Milking device and method for milking

Abstract

The present disclosure relates to a milking arrangement (2) configured to milk a group (3) of animals (4), the milking arrangement (2) comprising an entrance area (6), a plurality of milking positions (8) configured to milk one animal (4) at a time, a selection gate (10), at least one milking stall (12), and an exit path (14). The entrance area (6) is configured to receive the group (3) of animals (4) therein. An entrance of each of the plurality of milking positions (8) is arranged to enter directly from the entrance area (6). The selection gate (10) is accessible from an exit of each of the milking positions (8). The selection gate (10) is configured to direct one or more individual animals (4) from the group (3) of animals (4) to the at least one milking stall (12) or to the exit path (14).

Description

Technical Field

[0001] This invention relates to a milking apparatus configured for milking a herd of animals. The invention also relates to a method for milking a herd of animals within the milking apparatus. Background Technology

[0002] Animals (such as dairy cows) can be milked in a milking apparatus that includes several milking positions for individual milking of the animals. At each milking position, a milking device is provided for drawing milk from the animal's teats. Typically, animals are fed into the milking apparatus in groups. The milking positions can be fixed or can be located on a rotating platform, allowing animals to enter the corresponding milking position at an inlet position and be milked while being transported on the platform to an outlet position, where they can exit the platform.

[0003] A milking apparatus is also known, comprising at least one automated milking system (AMS), i.e., a system in which animals are milked completely automatically without any direct human supervision of the milking process. Animals may enter the milking position of the AMS on a voluntary basis, allowing teat cups to be automatically attached to their teats, for example, by a robotic arm, and milking may occur. Feed may be supplied to the animals within the AMS, for example, to entice them to the AMS and the milking position. The AMS can provide an efficient means of milking groups of animals of appropriate size.

[0004] However, it has been found that animal behaviors (such as group hierarchy and pecking order within the animal group, and the time it takes for an animal to arrive at or be taken to the milking location) can sometimes interfere with the effective operation of the milking apparatus and reduce its ability to achieve the number of milkings per day. Therefore, milking apparatuses that perform milking on a completely voluntary basis may not be optimal in every situation.

[0005] WO 2008 / 003341 discloses a milking apparatus comprising a rotating platform for transporting animals to a fully automated milking station. Animals are allowed to board the rotating platform in a loading area and exit the platform in an available milking pen under the control of doors located around the platform.

[0006] EP 3214923 discloses an apparatus for automatically squeezing fluid from the udders of animals in a herd of dairy cows at a specified time. The apparatus includes multiple milking robots arranged on a base for automatically milking the animals, each milking robot having an inlet and an outlet, and a milking cluster that can be automatically attached to the animal's udder. The apparatus also includes a fenced waiting area located upstream of the milking robot's inlet for animals in the herd awaiting milking. The waiting area has an inlet for manually delivering animals to the waiting area. The apparatus has an animal drive unit for automatically moving animals located in the waiting area to the inlet of the corresponding milking robot that is becoming available.

[0007] Therefore, known solutions aim to utilize multiple milking locations in an efficient manner. Summary of the Invention

[0008] Group handling of animals does not preclude the possibility that certain individual animals within the group may require attention and / or special handling of their milk.

[0009] The inventors have recognized that in milking devices configured for milking groups of animals, which include multiple milking positions, providing the same function at each milking position is both wasteful and expensive. Furthermore, the inventors have recognized that in milking devices configured for milking groups of animals, if regulations are established for the handling of specific individual animals within the group, it is not necessary to provide the same function at each milking position.

[0010] Therefore, one object of the present invention is to provide a milking apparatus configured to treat an animal group as a group while ensuring that certain individual animals and / or their milk within the group are treated differently from the milk of the other animals in the group.

[0011] To achieve this objective, a milking apparatus having the features defined in claim 1 is provided.

[0012] According to one aspect of the invention, this objective is achieved by a milking apparatus configured to milk a herd of animals. The milking apparatus includes an inlet area, a plurality of milking positions configured to milk one animal at a time, a selection gate, at least one milking station, and an outlet path. The inlet area is configured to receive the herd of animals therein. The entrance to each of the plurality of milking positions is arranged to be directly accessible from the inlet area. The selection gate is accessible from the outlet of each milking position. The selection gate is configured to guide one or more individual animals from the herd to at least one milking pen or to the outlet path.

[0013] Since the selection gate can enter from the exit of each milking location, and since the selection gate is configured to guide one or more individual animals from the animal group to at least one milking pen or to the exit path, the milking device is configured to guide individual animals from the respective milking location to at least one milking pen or to the exit path.

[0014] Therefore, this milking device allows certain animals within the group to pass through the milking location without being milked, and to be guided at a selection gate to at least one milking pen for milking instead. Furthermore, the milking device guides animals within the group that are being milked in the milking location to the exit path at the selection gate.

[0015] Therefore, the milking device is configured to milk all animals in the herd and achieves the aforementioned purpose.

[0016] This milking device allows it to directly handle a group of animals and direct milking to certain individual animals within that group. The group of animals is brought to an entrance area, and from there, milking continues at the milking location or in at least one milking station. As described above, this milking device is capable of milking all animals within a group.

[0017] The milking device can be located in a farm building or under a protective roof structure, such as that associated with a pasture area.

[0018] The milking device is configured to milk one group of animals at a time. In this case, the group can be formed by animals that have lived together as a group for an extended period of time. Farms can raise their animals in multiple such groups. Each group is raised together and disposed of as a single entity, for example, during feeding, milking, etc. The group can be altered by adding and / or removing one or more animal individuals.

[0019] The animals are milk-producing animals, such as cows, sheep, or goats. Milking stations are configured for milking specific species of animals. For example, each milking station includes a specific number of teat cups for a particular species of animal.

[0020] Each of the multiple milking positions is configured to milk one animal at a time. Therefore, each milking position includes at least two teat cups, a vacuum connector for supplying a vacuum to the teat cups, and at least one milk conduit for guiding milk from the milking position.

[0021] Each milking station has an entrance and an exit. As described above, the entrance is arranged to allow direct entry from the entrance area, and the selection gate allows entry from the exit. Thus, an animal leaving the entrance area enters the milking station via the entrance, and exits the milking station via the exit to proceed to the selection gate.

[0022] At least one milking pen is also configured to milk one animal at a time and suitably includes at least two teat cups, a vacuum connector for supplying vacuum to the teat cups, and at least one milk conduit for guiding milk from the milking pen. The milking pen also includes equipment not present at any of the milking locations. For example, at least one milking pen may include one or more of the following: milk sensors, local milk receivers, animal handling equipment, dedicated control equipment, and / or other equipment used in handling and milking animals, analyzing milk, performing milking, and guiding milk to different containers.

[0023] The entrance area is configured to temporarily accommodate the animal herd before it is milked. Therefore, the entrance area does not include any animal feeding facilities or any resting platforms.

[0024] The entrance area is the area within a herd from which an animal intends to enter the milking location. The only way for an animal to leave the entrance area is via the milking location.

[0025] Each animal in the herd can voluntarily enter the milking location from the entrance area.

[0026] The entrance area can be an enclosed area with a dedicated entrance, for example, in the form of one or more doors or one-way doors. During the transfer of an animal group to the entrance area, two or more animals may enter the entrance area simultaneously.

[0027] Animals leaving the milking position can only do so in the direction of the selection gate. Therefore, animals in the milking position cannot re-enter the entrance area from there.

[0028] As described above, each milking station is arranged for direct access from the entrance area. In this document, the term "direct access" means that an animal leaving the entrance area will be able to enter an unoccupied milking station without deviating or being interrupted. That is, the animal leaving the entrance area will immediately place its feet in an unoccupied milking station, or an accessible pathway will guide the animal to an unoccupied milking station. This accessible pathway leads to only one of the multiple milking stations.

[0029] The milking positions in a plurality of milking positions can be arranged along one or more sides of the entrance area.

[0030] A selection gate is a gate configured to guide animals in one of at least two available directions. In this case, the selection gate is configured to guide animals toward at least one milking pen or exit path. Optionally, the selection gate may be configured to guide animals in one or more additional directions.

[0031] An exit path is a route configured to guide animals away from milking facilities (such as back to areas where the animal group stays during milking intervals, for example, to feed and / or rest). This area may be entirely or partially within a building or on a pasture.

[0032] At least one milking pen has an exit leading to an exit path. Therefore, an animal leaving at least one milking pen can rejoin the animal group when leaving the milking facility.

[0033] This milking apparatus can be used to perform any of the methods discussed herein and / or in the embodiments.

[0034] According to the implementation scheme, the milking apparatus may include animal identification devices arranged at each milking location and animal identification devices arranged at the selection gate. In this way, the identities of the animals in the milking locations can be established so that it can be determined whether to milk them at the milking location based on the identities of the relevant individual animals. Similarly, based on the established identities of individual animals, the animals can be guided to the exit path or at least one milking station.

[0035] Therefore, the milking device can be configured to guide an animal that has been milked in one of the milking positions to the exit path at the selection gate, and to guide an animal that has passed through one of the milking positions but has not been milked to at least one milking station.

[0036] Animal identification devices can be integrated into a control setup.

[0037] According to the implementation scheme, the milking apparatus may include a control arrangement configured to retain an animal that has entered a first milking position among a plurality of milking positions based on an animal ID, or to provide an animal with free passage through the first milking position to a selection gate. In this way, the milking apparatus can be configured to retain an animal waiting to be milked at a milking position within the relevant milking position, while allowing an animal that has passed through one of the milking positions without being milked to pass through a milking position without being retained there or to be milked there. This can be achieved without human intervention.

[0038] According to the implementation scheme, the control arrangement can be configured to control the selection gate based on individual animal IDs to guide one or more animal individuals from an animal group to at least one milking pen or to an exit path. In this way, the milking device can be configured to guide animal individuals that have passed through one of the milking locations but have not been milked to at least one milking pen where they are to be milked, and to guide animal individuals that have already been milked at a milking location to the exit path. Again, this can be achieved without human intervention.

[0039] According to an embodiment, the milking apparatus may include at least one robotic arm configured to attach teat cups to the teats of animals, wherein the at least one robotic arm may be associated with at least one of a plurality of milking locations and / or with at least one milking station. In this way, the milking apparatus can be automated to attach teat cups to the teats of animals in a herd.

[0040] A robotic arm may be associated with each milking location and configured to attach a teat cup to each animal entering the associated milking location. Alternatively, a robotic arm may be associated with two adjacent milking locations and configured to attach a teat cup to each animal entering the associated milking location. If the robotic arm is occupied due to attaching a teat cup at one milking location, an animal entering the other milking location must wait until a teat cup is attached to its teat.

[0041] Similarly, a robotic arm may be associated with one of at least one milking pens and configured to attach teat cups to each animal entering that milking pen. Alternatively, a robotic arm may be associated with two adjacent milking pens, or with one milking pen and an adjacent milking location.

[0042] The robotic arm can be configured to assist with other animal-related tasks, such as nipple cleaning and disinfection.

[0043] According to the implementation plan, the entrance area can be configured to allow the animal herd to move freely within it. In this way, individual animals within the herd can move freely within the entrance area, for example, to enter a milking location when it becomes available at different parts of the entrance area and / or to allow animals within the herd to avoid each other. The latter can be for lower-ranking animals within the herd. That is, in a herd of animals (such as cows), a strict hierarchy exists.

[0044] It can also be noted that the free movement of animals within the entrance area, combined with each milking position being arranged to be directly accessible from the entrance area, ensures that lower-ranking animals in the group have a fair chance of finding an available milking position without being hindered by higher-ranking animals in the group.

[0045] According to the implementation scheme, each milking location may include a first set of equipment, and at least one milking pen may include a second set of equipment. The first set of equipment differs from the second set of equipment. In this way, the animals in the milking location and / or the milk squeezed from the animals in the milking location may be handled differently than the animals in at least one milking station and / or the milk squeezed from those animals. For example, the milk extracted from the animals in the milking location may be handled according to a different scheme than the milk extracted from the animals in at least one milking station.

[0046] According to an embodiment, the milking apparatus may include a common milk receiver for milk expressed at at least two milking locations. A first set of equipment may include teat cups and milk conduits, and may be connected to the common milk receiver. The first set of equipment may be configured to guide milk from an individual animal via the milk conduit to the common milk receiver during milking of that individual animal. A second set of equipment may include teat cups, milk conduits, and a local milk receiver for temporarily storing milk expressed only from one individual animal. In this way, milk expressed from an animal at a milking location using the first set of equipment may be guided to the common milk receiver, and milk from an individual animal that is unsuitable for consumption or from an individual whose milk is unsuitable for consumption may alternatively be temporarily stored in the local milk receiver using the second set of equipment in at least one milking station.

[0047] Milk from a communal milk receiver can be further transported to a communal storage facility for edible milk or subjected to further processing for consumption purposes, hereinafter referred to as edible milk. This typically constitutes the main portion of all milk from an animal herd.

[0048] Milk from a local milk receiver can be transferred to a public milk storage facility (e.g., if milk analysis confirms it is fit for consumption), transferred to a separate milk storage facility, or disposed of. If the milk is not fit for consumption, the latter two options can be applied.

[0049] The inventors have recognized that by setting a first set of equipment and a second set of equipment at the milking location and at at least one milking station, a cost-effective milking device can be provided that can not only extract edible milk, but also handle milk that is not suitable for consumption and / or cater to individual animals requiring special treatment.

[0050] That is, the first set of equipment in a milking location where an animal producing edible milk is milked may not require special functions other than milk extraction. Since most animals produce such milk, the milking location can be equipped with this first set of equipment. Animals producing milk unsuitable for consumption, or whose milk is unsuitable for consumption, are not milked at the milking location but are guided via a selection gate to at least one milking station. A second set of equipment at at least one milking pen is designed for local storage of milk from an individual animal. Thus, milk can be collected locally, for example, upon analysis. Locally collected milk can be transferred to a separate storage unit, disposed of, or, if analysis shows the milk is suitable for consumption, transported to a public milk storage unit.

[0051] Of course, if needed, the first set of equipment can provide additional functions beyond milk extraction. For example, basic milk testing using methods such as milk conductivity measurement can be provided by the first set of equipment. However, the second set of equipment can provide additional or different functions, such as more advanced milk analysis using reagents.

[0052] According to some implementation schemes, the first set of equipment may also include a local milk receiver. In such implementations, for example for the purpose of performing milk analysis, the animals can be guided to at least one milking pen for milking using the second set of equipment.

[0053] Another object of the present invention is to provide a method for milking an animal group, the method being configured to treat the group as a group while ensuring that certain individual animals within the group and / or their milk are treated differently from the milk of other animals within the group and / or the remaining animals.

[0054] To address this other objective, a method is provided having the features defined in one of the independent claims.

[0055] According to one aspect of the invention, this other objective is achieved by a method for milking a herd of animals in a milking apparatus, the method comprising the following steps:

[0056] - Receive animal groups in the entrance area.

[0057] - Provides direct access from the entrance area to multiple milking locations.

[0058] - Milk the first individual animal in the herd at one of several milking locations.

[0059] - The first animal individual is guided from the milking machine to the exit path via a gate selection mechanism.

[0060] - To allow a second, unmilked animal to pass through one of several milking locations.

[0061] - The second animal individual is guided to at least one milking station via a selection gate, and

[0062] - Milk the second animal individual in at least one milking station.

[0063] Since the first animal is milked at one of the milking positions and guided to the exit path via a selection gate, and since the second animal is not milked at one of the milking positions, is guided to at least one milking station via a selection gate and is milked therein, the first and second animals can be disposed of differently at the milking positions and at least one milking station, respectively. Thus, the above objective is achieved.

[0064] This method can be performed in milking apparatuses such as those discussed in this paper.

[0065] Further features and advantages of the invention will become apparent when the appended claims and the following detailed description are read. Attached Figure Description

[0066] Various aspects and / or embodiments of the present invention, including their specific features and advantages, will be readily understood from the exemplary embodiments discussed in the following detailed description and accompanying drawings, in which:

[0067] Figure 1 A milking apparatus according to an embodiment is shown.

[0068] Figure 2a and Figure 2b The milking equipment of the milking apparatus is shown in particular schematically.

[0069] Figure 3 The control arrangement for controlling the milking apparatus is shown.

[0070] Figure 4 The diagram shows a pen area connected to the milking unit according to an embodiment, and

[0071] Figure 5 An embodiment of a method for milking a herd of animals at multiple milking locations is shown. Detailed Implementation

[0072] The aspects and / or embodiments of the invention will now be described more fully. Similar reference numerals denote similar elements throughout the text. For the sake of brevity and / or clarity, well-known functions or constructions are not necessarily described in detail.

[0073] Figure 1 A milking apparatus 2 according to an embodiment is shown.

[0074] Milking apparatus 2 is configured to milk a herd 3 of animals 4. This can also be referred to as batch milking of animals 4. The herd 3 of animals 4 is disposed of as a single entity and is therefore presented, for example, for milking in milking apparatus 2. Reference will be made below. Figure 4 Explanation: Multiple groups of animals awaiting milking can be located in specific pen areas during milking intervals in milking device 2.

[0075] The milking device 2 includes an inlet area 6, multiple milking positions 8 configured to milk one animal 4 at a time, a selection gate 10, at least one milking pen 12, and an outlet path 14.

[0076] Entrance area 6 is configured to receive one group 3 of animals 4 at a time. Entrance area 6 is configured to temporarily accommodate groups 3 of animals 4, while the animals 4 in group 3 enter these milking positions when milking positions 8 are available or become available.

[0077] The entrance area 6 forms an area in which animals 6 can move freely back and forth. Moreover, due to the possibility of free movement within the entrance area 6, lower-ranking animals 4 in group 3 have a fair chance of finding an available milking location 8 without being hindered by higher-ranking animals 4.

[0078] Group 3 of animals 4 can be driven or guided to entrance area 6, either manually or automatically. Entrance area 6 can be an enclosed area with a dedicated entrance (not shown).

[0079] Animal 4 enters milking position 8 directly from entrance area 6; that is, when leaving entrance area 6, animal 4 will immediately enter one of the milking positions in milking position 8 (if it is not occupied).

[0080] In the illustrated embodiment, the number of milking positions 8 is 14, but any suitable number of milking positions 8 may alternatively be provided, such as ≥4 milking positions. The number of milking positions 8 can be determined, for example, by one or more of the following: the number of animals per herd, the number of herds to be milked in the milking apparatus 2, the expected throughput of animals in the milking apparatus 2, and the available space at the farm facility. Theoretically, the more milking positions 8 there are, the higher the milking capacity of the milking apparatus 2.

[0081] The number of animals in the group is greater than the number of milking positions 8.

[0082] The entrance 16 of each of the plurality of milking positions 8 is arranged to be directly accessible from the entrance area 6. That is, the milking position 8 is adjacent to the entrance area 6 for individual animals 4 in the group 3 of animals 4 to enter the milking position 8. For example, the milking position 8 may be arranged along one or more sides of the entrance area 6.

[0083] Individual animal 4 in group 3 of animal 4 that has entered one of the milking positions 8 cannot return from milking position 8 to the entrance area 6. Instead, animal 4 in one of the milking positions 8 must leave milking position 8 via the exit 18 of the relevant milking position 8.

[0084] Selecting door 10 allows entry from exit 18 of each milking station 8.

[0085] Animals 4 in group 3 of animal 4 may be milked not only at milking position 8, but also optionally at at least one milking pen 12. Specifically, at least one milking pen 12 is provided for milking of individual animal 4 that requires special handling and / or whose milk requires special handling. See further below. Figure 2a and Figure 2b .

[0086] In the milking apparatus 2, each individual animal 4 in a group 3 of animals 4 in the entrance area 6 is milked at one of the milking positions 8 or at at least one milking pen 12.

[0087] In the illustrated embodiment, the number of milking stations 12 is two, but alternatively, a different number of milking stations 12, such as one to four, may be provided. Each milking pen 12 is configured to milk one animal 4 at a time.

[0088] The milking device 2 may include one or more outlet channels 20 that lead from the outlet 18 of each milking position 8 to the selection gate 10.

[0089] One-way doors (not shown) may be arranged in one or more exit channels 20 to guide the animal 4 in the exit channel 20 toward the selection door 10.

[0090] Such selection gates are known. In this milking apparatus 2, the selection gate 10 is configured to guide one animal individual 4 from a group 3 of animals 4 to at least one milking pen 12 or to an exit path 14 at a time.

[0091] The selection gate 10 is schematically shown in two positions. In the first position, shown in solid lines, the selection gate 10 is positioned to guide the animal toward the exit path 14. That is, the first position of the gate 10 is selected for animals 4 that have already been milked in one of the milking positions 8. In the second position, shown in dashed lines, the selection gate 10 is positioned to guide the animal 4 toward at least one milking pen 12. That is, this position of the gate 10 is selected for animals 4 that have not yet been milked in one of the milking positions 8 and will be milked in at least one milking pen 12.

[0092] Therefore, some animal individuals 4 within group 3 may pass through one of the milking positions 8 without being milked, and are guided at the selection gate 10 to at least one milking pen 12 for milking therein instead. Conversely, animal individuals 4 already milked at milking position 8 are guided at the selection gate 10 to the exit path 14. See also below. Figure 2a and Figure 2b .

[0093] At least one milking pen 12 has an exit 22 that leads to an exit path 14. Therefore, an animal 4 leaving at least one milking pen 12 can rejoin the group 3 of animals 4 when leaving the milking device 2.

[0094] One or more passageways 24 and one-way doors (not shown) may be arranged to guide the animal 4 from the exit 22 of at least one milking pen 12 toward the exit path 14.

[0095] The milking apparatus may include a transfer area 26 arranged between the selection gate 10 and at least one milking pen 12. In this way, if more animals 4 than are available at the milking pen 12 are directed toward at least one milking pen 12, the animals 4 may wait in the transfer area 26 before entering the milking pen 12 (when it becomes available).

[0096] The milking apparatus 2 includes a control arrangement 28 (shown schematically) configured to control the passage of animals 4 within the milking apparatus 2. At least, the control arrangement 28 is configured to control whether an individual animal 4 present in one of the milking positions 8 is to be milked there, and whether an individual animal 4 present at the selection gate 10 is guided toward the exit path 14 or at least one milking pen 12.

[0097] Therefore, the control arrangement 28 includes animal identification devices 30 and 32. Animal identification devices are thus known.

[0098] Therefore, the milking apparatus 2 includes an animal identification device 30 arranged at each milking position 8. Figure 1 (Only some of the milking positions in milking position 8 are shown in the image). In addition, the milking device 2 includes an animal identification device 32 arranged at the selection gate 10.

[0099] Animal identification devices (not shown) may also be installed at at least one milking pen 12.

[0100] Control arrangement 28 appropriately accesses the database of animals 4 in group 3 of animals 4. The database contains animal-related data, particularly data related to whether the corresponding individual animal is being milked at milking location 8 or in at least one milking pen 12.

[0101] Therefore, by using the animal identification device 30 located at the milking location 8 and the identity of each individual animal 4 present at the milking location 8, the control system 28 refers to the database to determine whether each particular individual animal 4 will be milked at the milking location 8.

[0102] Therefore, the control arrangement 28 is configured to either retain an animal individual 4 that has entered one of the multiple milking positions 8 within the first milking position 8 based on the animal ID, or to provide the animal individual 4 with free passage through the first milking position 8 to proceed to the selection gate 10. If the animal individual 4 remains in the first milking position 8, it is milked there. Conversely, if free passage through the first milking position 8 is provided, the animal individual 4 is not milked in the first milking position 8.

[0103] If milking is performed at one of the milking positions 8, the specific animal individual 4 is identified using an animal identification device 32 located at a selection gate 10, which is positioned in a first position (solid line), and the specific animal individual 4 is guided to an exit path 14. If milking is not performed at a milking position 8, the specific animal individual 4 is identified using an animal identification device 32 located at a selection gate 10, which is positioned in a second position (dashed line), and the specific animal individual 4 is guided to at least one milking pen 12 for milking.

[0104] Therefore, the control arrangement 28 is configured to control the selection gate 10 based on the individual animal ID to guide one or more animal individuals 4 from the group 3 of animals 4 to at least one milking pen 12 or to the exit path 14.

[0105] The following text is for reference only. Figure 3 Further discussion of example control layout 28.

[0106] Exit route 14 leads to multiple pen areas used for animal herding, as detailed below. Figure 4 The subject of discussion.

[0107] Milking device 2 can be used to perform the following (see reference) Figure 5 The method discussed is 100.

[0108] Figure 2a and Figure 2b The milking apparatus 2 is illustrated in particular. Milking apparatus 2 can be as described herein (referenced). Figure 1 , Figure 3 and Figure 4 The milking apparatus 2 discussed hereafter is also referred to in the following text. Figure 1 , Figure 3 and Figure 4 .

[0109] Figure 2a The milking position 8 is shown among the multiple milking positions 8 of the milking device 2. Figure 2b The milking pen 12 of the milking device 2 is shown.

[0110] Each milking position 8 and milking pen 12 includes at least two teat cups 48 and at least one milk conduit 52 for guiding milk from the milking position 8 and milking pen 12.

[0111] exist Figure 2a and Figure 2b In the embodiment shown, each milking position 8 and milking pen 12 includes four teat cups 48, thus allowing it to be configured for milking cows. Furthermore, each milking position 8 includes a valve device 51.

[0112] The common milk receiver 54 is connected to the common milk line 58 of the milking position 8 of the milking device 2. The milk squeezed out in the milking position 8 is guided to the common milk receiver 8 by gravity through the common milk line 58.

[0113] Depending on the number of milking positions 8 provided in the milking device 2, one or more common milk receivers 54 can be provided connected to one or more common milk lines 58. Therefore, if there are a large number of milking positions 8, milk squeezed from the first set of milking positions 8 can be transferred to the first common milk receiver 54 via the first common milk line 58, and milk from the second set of milking positions can be transferred to the second common milk receiver (not shown) via the second common milk line.

[0114] All 8 milking locations are of the same type.

[0115] like Figure 2b As shown, a local milk receiver 59 is provided at the milking pen 2 for temporary storage of milk squeezed from only one animal.

[0116] The milking vacuum is generated by vacuum system 56. Vacuum system 56 is connected to common milk receiver 54 and local milk receiver 59.

[0117] refer to Figure 2a A milking vacuum is provided at the nipple cup 48 of the milking position 8, which is connected to the common milk receiver 54, via the common milk line 58 and at least one milk conduit 52 at the corresponding milking position 8.

[0118] A valve device 51 at each milking position 8 is configured to close the connection between the teat cup 48 and the common milk line 58. This valve device 51 may also be referred to as a shut-off valve. The valve device 51 opens when the animal is being milked at the relevant milking position 8 and closes during the intervals between milkings. Therefore, when the teat cup 48 is not attached to the animal's teat, air does not leak into the common milk line 58.

[0119] Milk in the public milk receiver 54 can be pumped from the public milk receiver 54 to the public milk tank 63.

[0120] Public milk tank 63 is configured to store edible milk.

[0121] refer to Figure 2b Milking vacuum is provided at the teat cup 48 of milking pen 12 from local milk receiver 59 via at least one milk conduit 52 of milking pen 12.

[0122] Similar to the reference above Figure 2a The discussion suggests that a valve device (not shown) can be configured to open and close the connection between the nipple cup 48 and the local milk receiver 59.

[0123] Milk from animals milked in milking pen 12 can be pumped from local milk receiver 59 to public milk tank 63 or tank 65 for separating milk via three-way valve 67.

[0124] That is, for example, if milk analysis confirms that the milk is suitable for consumption, the milk in the local milk receiver 59 can be transferred to the public milk tank 63. Alternatively, if the milk is deemed unsuitable for consumption based on milk analysis or based on individual animal data stored in a database, it can be transferred to the tank 65 for milk separation, or it can be disposed of in a different manner (not shown).

[0125] As an alternative to the three-way valve, a valve manifold can be installed that can direct milk to different containers and / or sources via multiple outlets.

[0126] Each of the three-way valve 67 and the valve manifold can be controlled to direct milk to a common milk tank 63, or to a tank 65 for separating milk, or to a different receiving container, or to a discharge port.

[0127] This control can be performed by control arrangement 28 based on animal identification established by animal identification device 30 located in milking pen 12. Control arrangement 28 can utilize individual animal data stored in a database. Additionally or alternatively, milk quality data established in real time during milking of individual animals in milking pen 12 can be used to control three-way valve 67 and valve manifold, respectively.

[0128] As discussed above, milking location 8 and milking pen 12 are different species. The animals in milking location 8 and / or the milk from these animals are handled differently than the animals in milking pen 12 and / or the milk from these animals. For example, milk from individual animals in milking location 8 may be extracted and / or processed according to a different protocol than that used for milk in milking pen 12.

[0129] For example, according to the implementation scheme, each milking position 8 includes a first set of equipment 53, and the milking pen 12 includes a second set of equipment 55. The first set of equipment 53 is different from the second set of equipment 55.

[0130] Therefore, the handling of animals in milking position 8 and / or milk squeezed from animals in milking position 8 is different from the handling of animals in at least one milking pen 12 and / or milk squeezed from those animals, achieved by different first and second sets of equipment.

[0131] As discussed above, the milking apparatus 2 includes a common milk receiver 54. At least two of the milking positions 8 supply milk squeezed from them to the common milk receiver 54. Each milking position 8 can be seen to have a first set of equipment 53 including a teat cup 48 and a milk conduit 52. These are connected to the common milk receiver 54. The first set of equipment 53 is configured to guide milk from an individual animal to the common milk receiver 54 via the milk conduit 52 during milking of that individual animal.

[0132] The second set of equipment 55 in the milking pen 12 can be seen to include teat cups 48, milk ducts 52, and a local milk receiver 59 for temporary storage of milk squeezed from only one animal individual.

[0133] Milk extracted from an animal at milking station 8 can be processed as follows: during milking, the milk is directly directed to a common receiver 54 via a common milk line 58. Milk extracted from an individual animal at milking pen 12 can be processed as follows: the milk is collected in a local milk receiver 59 before being directed from milking pen 12.

[0134] The second set of equipment 55 can be configured to process the extracted milk according to a special scheme that differs from the standard scheme applied by the first set of equipment 53.

[0135] For example, a specific procedure applied by the second set of equipment 55 may include taking milk samples and analyzing them. Alternatively or additionally, this specific procedure may include transferring the extracted milk to a storage tank 65 that is physically separate from the common milk tank 63. Thus, the second set of equipment 55 can be used for milking animals whose milk must be separated from that of other animals, for example, due to medical conditions.

[0136] Therefore, the second set of equipment 55 may also include one or more milk sensors for analyzing the extracted milk.

[0137] Within the animal group, there are individuals known to produce milk. These individuals are milked at milking sites 8.

[0138] Other animals in the group are milked in milking pen 12.

[0139] As an example only, an individual animal may be milked in milking pen 12 for one or more of the following reasons: the individual animal is receiving drug treatment, the individual animal is producing colostrum, a milk sample will be taken from the individual animal, the individual animal is being observed and it must be determined whether its milk is suitable for consumption based on real-time animal data or milk data, the animal will undergo treatment, etc.

[0140] The second group of equipment 55 may include instruments, equipment and / or devices for one or more of the following: taking milk samples, analyzing milk samples, taking blood samples, analyzing blood samples, analyzing animal respiration, treating animals, etc.

[0141] As initially mentioned, according to some embodiments, the first set of equipment 53 at milking position 8 may include a local milk receiver. In such embodiments, a vacuum system 56 is connected to the milk receiver at milking position 8.

[0142] Appropriately, the database contains relevant individual animal data for controlling the deployment of 28 animals, including milk sampling, milk analysis, blood sampling, blood analysis, respiratory analysis, and animal treatment.

[0143] The milking apparatus 2 includes at least one robotic arm 62 configured to attach teat cups 48 to the teats of an animal presenting itself for milking in one of the milking positions 8 and / or in the milking pen 12. At least one robotic arm 62 may be associated with at least one milking position 8 and / or milking pen 12.

[0144] Therefore, the milking apparatus 2 may include a single robotic arm 62 for at least some of the milking positions 8, the robotic arm 62 being configured to attach a teat cup 48 of the relevant milking position 8 to the animal's teat. Alternatively or additionally, the milking apparatus 2 may include a robotic arm 62 configured to attach a teat cup 48 to an animal in more than one milking position 8. Such a robotic arm 62 may be configured to rotate and / or travel laterally to reach different milking positions 8 to be served by the robotic arm 62, such as Figure 2a The arrow at position 62 of the robotic arm is shown in the image.

[0145] Similarly, the milking apparatus 2 may include a separate robotic arm 62 for at least one milking pen 12, the robotic arm 62 being configured to attach teat cups 48 of the relevant milking pen 12 to the teats of the animals. Alternatively or additionally, the milking apparatus 2 may include a robotic arm 62 configured to attach teat cups 48 to animals in more than one milking pen 12.

[0146] Figure 3A control arrangement 28 for controlling the milking apparatus is shown. The milking apparatus may be as described above. Figures 1 to 2b See below for reference Figure 4 The milking apparatus 2 discussed hereafter is also referred to in the following text. Figures 1 to 2b and Figure 4 .

[0147] Control arrangement 28 includes a computing unit 72, which can take the form of virtually any suitable type of processor circuitry or microcomputer, such as circuitry for digital signal processing (digital signal processor, DSP), central processing unit (CPU), processing unit, processing circuitry, processor, application-specific integrated circuit (ASIC), microprocessor, or other processing logic capable of interpreting and executing instructions. The term computing unit 72 as used herein can refer to a processing circuitry system comprising multiple processing circuits, such as any, some, or all of the processing circuits described above.

[0148] Control arrangement 28 may include memory unit 74. Computation unit 72 is connected to memory unit 74, which provides computation unit 72 with, for example, stored program code and / or stored data, which computation unit 72 requires to perform calculations. Computation unit 72 may also be adapted to store portions of the calculations or the final results in memory unit 74.

[0149] A database of farm animals (such as animals in the herd to be milked in milking unit 2) can be stored in memory unit 74. This database may include animal-related data based on individual animals. Animal-specific data can be updated by the farmer and / or by data established in milking unit 2 (such as data established through analysis of milk samples, blood samples, animal respiration, etc.).

[0150] Memory unit 74 may include physical devices for storing data or programs (i.e., sequences of instructions) on a temporary or permanent basis.

[0151] The computing unit 72 is connected to various parts and / or components of the milking apparatus 2 to control their operation, for example, for controlling milking operations, for measuring and / or determining milking parameters and / or milk parameters, etc. Figure 4 The diagram illustrates the connection between the computing unit 72 and the milking position 8, at least one milking pen 12, the selection gate 10, the robotic arm 62, and the animal identification devices 30, 32.

[0152] The control arrangement 28 may include more than one computing unit 72 and more than one memory unit 74. For example, the control arrangement 28 may be a distributed control arrangement with two or more separate computing units, each configured for one or more specific tasks within the milking apparatus 2, such as controlling the opening and closing of the selection gate 10, the inlet and outlet gates of the milking position 8, controlling milking operations, operating the robotic arm 62, etc.

[0153] Control arrangement 28 may be configured to perform method 100 according to any of the aspects and / or implementation schemes discussed herein, see, for example, references below. Figure 5 .

[0154] Figure 4 An example of a first pen area 40, a second pen area 41, a third pen area 42, and a fourth pen area 43 connected to a milking apparatus 2 according to an embodiment is shown. The milking apparatus 2 may be as described above. Figures 1 to 3 The milking apparatus discussed.

[0155] Each of the first to fourth pen areas 40, 41, 42, and 43 houses one group of animals. Each group of animals is milked in milking device 2, one group at a time.

[0156] Passage 44 connects pen areas 40, 41, 42, and 43, allowing each group of animals to pass through each of the pen areas 40, 41, 42, and 43 to reach entrance area 6. Multiple manually or automatically controlled doors are arranged in passage 44 to guide one group of animals toward entrance area 6 at a time.

[0157] Furthermore, the outlet path 14 from the milking device 2 can be connected to pen areas 40, 41, 42, and 43, so that after milking is completed, each animal in the animal group can move back to the dedicated pen area 40, 41, 42, and 43 of the relevant animal group.

[0158] Specifically, to facilitate the return passage of individual animals, one or more automatic doors 46, 45 may be arranged in the passage 44. At the automatic doors 46, 45, returning individual animals are identified so that they are guided through the automatic doors 46, 45 to their respective dedicated pen areas 40, 41, 42, 43.

[0159] Figure 5 An embodiment of a method 100 for milking a herd of animals at multiple milking locations is shown. Method 100 can be described with particular reference herein. Figures 1 to 4 The method is performed in the milking apparatus 2 discussed. Furthermore, method 100 can be performed using control arrangement 28, as described in reference... Figure 3 The subject of this discussion. Therefore, reference will also be made in the following text. Figures 1 to 4 .

[0160] Method 100 may be provided in the form of a computer program, which includes instructions that, when executed by a computer, cause the computer to perform method 100. The computer may include a computing unit 72, as referenced above. Figure 3 The computer program in question may be stored on a computer-readable storage medium.

[0161] Method 100 includes the following steps:

[0162] -Group 3, comprising 102 animals, was introduced into entrance area 6.

[0163] - Provides 104 direct pathways from the entrance area 6 to multiple milking locations 8.

[0164] -The first individual animal 4 in group 3 of animals 4 is milked at one of the multiple milking positions 8.106

[0165] -The first animal individual 4 is guided 108 from the milking device 2 to the exit path 14 via the selection gate 10.

[0166] - To allow the second, unmilked animal individual 4 to pass through one of the more than 110 milking positions 8.

[0167] - The second animal individual 4 is guided 112 to at least one milking pen 12 via selection gate 10.

[0168] as well as

[0169] - The second animal individual 4 is milked 114 in at least one milking pen 12.

[0170] According to the implementation scheme, at least one of the steps of milking a first individual animal 4 in a group 3 of animals 4 in one of a plurality of milking positions 8 and milking a second animal 4 in at least one milking pen 12 may include the following steps:

[0171] - Using at least one robotic arm 62, the nipple cup 48 is attached 116 to the first animal individual 4 and

[0172] / or the nipple of the second animal individual 4.

[0173] In this way, at least a portion of the milking device 2 can be automated.

[0174] According to the implementation scheme, the steps preceding each of the steps of milking the first individual animal 4 in the group 3 of animals 4 at one of the multiple milking positions 8 and guiding the first individual animal 4 from the milking device 2 to the outlet path 14 via the selection gate 10 may be the following steps:

[0175] - Identify 118 first animal individuals 4, and among them

[0176] The steps of passing the unmilked second animal individual 4 through one of the more than 110 milking positions 8 and guiding the second animal individual 4 112 to at least via the selection gate 10

[0177] Each step in a milking pen 12 may precede the following steps:

[0178] - Identify 120 second animal individuals 4.

[0179] In this manner, method 100 can be adapted to milk an individual animal 4 based on its identity in one milking location or in at least one milking pen 12. Therefore, it is ensured that each animal 4 in the group 3 of animals 4 can be milked in the milking apparatus 2 according to method 100.

[0180] According to the implementation scheme, each milking position 8 may include a first set of equipment 53, and at least one milking pen 12 may include a second set of equipment 55. Method 100 may include the following steps:

[0181] -According to the first scheme, the first set of equipment 53 is used to process 122 the milk from the first animal 4 and / or the milk from the first animal 4 in one of the milking positions 8.

[0182] -According to the second scheme, the second set of equipment 55 is used to process 124 second animal 4 and / or milk from second animal 4 in at least one milking pen 12, wherein the first scheme is different from the second scheme.

[0183] In this way, each animal individual 4 within group 3 can be disposed of and / or its milk can be disposed of according to a protocol suitable for the respective animal individual 4.

[0184] The first protocol performed at each of the milking positions 8 can be substantially the same. The second protocol performed in at least one milking pen 12 can be based on one or more variations of the second protocol. Thus, in milking position 8, a first protocol suitable for disposing of the milk of most of the animals 4 in group 3 and / or most of the animals 4 in group 3 can be performed. In at least one milking pen 12, a second protocol according to one of its variations can be performed to dispose of those animals 4 in group 3 and / or their milk that is not suitable for disposal according to the first protocol.

[0185] It should be understood that the foregoing is illustrative of various exemplary embodiments, and the invention is defined solely by the appended claims. Those skilled in the art will recognize that modifications can be made to the exemplary embodiments without departing from the scope of the invention as defined by the appended claims, and different features of the exemplary embodiments can be combined to create embodiments different from those described herein.

Claims

1. A milking apparatus (2) configured to milk a group (3) of animals (4), the milking apparatus (2) comprising an inlet area (6), a plurality of milking positions (8) configured to milk one animal at a time, a selection gate (10), at least one milking pen (12), and an outlet path (14), wherein The entrance area (6) is configured to receive a group (3) of the animals (4) therein, wherein The entrance to each of the plurality of milking positions (8) is arranged to be directly accessible from the entrance area (6), wherein The selection gate (10) can be accessed from the exit of each milking position, and wherein The selection gate (10) is configured to guide one or more individual animals from the group (3) of the animals (4) to the at least one milking pen (12) or to the exit path (14). The milking apparatus (2) includes an animal identification device (30) arranged at each milking position, an animal identification device (32) arranged at the selection gate (10), and a control arrangement (28) configured to keep an animal individual that has entered a first milking position among the plurality of milking positions (8) within the first milking position based on the animal ID, or to provide the animal individual with a free passage through the first milking position to advance to the selection gate (10).

2. The milking apparatus (2) according to claim 1, wherein the control arrangement (28) is configured to control the selection gate (10) based on the individual animal ID to guide one or more animal individuals from a group (3) of the animals (4) to the at least one milking pen (12) or to the exit path (14).

3. The milking apparatus (2) according to claim 1 or 2, comprising a transfer area (26) arranged between the selection gate (10) and the at least one milking pen (12).

4. The milking apparatus (2) according to claim 1 or 2, comprising at least one robotic arm (62) configured to attach a teat cup (48) to the teat of an animal (4), wherein the at least one robotic arm (62) is associated with at least one of the plurality of milking positions (8) and / or with the at least one milking pen (12).

5. The milking apparatus (2) according to claim 1 or 2, wherein the inlet area (6) is configured to allow the herd (3) of the animals (4) to move freely therein.

6. The milking apparatus (2) according to claim 1 or 2, wherein each of the milking positions (8) includes a first set of equipment (53), and the at least one milking pen (12) includes a second set of equipment (55), wherein the first set of equipment (53) is different from the second set of equipment (55).

7. The milking apparatus (2) according to claim 6, comprising a common milk receiver (54) for milk extruded from at least two milking positions in the milking positions (8), wherein The first set of equipment (53) includes a nipple cup (48) and a milk tube (52) and is connected to the common milk receiver (54), wherein The first set of equipment (53) is configured to guide milk from said individual animal via said milk conduit (52) to said common milk receiver (54) during milking of said individual animal. And the second set of equipment (55) mentioned therein includes a nipple cup (48), a milk conduit (52), and a local milk receiver (59) for temporary storage of milk squeezed from only one animal individual.

8. A method (100) for milking a group (3) of animals (4) in a milking apparatus (2), the method (100) comprising the steps of: - The group (3) of the animals (4) is admitted in the entrance area (6). - Provides direct access from the inlet area (6) to multiple milking locations (8), -The first individual animal in the group (3) of the animals (4) is milked at one of the multiple milking locations (8). - The first animal individual is guided from the milking device (2) to the exit path (14) via the selection gate (10). - To allow a second, unmilked animal individual to pass through one of the plurality of milking locations (8), - The second animal individual is guided to at least one milking pen (12) via the selection gate (10), and -The second animal individual is milked in at least one milking pen (12). The steps preceding each of the steps of milking the first individual animal in the group (3) of the animals (4) at one of the plurality of milking positions (8) and guiding the first individual animal from the milking device (2) to the exit path (14) via the selection gate (10) are as follows: - Identify the first individual animal, and where Before each of the steps of passing the unmilked second animal through one of the plurality of milking positions (8) and guiding the second animal to at least one milking pen (12) via the selection gate (10), the following steps are performed: - Identify the second animal individual.

9. The method (100) according to claim 8, wherein at least one step of milking a first individual animal in a group (3) of the animals (4) at one of the plurality of milking locations (8) and milking a second individual animal in at least one milking pen (12) comprises the following steps: - Use at least one robotic arm (62) to attach a nipple cup (48) to the nipple of the first animal individual and / or the second animal individual.

10. The method (100) according to any one of claims 8 to 9, wherein each milking position (8) comprises a first set of equipment (53), and the at least one milking pen (12) comprises a second set of equipment (55), and wherein the method (100) comprises the following steps: -According to the first scheme, the first set of equipment (53) is used to process the first animal individual and / or milk from the first animal individual in one of the milking positions (8), and -According to the second scheme, the second set of equipment (55) is used to dispose of the second animal and / or milk from the second animal in the at least one milking pen (12), wherein the first scheme is different from the second scheme.

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