Vision system for teat detection

A method, comprising:

• accessing, by a processor, a first profile signal generated by a laser from a first scan of a dairy livestock;
• determining, by the processor, that a first teat of the dairy livestock is found in the first profile signal, the first teat located at a first scan location within the first profile signal;
• in response to determining that the first teat is found in the first profile signal, commanding, by the processor, a robotic arm to move to a first location corresponding to the first scan location;
• incrementing, by the processor, a counter corresponding to the first teat;
• determining, by the processor, whether the counter equals a predetermined number;
• in response to determining that the counter equals the predetermined number, commanding, by the processor, the robotic arm to attach a teat cup to the first teat;
• and
• in response to determining that the counter does not equal the predetermined number:
• accessing, by the processor, a second profile signal generated by the laser from a second scan;
• determining, by the processor, that the first teat is found in the second profile signal;
• and
• in response to determining that the first teat is found in the second profile signal, commanding, by the processor, the robotic arm to attach the teat cup to the first teat.

One or more computer-readable non-transitory storage media comprising software that is executable by one or more processors to:

• access a first profile signal generated by a laser from a first scan of a dairy livestock;
• determine that a first teat of the dairy livestock is found in the first profile signal, the first teat located at a first scan location within the first profile signal;
• in response to determining that the first teat is found in the first profile signal, command a robotic arm to move to a first location corresponding to the first scan location;
• increment a counter corresponding to the first teat;
• determine whether the counter equals a predetermined number;
• in response to determining that the counter equals the predetermined number, command the robotic arm to attach a teat cup to the first teat;
• and
• in response to determining that the counter does not equal the predetermined number:
• access a second profile signal generated by the laser from a second scan;
• determine that the first teat is found in the second profile signal;
• and
• in response to determining that the first teat is found in the second profile signal, command the robotic arm to attach the teat cup to the first teat.