Patent ID: 8720382

Claim:
A system, comprising: a controller operable to: access an image signal generated by a camera, the image signal corresponding to the rear of a dairy livestock, wherein the image signal includes at least both of the hind legs of the dairy livestock and the udder of the dairy livestock in the same image; determine, based on the image signal including both of the hind legs in the same image, positions of each of the hind legs of the dairy livestock; determine, based on the image signal and the determined positions of the hind legs of the dairy livestock, a position of an udder of the dairy livestock; and determine, based on the image signal and the determined position of the udder of the dairy livestock, a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock; wherein the controller is operable to determine the spray position by processing the accessed image signal to determine a tangent to the rear of the udder and a tangent to the bottom of the udder, the spray position being a position relative to the intersection of the two tangents.