Automated system for applying disinfectant to the teats of dairy livestock

A system for applying disinfectant to the teats of a dairy livestock, comprising:

• a carriage mounted on a track positioned adjacent to a rotary milking platform, the carriage operable to translate laterally along the track;
• a robotic arm, comprising:
• a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage;
• a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member;
• and
• a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member;
• a three-dimensional camera operable to generate an image signal corresponding to the rear of a dairy livestock located in a stall of the rotary milking platform;
• a first actuator coupled to the carriage, the first actuator operable to cause movement of the carriage along the track;
• a second actuator coupled to the carriage and the first member, the second actuator operable to cause rotation of the first member about the point of attachment to the carriage;
• a third actuator coupled to the first member and the second member, the third actuator operable to cause rotation of the second member about the point of attachment to the first member;
• a fourth actuator coupled to the second member and the spray tool member, the fourth actuator operable to cause rotation of the spray tool member about the point of attachment to the second member;
• and
• a controller operable to:
• process the image signal to determine a spray position from which a spray tool coupled to the spray tool member may discharge an amount of disinfectant to the teats of the dairy livestock;
• and
• cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at the spray position.