Patent ID: 8720383

Claim:
A system, comprising: a controller operable to; access an image signal generated by a camera, the image signal corresponding to one or more features of a dairy livestock; determine, based on the image signal, positions of each of the hind legs of the dairy livestock; and 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 a robotic arm communicatively coupled to the controller and operable to extend between the hind legs of the dairy livestock based at least in part upon the determined position of the udder of the dairy livestock; wherein: the controller determines, based at least in part upon 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; and the controller determines 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.