt downward independent of the second grabber in conjunction with the second grabber attaching the second teat cup.