# US 9,775,325 B2 · Automated system for applying disinfectant to the teats of dairy livestock > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,775,325 B2 - Document ID: US9775325B2 - Status: Granted - Kind: B2 - Application number: 15/370,571 - Filed: 2016-12-06 - Published: 2017-03-23 - Granted: 2017-10-03 - Earliest claimed: 2010-08-31 - Assignees: Technologies Holdings Corp. - Applicants: Technologies Holdings Corp. - Inventors: Henk Hofman; Peter Willem Van der Sluis; Ype Groensma - Web page: https://patentgrep.com/patent/US9775325B2 ## CPC - A01J 7/04: for treatment of udders or teats, e.g. for cleaning - A01J 5/003: Movable milking machines - A01J 5/007: Monitoring milking processes; Control or regulation of milking machines - A01J 5/0175: {Attaching of clusters} - A01J 7/00: Accessories for milking machines or devices - A01K 1/126: {Carousels} - A01K 13/001: {Washing, cleaning, or drying devices (for veterinary purposes A61D7/00, A61D11/00)} - A01K 29/00: Other apparatus for animal husbandry - A01K 29/004: {for influencing biological activity} - B25J 9/0027: {Means for extending the operation range} - B25J 9/0093: {co-operating with conveyor means} - B25J 9/0096: {co-operating with a working support, e.g. work-table} - B25J 9/1679: {characterised by the tasks executed} - B25J 9/1684: {Tracking a line or surface by means of sensors} - B25J 9/1697: {Vision controlled systems} - B25J 11/0045: {Manipulators used in the food industry} - G05B 19/042: using digital processors (G05B19/05 takes precedence) - G06T 1/0014: {Image feed-back for automatic industrial control, e.g. robot with camera (robots B25J19/023)} - G06T 7/0004: {Industrial image inspection} - G06T 7/13: Edge detection - G06T 7/73: using feature-based methods - H04N 7/183: {for receiving images from a single remote source} - G05B 2219/2661: Milking robot - G05B 2219/45113: Animal handling, milking robot - G06T 7/74: {involving reference images or patches} - G06T 2200/04: involving 3D image data - G06T 2207/10004: Still image; Photographic image - G06T 2207/10021: Stereoscopic video; Stereoscopic image sequence - G06T 2207/10028: Range image; Depth image; 3D point clouds - Y10S 901/02: Arm motion controller - Y10S 901/06: Communication with another machine - Y10S 901/07: Conveyor - Y10S 901/09: Closed loop, sensor feedback controls arm movement - Y10S 901/41: Tool - Y10S 901/43: Spray painting or coating - Y10S 901/47: Optical - A01J: MANUFACTURE OF DAIRY PRODUCTS - A01K: ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The plurality of spray nozzles are coupled to the linear member. ## Claims ### Claim 1 A system for applying a substance to the teats of a dairy livestock, comprising: a robotic arm operable to extend between the legs of a dairy livestock; a spray tool coupled to the robotic arm and operable to discharge a substance to at least some of the teats of a dairy livestock, wherein the spray tool comprises: a linear member that rotates about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of the dairy livestock; a first spray nozzle coupled to the linear member proximate a first end of the linear member; and a second spray nozzle coupled to the linear member proximate a second end of the linear member; wherein the first and second spray nozzles discharge the substance in a substantially circular pattern as the linear member rotates about the axis; and a controller operable to control the movement of the robotic arm and to determine whether to operate the spray tool. ### Claim 2 (depends on 1) The system of claim 1, wherein the linear member is positioned parallel to a length of the robotic arm when the robotic arm is extended between the legs of the dairy livestock. ### Claim 3 (depends on 2) The system of claim 2, wherein the first and second spray nozzles discharge the substance with a spray coverage area that is wide enough to cover each of four teats of the dairy livestock. ### Claim 4 (depends on 2) The system of claim 2, wherein the robotic arm is operable to extend between the hind legs of a dairy livestock. ### Claim 5 (depends on 2) The system of claim 2, wherein the substance is a disinfectant. ### Claim 6 (depends on 2) The system of claim 2, wherein the linear member rotates about the axis in response to fluid pressure. ### Claim 7 A system for applying a substance to the teats of a dairy livestock, comprising: a robotic arm operable to extend between the legs of a dairy livestock; a spray tool coupled to the robotic arm and operable to discharge a substance to at least some of the teats of a dairy livestock, wherein the spray tool comprises: a linear member that rotates about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of the dairy livestock; and a plurality of spray nozzles coupled to the linear member; and a controller operable to control the movement of the robotic arm and to determine whether to operate the spray tool. ### Claim 8 (depends on 7) The system of claim 7, wherein the linear member is positioned parallel to a length of the robotic arm when the robotic arm is extended between the legs of the dairy livestock. ### Claim 9 (depends on 7) The system of claim 7, wherein the plurality of spray nozzles are operable to discharge the substance in a substantially circular pattern as the linear member rotates about the axis. ### Claim 10 (depends on 7) The system of claim 7, wherein the plurality of spray nozzles discharge the substance with a spray coverage area that is wide enough to cover each of four teats of the dairy livestock. ### Claim 11 (depends on 7) The system of claim 7, wherein the robotic arm is operable to extend between the hind legs of a dairy livestock. ### Claim 12 (depends on 7) The system of claim 7, wherein the substance is a disinfectant. ### Claim 13 (depends on 7) The system of claim 7, wherein the linear member rotates about the axis in response to fluid pressure. ### Claim 14 A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprising: a linear member that rotates about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock; and a plurality of spray nozzles coupled to the linear member. ### Claim 15 (depends on 14) The spray tool of claim 14, wherein the linear member is positioned parallel to a length of the robotic arm when the robotic arm is extended between the legs of the dairy livestock. ### Claim 16 (depends on 14) The spray tool of claim 14, wherein the first and second spray nozzles are operable to discharge the substance in a substantially circular pattern as the linear member rotates about the axis. ### Claim 17 (depends on 14) The spray tool of claim 14, wherein the first and second spray nozzles discharge the substance with a spray coverage area that is wide enough to cover each of four teats of the dairy livestock. ### Claim 18 (depends on 14) The spray tool of claim 14, wherein the robotic arm is operable to extend between the hind legs of a dairy livestock. ### Claim 19 (depends on 14) The spray tool of claim 14, wherein the spray tool is operable to discharge a substance to at least some of the teats of the dairy livestock. ### Claim 20 (depends on 14) The spray tool of claim 14, wherein the linear member rotates about the axis in response to fluid pressure.