Robotic milking arrangement

Abstract

A robotic milking device (1) for full automatic milking, comprising a milking tool with a plurality of teat cups (10), a robot arm (2) for moving the teat cups (10) and connecting them to teats (102), and one teat cup holder (10) is provided for each teat cup (10) for removably placing the teat cup (10) in a resting state on the teat cup holder, teat position determining means (6) for determining the position of the teats (102), and control means for the robotic milking device (1) and moving the robot arm (2) based on the determined position of the teats (102). The control means are configured to move the robot arm (2) to a resting position during milking and to detect a cup detachment signal indicating that no teat cup (10) is attached to at least one front teat (102). The control means are further configured to adapt the resting position in dependence on the cup detachment signal. This makes it possible to move the arm with a protruding part like a teat detection system relative to the nearest teat in order to prevent the teat from touching the robot arm (2) and thereby being soiled. A corresponding method is also provided.

Description

Technical Field

[0001] This invention relates to a robotic milking apparatus for fully automated milking of dairy animals having anterior and posterior teats. The robotic milking apparatus includes: a milking tool having at least a plurality of teat cups; a robotic arm for moving the teat cups and attaching them to teats, and having a teat cup holder for each teat cup, allowing the teat cup to be releasably placed in a teat cup resting state on the teat cup holder; a teat position determining device for determining the teat position of the dairy animal's teats; and a control device for controlling the robotic milking apparatus and moving the robotic arm based on the determined teat positions, wherein the control device is configured to move the robotic arm to a resting position during milking and is also configured to detect a cup separation signal indicating that no teat cup is attached to or will be attached to at least one anterior teat. Background Technology

[0002] Such robotic milking devices or milking robots are now known and can milk a herd of dairy animals (such as cows) completely independently. Generally, two systems are known: one where a robotic arm with grippers removes teat cups from the feed hopper to attach them to the teat; and another, such as the Lely Astronaut® milking robot, where a robotic arm simultaneously carries all teat cups and attaches them from the robotic arm itself to the teat. This invention relates to the latter type of robotic milking device.

[0003] The advantage of robotic milking devices is that, in principle, the robotic arm can remain below the nipple cup, but it's closer to the nipple cup than a separately attached robotic arm. Therefore, the nipple cup is much less likely to fall to the ground and get soiled. Nevertheless, in practice, it seems possible that the nipple itself might get soiled, and thus even inflamed, which is certainly undesirable. Summary of the Invention

[0004] The object of the present invention is to provide a robotic milking apparatus of the type referred to in the introduction, wherein the aforementioned disadvantages are mitigated in any case.

[0005] The present invention achieves the aforementioned objective using a robotic milking apparatus, particularly a fully automated robotic milking apparatus for milking dairy animals with anterior and posterior teats. The robotic milking apparatus comprises: a milking tool having at least a plurality of teat cups; a robotic arm for moving and attaching the teat cups to teats, and having a teat cup holder for each teat cup, allowing the teat cup to be releasably placed in a teat cup resting state on the teat cup holder; a teat position determining device for determining the teat position of the dairy animal's teats; and a control device for controlling the robotic milking apparatus and moving the robotic arm based on the determined teat position. The control device is configured to move the robotic arm to a resting position during milking and is further configured to detect a cup separation signal indicating that no teat cup is attached to at least one anterior teat. The control device is also configured to adapt the resting position according to the cup separation signal.

[0006] Studies have shown that during accidental movement of dairy animals, the teats closest to the robotic arm (typically the anterior teats) may come into contact with the robotic arm or at least its protruding portion. The robotic arm, as part of a robotic milking apparatus, is located in the milking parlor with dairy animals and is therefore in a relatively dirty environment. Feces or other debris may accumulate on the robotic arm. Therefore, a protective cover is typically placed above the teat positioning device positioned on the robotic arm. However, this cover then traps debris or feces and protrudes at least partially beyond the teat positioning device and is positioned relatively high on the robotic arm. Thus, the teats are often in contact with this cover. In known robotic milking apparatuses, the robotic arm is kept close to the teat cups to enable rapid capture of these cups. A form is also known in which the robotic arm is spaced apart from the teats immediately after connection, but this also has disadvantages: the milking tubing and the retraction elements of the teat cups are thus under increased tension, and the dairy animal's freedom of movement is restricted, making it more likely that the robotic arm will not be able to follow accidental movement, resulting in a greater likelihood that the teat cups will be pulled over. According to the present invention, an optimal solution between these two forms has been found, wherein during milking, with the robotic arm near the teat cup, the robotic arm is held in a resting position favorable to milking, and no or only slight tension is applied to the teat cup and retraction element, allowing the dairy animal a large degree of freedom of movement, while enabling the adaptation to the resting position if a cup separation signal indicating that the teat cup has separated from the anterior teat or has begun to disengage from the anterior teat and will soon separate is detected. Since the anterior teat is free, or will soon become free, there is a possibility that accidental movement of the dairy animal will cause the exposed teat to come into contact with a portion of the robotic arm. Therefore, it is better and more hygienic if the robotic arm is at a greater distance. Admittedly, tension on other milking lines and retraction elements will increase, but this only applies to relatively small milking portions.

[0007] Importantly, it should be noted that the robotic arm is positioned during nipple milking, not during nipple cup connection. Clearly, during connection, the robotic arm must generally be closer to the nipple, especially during posterior nipple connection and closer to the anterior nipple. This is not only difficult or impossible to avoid, but also less harmful to the (anterior) nipple compared to contact with contaminants shortly after milking. After all, the nipple pores are not yet closed, so contaminants that may have come into contact with the nipple can more easily enter it.

[0008] It is also noted that some other documents describe a nipple detection system located in the middle of the nipple cup and capable of detecting the nipple only after it has rotated on its own. This appears impractical because a rotational system is necessary for the nipple detection system, which in turn requires angular calibration of the nipple detection system. Furthermore, the space between the nipple cups for providing a place for such a nipple detection system with a protective cap is very limited. Therefore, such a robotic milking device, which has never been built, is outside the scope of this invention.

[0009] A cup separation signal is a signal that the nipple cup has separated, meaning the nipple cup is no longer attached or is no longer properly attached to the nipple. This signal is generated, for example, by detecting a sudden loss of vacuum, as is known per se. Accelerometers and the like can also detect separation. Alternatively, the nipple cup may be incorrectly connected, such as being attached to the udder or a folded nipple, thus preventing the proper establishment of a milking vacuum. A signal that the milking vacuum does not meet predetermined criteria should then be considered a cup separation signal, as the likelihood of the nipple cup spontaneously detaching or being actively removed for reconnection increases. Additionally, the cup separation signal includes a signal that the robotic milking device will terminate milking of the nipple, for example, by disengaging the milking vacuum or actively retracting the nipple cup from the nipple. In any case, the nipple cup will detach from the nipple within a foreseeable time, allowing the robotic arm according to the invention to now be preventatively brought to its adapted resting position. The cup separation signal can then be compared with a signal that the milk flow from the relevant nipple meets the disconnection criteria, according to which the control system will initiate the corresponding disconnection scheme for that nipple cup.

[0010] Specific embodiments are described in the next part of the introduction to the specification.

[0011] In some embodiments, the control device is configured to set the resting position to a neutral position during milking and in the absence of a cup separation signal, wherein the robotic arm with the teat cup holder is positioned below the teat, particularly centrally below the teat. While it is advantageous to keep the robotic arm, for example, as far away as possible from the teat or the attached teat cup, to simultaneously reduce tension on the milking hose and retraction element, and for the maximum possible freedom of movement for the dairy cow, it is beneficial for the robotic arm to have a resting state below the teat, particularly centrally below the teat. In the presence of a cup separation signal, the control system can then move the robotic arm from the neutral position to another position, particularly further away from the (anterior) teat.

[0012] In some embodiments, the control device is configured to set the resting position during a milking cycle based on whether all front teats have been milked. Sometimes it may occur that not all (front) teats are milked during milking. For example, during a previous milking cycle, milking of one or more posterior teats and, where applicable, one front teat may have been interrupted. In subsequent milking cycles, milking may then be performed only on teats that have not been milked or have not been fully milked, without milking fully milked teats. The latter embodiment applies load only to the relevant teat in any case. In such cases, there are therefore one or more front teats that have not been fully milked during milking. In this case according to the invention, the resting position can be adapted based on the distance from the front teats, even from the start of milking. This is practically similar to known robotic milking devices, but in the latter, the resting state is always shifted a certain distance relative to the center of the teat, and thus, in most cases, there are the aforementioned disadvantages of increased tension and reduced degrees of freedom of movement in front of the front teats. In the cases of these embodiments of the invention, this disadvantage occurs only in the very rare case where not all available (front) nipples are milked.

[0013] In some embodiments, the control device is configured to increase the horizontal distance between the robotic arm and, more particularly, the foremost anterior teat without a teat cup in the longitudinal direction of the animal, more specifically, to at least a predetermined threshold distance. The distance between the robotic arm and the anterior teat (especially the foremost anterior teat) can be increased by moving the robotic arm away from the anterior teat. This can be achieved in a variety of different ways, but advantageously, the robotic arm is moved forward in the horizontal longitudinal direction by the control device. This has the advantage that the robotic arm does not go too low and close to the ground, and can still optimally capture the currently attached teat cups from which separation will occur, thus reducing the risk of the teat cups falling to the ground. Lateral movement is also possible, but with the disadvantage that most accidental movement of the animal will be in the longitudinal direction, and lateral movement is only relevant if it is greater than half the width of the relevant portion of the robotic arm (especially the protective cover above the teat positioning device).

[0014] Threshold distances can be based on actual measurements, such as 10 cm. The threshold distance can also be adjusted depending on the animal, for example, a large Holstein cow will require a greater distance than a small Jersey cow. Furthermore, young calves, which are typically not fully grown, may be correspondingly smaller than fully grown calves of the same breed, but will have greater freedom of movement in the milking parlor.

[0015] In a particular embodiment, the robotic milking apparatus further includes an animal position determination device for determining the position of the dairy animal as the position of a characteristic animal part of the animal, rather than the teat position. The control system includes information about the position of the teat relative to the characteristic point and is configured to adapt the placement position according to the determined animal position. In principle, the placement position of the robotic arm can be selected based on the determined teat position to enable teat cup connection. However, since the dairy animal itself can also move, determining the animal position is useful, for example, by using the animal position determination device to determine the position of a characteristic point on the animal. The characteristic point gives a direct or indirect indication of the dairy animal's position and is typically the rump or protruding hip bone, rather than the teat. By determining the position of this characteristic point, the control device can also determine the teat's location and set the placement position accordingly, partly based on known information about the teat's position relative to the characteristic point. Such information is typically stored in the control device's memory and is therefore typically used during the first part of the teat cup connection process, in which the arm must be positioned to move under the dairy animal.

[0016] Animal location determination devices can be selected from many known devices, such as mechanical probes, ultrasonic sensors, or optical cameras. Advantageously, the device includes a 3D camera, such as, in particular, a time-of-flight camera, which can generate a spatial image of, for example, the rump of a dairy animal in a single operation. The control system can process this image, for example, by detecting the feature points within it, thereby determining its location.

[0017] In some embodiments, the control device is configured for the animal position determination device or teat position determination device to repeatedly determine the corresponding animal position or teat position of at least one anterior teat without a teat cup during milking of dairy animals, and to dynamically adapt the animal position or teat position accordingly based on the placement position. Although the placement position could be adapted to the animal position or determined animal part position at once, for example by taking an associated maximum movement, it is advantageous to repeatedly determine the animal position or teat position. Thus, the robotic arm can follow any movement of the animal and adapt its placement position accordingly in each case. This, in turn, allows the robotic arm to always be positioned favorably to capture any detached teat cups and minimizes tension on the milking hose and retraction tool.

[0018] An advantageous measure could be that the control system is configured to determine which anterior nipple the interval involves and is configured to move the resting position away from the anterior nipple in a horizontal direction transverse to the longitudinal direction. Thus, the resting position can be fitted into place toward the remaining anterior nipples that have not yet been milked. This further minimizes potential tension on the associated milking hose and retraction tool. Therefore, if necessary, the resting position can be moved such that the nipple cup holders of the anterior nipples that have not yet been milked are in the fitted resting position below the associated nipple cup. Alternatively, the resting position can be moved such that the average distance between the nipple cup holders belonging to all anterior nipples that have not yet been milked is as small as possible, for example, to a weighted average position.

[0019] The present invention also relates to a method for fully automated milking of dairy animals having front and rear teats using the aforementioned robotic milking apparatus. The method includes: bringing a robotic arm with teat cups attached to teat cup holders under the dairy animal; determining the position of the teat to be milked using a teat position determining device attached to the robotic arm; attaching one or more teat cups from the teat cup holders to the teat based on the determined position; and milking the teat associated with the attached teat cups. The method further includes determining a resting position of the robotic arm relative to the teat during milking of the teat by means of a control device; monitoring a cup separation signal indicating that no teat cups are attached to at least one front teat by means of the control device; and, upon detecting the cup separation signal, moving the robotic arm by means of the control device to an adapted resting position, which is further forward and at a greater distance from the front teat along the longitudinal direction of the dairy animal. The advantages of the method according to the invention correspond to the advantages of the robotic milking apparatus and therefore need not be fully repeated.

[0020] Specific embodiments of the method according to the invention are described in the following sections of the introduction to the specification.

[0021] In some embodiments, the method further includes, by means of a control device, bringing the robotic arm to the adapted resting position if at least one anterior nipple is not being milked during the milking. As illustrated with respect to this device, the risk is practically lower because the anterior nipple orifice remains closed, but it is still recommended to avoid soiling the anterior nipple as much as possible. Note that the adapted resting position is adopted after all nipple cups are attached to the nipple that must be milked.

[0022] In some embodiments, the resting position during milking of all teats is the teat resting position with the teat cup holder below the teat, more particularly centrally below the teat, and in each case, viewed along the longitudinal direction of the dairy animal, the adapted resting position is at least a predetermined distance forward relative to all teat resting positions, or at least a predetermined distance forward of the position of the foremost teat. As with the apparatus according to the invention, when all teats with teat cups are milked, the general resting position of the robotic arm is such that the teat cup holder is approximately directly below the associated teat cup, or in any case as close as possible to the associated teat cup. If the resting position is adapted according to the invention, this is accomplished, for example, by moving the robotic arm at least a fixed distance (e.g., between 8 cm and 10 cm), particularly away from the nearest teat. Alternatively, the robotic arm may move at least a predetermined distance beyond the nearest teat (typically the foremost teat). It should be noted that the phrase "the moving robotic arm causes" refers to "the moving robotic arm causes the nipple cup holder to be secured," except in cases involving a possible collision between the nipple and the robotic arm, in which case the phrase refers to "the moving robotic arm causes the relevant collision part (usually the nipple positioning device) to be secured." The context will make the meaning clearer.

[0023] In an advantageous embodiment, the robotic arm moves from one side of the dairy animal to below it, and moves forward relative to the animal for the purpose of adapting to the resting position. This is a more common method of moving the robotic arm than moving it from the rear between the hind legs, partly because there is more space for rotating the robotic arm from the side, and partly because there is less likelihood of the robotic arm being soiled by feces. Therefore, in the most common method, the teat positioning device is almost always in front of the anterior teat along the longitudinal direction of the dairy animal, and moving it forward ensures a greater distance from the teat.

[0024] However, according to the present invention, the robotic arm can of course be connected from the rear between the hind legs. In this case, looking rearward, the nipple position determining device can be moved first past the nipple and then to a position in front of the anterior nipple. In this case, the present invention having the specific embodiment described above remains effective without limitation. However, the nipple position determining device can also be viewed from back to front, i.e., from behind the posterior nipple. Thus, in the present invention, the term "anterior nipple" must now be read as "posterior nipple," etc., because the posterior nipple is now closest to the nipple position determining device. Attached Figure Description

[0025] The invention will now be described in more detail with reference to some non-limiting embodiments and the accompanying drawings, which are shown as schematic side views in their respective cases:

[0026] - Figure 1Milking robot milking device

[0027] - Figure 2 According to existing robotic milking devices, the front nipples are not connected, and

[0028] - Figure 3 According to the robotic milking apparatus of the present invention, the anterior nipple is not connected. Detailed Implementation

[0029] Figure 1 A schematic side view illustrates a robotic milking apparatus for milking animals according to the prior art and the present invention. The robotic milking apparatus, indicated by reference numeral 1, is used for milking a dairy animal 100 (here, a cow) having a udder 101, teats 102-1 and 102-2, and a rump 103, and includes a robotic arm portion 2 and an end portion 3 hinged to a hinge 4. The end portion 4 carries a structure 5 having a teat position determining device 6 and a cover 7, and teat cup carriers 8-1 and 8-2, on which teat cups 10-1 and 10-2 can be retracted by means of ropes 9-1 and 9-2. Reference numeral 11 indicates the combination of a milk hose and a pulsating hose, and their connection to the teat cups. Reference numeral 12 is the midline between the teat cups, the teats, and the teat cup carriers. Finally, reference numeral 13 indicates a cow position detector.

[0030] The robotic milking device 1 here utilizes teat cups 10-1 and 10-2 connected to the hind teat 102-1 and the front teat 102-2 to milk the dairy animal 100. In fact, the dairy animal 100 will have more teats, such as four teats in the case of a normal dairy cow. However, this is omitted here for clarity. Additionally, for the sake of overview, parts unrelated to the invention are omitted, such as the remaining portions of the milking hoses and pulsating hoses 11 for each teat cup, the remaining portions of the robotic arms 2 and 3, teat cleaning tools, etc.

[0031] For clarity, the control device of the robotic milking unit 1 is also omitted. In reality, the control device is connected to relevant components, such as the teat position determination device 6, via hard-wired or wireless connections. The teat position determination device is here a laser scanner, but could also be a 2D or 3D camera, etc. To protect the teat position determination device 6 from soiling, particularly from dirt falling from the milked animal 100, it is protected by a cover 7 on top.

[0032] During milking, teat cups 10-1 and 10-2 are connected to the rear teats 102-1 and 102-2, respectively. Teat cup 10-1 is connected to the teat cup holder 8-1 at the end portion 3 via rope 9-1, and teat cup 10-2 is connected to the teat cup holder 8-2 via rope 9-2. At the end of milking or when the cow kicks, in case of incorrect connection or similar circumstances, the teat cups detach from the teats. The teat cups are then retracted to the teat cup holder by means of rope 9.

[0033] To prevent the nipple cups 10 from touching the ground before the milking apparatus 1 can retract them onto the nipple cup carriers 8 by means of the ropes 9, it is advantageous that the nipple cup carriers 8 are positioned or maintained close to the nipple cups. Preventing unnecessary tension on the milking and pulsating hoses 11 is also advantageous. Therefore, the nipple cup carriers 8-1 and 8-2 are arranged symmetrically about the midline 12 forming between the two nipples, the nipple cups, and the nipple cup carriers.

[0034] To ensure proper positioning of the end portion 3 relative to the teat cup 10, the robotic milking device 1 uses position information. In the illustrated example, this position information can be associated with the cow 100 and can be obtained using a cow position detector 13. This could be, for example, a 3D time-of-flight camera or other stereo camera, or a sensor. In the case of a 3D time-of-flight camera or other optical detector, feature points of the cow are identified and followed, typically the rump 103 or prominent bones. The control system also includes information about the relative positions of the udder 101 and teats relative to the rump 103, so that as the rump 103 moves, the movement of the udder 101 and teats 102 can be deduced and adapted accordingly to the position of the end portion 3.

[0035] Alternatively, a nipple position determining device 6 can be used, for example, to directly measure the movement of the nipple cup 10 or the nipple 102. This nipple position determining device then measures and follows the relative position of the nipple cup 10, thereby controlling the system to keep the initial relative position of the end portion 3 with respect to the nipple cup 10 as constant as possible.

[0036] Figure 2 A schematic side view shows a robotic milking apparatus 1' according to the prior art, wherein the anterior nipples 102-2 are not connected. Throughout the figures, similar parts are indicated by the same reference numerals, and where the reference numerals specifically refer to an apparatus according to the prior art, they are indicated by apostrophes.

[0037] In this case, it can be seen that the posterior nipple 102-1 is still being milked by the nipple cup 10'-1, but the anterior nipple 102-2 is no longer being milked, and the associated nipple cup 10'-2 has been retracted onto the nipple cup retainer 8'-2 and folded into a resting state. The end portion 3' initially remains with... Figure 1 Same location.

[0038] The distance between the cover 7' and the teat 102-2 is indicated by a. Furthermore, b indicates the distance the cow can move longitudinally within the milking area. In practice, the value of b can be measured for each animal, animal type, animal length, etc. Clearly, in particular, the milking device 1' may not be able to follow a relatively sudden movement, potentially causing the cover 7' to come into contact with the teat 102-2. Since the cover 7' is used to protect the scanner 6' from falling debris (such as excrement), it is usually relatively dirty. If the teat 102-2 then touches the cover 7', debris may enter the teat, as the teat orifice is not yet closed, which is certainly undesirable.

[0039] Figure 3 A robotic milking apparatus 1 according to the invention is shown, wherein the front teats 102-2 are not connected. It can be seen that the end portion 3 has been moved a distance Δ so that the distance between the front teats 102-2 and the cover 7 is at least distance b. Therefore, the probability of the front teats 102-2 touching the cover 7 when the cow 100 moves suddenly is extremely small. Slow movement of the cow can actually be addressed by following the cow, for example using the camera 13 or the teat position detector 6, but not by rapid movement. Furthermore, there will be greater tension on the rope 9-1 and on the milking and pulsation line assembly 11-1, but this is not only still controllable and avoids the disadvantage of rope loss, but it may only be suitable for relatively small milking sections.

[0040] It should also be noted that the forward movement of the end portion 3 relative to the cow is only useful when no teat cup 10 is still attached to the front teat 102-2. This is similarly inapplicable, or at least to a very small extent, to the rear teat 102-1, since the front teat 102-2 is located between the rear teat and the cap. Furthermore, the relevance is even less when the front teat 102-2 is still covered by the teat cup 10-2, as the teat cup protects the front teat from dirt. Finally, if the front teat has not yet been milked, such as when the relevant teat has not been milked during milking or because the teat cup is not yet attached to the relevant teat, whether it is dirty or not is less important. Because the teat orifice remains closed, dirt will not cause harm quickly. Nevertheless, in this case, maintaining a greater distance from the front teat is always at least slightly advantageous, but this is not always possible, for example, if the teat cup must still be attached, such as to the rear teat. The most important advantage of the present invention is that, during milking, when at least the front nipples are fully connected, the end portion 3 remains as close as possible to the nipple / nipple cup, and the end portion 3 moves sufficiently relative to the front nipple, so that the possibility of the front nipple accidentally coming into contact with the cap or another protrusion of the robotic arm can be reliably avoided.

[0041] An alternative embodiment should also be mentioned, in which the nipple cup is connected from the rear between the hind legs. Clearly, the invention also applies when the rear nipple 102-1, rather than the anterior nipple 102-2, no longer carries the nipple cup, and the end portion 3 is thus moved rearward in a mirror image of the above embodiment. Other details remain the same, and an important additional advantage of the invention is that such an embodiment offers further improvements in cleanliness due to its greater susceptibility to fecal soiling.

Claims

1. A robotic milking apparatus for fully automated milking of dairy animals with front and rear teats, the robotic milking apparatus comprising: - Milking equipment, said milking equipment having at least a plurality of nipple cups, - A robotic arm for moving the nipple cups and attaching them to the nipple, and a nipple cup holder for releasably placing the nipple cup in a resting position on the nipple cup holder. - A teat position determining device, said teat position determining device being used to determine the teat position of the dairy animal's teats, and - A control device for controlling the robotic milking device and moving the robotic arm based on the determined nipple position. The control device is configured to move the robotic arm to a resting position during milking and is also configured to detect a cup separation signal indicating that there is no longer or will not be any teat cups attached to at least one anterior teat. The control device is further configured to adapt the placement position to the adapted placement position according to the cup separation signal, and the robotic arm adopts the adapted placement position after all nipple cups are connected to the nipple that must be milked.

2. The robotic milking device according to claim 1, wherein, The control device is configured to set the resting position to a neutral position during milking and in the absence of a cup separation signal, in which the robotic arm with the nipple cup holder is positioned below the nipple.

3. The robotic milking apparatus according to claim 1, wherein, The robotic arm, which has the nipple cup holder, is centrally located below the nipple.

4. The robotic milking apparatus according to claim 1, wherein, The control device is configured to set the resting position during a milking cycle, depending on whether all forebrion are being milked.

5. The robotic milking apparatus according to any one of claims 1-4, wherein, The control device is configured to increase the horizontal distance between the robotic arm and the foremost teat without a teat cup along the longitudinal direction of the dairy animal.

6. The robotic milking apparatus according to claim 5, wherein, The control device is configured to increase the horizontal distance between the robotic arm and the foremost teat without a teat cup along the longitudinal direction of the dairy animal to at least a predetermined threshold distance.

7. The robotic milking apparatus according to any one of claims 1-4, further comprising an animal position determining device, the animal position determining device being used to determine the position of the dairy animal as the position of a characteristic animal part of the dairy animal, rather than the teat position, wherein, The control system includes information about the position of the nipple relative to the feature point and is configured to adapt the placement position according to the determined animal position.

8. The robotic milking apparatus according to claim 7, wherein, The control device is configured for the animal position determination device or teat position determination device to repeatedly determine the corresponding animal position or teat position of the at least one front teat without a teat cup during milking of the dairy animal, and to dynamically adapt the placement position accordingly based on the animal position or teat position.

9. A method for fully automated milking of dairy animals having front and rear teats using a robotic milking apparatus according to any one of the preceding claims, the method comprising: - The robotic arm, which holds the nipple cup on the nipple cup holder, brings the nipple cup under the dairy animal. - The position of the nipple to be milked is determined using the nipple position determination device attached to the robotic arm. - Based on the determined location, connect one or more nipple cups from the nipple cup holder to the nipple, and - Milk the nipple associated with the connected nipple cup. The method further includes: - During milking of the teat to be milked, the control device is used to determine the resting position of the robotic arm relative to the teat. - By means of the control device, a cup separation signal indicating that no nipple cup is attached to at least one anterior nipple is monitored, and - Upon detecting the cup separation signal, the control device moves the robotic arm to the adapted placement position, which is located at a greater distance from the anterior teat along the longitudinal direction of the dairy animal.

10. The method of claim 9, further comprising, by means of the control device, bringing the robotic arm to the adapted resting position if at least one anterior teat is not milked during the milking.

11. The method according to claim 9 or 10, wherein, The resting position during milking of all nipples is the nipple resting position when the nipple cup holder is below the nipple. and In each case, when viewed in the longitudinal direction of the dairy animal, the adapted resting position is at least a predetermined distance forward relative to all the teat resting positions, or at least a predetermined distance in front of the position of the foremost teat.

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