Movable milking robot with minimum footprint

Abstract

The invention relates to a movable milking robot with a minimum footprint. A system for handling dairy livestock having front and rear legs is disclosed, where the system includes a milking parlor ramp, livestock fences positioned along at least a portion of the milking parlor ramp, where each fence is configured to accommodate one dairy livestock, and at least one vertical upright teat cup holder, where the at least one vertical upright teat cup holder is configured to receive the at least one dairy livestock. The at least one vertical upright teat cup holder includes a teat cup and a movable unit. The movable unit includes a device for processing the livestock and a processor, wherein the movable unit is configured to travel between the front and rear legs of the dairy livestock on the milking parlor ramp and to perform at least one action related to processing the dairy livestock using the device. Also disclosed is an apparatus comprising an arm configured to remove teat cups from a vertical upright teat cup holder and to connect them to dairy livestock.

Description

[0001] This application is a divisional application of an application filed on September 21, 2016, with application number 201680066153.3 and invention name “Mobile milking robot with minimal footprint”. Field of the Invention

[0002] The present invention belongs to the field of livestock handling. In particular, it relates to milking, disinfecting, and other handling of dairy livestock using a mobile unit with a minimal footprint. The invention also relates to such a mobile unit that moves along rails or guides. The invention also relates to a plurality of such milking robots that coordinate with each other. Background of the Invention

[0003] Automated systems for handling dairy animals are known. For example, robotic milking machines are known. Typically, a milking robot includes an arm that attaches a milking unit to any type of dairy animal. Other operations of the milking robot arm may include removing the milking unit from the dairy animal, placing the milking unit in a housing, and so on.

[0004] However, known systems and methods have a number of disadvantages. For example, the arms of the milking robots travel relatively long distances and cover a large space. For example, in order to attach the milking unit to the dairy animals, the arms need to enter (and exit) the stalls that house the animals. For example, milk is not directly squeezed into the main milk line. For example, due to the operation of the robot, the operator cannot have close contact with the dairy animals. For example, known systems require the installation of an entirely new milking platform, or at least require significant modifications to existing milking platforms, as they cannot be simply included and installed in any type of existing milking platform. Many of the disadvantages detailed above, as well as others not mentioned, arise from the concept of animals entering a specific "robot area," in which the animals are handled, such as milked, using industrial robot arms known in the industry, which are adapted for milking, and the like. Therefore, in order to create such a "robot area," the entire milking parlor needs to be rearranged and industrial robot arms used.

[0005] Therefore, it would be highly desirable to develop a system for handling animals, such as milking, in a milking parlor by actually introducing the robot into the animal's footprint rather than introducing the animal into a "robot area." This would allow the use of small robotic arms that can move quickly over short distances and, more importantly, would allow any type of existing milking parlor to be used without cumbersome modifications.

[0006] Overview of Embodiments of the Invention

[0007] An embodiment of the present invention relates to a system for handling a dairy animal having front legs and hind legs, the system comprising:

[0008] ramps;

[0009] livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal;

[0010] at least one vertical stand-up teatcup holder including a teatcup;

[0011] A movable unit comprising:

[0012] Apparatus and processor for handling livestock, the mobile unit being configured to:

[0013] - traveling on the ramp between the front and hind legs of the dairy animal; and

[0014] - using the apparatus to perform at least one action associated with the handling of dairy livestock; and

[0015] wherein the apparatus comprises an arm configured to remove the teat cups from the vertical stand-up teat cup holder and connect them to a dairy animal.

[0016] According to some embodiments, the ramp is a rotary milking parlor ramp. According to some embodiments, the ramp is a parallel milking parlor ramp. According to some embodiments, the system comprises two or more parallel ramps. According to some embodiments, the system further comprises a parking area configured to accommodate a parked mobile unit.

[0017] According to some embodiments, at least one vertical upright teatcup holder is positioned between the two stalls. According to some embodiments, the at least one vertical upright teatcup holder is positioned in line with the space between the hind legs of the dairy animal. According to some embodiments, the system further comprises a milking pit adjacent to the ramp, wherein the at least one vertical upright teatcup holder is at least partially positioned in the milking pit. According to some embodiments, the at least one vertical upright teatcup holder includes at least one flap for covering the teatcups. According to some embodiments, the teatcups are connected to the main milk line such that the system does not include a pressure valve for controlling pressure in the teatcups.

[0018] According to some embodiments, the arm includes a longitudinally elongated dual gripper. According to some embodiments, at least two teat cups have different lengths. According to some embodiments, the system further includes at least one non-planar leg spacer on the ramp in each stall, wherein the at least one non-planar leg spacer is positioned between the animal's hind legs when the animal is standing in the stall.

[0019] According to some embodiments, the system further comprises an autonomous pre-milking brush that can be used manually or via a mobile unit to clean the animal's teats and stimulate milk release. According to some embodiments, the system further comprises a post-milking disinfection tool and a filling station, wherein the post-milking disinfection tool comprises a dipping chamber and a filling detection element.

[0020] According to some embodiments, the arm is further configured to remove the teatcup from the dairy animal and then return the teatcup to the vertical stand-up teatcup holder.

[0021] According to some embodiments, the teat cups are removed from the upright teat cup holder in a first order and returned to the upright teat cup holder in a second order. According to some embodiments, the teat cups are returned to the upright teat cup holder by a pulling force applied to a tube connected to the teat cup. According to some embodiments, the system further comprises a milking pit, wherein the movable unit is configured so that it does not enter the milking pit or extend its arm into the milking pit.

[0022] An embodiment of the present invention relates to a system for handling a dairy animal having front legs and hind legs, the system comprising:

[0023] ramps;

[0024] livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal;

[0025] a track extending along at least a portion of the ramp;

[0026] at least one vertical stand-up teatcup holder including a teatcup;

[0027] A movable unit comprising:

[0028] Apparatus and processor for handling livestock, the mobile unit being configured to:

[0029] - traveling on said ramp and along said track between the front and hind legs of the dairy animal; and

[0030] - using the apparatus to perform at least one action associated with the handling of dairy livestock; and

[0031] wherein the apparatus comprises an arm configured to remove the teat cups from the vertical stand-up teat cup holder and connect them to a dairy animal.

[0032] According to some embodiments, the track provides power to the movable unit under wet and unsanitary conditions, and wherein the track includes an internal housing that houses contactors and a gliding cart that contacts the contactors, wherein the gliding cart is made of a conductive material and is coupled to the movable unit via a conductive rod.

[0033] An embodiment of the present invention relates to a system for handling a dairy animal having front legs and hind legs, the system comprising:

[0034] ramps;

[0035] livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal;

[0036] at least one vertical stand-up teatcup holder including a teatcup;

[0037] A plurality of movable units, wherein each movable unit comprises:

[0038] Apparatus, communication means and processor for handling livestock, and wherein each movable unit is configured to:

[0039] - walking between the front and hind legs of dairy animals on a slope;

[0040] - using the apparatus to perform at least one action associated with the handling of dairy livestock; and

[0041] -- coordinate with any other mobile unit, with a central management unit, with external communication means, or any combination thereof;

[0042] wherein the apparatus comprises an arm configured to remove the teat cups from the vertical stand-up teat cup holder and connect them to a dairy animal.

[0043] A further embodiment of the present invention relates to a system for treating a dairy animal having front legs and hind legs, the system comprising:

[0044] ramps;

[0045] a track extending along at least a portion of the ramp;

[0046] livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal;

[0047] at least one vertical upright teatcup holder including a teatcup;

[0048] A plurality of movable units, wherein each movable unit comprises:

[0049] Apparatus, communication means and processor for handling livestock, and wherein each movable unit is configured to:

[0050] - traveling on the ramp and along the track between the front and hind legs of the dairy animal;

[0051] - using the apparatus to perform at least one action associated with the handling of dairy livestock; and

[0052] -- coordinate with any other mobile unit, with a central management unit, with external communication means, or any combination thereof;

[0053] wherein the apparatus comprises an arm configured to remove the teat cups from the vertical stand-up teat cup holder and connect them to a dairy animal.

[0054] Embodiments of the present invention include a vertical stand-up teatcup holder comprising a teatcup, wherein the teatcup includes a hole in which a teat is positioned, and wherein the teatcup is positioned vertically upright in the teatcup holder such that the hole in which the teat is positioned faces upward.

[0055] According to some embodiments, the vertical stand-up teatcup holder comprises at least one flap for covering the hole, such that the teatcup is directly connected to the main milk line via a tube, the tube not comprising a pressure valve for controlling the pressure in the teatcup. According to some embodiments, the vertical stand-up teatcup holder comprises:

[0056] a first step and a second step, the first step and the second step being positioned at different heights, thereby forming a height difference between the first step and the second step; and

[0057] and a first teat cup and a second teat cup, each teat cup having a top, wherein there is a length difference between the first teat cup and the second teat cup, and wherein a height difference between the first step and the second step is approximately the same as the length difference between the first teat cup and the second teat cup, so that when the first teat cup is placed on the first step and the second teat cup is placed on the second step, the tops of the first teat cup and the second teat cup are positioned at approximately the same height.

[0058] According to some embodiments, the vertical stand-up teatcup holder further comprises a manifold attached to a tube that directs milk from the teatcups and to another tube that directs milk into the main milk line. According to some embodiments, the vertical stand-up teatcup holder further comprises at least one integrated teat cup and tube separator protruding from the vertical stand-up teatcup holder.

[0059] Embodiments of the present invention relate to a teat cup assembly comprising at least a first teat cup and a second teat cup, wherein there is a length difference between the first teat cup and the second teat cup. According to some embodiments, the teat cup comprises a double groove.

[0060] An embodiment of the present invention relates to a system for handling a dairy animal having front legs and hind legs, the system comprising:

[0061] ramps;

[0062] milking pits;

[0063] livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal;

[0064] A movable unit comprising:

[0065] Apparatus and processor for handling livestock, the mobile unit being configured to:

[0066] - traveling on the ramp between the front and hind legs of the dairy animal; and

[0067] - using the apparatus to perform at least one action associated with the handling of dairy livestock; and

[0068] wherein the apparatus comprises an arm configured to remove the teat cups from a vertical stand-up teat cup holder and connect them to a dairy animal, and wherein the movable unit is configured such that it does not enter the milking pit or extend the arm into the milking pit. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The subject matter which is regarded as the present invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. Figure 1 The invention, both as to organization and method of operation, together with objects, features and advantages thereof, may best be understood by reference to the following detailed description when read in its entirety. Embodiments of the invention are illustrated by way of example, and not limitation, in the figures of the accompanying drawings in which like reference numerals designate corresponding, similar or analogous elements, and in which:

[0070] Figure 1 An exemplary system according to an embodiment of the present invention is shown;

[0071] Figure 2A schematically illustrates a movable unit according to an embodiment of the present invention;

[0072] Figure 2B schematically illustrates an engagement configuration of a safety mechanism for a movable unit according to an embodiment of the present invention;

[0073] Figure 2C schematically illustrates a separated configuration of a safety mechanism for a movable unit according to an embodiment of the present invention;

[0074] Figure 3 schematically illustrates components included in a movable unit according to an embodiment of the present invention;

[0075] Figure 4 A system according to an embodiment of the present invention is shown in a rotary milking parlor;

[0076] Figure 5A 、 Figure 5B and Figure 5C A system in a parallel milking parlor according to an embodiment of the present invention is shown, wherein Figure 5A Expressed Figure 6 A system in a parallel milking parlor is shown, in particular showing the handling of livestock, including attachment of treatment cups to the livestock via a plurality of movable units, according to an embodiment of the present invention;

[0077] Figure 7A 、 Figure 7B 、 Figure 7C and Figure 7D An embodiment of a system is shown, which includes a track including branches and loops;

[0078] Figure 8 An embodiment of the present invention is shown which includes a plurality of movable units, wherein at least one of the movable units is in communication with at least one other unit;

[0079] Figure 9 An embodiment of the present invention is shown which includes a plurality of mobile units in communication with a central management unit;

[0080] Figure 10 An embodiment of the present invention is shown comprising a plurality of mobile units, wherein at least one of the plurality of mobile units communicates with one other unit and a central management unit;

[0081] Figure 11 An embodiment of the present invention is shown comprising a vertical upright teatcup holder comprising four teatcups, wherein two of the four teatcups are longer than the others, wherein each pair of teatcups is covered with a flap;

[0082] Figure 12 An embodiment of a double gripper is shown;

[0083] Figure 13 An embodiment is shown in which a movable unit positioned under the animal's abdomen reaches towards a vertical upright teatcup holder behind the animal's hind legs using a double gripper;

[0084] Figure 14 Towards an embodiment of a double gripper after two teat cups have been gripped;

[0085] Figure 15 An embodiment is shown in which a double holder holding two teat cups attaches a first of the two teat cups to the teat of an animal;

[0086] Figure 16 One embodiment of a system is shown, the system comprising a vertical stand-up teatcup holder comprising a tube, a tab, a shaft and a piston;

[0087] Figure 17A shows a rear view of an embodiment of a vertical stand-up teatcup holder showing the tubes leading to the main milk line and the shafts attached to each set of two tubes;

[0088] Figure 17B shows a front view of one embodiment of a vertical stand-up teatcup holder, illustrating a manifold for collecting milk from four tubes, and wheels, shafts and pistons intended to assist in returning the teatcups to the vertical stand-up teatcup holder;

[0089] Figure 17C shows a front view of one embodiment of a vertical stand-up teatcup holder including an integral teatcup and tube spacer;

[0090] Figure 17D One embodiment of an integrated teat cup and tube spacer is shown;

[0091] Figure 18 An embodiment of a non-planar leg spacer is shown;

[0092] Figure 19 An embodiment of a separate pre-milking brush is shown;

[0093] Figure 20 An embodiment of a post-milking disinfection tool is shown;

[0094] Figure 21 shows an embodiment of a post-milking disinfection tool in a filling station; and

[0095] Figure 22 An embodiment of a track for providing power to a mobile unit in wet and unsanitary conditions is shown.

[0096] It should be understood that, for simplicity and clarity of illustration, the elements shown in the drawings are not necessarily drawn precisely or to scale. For example, the dimensions of some elements may be exaggerated relative to other elements for clarity, or several physical components may be included in a functional block or element. Furthermore, where deemed appropriate, reference numerals may be repeated between the drawings to indicate corresponding or similar elements.

[0097] Specific embodiments of the present invention

[0098] Although embodiments of the invention are not limited in this respect, discussions using terms such as "process," "calculate," "determine," "establish," "analyze," "examine," or similar terms may refer to the operations and / or processing of a computer, computing platform, computing system, or other electronic computing device that manipulates and / or converts data represented as physical (e.g., electronic) quantities within the computer's registers and / or memory into other data similarly represented as physical quantities within the computer's registers and / or memory or other information-free, processor-readable storage media that may store instructions that, when executed by the processor, cause the processor to perform the operations and / or processes.

[0099] Although embodiments of the present invention are not limited in this regard, the terms "plurality" and "a plurality" as used herein may include, for example, "multiple" or "two or more." Throughout the specification, the terms "plurality" or "a plurality" may be used to describe two or more components, devices, elements, units, parameters, or the like. Although embodiments of the present invention are not limited in this regard, the term "set" when used herein may include one or more items.

[0100] It should be noted that throughout this document, the definitions of "parallel milking parlors," "parallel ramps," and similar terms include ramps and milking parlors in which the stalls used to confine animals on the same ramp are at least approximately parallel to each other. Thus, these terms include what are known in the art as parallel ramps / milking parlors and parabone ramps / milking parlors, as well as any other type of ramp / milking parlor in which the system may be operated.

[0101] It should be noted that throughout this document, unless otherwise specified, the terms "teat cup," "milking cup," and the like are interchangeable. It should be noted that throughout, terms such as "vertical stand-up holder," "vertical stand-up teat cup holder," and the like are interchangeable, unless otherwise specified, or unless one skilled in the art would understand that any of these terms have a different and / or broader definition than the other. It should also be noted that throughout, terms such as "communication," "cooperation," "coordination," and the like are interchangeable with respect to the operation of multiple mobile units in the same system, unless otherwise specified, or unless one skilled in the art would understand that any of these terms have a different and / or broader definition than the other. In this regard, and as detailed herein, the multiple mobile units may communicate / cooperate / coordinate with each other directly and / or communicate / cooperate / coordinate via a central management system or any other appropriate means.

[0102] Although milk-producing livestock (and particularly dairy cows) are primarily discussed herein, it should be understood that embodiments of the present invention are applicable to any type of livestock (e.g., goats, sheep, horses, etc.). In particular, even when specifically referring to dairy cows, the embodiments are intended to cover any other type of livestock. Although milking of dairy livestock is primarily discussed herein, it should be understood that embodiments of the present invention are applicable to other operations or treatments of livestock. For example, treatments such as disinfecting or cleaning livestock, heating livestock organs, and / or milking can all be achieved or performed by systems or methods according to embodiments of the present invention. Embodiments of the present invention are applicable to operations such as: diagnostic measurements, acquiring images, testing for pregnancy or capturing fetal heartbeats, and / or identifying livestock.

[0103] Embodiments of the present invention may include systems and methods for treating livestock. The term "treating" includes treatments such as milking, disinfection, administration of medications, and / or testing and / or diagnosis, as well as the like. In particular, embodiments of the present invention may include systems and methods for milking, disinfection, and other treatments and / or testing of dairy livestock. One embodiment of the system may include a ramp for accommodating dairy livestock and one or more movable units configured to travel on the ramp, under the abdomen, i.e., between the front and hind legs of the dairy livestock, and perform at least one action related to the treatment of the dairy livestock. In this regard, it should be noted that throughout this application, unless otherwise specifically mentioned, when the terms "under the livestock," "under the livestock," or similar terms are used, they refer to movable units that are located on the same geometric plane as the livestock, i.e., on the same ramp, on a platform, track, or guide attached to the ramp, and the like, while being at least partially positioned under the livestock's belly / abdomen, between its front and hind legs.

[0104] The actions performed by the mobile unit may be or may include milking, disinfecting, cleaning ramps, washing livestock, acquiring images, identifying livestock, detecting pregnancy, capturing fetal heartbeats, collecting blood and / or milk samples, and warming livestock organs. According to some embodiments, the mobile unit includes an arm that can be operated to perform any necessary actions, such as gripping a device, sensing the position of a device, moving the device from one location to another, and the like. The arm itself can be equipped with any necessary equipment, such as gripping units, sensors, and the like, to allow the arm to perform any necessary actions.

[0105] One embodiment of the system may include a ramp suitable for translating animals and the movable unit, such as in a rotary milking parlor. According to other embodiments, the ramp is fixed, such as in a parallel milking parlor. One embodiment of the system may include a ramp configured to accommodate a milking equipment unit, and the movable unit may be adapted to detach the milking equipment unit from the housing unit and attach the milking equipment unit to the dairy animal. In particular, according to the system of the present invention, the teat cups can be positioned in a holder such that the teat cups are considered part of the platform, ramp, or stall, rather than part of the movable unit. Thus, as described in detail below, milk entering the teat cups can be directly transferred to the main milk line. It should also be noted that in addition to the teat cups and the main milk line, any other equipment in the milking parlor, such as vacuum lines, vacuum tanks, vacuum pulsators, pre-cooling tanks, milk tanks, milk meters, milking point controllers, and the like, may also be used in the system of the present invention as needed, such as via the movable unit.

[0106] According to some embodiments, the system of the present invention includes a platform or ramp divided into stalls, wherein each stall is intended for a single animal. As is known in the art, in rotary milking parlors, the stalls are arranged in a circle on a rotating platform / ramp, with the milking pit surrounding the rotating platform. In parallel milking parlors, the stalls are arranged in two parallel rows, with a milking pit located between the two parallel rows of stalls.

[0107] According to some embodiments, teatcup holders are positioned in pre-designated locations, with each stall having a designated teatcup holder. According to some embodiments, the teatcup holders, as well as holders for any other necessary equipment or materials, are positioned so that when an animal enters the stall, the holders are generally aligned with the space between the animal's hind legs. According to some embodiments, the teatcup holders, as well as holders for any other necessary equipment or materials, are positioned between every two stalls, with additional holders being positioned before the first stall or after the last stall, so that each stall has a designated holder. According to some embodiments, when an animal is confined to a stall, any of the holders holding the same or different equipment can be positioned generally aligned with the space between the animal's hind legs. According to some embodiments, some of the holders are positioned generally aligned with the space between the hind legs of an animal confined to the stall, while other holders can be positioned between two stalls.

[0108] According to some embodiments, the cages do not extend into the milking pit. According to other embodiments, the cages extend up to about 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, or 50 cm into the milking pit. According to some embodiments, each stall is designated with at least one cage, but the designated cages may be located inside the stall itself, partially outside, or completely outside, such as in the milking pit. According to some embodiments, when the cages are positioned so as to align with the space between the animal's hind legs, they are positioned in the milking pit. According to some embodiments, in rotary milking parlors, the cages are positioned between the stalls. According to some embodiments, in parallel milking parlors, the cages are positioned so as to align approximately with the space between the hind legs of the animals confined to the stalls, at least partially protruding into the milking pit. According to some embodiments, in parallel milking parlors, at least a portion of the cages are positioned completely in the milking pit, aligning approximately with the space between the animal's hind legs on the ramp.

[0109] According to some embodiments, the position and / or height of the cages can be changed during operation. According to some embodiments, when the animal enters the stall, the cages can be positioned at least partially in or above the milking pit, so that the animal's entry into the stall is unimpeded by the cages. Once the animal is positioned in the stall, the cages can remain in their position (generally aligned between the stalls or with the space between the animal's hind legs, but at least partially in or above the milking pit), from which the movable unit can remove necessary equipment. According to such embodiments, the arms of the movable unit extend as much as approximately 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, or 50 cm into the milking pit as needed to reach equipment or materials in the cages. According to other embodiments, once the animal is positioned in the stall, the position of the cages can be changed so that they are at least partially moved from the milking pit to a position between the stalls, between the animal's hind legs, or on the platform / ramp. According to such an embodiment, the arms of the movable unit may not extend into the milking pit. According to some embodiments, all of the cages move simultaneously. According to other embodiments, each of the cages may be moved into or out of a position between the hind legs of the stall / animal at a specified time, for example when equipment therein (e.g., teat cups) is to be reached by the movable unit or when an animal enters, is positioned in or leaves the stall. According to some embodiments, the cages may have a folded configuration and an unfolded configuration, so that their angle relative to their surroundings, such as a ramp or stall, may be changed if necessary. Changes in the configuration of the cages may be performed in the same way as changes in their position or in other ways, and furthermore, changes in configuration may be performed on all cages together or differently on different cages, as described with respect to the position of the cages.

[0110] According to some embodiments, movement of the cage is performed by any suitable means, which may be mechanical, manual, electronic, or automatic. According to some embodiments, movement of the cage is initiated based on any signal received from any suitable sensor, which may be part of the milking platform or part of the movable unit. According to some embodiments, any of the movable units can grasp any portion of any of the cages and either pull it at least partially into the ramp or push it at least partially off the ramp. Similarly, according to any of the embodiments described in detail above regarding height, the height of the cages can be changed during operation so that, regardless of their initial height, when the movable unit reaches to remove or replace teat cups (or any other equipment) in the cage, the height of the cage is below the animal's abdomen. According to some embodiments, the height of the cage is set to always be below the bottom of the animal's abdomen. According to some embodiments, the height of the cage can be changed by any automatic, mechanical, electronic, or manual means, wherein at least one position of the cage is at a height below the bottom of the animal's abdomen. According to other embodiments, the height of the holders is not lower than the abdomen of the animal; however, the holders are positioned in any suitable position including height so that they can be reached by the movable unit, for example, when the movable unit is positioned under the animal.

[0111] Embodiments of the present invention relate to vertical stand-up teat cup holders. Typically, as known to those skilled in the art, the teat cups in the teat cup holders are inverted so that when the teat cups are removed from the holder, they are flipped (i.e., turned over) approximately 180° in order to attach them to the udder of the animal. According to some embodiments, such as for example Figure 11 As shown in FIG, the holder according to the present invention is a vertical upright holder, so that the teat cups are positioned in the holder with the holes (in which the animal's teats are placed) facing upwards. This upright teat cup holder enables the mobile unit to remove the teat cups from the teat cup holder and attach them directly to the animal, with only slight adjustments to the position of the holes, so that the mobile unit does not need to flip the teat cups 180 degrees. This can make the procedures performed by the mobile unit simple, fast, and inexpensive.

[0112] According to some embodiments, the teat cups in the teat cup holder are covered by at least one flap, wherein the flap can prevent unwanted matter from entering the teat cups. The flap can be considered as part of the holder, so that when the teat cups are removed from the holder, the teat cups are removed from under the flap and are no longer covered. According to some embodiments, each holder includes one flap, which covers all teat cups in the holder. According to some embodiments, each holder includes two flaps, each flap covering half of the teat cups, for example, each flap covering two out of four teat cups. According to some embodiments, each teat cup is covered by its own flap. According to some embodiments, the flap can be replaced by any other suitable element, or part of the holder or any other element in the milking parlor, as described in detail herein, which element prevents unwanted matter from entering the teat cups and / or prevents loss of vacuum during attachment of the teat cups to the animals.

[0113] According to some embodiments, in addition to preventing unwanted substances from entering the teat cups, the flaps can also prevent loss of vacuum during attachment of the teat cups to the animal. Typically, the lines / tubes leading from each teat cup include valves, allowing the vacuum in each teat cup to be individually controlled. According to some embodiments, any two teat cups can be connected to the main milk line via the same valve. According to some embodiments, every two teat cups can be connected to the main milk line via a single valve. According to some embodiments, all teat cups are connected to the main milk line via a single valve. According to some embodiments, all or at least some of the teat cups are directly connected to the main milk line without any valves. It should be noted that embodiments having teat cups directly connected to the main milk line include embodiments in which the teat cups are connected to the main milk line via milk monitors, meters, and the like. Thus, the flaps mechanically maintain the vacuum in the teat cups they cover. When any of the teat cups is removed from the holder, the vacuum in the remaining teat cups is mechanically maintained by the flaps, allowing the teat cups removed from the holder to be attached to the animal's udder, maintaining the vacuum therein once attached. According to some embodiments, once attached to the animal's udder, the teat cup will remain attached for the time period from when the remaining teat cups are removed from the holder, i.e., from under the tabs, until they too are attached to the udder, even if the vacuum is not maintained, but because the period of time during which the vacuum is not maintained is short and, in addition, because it is already attached to the udder, the teat cup fitted to the udder will not fall off quickly.

[0114] Once milking is complete, the teat cups are removed from the animal's udder and returned to the cage. The signal indicating the end of the milking process can be received by any appropriate portion of the system via any electronic or mechanical device known in the art. According to other embodiments, once milking is complete, the teat cups are automatically, mechanically, or electronically returned to the cage by an operator, by any other appropriate device, or by any combination thereof. According to some embodiments, the teat cups are removed from the udder and returned to the cage via a movable unit. According to some embodiments, the tubes attaching the teat cups to the main milk line pass through any number of wheels, pulleys, and the like to allow for smooth and easy movement of the tubes, thereby allowing the teat cups to be easily removed from and returned to the cage. According to some embodiments, the teat cups themselves move adjacent to any number of wheels, pulleys, and the like to reduce friction. The wheels, pulleys, and the like can also guide the teat cups and tubes along a specific desired path.

[0115] According to some embodiments, each teat cup is attached to a tube, which in turn is attached to a piston, motor, or the like designed to return the teat cup to the cage once milking is complete. According to other embodiments, any number of tubes can be externally connected to one another by any suitable means, such as a shaft, with each shaft connected to a motor, piston, or the like designed to return the cup to the cage once milking is complete. According to some embodiments, every two tubes are externally connected, allowing teat cups to be removed in pairs and also allowing the system to include half the number of removal motors / pistons to remove teat cups, such as half the number of teat cups. According to some embodiments, it should be noted that while any number of tubes can be connected to one another to allow for removal in pairs or more, the cage and system are designed such that attachment of the teat cups to the animal is independent of their removal. Thus, even if pairs or more are removed, teat cups can be attached one after another, or in pairs or more, but not necessarily the same pair or more of teat cups as removed.

[0116] According to some embodiments, the holder is designed so that it can be manipulated and used by the mobile unit and / or by an operator. Thus, depending on the operator, the holder can be designed to allow teat cups to be removed from and returned to the holder one by one, all together, in pairs, or in any suitable combination. The holder can also allow ample space for the operator's hands to access any component of the holder and the equipment held, such as teat cups, while being designed so that the mobile unit can easily access any portion of the holder to remove and return teat cups in an orderly manner. For example, the holder can be designed so that when teat cups are returned to the holder, they remain upright and covered by flaps, thereby preventing loss of vacuum and the entry of unwanted substances into the main milk line. For example, the holder can be designed so that teat cups are held in parallel and / or vertical rows, allowing any type of robot or operator to remove and return teat cups in pairs or larger groups without unnecessary manipulation.

[0117] According to some embodiments, the holder is designed to allow teat cups to be placed therein in parallel, vertical or staggered rows. According to some embodiments, the holder is designed to allow teat cups to be placed therein so that the bottoms of the teat cups are staggered. According to some embodiments, the holder includes steps, notches or the like that allow the bottoms of the teat cups to be staggered. According to some embodiments, the tubes leading to the main milk line are attached to the teat cups so that the tubes are on the bottom back side of the teat cups, i.e. on the bottom side that is pointing away from the animal. For example, Figure 11 Examples of such teat cups can be seen in . Figure 11 As shown in , for example, by placing the teat cups on a designated step in the holder so as to allow the teat cups to be held in the holder with their bottoms staggered, this allows the tubes connected to each teat cup to be below / above the tubes connected to the teat cup located on the next step in the holder, thereby preventing entanglement of the tubes. According to some embodiments, the holder comprises a step so that the bottom portion of the front teat cup (i.e. the teat cup facing towards the animal) is lower than the bottom portion of the rear teat cup, i.e. the teat cup further away from the animal, e.g. as shown in Figure 11 According to some embodiments, the teat cups are positioned in pairs in the holder such that the front teat cup of each pair, i.e., the teat cup closer to the animal, is placed on a lower step than the hind teat cup. Thus, the tube connected to the front teat cup is positioned below the tube connected to the hind teat cup. In other words, each pair of teat cups can be designed to be placed on two steps that are different in height from each other, wherein the height difference between the two steps can be at least similar to the length difference between the two teat cups, so that when placed on the steps, the bottoms of the teat cups are staggered, while the tops are not, as described in detail herein.

[0118] Embodiments of the present invention relate to teat cups that are designed to fit into a holder and allow any type of operator to easily remove the teat cup from the holder and return it to the holder. According to some embodiments, the teat cup includes any number of grooves or the like that allow the arm of the movable unit, as detailed herein, to easily grip the teat cup.

[0119] As described in detail herein, the holder may include at least one step or the like so that the bottoms of the teat cups are staggered. Thus, if the teat cups are identical, their tops will also be staggered. According to some embodiments, a group of teat cups held together in the same holder is designed so that the tops of any number of teat cups can be at approximately the same height, even if the bottoms of the teat cups are staggered. According to some embodiments, the teat cups are designed so that the heights of different teat cups can be different from each other, thereby allowing any two teat cups to have staggered bottoms without having their tops staggered.

[0120] like Figure 11 As shown in FIG, when positioned in a holder, at least two teat cups can be staggered at the bottom, as described in detail herein, with the front teat cup being longer than the rear teat cup, thereby allowing the tops of the two teat cups to be positioned at approximately the same height, even though the bottoms are staggered. This can allow two (or more) teat cups to be covered by the same flap. This can also allow a pair of teat cups to be removed from the holder by a movable unit without their tubes becoming tangled because they are staggered at the bottom, while still allowing the movable unit to "see" the tops of the two teat cups, for example, via a laser, so that the movable unit can properly grip both teat cups, as described in detail herein. It should be noted that although the staggering of teat cups is primarily described with respect to a pair of teat cups, the same type of staggering can be used with any number of suitable teat cups.

[0121] Thus, embodiments of the present invention relate to a plurality of teat cups, at least two of which have different lengths. According to some embodiments, the teat cups of different lengths are positioned one behind the other in a holder, with the front of the holder being considered to be facing the animal. According to some embodiments, when positioned in the holder, the teat cups of different lengths are staggered at their bottoms, possibly resting on steps of different heights, wherein the height of the steps is determined so that the tops of the teat cups are approximately at the same height. Thus, the difference in length between the teat cups can be approximately the same as the difference in height of the steps on which the teat cups are positioned. While steps are mentioned herein, it should be noted that any other device, such as clamps and the like, can be used to position the teat cups in the holder so that they are staggered at the bottom but not at the top.

[0122] Embodiments of the present invention relate to a teat cup comprising more than one groove, hook, handle, notch, indentation and the like designed so that a gripping unit on an arm of a movable unit can easily grip the teat cup, as described in detail herein.

[0123] SUMMARY OF THE INVENTION Embodiments of the present invention relate to a vertical teat cup holder in which teat cups are positioned upright in the teat cup holder, wherein a hole in which a teat is positioned is positioned facing upward, as described in detail herein, the teat cup holder comprising: a first step and a second step positioned at different heights; a first teat cup and a second teat cup, each teat cup having a top, wherein there is a length difference between the first teat cup and the second teat cup, and wherein the height difference between the first step and the second step is approximately the same as the length difference between the first teat cup and the second teat cup, so that when the first teat cup is placed on the first step and the second teat cup is placed on the second step, the tops of the first teat cup and the second teat cup are positioned at approximately the same height; a flap covering the tops of the first teat cup and the second teat cup; and a first tube and a second tube leading from the first teat cup and the second teat cup to a main milk line, respectively, wherein the first tube is at least partially positioned below the second tube.

[0124] According to some embodiments, to allow the teat cups to be smoothly and easily moved into and out of the holder, the system includes any suitable number of smooth surfaces, wheels, ball bearings, rollers and the like positioned on the interior and / or exterior of the holder along which paths the teat cups and / or tubes move as they are removed from / returned to the holder.

[0125] The mobile units can be adapted to determine their positions and, based on their positions, to locate any necessary equipment or materials, including milking equipment units, such as teat cups or teat cup holders, disinfectant, cleaning brushes, and the like. The multiple mobile units and the optional central management unit can be configured to dynamically cause at least some of the multiple mobile units to each perform a portion of a process or task. A first mobile unit can be adapted to attach a first portion of a milking unit to a dairy animal, and a second mobile unit can be adapted to attach a second portion of a milking equipment to a dairy animal. According to other embodiments, and as described in detail herein, the multiple mobile units and the optional central management unit can be configured so that each of the mobile units performs the entire process or task in a specific, designated number of stalls. According to yet another embodiment, some of the multiple mobile units perform portions of a task, while other mobile units operate in a portion of the stalls. In this regard, it should be noted that any combination and coordination between the various mobile units is possible, with their overall operation designed to perform the entire required process or task.

[0126] Embodiments of the system may include a ramp including guides or tracks designed to maintain the movable unit within or on a predetermined path beneath the livestock. Embodiments of the system may include a ramp including stalls, and the movable unit may be adapted to automatically travel from a first stall to a second stall. The ramp may include markers, and the movable unit may be adapted to use the markers to determine its position relative to the stalls, the ramp, and / or other entities in the milking parlor. The movable unit may be configured to travel between the front and hind legs of the livestock, and the tracks may be configured to maintain the movable unit on a predetermined path that passes between the front and hind legs of the livestock when the movable unit is positioned in the stall.

[0127] According to some embodiments, once the livestock are positioned in the stalls and ready for milking, the mobile units can access the ramps and move between stalls, performing tasks, as described in detail herein. In particular, tasks can be performed while the mobile units are positioned / parked below the livestock. According to some embodiments, the mobile units are moved to their "operating mode" positions below the livestock only after the livestock's position has been determined using any suitable means, such as sensors and the like (which can be part of any element of the milking parlor). As described in detail herein, the mobile units themselves can include any type of sensor that can help determine the livestock's exact position and / or determine the position of the mobile units relative to the livestock. According to some embodiments, the mobile units include any suitable type of sensor that prevents the mobile units, or any portion of the mobile units, from colliding with other mobile and / or fixed entities in the milking parlor. According to some embodiments, the mobile units include arms equipped with such sensors.

[0128] According to some embodiments, the system includes a track or guide along which the movable units travel so that they are confined to a predetermined path, wherein the track / guide can be positioned along at least part of the length of the ramp / platform, extending approximately along the midline between the front and hind legs of the livestock. It should be noted that throughout, unless otherwise explicitly mentioned, the terms "guide" and "track" are interchangeable and include any element that can keep the movable units within or on a predetermined path. It should be noted that any type of track can be used, including single track, double track, flat track, track using magnetic guides, and similar tracks. It should also be noted that the track can be made of any appropriate type of material, such as metal, polymer, or any combination thereof. According to some embodiments, the track is designed to be strong enough to resist deformation caused by livestock stepping on the track, kicking the track, and the like. Therefore, the shape (e.g., width) and the material from which the track is made take into account the forces that will be applied to the track.

[0129] Implementing a track according to an embodiment of the present invention can ensure that the mobile unit remains on a predetermined path, minimizing collisions between the mobile unit and livestock, operators, other mobile units, or other entities (either mobile or stationary) in the milking parlor. The path of the track can be arranged so that the track does not enter the most "kick-prone" area on the ramp (which may be around the animal's hind legs, particularly behind the hind legs), thereby limiting damage to the mobile unit and livestock. According to some embodiments, once the track has been in place on the ramp for a period of time, the animals will avoid placing their hooves on the track, ensuring the safety of the animals and the mobile unit, and allowing the mobile unit to increase its speed along the track without damaging either the mobile unit or the animal on the ramp. According to some embodiments, the track provides stability to the mobile unit, that is, because the mobile unit is attached to the track, a strong force may be required to "derail" the mobile unit when it is not needed, and thus even if the mobile unit is hit by, for example, an animal kick, it still remains on its designated path.

[0130] According to some embodiments, the speed of the movable units can be increased as they move along the rails because, as described in detail above, the rails can provide stability to the movable units and, in addition, because, as described in detail above, the risk of collision is reduced when the movable units are restrained on the rails. This increase in the speed of the movable units can reduce overall processing time, such as milking time. According to some embodiments, the speed of the movable units is in the range of approximately 0-2 m / s. According to some embodiments, the speed of the movable units is in the range of approximately 0-3 m / s. According to some embodiments, the speed of the movable units is in the range of approximately 0-1 m / s.

[0131] According to some embodiments, the system can be designed so that the mobile unit has different operating modes and safety modes, which differ from each other, for example, in terms of the speed of the mobile unit, the use of the mobile unit's arms, the extension distance of the mobile unit's arms, and the like. Therefore, according to some embodiments, as described in detail above, the mobile unit speed is limited for the operating mode of the mobile unit. According to some embodiments, the mobile unit also includes a safety mode. In the safety mode, the speed of the mobile unit can be in the range of approximately 0-0.25 m / s.

[0132] According to some embodiments, when in safety mode, the movable unit does not perform actions and therefore does not extend / retract its arm. According to some embodiments, limited extension and / or retraction of the movable unit arm is allowed in safety mode. According to some embodiments, in safety mode, the arm can be extended / retracted up to 10% of its maximum extension / retraction capacity. According to some embodiments, in safety mode, the arm can be extended / retracted up to 20% of its maximum extension / retraction capacity. According to some embodiments, in safety mode, the arm can be extended / retracted up to 30% of its maximum extension / retraction capacity. According to some embodiments, in safety mode, the arm can be extended / retracted up to 40% of its maximum extension / retraction capacity. According to some embodiments, in safety mode, the arm can be extended / retracted up to 50% of its maximum extension / retraction capacity.

[0133] According to some embodiments, the mode of the mobile unit is changed from operational mode to safety mode, or vice versa, by manually pressing a button, flipping a switch, a magnetic sensor, or the like, wherein the button / switch may be anywhere on the mobile unit, on the teat cup holder, on the ramp, in the milking parlor, or in a remotely located control center. According to some embodiments, the mode of the mobile unit is changed from operational mode to safety mode, or vice versa, by an electronic command sent to the mobile unit from any suitable remote device (possibly via guides / tracks, as described in detail herein, via RF, Bluetooth, WiFi, or the like).

[0134] According to some embodiments, the use of tracks also allows for immediate or rapid stopping of the mobile unit when needed, such as in a specific stall, in a precise location along the track, and the like. The mobile unit may be pre-programmed to stop at certain locations, or otherwise, may stop based on data received during operation.

[0135] In this regard, it should be noted that the system of the present invention is a modular system that can include any number of movable units and tracks / guides comprising any number and length of sections. Thus, the system of the present invention can be installed in any type of existing milking parlor, for example, a rotary milking parlor or a parallel milking parlor. According to some embodiments, in a rotary milking parlor, the guides / tracks are positioned on a circular platform / ramp from the first stall to the last stall, possibly completing the circle. According to some embodiments, in a parallel milking parlor, the guides / tracks are positioned on each of the parallel platforms / ramps, extending from one end of the platform to the other. It should be noted that the guides / tracks can be designed to include any desired branches, loops, and the like, for example, for removing movable units from the platform at any necessary point along the platform, and the like. According to some embodiments, the track can include connecting units that connect two or more track sections together. According to some embodiments, the various track sections and connecting units can be easily and quickly assembled (or disassembled) into any desired length and / or shape of the track, wherein although the track is composed of several sections / connecting units, they are designed and attached so that the movable unit can be smoothly moved from one section to another along the track after assembly. According to some embodiments, any section / connecting unit can be replaced, removed, or added when needed or required.

[0136] Because the system of the present invention is modular, it can be installed in any milking parlor, regardless of the size or type of parlor. Typically, larger parlors will be equipped with a system that includes a greater number of movable units and a longer overall length of track / guide. The system of the present invention can also be configured with a varying number of movable units, such that a specific number of movable units may be used at certain times and a different number of movable units at other times.

[0137] The track can be connected to the ramp or to any other element in the milking platform by any suitable means so that the movable unit can travel on it and so that the track itself does not hinder the animals from moving on the ramp, for example, when they enter and exit the stall. According to some embodiments, the track is designed to be adjacent to the ramp. According to some embodiments, at least the top of the track is designed to be raised above the ramp. According to some embodiments, the top of the track is raised above the ramp by about 8-20 cm. According to some embodiments, the top of the track is raised above the ramp by about 5-10 cm. According to some embodiments, the top of the track is raised above the ramp by about 10-15 cm. According to some embodiments, the top of the track is raised above the ramp by about 15-20 cm. According to some embodiments, when the top of the track is raised above the ramp, the area below the ramp can be cleaned, as described in detail herein. According to some embodiments, the top surface of the track can be flush with the surface of the ramp, wherein the rest of the track is recessed in the ramp. According to some embodiments, the entire track, including its top surface, is recessed in the ramp. As described in detail herein, a designated cleaning device may be designed to clean a track and / or its surroundings.

[0138] According to some embodiments, the track includes means by which power is provided to the movable units. Thus, the movable units do not need to include battery packs, which would increase their size and weight and require charging or replacement. Furthermore, if power is provided through the track, there is no need to attach cables to the movable units, which can be dangerous to the movement of livestock, can become tangled due to the movement of the movable units, and can be cumbersome when more than one movable unit is in use. According to some embodiments, power is provided from the track to the movable units by any suitable pickup design. According to some embodiments, the power providing means may be included within the track, attached to the outside of the track, adjacent to the track, or may be of any other suitable design. According to some embodiments, the power providing means can provide power to the movable units as well as any other moving or fixed entity.

[0139] Similar to the arrangement where power is provided via the track, electronic lines may be included in the system so that electronic commands are forwarded to the mobile units via the track. Therefore, throughout, descriptions of the track relating to power transmission are also meant to include electronic data transmission (if applicable).

[0140] According to some embodiments, the track is mounted on the same ramp that the livestock move along, and as a result, the track tends to become wet and dirty. Therefore, if the track includes a device for providing power to the mobile units, these devices must be designed to be liquid-proof to prevent electrical short circuits and the like. The track and power supply can also be designed to prevent liquids or unwanted solids and contaminants from entering certain parts or components of the track / power supply. According to some embodiments, the positive and negative poles of the power supply can be designed to be at a minimum distance, for example to prevent liquid from entering the space between them. According to some embodiments, the power supply has a labyrinthine shape to prevent or at least minimize the introduction of liquids, unwanted solids, and contaminants into the electrical system. According to some embodiments, the power supply can include a pickup element, such as a brush, designed to contact a metal strip. According to some embodiments, the metal strip is mounted along the ramp, possibly below the track, and the pickup element (such as a brush) is attached to the mobile unit or any other entity moving along the track. It should be noted that power can be provided to the mobile unit at any time, whether moving or parked, if necessary. Power may also be shut off whenever appropriate, such as during maintenance, or when processing is not being performed, and the like.

[0141] According to some embodiments, the track includes an internal housing unit through which power is provided to the movable unit, for example via contactors. According to some embodiments, the scooter is positioned in the internal housing unit and is attached to the movable unit via a rod or the like. According to some embodiments, the scooter and the rod are made of conductive material (either the same material or different materials), wherein the scooter receives power via any suitable device within the internal housing unit (e.g., contactors and the like). Power can be transferred from the scooter to the movable unit via the rod, thereby activating any suitable motor in the movable unit. When the movable unit moves forward or backward along the track, the movable unit can essentially move with the scooter, since they are connected to each other via the rod or the like. Thus, according to some embodiments, the scooter provides power to the movable unit, and the movable unit provides mobility to the scooter. According to some embodiments, the scooter does not include its own motor and therefore moves with the movable unit.

[0142] According to some embodiments, to prevent water and other contaminants from entering the electrical system in the inner housing, the rods may pass through water blocks, rubber plugs, and the like, or any combination thereof. Additionally, according to some embodiments, the isolated rods enter the inner housing via a labyrinth element, thereby preventing water or other contaminants from entering the inner housing unit.

[0143] In addition to electrical power, the track or any portion thereof may include elements for communicating with and / or transmitting commands to any component in the system, including the mobile unit. According to some embodiments, the track includes means for specifically and precisely defining the position of a mobile unit moving thereon and / or defining the position of any other entity in the milking parlor.

[0144] If further, it should also be noted that, although the track is described herein as an element for guiding the movable unit, it can be used to transport any other element, device and / or material, such as conveying water or any other liquid along a ramp, and the like. For example, a reservoir of pre-milking disinfectant or post-milking disinfectant can be conveyed along the track, and the reservoir can be reached there, for example by any of the movable units performing the pre-milking task or post-milking task. According to some embodiments, any part of the track may include an element such as a conveyor belt, which is used to convey the movable unit or any other entity from one point to another. Hoses, pipes, conduits and the like can also be extended along the track or any part of the track, wherein any liquid, such as water and the like, can be provided as needed through such hoses / pipes / conduits.

[0145] According to some embodiments, the track may include a self-cleaning mechanism. According to some embodiments, the ramp includes a device for cleaning the track. According to some embodiments, the cleaning element may be attached to or incorporated into any part of the track. According to some embodiments, the cleaning element may be attached to or incorporated into any component that travels along the track, such as a movable unit or a designated cleaning unit. According to some embodiments, a cleaning device that is part of the milking parlor may be used to clean the track. According to some embodiments, in rotary milking platforms, the track may be cleaned using a cleaning fluid sprayed from stationary nozzles. According to some embodiments, if the track is elevated above the ramp, it may be possible to clean underneath the track. The track, its surroundings, and, in some embodiments, the area beneath the track may be cleaned by any suitable means, including manually, automatically, mechanically, or electronically. Furthermore, the track, its surroundings, and, in some embodiments, the area beneath the track may be cleaned at any suitable time, such as at a predetermined time or on demand, as determined by any suitable sensor (which may be part of the ramp, milking parlor, movable unit, or the like), or at the discretion of the operator.

[0146] It should also be noted that because milk can be expressed directly into the main milk line, and because several mobile units can be used, as described in detail below, the present system, measured in terms of milk production per hour, is more efficient than prior art systems, in which milk must be transferred from one or more storage vessels to the main milk line, and / or when performed by a single operator (robotic or otherwise). It should also be noted that, as described in detail herein, the arm of the mobile unit is relatively small in size because it needs to be assembled and maneuvered beneath the livestock. Furthermore, because the arm can primarily remain within a "no-kick" zone and can include safety mechanisms, as described in detail herein, it does not need to be rigid. Even equipped with only a small motor, the small arm can perform rapid maneuvers, which can also contribute to increased milking yields. It should also be noted that, as described in detail herein, multiple mobile units can be coordinated with one another, possibly via a central management system or any other suitable means, so that the speed required of each mobile unit can also be reduced.

[0147] It should also be noted that, as described in detail herein, the mobile unit remains on a ramp or in other designated areas, such as a parking area, and does not enter undesignated areas, such as the milking pit. Thus, as described in detail herein, the operator can safely access any other areas of the milking parlor, including the milking pit, which may be necessary to address any mobile unit malfunctions, animals requiring manual handling, and the like. It should also be noted that, because the arms of the mobile unit are not rigid, even if they come into contact or collide with the operator or any other element in the milking parlor, the consequences may not be dangerous.

[0148] According to some embodiments, the arm of the mobile unit extends into the milking pit at predetermined times and / or up to a predetermined distance. To provide safety for people in the milking pit, the system may include a safety device to prevent people from entering the portion of the milking pit that the arm of the mobile unit can reach. The safety device may be stationary or movable, such that when the arm enters the pit, or at a time when the arm can enter the pit, the safety device is positioned to prevent contact between the operator and the mobile unit, while when the arm has not entered the pit, or at a time when the arm will not enter the pit, the safety device may be positioned in another manner. For example, the system may include a barrier positioned in the milking pit at the maximum distance the arm can extend into the milking pit. According to some embodiments, the barrier may change position based on any received signal, such that when the arm of the mobile unit can enter the milking pit, the barrier is in place, blocking contact between the operator and the arm of the mobile unit, while at other times it is raised or moved away by any other suitable means. In this respect it should be noted that any element of the mobile unit (not only the arms) can be extended into the milking pit when required, as described in detail above, which is safe for humans.

[0149] According to some embodiments, if the movable unit, teatcup holder, or any portion thereof is positioned in a non-designated area (e.g., a milking pit) at least at certain times, a safety device, as described in detail above, may be included in the system so that an operator found in the non-designated area will not be harmed when the movable unit, teatcup holder, or any portion thereof is moved. For example, a bar may be provided between the operator and the movable unit, teatcup holder, or the like. The bar may have several positions as desired. Any other cover, barrier, or the like may be used to allow the operator to be safely in the same area as at least a portion of the movable unit, teatcup holder, or the like. For example, the back of the teatcup holder may be covered so that the operator is not harmed even when its components are moved.

[0150] Embodiments of the system may include a maintenance area (also referred to herein as a maintenance pit) for maintaining the mobile units. The mobile units may travel from guides or tracks to the maintenance or repair area. A first mobile unit may be adapted to or facilitate the completion of an action that at least one other mobile unit has failed to complete. The mobile units may include sensors and / or processing units.

[0151] According to some embodiments, the system includes a parking area for the mobile units. The parking area and the maintenance area can be the same area, different areas, or overlapping areas. According to some embodiments, the mobile units remain stationary in the parking area while the livestock enter the ramp / platform. Once the livestock are positioned in the stall, the mobile units exit the parking area and enter the ramp to process the cows, as described herein. Thus, while the livestock are moving, the mobile units can remain stationary, for example, within a designated parking area, and while the mobile units are moving, the livestock remain relatively stationary, for example, confined to a designated area of the stall. Once the mobile units complete their task, such as milking, they can return to the parking area. Once the mobile units are in the parking area, the livestock can be allowed to leave the stall. The designated parking area can be large enough to accommodate as many mobile units as are likely to be used in a particular milking parlor. This arrangement can minimize collisions between the livestock and the mobile units caused by the movement of the mobile units, as well as any potential panic for the livestock. According to some embodiments, the track extending along the ramp reaches the parking area through an extended length or through branches / loops in the track and the like, so that the movable units can be easily moved along the track from the ramp to the parking area and vice versa. According to some embodiments, the track can be designed to include any number of loops, U-shapes and the like in the parking area to allow multiple movable units to be positioned thereon.

[0152] Embodiments of the system may include a central management unit adapted to instruct or cause the mobile units to perform actions and / or coordinate the operation of the various elements of the system with one another, including the coordination of multiple mobile units. It should be noted that multiple mobile units may be used to process more than one animal simultaneously. It should also be noted that any one of the multiple mobile units may perform a portion of the processing of the livestock while other mobile units perform other portions of the processing. It should also be noted that each of the mobile units may fully process one of the animals while other mobile units process other animals. Thus, the efficiency of the system may be optimized by using multiple mobile units with respect to the time required to complete the processing, the amount and type of equipment that any one of the mobile units needs to use or carry, and the like.

[0153] If any of the movable units is intended to perform a certain task, possibly part of the overall desired treatment, then the movable unit may be equipped with any suitable equipment. Therefore, not all movable units have to be identical to one another. For example, the end of the arm of each movable unit may be equipped with a suitable arm element, possibly at the distal end of the arm. For example, any of the movable units may be equipped with cleaning / disinfecting equipment, including brushes, hoses, nozzles, valves, cleaning or disinfecting liquids and the like. For example, any of the movable units may be equipped with an arm element, which can clamp equipment, such as a teat cup, a brush and the like. According to some embodiments, such an arm element is herein referred to as a clamping element, a clamping unit or the like.

[0154] According to some embodiments, the arm element or any other detachable equipment on the mobile unit can be attached to / detached from the mobile unit when necessary, for example by an operator, by another mobile unit, by the mobile unit itself, or by any other entity in the milking parlor. Replacing equipment can be done before, during, or after the livestock is treated. Replacing equipment can change the role of the mobile unit in performing the treatment task, or can replace equipment that has failed, or replenish substances that need to be replenished. According to some embodiments, the roles of the mobile units can be changed to optimize the treatment, so that any one of the mobile units can take over part of the tasks of another mobile unit that, for some reason, has stopped performing the task it was supposed to perform or has failed.

[0155] According to some embodiments, any of the mobile units can include a replacement arm element and replacements for any other removable elements on the mobile unit and a reservoir for a replenishable substance. According to some embodiments, the replacement element, including the arm element and the reservoir for a replenishable substance, can be placed in any suitable location in the milking parlor, including a parking area, a stall, a ramp, a milking pit, and any elevated point in the milking parlor, such as above a ramp, and the like. According to some embodiments, any of the mobile units can leave the device at any suitable location, such as a cage in the stall or a pre-designated location outside the stall, for use by another mobile unit (or other entity).

[0156] Any of the detachable elements, including the arm element, can receive power, substances, such as disinfectant liquids, and the like via the movable unit. In addition, any of the detachable elements, including the arm element, can receive commands from the movable unit to which it is attached, from any of the other movable units, from a central management unit, or the like.

[0157] According to some embodiments, any two mobile units can be configured to communicate directly with each other, with a central management unit, or both. According to some embodiments, the central management unit can relay signals from one mobile unit to another mobile unit. The central management unit can be located at any suitable location in the milking parlor and can be either mobile or fixed. According to some embodiments, the central management unit is physically attached to any one of the mobile units. According to some embodiments, the central management unit can include multiple control units, each of which is located as desired, for example, on a mobile unit or at any suitable location in the milking parlor.

[0158] It should be noted that communication between the mobile units, directly or indirectly (via, for example, a control unit attached to any of the mobile units, one or more central management units, or any other communication entity in the milking parlor) can optimize the handling of livestock, enabling each mobile unit to perform different parts of the same task, handle different animals, take over tasks from another when necessary (for example, when one mobile unit fails), change roles before, during, or after handling, avoid collisions, and the like.

[0159] According to some embodiments, communication between the mobile units and / or with the central management unit and / or the control unit and / or any other appropriate element in the system / milking parlor may be wireless or may be at least partially via wires. According to some embodiments, the communication wires may be at least partially contained in or attached to the track. According to some embodiments, the wireless communication may be transmitted by any known means, such as RF, Bluetooth, WiFi, and the like.

[0160] Any of the mobile units, control units, central management units, and the like can assign tasks to any of the mobile units and to any other appropriate entities in the milking parlor, such as bars separating operators from the path of the mobile units, as described in detail herein.

[0161] One embodiment relates to a system wherein at least one of the plurality of movable units comprises a camera and / or a laser scanner, a sonar scanner, a radio wave scanner or a radar device for obtaining data comprising images of livestock and / or for identifying any area of livestock, wherein the system comprises computing means for processing the data to determine the position of an organ of the livestock relative to a marker on a ramp.

[0162] According to some embodiments, the arm of the movable unit includes an arm containing a gripping unit. The gripping unit can be designed to remove the teat cup from the holder and attach the teat cup to the animal. Once attached, the gripping unit can be detached from the teat cup, and the movable unit can be moved to a different location, for example, to handle a different animal. As described in detail herein, the gripping unit can also be designed to grip any other necessary equipment for the pre- or post-milking process, such as a cleaning brush, a cleaning fluid receptacle, and the like.

[0163] According to some embodiments, the gripping unit includes a plurality of grippers, i.e., a gripper that can grip multiple objects simultaneously. According to some embodiments, the gripping unit includes a dual gripper, i.e., a gripper that can grip two objects simultaneously. According to some embodiments, any one of the grippers can be designed to grip an object, press a button on any suitable object, e.g., to cause the object to perform a specific operation, rotate any part of an object, squeeze any part of an object, and the like.

[0164] According to some embodiments, the gripping unit comprises a longitudinally extending double gripper having two gripping elements. According to some embodiments, the longitudinally extending double gripper substantially simultaneously grips two teat cups positioned one behind the other in the cage and attaches them one after the other to the animal's teats, with the hind teat cup attached first and the front teat cup attached only then. It should be noted that in this context, the front of the cage is considered to be the side of the cage facing the animal, and the front teat cup is the teat cup closest to the front of the cage. Furthermore, the front teat is the teat closest to the animal's head. According to some embodiments, there are two rows of teat cups in the cage, a front row and a back row, with each row comprising two teat cups. The longitudinally extending double gripper can simultaneously grip two teat cups, one from the front row and one from the back row, and attach them to the animal, as described in detail herein. Once the first two teat cups are attached to the animal, the longitudinally extending double gripper can return to the cage to grip the next two teat cups, again one from the front row and one from the back row, and so on. In order to enable the elongated double gripper to grip two teat cups simultaneously, remove them from the holder and attach them one at a time to the animal's udder by releasing the two teat cups one at a time from the elongated double gripper, the elongated double gripper is designed so that the two grippers can work together or independently, depending on the necessary action to be performed by the elongated double gripper.

[0165] According to some embodiments, as described in detail herein, the front teat cup is on a first step and the hind teat cup is on a second step, wherein the first step and the second step are positioned at different heights, and wherein there is a length difference between the front teat cup and the hind teat cup that is approximately the same as the height difference between the first step and the second step. Thus, the longitudinal double gripper can grip one long (front) teat cup and one short (hind) teat cup, and can also first attach the short teat cup to the hind teat and then attach the long teat cup to the front teat.

[0166] According to some embodiments, the teat cup includes more than one groove, hook, handle, or the like, designed to allow the elongated double gripper to easily grip the teat cup. According to some embodiments, the teat cup includes two grooves, enabling the elongated double gripper to properly grip two teat cups at once, attaching them one after another to the breast, including releasing them one at a time from the elongated double gripper. The two grooves may be spaced approximately 0.5-2.0 cm apart from each other. According to some embodiments, the grooves cover the entire circumference of the teat cup, while according to other embodiments, they are designed to cover only a portion of the circumference. According to some embodiments, the grooves are spiral-shaped.

[0167] As described in detail herein, the elongated double gripper can be designed to grip any suitable device, including teat cups, pre-milking devices, and post-milking devices. Embodiments of the present invention are directed to an independent pre-milking brush. According to some embodiments, the independent pre-milking brush both cleans the teat and stimulates milk release from the udder. According to some embodiments, the independent pre-milking brush comprises any number of brushes that are movable, such as rotating, to clean the teat and stimulate the teat. According to some embodiments, the independent pre-milking brush comprises one, two, three, or four rotating brushes. According to some embodiments, the independent pre-milking brush comprises two rotating brushes that are operated so that the teat is positioned between the two brushes.

[0168] According to some embodiments, the independent pre-milking brush is operated by electricity. According to some embodiments, the independent pre-milking brush is powered by any suitable cable or by a (possibly rechargeable) battery included in the independent pre-milking brush assembly. According to some embodiments, the independent pre-milking brush can be part of the teatcup holder or attached to the teatcup holder. According to some embodiments, the independent pre-milking brush is part of a stall or ramp assembly. According to some embodiments, an independent pre-milking brush is assigned to each stall. According to other embodiments, the independent pre-milking brush can be used for multiple stalls. According to some embodiments, the independent pre-milking brush is held in a holding port that is part of the teatcup holder, attached to the teatcup holder, part of the stall, ramp, or the like.

[0169] According to some embodiments, the independent pre-milking brush is connected to or includes a rechargeable battery. A device for recharging the battery may be present in a location where the independent pre-milking brush is positioned when not in use (e.g., in a holding port). For example, the charger may be attached to, included in, or on the teatcup holder. For example, the charger may be positioned in any suitable location in any stall, between any two stalls, in the milking pit, or the like, as long as the independent pre-milking brush is accessible to both the mobile unit and the manual operator when needed. According to some embodiments, the independent pre-milking brush includes a charging socket, and the independent pre-milking brush is charged via the charging socket when attached to the charger, e.g., a component of the teatcup holder, a component positioned in or between stalls, in the milking pit, or the like. According to some embodiments, the charging socket is waterproof.

[0170] According to some embodiments, the independent pre-milking brush is held and operated by a movable unit. According to some embodiments, the independent pre-milking brush is held and operated by an operator. According to some embodiments, the independent pre-milking brush is positioned so that the operator or the movable unit can reach the independent pre-milking brush, grasp the portion of the independent pre-milking brush used to disinfect and stimulate the animal, and move it to the animal's udder and utilize it. According to some embodiments, the independent pre-milking brush includes grooves, handles, notches, indentations, hooks, and the like, possibly similar to those of a teat cup, thereby allowing the independent pre-milking brush to be utilized with the same longitudinally extending dual gripper.

[0171] According to some embodiments, the individual pre-milking brush includes a magnetic sensor, switch, button, or the like for turning the individual pre-milking brush on, for example, to rotate the brush. According to some embodiments, the same sensor / button / switch, or another sensor / button / switch, or any other suitable device (which may be local or remote), can be used to operate a nozzle or the like to spray disinfectant / water onto the individual pre-milking brush. According to some embodiments, the nozzle or the like is an element of the teatcup holder, such that the individual pre-milking brush sprays water / disinfectant substantially through the element of the teatcup holder. Thus, according to some embodiments, the teatcup holder includes an element for spraying water / disinfectant onto the individual pre-milking brush. According to some embodiments, the individual pre-milking brush is sprayed with disinfectant / water while in its holding port (which may be located on or near the teatcup holder). According to other embodiments, the individual pre-milking brush is sprayed with disinfectant / water after it is removed from its holding port. According to some embodiments, the disinfectant disinfects and also wets the independent pre-milking brush, making the independent pre-milking brush ready for mechanical cleaning and stimulation of the teat by rotating the wet brush over the teat. According to some embodiments, the disinfectant used is such that it disinfects the brush itself due to the rapid action of the disinfectant, without necessarily disinfecting the teat. However, rotating the wet, disinfected brush over the teat can disinfect the teat and also stimulate milk release.

[0172] According to some embodiments and unlike other known systems, various elements of the system of the present invention, including the separate pre-milking brush, can be operated both manually and automatically.

[0173] Embodiments of the present invention also relate to a post-milking disinfection tool and a filling station. According to some embodiments, the post-milking disinfection tool includes a dipping chamber and a filling detection element, wherein the dipping chamber is filled with disinfectant. According to some embodiments, the post-milking disinfection tool also includes a brush. According to some embodiments, the brush is positioned at least partially around the entrance of the dipping chamber so that when the animal's teat is dipped into the dipping chamber, the teat passes over the brush, thereby brushing the teat, thereby ensuring that the disinfectant present in the dipping chamber is brushed onto and applied to the teat. Furthermore, since the filling is in the filling chamber, no tubes or the like need to be attached to the post-milking disinfection tool, and thus the post-milking disinfection tool is considered a stand-alone post-milking disinfection tool.

[0174] According to some embodiments, the filling detection element detects whether the impregnation chamber is full, needs to be filled, or any other possible parameter that allows the system to fill the impregnation chamber when necessary. According to some embodiments, the filling detection element is electronic. According to some embodiments, the filling detection element is mechanical. According to some embodiments, the filling detection element only detects when the impregnation chamber should be filled, while according to other embodiments, the filling detection element monitors the amount of disinfectant in the chamber and warns the system when a minimum predetermined amount is reached. According to some embodiments, the filling detection element is a float. According to some embodiments, the height of the float is detected by a detection element on the movable unit, for example, an IR sensor. According to some embodiments, the impregnation chamber is filled when the height of the float is below a predetermined height.

[0175] The dipping chamber can be filled by any suitable means at any location in the milking parlor. According to some embodiments, the dipping chamber is filled at a designated filling station. According to some embodiments, the system comprises more than one filling station. According to some embodiments, there is a filling station for each stall. According to some embodiments, there is one filling station for every several stalls. According to some embodiments, the filling station is located in the stall, between the stalls, in the milking pit, partly in the stall and partly in the milking pit, or in any other suitable location. According to some embodiments, the filling station is positioned at approximately the height of the animal's pelvis and between two animals so that the filling station separates the two animals and, in addition, is not positioned in a position where the animals' legs could obstruct the use of the filling station. According to some embodiments, the filling station is also a holding station in which the post-milking disinfection tools are kept when not in use.

[0176] According to some embodiments, the post-milking disinfection tool is used by a mobile unit. According to some embodiments, the mobile unit takes the post-milking disinfection tool from the filling station when necessary, cleans the animal's teats with the post-milking disinfection tool after milking, and returns the post-milking disinfection tool to the filling station when filling is required and / or when the post-milking disinfection process is completed.

[0177] According to some embodiments, the post-milking disinfection tool is held by a clamping element attached to an arm of the movable unit. According to some embodiments, the post-milking disinfection tool is held by a double clamp, as described herein. According to some embodiments, the post-milking disinfection tool includes grooves, hooks, handles, and the like as described herein with respect to the teat cups, so as to allow the clamp to hold the post-milking disinfection tool. According to some embodiments, one clamp of the double clamp holds the post-milking disinfection tool, while the second clamp activates the filling of the dipping chamber by, for example, pressing or rotating a button or the like. The button can be part of the post-milking disinfection tool or the filling station. According to some embodiments, the dipping chamber is filled via a mechanical valve that is pressed, rotated, or the like. According to some embodiments, the dipping chamber is filled via an electronic valve activated by an electronic switch, a magnetic sensor, a motion detector, a metal detector, an electro-optical sensor, or the like. The mechanical / electronic valve may be activated by any of the holders, by any other element on the movable unit, by an element on the teatcup holder, by a human user, electronically by a remote device or by any other suitable means.

[0178] According to some embodiments, the post-milking disinfection tool, like the rest of the elements in the system, can be used manually as well as by a robot. Additionally, because the post-milking disinfection tool includes a dip chamber, allowing the animal's teats to be dipped into the disinfectant, the amount of disinfectant wasted is reduced compared to most systems that spray the disinfectant onto the animal's teats.

[0179] Another embodiment of the present invention relates to a non-planar leg spacer positioned on a ramp, specifically on the floor of each stall, approximately centered between the hind legs, to allow animals to separate their hind legs. Leg spacers are known in the art and are used to separate an animal's hind legs to allow a robotic arm to easily access the animal's teats. Leg spacers are therefore designed to make standing on them uncomfortable for animals and, therefore, place their hind legs on the sides of the leg spacer rather than on the spacer itself, thereby separating their hind legs. According to embodiments of the present invention, any number of non-planar leg spacers can be positioned on a ramp, for example, in each of the stalls where animals can occupy and be handled (e.g., for milking). According to some embodiments, any number of non-planar leg spacers can be included in any of the stalls. For example, any one of the stalls can include one relatively large leg spacer or several smaller leg spacers. For example, the number of leg spacers in any stall can be different from the number of leg spacers in any of the other stalls.

[0180] However, systems known in the art include rooms that the animals enter without having to step on the leg spacers, but rather step and stand on either side of the leg spacers. As described in detail herein, the system of the present invention can be used in parallel milking parlors; thus, the animals walk through several stalls before reaching their designated stall. Once they reach their designated stall, they turn approximately 90° to be positioned for milking and / or any other handling. Therefore, if the leg spacers were located on a ramp, i.e., on the floor of each stall, the animals would continue to walk on the leg spacers, which would be uncomfortable for them. Therefore, when working in parallel milking parlors, the leg spacers can be designed so that the animals can comfortably walk on them, while at the same time standing on them is uncomfortable and therefore emotionally encourages the animals to spread their hind legs.

[0181] Thus, embodiments of the present invention relate to a non-planar leg spacer that is designed such that when an animal walks through a corral, a first portion and a last portion of the non-planar leg spacer are approximately flush with the ramp, i.e., at the same height as the ramp, while a middle portion of the non-planar leg spacer is elevated. According to some embodiments, the non-planar leg spacer can include any number of recessed or elevated arches, steps, triangles, V-shapes, and the like, such that an animal can easily walk on the non-planar leg spacer, while after rotating approximately 90° in the corral, the animal would be uncomfortable standing on the leg spacer and would therefore spread its hind legs. According to some embodiments, an electronic, mechanical, and / or manual device can change the position of the non-planar leg spacer after the animal is positioned in the corral and rotated approximately 90°. Thus, the leg spacer itself can be flat, but rise from the ramp after the animal has rotated approximately 90°, thereby spreading the animal's hind legs.

[0182] According to some embodiments, the non-planar leg spacer includes rods and spaces between the rods, wherein the size of the rods, the size of the spaces, the shape of the rods, and the like are designed to make it easy for an animal to walk sideways on the non-planar leg spacer, while after turning approximately 90° in the stall, it is uncomfortable for the animal to stand on the non-planar leg spacer and therefore spread its hind legs. According to some embodiments, the non-planar leg spacer includes transverse bars connecting the rods to each other and / or connecting the rods to the sides of the non-planar leg spacer so that the non-planar leg spacer is strong and does not deform when, for example, stepped on by an animal. According to some embodiments, any portion of the non-planar leg spacer (including the rods, transverse bars, frame, and the like) is textured to any appropriate extent to prevent the animal from slipping when placing its hoof on the non-planar spacer; however, the texture of each element is such that it is not harmful to the animal.

[0183] According to some embodiments, the diameter of any one of the rods is between about 10-30 mm, wherein the diameters of the rods are independent of each other such that any two rods can have different diameters. According to some embodiments, the number of rods is between about 4-10. According to some embodiments, the height difference between any two rods is between about 2-20 mm.

[0184] Reference Figure 1 , which shows an exemplary system 105 according to an embodiment of the present invention. Figure 1 As shown in FIG, system 105 may include a walkway or ramp 130, an enclosure, pen or stall 120 for housing and / or confining livestock (e.g., as shown, housing cows 110), and a movable unit 140. In one embodiment of the invention, movable unit 140 may be a unit designed to move over ramp 130 and under livestock (e.g., as shown). Figure 1 , a mobile robot that travels under a cow 110). For example, the mobile unit 140 can be designed and manufactured so that it can freely travel under the livestock and between the front and hind legs of the livestock. In this regard, it should be noted that Figure 1 A side view of a cross section of ramp 130 is shown so that movable unit 140 is intended to access the area between the front and hind legs of livestock from the side, ie from the left or right side of an animal confined in stall 120 .

[0185] Various designs of mobile unit 140 are contemplated; for example, a design for goats could be smaller than a design for cows. In one embodiment, mobile unit 140 is suitable for handling cows. Assuming that up to approximately 60 centimeters of space is available beneath a typical cow, mobile unit 140, including its attachment arm, can be designed to move freely through a space of approximately 50 centimeters in height. Mobile unit 140 can be designed to fit between the front and hind legs of a cow. Thus, as described above, mobile unit 140 can be small enough to fit beneath a cow standing on a ramp.

[0186] Including the small mobile unit 140 as described, embodiments of the present invention achieve advantages that are not achieved by systems and methods known in the art. As discussed above, robotic milking machines known in the art use arms that are placed outside (or extended from) the stall housing the livestock. During operation, such arms need to be extended into the stall and under the livestock, for example, in order to attach the milking unit. An arm extending from outside the stall can damage the livestock because its path may collide with the livestock, such as with the legs of a cow in the stall. In addition, the distance traveled by the arm placed outside (or extended from) the stall is relatively long.

[0187] Designed to fit and operate beneath livestock and travel between their legs, the mobile unit 140 as described herein eliminates some of the drawbacks mentioned above. For example, as also described herein, the mobile unit 140 can be moved from the side of the livestock to a position beneath the livestock, thereby routing between the front and hind legs without colliding with the livestock's legs.

[0188] Embodiments of the present invention can handle livestock through a system that minimizes arm movement or the distance the arm travels. For example, the movement of the arm 215 can be minimal, such as extending from under the cow to the housing of the milking unit, which may be very close.

[0189] refer to Figure 2A , which schematically illustrates a movable unit 140 according to an embodiment of the present invention. As shown, the movable unit 140 can include wheels 210 so that the movable unit 140 can, for example, travel on the described ramp 130. It will be understood that other means for achieving movement of the movable unit 140 can be used. For example, instead of wheels 210, the movable unit 140 can be equipped with a continuous guide rail (e.g., as used in a bulldozer). In addition, the ramp 130 can be equipped with a device for transporting the movable unit 140, such as a conveyor belt, a chain guide rail, and the like.

[0190] As shown, the movable unit 140 may include an arm 215 having a joint 220, wherein the arm 215 is connected to the body 144 of the movable unit 140. According to some embodiments, the arm 215 is connected to the body 144 via an arm base 225. Although Figure 2AThe arm 215 is shown centrally positioned on the body 144, but it should be noted that the arm 215 can be positioned and connected to the body 144 at any suitable location, including an off-center location. The off-center positioning of the arm 215 can allow the same mobile unit 140 to handle livestock of varying sizes, both in terms of length and height, as well as allowing for a greater reach in one direction than another, as desired. As shown, the arm 215 can include a gripping unit 250, a set of sensor units 230, and a set of processing units 240. The arm 215 can be designed so that it can be extended and rotated so that the gripping unit 250, sensor unit 230, and processing unit 240 can be placed in a selected position and / or orientation. For example, although not shown, the mobile unit 140 (or arm 215) can include an electric motor adapted to move, rotate, and / or extend the arm 215 so that the gripping unit 250, sensor unit 230, and processing unit 240 can be brought to a selected position and / or orientation. Although not shown, it should be noted that the gripping unit 250 can be replaced by any other desired device, as described in detail herein. According to some embodiments, any of the devices on the movable unit 140 can be detachable, such as the gripping unit 250, the sensor 230, or the processing unit 240, so that they can be replaced by other units (of the same or different type).

[0191] According to some embodiments, when the mobile unit 140 is in a mobile mode (e.g., moving from one stall to the next, entering the first stall, or leaving the last stall), the arm 215 is in a folded configuration. Once the mobile unit 140 positions itself in a working mode between the front and hind legs of an animal, the arm 215 can be transformed into a deployed configuration, wherein the length, height, position, and orientation of the arm 215 depend on the specific animal it is positioned under, the operation to be performed, its orientation relative to any type of equipment it is intended to use, and the like.

[0192] The gripping unit 250 may be any unit suitable for selectively holding and releasing an object. For example, the gripping unit 250 may be suitable for holding a teat cup, e.g., while removing it from a holder and attaching it to an animal, and further, the gripping unit 250 may be suitable for releasing a teat cup, e.g., after the teat cup has been attached to the animal. It should be noted that while the teat cups and / or gripping unit 250 may be designed to be attached to an animal in assemblies of two or four teat cups, the teat cups may also be designed to be attached to an animal individually, one after the other, in any suitable order.

[0193] The sensor unit 230 may include any sensing device, system, or module. For example, the sensing unit 230 may include a camera, a laser scanner, a sonar scanner, a radio wave scanner, a radar, or any other suitable device for acquiring images of an animal's organs (e.g., to identify the animal) and / or for identifying any area of the animal, possibly assessing the location of the area in space. In one embodiment of the system, the sensing unit 230 may include a sensor for testing for pregnancy. Pregnancy testing using ultrasonic sensors is known in the art. For example, in one embodiment of the system, the sensor unit 230 includes an ultrasonic sensor for testing for pregnancy in livestock, wherein the actual testing may be performed as known in the art. In the same or other embodiments of the system, the sensing unit 230 may include a sensor for capturing a fetal heartbeat. Any other sensor may be included in the sensing unit 230.

[0194] The processing unit 240 may include any suitable device, system, or module. For example, the processing unit 240 may include a cleaning unit suitable for cleaning organs (e.g., washing an animal's udder before or after milking). For example, the mobile unit 140 may include an assembly including a tank or container containing a liquid (e.g., water, a solvent, or other liquid solution). The assembly may include a conduit for flowing the liquid from the tank to a nozzle on a nozzle included in the processing unit 240. The assembly may include a pump for pushing the liquid from the liquid container through the conduit and nozzle.

[0195] The components included in the mobile unit 140 as described herein can be used to clean or wash any object. For example, the arm 215 can be positioned so that the nozzles in the treatment unit 240 are directed downwardly toward the floor. For example, the mobile unit 140 can clean the floors of the ramps 130 and 405 described herein.

[0196] The sensor unit 230 may include a thermometer for determining the temperature of the animal or an organ of the animal. For example, an udder infection may be identified or detected by, for example, measuring the temperature of the udder. Any data collected by the sensor unit 230 may be stored on the removable unit 140, may be processed by a controller included in the removable unit 140 as described herein, and / or may be sent to a remote computer (e.g., a reference to a computer system) using a communication component included in the removable unit 140 as described herein. Figure 3 , as described in detail below).

[0197] For the sake of simplicity and clarity, the various elements that may be included in the movable unit 140 may not be shown in FIG. Figure 2A. For example, wires may be included to provide power to the arm 215, sensor unit 230, and processing unit 240, but these wires are not shown. Other components, such as wires for transmitting digital data or signals from / to the sensor unit 230 and processing unit 240, are not shown. Other components included but not shown may be pipes or conduits for transporting liquids (e.g., liquids for cleaning or disinfection). For example, the mobile unit 140 may include an assembly comprising a container and a pump containing a disinfectant liquid (e.g., iodine), the pump being used to transfer the liquid from a tank and spray it onto the animal's udder through a nozzle or spout in a disinfection unit included in the processing unit 240. Any type of syringe, test tube, slide, scissors, tweezers, and the like may also be included to enable the operator to perform any type of required testing / treatment. In addition, the mobile unit may include any type of safety mechanism. Such a safety mechanism may protect the mobile unit from possible collisions. The safety mechanism may also protect the mobile unit from possible kicks from livestock.

[0198] As described in detail herein, the system can be configured so that the mobile unit does not enter, or does not frequently enter, areas where livestock are likely to kick. In this regard, it should be noted that analysis of livestock movements indicates that dairy animals, such as cows, tend to kick primarily backward with their hind legs. Other kicks are also noticeable, but not as intense. Therefore, the system is configured so that the mobile unit does not move behind the hind legs of dairy animals. Nevertheless, the mobile unit is still subject to being kicked and may collide with other moving and / or stationary objects, and therefore, embodiments of the mobile unit may include a safety mechanism. According to some embodiments, the safety mechanism is included in the arm 215. According to some embodiments, the safety mechanism is located at the base 225 of the arm 215, where the arm 215 is attached to the mobile unit 140. However, the system is configured so that the mobile unit is primarily positioned in a "no-kick zone," allowing the arm 215 to be relatively small and lightweight, as it does not need to withstand harsh blows. According to some embodiments, the mobile unit is programmed to avoid entering a "kick zone" by any known means, which can be a ramp, a physical part of the mobile unit, or other component of the system, or electronic data transmitted to it via RF, Bluetooth, WiFi, or the like, as needed. According to some embodiments, the mobile unit includes sensors that help guide the mobile unit to a "no-kick" zone. According to some embodiments, the ramp includes markers that relay data to the mobile unit regarding areas that the mobile unit can or cannot enter. According to some embodiments, the ramp can include any type of barrier to prevent the mobile unit from entering the kick zone, wherein these barriers, while affecting the movement of the mobile unit, generally will not affect the movement of the animal on the ramp. According to some embodiments, tracks / guides are positioned on the ramp / platform so that the mobile unit moving along the tracks / guides does not enter the kick zone. The kick zone and no-kick zone can be predetermined based on the normal use and movement of livestock in the milking parlor.

[0199] According to some embodiments, the dimensions of the main body 144 of the mobile unit 140 are within the range of 20-100 cm (length) x 25-55 cm (height) x 20-60 cm (width). According to some embodiments, the weight of the mobile unit 140 is within the range of approximately 10-50 kg. According to some embodiments, the weight of the mobile unit is less than approximately 40 kg. According to some embodiments, the weight of the mobile unit is less than approximately 30 kg. According to some embodiments, the weight of the mobile unit is less than approximately 25 kg. According to some embodiments, the weight of the mobile unit is less than approximately 20 kg. Embodiments that allow the mobile unit 140 to be both small and lightweight provide a mobile unit that is easy to handle by any operator, including a human operator. For example, if the mobile unit 140 malfunctions, the operator can simply manually lift it off the ramp 130. The size of the mobile unit 140 also makes it easy to maneuver between the front and hind legs of livestock. Additionally, the smaller the mobile unit 140, the less prone it is to collisions with other fixed and moving objects, including kicks from livestock. The small size of the mobile units also provides safety for the operator and other elements in the milking parlor, as collisions with the small mobile units are less likely to be dangerous. Furthermore, as described in detail herein, the parking or storage area required for the small mobile units is relatively small, and thus, existing areas in the milking parlor can be used for storage / parking without requiring additional space or rearrangement of the milking room.

[0200] Now refer to Figure 2B and Figure 2C , which indicates that it can be included in Figure 2A An embodiment of the safety mechanism in the movable unit 140 described in Figure 2B The safety mechanism 260 is shown in an engaged configuration, and Figure 2C The safety mechanism 260 is shown in a disengaged configuration. It should be noted that certain elements appear in only one of the figures (e.g. Figure 2A 140 or 215 in FIG3 ), although also related to other figures, and therefore, the description of a certain figure may include elements that appear in different figures. Therefore, all figures should be linked together.

[0201] The safety mechanism can be any suitable safety mechanism known in the art that causes the top plate 261 to separate from the bottom plate 262 when an element attached to the top plate 261 (e.g., the arm 215) is struck. A space 263 is formed by the separation of the top plate 261 from the bottom plate 262. When the space 263 is formed, the element connected to the top plate 261 (e.g., the arm 215) will not operate until the safety mechanism 260 is reengaged; however, because it allows the top plate 261 to rotate freely about an axis, converting the force of the strike into rotational motion, the separation prevents irreversible damage to the arm 215, the movable unit 140, and the like. The safety mechanism 260 can be reengaged in any suitable manner, such as manually, electronically, automatically, based on predetermined conditions, and the like.

[0202] According to some embodiments, in the engaged configuration, elements attached to the top plate 261, such as ball bearings, small metal pushpins, protrusions, and the like (not shown), protrude into, for example, recesses (not shown) of the bottom plate 262, e.g., beneath one or more springs 264. When disengaged, the top plate 261 can be rotated relative to the bottom plate 262 such that the ball bearings, small metal pushpins, protrusions, or the like are removed from the recesses in the bottom plate 262. When reengaged, the top plate 261 can be rotated relative to the bottom plate 262 such that the ball bearings, small metal pushpins, protrusions, or the like re-enter the recesses in the bottom plate 262.

[0203] According to some embodiments, the safety mechanism 260 is included in the arm 215. According to some embodiments, the safety mechanism 260 is included in the arm base 225. According to some embodiments, the arm 215 is connected to the body 144 via the safety mechanism 260.

[0204] refer to Figure 3 , which schematically illustrates components that may be included in the removable unit 140 according to an embodiment of the present invention. As shown, the removable unit 140 may include a controller 310, a memory 315, a radio frequency (RF) receive / transmit (Rx / Tx) unit 335 (also referred to herein as "RF unit 335"), a data storage unit 340, an input / output (I / O) device 345, a power supply 320, a set of motors 325, and a set of sensors 330. For simplicity and clarity, Figure 3 Some components that may be included in the movable unit 140 are omitted. Figure 32. The arms 215 and wheels 210 are not shown in the figures. The power source 320 can be any suitable power source for powering any component of the mobile unit 140. For example, the power source 320 can be a battery that provides power to the motor 325, the controller 310, the RF unit 335, and / or other components included in the mobile unit 140. Accordingly, the mobile unit 140 can include an internal power source. According to other embodiments, the mobile unit 140 receives power from any suitable external source connected to the mobile unit 140, such as via the power source 320.

[0205] The motor 325 may be an electric motor that moves the arm 215 and / or causes the arm 215 to extend, rotate the wheel 210, or drive other components included in the mobile unit 140. The sensor 330 may be any suitable sensor. For example, the sensor 330 may be adapted to sense light, infrared (IR) light, magnetic flux, and the like. For example, and as described herein, the sensors included in the sensor 330 may sense markers or markings on the path or ramp 130, thereby enabling the mobile unit 140 to position itself at a predetermined location on the ramp 130 or avoid entering certain areas on the ramp 130. Another example may be that the sensor 330 senses that it is correctly positioned under the animal, such as by detecting a shadow cast by the animal's body, heat generated thereby, or the like, thereby positioning the mobile unit 140 as desired.

[0206] The RF unit 335 may be a component that enables the mobile unit 140 to communicate with any component in the system described herein. For example, the RF unit 335 may be a WiFi (also spelled Wi-Fi or Wifi) component or device that enables the mobile unit 140 to communicate with a management system or with other mobile units (e.g., other mobile units in a system including a remote management system and / or multiple mobile units 140 as described herein). According to other embodiments, communication is via Bluetooth.

[0207] Controller 310 can be, for example, a central processing unit processor (CPU), a chip, or any suitable computing or calculating device. In some embodiments, more than one controller 310 can be used. For example, multiple controllers similar to controller 310 can be included in removable unit 140.

[0208] The memory 315 may be or include, for example, random access memory (RAM), read-only memory (ROM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate (DDR) memory chips, flash memory, volatile memory, non-volatile memory, cache memory, or other suitable memory units or storage units. In one embodiment, the memory 315 is a non-transitory processor-readable storage medium that stores instructions and the instructions are executed by the controller 310. The memory 315 may be or include a plurality of possibly different memory units.

[0209] Executable code 316 can be any executable code, such as an application, program, process, software, task, or script. Executable code 316 can be executed by controller 310, possibly under the control of an operating system. For example, executable code 316 can be one or more applications that control or manage components in mobile unit 140. For example, when executed by controller 310, executable code 316 can cause controller 310 to control or manage arm 215, processing unit 240, sensor 230, RF unit 335, motor 325, and other components included in mobile unit 140. Where applicable, when executed by controller 310, executable code 316 can cause controller 310 to perform the operations described herein in real time. For example, controller 310 can be configured to update, process, and / or act upon information at the same rate at which it receives information or related events. Executable code 316 can include multiple executable code segments. For example, a first code segment may manage and / or interact with the RF unit 335, and a second code segment included in the executable code 316 may control the motor 325. The executable code 316 may include an operating system (OS), which may be a commercial operating system designed and / or constructed to perform tasks related to coordinating, scheduling, arbitrating, supervising, controlling, or otherwise managing the operation of the controller 310, such as scheduling the execution of a program.

[0210] The data storage unit 340 can be any suitable system or device capable of storing digital information. For example, the data storage unit 340 can include a hard disk, a universal serial bus (USB) device, a CD-recordable (CD-R) drive and media, a non-volatile memory chip, or any other memory. Content can be stored in the data storage unit 340 and can be loaded from the data storage unit 340 into the memory 315, where the content can be processed by the controller 310. Content can be stored in the data storage unit 340 and can be sent from the data storage unit 340 to a remote computer or system, for example, using the RF unit 335. For example, data acquired by the sensor unit 230 can be stored in the data storage unit 340 and can later be retrieved from the data storage unit 340 and sent or uploaded to a remote computer.

[0211] Input / output (I / O) device 345 can be or can include a mouse, keyboard, touch screen or tablet, microphone or any suitable input device. It should be appreciated that any suitable number of input devices can be operably connected to removable unit 140 or controller 310. I / O device 345 can include one or more displays, speakers and / or any other suitable output devices. It should be appreciated that any suitable number of output devices can be operably connected to removable unit 140 or controller 310. Any applicable input / output (I / O) device can be connected to removable unit 140 or controller 310. For example, a wired or wireless network interface card (NIC), a modem, a printer or fax machine, a universal serial bus (USB) device or an external hard drive can be included in I / O device 345.

[0212] Embodiments of the present invention may include a small robot (e.g., in the form of a mobile unit 140) adapted to travel on a ramp and under a dairy animal, between the animal's front and hind legs. For example, embodiments of the system may include a small robot adapted to travel on a ramp on which the animal stands. Embodiments of the system may include a small robot adapted to travel to a location under the animal and to stop at a predetermined point, for example, as further described herein. In one embodiment, the small robot or mobile unit may carry equipment that can be used to process the animal, or may use equipment that can be placed at various possible designated locations in the milking parlor. For example, the small robot may carry a milking unit or remove a milking unit from a housing and attach the milking unit to the dairy animal. The milking robot may be parked under the animal and perform processing while parked. For example, processing may be milking, disinfection, obtaining measurements, and the like. As described, the small robot or mobile unit may travel on a ramp on which the animal stands. For example, the ramp on which the cows stand may include guides or tracks, and the small robot or mobile unit may travel along or on the guides or tracks.

[0213] The method of treating dairy livestock may include navigating a mobile unit to a position below the livestock; and performing, by the mobile unit, at least one action related to the treatment of the dairy livestock. It will be understood that portions of the operations, such as milking, disinfecting, cleaning, and obtaining measurements, may include the use of equipment known in the art, which may be included in or on the mobile unit or included in any appropriate location in the milking parlor. For example, the actual cleaning of the animal's udder as described herein may be performed as known in the art. Similarly, spraying a disinfecting liquid using a nozzle may be as known in the art. Therefore, for the sake of clarity and simplicity, details relating to some of the operations performed by the small robot or mobile unit described herein are assumed to be understood or known to a person having ordinary skill in the art and are not described in detail.

[0214] refer to Figure 4, which shows a system 400 according to an embodiment of the present invention in a rotary milking parlor. As described herein, system 400 can be included in or operated as a milking parlor or milking platform. It is important to note that, as will be described in detail herein, all elements of the system of the present invention can be included in any existing milking parlor, including rotary and parallel milking parlors, and can be modified as needed depending on the type of milking parlor. As shown, system 400 can include a ramp 405. For example, ramp 405 can be a platform on which animals stand to be milked or handled, wherein each animal, once entering ramp 405, stands in a stall, one animal per stall, as is known in the art. As indicated by arrow 406, ramp or platform 405 can rotate with the animals thereon. As shown, ramp 405 can include guides or tracks 410 for guiding movable units. As shown by mobile units 441, 442, 443, 444, 445, 446, 447, and 415, a mobile unit similar to mobile unit 140 described herein can be placed on ramp 405 and can be traveled on ramp 405, for example, forward or backward along track 410 or outward to a maintenance area (see, for example, the position of mobile unit 441). As shown, system 400 can include maintenance area 435. For example, as shown by mobile unit 441, the mobile unit can exit track 410 and enter maintenance area 435 where it can be maintained, for example, including removing samples collected by mobile unit 441 from the monitored livestock. It should be noted that once mobile unit 441 enters maintenance area 435, it can remain there until ramp 405 stops rotating and until there are no moving animals and / or mobile units at least near maintenance area 435, so that operators can safely enter ramp 405 without being endangered by movement of ramp 405, animals, and / or mobile units. As shown by arrow 460, animals can enter or climb ramp 405 through a dedicated opening, and as shown by arrow 461, animals can exit ramp 405 through a dedicated opening or door.

[0215] The system 400 may include components for housing milking units, for example, before milking begins and / or after milking has been completed. For example, as shown by component 420, components for housing milking equipment may be included in the ramp 405. For example, when placed in the component 420, the milking unit can be cleaned, disinfected, and the like. The system may include components for placing the milking unit in a dedicated location or holder that is closer to the location of the animal during milking. For example, as shown by arrangement 430, specific holders may be included in the ramp 405 and the milking unit may be placed in one or more holders. For example, a quartet of holders 430 may hold teat cups individually. As shown by arm 425, the system may include an arm that is suitable for removing or taking the milking unit from the component 420 and placing the milking unit in the holder 430. It is also noted that the arm 425 may not be included in the system and the milking unit may be placed in the holder 430 by any suitable means, such as by an operator. Furthermore, it should be noted that, as shown by arm 425, the system may include components for housing the milking unit in the ramp 405. Figure 4 As shown in FIG, the milking unit, which is part of the system 400 or milking parlor, rather than part of the mobile unit 140, is directly connected to the main milk line (not shown). Thus, the system 400 may also include any milk or livestock testing equipment necessary to ensure that only desired milk enters the main milk line. Undesirable milk, such as from animals receiving antibiotics, can be collected separately. Different types of milk, such as colostrum, can also be collected separately.

[0216] In one embodiment, the cage 430 is located at a minimum distance from the animal being milked. It should be noted that the cage 430 can accommodate milking equipment, such as teat cups, cleaning equipment such as brushes, disinfectant or disinfectant conduits, or any other necessary equipment or substances. According to one embodiment, one cage 430 is positioned between every two stalls, wherein additional cages can be positioned before the first stall or after the last stall, or between the first and last stalls on a rotating platform. According to some embodiments, any of the cages can be positioned in general alignment with the space between the animal's hind legs when the animal is confined to the stall. Either of these positions enables the arm 215 to have a minimum length so that the movable unit 140 (see Figure 2A ) has a minimal footprint. According to some embodiments, arm 215 (see Figure 2A ) does not extend beyond the edge of ramp 130. According to some embodiments, arm 215 extends beyond the edge of ramp 130 by up to 20 cm. According to some embodiments, arm 215 extends beyond the edge of ramp 130 by up to 15 cm. According to some embodiments, arm 215 extends beyond the edge of ramp 130 by up to 10 cm. According to some embodiments, arm 215 extends beyond the edge of ramp 130 by up to 5 cm.

[0217] It should be noted that although reference is made herein to specific mobile units and elements thereof, as well as specific elements of the system, e.g. Figure 2A 1 and 2. The embodiments shown in FIG. 1 are movable unit 140 and arm 215, but the detailed description relates to any movable unit and system element, such as movable units 441, 442, 443, 444, 445 and 446, unless specifically mentioned otherwise.

[0218] According to some embodiments, mobile unit 140 is configured so that it can travel over ramp 130, easily fit between the front and hind legs of an animal, and, when parked under the animal in working mode, can use arms 215 to reach and operate any necessary equipment, such as teat cups, cleaning brushes, and the like. According to some embodiments, mobile unit is designed so that, when parked under the animal, as described, the outer edges of body 144 do not protrude beyond the outer edges of the animal's body under which it is parked. According to some embodiments, any of the outer edges of body 144 protrude beyond the outer edges of the animal's body under which it is parked by up to 20 cm. According to some embodiments, any of the outer edges of body 144 protrude beyond the outer edges of the animal's body under which it is parked by up to 15 cm. According to some embodiments, any of the outer edges of body 144 protrude beyond the outer edges of the animal's body under which it is parked by up to 10 cm. According to some embodiments, any of the outer edges of body 144 protrudes by up to 5 centimeters beyond the outer edge of the body of the livestock beneath which it rests.

[0219] According to some embodiments, when the mobile unit 140 is parked under the livestock, the base 225 of the arm 215 is positioned under the livestock and the arm 215 can be extended from under the livestock to perform any necessary operations, such as removing teat cups from the holder 130, and the like.

[0220] As shown, system 400 may include a management unit 470, which may include an RF unit 471 that enables management unit 470 to communicate / coordinate with other components of system 400. For example, management unit 470 may communicate / coordinate with removable units 441, 442, 443, 444, 445, 446, 447, and 415. As shown, management unit 470 may include a controller or processor 474 and memory 472, which may include software, instructions, or executable code 473. When executed by controller 474, executable code 473 may cause controller 474 to perform operations as described herein for management unit 470. In one embodiment, management unit 470 comprises a server computer equipped with RF capabilities. Thus, a management software application may be executed on management unit 470, and the management application may communicate with removable units 441, 442, 443, 444, 445, 446, 447, and 415. Although not shown, management unit 470 can be connected to other components or computers, for example, management unit 470 can be connected to the Internet or a remote server. Thus, any data obtained by removable units 441, 442, 443, 444, 445, 446, 447, and 415 can be transferred to management unit 470 and from management unit 470 to any computer or network. Controller or processor 474 and / or controller or processor 310 can be configured to implement embodiments of the present invention by, for example, executing instructions or software.

[0221] As described, a system for handling dairy livestock can include a ramp for accommodating dairy livestock, and one or more mobile units configured to travel on the ramp and under the dairy livestock and perform at least one action related to handling / testing the dairy livestock. For example, mobile units 441, 442, 443, 444, 445, 446, 447, and 415 can be small enough to travel under a cow standing on ramp 405 and between the cow's front and hind legs, and can perform various treatments and operations as described herein.

[0222] According to some embodiments, ramp 405 is a rotating platform in a rotary milking parlor. According to some embodiments, ramp 405 is a fixed platform in a parallel milking parlor. As will be understood by those skilled in the art, when the system of the present invention is assembled in a parallel milking parlor, there will be two ramps 405, each ramp 405 possibly equipped with guides or tracks 410 as described in detail herein, and each ramp 405 having movable units 140, 415 and the like that move thereon and handle animals on each of the two parallel platforms.

[0223] In a rotary milking parlor, the ramp 405 can be adapted to translate or move both the dairy animal and the movable unit. Thus, when positioned below the animal, the movable unit (e.g., movable unit 442) can be stationary relative to the animal above it, while both the animal and the movable unit are displaced (e.g., rotated) by the ramp 405. For example, the ramp 405 can be a circular ramp adapted to displace the livestock and the movable unit in a circle around a center. The ramp 405 can include stalls (e.g., such as Figure 1 ) and can be slowly rotated so that the animal can enter or climb ramp 405 as shown by arrow 460 and exit ramp 405 as shown by arrow 461.

[0224] The guide or track 410 can be designed to hold the movable units (e.g., movable units 446, 447, and 415) within a predetermined path along the ramp 405 and beneath livestock positioned on the ramp 405, wherein the track 410 can extend from one end of the ramp to the other end, and when the ramp is circular (or oval or otherwise shaped as a closed shape), the track 410 or at least a portion thereof can be designed to be the same shape as the ramp or a shape similar to the ramp so that when the livestock is positioned on the ramp, the track 410 runs between the livestock's front and hind legs. For example, the track 410 can include sidewalls that can prevent the movable units from traveling in any direction other than along the track 410. In one embodiment, the track 410 can include rails on which the wheels 210 (which can include grooves that fit into the rails) run, such that the track holds the wheels (and therefore the movable units) in a manner similar to how the track holds or guides a train.

[0225] In one embodiment, the track 410 can provide electrical energy to the movable unit. For example, contacts can be placed on the side of the track 410 and can provide electrical current to the movable unit via electrical contacts included in the movable unit. For example, metal brushes or other components in the movable unit 442 can be connected to the motor 325 and contact conductive metal strips or terminals placed on (or along) the track 410. Electricity can be fed into the conductive metal strips or terminals, can flow through the brushes, and can power the motor 325. Thus, the track 410 can provide electrical energy to the movable unit.

[0226] According to other embodiments, the track 410 is not present and the movement of the movable unit is then, possibly, controlled, for example restricted to a specific path, by a management unit 470, a controller 310 included in the movable unit 140, markers (such as ramp 405 or markers 480, 481 and 482 on the track 410) or any other suitable means, which management unit 470 can transmit / receive via electrical means, Bluetooth, Internet, WiFi and the like.

[0227] Removable unit 140 can be applicable to carry out various processing and operation.For example, removable unit 415 can sterilize animal (for example, udder or teat) by spraying disinfectant.For example, removable unit 415 can comprise the container or the tank that stores iodine, and processing unit 240 can comprise and is used for, for example after milking is finished and removes milking unit, sprays iodine nozzle or the spout on animal.Processing unit 240 can comprise the parts that are suitable for warming or heating udder or other parts of animal, therefore, removable unit as described herein can heat the organ of livestock, for example, by by heating element being attached to livestock or adjacent livestock place heating element.

[0228] In one embodiment, the mobile unit (e.g., mobile unit 140) can include a tank or container that stores water or other liquid that can be used to clean or wash livestock and / or clean or wash ramp 405. For example, a nozzle included in treatment unit 240 can spray water or other liquid onto animals standing on ramp 405. The nozzle or spout included in treatment unit 240 can be used to wash ramp 405. As a robot, the mobile unit described herein can move / extend arm 215 so that the nozzle or spout is oriented to wash livestock or wash ramp 405.

[0229] Processing unit 240 and / or sensing unit 230 may include a camera for capturing images. It should be noted that, unless otherwise specifically mentioned, the camera can be replaced with any other suitable device (e.g., a laser scanner, etc.). It should also be noted that, unless otherwise specifically mentioned, any unit may include more than one device for capturing images, potentially including two different types of devices. For example, arm 215 can position or align the camera included in sensing unit 230 so that images of any desired part of the animal (e.g., the animal's belly, rump, or udder) are captured. Images captured as described can be used to attach a milking unit (e.g., by determining the precise or relative location of the teat), diagnose any possible condition, and the like. Images can be used to identify the animal. For example, an animal can be identified by analyzing an image of its udder or an image of a marker on its body. For example, a hot iron mark on an animal's belly can be identified by processing an image of the animal's belly and using known image or pattern recognition methods. For example, an image of the animal's belly can be processed by controller 310 or controller 474, markers can be identified in the processed image, and a database including a list of animals and their respective markers can be used to identify the animal. Other markers (eg made using freezing, such as using liquid nitrogen or dry ice) can be similarly identified. Thus, the sensing unit 230 may include sensing means for identifying livestock.

[0230] Other devices or sensors included in the processing unit 240 and / or the sensing unit 230 may be devices or sensors known in the art for testing pregnancy. For example, an ultrasound sensing device included in the sensing unit 230 may be used to detect the heartbeat of the fetus. It should be noted that although the sensing unit 230, the processing unit 240, and the clamping unit 250 are depicted as being located on the distal end of the arm 215, according to various embodiments, they may be positioned at any suitable location on the arm 215 or on the movable unit 140, and further, their locations on the arm 215 or the movable unit 140 may be changed as desired.

[0231] Any data acquired by the sensing unit 230 can be stored. For example, images acquired by a camera, a laser scanner, or any other suitable device, or signals acquired by a sensor can be stored on the data storage unit 340. Any data stored on the data storage unit 340 can be downloaded or uploaded to a remote computer, or the data in the data storage unit 340 can be transferred over a network. The data in the data storage unit 340 can be transferred or copied using a direct wire, such as using a USB port included in the removable unit 140. Therefore, it will be understood that data acquired, processed, or generated by the removable units such as 441, 442, 443, 444, 445, and / or 140 can be used by other components of the system 400.

[0232] In one embodiment, the movable unit 140 (or Figure 4 ) can be moved to a predetermined position beneath the animal and, when in the predetermined location or position, perform the operations described herein. For example, the optimal position for handling the animal may be directly beneath the animal, perhaps a short distance from the udder. At the predetermined position, the movable unit 140 can be rotated or otherwise moved or manipulated so that it is in a selected, possibly predetermined, orientation. For example, the movable unit 140 can be rotated so that the arm 215 is at a minimum distance from the holder 430.

[0233] To determine its location, the movable unit 140 may use any suitable system or technique. For example, the controller 310 (or the controller 474) may use image processing techniques to determine the location of the movable unit 140 based on video or images received from the camera or any other suitable device in the sensor unit 230.

[0234] An electromechanical switch can be used to enable the movable unit 140 to determine that it has reached a predetermined point in the corral. For example, a mechanical sensor included in the movable unit 140 can be configured to detect a marker on the track 410. For example, the track 410 can include a protrusion (or cavity or hole) marking the center of the corral, and a rod connected to a microswitch included in the movable unit 140 can slide along the track 410 and activate the microswitch when it reaches the protrusion or cavity. Activation of the microswitch can enable the movable unit 140 to determine that it is located in the center of the corral. An optical sensor included in the movable unit 140 can detect an optically detectable signal emitted from a source placed in the center of the corral. In other embodiments, the marker can be or include a magnet placed in the corral, and a sensor suitable for sensing changes in magnetic flux can be included in the movable unit 140, allowing the movable unit 140 to stop or park in the corral based on the sensed magnetic field or flux.

[0235] In one embodiment, ramp 130 includes stalls for housing livestock. For example, upon entering platform 405 as shown by arrow 460, the animals enter individual stalls.

[0236] In one embodiment, the floor of ramp 405 includes a marker or markers detectable by the mobile unit. For example, a marker can be placed at the center of each stall in ramp 130. For example, the marker can be an RF beacon, a specific color such as paint, or the like. A sensor included in sensor 330 can detect the marker (e.g., by recognizing the marker's color or picking up the RF beacon). Based on the location of the marker, the mobile unit can move to a position defined by the marker's position. For example, the mobile unit can position itself so that a specific portion of the mobile unit (e.g., its center) is directly above or within a predetermined proximity of the marker. For example, the sensor included in sensor 330 can transmit the marker's location (or relative position relative to the mobile unit) to controller 310, and controller 310 can cause motor 325 to move the mobile unit (e.g., by driving wheels 210) to a position closest to the marker. It should be understood that various other methods or components can be used to enable the mobile unit to determine its position within the stall.

[0237] In one embodiment, a marker or markers can be placed on or within track 410. Thus, to position the mobile unit directly over the marker, the controller 310 may only need to move the mobile unit in one of two directions (e.g., forward or backward). For example, markers placed on the floor of ramp 405 and / or on or within track 410 and at the center of the pen can be used by mobile units such as 444, 445, and / or 140 to determine their position relative to the pen housing livestock. For example, using the markers as described, the mobile unit can position itself below an animal in the pen.

[0238] As described, the system may include a unit for placing a milking unit in a housing. For example, the system may include an arm 425 adapted to take a milking unit from assembly 420 (where the milking unit may have been cleaned or otherwise processed) and place the milking unit in a holder 430. It will be appreciated that holder 430 may be any suitable housing suitable for accommodating a milking unit.

[0239] The cage 430 can be located at a minimum distance from the animals, and the position of the cage 430 (e.g., relative to the center of the stall) can be known. Thus, when located directly above or in close proximity to a marker, such as approximately in the center of the stall, the mobile unit can determine the relative position of the cage 430. Thus, the mobile unit can be adapted to determine its position (e.g., within the stall) and, based on its position, determine the position of the cage 430. Furthermore, knowing its position within the stall, the mobile unit can easily determine the position of the milking equipment unit housed by the cage 430. According to some embodiments, the mobile unit 140 is designed to locate any necessary milking equipment even when the specific position of the mobile unit is unknown.

[0240] In one embodiment, the movable unit is adapted to detach a milking equipment unit from a housing or holder and attach the milking equipment unit to a dairy animal. For example, using the arm 215 and the clamping unit 250, the movable unit 140 can detach a milking unit (e.g., a teat cup) from the holder 430 and attach the milking unit to the animal being milked. For example, the position of the holder 430 (relative to the center of the stall) can be known in advance, so the controller 310 can move the arm 215 to the holder 430 and clamp the milking unit. As described, the position and / or shape of the udder can be known to the movable unit 140 (e.g., based on an image of the lower portion of the animal being processed, as described). Therefore, the controller 310 can move the arm 215 to a position below the udder and lift the teat cup so that the teat cup snaps onto the teat (e.g., by vacuum forces in the teat cup, as is known in the art). It should be noted that when the movable unit is positioned under the animal, possibly close to the udder, the distance that the arm of the milking unit needs to travel in order to remove the milking unit and attach the milking unit to the animal is kept to a minimum. For example, the milking unit may be a set of four teat cups, or the milking unit may be a single teat cup.

[0241] As described, using markers 480, 481, and 481 in the corrals, a mobile unit can automatically travel from a first corral to a second corral. For example, as described, by detecting markers 480, 481, and 481 on the floor of ramp 130, mobile units 441, 442, 443, 444, 445, 446, 447, and 415 can travel from a first corral to a second corral. For example, to travel from a first corral to a second corral, mobile unit 442 can travel along track 410 until it detects marker 480 and determines that it is directly beneath any portion of mobile unit 442. Leaving the first corral, the mobile unit can travel along track 410 until it detects marker 480. Detecting the markers on the floor of ramp 130 can indicate to the mobile unit that it is in the proper position in the corral. To travel from the first stall to the third stall, the mobile unit can continue its movement after detecting the first marker until it detects the second marker 481. Markers 480 and 481 are, for example, placed on track 410, while marker 482 is placed on the floor of ramp 130. Marker 482 can be used, at least in this specific area near marker 482, for example, when the mobile unit is not traveling on the track. Although only three markers are shown for simplicity, and their positions in the figure appear to be between stalls, it should be noted that any number of markers can be used, and they can be positioned within the stalls, outside the stalls, between the stalls, in the middle of the track, and so on, as desired. It should also be noted that, as described in detail above, different types of markers can be used, and furthermore, the same system can include any number of markers of any suitable type.

[0242] As shown in area 435, the system can include a repair or maintenance area in which the mobile unit can be parked and serviced, or samples obtained from animals by the mobile unit can be collected and / or inspected. When the mobile unit is in area 435, other operations can be performed, for example, the data stored in the data storage unit 340 can be transferred or copied from the mobile unit when in area 435. In one embodiment, the management unit 470 can cause the mobile unit to exit track 410 and enter area 435. For example, track 410 can include a layout similar to a switch or turnout used in a train. The turnout can be operated by an electric motor, which can be controlled by the management unit 470 (for example, using RF or wired communication).

[0243] Thus, by controlling the components of track 410, management unit 470 can cause the movable units to travel to area 435, for example, as shown by movable unit 441. In one embodiment, management unit 470 can monitor the movement and position of movable units 441, 442, 443, 444, 445, 446, 447, and 415. For example, the movable units can report their positions to management unit 470 or can use other means (e.g., global positioning system components installed in the movable units). Thus, management unit 470 can determine when and how to operate the switches so that the selected movable units travel to area 435.

[0244] Movable units 441, 442, 443, 444, 445, 446, 447, and 415 can collaborate and / or cooperate to complete a task, process, or operation. As is known in the art, a milking unit can include four teat cups (the number and size of which vary depending on the animal being milked) that need to be attached to the four teats of a cow. In one embodiment, a first movable unit (e.g., movable unit 443) can be adapted to attach a first portion of the milking unit to a dairy animal, and a second movable unit (e.g., movable unit 444) can be adapted to attach a second portion of the milking unit to the dairy animal. For example, movable unit 443 can attach a first teat cup, movable unit 444 can attach a second teat cup, and movable units 445 and 446 can attach a third teat cup and a fourth teat cup, respectively. Movable unit 442 can perform preparation-related operations, such as cleaning, heating, and the like. As described, by processing images of the breast, teats within the breast can be identified and their locations calculated, for example, using known computer image processing or recognition methods. For example, if the position of the mobile unit 442 is known when the image of the breast is acquired, and the position of a camera, laser scanner, or the like on the arm 215 is known (e.g., because the location or position of the arm 215 is known), the positions of objects within the image can be calculated. In some embodiments, a video stream can be generated by a camera, laser scanner, or the like carried by the arm 215, and the controller 310 can use the video stream to move / extend the arm 215 so that it brings the milking unit to the teats. Any known method used by a robot or other automated system can be used by the mobile unit to transport and place equipment, such as a milking unit, at a desired location or position. For example, any method used by milking robots known in the art can be used by the mobile units 415, 442, 443. As noted, unlike a milking robot that is placed outside a stall, in one embodiment, the milking robot may be or may be included in a small mobile unit that is adapted to move into position under the livestock and perform operations under the livestock, thereby minimizing movement of the milking robot's arms or other components.

[0245] When a mobile unit completes its mission in its current stall, it can proceed to the next stall, for example, in a direction opposite to or in the same direction as the ramp 405's rotation. Before moving to the next stall, the mobile unit can determine whether another mobile unit is located in the next stall. For example, as described, the management unit 470 can monitor the location of the mobile unit and thus determine whether the mobile unit is located in a particular stall. Thus, the mobile unit can communicate with the management unit 470 and be advised whether it can move from its current stall to the next. In another embodiment, the mobile unit can communicate / coordinate with neighboring mobile units to determine their locations and, therefore, whether it can move to a stall. Thus, based on commands or information received from the management unit 470 and / or independently based on information received from other mobile units, the mobile unit can automatically move from one stall to a second stall.

[0246] In one embodiment, multiple mobile units can be configured to communicate / coordinate with each other to collaboratively perform actions related to the handling / testing of dairy livestock. This collaboration or cooperation can be achieved in various ways. For example, a mobile unit, such as mobile unit 442 (which may be the first mobile unit to handle an animal during the current milking time), can include a camera, laser scanner, or the like to obtain images of the livestock. The images can be processed, for example, by management unit 470 or by one of the mobile units, and the positions of the livestock's organs can be determined and possibly recorded. For example, using the images and the position of the mobile unit that captured the images, the position of the udder (and / or teat) relative to a marker in the stall can be determined and possibly recorded. For example, the coordinates of the udder or teat relative to the marker in the stall can be transmitted to the other mobile units. Thus, using the images obtained by mobile unit 442, mobile units 443, 444, 445, 446, and 447 can be informed in advance of the location of the animal's udder or teat.

[0247] One (or more) of the multiple movable units can act as a backup unit. For example, movable units 443, 444, 445, and 446 can each attach one of the four teat cups to a cow (or two for a goat, etc.). For example, after movable unit 443 attaches the first teat cup, it moves to the next stall, and movable unit 444 moves to the stall that movable unit 443 left. Then, movable unit 444 can attach the second of the four teat cups to the cow. Thus, the movable units can work together to attach the entire milking assembly.

[0248] However, if one of the mobile units 443, 444, 445, and 446 fails to attach a teat cup, it can report the failure to the management unit 470 (or another mobile unit), and, acting as a backup unit, the mobile unit 447 can attach the teat cup that another mobile unit failed to attach. The mobile units can communicate / coordinate with each other or with the central management unit 470, and can send and receive any information related to the operations performed by a group of mobile units. Thus, one mobile unit can correct an error or failure caused by another mobile unit. For example, a first mobile unit can automatically complete an action that at least one other mobile unit failed to complete, as described.

[0249] In one embodiment, each mobile unit in a group of mobile units can be configured to communicate / coordinate with the other mobile units included in the group. A group of mobile units can be configured to dynamically and automatically determine a portion of a process to be performed by each mobile unit in the group. For example, if mobile unit 443 has already left the stall, mobile unit 444 can simply move to the next stall. If mobile unit 444 has completed attaching a teat cup as configured and cannot move to the next stall, mobile unit 444 can attach another teat cup, such as the teat cup normally attached by mobile unit 445. In one embodiment, the allocation of subtasks can be configured (e.g., each mobile unit is configured to attach a specific teat cup). Mobile units can override the configured subtask distribution; for example, a first mobile unit can perform a subtask assigned to a second mobile unit in the configured subtask distribution.

[0250] It should be noted that although the attachment of the teat cup is relevant in this context, any kind of treatment / test required can be envisaged, such as cleaning, where one mobile unit applies disinfectant to a specific area on the animal, a second mobile unit rinses the disinfected area with water, and a third mobile unit dries the area. Testing can also be involved, such as using a syringe, where after disinfection / cleaning and possibly drying, another mobile unit is used to retrieve a blood or milk sample.

[0251] The mobile units can send any information to the management unit 470. For example, the mobile units can report the completion of subtasks, the non-completion of tasks or subtasks, and the like. The management unit 470 can be configured to be aware of the progress of various tasks and dynamically cause at least some of the mobile units to each perform a portion of the processing. For example, given information related to a process (e.g., milking) from the mobile units, the management unit 470 can dynamically assign tasks to the mobile units. For example, if the mobile unit 445 reports a failure or failure to attach a teat cup, the management unit 470 can instruct the mobile unit 444 to "replace" the mobile unit 443, e.g., to attach the teat cup that was attached by the mobile unit 443 in the previous configuration.

[0252] According to some embodiments, the distance between the movable unit and the animal is between about 30-50 cm. According to some embodiments, the distance between the movable unit and the animal is between about 20-30 cm. According to some embodiments, the distance between the movable unit and the animal is between about 30-40 cm. According to some embodiments, the distance between the movable unit and the animal is between about 40-50 cm. According to some embodiments, the distance between the movable unit and the animal is between about 50-60 cm. It should be noted that, without being limited to this limitation, the distance between the movable unit and the animal can be between any part (such as the base of the arm of the movable unit) and the location on the animal being treated (such as the udder) so that the distance between the movable unit and the animal is substantially the distance the arms are extended. According to other embodiments, the distance between the movable units can be measured between their position on the ramp relative to the position of the animal or the area of the animal they treat.

[0253] The movement of a mobile unit from one stall to another can be synchronized or based on the movement of another mobile unit. For example, when mobile unit 442 has finished cleaning an animal in its current stall, it can move to the next stall and notify mobile unit 443 that it can move to the stall that mobile unit 442 just left. In another embodiment, mobile unit 442 reports to management unit 470 that it has completed its task in its current stall and can request permission from management unit 470 to move to the next stall. Management unit 470 can track the locations of all mobile units in system 400 (e.g., based on reports from the described mobile units). Thus, management unit 470 can determine whether a mobile unit can move to the next stall (e.g., by determining that no other mobile unit is present in the next stall), move to a maintenance area, or the like.

[0254] The mobile units and management unit 470 can share information. For example, an image captured by mobile unit 442 (which may be the first unit to handle an animal during milking) can be shared by all mobile units in system 400. Data determined based on an image captured by one mobile unit (e.g., the coordinates of a teat in an udder) can be shared by some or all of the units. For example, management unit 470 can receive an image from mobile unit 442, determine the location of the animal's teat relative to the stall or relative to a known location within the stall based on the image, and provide the coordinates to mobile units 442, 443, 444, 445, 446, and 447.

[0255] Now refer to Figure 5A 、 Figure 5B and Figure 5C , which shows an embodiment of the system 500 installed in parallel milking parlors. Figure 5A As shown in FIG, livestock are loaded into stalls 501, 502, 503, 504, and the like, while mobile units 540, 541, 542, 543, 544, 545, and 546 are positioned in parking area 560. It should be noted that any number of mobile units, including a single mobile unit, can be used, and for illustrative purposes, only a specific number of the plurality of mobile units is shown. It should also be noted that, although different numbers have been assigned to different mobile units in the same or different figures, any of the mobile units can include any of the embodiments described in detail with respect to any of the other mobile units (including mobile unit 140). It should also be noted that, according to some embodiments, the system includes parking area 565, which can be used by the same mobile unit or another mobile unit. According to some embodiments, the system includes both parking area 560 and parking area 565. It should also be noted that any of the parking areas can be used for parking, maintenance, and the like.

[0256] As shown, stalls 501, 502, 503, 504, and the like are arranged on two parallel ramps 510 and 520, between which is a milking pit 550. As shown, according to some embodiments, mobile units 540, 541, 542, 543, 544, 545, and 546 are positioned on or attached to tracks 515 and 525 extending along platforms 510 and 520, respectively, and according to some embodiments, as shown, extend into a parking area 560.

[0257] Once livestock are loaded into stalls 501, 502, 503, 504, and the like, they remain within the stalls until their processing is complete. In this regard, it should be noted that while milking is the primary processing described herein, any other type of processing can be performed in accordance with the present invention. While the livestock are held in the stalls, any number of mobile units 540, 541, 542, 543, 544, 545, and 546 can exit parking area 560. It should be noted that, according to embodiments of the present invention, the mobile units are stationary when the livestock are "on the move," i.e., not confined to the stalls, and can be mobile, entering the stalls, to process the livestock when confined to the stalls. Thus, the possibility of collisions between the livestock and the mobile units, and the like, is kept to a minimum.

[0258] like Figure 5B As shown in FIG, once the livestock are confined to the stalls 501, 502, 503, 504, and the like, the mobile units 540, 541, 542, 543, 544, 545, and 546 leave the parking area 560. According to some embodiments, the mobile units 540, 541, 542, 543, 544, 545, and 546 leave the parking area 560 only after the location of the livestock in the stalls 501, 502, 503, 504, and the like has been identified / verified by any suitable means (e.g., sensors positioned on the livestock, in the stalls, and the like). As described in detail herein, any number of controllers, management units, RF units, memory units, and the like can be included in the system and can provide, for example, data regarding the location of the livestock, the location of the mobile units, any parameters of the health of the livestock, the stage of treatment, and the like.

[0259] According to some embodiments, as shown, mobile units 540, 541, 542, 543, 544, 545, and 546 move along tracks 515 and 525 from a parking area 560 along ramps 510 and 520. As shown, tracks 515 and 525 are positioned along ramps 510 and 520, respectively, such that when the livestock is confined to the stall, tracks 515 and 525 are positioned between the livestock's front and hind legs. Therefore, mobile units 540, 541, 542, 543, 544, 545, and 546, as they move along tracks 515 and 525, are also positioned in a path that passes between the livestock's front and hind legs, from which they perform any necessary treatment on the livestock. It should be noted that one mobile unit can fully treat any one of the livestock, while according to other embodiments, multiple mobile units can treat any one of the livestock, with each of the multiple mobile units performing a portion of the treatment. It is also noted that although two tracks 515 and 525 are shown, any other configuration of tracks or number of tracks is possible. For example, the track may not extend into the parking area 560. For example, the track may include any number of branches, for example, within the parking area, or leading from any point on the ramp to any other point (e.g., to the milking pit, to a designated area in the milking pit, or to other areas surrounding the ramp), which branches may be used, for example, to remove or repair a malfunctioning mobile unit from the ramp, to introduce another mobile unit when necessary, to remove / replace or replace parts of a mobile unit, and the like. For example, the track 515 and the track 525 may be connected to each other, for example, in the parking area 560, to provide a substantially continuous track. For example, any number of bridges may be formed between the track 515 and the track 525, for example, above the milking pit 550. According to some embodiments, any such branches, bridges, and the like are designed so that an operator in the milking pit is not endangered by the movable unit, for example, the branches / bridges are designed to be located above the operator's head, the branches / bridges are positioned in a predetermined area to which the operator has limited access, at least when a functional moving part is present or may be present therein, and the like. It should be noted that references herein to rails may be considered to be or replaced by any other type of guide, pathfinder, and the like.

[0260] like Figure 5CAs shown in FIG, once the handling of the livestock has been completed, the movable units 540, 541, 542, 543, 544, 545 and 546 return to the parking area 560 along the track 515 and the track 525. Once the movable units 540, 541, 542, 543, 544, 545 and 546 are parked in the parking area 560, the livestock exit the corrals 501, 502, 503, 504 and the like, as shown in FIG. Figure 5C , where livestock have partially exited pen 501 and pen 502.

[0261] It should also be noted that any of the embodiments described in detail above with respect to the system 400 in a rotary milking parlor, such as the management unit 470 and the like, can be used, after any necessary adjustments, to incorporate a system in a parallel milking parlor, such as the system 500, unless those embodiments are not suitable for use in a parallel milking parlor setup. Furthermore, any of the embodiments described in detail above with respect to the system 500 in a parallel milking parlor, such as the system 400, can be used, after any necessary adjustments, to incorporate a system in a rotary milking parlor, such as the system 400, unless those embodiments are not suitable for use in a rotary milking parlor setup.

[0262] Now refer to Figure 6 , which shows an embodiment of system 600 in a parallel milking parlor, showing only a portion of one of the two parallel ramps. As shown, a track 615 extends along ramp 610, and movable units 641, 642, 643, and 644 move along track 615 between the front and hind legs of the animals while treating them. According to some embodiments, any of movable units 641, 642, 643, and 644 can be movable or stationary at any appropriate time or point along track 615 and / or while treating an animal on ramp 610. For example, while treating a particular animal, any of the movable units can be parked under that animal, as needed, for at least the time required to complete treatment, or partially complete treatment. It should also be noted that while a particular embodiment is shown, any coordination between the various movable units is possible. For example, each animal can be completely treated by one of the movable units. For example, any number of mobile units may process each animal, with each of the mobile units performing a portion of the overall necessary processing. Figure 6 Four movable units are depicted in FIG, but any number of movable units may be used according to embodiments of the present invention, including a single movable unit or multiple movable units.

[0263] like Figure 6As shown in FIG, assuming that the mobile units are loaded onto ramp 610 from the right-hand side, mobile unit 641 is the first mobile unit to pass under the livestock. According to some embodiments, when the livestock treatment includes milking, mobile unit 641 can be used for any necessary pre-milking tasks, such as cleaning and cleansing the udders, stimulating milk production, and the like. According to some embodiments, mobile unit 641 is positioned along the ramp below each and every livestock, starting on the right-hand side of stall 601, and performs the designated portion of the required treatment, such as cleansing the udders before milking and stimulating milk production. According to some embodiments, mobile unit 641 includes any necessary pre-milking equipment, including a brush and cleaning fluid, which can be stored in a designated receptacle on mobile unit 641. According to some embodiments, any of the pre-milking equipment can be positioned on the ramp, for example, within the stall, in a location that is easily accessible when mobile unit 641 is positioned to treat the livestock. For example, each stall can include a receptacle for cleaning fluid and / or at least one brush. According to some embodiments, the cages 620, 630 and the like may include any necessary pre-milking equipment. According to some embodiments, a separate unit including a reservoir for pre-milking sanitizer, brushes, or any other equipment may be transported along a track where it may be reached, for example, by any of the movable units performing pre-milking tasks.

[0264] Once mobile unit 641 has completed pre-milking tasks on the animals in stall 601, it can proceed to stall 602 where it can again park and perform work on the animals confined to stall 602. As described in detail herein, any number of markers may be included on ramp 610 and / or track 615 to enable proper positioning of any of the mobile units and to enable movement of any of the mobile units from one stall to another.

[0265] Once mobile unit 641 leaves stall 601, a second mobile unit 642 may enter stall 601. As described in detail herein, coordination between the mobile units may be performed by any suitable means, including direct communication between any mobile units, communication between a mobile unit and a central management unit, including sensors that are part of the milking parlor (e.g., on a ramp, in the stall, from above the stall, in the milking pit, and the like) that communicate with the mobile units and / or the central management unit.

[0266] The mobile unit 642 can be designed to connect any number of teat cups to livestock. As described in detail herein, the teat cups according to the present invention are considered part of the milking parlor / platform / ramp / stall, not part of the mobile unit, and therefore, milk passing through these teat cups goes directly into the main milk line and is not stored in any receptacle on the mobile unit or the like. It should be noted that, as is known in the art, if certain milk should not enter the main milk line for any reason (e.g., if it is milked from a cow receiving antibiotics), known methods can be used to prevent that particular milk from entering the main milk line. Known methods can also be used to sort, test, or identify milk and / or its components.

[0267] Because teat cups, such as teat cups 621, 622, 623, and 624, and teat cups 631, 632, 633, 634, and the like, are part of the milking parlor / platform / ramp rather than part of the mobile unit, they can be positioned on the ramp 610 in a position where the mobile unit can easily reach them. According to some embodiments, teat cups 621, 621, 623, 624, 631, 632, 633, 634, and the like are held in designated cages 620, 630, and the like. It should be noted that although only a certain number of cages and teat cups are specifically mentioned herein, any suitable number of cages and teat cups can be included in the system 600 as desired, depending on the type of livestock, the number of livestock, and the like.

[0268] Each of the holders 620, 630, and the like can hold any desired number of teat cups, for example, two or four. The number of teat cups per holder can vary depending on the number of teats possessed by the particular animal being milked. As mentioned above, the holders 620, 630, and the like are positioned in the milking parlor, for example, on ramp 610, in a location easily accessible by the mobile unit. According to some embodiments, the holders 620, 630, and the like are positioned between every two stalls 601, 602, 603, 604, 605, 606, and the like. Furthermore, to match the number of holders to the number of stalls, additional holders can be positioned before the first stall (to the right of the first stall 601, according to the depicted embodiment) or after the last stall (to the left of the last stall, according to the depicted embodiment). According to other embodiments, the holders 620, 630, and the like are positioned to generally align with the space between the hind legs of the animals confined to each stall.

[0269] According to some embodiments, the cages 620, 630 and the like do not extend into the milking pit 650. According to some embodiments, the cages 620, 630 and the like extend into the milking pit 650 by up to about 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, or 50 cm.

[0270] According to some embodiments, the position of the cages 620, 630, and the like, including their configuration, such as folded or unfolded, can be changed during the handling of livestock. According to some embodiments, when livestock enter the stalls 601, 602, 603, 604, 605, 606, and the like, the cages 620, 630, and the like at least partially extend from the ramp 610 into any portion of the milking parlor, including, but not limited to, the milking pit 650. For example, when livestock enter the stalls 601, 602, 603, 604, 605, 606, and the like, the cages 620, 630, and the like can be at least partially positioned in the milking pit 650 such that the livestock's entry into the stalls 601, 602, 603, 604, 605, 606, and the like is not obstructed by the cages 620, 630, and the like. Once the animals are positioned in stalls 601, 602, 603, 604, 605, 606, and the like, the cages 620, 630, and the like can remain in their positions (between stalls, but at least partially outside stall 610, e.g., in milking pit 650), and the mobile unit can remove the necessary equipment from that location. According to such an embodiment, the arm of the mobile unit extends into milking pit 650 by as much as about 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, or 50 cm. According to other embodiments, once the animals are positioned in stalls 601, 602, 603, 604, 605, 606, and the like, the positions of the cages 620, 630, and the like can be changed so that the cages 620, 630, and the like are at least partially moved from the milking pit 650 (or from any other suitable area in the milking parlor) to a position between stalls on the platform / ramp and / or to a position between the hind legs of an animal confined to the stall. According to such embodiments, the arms of the movable unit may not extend into the milking pit 650 (or into any other suitable area in the milking parlor). According to some embodiments, all of the cages move simultaneously. According to other embodiments, any of the cages can be moved into or out of position between the pens at a designated time (e.g., when equipment therein, such as teat cups, is reached by the mobile unit, or when an animal is confined to two pens between which the cage is positioned (or to either of the pens at the end of ramp 610), or when an animal is confined to the pens in which the cage is positioned if the cage is substantially aligned with the space between the hind legs of a confined animal). According to some embodiments, movement of the cage and / or change of configuration of the cage is performed by any suitable means, which may be mechanical, manual, electronic, or automatic.According to some embodiments, the movement of the cage or the change in the configuration of the cage is initiated based on any signal received from any suitable sensor, which may be part of the milking platform or part of the movable unit. According to some embodiments, any of the movable units may grasp an edge of any of the cages and pull it at least partially into the ramp 610 or at least partially off the ramp 610. According to some embodiments, when the movable unit 641 or any other movable unit is positioned in the stall 605, it may grasp the cage 630 and pull it into a predetermined area in the stall 605 or between the stalls 605 and 606 so that the movable unit 641 and / or any other movable unit can easily reach the teat cups 631, 632, 633, and 634 and remove the teat cups 631, 632, 633, and 634 from the cage 630. Once milking is complete and the teat cups 631, 632, 633, and 634 are removed from the animals and returned to the cage 630, the movable unit 641 or any other movable unit can push the cage 630 at least partially from the stall 605 or from between stalls 605 and 606 into the milking pit 650 (or any other predetermined area). It should be noted that, although not shown, rather than the cage being moved into and out of the ramp, the cage can be moved out of the way of the animals, for example, by being raised, lowered, folded in any suitable direction, and the like. Once milking is complete and the cage is out of the way, the animals can leave the ramp 610, for example, as shown. Figure 5C As shown in , the movement of livestock is not hindered by the cages 620, 630 and the like and the cages 620, 630 and the like are not disturbed by the movement of livestock.

[0271] According to some embodiments, one mobile unit (e.g., mobile unit 643) attaches all teat cups (e.g., teat cups 621, 622, 623, and 624) to an animal confined in a stall (e.g., stall 601). According to other embodiments, multiple mobile units (e.g., mobile units 642 and 643) attach teat cups (e.g., teat cups 621, 622, 623, and 624) to an animal confined in a stall (e.g., stall 601), wherein each of the mobile units (e.g., mobile units 642 and 643) attaches multiple teat cups (e.g., teat cups 621, 622, 623, and 624) to the animal. According to some embodiments, mobile unit 642 attaches teat cups 621 and 622 to an animal in stall 601 and then continues to move toward stall 602 (where it may also attach two teat cups to an animal confined in stall 602). Once the mobile unit 642 has been moved out of the stall 601, the mobile unit 643 can enter the stall 601. The mobile unit 643 can then be parked in the stall 601 (or remain relatively stationary, e.g., at a reduced speed compared to its speed when moving into and out of the stall), and then remove the teat cups 623 and 624 from the holder 620 and attach them to the animal confined to the stall 601. Once all four teat cups 621, 622, 623, and 624 are attached to the animal, milking can begin. In addition, although not shown, each of the four different mobile units can attach a teat cup to the animal in the stall 601 and to any other animal in any of the other stalls.

[0272] According to some embodiments, the order in which the teat cups are attached to the animal is random. According to other embodiments, the teat cups are attached to the animal in a predetermined order so that the tubes leading from the teat cups to the milk line do not become tangled, and furthermore, so that the attachment of one teat cup does not cause a different teat cup to become detached from the animal's udder. For example, the movable unit may attach two teat cups near the animal's hind legs and then attach the next two teat cups closer to the animal's front. For example, if a teat cup is removed from a holder on the animal's left side, the first teat cup to be attached may be located on the animal's right hand side. For example, as depicted, the teat cups may be attached in the order designated as teat cups 621, 622, 623, and 624. According to some embodiments, the teat cups are removed from the animal in a random order. According to some embodiments, the teat cups are removed from the animal in the same or opposite order as they were attached to the animal. According to some embodiments, removing the teatcup from the animal may be performed according to any of the embodiments disclosed above regarding attachment of the teatcup or inversely thereto, wherein the order of attachment and removal may or may not be dependent on the other.

[0273] According to some embodiments, Figure 6As shown in FIG, the teat cups are arranged in a linear array in the holder. According to some embodiments (not shown), the teat cups may be arranged in a staggered array in the holder. According to some embodiments (not shown), the teat cups may be arranged in two or more parallel rows in the holder.

[0274] According to some embodiments, the order in which the teat cups are removed from the holder is random. According to other embodiments, the teat cups are removed from the holder in a predetermined order, in particular to prevent the tubes attached thereto from becoming tangled. According to some embodiments, the teat cups can be removed from the holder from back to front. According to some embodiments, the teat cups can be removed from the holder from front to back. According to some embodiments, the teat cups are removed from the holder from left to right or from right to left. According to some embodiments, if the teat cups are arranged in two parallel rows in the holder, the left row is removed first, followed by the right row, or vice versa. According to some embodiments, if the teat cups are arranged in two parallel rows in the holder, the rear teat cup is removed first, followed by the front teat cup, or vice versa. According to some embodiments, the teat cups are returned to the holder in a random order. According to some embodiments, the teat cups are returned to the holder in the same order as, or in the reverse order of, the order in which they were removed from the holder. According to some embodiments, returning of the teat cups to the holder may be performed according to or inversely to any of the embodiments disclosed above regarding removal of the teat cups from the holder, wherein the removal order and the returning order may or may not be dependent on the other.

[0275] Once the milking phase has ended and the teat cups have been returned to the cages, the mobile units may perform any necessary post-milking treatments, such as post-milking cleaning, disinfection, and the like. According to some embodiments, the same mobile unit that performs at least a portion of the milking process, for example, mobile unit 643, may perform the post-milking treatments. According to other embodiments, another mobile unit, for example, mobile unit 644, may perform the post-milking treatments. According to some embodiments, the post-milking treatments are performed after all animals have been milked and all teat cups have been returned to the cages. According to some embodiments, the post-milking treatments are performed after at least one animal has been milked and the teat cups attached thereto have been returned to their cages. For example, once an animal confined to stall 601 has been milked and teat cups 621, 622, 623, and 624 have been returned to cage 620, mobile unit 643 may perform the post-milking treatments on that animal, regardless of whether the other animals have been fully milked or whether all teat cups have been removed therefrom. According to other embodiments and as Figure 6As shown in FIG, once the animals confined to stall 601 have been milked and teat cups 621, 622, 623, and 624 have been returned to cage 620, mobile unit 643 can be moved along rail 615, for example, into stall 602, and then mobile unit 644 enters stall 601 and performs post-milking treatment on the animals confined thereto. According to some embodiments, mobile unit 644 is parked along a ramp beneath each and every animal, starting on the right-hand side of stall 601, and performs a designated portion of the desired treatment, such as post-milking treatment, regardless of whether the other animals have been fully milked or all teat cups have been removed therefrom.

[0276] According to some embodiments, the equipment required for post-milking treatment, such as brushes and post-dip liquid, is part of ramp 615 or part of each or any of the stalls. If the equipment is part of the ramp or stall, it is positioned in a location that is easily accessible to the mobile units. According to some embodiments, the post-milking equipment can be included in the holders 620, 630, and the like. According to other embodiments, the equipment required for post-milking treatment, such as brushes and post-dip liquid, is part of the mobile unit that performs the post-milking treatment. For example, the mobile unit 644 can include at least one brush and a receptacle for post-dip liquid. According to some embodiments, a separate unit including a reservoir for post-dip liquid, a brush, or any other equipment can be transported along a track, where the separate unit can be reached by, for example, any of the mobile units performing pre-milking tasks.

[0277] Regarding coordination between the multiple movable units, it should be noted that movable unit 644 can enter stall 601 only after movable unit 643 has at least partially exited stall 601 and moved toward stall 602. This is true for all stalls and movable units along ramp 615 to prevent collisions between the various movable units and the like. Therefore, in order to operate multiple movable units in parallel milking parlors, it may be necessary to design ramp 610, track 615, and / or program coordination between the various movable units (641, 642, 643, 644, and the like) to prevent collisions. If all movable units are programmed to reach the left end of ramp 610, and since all movable units move in a straight line along ramp 610, they may inevitably collide with each other in the left-most stall unless designed otherwise.

[0278] For example, even if multiple mobile units are used, each mobile unit can be programmed and designed to perform all milking tasks, including pre-milking and post-milking, so that each of the mobile units operates in a specific number of stalls based on the order in which the mobile units enter ramp 610. For example, mobile unit 641 can handle livestock confined to stalls 607 and 608, mobile unit 642 can handle livestock confined to stalls 605 and 606, mobile unit 643 can handle livestock confined to stalls 603 and 604, and mobile unit 644 can handle livestock confined to stalls 601 and 602. Once mobile unit 644 has completed handling livestock in stalls 601 and 602, it can exit ramp 610 on the right hand side in the reverse order in which it entered ramp 610, followed by mobile units 643, 642, and 641.

[0279] According to other embodiments, a first mobile unit, such as mobile unit 641, can perform pre-milking treatments for all livestock on ramp 610. After performing pre-treatments, mobile unit 641 exits ramp 610, and then one or more mobile units enter ramp 610 to perform a milking task (attaching and subsequently removing teat cups). If more than one mobile unit is designated to perform a milking task, each mobile unit can operate in a predetermined stall, for example, mobile unit 642 can perform milking tasks in stalls 605, 606, 607, and 608, while mobile unit 643 can perform milking tasks in stalls 601, 602, 603, and 604. Once the milking task is completed, mobile units 643 and 642 exit ramp 610 in the reverse order in which they entered ramp 610. Once ramp 610 is clear of mobile units, additional mobile units, such as mobile unit 644, can enter ramp 610 and perform post-milking treatments in all stalls. In this regard, it should be noted that while an embodiment has been described having only one mobile unit for performing pre-milking and post-milking treatments, these treatments can be performed by any number of mobile units, each operating in a predetermined stall, as described with respect to milking.

[0280] According to some embodiments, system 600 includes two parking areas, one on the right side of ramp 610 where mobile units can park before entering ramp 610, and one on the left side of ramp 610 where mobile units can park after exiting ramp 610. Thus, any number of tasks can be performed by any number of mobile units, with each mobile unit handling one or more animals, wherein several mobile units can sequentially handle the same animal, as described in detail herein, and wherein once a particular mobile unit entering ramp 610 on the right side has completed its designated task along ramp 610, it can exit ramp 610 on the left side, allowing additional mobile units to enter the leftmost pen on ramp 610. For example, mobile unit 641 performs pre-milking treatment in stalls 601-608, followed by mobile unit 642, which attaches teat cups to the animals in stalls 601-608; however, before mobile unit 642 enters stall 608, mobile unit 641 exits ramp 610 on the left, e.g., into a second parking area (not shown), thereby allowing mobile unit 642 to enter stall 608. Mobile unit 643 can then remove teat cups in the same manner after milking in all stalls 601-608, followed by mobile unit 644, which performs post-milking treatment in all stalls 601-608. It should be noted that if there are two such parking areas, the mobile units may, in some cases, leave the right parking area to treat the animals and enter the left parking area after treating the animals, while in other cases, they may leave the left parking area to treat the animals and enter the right parking area after treating the animals.

[0281] According to some embodiments, the track 615 includes any number of branches, allowing a first movable unit to pass a second movable unit while the second movable unit moves to any one of the branches. According to some embodiments, each ramp 610 may include a stall that remains free so that the movable units can use the free stall to park, pass each other, and the like. Such embodiments are Figure 7A and Figure 7B Now refer to Figure 7A , shows a system 700 mounted in a parallel milking parlor (only part of one of the parallel platforms / ramps is shown) with rails 715 along which movable units 741, 742, 743 and 744 move extending across ramp 710. Figure 7AAs shown in FIG, movable units 741, 742, 743, and 744 can be moved one after another in a straight line along a track 715. Track 715 and ramp 710 including free corral 705 are designed so that any one of the movable units can pass any other movable unit when necessary. In particular, track 715 can include any number of branches, which can extend in any appropriate direction, such as branch 716 and branch 717. The length and specific position of each branch can depend on the large size of the movable unit, the size of the corral, the size of the ramp, the size of the livestock, and the like. It should also be noted that when designing any branches, such as branch 716 and branch 717, consideration can be given to the above-mentioned considerations regarding the large size of the movable unit, the size of the corral, the size of the ramp, the size of the livestock, and the like. Figure 6 Other equipment such as the location of the teat cup holders are described in detail. When designing the branches in the track 715, the areas where the animals stand and where they are most inclined to kick can also be considered.

[0282] According to some embodiments, ramp 710 includes at least one unoccupied stall, such as stall 705, which remains unoccupied throughout the entire processing process. Track 715 can be designed to include any branch or loop, such as loop 718 that extends into unoccupied stall 705. Although unoccupied stall 705 is depicted as the last stall on ramp 710 in FIG. 7 , it should be noted that the location of the unoccupied stall can be determined differently in each milking parlor. If the unoccupied stall is indeed the last stall on ramp 710, track 715 can also extend to the end of ramp 710, or beyond, as indicated by track extension 719. According to other embodiments, track 715 ends or loops at the last unoccupied stall. According to other embodiments, track 715 ends in a loop in an area beyond the stall (not shown) toward the end of ramp 710.

[0283] Now refer to Figure 7B, which shows a movable unit 744, which passes by movable units 743 and 741, which are located on branches 716 and 717, respectively. Movable unit 744 can also be moved to the left hand side of ramp 710 and, if necessary, can be moved past movable unit 742 located on loop 718 and possibly also to track extension 719. In this regard, it should be noted that the structure of loop 718 can be varied, for example, it can include an internal path in the loop, as shown, or not include an internal path. Using such a structure, each of the movable units can perform part of the treatment on the livestock, and in addition, they can all be on ramp 710 at the same time, with coordination between their movements including (possibly temporary) parking of any of the movable units on any of the branches / loops in track 715. For example, mobile unit 741 can perform pre-milking operations, followed by mobile unit 742, which attaches two teat cups (not shown) to all animals in the stall. Once mobile unit 741 completes its pre-milking tasks in stall 704, it can move toward branch 717, allowing mobile unit 742 to pass through it and enter stall 704. Furthermore, mobile unit 742 can be followed by mobile unit 743, which attaches two more teat cups to all animals in the stall. To allow mobile unit 743 to enter stall 704 without colliding with mobile unit 742, mobile unit 742 can also be moved into stall 705 onto loop 718. Finally, mobile unit 744 can perform post-milking operations. To allow mobile unit 744 to enter stall 704 without colliding with mobile unit 743, mobile unit 743 can continue into empty stall 705 onto loop 718 (not shown, for example, at the bottom portion of loop 718 so as not to collide with mobile unit 742) or further onto track extension 719 (not shown). According to other embodiments, mobile unit 743 can move back along track 715 and into branch 716 before crossing over track 715 at its branching point. Mobile unit 744 can then freely continue along ramp 710 into any of the stalls. When exiting ramp 710 and returning to the parking area (not shown) to the right of ramp 710, the mobile units can be moved in any suitable order, for example, in the reverse order in which they entered the ramp, such that mobile unit 744 returns to the parking area first, followed in sequential order by mobile units 743, 742, and 741. According to other embodiments, the movable units may be returned according to their position on the ramp 710 so that the rightmost movable unit is returned first. Figure 7B, the mobile units may be returned to the parking area (not shown) to the right of ramp 710 in the following order: mobile unit 743 (from branch 716), mobile unit 741 from branch 717, mobile unit 744 from corral 704, and finally mobile unit 742 from loop 718. Any other order is possible as long as the mobile units do not collide with any other mobile units. According to some embodiments, the coordination between the mobile units, including their positions along the track on the branches and loops and their movements along the track as well as the order of movement into and out of the parking areas, may be optimized to minimize overall processing time.

[0284] According to some embodiments, the track 715 forms a loop from the ramp 710. In this regard, reference is made to Figure 7C and Figure 7D .exist Figure 7C For example, the track 715 loops out of the ramp 710, into (or over) the milking pit 750, and back into the parking area 760. Thus, each of the mobile units can perform any portion of the process without interfering with the other mobile units, as they loop out of the ramp 710 into / over the milking pit 750 in the same sequential order in which they entered the ramp 710. It should be noted that in order to allow operators to enter the milking pit 750, it is very important to design the track 715 so that the operators are not exposed to danger from the mobile units. According to some embodiments, the track 715 loops out of the ramp 710 and is elevated and possibly placed on a plank so that it passes above the milking pit 750 so that the operators are not exposed to danger from the mobile units. According to further embodiments, the track 715 loops into the milking pit 750 adjacent the ramp 710, possibly fitted to a bracket adjacent the ramp 710, so that the space occupied by the track and the movable unit operating thereon is minimized. According to some embodiments, the space occupied by the track and the movable unit may be separated from the surrounding milking pit area by any suitable means, such as a barrier, bars, and the like. According to some embodiments, the barrier may be movable by any suitable means so that a portion of the milking pit is only obscured when the movable unit is found or can be found or can be moved therein. For example, in Figure 7DIn the embodiment, track 715 loops out from ramp 710 in the area where animals typically leave the pen. To separate the animals from the movable unit, the track can be routed at a height higher than the highest animal, possibly attached to or on a support. The track can also be routed along paths not typically occupied by livestock. Any type of bars, borders, ditches, fences, and the like can be provided around the area where the track passes, preventing livestock from entering the track area.

[0285] Now refer to Figure 8 , which represents an embodiment in which each of the mobile units 1441, 1442, 1443 and 1444 includes a control unit 1451, 1452, 1453 and 1454, respectively, so that any of the mobile units 1441, 1442, 1443 and 1444 can communicate / coordinate with any of the other mobile units and with any other communication entities in the milking parlor (not shown). Figure 9 An embodiment is shown in which the mobile units 1541, 1542, 1543 and 1544 all communicate with the central management unit 1550 and possibly with other communication entities in the milking parlor (not shown). Figure 10 An embodiment is shown in which each of the mobile units 1641, 1642, 1643 and 1644 comprises a control unit 1651, 1652, 1653 and 1654, respectively, so that any of the mobile units 1641, 1642, 1643 and 1644 can communicate / coordinate with any of the other mobile units and the central management unit 1650, and possibly with other communication entities (not shown) in the milking parlor. It should be noted that Figure 8 、 Figure 9 and Figure 10 The arrows in represent communications between the two entities connected by the arrows. It should also be noted that the communications can be wired or wireless, as described in detail herein, and can be one-way or two-way as desired.

[0286] As described in detail above, communication between the mobile units, directly or indirectly via, for example, control units 1451, 1452, 1453, 1454, 1651, 1652, 1653 or 1654, central management unit 1550 or 1650 or any other communication entity in the milking parlor (not shown), can optimize the handling of livestock by enabling each mobile unit to perform different parts of the same task, handle different animals, take over tasks from another when necessary (for example, when one mobile unit fails), change roles before, during or after handling, avoid collisions, and the like.

[0287] Now refer to Figure 11 , which shows an embodiment of a vertical upright teat cup holder. Figure 11 As shown in FIG, a vertical upright teat cup holder 1100 holds teat cups 1101, 1102, 1103 and 1104 in an upright position with the holes (not shown) through which the teats enter facing upwards. To maintain a vacuum in the system without requiring valves on each of the tubes 1111, 1112 and 1114 (or on the tube leading from teat cup 1103, which is not shown) that direct milk from the teat cups 1101, 1102 and 1104, respectively, to the main milk line (not shown), and further to prevent contaminants from entering the system, teat cups 1101 and 1102 are covered by flaps 1110 and teat cups 1103 and 1104 are covered by flaps 1120. It should be noted that although in Figure 11 1103 to the main milk line. According to some embodiments, the flaps 1110 and 1120 are mechanically located on top of the teatcups 1101, 1102, 1103, and 1104, and even after the teatcups are removed from the holder, the flaps 1110 and 1120 remain in their position, for example, at approximately 90° to the rear of the vertical teatcup holder 1100, so that the teatcups 1101, 1102, 1103, and 1104 are easily inserted back into the vertical stand-up holder 1100 at the end of milking and are then covered by the flaps 1110 and 1120.

[0288] like Figure 11 As shown in FIG, an angle of approximately 90° may be formed at the attachment point between each of the tubes 1111, 1112, 1114 and the tube attached to the teat cup 1103 (not shown) and the teat cup to which the tube is attached. Figure 14 1 and 14. Similar angles of approximately 90° are shown in FIG. 1 between teat cup 1101 and tube 1441 and between teat cup 1102 and tube 1442. This may enable teat cups to be removed from and returned to the vertical stand-up teatcup holder 1100 while minimizing entanglement between the various tubes, and even allow the vertical stand-up teatcup holder 1100 to be positioned towards the back of the animal being milked, rather than having to be below or above the animal.

[0289] Also like Figure 11As shown in FIG, there is a difference in length between the teat cups 1101 and 1103 and the teat cups 1102 and 1104, wherein the teat cups 1101 and 1103 are longer than the teat cups 1102 and 1104. In order to make the top ends of the teat cups 1101, 1102, 1103 and 1104 at the same height, the teat cups 1102 and 1104 (the shorter teat cups) are located on a step 1130, wherein the height of the step 1130 is approximately the same as the difference in length between the short teat cups 1102 and 1104 and the long teat cups 1101 and 1103.

[0290] Also like Figure 11 As shown in FIG, a vertical teatcup holder 1100 includes a plurality of rollers 1140, some of which are not shown. By reducing friction during movement of the teatcups 1101, 1102, 1103, and 1104, as well as the tubes 1111, 1112, 1114, and the tube connected to the teatcup 1103 (not shown), the rollers 1140 allow the teatcups 1101, 1102, 1103, and 1104 to be easily moved into and out of the vertical teatcup holder 1100. Thus, due to the reduced friction, the force required to remove the teatcups from the holder and return them to the holder is reduced. It should also be noted that the rollers 1140 can also help move the teatcups 1101, 1102, 1103, and 1104, as well as the tubes 1111, 1112, 1114, and the tube connected to the teatcup 1103 along certain paths or tracks. Additionally, the rollers 1140 may help to properly hold the teat cups 1101, 1102, 1103, and 1104 in place within the vertical stand-up teat cup holder 1100. It should be noted that the rollers 1140 may be replaced by any suitable elements, such as wheels, ball bearings, and the like, as described in detail herein, which may reduce friction and help to hold the teat cups in place.

[0291] Now refer to Figure 12 , which shows an embodiment of a longitudinal double clamp. Figure 12 As shown in FIG, an elongated dual gripper 1200 includes two gripping units 1201 and 1202, wherein each of gripping unit 1201 and gripping unit 1202 can grip any suitable object, such as a teat cup, a separate pre-milking brush, a post-milking disinfection tool, and the like. According to some embodiments, either gripping unit 1201 or gripping unit 1202 can grip an object, manipulate an object, such as press a button, move a lever, rotate a dial, and the like, wherein the action of each gripping unit can be independent of the other gripping unit. Thus, according to some embodiments, while gripping unit 1201 performs one type of action (e.g., gripping), gripping unit 1202 can perform the same or a different type of action, such as pressing a button.

[0292] like Figure 12 As shown in , the gripping unit 1202 may be longer than the gripping unit 1201 so as to enable the two gripping units to grip two objects simultaneously without the two objects becoming obstructive to each other.

[0293] For example, Figure 13 , a movable unit 1300 comprising an arm 1301 equipped with a longitudinal double gripper 1200 can be positioned under the belly of an animal, wherein the arm 1301 extends between the animal's hind legs 1310 towards a vertical upright holder 1100 in order to grip a teat cup 1101 and a teat cup 1102 positioned behind the teat cup 1101 in order to remove the teat cups 1101 and 1102 from the holder 1100 and attach them to teats 1305 and 1306. Note that when attaching a teat cup to a teat, teat cup 1102 will be attached to teat 1306 and not until then teat cup 1101 will be attached to teat 1305, so that when the arm 1301 is moved to attach a second teat cup or is retracted towards the movable unit 1300, neither of the teat cups will be obstructed by the movement of the arm 1301.

[0294] like Figure 14 As shown in FIG, once the elongated dual gripper 1200 reaches the vertical upright holder 1100 (not shown), the gripping unit 1202 grips the teat cup 1102, while the gripping unit 1201 grips the teat cup 1101. In order to properly manipulate and grip the teat cup (or perform any other desired action), the elongated dual gripper 1200 and / or the arm 1301 and / or the movable unit 1300 may be equipped with a detection element (not shown), such as a laser, an IR sensor, and the like. The detection element may have a detection area 1400, through which data is received and can be transmitted to the control system by any suitable means, which provides movement instructions to the movable unit 1300 and / or the arm 1301 based on the received data. According to some embodiments, the tops 1121 and 1122 of the teat cups 1101 and 1102, respectively, are designed to be substantially the same height, even though the bottoms 1131 and 1132 of the teat cups 1101 and 1102, respectively, are staggered. Therefore, since the tops 1121 and 1122 are at the same height, the detection area 1400 is not obstructed by either of the teat cups, and the detection element has a "full view" of its surrounding area.

[0295] like Figure 14As shown in FIG, the bottoms 1131 and 1132 are staggered because the teat cup 1102 is shorter than the teat cup 1101. This enables the two teat cups to be lined up one behind the other without the tubes 1441 and 1442 interfering with each other, so that the longitudinal double gripper 1200 can grip both teat cups 1101 and 1102 simultaneously and manipulate them as required.

[0296] Also like Figure 14 As shown in FIG, the teat cup 1101 comprises two grooves 1401 and 1402 and the teat cup 1102 comprises two grooves 1403 and a groove 1404, wherein the grooves 1401, 1402, 1403 and 1404 enable the elongated double clamp 1200 to securely clamp two teat cups, namely the teat cup 1101 and the teat cup 1102.

[0297] like Figure 14 As shown in FIG, once the teat cup 1101 and the teat cup 1102 are clamped by the longitudinal double clamp 1200, they are taken out from the vertical upright holder 1100 (see FIG. Figure 13 ) is manipulated by arm 1301 to the vicinity of teat 1305 and teat 1306. Figure 15 As shown in FIG, a longitudinal double gripper 1200 grips the teat cup 1101 with gripping unit 1201 and the teat cup 1102 with gripping unit 1202. When the teat cups are attached to the animal, the front teat cup is attached to the front teat and the rear teat cup is attached to the rear teat, wherein the front and rear directions are the same as the front and rear directions of the animal. Figure 15 As shown in FIG, first, the teat cup 1102 is attached to the teat 1306 and then released from the clamp 1202 (note that the clamping unit 1202 is Figure 15 1306, the teat cup 1102 is released by the gripping unit 1202). Figure 13 ) to manipulate the teat cup 1101 towards the teat 1305 (not shown) to which it is attached. Once the teat cup 1101 is attached to the teat 1305, the gripping unit 1201 releases the teat cup 1101 and the arm 1301 is retracted towards the movable unit 1300 and / or manipulated to remove the teat cup 1103 and the teat cup 1104 (as shown in the vertical stand-up teat cup holder 1100). Figure 11 ) in order to attach teat cup 1103 and teat cup 1104 to the two remaining teats (now shown).

[0298] Now refer to Figure 16 , which shows an embodiment of a system comprising a vertical stand-up teatcup holder comprising a tube, a fin, a shaft and a piston. Figure 16 As shown in FIG, the system 1600 comprises a vertical upright teatcup holder 1100 for holding teatcups 1101, 1102, 1103 and 1104. A movable unit 1300 positioned under the belly of a cow 1610 extends an arm 1301 comprising an elongated double gripper 1200 and grips teatcups 1101 and 1102 using the elongated double gripper 1200, removing them from flaps 1110 and from the vertical upright holder 1100, leaving teatcups 1103 and 1104 under flaps 1120 and in the vertical upright holder 1100 to be removed therefrom at a later stage.

[0299] Each of the teat cups 1101, 1102, 1103, and 1104 is attached to a tube 1441, 1442, 1443, and 1444, respectively, wherein milk entering the teat cups 1101, 1102, 1103, and 1104 flows through the tubes 1441, 1442, 1443, and 1444 into the main milk line (not shown). As is known in the art, vacuum is provided through the tubes 1441, 1442, 1443, and 1444 to milk the cow 1610. Once milking is complete, the teat cups 1101, 1102, 1103, and 1104 are released from the teats and returned to the upright holder 1100 by any suitable means. According to some embodiments, the teat cups 1101, 1102, 1103, and 1104 are released from the teat by releasing the vacuum in the tubes 1441, 1442, 1443, and 1444. According to some embodiments, once the teat cups 1101, 1102, 1103, and 1104 are released from the teat, the teat cups are returned to the vertical stand-up teat cup holder 1100 by a pulling force that pulls them back toward the vertical teat cup holder 1100. According to some embodiments, all teat cups are drawn together, and the teat cups are drawn back in pairs, individually, or in any other suitable combination. According to some embodiments, the piston 1620 provides the pulling force that pulls the teat cups 1101, 1102, 1103, and 1104 back into the vertical stand-up holder 1100. According to some embodiments, at least one motor (not shown) provides this force. According to some embodiments, the teat cups 1101, 1102, 1103 and 1104 are pulled back into the vertical upright holder 1100 in pairs by two pistons (one of which is not shown), two motors or the like. According to some embodiments, when the teat cups 1101, 1102, 1103 and 1104 are returned to the vertical upright holder 1100 in pairs, first the rear teat cups are returned, i.e. teat cup 1102 and teat cup 1104, and then the front teat cups, i.e. teat cup 1101 and teat cup 1103, are returned.

[0300] Now refer to Figure 17A, which shows a back view of an embodiment of a vertical upright holder 1100, showing tubes 1441, 1442, 1443 and 1444 leading from the teat cups to the main milk line (not shown), wherein each pair of tubes is attached to a set of shafts and wheels. In particular, as Figure 17A As shown in FIG, tubes 1441 and 1443 attached to teat cups 1101 and 1103, respectively, are connected to shaft and wheel assembly 1720, while tubes 1142 and 1144 attached to teat cups 1102 and 1104, respectively, are attached to shaft and wheel assembly 1710. Thus, shaft and wheel assembly 1710 assists in returning the rear teat cups, i.e., teat cups 1102 and 1104, to the vertical upright holder 1100. Once the rear teat cups 1102 and 1104 are returned to the vertical upright holder 1100, shaft and wheel assembly 1720 assists in returning the front teat cups, i.e., teat cups 1101 and 1103, to the vertical upright holder 1100. As mentioned above, any suitable device, such as a motor, piston, and the like, may be included in the system as desired, for example, Figure 16 16. The embodiment of the invention further comprises a piston 1620 in the teat holder 1700 to move the axle and wheel sets 1710 and 1720, each of which may be coupled to a separate motor, piston, or the like. Specifically, according to this embodiment, the tubes 1441, 1442, 1443, and 1444 are pulled rearwardly and / or downwardly, i.e., in a direction that causes the teat cups 1101, 1102, 1103, and 1104 to move away from the animal and back into the vertical upright holder 1100. Thus, pulling the tubes 1441, 1442, 1443, and 1444 substantially returns the teat cups 1101, 1102, 1103, and 1104 to the vertical upright holder 1100. It should be noted that while this particular embodiment is shown, any number of wheels / axles / pistons / motors may be attached to any number of tubes / teater cups.

[0301] Now refer to Figure 17B , which shows a front side view of another embodiment of a vertical upright holder 1100, showing a manifold 1750 for collecting milk from four tubes 1441, 1442, 1443 and 1444 into a vessel 1755, from which a single tube 1756 directs the milk flowing through the tubes to a main milk line (not shown), possibly via any other equipment such as a milk monitor (not shown). Although Figure 17B Not directly shown in the drawings, each of the tubes 1441, 1442, 1443 and 1444 may be attached to each of the teat cups 1101, 1102, 1103 and 1104, possibly via any further tubes, valves, connecting elements and the like, as for example in Figure 14 、 Figure 16 and Figure 17AAs shown in .

[0302] like Figure 17B , the system of the present invention may include two vertical pistons 1730 and 1740, one of which may operate the wheel and axle assembly 1710, while the other may operate the wheel and axle assembly 1720. When operated, for example, by vertical movement of either piston 1730 or 1740, the wheel and axle assembly 1710 may pull tubes 1442 and 1444, and in turn, teat cups 1102 and 1104, thereby returning teat cups 1102 and 1104 to the vertical stand-up teat cup holder 1100. Similarly, when operated, the wheel and axle assembly 1720 may pull tubes 1441 and 1443, and in turn, teat cups 1101 and 1103, thereby returning teat cups 1101 and 1103 to the vertical stand-up teat cup holder 1100.

[0303] As described in detail herein, piston 1730 and / or piston 1740 can be replaced by any suitable motor. Furthermore, as described in detail herein, the present invention is not limited to including two piston / motor combinations. Any suitable number of wheel and axle assemblies can be used to operate any suitable number of wheel and axle assemblies, wherein operation of the wheel and axle assemblies essentially involves pulling the tubes extending from the teat cups 1101, 1102, 1103, and 1104 so that the teat cups 1101, 1102, 1103, and 1104 are pulled back from the animal and returned to the vertical upright holder 1100.

[0304] Now refer to Figure 17C , which shows a front side view of one embodiment of a vertical stand-up teatcup holder 1100 including integral teatcup and tube spacers 1760 and 1770. The integral teatcup and tube spacers 1760 and 1770 are positioned and shaped to minimize tangling between tubes (not shown) exiting each of the teatcups 1101, 1102, 1103, and 1104 as they are returned to the vertical stand-up teatcup holder 1100.

[0305] It should be noted that the vertical stand-up teatcup holder 1100 can include any number of integral teatcup and tube spacers. In the particular embodiment shown, the integral teatcup and tube spacer 1770 is positioned within the vertical stand-up teatcup holder 1100 between the teatcups 1101 / 1102 and the teatcups 1103 / 1104. Thus, the integral teatcup and tube spacer 1770 ensures that each of the teatcups 1101, 1102, 1103, and 1104 returns to its proper position within the vertical stand-up teatcup holder 1100. The integral teatcup and tube spacer 1770 can also be designed so that adjacent teatcups are held upright, minimizing their "rocking" or "rolling" motion within the vertical stand-up teatcup holder 1100.

[0306] like Figure 17C As shown in FIG, a vertical stand-up teatcup holder 1100 may include an integral teatcup and tube spacer 1760 that protrudes from the vertical stand-up teatcup holder 1100 and into a stall / ramp (not shown). The integral teatcup and tube spacer 1760 may be designed to minimize tangling of tubes (not shown). The integral teatcup and tube spacer 1760 may be specifically designed to accommodate the type (size, shape, etc.) of tubes and the type (size, shape, etc.) of teatcups used.

[0307] like Figure 17C and Figure 17D As shown in FIG, according to some embodiments, the integrated teat cup and tube spacer 1760 is approximately designed as a right triangular pyramid, wherein its approximately 90° angle may be adjacent to the bottom end of the integrated teat cup and tube spacer 1770. When referring to the bottom end of the integrated teat cup and tube spacer 1770, it should be noted that any suitable area near the bottom of the integrated teat cup and tube spacer 1770 is also included. According to some embodiments, the base length 1763 of the triangular pyramid integrated teat cup and tube spacer 1760 may have a length between approximately 40-120 mm (where the base length 1763 is defined as the length of the cross section of the cone). According to some embodiments, the height 1761 of the triangular pyramid integrated teat cup and tube spacer 1760 may be between approximately 60-150 mm (where the height 1761 is defined as the highest line in the cross section, e.g., where the spacer 1760 is adjacent to the spacer 1770). According to some embodiments, the base width 1762 of the triangular pyramidal integrated teatcup and tube spacer 1760 may be between about 5-20 mm (where the base width 1762 is the side of the triangular pyramidal integrated teatcup and tube spacer 1760 that is adjacent to the spacer 1770 and may be at about a 90° angle of the pyramid).

[0308] It should be noted that although a triangular shape is described in detail herein, any other suitable shape may be used for the integrated teatcup and tube spacer 1760, such as an approximately triangular or triangular pyramidal shape, wherein any of the sides may be at least slightly curved or wherein any of the vertices may be trimmed to form additional, possibly small, sides / edges. It should also be noted that although two separate integrated teatcup and tube spacers 1760 and 1770 are described, the system may include a single integrated teatcup and tube spacer, wherein the single spacer may have the approximate shape of the combination of the two integrated teatcup and tube spacers 1760 and 1770.

[0309] like Figure 17C Also shown in and about Figure 11 As described in detail, the vertical stand-up teatcup holder 1100 can include any number of rollers 1140, some of which are not shown in the figure. By reducing friction during movement of the teatcups 1101, 1102, 1103, and 1104, as well as the tubes 1111, 1112, 1114, and the tube connected to the teatcup 1103 (not shown), the rollers 1140 allow the teatcups 1101, 1102, 1103, and 1104 to be easily moved into and out of the vertical teatcup holder 1100. Thus, due to the reduced friction, the force required to remove the teatcups from the holder and return them to the holder is reduced. It should also be noted that the rollers 1140 can also help move the teatcups 1101, 1102, 1103, and 1104, as well as the tubes 1111, 1112, 1114, and the tube connected to the teatcup 1103, along certain paths or tracks. Additionally, the rollers 1140 may help to properly hold the teat cups 1101, 1102, 1103, and 1104 in place within the vertical stand-up teat cup holder 1100. It should be noted that the rollers 1140 may be replaced by any suitable elements, such as wheels, ball bearings, and the like, as described in detail herein, which may reduce friction and help to hold the teat cups in place.

[0310] Now refer to Figure 18 , shows an embodiment of a non-planar leg spacer 1800. Figure 16 As shown in FIG, non-planar leg spacer 1800 is positioned on the floor of ramp 1650, between the hind legs of cow 1610, and primarily causes cow 1610 to spread its hind legs because non-planar leg spacer 1800 is uncomfortable for cow 1610 to stand on. Figure 18 As shown in FIG, the non-planar leg spacer 1800 includes a rod 1810 and a crossbar 1820. Although Figure 18 Six rods 1819 and four crossbars 1820 are shown, but it should be noted that any suitable number of rods and crossbars may be used. Figure 18 All of the rods and crossbars shown in FIG have the same length and diameter, but it should be noted that they can be different and, in addition, they can have any suitable shape, not necessarily round rods. The size of the spaces between the rods / crossbars (e.g., space 1830) can also be varied as appropriate. The degree of arching, as well as the number and shape of the arched portions, can be determined as desired.

[0311] Now refer to Figure 19 , shows an embodiment of a separate pre-milking brush 1900. Figure 19 In the embodiment shown in FIG, a separate pre-milking brush 1900 includes two rotating brushes 1901 and 1902 that, when rotating, can disinfect and stimulate teats positioned between the rotating brushes 1901 and 1902. As described in detail above, the rotating brushes 1901 and 1902 can spray disinfectant / water, possibly a fast-acting disinfectant, before coming into contact with the teats, for example, through elements of an upright teatcup holder, so that the rotating brushes 1901 and 1902 are themselves clean and moistened and can therefore use their rotating motion to clean and stimulate the teats without damaging the teats because they are moistened.

[0312] According to some embodiments, the rotation of the rotating brushes 1901 and 1902 is activated by a switch 1910. According to some embodiments, e.g. Figure 12 The illustrated longitudinal dual gripper 1200 grips an independent pre-milking brush 1900 from its docking station, such as a vertical upright holder 1100, and maneuvers it to the animal's teat as necessary. According to some embodiments, one of the gripping units 1201 or 1202 is used to grip independent pre-milking brush 1900, while the second gripping unit 1201 or 1202 is used to press a switch 1910, thereby activating rotating brushes 1901 and 1902. Although not shown, disinfectant can be sprayed onto rotating brushes 1901 and 1902 using either gripping unit 1201 or 1202, for example, by pressing a switch on vertical upright holder 1100 or the like. Furthermore, although not shown, independent pre-milking brush 1900 includes a battery, such as a rechargeable battery, which is recharged when independent pre-milking brush 1900 is placed in its docking station.

[0313] Now refer to Figure 20, shows a post-milking disinfection tool 2000. As shown, the post-milking disinfection tool 2000 includes a dipping chamber 2001 and a filling detection element 2010, the dipping chamber 2001 being filled with a disinfectant (not shown). According to some embodiments, the post-milking disinfection tool 2000 further includes a brush (not shown), which can be positioned at least partially around the entrance of the dipping chamber 2001. When post-milking disinfection is required, the post-milking disinfection tool 2000 is brought into contact with the animal's teat, wherein the post-milking disinfection tool 2000 is pushed upwards towards the teat so that the teat is immersed in the disinfectant present in the dipping chamber. If the post-milking disinfection tool 2000 includes a brush, the brush can apply the disinfectant to the teat, thereby spreading the disinfectant on the teat. It should be noted that the post-milking disinfection tool 2000 can be manipulated manually or by a movable unit, for example by a clamping element attached to the movable unit, for example, a longitudinal double clamp 1200, as shown. Figure 12 As shown in .

[0314] like Figure 20 As shown in FIG, the post-milking disinfection tool 2000 includes a filling detection element 2010 that can detect the amount of disinfectant in the dipping chamber 2001, or can simply detect whether the dipping chamber 2001 needs to be filled. In the embodiment shown, the filling detection element 2010 is a mechanical float whose height is detected by a sensor, such as a laser, on a movable unit, such as an arm of the movable unit, such as a clamping element (not shown). If the height of the filling detection element 2010 is lower than a predetermined value, the system is alerted that the dipping chamber 2001 needs to be filled, and the post-milking disinfection tool 2000 is then brought to a filling station.

[0315] Now refer to Figure 21 , which shows an embodiment of the filling station 2100. As mentioned above, the post-milking disinfection tool 2000 can be manipulated by a movable unit, for example by a longitudinal double clamp 1200. Figure 21 As shown in FIG, the post-milking disinfection tool 2000 is held by a clamping unit 1201, while the clamping unit 1202 presses the filling activator 2110 to fill the impregnation chamber 2001 with disinfectant (not shown) flowing through the tube 2101. Once the system detects that the filling detection element 2010 has reached a predetermined height, for example, by a laser (not shown) on the elongated twin clamps 1200, the filling is stopped, for example, by the clamping unit 1202 releasing the filling activator 2110. Once filled, the post-milking disinfection tool 2000 can be maneuvered back to the animal's teat via the movable unit and the elongated twin clamps 1200. When post-milking disinfection is complete, the post-milking disinfection tool 2000 can be stored for further use in the filling station 2100, which can also serve as a docking station.

[0316] Now refer to Figure 22 , which shows an embodiment of a track for providing power to a mobile unit under wet and unsanitary conditions. Figure 22 As shown in FIG, track 2200 includes an inner housing 2201 housing a contactor 2210. A trolley 2202 made of a conductive material, also present in the inner housing 2201, contacts the contactor 2210. The trolley 2202 is also in contact with (or coupled to) a movable unit 2220 (not fully shown) via a conductive rod 2203, and thus, power is transmitted from the contactor 2210, through the trolley 2202 and the conductive rod 2203, to the movable unit 2220. As described in detail above, the movable unit 2220 includes a motor that allows the movable unit 2220 to move along the track 2200, wherein the trolley 2202 attached to the movable unit 2220 is pulled along the track within the housing 2201 together with the movable unit 2220.

[0317] Furthermore, as described in detail above, because track 2200 is positioned on the floor of the milking parlor ramp, where animals stand and walk, track 2200 is designed to prevent water and contaminants from coming into contact with trolley 2202, contactor 2210, conductive rod 2203, or any other electrical components. Thus, exposed electrical components, such as conductive rod 2203, are reliably insulated. Furthermore, conductive rod 2203 can enter inner housing 2201 via rubber plug 2204 and / or water plug 2205, wherein water plug 2205 can have a maze shape, as shown.

[0318] Unless explicitly stated, the method embodiments described herein are not limited to a particular order or sequence. Additionally, some of the described method embodiments or their elements may occur or be performed synchronously or simultaneously at the same point in time.

[0319] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents will occur to those skilled in the art. It should therefore be understood that the appended claims are intended to cover all such changes and variations that fall within the true spirit of the invention.

Claims

1. A system for handling a dairy animal having front legs and hind legs, comprising: ramps; livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal; at least one vertical stand-up teatcup holder comprising teatcups and rollers configured to allow the teatcups to be easily moved into and out of the vertical stand-up teatcup holder, the vertical stand-up teatcup holder further comprising a piston or motor designed to return the teatcups to the vertical stand-up teatcup holder once milking is complete; A movable unit comprising: Apparatus and processor for handling livestock, the mobile unit being configured to: - traveling on the ramp between the front and hind legs of the dairy animal; and - using the apparatus to perform at least one action associated with the handling of dairy livestock; and wherein the apparatus includes an arm configured to remove the teat cup from the vertical upright teat cup holder and connect the teat cup to a dairy animal; wherein the teatcup comprises a hole for positioning a teat therein, and wherein the teatcup is positioned vertically upright in the vertical stand-up teatcup holder such that the hole faces upwards; and The vertical stand-up teat cup holder comprises at least one fin for covering the hole to mechanically maintain vacuum in the teat cups covered by the at least one fin, so that any two teat cups can be connected to the main milk line via the same valve.

2. The system according to claim 1, wherein: The ramp is a rotary milking parlor ramp.

3. The system according to claim 1, wherein: The ramps are parallel to the milking parlor ramps.

4. The system according to claim 3, wherein: The system includes two or more parallel ramps.

5. The system of claim 1, further comprising a parking area configured to accommodate a parked movable unit.

6. The system according to claim 2, wherein: The at least one vertical stand-up teatcup holder is positioned between the two stalls.

7. The system according to claim 3, wherein: At least one vertical stand-up teatcup holder is positioned to align with the space between the hind legs of the dairy animal.

8. The system of claim 1 further comprising a milking pit adjacent the ramp, wherein at least one vertical stand-up teatcup holder is at least partially positioned in the milking pit.

9. The system according to claim 1, wherein: The arm includes an elongated dual gripper.

10. The system according to claim 1, wherein: At least two teat cups have different lengths.

11. The system of claim 1 further comprising at least one non-planar leg spacer on the ramp in each stall, wherein The at least one non-planar leg spacer is positioned between the animal's hind legs when the animal is standing in the stall.

12. The system of claim 1 further comprising a separate pre-milking brush that can be used manually or via the mobile unit to clean the animal's teats and stimulate milk release.

13. The system of claim 1, further comprising a post-milking disinfection tool and a filling station, wherein the post-milking disinfection tool comprises a dipping chamber and a filling detection element.

14. The system according to claim 1, wherein: The arm is also configured to remove the teatcup from the dairy animal, whereupon the teatcup is returned to the vertical stand-up teatcup holder.

15. The system according to claim 14, wherein: The teat cups are removed from the upright teat cup holder in a first sequence and returned to the upright teat cup holder in a second sequence.

16. The system of claim 14, wherein: The teatcup is returned to the vertical teatcup holder by a pulling force exerted on the tube connected to the teatcup.

17. The system of claim 1, further comprising a milking pit, wherein the movable unit is configured such that the movable unit does not enter the milking pit or extend the arm into the milking pit.

18. A system for handling a dairy animal having front legs and hind legs, comprising: ramps; livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal; a track extending along at least a portion of the ramp; at least one vertical stand-up teatcup holder comprising teatcups and rollers configured to allow the teatcups to be easily moved into and out of the vertical stand-up teatcup holder, the vertical stand-up teatcup holder further comprising a piston or motor designed to return the teatcups to the vertical stand-up teatcup holder once milking is complete; A movable unit comprising: Apparatus and processor for handling livestock, the mobile unit being configured to: - traveling on the ramp and along the track between the front and hind legs of the dairy animal; and - using the apparatus to perform at least one action associated with the handling of dairy livestock; and wherein the apparatus includes an arm configured to remove the teat cup from the vertical upright teat cup holder and connect the teat cup to a dairy animal; wherein the teatcup comprises a hole for positioning a teat therein, and wherein the teatcup is positioned vertically upright in the vertical stand-up teatcup holder such that the hole faces upwards; and The vertical stand-up teat cup holder comprises at least one fin for covering the hole to mechanically maintain vacuum in the teat cups covered by the at least one fin, so that any two teat cups can be connected to the main milk line via the same valve.

19. The system according to claim 18, wherein: The track provides power to the movable unit under wet and unsanitary conditions, and wherein the track includes an internal housing accommodating a contactor and a trolley in contact with the contactor, wherein the trolley is made of a conductive material and is coupled to the movable unit via a conductive rod.

20. A system for handling a dairy animal having front legs and hind legs, comprising: ramps; livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal; at least one vertical stand-up teatcup holder comprising teatcups and rollers configured to allow the teatcups to be easily moved into and out of the vertical stand-up teatcup holder, the vertical stand-up teatcup holder further comprising a piston or motor designed to return the teatcups to the vertical stand-up teatcup holder once milking is complete; A plurality of movable units, wherein each movable unit comprises: Apparatus, communication means and processor for handling livestock, and wherein each movable unit is configured to: - walking on the ramp between the front and hind legs of the dairy animal; - using the apparatus to perform at least one action associated with the handling of dairy livestock; and -- coordinate with any other mobile unit, with a central management unit, with external communication means, or any combination thereof; wherein the apparatus includes an arm configured to remove the teat cup from the vertical upright teat cup holder and connect the teat cup to a dairy animal; wherein the teatcup comprises a hole for positioning a teat therein, and wherein the teatcup is positioned vertically upright in the vertical stand-up teatcup holder such that the hole faces upwards; and The vertical stand-up teat cup holder comprises at least one fin for covering the hole to mechanically maintain vacuum in the teat cups covered by the at least one fin, so that any two teat cups can be connected to the main milk line via the same valve.

21. A system for handling a dairy animal having front legs and hind legs, comprising: ramps; a track extending along at least a portion of the ramp; livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal; at least one vertical stand-up teatcup holder comprising teatcups and rollers configured to allow the teatcups to be easily moved into and out of the vertical stand-up teatcup holder, the vertical stand-up teatcup holder further comprising a piston or motor designed to return the teatcups to the vertical stand-up teatcup holder once milking is complete; A plurality of movable units, wherein each movable unit comprises: Apparatus, communication means and processor for handling livestock, and wherein each movable unit is configured to: - traveling on the ramp and along the track between the front and hind legs of the dairy animal; - using the apparatus to perform at least one action associated with the handling of dairy livestock; and -- coordinate with any other mobile unit, with a central management unit, with external communication means, or any combination thereof; wherein the apparatus includes an arm configured to remove the teat cup from the vertical upright teat cup holder and connect the teat cup to a dairy animal; wherein the teatcup comprises a hole for positioning a teat therein, and wherein the teatcup is positioned vertically upright in the vertical stand-up teatcup holder such that the hole faces upwards; and The vertical stand-up teat cup holder comprises at least one fin for covering the hole to mechanically maintain vacuum in the teat cups covered by the at least one fin, so that any two teat cups can be connected to the main milk line via the same valve.

22. A vertical stand-up teatcup holder comprising teat cups and rollers, said rollers being configured to allow said teat cups to be easily moved into and out of said vertical stand-up teatcup holder, wherein said teat cups comprise holes in which teats are positioned, and wherein said teat cups are positioned vertically upright in said vertical stand-up teatcup holder such that said holes in which teats are positioned face upwards; and wherein said vertical stand-up teatcup holder comprises at least one flap for covering said holes so as to mechanically maintain a vacuum in said teat cups covered by said at least one flap such that any two teat cups can be connected to a main milk line via the same valve; and wherein said vertical stand-up teatcup holder further comprises a piston or a motor designed to return said teat cups to said vertical stand-up teatcup holder upon completion of milking.

23. A vertical teatcup holder according to claim 22, wherein: The vertical upright teat cup holder comprises: a first step and a second step, the first step and the second step being positioned at different heights, thereby forming a height difference between the first step and the second step; and and a first teat cup and a second teat cup, each teat cup having a top, wherein there is a length difference between the first teat cup and the second teat cup, and wherein a height difference between the first step and the second step is approximately the same as the length difference between the first teat cup and the second teat cup, so that when the first teat cup is placed on the first step and the second teat cup is placed on the second step, the tops of the first teat cup and the second teat cup are positioned at approximately the same height.

24. The vertical stand up teatcup holder of claim 22, further comprising a manifold attached to a tube that directs milk from the teatcups and to another tube that introduces milk into the main milk line.

25. The vertical stand up teatcup holder of claim 22 further comprising at least one integral teatcup and tube spacer projecting from said vertical stand up teatcup holder.

26. A teatcup assembly comprising a vertical stand-up teatcup holder, said vertical stand-up teatcup holder comprising at least a first teatcup and a second teatcup and a roller, said roller being configured to allow said first teatcup and said second teatcup to be easily moved into and out of said vertical stand-up teatcup holder, wherein: There is a length difference between the first teat cup and the second teat cup; wherein the first teat cup and the second teat cup include an aperture for positioning a teat therein, and wherein the first teat cup and the second teat cup are positioned vertically upright in the vertical upright teat cup holder such that the aperture faces upward; wherein the vertical upright teat cup holder comprises at least one wing, the at least one wing being used to cover the hole so as to mechanically maintain vacuum in the first teat cup and the second teat cup covered by the at least one wing, so that the first teat cup and the second teat cup can be connected to the main milk line via the same valve; and The vertical stand-up teat cup holder further comprises a piston or a motor, wherein the piston or the motor is designed to return the first teat cup and the second teat cup to the vertical stand-up teat cup holder once milking is completed.

27. A teat cup assembly according to claim 26, wherein The teat cup comprises a double groove.

28. A system for handling a dairy animal having front legs and hind legs, comprising: ramps; milking pits; livestock pens located along at least a portion of the ramp, wherein each pen is configured to house a dairy animal; at least one vertical stand-up teatcup holder comprising teatcups and rollers configured to allow the teatcups to be easily moved into and out of the vertical stand-up teatcup holder, the vertical stand-up teatcup holder further comprising a piston or motor designed to return the teatcups to the vertical stand-up teatcup holder once milking is complete; A movable unit comprising: Apparatus and processor for handling livestock, the mobile unit being configured to: - walking on the ramp between the front and hind legs of the dairy animal; and - using the apparatus to perform at least one action associated with the handling of dairy livestock; and wherein the apparatus comprises an arm configured to remove the teat cup from the vertical upright teat cup holder and connect the teat cup to a dairy animal, and wherein the movable unit is configured such that the movable unit does not enter the milking pit or extend the arm into the milking pit; wherein the teatcup comprises a hole for positioning a teat therein, and wherein the teatcup is positioned vertically upright in the vertical stand-up teatcup holder such that the hole faces upwards; and The vertical stand-up teat cup holder comprises at least one fin for covering the hole to mechanically maintain vacuum in the teat cups covered by the at least one fin, so that any two teat cups can be connected to the main milk line via the same valve.

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