System and method for improved attachment of a cup to a dairy animal

A system comprising:

• a robotic arm;
• a controller communicatively coupled to the robotic arm, wherein the controller:
• accesses a first image generated by a first camera, the first image including one or more main features of a dairy livestock;
• determines a reference point based at least in part on the first image, the reference point determined from at least one of the one or more main features of the dairy livestock;
• accesses a second image generated by a second camera, the second image including at least a portion of an udder of the dairy livestock;
• determines a position of a teat of the dairy livestock based at least in part on the second image;
• instructs the robotic arm to grip a milking cup;
• instructs the robotic arm to move the milking cup proximate to the determined position of the teat between the hind legs of the dairy livestock from the rear;
• instructs the robotic arm to release the milking cup;
• and
• instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock and in a horizontal direction towards the rear of the milking stall in conjunction with the gripper releasing the milking cup.

A system, comprising:

• a robotic arm;
• a controller communicatively coupled to the robotic arm, wherein the controller:
• accesses a first image generated by a first camera, the first image including one or more main features of a dairy livestock;
• determines a reference point based at least in part on the first image, the reference point determined from at least one of the one or more main features of the dairy livestock;
• accesses a second image generated by a second camera, the second image including at least a portion of an udder of the dairy livestock;
• determines a position of a teat of the dairy livestock based at least in part on the second image;
• instructs the robotic arm to grip a milking cup;
• instructs the robotic arm to move the milking cup towards the determined position of the teat;
• instructs the robotic arm to release the milking cup in response to the milking cup being attached to the teat;
• instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup;
• and
• instructs the robotic arm to move away from the teat.