NZ700574B2

NZ700574B2 - System and method for using robots in conjunction with a rotary milking platform

Info

Publication number: NZ700574B2
Application number: NZ700574A
Authority: NZ
Inventors: Ruijter Cor De; Henk Hofman; Menno Koekoek; Gary C Steingraber; Der Sluis Peter Willem Van
Original assignee: Technologies Holdings Corp
Priority date: 2012-04-18
Filing date: 2012-04-27
Publication date: 2015-11-03

Abstract

The invention relates to a system and method for using robots in conjunction with a rotary milking platform in order to improve efficiency. In certain embodiments, a system includes a first robotic device positioned proximate to a first milking stall of a rotary milking platform. The rotary milking platform has a plurality of milking stalls. The first robotic device is operable to prepare the teats of a first dairy livestock located in the first milking stall. The system also includes a second robotic device positioned proximate to a second milking stall of the rotary milking platform. The second robotic device is operable to attach a first milking device to the teats of a second dairy livestock located in the second milking stall. The system also includes a third robotic device proximate to a third milking stall of the rotary milking platform. The third robotic device is operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall. The system also includes a fourth robotic device positioned proximate to a fourth milking stall of the rotary milking platform. The fourth robotic device is operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in the fourth milking stall subsequent to a removal of a third milking device from the teats of the fourth dairy livestock. g platform has a plurality of milking stalls. The first robotic device is operable to prepare the teats of a first dairy livestock located in the first milking stall. The system also includes a second robotic device positioned proximate to a second milking stall of the rotary milking platform. The second robotic device is operable to attach a first milking device to the teats of a second dairy livestock located in the second milking stall. The system also includes a third robotic device proximate to a third milking stall of the rotary milking platform. The third robotic device is operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall. The system also includes a fourth robotic device positioned proximate to a fourth milking stall of the rotary milking platform. The fourth robotic device is operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in the fourth milking stall subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.

Description

SYSTEM AND METHOD FOR USING ROBOTS IN CONJUNCTION WITH A ROTARY MILKING RM TECHNICAL FIELD This invention relates generally to dairy farming and more particularly to a system and method for using robots in conjunction with a rotary milking rm.

BACKGROUND OF THE INVENTION Over time, the size and complexity of dairy milking operations has increased.

Accordingly, the need for efﬁcient and scalable systems and s that support dairy milking operations has also increased. s and methods ting dairy milking operations, however, have proven uate in various respects.

SUMMARY OF THE ION According to embodiments of the present disclosure, disadvantages and problems associated with previous systems supporting dairy milking operations may be reduced or eliminated.

In certain embodiments, a system includes a ﬁrst robotic device positioned proximate to a ﬁrst milking stall of a rotary milking platform. The rotary milking platform has a plurality of milking stalls. The ﬁrst robotic device is operable to in the ﬁrst milking stall. The system e the teats of a ﬁrst dairy livestock located also es a second robotic device positioned proximate to a second milking stall of the rotary milking platform. The second robotic device is le to attach a ﬁrst milking device to the teats of a second dairy livestock located in the second milking stall. The system also includes a third robotic device proximate to a third milking stall of the rotary milking platform. The third robotic device is operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall. The system also includes a fourth robotic device positioned proximate to a fourth milking stall of the rotary milking platform. The fourth robotic device is operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in the fourth milking stall subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.

In other embodiments, a system includes a ﬁrst robotic device positioned at a ﬁrst location proximate to a rotary milking platform. The rotary milking platform has a plurality of milking stalls. The ﬁrst c device is operable to prepare the teats of a ﬁrst dairy livestock located in a ﬁrst milking stall of the rotary milking platform while the ﬁrst milking stall is substantially adjacent to the ﬁrst location. The system also includes a second robotic device positioned at a second location ate to the rotary milking platform. The second c device is operable to attach a ﬁrst milking device to the teats of the ﬁrst dairy livestock located in the ﬁrst milking stall while the ﬁrst milking stall is substantially nt to the second location. The system also includes a third robotic device oned at a third location proximate to the rotary milking platform. The third c device is operable to attach the ﬁrst milking device to the teats of the ﬁrst dairy ock located in the ﬁrst g stall while the ﬁrst g stall is substantially adjacent to the third on. The system also includes a fourth robotic device positioned at a fourth location proximate to the rotary milking rm. The fourth robotic device is operable to apply a sanitizing agent to the teats of the ﬁrst dairy livestock located in the ﬁrst milking stall, subsequent to a removal of the ﬁrst milking device from the teats of the ﬁrst dairy livestock, while the ﬁrst milking stall is substantially adjacent to the fourth location.

In further ments, a method includes positioning a ﬁrst robotic device at a ﬁrst location proximate to a ﬁrst milking stall of a rotary milking platform. The rotary milking rm has a plurality of milking stalls. The ﬁrst robotic device is operable to prepare the teats of a ﬁrst dairy livestock located in the ﬁrst milking stall.

The method also includes positioning a second robotic device at a second location proximate to a second milking stall of the rotary milking platform. The second robotic device is operable to attach a ﬁrst milking device to the teats of a second dairy livestock located in the second milking stall. The method also includes positioning a third robotic device at a third location proximate to a third milking stall of the rotary milking platform. The third robotic device is operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall. The method also includes positioning a fourth c device at a fourth location proximate to a fourth milking stall of the rotary milking platform. The fourth robotic device is operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in the fourth milking stall subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.

In other embodiments, a method includes receiving a dairy livestock into a milking stall of a rotary milking platform. The rotary milking rm has a plurality of g stalls. The method also includes rotating the rotary milking platform, such that the milking stall is substantially adjacent to a ﬁrst robotic device oned at a ﬁrst location proximate to the rotary milking platform. The ﬁrst robotic device is operable to e the teats of the dairy livestock located in the milking stall while the milking stall is substantially nt to the ﬁrst location. The method also includes preparing, using the ﬁrst robotic device, the teats of the dairy livestock located in the milking stall. The method also includes rotating the rotary milking platform, such that the milking stall is substantially adjacent to a second robotic device positioned at a second location proximate to the rotary milking platform. The second robotic device is operable to attach a milking device to the teats of the dairy livestock d in the milking stall while the milking stall is substantially adjacent to the second location. The method also includes ing, using the second c device, the g device to the teats of the dairy livestock located in the milking stall. The method also includes milking the dairy livestock located in the milking stall using the ed milking device. The method also includes rotating the rotary 2O milking platform, such that the milking stall is substantially adjacent to a third robotic device positioned at a third location proximate to the rotary milking platform. The third robotic device is operable to apply a sanitizing agent to the teats of the dairy livestock located in the milking stall, subsequent to a l of the milking device from the teats of the dairy livestock, while the milking stall is substantially adjacent to the third on. The method also es applying, using the third robotic device, a sanitizing agent to the teats of the dairy livestock located in the milking stall.

Particular embodiments of the present disclosure may provide one or more technical advantages. For example, the use of robotic s in conjunction with a rotary milking platform may increase the throughput of the milking system, thereby increasing the overall milk production of the milking rm. Furthermore, because the various milking functions are performed by one or more robotic devices as opposed to human laborers (which may be expensive and/or difﬁcult to ﬁnd), the cost associated with ing the milking system may be reduced.

Certain embodiments of the present disclosure may include some, all, or none of the above advantages. One or more other technical advantages may be readily nt to those skilled in the art from the ﬁgures, ptions, and claims included herein.

BRIEF DESCRIPTION OF THE DRAWINGS To provide a more complete understanding of the present invention and the features and advantages thereof, reference is made to the following description taken in conjunction with the accompanying drawings, in which: FIGURE 1 illustrates a top view of an example automated rotary milking system, according to certain embodiments of the present disclosure; FIGURE 2 illustrates a top view of an alternative example automated rotary milking system, according to certain embodiments of the present disclosure; FIGURE 3 illustrates a top view of an additional alternative example automated rotary milking parlor system, according to certain embodiments of the present disclosure; FIGURES 4A~4C illustrate top views of alternative example automated rotary g parlor systems, ing to certain embodiments of the present disclosure; FIGURES 5A-5C illustrate top views of alternative e automated rotary milking parlor systems, according to n embodiments of the present disclosure; FIGURES 6A—6C illustrate top views of alternative example automated rotary milking parlor systems, according to n embodiments of the present disclosure; FIGURES 7A—7C illustrate top views of alternative example automated rotary g parlor systems, according to certain embodiments of the t disclosure.

DETAILED DESCRIPTION OF THE DRAWINGS FIGURE 1 illustrates a top view of an example ted rotary milking system 100, ing to certain embodiments of the present disclosure. System 100 es a rotary milking rm 102 having a number of milking stalls 104 each conﬁgured to facilitate milking of dairy livestock 106. A rotary drive mechanism 108 coupled to rotary milking rm 102 is operable to control the rotation of rotary milking platform 102 (e.g., in response to signals received from controller 110).

System 100 further includes a preparation stall 112 positioned n a holding pen 114 and one or more g stalls 104 of rotary milking platform 102, and one or more robotic devices 116 positioned proximate to rotary milking platform 102 and/or preparation stall 112. Although this particular implementation of system 100 is illustrated and primarily described, the t invention contemplates any suitable implementation of system 100 according to particular needs. Additionally, although the present disclosure plates system 100 facilitating the milking of any suitable dairy livestock 106 (e.g., cows, goats, sheep, water buffalo, etc.), the remainder of this description is detailed with t to dairy cows.

Rotary milking platform 102 may e any suitable combination of ure and materials forming a ntially round platform having a number of g stalls 104 positioned around the perimeter of the platform such that the milking stalls 104 rotate as dairy cows in milking stalls 104 are milked. As one particular example, rotary milking platform 102 may have a diameter of one hundred ﬁfty-ﬁve inches and may include eight equally—sized milking stalls 104 positioned around the perimeter of the platform. In certain embodiments, each milking stall 104 may include a stall gate 117 conﬁgured to control the ﬂow of dairy cows 106 into the milking stall 104 from preparation stall 112. Additionally, stall gates 117 may each be coupled to one or more actuators operable to open/close stall gates 117 in response to receipt of a signal from controller 110 (as described in r detail below).

Although a rotary milking platform 102 having a particular size and a particular number of stalls 104 is illustrated, the present disclosure contemplates a rotary milking platform 102 having any suitable size and including any suitable number of stalls 104. Moreover, while the shape of the rotary milking platform 102 is primarily ed and described as having a circular shape, the present disclosure contemplates a rotary g platform 102 having any suitable shape.

Rotary milking platform 102 may be coupled (e.g., via one or more gears or any other suitable power transmission mechanism) to a rotary drive mechanism 108.

Rotary drive mechanism 108 may include a motor (e. g., a lic motor, an electric motor, or any other suitable motor) operable to impart a variable amount of rotational force on rotary milking platform 102 via one or more gears. In certain embodiments, rotary drive mechanism 108 may be operable to start/stop the rotation of rotary milking platform 102 in response to receipt of a signal from controller 110 (as bed in further detail below).

Preparation stall 112 may be oned proximate to both holding pen 114 and rotary milking platform 102 such that a dairy cow 106 in holding pen 114 may enter preparation stall 112 prior to entering a milking stall 104 of rotary milking platform 102. Preparation stall 112 may include any le number of walls constructed of any suitable materials arranged in any suitable conﬁguration operable to prevent movement of dairy cows 106. For example, the walls of preparation stall 112 may each include any number and combination of posts, rails, tubing, rods, connectors, cables, wires, and/or beams operable to form a substantially planar barricade such as a fence, wall, and/or other riate structure le to prevent movement of dairy cows 106.

Preparation stall 112 may include an entrance gate 118a controlling the ﬂow of dairy cows 106 into preparation stall 112 from holding pen 114, an exit gate ll8b controlling the ﬂow of dairy cows 106 from preparation stall 112 into a milking stall 104 of rotary milking rm 102, and a sorting gate 118C allowing dairy cows to return to holding pen 114. In certain embodiments, gates 118 may each be coupled to one or more actuators le to open/close gates 118 in response to receipt of a signal from ller 110 (as described in further detail below).

In certain embodiments, preparation stall 112 may include a feed manger 119 (e.g., coupled to exit gate 118b). Feed manger 119 may be operable to dispense feed (e.g., in response to receipt of a signal from controller 110) in order to entice dairy cows 106 to enter preparation stall 112.

In certain embodiments, preparation stall 112 may additionally include an identiﬁcation device 120 le to identify a dairy cow located in preparation stall 112. For example, identiﬁcation device 120 may comprise any suitable radio- frequency ﬁcation (RFID) reader le to read an RFID tag of a dairy cow 106 (e.g., an RFID ear tag). In certain embodiments, identiﬁcation device 120 may communicate the identity of a dairy cow 106 located in preparation stall 112 (e.g., a tag number) to controller 110, which may determine (e.g., based on a milking log 132 stored in memory 130) if it is an appropriate time to milk the identiﬁed dairy cow 106 (as described in further detail below).

In certain embodiments, preparation stall 112 may additionally include one or more load cells 122 (e.g., one or more scales or other suitable s) operable to determine a weight for a dairy cow located in the preparation stall 112 and/or a vision system 124 (e.g., a camera or other suitable device) le to determine the size of a dairy cow located in preparation stall 112. Load cells 122 and vision system 124 may each be communicatively coupled (e.g., via wireless or wireline communication) to ller 110 such that a determined weight and size associated with a dairy cow 106 in preparation stall 112 may be communicated to controller 110. Controller 110 may ate the ined weight and size of the dairy cow 106 with the fication of the dairy cow 106 such that information associated with the dairy cow 106 stored in g log 132 may be updated.

Robotic s 116 may each comprise any suitable robotic device constructed from any suitable combination of materials (e.g., controllers, actuators, software, hardware, ﬁrmware, etc.) operable to perform certain functions associated with the milking of dairy cows 106 in an automated manner (as described in further detail below). In certain embodiments, robotic devices 116 may include an arm operable to rotate about a pivot point such that robotic devices 116 may extend beneath a dairy cow 106 to perform functions associated with the milking of the dairy cows 106 and retract from h the dairy cow 106 once those functions have been completed.

In n embodiments, robotic devices 116 of system 100 may include a preparation robot 116a, an attachment robot 116b, and a post dip robot 116C.

Preparation robot 116a may be positioned proximate to preparation stall 112 such that ation robot 116a may extend and retract from between the legs of a dairy cow 106 d in preparation stall 112. Preparation robot 116a may be operable to prepare the teats of a dairy cow 106 located in preparation stall 112 for the attachment of a milking apparatus 126. In certain embodiments, preparing the teats of a dairy cow 106 for the attachment of a milking apparatus 126 may include applying a sanitizing agent to the teats of a dairy cow 106, cleaning the teats of the dairy cow, stimulating the teats of the dairy cow 106, and any other suitable procedures.

Attachment robot 116b may be positioned proximate to rotary milking platform 102 such that attachment robot 116b may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 located at a ﬁrst rotational position of rotary milking rm 102 (the “attach position”). Attachment robot 116b may be operable to perform ﬁmctions including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the attach on. The attached milking tus 126 may be stored beneath the ﬂoor of the milking stall 104 (or at any other suitable location) such that the milking apparatus is accessible by attachment robot ll6b.

Post dip robot 1160 may be positioned proximate to rotary milking platform 102 such that post dip robot 116c may extend and t from between the legs of a dairy cow 106 in a milking stall 104 located at a second rotational position of rotary milking platform 102 (the “post dip position”). Post dip robot 116c may be operable to perform functions including applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the post dip position (subsequent to the removal of a milking apparatus 126 from the teats of the dairy cow 106).

In n embodiments, each of the above~described functions performed by preparation robot 116a, attachment robot 116b, and post dip robot 116c may be performed while rotary milking platform 102 is substantially stationary or while the rotary milking platform 102 is rotating (as controlled by controller 110 in conjunction with rotary drive mechanism 108, as described in further detail below).

In certain embodiments, various components of system 100 (e.g., rotary drive mechanism 108, actuators coupled to gates 118 of preparation stall 112, and robotic devices 116) may each be communicatively d (e.g., via a k facilitating wireless or wireline communication) to ller 110, which may initiate/control the automated operation of those devices (as described in further detail below).

Controller 110 may e one or more er systems at one or more locations.

Each computer system may include any appropriate input devices (such as a keypad, touch screen, mouse, or other device that can accept information), output devices, mass storage media, or other suitable components for receiving, processing, storing, and icating data. Both the input devices and output s may include ﬁxed or removable storage media such as a magnetic er disk, CD-ROM, or other suitable media to both receive input from and provide output to a user. Each computer system may include a personal computer, workstation, network computer, kiosk, wireless data port, personal data ant (PDA), one or more processors within these or other devices, or any other suitable processing device. In short, controller 110 may include any suitable combination of re, ﬁrmware, and hardware.

Controller 110 may additionally include one or more processing modules 128.

Processing modules 128 may each include one or more microprocessors, controllers, or any other suitable computing devices or resources and may work, either alone or with other components of system 100, to provide a portion or all of the functionality of system 100 described herein.

Controller 110 may onally e (or be communicatively coupled to via wireless or wireline communication) memory 130. Memory 130 may include any memory or database module and may take the form of volatile or latile memory, including, without limitation, magnetic media, l media, random access memory (RAM), read—only memory (ROM), removable media, or any other suitable local or remote memory component. Memory 130 may store a milking log 132, which may be a table listing each dairy cow 106 which may enter a milking stall 104 of rotary milking platform 102 along with information associated with each dairy cow 106 (e.g., milking history, weight, and size). Although g log 132 is depicted and primarily bed as being stored in memory 130, the present disclosure contemplates milking log 132 being stored at any other suitable on in system 100. 2O In certain embodiments, controller 110 may include l logic 134 (e.g., stored in memory module 130), which may include any information, logic, and/or ctions stored and/or executed by controller 110 to control the automated operation of system 100, as described below. For example, in response to control logic 134, processor 128 may (1) communicate signals to ors d to gates 118 to initiate opening/closing of those gates, (2) communicate signals to rotary drive mechanism 108 to initiate the starting/stopping of rotary milking platform 102, and (3) communicate signals to robotic devices 116 to initiate performance of the above~ described functions associated with those robotic devices 116. Additionally, in response to control logic 134, processor 128 may be operable to update milking log 132 in response to information associated with dairy cows 106 received from various components of system 100 (e.g., identiﬁcation device 120, load cells 122, vision system 124, and milking apparatus 126).

In operation of an example embodiment of system 100, controller 110 may receive a signal indicating the presence of a dairy cow 106 located in preparation stall 112. The signal indicating the presence of a dairy cow 106 in preparation stall 112 may be received from a presence sensor associated with preparation stall 112 or from any other suitable component of system 100 (e.g., identiﬁcation device 120).

Additionally, controller 110 may receive a signal from identiﬁcation device 120, which may include the identity (e.g., tag number) of the dairy cow 106. Based on the identity of the dairy cow 106 in preparation stall 112, controller 110 may ine if it is an appropriate time to milk the identiﬁed dairy cow 106.

For example, controller 110 may access milking log 132 stored in memory 130, which may include the date/time that the identiﬁed dairy cow 106 was last . If it is determined that the amount of time elapsed since the identiﬁed dairy cow 106 was last milked is greater than a predeﬁned amount of time, controller 110 may determine that it is an appropriate time to milk the identiﬁed dairy cow 106; otherwise, controller 110 may determine it is not an appropriate time to milk the identiﬁed dairy cow 106. As an additional example, ller 110 may access g log 132 stored in memory 130, which may include the amount of milk collected from the identiﬁed dairy cow 106 during a previous time period (e.g., the previous eight to twelve . If the amount of milk collected during the us time period is less than a predeﬁned amount associated with the identiﬁed dairy cow 106, ller 110 may determine that it is an appropriate time to milk the identiﬁed dairy cow 106; otherwise, controller 110 may determine it is not an appropriate time to milk the identiﬁed dairy cow 106.

Additionally, controller 110 may be operable to update information associated with the identiﬁed dairy cow 106 in g log 132 based on information received from additional components of system 100. For example, controller 110 may be operable to update the weight of the identiﬁed dairy cow 106 based on information received from load cells 122 of preparation stall 112. onally, controller 110 may be operable to update the size of the identiﬁed dairy cow 106 based on information received from vision system 124 of preparation stall 112.

If controller 110 determines that it is not an appropriate time to milk the identiﬁed dairy cow 106, controller 110 may generate a signal to be communicated to an actuator coupled to g gate 118C of preparation stall 112, the communicated signal initiating the opening of sorting gate 1180 such that the identiﬁed dairy cow 106 may return to holding pen 114 to be milked at a later time.

If controller 110 determines that it is an riate time to milk the identiﬁed dairy cow 106, feed manger 119 (e. g., in response to a signal received from controller 110) may open in order to provide feed to the identiﬁed dairy cow 106. Additionally, preparation robot 116a (e.g., in se to a signal received from controller 110) may position itself beneath the identiﬁed dairy cow 106 and prepare the teats of the identified dairy cow 106 for the attachment of a g apparatus 126 (e.g., by ng a sanitizing agent to the teats of the identiﬁed dairy cow 106, cleaning the teats of the identiﬁed dairy cow 106, and stimulating the teats of the identiﬁed dairy cow 106). Once preparation robot 116a has prepared the teats of the identiﬁed dairy cow 106, controller 110 may generate signals to be communicated to actuators coupled to exit gate 118b and the stall gate 117 of the milking stall 104 located adjacent to preparation stall 112, the communicated s initiating the opening of exit gate 118b and the stall gate 117 such that the identiﬁed dairy cow 106 may enter a milking stall 104 of rotary milking platform 102. Once the identiﬁed dairy cow 106 has fully entered a milking stall 104, controller 110 may (1) communicate signals to the actuators coupled exit gate 118b and stall gate 117, the s initiating the closing of exit gate 118b and stall gate 117, (2) communicate a signal to ce gate 118a of preparation stall 112, the signal initiating the opening of entrance gate 118a such that a next dairy cow 106 may enter preparation stall 112. In some embodiments, controller 110 may communicate a signal to rotary drive mechanism 108, the signal causing the rotary milking platform 102 to rotate such that the milking stall 104 in which the identiﬁed dairy cow 106 is located moves toward a ﬁrst rotational position of rotary milking platform 102 (the h” on). In other ments, rotary milking platform 102 may already be rotating as the identiﬁed dairy cow 106 enters the milking stall 104.

With the milking stall 104 of the identiﬁed dairy cow 106 moving through the attach position, attachment robot 116b (e.g., in response to a signal received from controller 110) may position itself h the identiﬁed dairy cow 106 and attach a milking apparatus 126 to the teats of the identiﬁed dairy cow 106. For example, attachment robot 116b may access a g apparatus 126 corresponding to the milking stall 104 of the identiﬁed dairy cow 106 from a known storage position within the milking stall 104 (e.g., beneath the ﬂoor of the g stall 104) and attach the ed milking apparatus 126 to the teats of the identiﬁed dairy cow 106. The various robots 116 described herein may m their respective functions while the rotary milking platform 102 rotates at a normal pace.

As rotary milking platform 102 continues to rotate, the identiﬁed dairy cow 106 is milked, with the milking apparatus 126 being detached and withdrawn (e. g., by retracting the milking apparatus 126 to the known storage position within the milking stall 104) once g is complete. With milking complete, the milking stall 104 in which the identiﬁed dairy cow 106 is located continues to rotate toward a second rotational position (the “post dip position”).

With the milking stall 104 of the identiﬁed dairy cow 106 moving through the post dip position, post dip robot 116C (e.g., in response to a signal received from controller 110) may position itself beneath the identiﬁed dairy cow 106 and apply a sanitizing agent to the teats of the identiﬁed dairy cow 106. In certain embodiments, the post dip position may be d adjacent to an exit gate 136 leading to an exit pen 138. Once post dip robot 116c has applied the sanitizing agent, control logic 134 may communicate a signal to an actuator coupled to exit gate 136, the signal initiating the opening of exit gate 136 such that the ﬁed dairy cow 106 may exit the milking stall 104 and enter the exit pen 138. In certain embodiments, exit pen 138 may be divided into an exit pen 138a and a catch pen 138b, and an exit sorting gate 137 may facilitate the sorting of g dairy cows between exit pen 138a and catch pen 138b.

If controller 110 ines that the identiﬁed cow 106 was not fully milked or that the milking apparatus 126 was detached prematurely (e.g., using historical milking data stored in milking log 132), controller 110 may not communicate a signal to the actuator coupled to exit gate 136, causing the identiﬁed dairy cow 106 to complete another milking on (as described .

Although a particular implementation of system 100 is illustrated and primarily described, the present disclosure contemplates any suitable implementation of system 100, according to particular needs. Moreover, although robotic s 116 of system 100 have been primarily described as being located at particular positions relative to milking platform 102 and/or preparation stall 112, the present disclosure contemplates any suitable number and ation of robotic devices 116 being positioned at any suitable ons, according to particular needs.

FIGURE 2 illustrates a top view of an alternative example automated rotary milking parlor system 600, ing to certain embodiments of the present disclosure. System 600 includes a rotary milking platform 102 having a number of milking stalls 104, a rotary drive mechanism 108 coupled to the rotary milking platform 102, a number of robotic devices 116, and a controller 110 including control logic 134 numbered components being substantially r to those discussed above with regard to FIGURE 1).

Additionally, rather than a ation stall 112 positioned between holding pen 114 and milking stalls 104 of rotary milking platform 102, system 600 may include an entrance lane 140. Entrance lane 140 may include any suitable number of walls each constructed of any suitable materials ed in any suitable ration operable to encourage the orderly movement of dairy cows. For example, the walls of entrance lane 140 may each include any number and combination of posts, rails, tubing, rods, connectors, , wires, and/or beams operable to form a substantially planar barricade such as a fence, wall, and/or other appropriate structure suitable to encourage the orderly movement of dairy cows 106. By decreasing the effective area of g pen 114 (e.g., using a crowd gate), the dairy cows 106 are encouraged to pass one at a time though entrance lane 140 and into milking stalls 104 of rotary milking platform 102. Entrance lane 140 may additionally e an entrance lane gate 142 for controlling the ﬂow of dairy cows 104 into g stalls 104 (to prevent dairy cows 106 from becoming injured by attempting to enter a milking stall 104 while rotary milking platform 102 is rotating).

Robotic devices 116 of system 600 may include a preparation robot 116a, an ment robot 116b, and a post dip robot 1160. Preparation robot 116a may be positioned proximate to rotary milking platform 102 such that preparation robot 116a may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 located at a first rotational position of rotary milking platform 102 (the “preparation position”). Preparation robot 116a may be operable to prepare the teats of a dairy cow 106 in the milking stall 104 located at the preparation on for the attachment of a milking apparatus 126 (e.g., by applying a first sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of the dairy cow 106).

Attachment robot 116b may be positioned proximate to rotary milking platform 102 such that ment robot 116b may extend and t from between the legs of a dairy cow 106 in a milking stall 104 located at a second rotational position of rotary milking platform 102 (the “attach position”). Attachment robot 116b may be operable to perform functions including ing a milking apparatus 126 to the teats of a dairy cow 106 in the g stall 104 located at the attach position. The milking apparatus 126 may be stored beneath the ﬂoor of the milking stall 104 (or at any other suitable location) such that the milking apparatus is accessible by attachment robot 1 16b.

Post dip robot 1160 may be positioned proximate to rotary milking platform 102 such that post dip robot 116C may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 located at a third rotational position of rotary milking platform 102 (the “post dip on”). Post dip robot 1160 may be operable to perform functions including applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 d at the post dip position. Each of the above- described functions performed by preparation robot 116a, attachment robot 116b, and post dip robot 116c may be performed while rotary milking platform 102 is rotating at a suitable pace.

In n embodiments, various components of system 600 (e. g., rotary drive ism 108 and robotic devices 116) may each be communicatively coupled (e.g., via a network facilitating wireless or wireline communication) to controller 110, which may initiate/control the automated operation of those devices (as described in further detail below). In certain embodiments, controller 110 may include control logic 134 (e.g., stored memory module 130), which may include any information, logic, and/or instructions stored and/or executed by controller 110 to control the ted operation of system 600, as described below. For example, in se to l logic 134, processor 128 may (1) communicate signals to actuators coupled to gates (e.g., exit gate 136) to initiate opening/closing of those gates, (2) communicate signals to rotary drive mechanism 108 to initiate the starting/stopping of rotary milking platform 102, and (3) communicate signals to robotic devices 116 to initiate mance of the above—described functions ated with those robotic devices 116.

In operation of an example embodiment of system 600, controller 110 may receive a signal indicating that a dairy cow 106 has entered a milking stall 104 of rotary milking platform 102 (e.g., from a presence sensor or from any other suitable component of system 600). Additionally, controller 110 may receive a signal from identiﬁcation device 120 and may include the identity (e.g., tag number) of the dairy cow 106. Once the ﬁed dairy cow 106 has fully entered a milking stall 104, controller 110 may icate signals to actuators coupled to entrance lane gate 142 and stall gate 117, the s causing ce lane gate 142 and stall gate 117 to close. Additionally, controller 110 may communicate a signal to rotary drive mechanism 108, the signal causing the rotary milking platform 102 to rotate such that the milking stall 104 in which the ﬁed dairy cow 106 is located moves toward a ﬁrst rotational position of rotary milking platform 102 (the “preparation” position). In certain embodiments, rotary milking platform 102 may y be rotating as the identiﬁed dairy cow 106 enters the milking stall 104.

With the milking stall 104 of the identiﬁed dairy cow 106 moving through the preparation position, preparation robot 116a (e.g., in response to a signal received from controller 110) may position itself beneath the identiﬁed dairy cow 106 and e the teats of the identiﬁed dairy cow 106 for the attachment of a milking apparatus 126 (e.g., by applying a sanitizing agent to the teats of the identiﬁed dairy cow 106, cleaning the teats of the identiﬁed dairy cow 106, and stimulating the teats of the identiﬁed dairy cow 106).

With the milking stall 104 of the ﬁed dairy cow 106 moving through a second onal position of rotary milking platform 102 (the “attach” position), attachment robot 116b (e.g., in response to a signal received from controller 110) may position itself beneath the ﬁed dairy cow 106 and attach a g apparatus 126 to the teats of the identiﬁed dairy cow 106. For example, attachment robot 116b may access a milking apparatus 126 corresponding to the g stall 104 of the identiﬁed dairy cow 106 from a known storage position within the milking stall 104 (e.g., beneath the floor of the milking stall 104) and attach the accessed milking apparatus 126 to the teats of the identiﬁed dairy cow 106.

As rotary milking platform 102 continues to rotate, the identiﬁed dairy cow 106 is milked, with the milking apparatus 126 being detached and withdrawn (e. g., by retracting the milking apparatus 126 to the known storage position within the milking WO 58126 stall 104) once milking is complete. With g complete, the milking stall 104 in which the identiﬁed dairy cow 106 is located continues to rotate toward a third onal position (the “post dip position”).

With the milking stall 104 of the identiﬁed dairy cow 106 moving through the post dip position, post dip robot 116C (e.g., in response to a signal received from controller 110) may position itself beneath the identiﬁed dairy cow 106 and apply a zing agent to the teats of the identiﬁed dairy cow 106. In certain embodiments, the post dip position may be d proximate to an exit gate 136 leading to an exit pen 138. Once post dip robot 116C has applied the sanitizing agent, controller 110 may communicate a signal to an actuator coupled to exit gate 136, the signal initiating the opening of exit gate 136 such that the identiﬁed dairy cow 106 may exit the g stall 104 and enter the exit pen 138. If, however, controller 110 determines either that the identiﬁed dairy cow 106 was not fully milked or that the milking apparatus 126 was detached prematurely (e.g., using historical milking data stored in milking log 132), a signal may not be communicated to the actuator coupled to exit gate 136, causing the identiﬁed dairy cow 106 to complete another milking rotation (as described above).

Although a particular implementation of system 600 is illustrated and primarily described, the present disclosure contemplates any suitable implementation of system 600, according to particular needs. Moreover, although robotic devices 116 of system 600 have been ily described as being d at particular positions relative to milking platform 102, the present disclosure contemplates robotic devices 116 being positioned at any suitable locations, according to particular needs.

FIGURE 3 illustrates a top view of an additional alternative example automated rotary milking parlor system 800, according to certain ments of the present disclosure. System 800 includes a rotary milking platform 102 having a number of g stalls 104, a rotary drive mechanism 108 coupled to the rotary milking platform, a single robotic device 116, and a controller 110 including control logic 134 (like-numbered components being substantially r to those sed above with regard to FIGURE 1).

Additionally, rather than a preparation stall 112 positioned between g pen 114 and milking stalls 104 of rotary milking platform 102, system 800 may include an entrance lane 140. Entrance lane 140 may include any suitable number of walls each constructed of any suitable materials ed in any suitable conﬁguration operable to encourage the orderly movement of dairy cows 106. For e, the walls of entrance lane 140 may each include any number and combination of posts, rails, tubing, rods, connectors, cables, wires, and/or beams operable to form a substantially planar ade such as a fence, wall, and/or other appropriate structure suitable to encourage the orderly movement of dairy cows 106. By decreasing the effective area of holding pen 114 (e.g., using a crowd gate), the dairy cows 106 are encouraged to pass one at a time though entrance lane 140 and into milking stalls 104 of rotary milking platform 102. Entrance lane 140 may additionally include an entrance lane gate 142 for controlling the ﬂow of dairy cows 104 into milking stalls 104 (to prevent dairy cows 106 from becoming injured by attempting to enter a milking stall 104 while rotary milking rm 102 is rotating).

The single robotic device 116 of system 800 may be oned proximate to rotary milking rm 102 such that the single robotic device 116 may (I) extend and retract from between the legs of a dairy cow 106 in a g stall 104 located at a ﬁrst rotational position of rotary milking platform 102 (the “preparation position”), (2) extend and retract from between the legs of a dairy cow 106 in a milking stall 104 located at a second rotational position of rotary milking platform 102 (the “attach position”), and (3) extend and retract from between the legs of a dairy cow 106 in a g stall 104 located at a third rotational position of rotary milking platform 102 (the “post dip position”).

With regard to a dairy cow 106 in a stall 104 moving through the preparation position, the single robotic device 116 may be operable to prepare the teats of a dairy cow 106 in the milking stall 104 located at the preparation position for the attachment of a milking apparatus 126 (e.g., by applying a sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of a dairy cow 106).

With regard to a dairy cow 106 in a stall 104 moving through the attach position, the single c device 116 may be operable to m ﬁinctions including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the attach position. The milking apparatus 126 may be located beneath the ﬂoor of the g stall 104 located at the ﬁrst rotational position of rotary milking platform 102 (or at any other suitable on) such that the milking apparatus 126 is accessible by the single robotic device 116.

With regard to a dairy cow 106 in a stall 104 moving through the post dip position, the single robotic device 116 may be operable to perform functions including applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the post dip position. Each of the above-described functions performed by the single robotic device 116 may be performed while rotary milking platform 102 is rotating at any suitable pace.

In certain embodiments, various components of system 800 (e.g., rotary drive mechanism 108 and single robotic device 116) may each be communicatively coupled (e.g., via a network facilitating wireless or wireline communication) to controller 110, which may initiate/control the automated operation of those devices (as described in further detail below). In certain embodiments, controller 110 may include control logic 134 (e.g., stored memory module 130), which may e any information, logic, and/or instructions stored and/or executed by controller 110 to control the automated operation of system 800, as bed below. For example, in response to control logic 134, processor 128 may (1) communicate s to actuators coupled to gates (e.g., exit gate 136) to initiate opening/closing of those gates, (2) communicate signals to rotary drive mechanism 108 to initiate the starting/stopping of rotary milking platform 102, and (3) communicate signals to the single robotic device 116 to initiate performance of the above-described functions associated with single robotic device 116.

In operation of an example embodiment of system 800, controller 110 may receive a signal indicating that a dairy cow 106 has d a g stall 104 of rotary milking platform 102 (e.g., from a presence sensor or from any other suitable ent of system 800). Additionally, controller 110 may receive a signal from identiﬁcation device 120 and may include the ty (e. g., tag number) of the dairy cow 106. Once the identiﬁed dairy cow 106 has fully d a milking stall 104, ller 110 may communicate a signal to an actuator coupled to entrance lane gate 142, the signal causing entrance lane gate 142 to close. Additionally, controller 110 may communicate a signal to rotary drive mechanism 108, the signal causing the rotary g platform 102 to rotate such that the milking stall 104 in which the identiﬁed dairy cow 106 is located moves toward a ﬁrst rotational position of rotary milking platform 102 (the “preparation” position). In certain embodiments, rotary milking platform 102 may already by rotating as the identiﬁed dairy cow 106 enters the milking stall 104.

With the milking stall 104 of the identiﬁed dairy cow 106 moving through the preparation position, the single robotic device 116 (e.g., in response to a signal ed from controller 110) may position itself beneath the identiﬁed dairy cow 106 and prepare the teats of the dairy cow 106 for the attachment of a milking apparatus 126. In addition, the single robotic device 116 may (1) position itself beneath a dairy cow 106 in a g stall 104 moving through the attach on in order to attach a milking apparatus 126 to the teats of that dairy cow 106, and (2) position itself beneath a dairy cow 106 in a milking stall 104 moving through the post dip position in order to apply a sanitizing agent to the teats of that dairy cow 106. The milking stall 104 of the identiﬁed dairy cow 106 continues to move from the ﬁrst onal position of rotary milking platform 102 (the “preparation” position) toward a second rotational position of rotary milking platform 102 (the “attach” position).

With the milking stall 104 of the identiﬁed dairy cow 106 moving through the attach position, the single c device 116 (e.g., in response to a signal received from controller 110) may position itself h the identiﬁed dairy cow 106 and attach a milking apparatus 126 to the teats of the identiﬁed dairy cow 106. For example, the single robotic device 116 may access a milking apparatus 126 corresponding to the milking stall 104 of the identiﬁed dairy cow 106 from a known storage position within the milking stall 104 (e.g., beneath the ﬂoor of the milking stall 104) and attach the accessed milking tus 126 to the teats of the identiﬁed dairy cow 106. In addition, the single robotic device 116 may (1) position itself beneath a dairy cow 106 in a milking stall 104 moving through the preparation position in order to prepare the teats of that dairy cow 106 for the attachment of a milking tus 126, and (2) position itself beneath a dairy cow 106 in a milking stall 104 moving through the post dip position in order to apply a zing agent to the teats of that dairy cow 106.

As rotary milking platform 102 ues to rotate, the identiﬁed dairy cow 106 is milked, with the milking apparatus 126 being ed and withdrawn (e.g., by retracting the milking apparatus 126 to the known storage position within the milking stall 104) once milking is complete. With milking complete, the milking stall 104 in which the identiﬁed dairy cow 106 is located continues to rotate toward a third rotational on (the “post dip position”). With the milking stall 104 of the identiﬁed dairy cow 106 moving h the post dip position, the single robotic device 116 (e.g., in response to a signal received from controller 110) may position itself beneath the identiﬁed dairy cow 106 and apply a sanitizing agent to the teats of the identiﬁed dairy cow 106. In addition, the single robotic device 116 may (1) position itself beneath a dairy cow 106 in a milking stall 104 moving through the preparation position in order to prepare the teats of that dairy cow 106 for the attachment of a milking apparatus 126, and (2) on itself beneath a dairy cow 106 in a milking stall 104 moving through the attach position in order to attach a milking apparatus 126 to the teats of that dairy cow 106.

In certain embodiments, the post dip position may be located adjacent to an exit gate 136 g to an exit pen 138. Once single c 116 has applied the sanitizing agent, controller 110 may communicate a signal to an actuator coupled to exit gate 136, the signal initiating the opening of exit gate 136 such that the identiﬁed dairy cow may exit the milking stall 104 and enter the exit pen 138. If, however, controller 110 determines either that the identiﬁed cow was not fully milked or that the g apparatus was detached prematurely (e.g., using historical milking data stored in milking log 132), a signal may not be communicated to the or d to exit gate 136, causing the identiﬁed dairy cow 106 to complete another milking rotation (as described above). gh a particular entation of system 800 is illustrated and primarily described, the present disclosure contemplates any le implementation of system 800, according to particular needs. Moreover, although the single robotic devices 116 of system 800 has been primarily described as being located at a particular position relative to milking platform 102, the present disclosure contemplates the single robotic device 116 being positioned at any suitable location, according to particular needs FIGURES 4A-4C illustrate top views of alternative example automated rotary milking parlor systems 900a—c, according to certain embodiments of the present disclosure. Systems 900a-c include a rotary milking rm 102 having any suitable number of milking stalls 104a—h, a rotary drive mechanism 108 coupled to the rotary milking platform 102, any suitable number of robotic devices 116a—d, an entrance lane 2012/035363 140, an entrance lane gate 142, and an exit gate 136 (like—numbered components being substantially similar to those discussed above with regard to FIGURE 1).

Robotic devices 116a—d of systems 900a—c may include a preparation robot 116a, a ﬁrst attachment robot 116b, a post dip robot ll6c, and a second attachment robot 116d. Preparation robot 116a may be positioned proximate to the outer edge of rotary milking platform 102 such that preparation robot 116a may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104b) located at a ﬁrst rotational position of rotary milking platform 102 (the “preparation position”). Preparation robot 116a may be operable to prepare the teats of a dairy cow 106 in the milking stall 104 located at the preparation position for the attachment of a milking tus 126 (e.g., by applying a ﬁrst sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of the dairy cow 106).

In certain ments, the preparation position may be located proximate to an entrance lane gate 142. For example, when a ﬁrst stall 104 (e.g. milking stall 104a) is ntially nt to the entrance lane gate 142, an adjacent stall 104 (e.g. milking stall 104b) may be substantially adjacent to the ation position, as illustrated in FIGURES 4A-4C. As another example, a ﬁrst stall 104 (e.g. milking stall 104a) may be adjacent to a second stall 104 (e.g. milking stall 104b), which in turn is adjacent to a third stall 104 (e.g. milking stall 1040), such that when the ﬁrst stall 104 (e.g. milking stall 104a) is substantially adjacent to the entrance lane gate 142, the third stall 104 (e.g. g stall 1040) may be substantially adjacent to the preparation position. In other words, the entrance lane gate 142 may be separated from the preparation position by one stall (i.e. the second stall 104b, in this example).

In certain embodiments, the entrance lane gate 142 may be separated from the preparation position by fewer than three stalls.

First attachment robot 1 16b may be positioned proximate to the outer edge of rotary milking platform 102 such that ﬁrst attachment robot ll6b may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 1040) located at a second onal position of rotary milking platform 102 (the “ﬁrst attach position”). First attachment robot ll6b may be le to m functions including ing a milking apparatus 126 to the teats of a dairy cow 106 in the g stall 104 located at the ﬁrst attach position.

In certain embodiments, the ﬁrst attach position may be located proximate to the preparation position. For example, when a ﬁrst stall 104 (6g. milking stall 104b) is substantially adjacent to the preparation position, an adjacent stall 104 (e.g. milking stall 104C) may be substantially adjacent to the ﬁrst attach on, as illustrated in FIGURES 4A-4C. As another example, a ﬁrst stall 104 (e.g. milking stall 104b) may be adjacent to a second stall 104 (e.g. milking stall 1040), which in turn is adjacent to a third stall 104 (e.g. milking stall 104d), such that when the ﬁrst stall 104 (e.g. g stall 104b) is substantially adjacent to the preparation position, the third stall 104 (e.g. g stall 104d) may be substantially adjacent to the ﬁrst attach position.

In other words, the preparation position may be separated from the ﬁrst attach position by one stall (i.e. the second stall 104C, in this example). In certain ments, the preparation position may be separated from the ﬁrst attach position by fewer than three stalls.

Second attachment robot 116d may be positioned proximate to the outer edge of rotary milking platform 102 such that second attachment robot 116d may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104d) d at a third rotational position of rotary milking platform 102 (the d attach on”). Second attachment robot 1 16d may be le to perform ons including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 d at the second attach position. In some embodiments, the milking apparatus 126 may be stored beneath the ﬂoor of the milking stall 104 such that the milking apparatus is accessible by ﬁrst attachment robot 116b and second attachment robot 116d. In other embodiments, the milking apparatus 126 may be stored at any other suitable location accessible by ﬁrst attachment robot 116b and second attachment robot 116d.

In certain embodiments, the second attach position may be located proximate to the ﬁrst attach position. For example, when a ﬁrst stall 104 (e.g. milking stall 104C) is substantially adjacent to the ﬁrst attach position, an adjacent stall 104 (e.g. milking stall 104d) may be substantially adjacent to the second attach position, as illustrated in FIGURES 4A—4C. As another example, a ﬁrst stall 104 (e.g. g stall 1040) may be adjacent to a second stall 104 (e.g. g stall 104d), which in turn is adjacent to a third stall 104 (e.g. milking stall 104e), such that when the ﬁrst stall 104 (e.g. milking stall 1040) is substantially adjacent to the ﬁrst attach position, the third stall 104 (e.g. milking stall 104e) may be ntially adjacent to the second attach position. In other words, the ﬁrst attach position may be separated from the second attach position by one stall (i.e. the second stall 104d, in this example). In certain embodiments, the ﬁrst attach position may be separated from the second attach position by fewer than three stalls.

Post dip robot 116C may be positioned proximate to the outer edge of rotary milking platform 102 such that post dip robot 116c may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104g) located at a fourth rotational position of rotary g platform 102 (the “post dip position”). Post dip robot 116C may be operable to perform functions including ng a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the post dip position.

In n embodiments, the post dip position may be located proximate to an exit gate 136. For example, when a ﬁrst stall 104 (e.g. milking stall 104g) is substantially adjacent to the post dip position, an adjacent stall 104 (e.g. milking stall 104h) may be substantially nt to the exit gate 136, as illustrated in FIGURES 4A-4C. As another example, a ﬁrst stall 104 (e.g. milking stall 104i) may be adjacent to a second stall 104 (e.g. g stall 104g), which in turn is adjacent to a third stall 104 (e.g. milking stall 104h), such that when the ﬁrst stall 104 (e.g. milking stall 104i) is substantially adjacent to the post dip position, the third stall 104 (e.g. milking stall 104d) may be substantially adjacent to the exit gate 136. In other words, the post dip position may be separated from the exit gate 136 by one stall (i.e. the second stall 104g, in this example). In certain embodiments, the exit gate 136 may be separated from the post dip position by fewer than three stalls.

Each of the above-described functions performed by preparation robot 116a, ﬁrst attachment robot 116b, post dip robot 116C, and second ment robot 116d may be med while rotary milking rm 102 is substantially stationary or while the rotary milking platform 102 is rotating (as controlled by controller 110 in conjunction with rotary drive mechanism 108, as described in further detail below).

For example, one or more of the ation robot 116a, first attachment robot 116b, second attachment robot 116d, and post dip robot ll6c may be operable to move along the perimeter of rotary milking platform 102 or along a t to rotary milking platform 102 as rotary milking platform 102 rotates (e.g. in response to a signal from controller 110), allowing the robotic arm to track the movement of a dairy cow 106 located in a milking stall 104 of rotary milking platform 102. In certain embodiments, the rotary milking platform 102 may rotate at a suitable speed in order to allow each of robotic s ll6a—d sufﬁcient time to perform its functions on a dairy cow 106 in a ﬁrst milking stall 104 (e.g. milking stall 104b) before moving on to a dairy cow 106 in a second milking stall 104 (e.g. milking stall 104a). For example, rotary milking platform 102 may rotate at a speed that es a window of 6—10 seconds for a given robotic device 116 (e.g. preparation robot 116a) to perform its on while a particular stall (e.g. milking stall 104b) is substantially adjacent to the on of that robotic device 116 (e.g. the preparation position).

As described in connection with FIGURE 1, in certain embodiments, various components of systems 900a-c (e.g., rotary drive mechanism 108 and robotic devices ll6a~d) may each be communicatively d (e.g., via a network tating ss or wireline communication) to controller 110, which may initiate/control the automated operation of those devices (as described in ﬁirther detail below). In certain embodiments, controller 110 may include control logic 134 (e.g., stored memory module 130), which may include any ation, logic, and/or instructions stored and/or executed by controller 110 to control the automated operation of systems 900a- c, as described below. For example, in se to control logic 134, processor 128 may (1) communicate signals to actuators coupled to gates (e.g., exit gate 136) to initiate opening/closing of those gates, (2) communicate signals to rotary drive mechanism 108 to initiate the starting/stopping of rotary milking platform 102, and (3) communicate signals to robotic devices 116a—d to initiate performance of the above-described functions associated with those robotic devices 116a—d.

In some embodiments, each robotic device 116 (e.g. preparation robotic 116a) may be operable to detect whether the milking platform 102 has rotated such that a particular milking stall 104 is substantially adjacent to its on (e.g. the preparation on). Each robotic device 116 may then perform its associated function on a dairy cow 106 located in the particular milking stall 104. In other embodiments, ller 110 may be operable to determine whether the milking platform 102 has rotated such that a particular milking stall 104 is substantially adjacent to a particular robotic device 116. Controller 110 may then communicate signals to the ular robotic device 116, the signals g the particular robotic device 116 to m its associated function on a dairy cow 106 located in the ular milking stall 104. us arrangements of milking stalls 104a—h on rotary milking platform 102 are le. In the example of FIGURE 4A, milking stalls 104a—h are arranged in a herringbone pattern on rotary milking rm 102, such that milking stalls 104a— h are oriented on a bias relative to the perimeter of milking platform 102. In this conﬁguration, robotic devices 116a—d may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the side (i.e. between a front leg and a hind leg). In the example of FIGURE 48, milking stalls 104a-h are arranged in a tandem conﬁguration, such that the front of a dairy cow 106 in a ﬁrst milking stall 104 is adjacent to the rear of a dairy cow 106 in an adjacent milking stall 104. In this conﬁguration, robotic devices 1 16a—d may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the side (i.e. between a front leg and a hind leg). In the example of FIGURE 4C, milking stalls 104a—h are arranged in a side-by—side conﬁguration, such that a dairy cow 106 in each milking stall 104 faces the middle of rotary milking platform 102. In this conﬁguration, c devices 116a-d may extend and t from between the legs of a dairy cow 106 located in a milking stall 104 from the rear (i.e. between its hind legs). Although rotary milking platforms 102 having particular numbers of stalls 104a-h in particular conﬁgurations are illustrated, the present disclosure contemplates a rotary milking platform 102 having any suitable number of stalls 104a-h in any suitable conﬁguration.

In operation of an example embodiment of systems 900a—c, controller 110 may receive a signal ting that a dairy cow 106 has entered milking stall 104a of rotary milking platform 102 (e.g., from a presence sensor or from any other suitable component of systems 900a—c). Once the dairy cow 106 has fully entered milking stall 104a, ller 110 may communicate signals to actuators coupled to entrance lane gate 142 and stall gate 117, the signals causing entrance lane gate 142 and stall gate 117 to close. onally, controller 110 may icate a signal to rotary drive mechanism 108, the signal causing the rotary milking platform 102 to rotate such that the milking stall 104a in which the dairy cow 106 is located moves toward the preparation position. In certain embodiments, rotary milking platform 102 may already be rotating as the dairy cow 106 enters the milking stall 104a.

O 2013/158126 With the milking stall 104a of the dairy cow 106 moving through the preparation position, preparation robot 116a (e.g., in response to a signal received from controller 110) may extend n the legs of the dairy cow 106 and prepare the teats of the dairy cow 106 for the attachment of a milking apparatus 126 (e. g., by applying a sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of the dairy cow 106), while the rotary milking platform 102 continues to rotate, such that the milking stall 104a of the dairy cow 106 moves toward the ﬁrst attach position.

With the milking stall 104a of the dairy cow 106 moving through the ﬁrst attach position, ﬁrst attachment robot 116b (e.g., in response to a signal received from controller 110) may extend between the legs of the dairy cow 106 and attach a milking apparatus 126 to one or more teats of the dairy cow 106, while the rotary milking platform 102 continues to rotate, such that the g stall 104a of the dairy cow 106 moves toward the second attach position. For example, ﬁrst ment robot 116b may access a milking apparatus 126 corresponding to the g stall 104a of the dairy cow 106 from a known e position within the milking stall 104 (e.g., beneath the ﬂoor of the milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the dairy cow 106.

With the milking stall 104a of the dairy cow 106 moving through the second attach position, second attachment robot 116d (e.g., in response to a signal ed from controller 110) may extend n the legs of the dairy cow 106 and attach a milking apparatus 126 to one or more teats of the dairy cow 106, while the rotary milking platform 102 continues to rotate, such that the milking stall 104a of the dairy cow 106 moves toward the post—dip position. For example, second attachment robot 116d may access a g apparatus 126 corresponding to the milking stall 104a of the dairy cow 106 from a known storage position within the milking stall 104a (e.g., beneath the ﬂoor of the milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the dairy cow 106 which were not ed by the ﬁrst attachment robot 116b.

As rotary milking platform 102 continues to rotate, the dairy cow 106 is milked, with the milking apparatus 126 being detached and withdrawn (e.g., by retracting the milking tus 126 to the known storage position within the milking stall 104a) once milking is complete.

With the milking stall 104a of the dairy cow 106 moving through the post dip position, post dip robot 116C (e.g., in se to a signal received from controller 110) may extend between the legs of the dairy cow 106 and apply a sanitizing agent to the teats of the dairy cow 106. Once post dip robot 116c has applied the sanitizing agent, controller 110 may communicate a signal to an actuator coupled to exit gate 136, the signal initiating the opening of exit gate 136 such that the dairy cow 106 may exit the milking stall 104a. If, however, controller 110 determines either that the dairy cow 106 was not fully milked or that the milking apparatus 126 was detached prematurely (e.g., using historical milking data stored in milking log 132), a signal may not be communicated to the actuator coupled to exit gate 136, causing the dairy cow 106 to complete another milking rotation (as described .

Although a particular implementation of systems 900a—c is illustrated and primarily described, the present disclosure contemplates any suitable implementation of systems 900a—c, according to particular needs. Moreover, although c devices 116a-d of systems 900a-c have been primarily described as being d at particular positions relative to milking platform 102, the present disclosure contemplates robotic devices 116a—d being positioned at any suitable locations, according to particular needs.

In the example of FIGURES 4A—4C, the robotic devices are located along the 2O outer perimeter of the rotary milking platform. In certain other ments, the robotic devices may be located along the inner ter of the rotary milking platform. FIGURES 5A-5C illustrate top views of alternative example ted rotary milking parlor systems lOOOa-c, ing to n ments of the present disclosure. Systems c include a rotary milking platform 102 having any suitable number of milking stalls , a rotary drive mechanism 108 coupled to the rotary milking platform 102, any suitable number of robotic devices 116a-d, an entrance lane 140, an entrance lane gate 142, and an exit gate 136 numbered components being substantially similar to those discussed above with regard to FIGURE 1).

Robotic devices 116a-d of systems lOOOa—c may e a preparation robot 116a, a ﬁrst attachment robot 116b, a post dip robot 116C, and a second attachment robot 116d. Preparation robot 116a may be positioned proximate to the inner edge of rotary milking platform 102 such that preparation robot 116a may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104b) located at the preparation position. Preparation robot 116a may be operable to e the teats of a dairy cow 106 in the milking stall 104 located at the preparation position for the ment of a milking apparatus 126 (e.g., by applying a ﬁrst sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of the dairy cow 106).

In certain embodiments, the preparation on may be located proximate to an entrance lane gate 142. For e, when a ﬁrst stall 104 (e.g. milking stall 104a) is substantially adjacent to the entrance lane gate 142, an adjacent stall 104 (e.g. milking stall 104b) may be substantially adjacent to the preparation position, as illustrated in FIGURES SA-SC. As another example, a ﬁrst stall 104 (e.g. milking stall 104a) may be adjacent to a second stall 104 (e.g. g stall 104b), which in turn is adjacent to a third stall 104 (e.g. milking stall 104c), such that when the first stall 104 (e.g. milking stall 104a) is substantially adjacent to the entrance lane gate 142, the third stall 104 (e.g. milking stall 104c) may be substantially nt to the ation position. In other words, the entrance lane gate 142 may be separated from the preparation position by one stall (i.e. the second stall 104b, in this example).

First attachment robot 116b may be positioned proximate to the inner edge of rotary milking platform 102 such that ﬁrst attachment robot 116b may extend and t from between the legs of a dairy cow 106 in a milking stall 104 (milking stall 104c) located at the ﬁrst attach position. First attachment robot 116b may be operable to perform functions ing attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the ﬁrst attach position.

In certain embodiments, the ﬁrst attach position may be located ate to the preparation position. For example, when a ﬁrst stall 104 (e.g. milking stall 104b) is substantially adjacent to the preparation position, an adjacent stall 104 (e.g. milking stall 104c) may be substantially adjacent to the ﬁrst attach position, as illustrated in FIGURES SA—SC. As another example, a ﬁrst stall 104 (e.g. milking stall 104b) may be adjacent to a second stall 104 (e.g. milking stall 104c), which in turn is adjacent to a third stall 104 (e.g. milking stall 104d), such that when the ﬁrst stall 104 is substantially adjacent to the preparation position, the third stall 104 may be substantially adjacent to the ﬁrst attach on. In other words, the preparation position may be separated from the ﬁrst attach position by one stall (i.e. the second stall 104C, in this e). In certain embodiments, the ation position may be separated from the ﬁrst attach position by fewer than three stalls.

Second attachment robot 116d may be positioned proximate to the inner edge of rotary milking platform 102 such that second attachment robot 116d may extend and retract from n the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104d) located at the second attach position. Second attachment robot 116d may be operable to m functions including ing a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the second attach position. In some embodiments, the milking apparatus 126 may be stored beneath the ﬂoor of the milking stall 104 such that the milking apparatus is accessible by ﬁrst attachment robot ll6b and second attachment robot 116d. In other embodiments, the milking apparatus 126 may be stored at any other suitable location accessible by ﬁrst attachment robot 1 16b and second attachment robot 116d.

In certain embodiments, the second attach position may be located proximate to the ﬁrst attach position. For example, when a ﬁrst stall 104 (e.g. milking stall 104C) is substantially adjacent to the ﬁrst attach position, an adjacent stall 104 (e.g. milking stall 104d) may be substantially adjacent to the second attach position, as illustrated in S 5A—5C. As another e, a ﬁrst stall 104 (e.g. milking stall 1040) may be adjacent to a second stall 104 (e.g. milking stall 104d), which in turn is adjacent to a third stall 104 (e.g. milking stall 104e), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst attach position, the third stall 104 may be substantially adjacent to the second attach position. In other words, the ﬁrst attach position may be separated from the second attach position by one stall (i.e. the second stall 104d, in this example). In certain embodiments, the ﬁrst attach position may be separated from the second attach position by fewer than three stalls.

Post dip robot ll6c may be positioned ate to the inner edge of rotary milking platform 102 such that post dip robot 116C may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. g stall 104g) located at the post dip position. Post dip robot 1160 may be operable to perform ons including applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the post dip position.

In certain embodiments, the post dip position may be located proximate to an exit gate 136. For example, when a ﬁrst stall 104 (e.g. milking stall lO4h) is substantially nt to the exit gate 136, an adjacent stall 104 (e.g. milking stall 104g) may be substantially adjacent to the post dip position, as illustrated in FIGURES SA—SC. As another e, a ﬁrst stall 104 (e.g. milking stall lO4h) may be adjacent to a second stall 104 (e.g. milking stall 104g), which in turn is adjacent to a third stall 104 (e.g. milking stall 1041), such that when the ﬁrst stall 104 is substantially nt to the exit gate 136, the third stall 104 may be substantially adjacent to the post dip position. In other words, the exit gate 136 may be separated from the post dip position by one stall (i.e. the second stall 104g, in this example). In n embodiments, the exit gate 136 may be ted from the post dip position by fewer than three stalls.

Each of the above—described functions performed by preparation robot 116a, ﬁrst attachment robot 116b, post dip robot 116C, and second attachment robot 116d may be performed while rotary milking platform 102 is substantially nary or while the rotary milking platform 102 is rotating (as controlled by controller 110 in conjunction with rotary drive mechanism 108, as described in further detail below).

For example, one or more of the preparation robot 116a, ﬁrst attachment robot 116b, second attachment robot 116d, and post dip robot 1160 may be operable to move along the perimeter of rotary milking platform 102 or along a tangent to rotary milking platform 102 as rotary milking platform 102 rotates (e.g. in se to a signal from controller 110), allowing the robotic arm to track the movement of a dairy cow 106 located in a milking stall 104 of rotary milking platform 102. In certain embodiments, the rotary milking platform 102 may rotate at a suitable speed in order to allow each of robotic device ll6a~d sufﬁcient time to perform its functions on a dairy cow 106 in a ﬁrst milking stall 104 (e.g. milking stall 104b) before moving on to a dairy cow 106 in a second milking stall 104 (e.g. g stall 104a).

As bed in connection with FIGURE 1, in certain embodiments, various components of systems 1000a-c (e.g., rotary drive mechanism 108 and robotic devices 116a—d) may each be communicatively coupled (e.g., via a network facilitating wireless or wireline communication) to controller 110, which may initiate/control the automated ion of those devices (as described in further detail . In certain embodiments, controller 110 may include control logic 134 (e.g., stored memory module 130), which may e any information, logic, and/or instructions stored and/or ed by controller 110 to control the automated operation of systems lOOOa—c, as described below. For example, in response to control logic 134, processor 128 may (1) icate signals to actuators coupled to gates (e.g., exit gate 136) to initiate g/closing of those gates, (2) communicate signals to rotary drive mechanism 108 to initiate the starting/stopping of rotary milking platform 102, and (3) communicate signals to robotic devices 116a—d to initiate performance of the above-described functions ated with those robotic devices ll6a-d.

In some embodiments, each robotic device 116 (e.g. preparation robotic 116a) may be operable to detect whether the milking platform 102 has rotated such that a particular milking stall 104 is substantially nt to its location (e.g. the preparation position). Each robotic device 116 may then perform its associated function on a dairy cow 106 located in the particular milking stall 104. In other embodiments, controller 110 may be operable to determine r the milking platform 102 has rotated such that a particular milking stall 104 is substantially adjacent to a particular robotic device 116. Controller 110 may then communicate signals to the particular robotic device 116, the signals causing the particular robotic device 116 to perform its associated function on a dairy cow 106 located in the particular milking stall 104.

Numerous ements of milking stalls 104a—h on rotary milking platform 102 are possible. In the example of FIGURE 5A, milking stalls 104a-h are arranged in a gbone pattern on rotary milking platform 102, such that milking stalls 104a- h are oriented on a bias relative to the perimeter of milking platform 102. In this conﬁguration, robotic devices 116a-d may extend and t from between the legs of a dairy cow 106 located in a milking stall 104 from the side (i.e. between a front leg and a hind leg). In the example of FIGURE 5B, milking stalls 104a-h are arranged in a tandem conﬁguration, such that the front of a dairy cow 106 in a first milking stall 104 is adjacent to the rear of a dairy cow 106 in an adjacent milking stall 104. In this ration, robotic devices 116a-d may extend and retract from n the legs a dairy cow 106 d in a milking stall 104 from the side (i.e. between a front leg and a hind leg). In the example of FIGURE 5C, milking stalls lO4a—h are arranged in a side-by—side configuration, such that a dairy cow 106 in each milking stall 104 faces away from the middle of rotary milking platform 102. In this configuration, robotic devices 116a—d may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the rear (i.e. between its hind legs). Although rotary milking platforms 102 having particular numbers of stalls 104a-h in particular conﬁgurations are illustrated, the t disclosure contemplates a rotary milking platform 102 having any suitable number of stalls 104a-h in any suitable conﬁguration.

In operation of an example embodiment of systems 1000a~c, controller 110 may receive a signal indicating that a dairy cow 106 has entered a milking stall 104 (e.g. milking stall 104a) of rotary milking platform 102 (e.g., from a presence sensor or from any other suitable component of systems 900a-c). Once the dairy cow 106 has fully entered milking stall 104a, controller 110 may communicate signals to actuators coupled to entrance lane gate 142 and stall gate 117, the signals causing ce lane gate 142 and stall gate 117 to close. onally, controller 110 may communicate a signal to rotary drive mechanism 108, the signal causing the rotary milking rm 102 to rotate such that the milking stall 104a in which the dairy cow 106 is located moves toward the preparation position. In certain embodiments, rotary milking platform 102 may already be rotating as the dairy cow 106 enters the g stall 104.

With the milking stall 104a of the dairy cow 106 moving through the preparation position, preparation robot 116a (e.g., in response to a signal received from controller 110) may extend between the legs of the dairy cow 106 and prepare the teats of the dairy cow 106 for the ment of a milking apparatus 126 (e.g., by applying a sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of the dairy cow 106)., while the rotary milking platform 102 continues to rotate, such that the milking stall 104a of the dairy cow 106 moves toward the ﬁrst attach position.

With the milking stall 104a of the dairy cow 106 moving through the ﬁrst attach position, ﬁrst ment robot 116b (e. g., in response to a signal received from controller 110) may extend between the legs of the dairy cow 106 and attach a milking apparatus 126 to one or more teats of the dairy cow 106, while the rotary milking platform 102 continues to rotate, such that the milking stall 104a of the dairy cow 106 moves toward the second attach position. For example, ﬁrst ment robot 116b may access a g apparatus 126 corresponding to the milking stall 104a of the dairy cow 106 from a known storage position within the milking stall 104a (e. g., beneath the ﬂoor of the milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the dairy cow 106.

With the milking stall 104 of the dairy cow 106 moving through the second attach position, second attachment robot 116d (e.g., in response to a signal received from controller 110) may extend between the legs of the dairy cow 106 and attach a milking apparatus 126 to one or more teats of the dairy cow 106., while the rotary milking platform 102 continues to rotate, such that the milking stall 104a of the dairy cow 106 moves toward the post-dip on. For example, second attachment robot 116d may access a milking tus 126 corresponding to the milking stall 104a of the dairy cow 106 from a known storage position within the milking stall 104a (e.g., beneath the ﬂoor of the milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the dairy cow 106 which were not attached by the ﬁrst attachment robot 116b.

As rotary milking platform 102 continues to rotate, the dairy cow 106 is milked, with the milking apparatus 126 being detached and withdrawn (e.g., by retracting the g apparatus 126 to the known storage position within the milking stall 104a) once milking is complete.

With the milking stall 104a of the dairy cow 106 moving through the post dip position, post dip robot 116c (e.g., in response to a signal received from controller 110) may extend between the legs of the dairy cow 106 and apply a sanitizing agent to the teats of the dairy cow 106. Once post dip robot 1160 has d the sanitizing agent, controller 110 may communicate a signal to an actuator coupled to exit gate 136, the signal initiating the opening of exit gate 136 such that the dairy cow 106 may exit the g stall 104a. If, however, controller 110 determines either that the dairy cow 106 was not fully milked or that the milking apparatus 126 was detached prematurely (e.g., using historical milking data stored in milking log 132), a signal may not be communicated to the actuator d to exit gate 136, causing the dairy cow 106 to complete another milking rotation (as described above).

Although a particular implementation of s lOOOa-c is illustrated and primarily described, the present disclosure contemplates any le implementation of s 1000a-c, according to ular needs. Moreover, although robotic devices 116a—d of systems IOOOa-c have been primarily described as being located at particular positions relative to milking rm 102, the present disclosure contemplates robotic devices 116a-d being positioned at any suitable locations, ing to particular needs.

In the examples of FIGURES 4A-4C and FIGURES SA—SC, the rotary milking platform includes a single entry and a single exit. In certain other embodiments, the rotary milking platform may include multiple entries and exits. FIGURES 6A-6C illustrate top views of ative example automated rotary milking parlor systems 1100a—c, according to n embodiments of the present disclosure. Systems 1100a- 0 include a rotary milking platform 102 having any suitable number of milking stalls 104a~h, a rotary drive mechanism 108 coupled to the rotary milking platform 102, any suitable number of robotic devices 116a-h, entrance lanes 140a-b, entrance gates 142a-b, and exit gates 136a-b numbered components being substantially similar to those discussed above with regard to FIGURE 1).

In n embodiments, ﬁrst entrance gate 142a may be located near second exit gate 136b and across rotary milking platform 102 from ﬁrst exit gate 136a, such that a dairy cow 106 entering rotary milking rm 102 at ﬁrst entrance gate 142a and exiting at ﬁrst exit gate 136a may rotate through half of the circumference of rotary milking platform 102 during milking. Likewise, second entrance gate l42b may be located near ﬁrst exit gate 136a across rotary milking platform 102 from second exit gate 136b, such that a dairy cow 106 entering rotary milking platform 102 at second entrance gate 142b and exiting at second exit gate 136b may rotate h half of the circumference of rotary g platform 102 during milking. In some embodiments, because a given cow may only rotate h half of the circumference of rotary milking platform 102 during milking, rotary milking platform 102 may rotate at a slower speed, as compared to some embodiments of a rotary milking platform with a single entry and exit, in order to allow sufﬁcient time to complete the milking process. For example, rotary milking rm 102 may rotate at a speed that provides a window of 12-20 seconds for a given robotic device 116 (e.g. preparation robot 116a) to perform its function while a particular stall is substantially adjacent to the location of that robotic device 116 (e.g. the preparation position).

Robotic devices 116a-h of systems c may include a ﬁrst preparation robot 116a, a ﬁrst attachment robot 116b, a ﬁrst post dip robot 1160, a second attachment robot 116d, a second preparation robot 116e, a third attachment robot WO 58126 116f, a fourth ment robot 116g, and a second post dip robot 116h. First preparation robot 116a may be positioned proximate to the outer edge of rotary milking platform 102 such that first preparation robot 116a may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104a) located at a ﬁrst rotational position of rotary milking platform 102 (the “ﬁrst preparation position”). First preparation robot 116a may be operable to prepare the teats of a dairy cow 106 in the milking stall 104 located at the ﬁrst preparation position for the attachment of a milking apparatus 126 (e.g., by applying a ﬁrst sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of the dairy cow 106).

In certain embodiments, the ﬁrst preparation position may be located proximate to the ﬁrst entrance lane gate 142a. For example, when a ﬁrst stall 104 (e.g. milking stall 104a) is substantially adjacent to the ﬁrst ce lane gate 142a, the ﬁrst stall 104 may also be substantially adjacent to the ﬁrst preparation position, as illustrated in FIGURES 6A-6C. As another example, when a ﬁrst stall 104 (e.g. milking stall 104a) is substantially adjacent to the ﬁrst entrance lane gate 142a, an adjacent stall 104 (e.g. milking stall 104b) may be substantially adjacent to the ﬁrst preparation on. As yet another example, a ﬁrst stall 104 (e.g. g stall 104a) may be nt to a second stall 104 (e.g. milking stall 104b), which in turn is adjacent to a third stall 104 (e.g. g stall 1040), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst entrance lane gate 142a, the third stall 104 may be substantially adjacent to the ﬁrst preparation position. In other words, the ﬁrst entrance lane gate 142a may be separated from the ﬁrst preparation position by one stall (i.e. the second stall 104b, in this example). In certain embodiments, the ﬁrst entrance lane gate 142a may be separated from the ﬁrst preparation position by fewer than three stalls.

First attachment robot 1 16b may be positioned ate to the outer edge of rotary milking platform 102 such that ﬁrst attachment robot 116b may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104b) d at the ﬁrst attach position. First ment robot 116b may be operable to perform functions including attaching a g apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the ﬁrst attach position.

In certain ments, the ﬁrst attach position may be located proximate to the ﬁrst preparation position. For e, when a ﬁrst stall 104 (e.g. milking stall 104a) is substantially nt to the ﬁrst preparation position, an adjacent stall 104 may be substantially adjacent to the ﬁrst attach position (e.g. milking stall 104b), as illustrated in FIGURES 6A-6C. As another example, a ﬁrst stall 104 (e.g. milking stall 104a) may be adjacent to a second stall 104 (e.g. milking stall 104b), which in turn is adjacent to a third stall 104 (e.g. milking stall 104C), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst preparation on, the third stall 104 may be substantially adjacent to the ﬁrst attach position. In other words, the ﬁrst preparation position may be separated from the ﬁrst attach position by one stall (i.e. the second stall 104b, in this example). In certain ments, the ﬁrst preparation position may be separated from the ﬁrst attach on by fewer than three stalls.

Second attachment robot 116d may be positioned proximate to the outer edge of rotary milking platform 102 such that second attachment robot 116d may extend and t from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 1040) located at the second attach position. Second attachment robot 116d may be operable to perform functions ing attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 d at the second attach position. In some embodiments, the milking apparatus 126 may be stored beneath the ﬂoor of the milking stall 104 such that the milking apparatus is accessible by ﬁrst attachment robot 116b and second attachment robot 116d. In other embodiments, the milking apparatus 126 may be stored at any other suitable location accessible by ﬁrst attachment robot 116b and second attachment robot 116d.

In certain embodiments, the second attach position may be located proximate to the ﬁrst attach position. For example, when a ﬁrst stall 104 (e.g. milking stall 104b) is substantially adjacent to the ﬁrst attach position, an adjacent stall 104 may be substantially adjacent to the second attach on (e.g. milking stall 1040), as illustrated in FIGURES 6A—6C. As another example, a ﬁrst stall 104 (e.g. milking stall 104b) may be adjacent to a second stall 104 (e.g. milking stall 104C), which in turn is adjacent to a third stall 104 (e.g. milking stall 104d), such that when the ﬁrst stall 104 is ntially adjacent to the ﬁrst attach position, the third stall 104 may be substantially adjacent to the second attach on. In other words, the ﬁrst attach position may be separated from the second attach position by one stall (i.e. the second stall 104C, in this example). In certain embodiments, the ﬁrst attach position may be separated from the second attach position by fewer than three stalls.

First post dip robot 116C may be positioned proximate to the outer edge of rotary milking platform 102 such that ﬁrst post dip robot 116C may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. g stall 104d) located at a fourth rotational position of rotary milking platform 102 (the “ﬁrst post dip position”). First post dip robot 1160 may be operable to perform functions ing applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the ﬁrst post dip position.

In certain embodiments, the ﬁrst post dip position may be located proximate to a ﬁrst exit gate 136a. For example, when a ﬁrst stall 104 (e.g. g stall 104d) is substantially nt to the ﬁrst exit gate 136a, the ﬁrst stall 104 may also be substantially adjacent to the ﬁrst post dip position, as illustrated in FIGURES 6A-6C.

As another e, when a ﬁrst stall 104 (e.g. milking stall 104d) is substantially adjacent to the ﬁrst exit gate I36a, an adjacent stall 104 (e.g. milking stall 104C) may be substantially adjacent to the ﬁrst post dip position. As yet another e, a ﬁrst stall 104 (e.g. milking stall 104d) may be adjacent to a second stall 104 (e.g. milking stall 104C), which in turn is adjacent to a third stall 104 (e.g. milking stall 104b), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst exit gate 136a, the third stall 104 may be substantially adjacent to the ﬁrst post dip on. In other words, the ﬁrst exit gate 136a may be separated from the ﬁrst post dip position by one stall (i.e. the second stall 104C, in this example). In certain embodiments, the ﬁrst exit gate 136a may be separated from the ﬁrst post dip position by fewer than three .

Second ation robot 1166 may be positioned proximate to the outer edge of rotary milking platform 102 such that second preparation robot 1166 may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. g stall 104e) located at a ﬁfth rotational position of rotary milking platform 102 (the “second preparation position”). Second preparation robot 116e may be operable to prepare the teats of a dairy cow 106 in the milking stall 104 located at the second preparation position for the attachment of a milking apparatus 126 (e. g., by applying a ﬁrst sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and stimulating the teats of the dairy cow 106).

In certain embodiments, the second preparation on may be located proximate to the second entrance lane gate 142b. For example, when a ﬁrst stall 104 (e.g. g stall 1046) is substantially adjacent to the second entrance lane gate 142b, the ﬁrst stall 104 may also be substantially adjacent to the second preparation position, as illustrated in FIGURES 6A—6C. As another e, when a ﬁrst stall 104 (e.g. milking stall 104e) is substantially adjacent to the second entrance lane gate 142b, an adjacent stall 104 (e.g. milking stall 104f) may be substantially adjacent to the second preparation position. As yet r example, a ﬁrst stall 104 (e.g. milking stall 104e) may be adjacent to a second stall 104 (e.g. g stall 104f), which in turn is adjacent to a third stall 104 (e.g. milking stall 104g), such that when the ﬁrst stall 104 is substantially adjacent to the second entrance lane gate 142b, the third stall 104 may be substantially adjacent to the second preparation position. In other words, the second entrance lane gate 142b may be separated from the second ation position by one stall (i.e. the second stall 104f, in this example). In n embodiments, the second entrance lane gate 142b may be separated from the second preparation position by fewer than three stalls.

Third attachment robot 116f may be positioned ate to the outer edge of rotary milking platform 102 such that third attachment robot 116f may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104f) located at a sixth rotational position of rotary milking platform 102 (the “third attach position”). Third attachment robot 116f may be operable to perform functions including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the third attach position.

In certain embodiments, the third attach position may be located proximate to the second preparation position. For example, when a ﬁrst stall 104 (e.g. milking stall 104e) is substantially adjacent to the second preparation position, an adjacent stall 104 (e.g. milking stall 104i) may be substantially adjacent to the third attach position, as illustrated in FIGURES 6A-6C. As another example, a ﬁrst stall 104 (e.g. milking stall 104e) may be adjacent to a second stall 104 (e.g. milking stall 104i), which in turn is nt to a third stall 104 (e.g. milking stall 104g), such that when the ﬁrst stall 104 is substantially adjacent to the second preparation position, the third stall 104 may be substantially nt to the third attach position. In other words, the second preparation position may be separated from the third attach position by one stall (i.e. the second stall 104f, in this example). In certain embodiments, the second preparation position may be separated from the third attach position by fewer than three stalls.

Fourth attachment robot 116g may be positioned proximate to the outer edge of rotary milking platform 102 such that fourth attachment robot 116g may extend and retract from n the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104g) d at a seventh rotational position of rotary milking platform 102 (the “fourth attach position”). Fourth attachment robot 116g may be operable to perform functions including attaching a milking tus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the fourth attach on. In some embodiments, the milking apparatus 126 may be stored h the ﬂoor of the milking stall 104 such that the milking apparatus is accessible by ﬁrst attachment robot 116b and second attachment robot 116d. In other embodiments, the milking apparatus 126 may be stored at any other suitable location accessible by third attachment robot 116f and fourth attachment robot 116g.

In certain embodiments, the fourth attach position may be located proximate to the third attach position. For example, when a ﬁrst stall 104 (e.g. milking stall 104i) is substantially adjacent to the third attach on, an nt stall 104 (e.g. milking stall 104g) may be substantially adjacent to the fourth attach position, as illustrated in FIGURES 6A-6C. As another example, a ﬁrst stall 104 (e.g. milking stall 1040 may be adjacent to a second stall 104 (e.g. milking stall 104g), which in turn is adjacent to a third stall 104 (e.g. g stall 104h), such that when the ﬁrst stall 104 is substantially adjacent to the third attach position, the third stall 104 may be substantially adjacent to the fourth attach position. In other words, the third attach position may be separated from the fourth attach position by one stall (i.e. the second stall 104g, in this example). In n embodiments, the third attach on may be separated from the fourth attach position by fewer than three stalls.

Second post dip robot 116h may be positioned proximate to the outer edge of rotary milking platform 102 such that second post dip robot 116h may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. g stall 104h) located at an eighth rotational position of rotary milking platform 102 (the “second post dip position”). Second post dip robot 116h may be operable to perform functions including applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the second post dip position.

In certain embodiments, the second post dip position may be located proximate to a second exit gate 136b. For example, when a ﬁrst stall 104 (e.g. milking stall 104h) is substantially adjacent to the second exit gate 136b, the ﬁrst stall 104 may also be substantially adjacent to the second post dip position, as illustrated in FIGURES 6A-6C. As another example, when a ﬁrst stall 104 (e.g. milking stall 104h) is ntially nt to the second exit gate 136b, an adjacent stall 104 (e. g. milking stall 104g) may be substantially adjacent to the second post dip on. As yet another example, a ﬁrst stall 104 (e.g. milking stall 104h) may be adjacent to a second stall 104 (e.g. milking stall 104g), which in turn is adjacent to a third stall 104 (e. g. milking stall 104i), such that when the ﬁrst stall 104 is substantially adjacent to the second exit gate 136b, the third stall 104 may be substantially adjacent to the second post dip position. In other words, the second exit gate 136b may be ted from the second post dip position by one stall (i.e. the second stall 104g, in this example). In certain embodiments, the second exit gate 136b may be separated from the second post dip position by fewer than three .

Each of the above—described functions performed by ﬁrst preparation robot 116a, ﬁrst attachment robot 116b, ﬁrst post dip robot 1160, second attachment robot 116d, second preparation robot 116e, third attachment robot 116f, fourth attachment robot 116g, and second post dip robot 116g may be med while rotary milking platform 102 is substantially stationary or while the rotary milking platform 102 is rotating (as controlled by controller 110 in ction with rotary drive mechanism 108, as described in further detail below). For example, one or more of the robotic devices 116a—h may be operable to move along the perimeter of rotary milking platform 102 or along a tangent to rotary g platform 102 as rotary milking platform 102 rotates (e.g. in response to a signal from controller 110), allowing the c arm to track the movement of a dairy cow 106 located in a milking stall 104 of rotary milking platform 102. In certain embodiments, the rotary milking platform 102 may rotate at a suitable speed in order to allow each robotic device 116 sufﬁcient time to perform its functions on a dairy cow 106 in a ﬁrst milking stall 104 (e.g. milking stall 104a) before moving on to a dairy cow 106 in a second milking stall 104 (e.g. milking stall 104h). For example, rotary milking platform 102 may rotate at a speed that es a window of 12-20 seconds for a given robotic device 116 (e.g. preparation robot 116a) to perform its function while a ular stall is substantially adjacent to the location of that robotic device 116 (e.g. the preparation position).

As described in connection with FIGURE 1, in certain embodiments, various components of s 1100a-c (e. g., rotary drive mechanism 108 and robotic devices 116a—h) may each be communicatively coupled (e.g., via a network facilitating wireless or wireline ication) to controller 110, which may initiate/control the automated operation of those devices (as described in further detail below). In certain embodiments, controller 110 may include control logic 134 (e.g., stored memory module 130), which may include any information, logic, and/or instructions stored and/or executed by controller 110 to control the automated operation of systems 1100a-c, as described below. For example, in response to l logic 134, processor 128 may (1) communicate signals to actuators coupled to gates (e.g., exit gate 136) to initiate opening/closing of those gates, (2) communicate signals to rotary drive mechanism 108 to initiate the ng/stopping of rotary milking platform 102, and (3) communicate signals to robotic devices 116a-h to initiate performance of the above—described functions associated with those robotic devices 116a-h.

In some embodiments, each robotic device 116 (e.g. ﬁrst preparation robotic 116a) may be operable to detect whether the milking platform 102 has rotated such that a ular milking stall 104 is ntially adjacent to its location (e.g. the ﬁrst preparation position). Each robotic device 116 may then perform its associated function on a dairy cow 106 located in the particular milking stall 104. In other embodiments, controller 110 may be operable to determine r the milking platform 102 has rotated such that a particular milking stall 104 is substantially adjacent to a particular robotic device 116. Controller 110 may then communicate signals to the particular robotic device 116, the signals causing the ular robotic device 116 to m its associated on on a dairy cow 106 located in the particular milking stall 104. us arrangements of milking stalls 104a-h on rotary milking platform 102 are possible. In the example of FIGURE 6A, milking stalls 104a—h are arranged in a herringbone pattern on rotary milking platform 102, such that milking stalls 104a- h are oriented on a bias ve to the perimeter of milking rm 102. In this conﬁguration, robotic devices 116a-h may extend and retract from between the legs of 2012/035363 a dairy cow 106 located in a milking stall 104 from the side. In the example of FIGURE 68, milking stalls 104a-h are arranged in a tandem conﬁguration, such that the front of a dairy cow 106 in a ﬁrst milking stall 104 is adjacent to the rear of a dairy cow 106 in an adjacent g stall 104. In this conﬁguration, robotic devices 116a-h may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the side. In the example of FIGURE 6C, milking stalls 104a-h are ed in a side-by-side conﬁguration, such that a dairy cow 106 in each milking stall 104 faces the middle of rotary milking platform 102. In this conﬁguration, robotic devices 116a—h may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the rear between its hind legs.

Although rotary milking platforms 102 having ular numbers of stalls 104a-h in particular conﬁgurations are illustrated, the t disclosure contemplates a rotary milking platform 102 having any suitable number of stalls 104a-h in any suitable ration.

In operation of an example embodiment of systems IlOOa-c, controller 110 may receive a signal indicating that a ﬁrst dairy cow 106 has entered a ﬁrst milking stall 104 (e.g. milking stall 104a) of rotary milking platform 102 using the ﬁrst entrance lane 140a (e. g., from a presence sensor or from any other suitable component of systems c). Once the ﬁrst dairy cow 106 has fully d the ﬁrst milking stall 104a, controller 110 may communicate signals to actuators coupled to ﬁrst entrance lane gate 142a and stall gate 117, the signals causing ﬁrst entrance lane gate 142a and stall gate 117 to close. Meanwhile, controller 110 may receive a signal indicating that a second dairy cow 106 has entered a second milking stall 104 (e.g. milking stall 104e) of rotary milking platform 102 using the second entrance lane 14% (e.g., from a ce sensor or from any other suitable component of s 1100a-c). Once the second dairy cow 106 has fully entered the second g stall 104e, controller 110 may communicate signals to actuators coupled to second entrance lane gate 142b and stall gate 117, the signals causing second entrance lane gate 142b and stall gate 117 to close. Controller 110 may communicate a signal to rotary drive mechanism 108, the signal causing the rotary milking platform 102 to rotate such that the ﬁrst milking stall 104a in which the ﬁrst dairy cow 106 is located moves toward the ﬁrst preparation position and the second milking stall 104e in which the second dairy cow 106 is located moves toward the second preparation position. In certain embodiments, rotary milking platform 102 may y be rotating as the ﬁrst and second dairy cows 106 enter their respective milking stalls 104.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the ﬁrst preparation position, ﬁrst preparation robot 116a (e.g., in response to a signal received from controller 110) may extend between the legs of the ﬁrst dairy cow 106 and prepare the teats of the ﬁrst dairy cow 106 for the attachment of a g apparatus 126 (e.g., by applying a sanitizing agent to the teats of the ﬁrst dairy cow 106, cleaning the teats of the ﬁrst dairy cow 106, and stimulating the teats of the ﬁrst dairy cow 106), while the rotary milking platform 102 continues to rotate, such that the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moves toward the ﬁrst attach position. ile, with the second milking stall 104e of the second dairy cow 106 moving through the second preparation position, second preparation robot ll6e (e.g., in response to a signal ed from controller 110) may extend between the legs of the second dairy cow 106 and prepare the teats of the second dairy cow 106 for the attachment of a milking apparatus 126 (e.g., by ng a sanitizing agent to the teats of the second dairy cow 106, cleaning the teats of the second dairy cow 106, and stimulating the teats of the second dairy cow 106), while the rotary milking platform 102 continues to rotate, such that the second milking stall 104e of the second dairy cow 106 moves toward the third attach position.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the ﬁrst attach on, ﬁrst ment robot 116b (e.g., in response to a signal received from controller 110) may extend between the legs of the ﬁrst dairy cow 106 and attach a milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106, while the rotary milking platform 102 continues to rotate, such that the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moves toward the second attach position. For example, ﬁrst attachment robot ll6b may access a milking apparatus 126 corresponding to the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 from a known storage on within the ﬁrst milking stall 104a (e.g., beneath the ﬂoor of the ﬁrst milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106. Meanwhile, with the second milking stall 104e of the second dairy cow 106 moving through the third attach position, third attachment robot ll6f (e.g., in response to a signal received from controller 110) may extend between the legs of the second dairy cow 106 and attach a milking apparatus 126 to one or more teats of the second dairy cow 106, while the rotary milking platform 102 ues to rotate, such that the second milking stall 104e of the second dairy cow 106 moves toward the fourth attach position. For example, third attachment robot 116f may access a milking apparatus 126 ponding to the second milking stall 104e of the second dairy cow 106 from a known storage position within the second milking stall 104e (e.g., beneath the ﬂoor of the second milking stall 104e) and attach the accessed milking apparatus 126 to one or more teats of the second dairy cow 106.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the second attach position, second attachment robot 116d (e.g., in response to a signal received from controller 110) may extend n the legs of the ﬁrst dairy cow 106 and attach a milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106, while the rotary milking platform 102 ues to rotate, such that the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moves toward the ﬁrst post dip position. For example, second attachment robot 116d may access a milking apparatus 126 corresponding to the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 from a known storage position within the ﬁrst milking stall 104a (e. g., beneath the ﬂoor of the ﬁrst milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106 which were not attached by the ﬁrst attachment robot 116b.

Meanwhile, with the second milking stall 104e of the second dairy cow 106 moving through the fourth attach position, fourth attachment robot 116g (e.g., in response to a signal ed from controller 110) may extend between the legs of the second dairy cow 106 and attach a g apparatus 126 to one or more teats of the second dairy cow 106, while the rotary milking platform 102 continues to rotate, such that the second milking stall 104e of the second dairy cow 106 moves toward the second post dip position. For example, fourth attachment robot 116g may access a milking apparatus 126 corresponding to the second milking stall 104e of the second dairy cow 106 from a known storage position within the second milking stall 104e (e.g., beneath the ﬂoor of the second g stall 104e) and attach the accessed milking apparatus 126 to one or more teats of the second dairy cow 106 which were not attached by the third attachment robot 116f.

As rotary milking platform 102 continues to rotate, the ﬁrst and second dairy cows 106 are milked, with the tive milking apparatuses 126 being detached and withdrawn (e. g., by retracting the milking apparatus 126 to the known storage position within the milking stall 104) once milking of each cow is te.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the ﬁrst post dip position, ﬁrst post dip robot ll6c (e.g., in se to a signal received from controller 110) may extend between the legs of the ﬁrst dairy cow 106 and apply a sanitizing agent to the teats of the ﬁrst dairy cow 106. Once ﬁrst post dip robot ll6c has applied the sanitizing agent, controller 110 may communicate a signal to an actuator coupled to ﬁrst exit gate 136a, the signal initiating the opening of ﬁrst exit gate 136a such that the ﬁrst dairy cow 106 may exit the ﬁrst g stall 104a. If, however, controller 110 determines either that the ﬁrst dairy cow 106 was not fully milked or that the milking apparatus 126 was detached prematurely (e. g., using historical milking data stored in milking log 132), a signal may not be communicated to the actuator coupled to ﬁrst exit gate 136a, causing the ﬁrst dairy cow 106 to complete r milking rotation (as described above). Meanwhile, with the second milking stall 104e of the second dairy cow 106 moving through the second post dip position, second post dip robot ll6h (e.g., in response to a signal received from controller 110) may extend between the legs of the second dairy cow 106 and apply a zing agent to the teats of the second dairy cow 106. Once second post dip robot ll6h has applied the sanitizing agent, controller 110 may communicate a signal to an actuator coupled to second exit gate 136b, the signal initiating the opening of second exit gate 136b such that the second dairy cow 106 may exit the second g stall 1046. If, however, controller 110 determines either that the second dairy cow 106 was not fully milked or that the milking tus 126 was detached prematurely (e.g., using historical milking data stored in milking log 132), a signal may not be communicated to the actuator coupled to second exit gate 136b, causing the second dairy cow 106 to te another milking rotation (as described above). gh a particular implementation of systems llOOa—c is illustrated and ily described, the present sure contemplates any suitable implementation of systems 1100a-c, according to particular needs. Moreover, although robotic devices ll6a-h of systems llOOa-c have been primarily described as being d at particular positions relative to milking platform 102, the present disclosure contemplates robotic devices 116a-h being positioned at any suitable locations, according to particular needs. 2012/035363 In the example of FIGURES 6A—6C, the c devices are located along the outer ter of the rotary milking platform. In certain other embodiments, the robotic devices may be located along the inner perimeter of the rotary milking platform. FIGURES 7A-7C illustrate top views of alternative example automated rotary milking parlor systems 1200a-c, according to certain ments of the present disclosure. Systems 1200a-c include a rotary milking rm 102 having any suitable number of milking stalls 104a-h, a rotary drive mechanism 108 coupled to the rotary milking platform 102, any le number of robotic devices 116a-h, entrance lanes 140a-b, entrance gates l4Za—b, and exit gates 136a-b (like—numbered components being substantially similar to those sed above with regard to FIGURE 1).

In certain ments, ﬁrst entrance gate 142a may be located near second exit gate 136b and across rotary milking platform 102 from ﬁrst exit gate 136a, such that a dairy cow 106 entering rotary milking platform 102 at ﬁrst entrance gate 142a and exiting at ﬁrst exit gate 136a may rotate through half of the ference of rotary milking platform 102 during milking. Likewise, second entrance gate 142b may be located near ﬁrst exit gate 136a across rotary g platform 102 from second exit gate 136b, such that a dairy cow 106 entering rotary milking platform 102 at second entrance gate 142b and exiting at second exit gate 136b may rotate through half of the circumference of rotary g platform 102 during milking. In certain embodiments, because a given cow may only rotate through half of the circumference of rotary milking platform 102 during milking, rotary milking platform 102 may rotate at a slower speed, as compared to some embodiments of a rotary milking platform with a single entry and exit, in order to allow sufﬁcient time to complete the milking process. c devices 116a—h of systems 1200a-c may include a ﬁrst preparation robot 116a, a ﬁrst attachment robot 116b, a ﬁrst post dip robot ll6c, a second attachment robot 116d, a second preparation robot 116e, a third ment robot 116f, a fourth attachment robot 116g, and a second post dip robot ll6h.. First preparation robot 116a may be positioned proximate to the outer edge of rotary milking platform 102 such that ﬁrst preparation robot 116a may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 located at the ﬁrst preparation position. First preparation robot 116a may be operable to prepare the WO 58126 teats of a dairy cow 106 in the milking stall 104 (e.g. milking stall 104a) located at the ﬁrst preparation position for the attachment of a milking apparatus 126 (e.g., by applying a ﬁrst sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and ating the teats of the dairy cow 106).

In certain embodiments, the ﬁrst preparation position may be located proximate to the ﬁrst ce lane gate 142a. For example, when a ﬁrst stall 104 (e.g. milking stall 104a) is substantially adjacent to the ﬁrst entrance lane gate 142a, the ﬁrst stall 104 may also be substantially adjacent to the ﬁrst preparation position, as illustrated in S 7A—7C. As another example, when a ﬁrst stall 104 (e.g. milking stall 104a) is substantially adjacent to the ﬁrst entrance lane gate 142a, an adjacent stall 104 (e.g. milking stall 104b) may be substantially adjacent to the ﬁrst preparation position. As yet another example, a ﬁrst stall 104 (e.g. milking stall 104a) may be nt to a second stall 104 (e.g. milking stall 104b), which in turn is adjacent to a third stall 104 (e.g. milking stall 1040), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst entrance lane gate 142a, the third stall 104 may be substantially nt to the ﬁrst preparation position. In other words, the ﬁrst entrance lane gate 142a may be separated from the ﬁrst preparation position by one stall (i.e. the second stall 104b, in this example). In certain embodiments, the ﬁrst entrance lane gate 142a may be separated from the ﬁrst preparation position by fewer than three stalls.

First attachment robot 116b may be positioned proximate to the outer edge of rotary milking platform 102 such that ﬁrst attachment robot 116b may extend and retract from between the legs of a dairy cow 106 in a g stall 104 (e.g. milking stall 104b) located at the ﬁrst attach position. First attachment robot 116b may be le to perform ons including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the ﬁrst attach position.

In certain embodiments, the ﬁrst attach position may be located proximate to the ﬁrst ation position. For example, when a ﬁrst stall 104 (e.g. g stall 104a) is substantially adjacent to the ﬁrst preparation position, an adjacent stall 104 may be substantially adjacent to the ﬁrst attach position (e.g. milking stall 104b), as illustrated in FIGURES 7A-7C. As another example, a ﬁrst stall 104 (e.g. milking stall 104a) may be adjacent to a second stall 104 (e.g. milking stall 104b), which in turn is adjacent to a third stall 104 (e.g. milking stall 104C), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst preparation position, the third stall 104 may be substantially adjacent to the ﬁrst attach position. In other words, the ﬁrst preparation position may be ted from the ﬁrst attach position by one stall (i.e. the second stall 104b, in this example). In certain embodiments, the ﬁrst preparation position may be separated from the ﬁrst attach position by fewer than three stalls.

Second ment robot 116d may be oned proximate to the outer edge of rotary milking platform 102 such that second attachment robot 116d may extend and retract from n the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104C) located at the second attach position. Second attachment robot 116d may be le to perform functions including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 located at the second attach position. The milking apparatus 126 may be stored beneath the ﬂoor of the milking stall 104 (or at any other suitable location) such that the milking apparatus is accessible by ﬁrst attachment robot 1 16b and second ment robot 116d.

In certain embodiments, the second attach position may be located proximate to the ﬁrst attach position. For example, when a ﬁrst stall 104 (e.g. milking stall 104b) is substantially adjacent to the ﬁrst attach position, an adjacent stall 104 may be substantially adjacent to the second attach on (e.g. milking stall 1040), as illustrated in FIGURES 7A—7C. As another example, a ﬁrst stall 104 (e.g. milking stall 104b) may be adjacent to a second stall 104 (e.g. milking stall 104C), which in turn is adjacent to a third stall 104 (6g. milking stall 104d), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst attach position, the third stall 104 may be substantially adjacent to the second attach position. In other words, the ﬁrst attach position may be ted from the second attach position by one stall (i.e. the second stall 104C, in this example). In certain embodiments, the ﬁrst attach position may be separated from the second attach on by fewer than three stalls.

First post dip robot ll6c may be positioned proximate to the outer edge of rotary milking platform 102 such that ﬁrst post dip robot 1160 may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (eg. g stall 104d) located at the ﬁrst post dip position. First post dip robot 116C may be operable to perform functions ing applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the ﬁrst post dip position.

In certain embodiments, the ﬁrst post dip position may be located proximate to a ﬁrst exit gate 136a. For example, when a ﬁrst stall 104 (e.g. milking stall 104d) is substantially adjacent to the ﬁrst exit gate 136a, the ﬁrst stall 104 may also be ntially adjacent to the ﬁrst post dip position, as illustrated in FIGURES 7A-7C.

As another e, when a ﬁrst stall 104 (e.g. milking stall 104d) is ntially adjacent to the ﬁrst exit gate 136a, an adjacent stall 104 (e.g. milking stall 104C) may be substantially adjacent to the ﬁrst post dip position. As yet another example, a ﬁrst stall 104 (eg. milking stall 104d) may be adjacent to a second stall 104 (e.g. milking stall 1040), which in turn is adjacent to a third stall 104 (e.g. milking stall 104b), such that when the ﬁrst stall 104 is substantially adjacent to the ﬁrst exit gate 136a, the third stall 104 may be substantially nt to the ﬁrst post dip position. In other words, the ﬁrst exit gate 136a may be separated from the ﬁrst post dip position by one stall (i.e. the second stall 104C, in this example). In certain embodiments, the ﬁrst exit gate 136a may be separated from the ﬁrst post dip position by fewer than three stalls.

Second preparation robot 116e may be positioned proximate to the outer edge of rotary milking platform 102 such that second preparation robot 116e may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 1046) d at the second preparation position. Second preparation robot 116e may be operable to prepare the teats of a dairy cow 106 in the milking stall 104 located at the second preparation position for the attachment of a g apparatus 126 (e.g., by applying a ﬁrst sanitizing agent to the teats of the dairy cow 106, cleaning the teats of the dairy cow 106, and ating the teats of the dairy cow 106) In n embodiments, the second preparation position may be located proximate to the second entrance lane gate l42b. For example, when a ﬁrst stall 104 (e.g. milking stall 104e) is substantially adjacent to the second entrance lane gate 142b, the ﬁrst stall 104 may also be substantially adjacent to the second preparation on, as rated in FIGURES 7A-7C. As another example, when a ﬁrst stall 104 (e.g. milking stall 104e) is substantially adjacent to the second entrance lane gate 142b, an adjacent stall 104 (e.g. milking stall 1040 may be substantially adjacent to the second ation position. As yet another example, a ﬁrst stall 104 (eg. milking stall 104e) may be adjacent to a second stall 104 (e.g. milking stall 1043, which in turn is adjacent to a third stall 104 (e.g. milking stall 104g), such that when the ﬁrst stall 104 is substantially nt to the second ce lane gate 142b, the third stall 104 may be substantially adjacent to the second preparation position. In other words, the second entrance lane gate 142b may be separated from the second preparation position by one stall (i.e. the second stall 104f, in this example). In certain embodiments, the second entrance lane gate 142b may be separated from the second preparation position by fewer than three stalls.

Third attachment robot 116f may be positioned proximate to the outer edge of rotary milking platform 102 such that third attachment robot 116f may extend and retract from n the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104i) located at the third attach position. Third attachment robot 116f may be operable to perform ons including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the g stall 104 located at the third attach position.

In certain embodiments, the third attach position may be located proximate to the second preparation position. For example, when a ﬁrst stall 104 (e.g. g stall 104e) is substantially adjacent to the second preparation position, an adjacent stall 104 (e.g. milking stall 104i) may be ntially adjacent to the third attach position, as illustrated in FIGURES 7A-7C. As another example, a ﬁrst stall 104 (6g. milking stall 104e) may be adjacent to a second stall 104 (e.g. milking stall 104f), which in turn is adjacent to a third stall 104 (e.g. milking stall 104g), such that when the ﬁrst stall 104 is substantially adjacent to the second preparation on, the third stall 104 may be substantially adjacent to the third attach position. In other words, the second preparation position may be separated from the third attach position by one stall (i.e. the second stall 104f, in this example). In certain embodiments, the second preparation position may be ted from the third attach position by fewer than three stalls.

Fourth attachment robot 116g may be positioned proximate to the outer edge of rotary milking platform 102 such that fourth attachment robot 116g may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104g) located at a seventh rotational position of rotary milking platform 102 (the “fourth attach on”). Fourth attachment robot 116g may be operable to m functions including attaching a milking apparatus 126 to the teats of a dairy cow 106 in the milking stall 104 d at the fourth attach position. The milking apparatus 126 may be stored beneath the ﬂoor of the milking stall 104 (or at any other suitable location) such that the milking apparatus is accessible by third ment robot 116f and fourth attachment robot 116g.

In certain embodiments, the fourth attach position may be located ate to the third attach position. For example, when a ﬁrst stall 104 (e.g. milking stall 104i) is substantially adjacent to the third attach position, an adjacent stall 104 (e.g. milking stall 104g) may be substantially nt to the fourth attach position, as illustrated in FIGURES 7A—7C. As another example, a ﬁrst stall 104 (e.g. g stall 104f) may be adjacent to a second stall 104 (e.g. milking stall 104g), which in turn is adjacent to a third stall 104 (e.g. milking stall 104h), such that when the ﬁrst stall 104 is ntially adjacent to the third attach position, the third stall 104 may be substantially adjacent to the fourth attach position. In other words, the third attach position may be separated from the fourth attach position by one stall (i.e. the second stall 104g, in this example). In certain embodiments, the third attach position may be separated from the fourth attach position by fewer than three stalls.

Second post dip robot 116h may be positioned proximate to the outer edge of rotary milking platform 102 such that second post dip robot 116h may extend and retract from between the legs of a dairy cow 106 in a milking stall 104 (e.g. milking stall 104h) d at the second post dip position. Second post dip robot 116h may be operable to perform functions including applying a sanitizing agent to the teats of a dairy cow 106 in the milking stall 104 located at the second post dip position.

In certain embodiments, the second post dip position may be located proximate to a second exit gate 136b. For example, when a ﬁrst stall 104 (e.g. milking stall 104h) is substantially adjacent to the second exit gate 136b, the ﬁrst stall 104 may also be substantially adjacent to the second post dip position, as illustrated in FIGURES 7A—7C. As another e, when a ﬁrst stall 104 (e.g. g stall 104h) is substantially adjacent to the second exit gate 136b, an adjacent stall 104 (e.g. milking stall 104g) may be substantially nt to the second post dip position. As yet another example, a ﬁrst stall 104 (e.g. milking stall 104h) may be adjacent to a second stall 104 (e.g. milking stall 104g), which in turn is adjacent to a third stall 104 (e.g. milking stall 104i), such that when the ﬁrst stall 104 is substantially adjacent to the second exit gate 136b, the third stall 104 may be substantially adjacent to the second post dip position. In other words, the second exit gate 136b may be separated from the second post dip position by one stall (i.e. the second stall 104g, in this example). In n embodiments, the second exit gate l36b may be separated from the second post dip position by fewer than three stalls.

Each of the above-described functions performed by ﬁrst preparation robot 116a, ﬁrst attachment robot 116b, ﬁrst post dip robot ll6c, second attachment robot 116d, second preparation robot 1166, third attachment robot 116f, fourth attachment robot 116g, and second post dip robot 116g may be performed while rotary milking platform 102 is substantially stationary or while the rotary milking platform 102 is rotating (as controlled by controller 110 in conjunction with rotary drive mechanism 108, as described in r detail below). For example, one or more of the robotic devices 116a—h may be operable to move along the perimeter of rotary g platform 102 or along a tangent to rotary milking platform 102 as rotary milking rm 102 rotates (e.g. in response to a signal from controller 110), allowing the robotic arm to track the movement of a dairy cow 106 located in a milking stall 104 of rotary milking platform 102. In certain embodiments, the rotary milking platform 102 may rotate at a suitable speed in order to allow each robotic device 116 sufﬁcient time to perform its functions on a dairy cow 106 in a ﬁrst g stall 104 (e.g. g stall 104a) before moving on to a dairy cow 106 in a second g stall 104 (e.g. milking stall 104h).

As described in connection with FIGURE 1, in certain embodiments, various components of systems 1200a—c (e.g., rotary drive mechanism 108 and robotic devices ) may each be communicatively coupled (e.g., via a network facilitating wireless or wireline communication) to controller 110, which may initiate/control the automated operation of those s (as described in further detail below). In certain embodiments, controller 110 may include control logic 134 (e.g., stored memory module 130), which may include any information, logic, and/or instructions stored and/or executed by controller 110 to control the automated operation of systems lZOOa—c, as bed below. For e, in response to control logic 134, processor 128 may (1) communicate signals to actuators coupled to gates (e.g., exit gates 136) to te opening/closing of those gates, (2) communicate signals to rotary drive mechanism 108 to initiate the starting/stopping of rotary milking platform 102, and (3) communicate signals to robotic devices ll6a—h to initiate performance of the above-described ons associated with those robotic devices 116a-h.

In some embodiments, each robotic device 116 (e.g. ﬁrst preparation robotic 116a) may be operable to detect whether the milking platform 102 has rotated such that a particular milking stall 104 is substantially adjacent to its location (e.g. the ﬁrst preparation position). Each robotic device 116 may then m its associated function on a dairy cow 106 located in the particular milking stall 104. In other ments, ller 110 may be operable to determine whether the milking platform 102 has rotated such that a particular milking stall 104 is substantially adjacent to a particular robotic device 116. Controller 110 may then communicate signals to the particular c device 116, the signals causing the particular robotic device 116 to m its associated function on a dairy cow 106 located in the particular milking stall 104.

Numerous arrangements of milking stalls 104a—h on rotary milking platform 102 are possible. In the example of FIGURE 7A, milking stalls 104a-h are arranged in a herringbone pattern on rotary milking platform 102, such that milking stalls 104a- h are oriented on a bias relative to the perimeter of milking platform 102. In this conﬁguration, robotic devices 116a—h may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the side. In the example of FIGURE 7B, milking stalls 104a—h are arranged in a tandem conﬁguration, such that the front of a dairy cow 106 in a first milking stall 104 is adjacent to the rear of a dairy cow 106 in an adjacent milking stall 104. In this conﬁguration, robotic devices 116a—h may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the side. In the example of FIGURE 7C, milking stalls 104a—h are arranged in a side-by-side conﬁguration, such that a dairy cow 106 in each milking stall 104 faces away from the middle of rotary milking platform 102. In this conﬁguration, robotic s ll6a-h may extend and retract from between the legs of a dairy cow 106 located in a milking stall 104 from the rear between its hind legs.

Although rotary milking platforms 102 having particular numbers of stalls 104a-h in particular conﬁgurations are illustrated, the t disclosure plates a rotary g rm 102 having any le number of stalls 104a—h in any suitable ration.

In ion of an example embodiment of systems 1200a-c, controller 110 may receive a signal ting that a ﬁrst dairy cow 106 has entered a ﬁrst milking stall 104 (6g. milking stall 104a) of rotary milking platform 102 using the ﬁrst entrance lane 140a (e.g., from a presence sensor or from any other suitable component of systems 1200a-c). Once the ﬁrst dairy cow 106 has fully entered the ﬁrst milking stall 104a, controller 110 may communicate signals to actuators coupled to ﬁrst ce lane gate 142a and stall gate 117, the signals causing ﬁrst entrance lane gate 142a and stall gate 117 to close. ile, controller 110 may receive a signal indicating that a second dairy cow 106 has entered a second milking stall 104 (e.g. milking stall 104e) of rotary milking platform 102 using the second ce lane 140b (e.g., from a presence sensor or from any other suitable component of systems 1200a-c). Once the second dairy cow 106 has fully entered the second milking stall 104e, controller 110 may communicate signals to actuators coupled to second entrance lane gate 142b and stall gate 117, the signals causing second entrance lane gate 142b and stall gate 117 to close. Controller 110 may communicate a signal to rotary drive mechanism 108, the signal causing the rotary milking platform 102 to rotate such that the ﬁrst milking stall 104a in which the ﬁrst dairy cow 106 is located moves toward the ﬁrst preparation position and the second milking stall 104e in which the second dairy cow 106 is located moves toward the second ation position. In certain ments, rotary g platform 102 may already be rotating as the ﬁrst and second dairy cows 106 enter their respective milking stalls 104.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the ﬁrst preparation position, ﬁrst preparation robot 116a (e.g., in response to a signal received from controller 110) may extend between the legs of the ﬁrst dairy cow 106 and prepare the teats of the ﬁrst dairy cow 106 for the attachment of a milking apparatus 126 (e.g., by applying a sanitizing agent to the teats of the ﬁrst dairy cow 106, ng the teats of the ﬁrst dairy cow 106, and stimulating the teats of the ﬁrst dairy cow 106), while the rotary milking platform 102 continues to rotate, such that the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moves toward the first attach position. Meanwhile, with the second milking stall 104e of the second dairy cow 106 moving through the second preparation position, second preparation robot 116e (e.g., in response to a signal received from controller 110) may extend between the legs of the second dairy cow 106 and prepare the teats of the second dairy cow 106 for the attachment of a milking apparatus 126 (e. g., by applying a zing agent to the teats of the second dairy cow 106, cleaning the teats of the second dairy cow 106, and ating the teats of the second dairy cow 106), while the rotary milking platform 102 continues to rotate, such that the second milking stall 104e of the second dairy cow 106 moves toward the third attach position.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the ﬁrst attach position, ﬁrst ment robot 116b (e.g., in response to a signal received from controller 110) may extend between the legs of the ﬁrst dairy cow 106 and attach a milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106, while the rotary milking platform 102 continues to rotate, such that the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moves toward the second attach position. For example, ﬁrst attachment robot 116b may access a milking apparatus 126 corresponding to the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 from a known storage position within the ﬁrst milking stall 104a (e. g., beneath the floor of the ﬁrst milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106. Meanwhile, with the second milking stall 104e of the second dairy cow 106 moving through the third attach on, third attachment robot 116f (e.g., in response to a signal received from ller 110) may extend between the legs of the second dairy cow 106 and attach a milking apparatus 126 to one or more teats of the second dairy cow 106, while the rotary g platform 102 continues to rotate, such that the second milking stall 1046 of the second dairy cow 106 moves toward the fourth attach position. For example, third attachment robot 116f may access a milking apparatus 126 corresponding to the second milking stall 1046 of the second dairy cow 106 from a known storage position within the second milking stall 104e (e.g., beneath the ﬂoor of the second milking stall 104e) and attach the accessed milking apparatus 126 to one or more teats of the second dairy cow 106.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the second attach position, second attachment robot 116d (e.g., in response to a signal received from ller 110) may extend between the legs of the ﬁrst dairy cow 106 and attach a milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106, while the rotary milking rm 102 continues to rotate, such that the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moves toward the ﬁrst post dip on. For example, second ment robot 116d may access a milking apparatus 126 corresponding to the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 from a known storage position within the ﬁrst g stall 104a (e.g., beneath the ﬂoor of the ﬁrst milking stall 104a) and attach the accessed milking apparatus 126 to one or more teats of the ﬁrst dairy cow 106 which were not attached by the ﬁrst attachment robot 116b.

Meanwhile, with the second milking stall 104e of the second dairy cow 106 moving through the fourth attach position, fourth attachment robot 116g (e.g., in response to a signal received from controller 110) may extend between the legs of the second dairy cow 106 and attach a milking apparatus 126 to one or more teats of the second dairy cow 106, while the rotary milking platform 102 continues to rotate, such that the second milking stall 104e of the second dairy cow 106 moves toward the second post dip position. For example, fourth attachment robot 116g may access a milking apparatus 126 corresponding to the second milking stall 104e of the second dairy cow 106 from a known storage position within the second milking stall 104e (e.g., beneath the ﬂoor of the second milking stall 104e) and attach the accessed g apparatus 126 to one or more teats of the second dairy cow 106 which were not attached by the third attachment robot 116f.

As rotary g platform 102 continues to rotate, the ﬁrst and second dairy cows 106 are milked, with the respective g apparatuses 126 being detached and withdrawn (e.g., by retracting the g tus 126 to the known storage position within the milking stall 104) once milking of each cow is complete.

With the ﬁrst milking stall 104a of the ﬁrst dairy cow 106 moving through the ﬁrst post dip position, ﬁrst post dip robot 116C (e.g., in response to a signal received from controller 110) may extend between the legs of the ﬁrst dairy cow 106 and apply a sanitizing agent to the teats of the ﬁrst dairy cow 106. Once ﬁrst post dip robot 116C has applied the sanitizing agent, controller 110 may icate a signal to an actuator coupled to ﬁrst exit gate 136a, the signal initiating the opening of ﬁrst exit gate 136a such that the ﬁrst dairy cow 106 may exit the ﬁrst milking stall 104a. If, however, controller 110 determines either that the ﬁrst dairy cow 106 was not fully milked or that the g apparatus 126 was detached prematurely (e. g., using historical milking data stored in milking log 132), a signal may not be communicated to the actuator coupled to ﬁrst exit gate 136a, causing the ﬁrst dairy cow 106 to complete r milking rotation (as described . Meanwhile, with the second milking stall 104e of the second dairy cow 106 moving through the second post dip position, second post dip robot ll6h (e.g., in response to a signal ed from controller 110) may extend between the legs of the second dairy cow 106 and apply a sanitizing agent to the teats of the second dairy cow 106. Once second post dip robot 116h has applied the sanitizing agent, controller 110 may communicate a signal to an actuator coupled to second exit gate 136b, the signal initiating the opening of second exit gate 136b such that the second dairy cow 106 may exit the second milking stall 104e. If, however, controller 110 determines either that the second dairy cow 106 was not fully milked or that the milking apparatus 126 was detached prematurely (e.g., using historical milking data stored in milking log 132), a signal may not be communicated to the actuator d to second exit gate 136b, g the second dairy cow 106 to complete another milking rotation (as described above).

Although a particular implementation of systems 1200a-c is illustrated and primarily described, the present sure contemplates any suitable implementation of systems 1200a-c, according to particular needs. Moreover, although robotic devices ll6a-h of systems 1200a-c have been primarily described as being located at particular positions ve to g platform 102, the present disclosure contemplates robotic devices 116a-h being positioned at any le locations, according to particular needs.

Although the present invention has been described with several embodiments, diverse s, substitutions, variations, alterations, and modiﬁcations may be suggested to one skilled in the art, and it is ed that the invention encompass all such changes, substitutions, variations, alterations, and modiﬁcations as fall within the spirit and scope of the appended claims.

Claims

WHAT IS CLAIMED IS:

1. A system, comprising: a first robotic device positioned proximate to a first milking stall of a rotary milking platform having a plurality of milking stalls, the first robotic device operable to prepare the teats of a first dairy livestock located in the first milking stall; a second robotic device oned proximate to a second milking stall of the rotary milking platform, the second robotic device operable to attach a first g device to the teats of a second dairy ock located in the second milking stall; a third robotic device proximate to a third milking stall of the rotary milking platform, the third robotic device operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall, wherein at least one milking stall separates the third milking stall and the second milking stall to space apart the third robotic device and the second c device; a fourth robotic device positioned proximate to a fourth milking stall of the rotary milking rm, the fourth robotic device le to apply a sanitizing agent to the teats of a fourth dairy livestock d in the fourth milking stall uent to a removal of a third milking device from the teats of the fourth dairy livestock; wherein the first robotic device is operable to prepare the teats of the first dairy livestock while the rotary milking platform is moving; the second robotic device is operable to attach the first milking device to the teats of the second dairy livestock while the rotary g platform is moving; the third robotic device is operable to attach the second milking device to the teats of the third dairy livestock while the rotary milking platform is moving; and the fourth robotic device is operable to apply the sanitizing agent to the teats of the fourth dairy livestock while the rotary milking platform is moving.

2. The system of Claim 1, wherein preparing the teats of the first dairy livestock located in the first milking stall ses: applying a sanitizing agent to the teats of the first dairy livestock; cleaning the teats of the first dairy livestock; and stimulating the teats of the first dairy livestock.

3. The system of Claim 1, wherein: the plurality of milking stalls are arranged in a herringbone uration on the rotary milking platform; the first robotic device is operable to extend and retract from between a front leg and a hind leg of the first dairy livestock located in the first milking stall; the second robotic device is operable to extend and retract from between a front leg and a hind leg of the second dairy livestock located in the second milking stall; the third robotic device is operable to extend and retract from between a front leg and a hind leg of the third dairy livestock located in the third g stall; and the fourth robotic device is operable to extend and retract from between a front leg and a hind leg of the fourth dairy livestock located in the fourth milking stall.

4. The system of Claim 1, wherein: the ity of milking stalls are arranged in a side-by-side configuration on the rotary g platform; the first robotic device is operable to extend and t from between the hind legs of the first dairy livestock located in the first milking stall; the second robotic device is operable to extend and retract from between the hind legs of the second dairy livestock located in the second milking stall; the third c device is operable to extend and retract from between the hind legs of the third dairy livestock located in the third milking stall; and the fourth robotic device is operable to extend and retract from between the hind legs of the fourth dairy livestock located in the fourth milking stall.

5. The system of Claim 1, n: the plurality of milking stalls are ed in a tandem configuration on the rotary milking platform; the first robotic device is operable to extend and retract from between a front leg and a hind leg of the first dairy livestock located in the first milking stall; the second robotic device is operable to extend and retract from between a front leg and a hind leg of the second dairy livestock located in the second milking stall; the third robotic device is operable to extend and retract from between a front leg and a hind leg of the third dairy livestock d in the third milking stall; and the fourth robotic device is operable to extend and retract from between a front leg and a hind leg of the fourth dairy livestock located in the fourth milking stall.

6. The system of Claim 1, wherein the first robotic device, the second robotic device, the third robotic device, and the fourth robotic device are positioned along an outer edge of the rotary milking platform.

7. The system of Claim 6, n the outer edge is an outermost perimeter of the rotary milking platform.

8. The system of Claim 1, wherein the first robotic device, the second robotic , the third robotic device, and the fourth robotic device are oned along an inner edge of the rotary milking rm.

9. The system of Claim 8, wherein the inner edge is an innermost perimeter of the rotary milking platform.

10. The system of Claim 1, further comprising: a fifth robotic device positioned proximate to a fifth milking stall of the rotary milking platform, the fifth robotic device operable to prepare the teats of a fifth dairy ock located in the fifth milking stall; a sixth c device positioned proximate to a sixth milking stall of the rotary milking platform, the sixth robotic device operable to attach a fourth milking device to the teats of a sixth dairy ock located in the sixth g stall; a seventh c device positioned proximate to a seventh milking stall of the rotary milking platform, the seventh robotic device operable to attach a fifth milking device to the teats of a seventh dairy livestock located in the seventh milking stall; and an eighth robotic device positioned proximate to an eighth milking stall of the rotary milking platform, the eighth robotic device operable to apply a sanitizing agent to the teats of an eighth dairy livestock located in the eighth milking stall subsequent to a removal of a sixth milking device from the teats of the eighth dairy livestock.

11. The system of Claim 10, wherein the first robotic device, the second robotic device, the third robotic device, the fourth robotic , the fifth robotic device, the sixth robotic device, the seventh robotic device, and the eighth robotic device are positioned along an outer edge of the rotary g platform.

12. The system of Claim 10, wherein the first robotic device, the second robotic device, the third robotic device, the fourth robotic , the fifth robotic device, the sixth robotic device, the seventh robotic , and the eighth robotic device are positioned along an inner edge of the rotary milking platform.