Controller for automatic milking device, computer-implemented method, computer program and non-volatile data carrier

Abstract

A controller controls an automatic milking device for which a dairy animal voluntarily goes such that milking of the animal is permitted only when permission conditions (MP (3), MP (4)) are met for the animal. The permission condition (MP (3), MP (4)) specifies the earliest point in time for which repeated milking is permitted after a previous milking round of the animal. The controller sets a permission condition (MP) based on at least one volume (V2, V3) of milk extruded from the animal during at least one earliest milking round (t2, t3) and, after said earliest point in time, sets an acceptance period (AP) within which the animal should reach the automatic milking device for repeated milking. If the animal has not reached the automatic milking device for repeated milking at the expiration of the acceptance period (AP), the controller triggers a delayed milking alarm (A) of the animal. Upon repeated milking (t4) after expiration of the acceptance period (AP), a volume (V4) of milk extruded from the animal (120) during the repeated milking satisfies linear requirements with respect to a recent earlier milking round of the animal (120), the controller extends the acceptance period (AP) of the animal (120).

Description

Technical Field

[0001] This invention relates generally to an automated milking apparatus where dairy animals voluntarily proceed, and where milking is performed if permissible conditions are met for the animal in question. In particular, the invention relates to a controller as described in the preamble of claim 1 and a corresponding computer-implemented method. The invention also relates to computer programs and non-volatile data carriers storing such computer programs. Background Technology

[0002] In the decades that followed, more and more milking systems began to operate on a principle that allowed dairy animals to be milked voluntarily, or at least without being pre-assigned. From an animal-friendly perspective, this was generally beneficial.

[0003] EP 91 892 illustrates a system for milking free-range dairy cows, each of which can proceed to one or more feeding pens, where they are automatically identified and fed by a computer connected to identification and feeding components. The computer records the time each cow is milked and activates the device simultaneously with identification when the cow arrives at the feeding pen to eat. When a predetermined time has elapsed since the previous milking operation, the device is activated to automatically attach the milking components to the cow's udder and initiate the milking operation.

[0004] EP 1 332 668 describes a technical solution for performing animal-related actions on animals. A machine is configured to allow milking of an animal according to a process determined by several adjustable parameters, which define the characteristics of the process. Values ​​of one or more animal-related variables are determined for the animal by a determining component. During the current animal-related action, the machine performs the animal-related action, wherein at least one of the parameters is adjusted by a control component in response to the determined value.

[0005] WO 2006 / 068568 discloses a milking apparatus comprising at least two milking positions, wherein each milking position includes a milking cup for milking animals. The milking apparatus is configured to remove the milking cup from the animals when milking is complete, and to remove the milking cup from all animals still being milked when all conditions in a set of conditions are met. This set of conditions includes: the milking cup has been removed from a predetermined number of animals; and all animals still being milked in an earlier milking session prior to the current milking session have been milked to substantially complete.

[0006] Therefore, several schemes have been developed to allow dairy animals to be milked at relatively flexible times. However, combining such solutions efficiently with milking facilities that animals voluntarily visit, and with a generally high milk yield per unit time, remains challenging. Specifically, animals that rarely visit milking facilities are problematic, as these animals typically require manual herding and are brought to the facilities for milking. Summary of the Invention

[0007] Therefore, the object of the present invention is to provide a solution that can alleviate the above-mentioned problems, and to improve efficiency by using an automatic milking device to extract high milk yields from dairy animals.

[0008] According to one aspect of the invention, this objective is achieved by a controller for an automated milking apparatus, wherein dairy animals voluntarily proceed to the automated milking apparatus and are permitted to be milked by the automated milking apparatus only if a permission condition is met for the animal. The permission condition specifies the earliest point in time during which repeated milking of the animal is permitted after its previous milking cycle. The controller is configured to set the permission condition based on at least one volume of milk squeezed from the animal during at least one earlier milking cycle. The controller is also configured to set an acceptance period after the earliest point in time during which the animal should arrive at the automated milking apparatus for repeated milking. If the animal has not arrived at the automated milking apparatus for repeated milking by the end of the acceptance period, the controller is configured to trigger a delayed milking alarm for the animal. Furthermore, if, during repeated milking after the end of the acceptance period, the volume of milk squeezed from the animal during the repeated milking meets a linear requirement with respect to the animal's most recent earlier milking cycle, the controller is configured to extend the animal's acceptance period.

[0009] This controller is advantageous because it can dynamically adapt the receiving time to the milk production of each animal. As a further result, the milking apparatus can be utilized more efficiently in terms of the total amount of milk squeezed from a herd of dairy animals per unit time.

[0010] According to one embodiment of this aspect of the invention, a linearity requirement is considered met if the difference between the milk yield per unit time determined for the animal during repeated milking and the milk yield per unit time determined for the animal in its most recent earlier milking cycle is less than a threshold difference. Therefore, checking for linearity is the most straightforward method.

[0011] According to another embodiment of this aspect of the invention, the linearity requirement is considered satisfied if the slope coefficient of a linear function representing the milk yield per unit time determined for the animal during repeated milking is within a predefined slope coefficient tolerance of a linear function representing the milk yield per unit time in the animal's most recent earlier milking cycle. Therefore, the linearity requirement can also be checked in a simple manner.

[0012] According to another embodiment of this aspect of the invention, the controller is configured to set permissible conditions such that, for each milking cycle completed while meeting linear requirements, the earliest point in time when repeated milking is permitted is postponed relative to any previously set permissible conditions for that animal. Therefore, a considerable portion of the linear milking capacity of each animal can be utilized, thereby increasing the overall utilization rate of the milking apparatus.

[0013] According to another embodiment of this aspect of the invention, the controller is configured to extend the acceptance period if the permission conditions are postponed relative to any previously set permission conditions for the animal. That is, this adaptation of the acceptance period to changes in permission conditions further reduces the risk of needing to manually herd the animal and bring it to the milking facility for milking.

[0014] For example, the controller can be configured to extend the acceptance period by a minor time amount equal to a factor (e.g., 1) multiplied by the major time amount by which the licensing conditions are postponed. In other words, if the licensing conditions are postponed by one hour, the acceptance period can also be extended by one hour.

[0015] According to another embodiment of this aspect of the invention, if the linearity requirement is not met, the controller is configured to set the permissive conditions for the animal regarding milking cycles after the milking cycle in which the linearity requirement is not met to be equal to the permissive conditions applied to milking cycles when the linearity requirement is not met. Thus, the permissive conditions are set to allow for a slight deviation in milk yield from a linear relationship. This further reduces the risk of any unnecessary milking. However, if the farmer deems it more important to avoid non-linear milk yields, they can instead set permissive conditions for the animal regarding future milking cycles, allowing for slightly shorter intervals between these cycles.

[0016] According to an embodiment of this aspect of the invention, the time point for performing the milking cycle is either always defined as the time point at which the milking cycle begins or the time point at which the milking cycle ends. Both alternatives provide a direct basis for determining whether linearity requirements are met or whether the acceptance period should be extended.

[0017] According to another aspect of the invention, this objective is achieved by a computer-implemented method executed in a processing unit in a controller, which is further arranged to control an automated milking apparatus, to which dairy animals voluntarily proceed for milking, and to allow milking of the animal by the automated milking apparatus only if a permission condition is met for the animal, the permission condition specifying the earliest time point at which repeated milking is permitted after the animal's previous milking round. The method involves setting the permission condition based on at least one volume of milk squeezed from the animal during at least one earlier milking round. The method also involves setting an acceptance period after said earliest time point, during which the animal should arrive at the automated milking apparatus for repeated milking. If the animal has not arrived at the automated milking apparatus for repeated milking by the end of the acceptance period, the method further involves triggering a delayed milking alarm for the animal. Additionally, if, during repeated milking after the end of the acceptance period, the volume of milk squeezed from the animal during the repeated milking satisfies a linearity requirement with respect to the animal's most recent earlier milking round. That is, in this case, it is confirmed that the animal's milk production is indeed linear throughout the acceptance period. Therefore, extending the acceptance period is considered safe and thus avoids unnecessary manual herding of animals to the automated milking device in the future. The advantages of this method and its preferred implementation are apparent from the discussion of the system presented above.

[0018] According to another aspect of the invention, this objective is achieved by a computer program capable of being loaded into a non-volatile data carrier communicatively connected to a processing unit. The computer program includes software for executing the described method when the program is run on the processing unit.

[0019] According to another aspect of the invention, this objective is achieved by a non-volatile data carrier containing the aforementioned computer program.

[0020] Other advantages, beneficial features and applications of the invention will become apparent from the following description and dependent claims. Attached Figure Description

[0021] The invention will now be explained in more detail by way of preferred embodiments disclosed as examples and with reference to the accompanying drawings.

[0022] Figure 1 An automatic milking apparatus capable of being controlled by a controller according to one embodiment of the present invention is illustrated schematically;

[0023] Figures 2a to 2b A diagram illustrating an example of a receiving time period setting method according to an embodiment of the present invention is shown;

[0024] Figure 3A graph illustrating the typical milk yield of dairy animals as a function of lactation days is shown; and

[0025] Figure 4 The general method according to the invention is illustrated by a flowchart. Detailed Implementation

[0026] Figure 1 A simplified automatic milking apparatus 110 is shown, on which the present invention can be implemented. According to one embodiment of the invention, the automatic milking apparatus 110 can be controlled by a controller 100.

[0027] Figure 2a A graph showing the volume V of milk squeezed from a specific animal 120 as a function of time t is presented.

[0028] Figure 2b The diagram shows in detail the comparison of different milk volumes V2, V3, and V4 produced after waiting for different lengths of time between consecutive milking cycles of animal 120. 41 and V 42 The image.

[0029] In this disclosure, it may be assumed that dairy animals voluntarily proceed to the automated milking apparatus 110, and that the controller 100 is configured to allow milking of animal 120 only if a permission condition MP is met for animal 120. The permission condition MP specifies the earliest point in time at which repeated milking of animal 120 is permitted after a previous milking cycle. Figure 2a Examples of such permissive conditions MP(3), MP(4), and MP(5) following milking cycles performed at time points t2, t3, and t4 are given.

[0030] In dairy animals such as cows, buffalo, goats, sheep, camels, yaks, horses, reindeer, and donkeys, milk is produced in the mammary alveoli of the udder. The capacity of the mammary alveoli can vary considerably between individuals of the same species. Therefore, the time required for the alveoli to become full of milk after a previous milking may differ for different individuals. For efficiency, the milking frequency per animal should be neither too high nor too low. That is, in the former case, milking equipment could be better used to milk another animal; in the latter case, the total amount of milk extracted from that animal will be less than when milked previously. In other words, after the mammary alveoli reach a threshold level of fullness, the amount of milk that can be obtained from further milking will be very small. In other words, after reaching the threshold level of fullness, the milk production per unit time becomes non-linear.

[0031] To determine whether a particular animal should be allowed into the milking facility 110, the animal 120 may, for example, have an ear tag 112 configured to allow identification information ID of the animal 120, for example, via radio frequency identification (RFID) or near field communication (NFC) technology through a reader unit 111 of the milking facility 110. A Non-contact registration is performed. If the controller 100 determines that the animal 120 is permitted to be milked, the controller 100 is configured to allow the animal 120 to enter the automated milking unit 110 through the entrance gate 115. After a milking cycle is completed, the controller 100 is configured to allow the animal 120 to exit the automated milking unit 110 through the exit gate 116.

[0032] According to the invention, the controller 100 is configured to set the permission condition MP based on at least one volume of milk squeezed from the animal 120 during at least one earlier milking cycle. Figure 2a Two examples of such earlier milking cycles are given by time points t2 and t3 and the corresponding volumes of milk squeezed out, V2 and V3.

[0033] The controller 100 is also configured to set an acceptance period AP after the earliest time point MP (4), during which animal 120 should arrive at the automated milking device 110 for repeated milking. That is, the permission condition MP defines the earliest time point at which animal 120 is allowed to be milked again. Since animals voluntarily go to the automated milking device 110, they may very well decide to arrive at the device at any time later than the earliest time point MP (4). However, if animal 120 has not arrived at the automated milking device 110 within the acceptance period after the earliest time point MP (4), the controller 100 is configured to generate an alarm A for animal 120. Thus, in response to alarm A, farm workers can manually herd animal 120 and bring it to the device for milking, and are also able to check animal 120 to determine its health.

[0034] Furthermore, once animal 120 has been milked after controller 100 has generated alarm A for animal 120, controller 100 is configured to check whether the volume of milk extruded from animal 120 during repeated milking meets the linearity requirement for the most recent earlier milking cycle of animal 120. Here, the most recent earlier milking cycle of animal 120 is performed at time point t3, and at that time, the milk volume V3 is extruded. If the linearity requirement is met during the repeated milking, controller 100 is configured to extend the receiving period AP of animal 120.

[0035] exist Figure 2aIn the illustrated example, we assume that, under the linearity criterion, two earlier milking cycles of animal 120 have been completed at time points t2 and t3, respectively. At the second time point t2, a certain volume of milk V2 is milked from animal 120. This means that the first interval I between the first time point t1 and the second time point t2... 12 During this period, animal 120 correspondingly exhibited a first milk production rate P. V1 The second interval I between the second time point t2 and the third time point t3 23 During this period, animal 120 correspondingly exhibited a second milk production rate P. V2 Furthermore, since the linearity criterion is met, the first milk production rate P... V1 Second milk production rate P V2 They are essentially equal to each other. Since the milking rounds completed at the third time point t3 satisfy the linearity criterion, the permissive condition MP is set such that the earliest time point MP(4) after the third time point t3 is slightly extended relative to the earliest time point MP(3) set by the previous permissive condition MP, at which subsequent milking rounds with respect to animal 120 are permitted.

[0036] Additionally, the acceptance period AP is set after the earliest time point MP(4). If the acceptance period AP after the earliest time point MP(4) after the third time point t3 expires, animal 120 is milked at the fourth time point t4, and the milk volume V is extracted. 41 This makes the interval I between the third time point t3 and the fourth time point t4... 34 Milk production rate P V41 To satisfy the linearity requirement regarding the most recent earlier milking period of animal 120, i.e., at the third time point t3, controller 100 is configured to further extend the receiving period AP. That is, even if animal 120 is milked "too late," the result is that the milk yield of animal 120 continues to be linear throughout the extended interval.

[0037] According to one embodiment of the invention, the controller 100 is configured to set a permissive condition MP such that, for each milking cycle completed while satisfying linear requirements, the earliest time point MP(4) at which repeated milking is permitted is postponed relative to any previously set permissive condition MP for the animal 120. For example, the acceptance period AP can be extended by an amount corresponding to the interval between the earliest time point MP(4) and the time point at which the most recent milking cycle was performed.

[0038] Figure 2a An example illustrates the interval I 34 Milk production rate P V41The case that satisfies the linear requirement regarding the most recent earlier milking cycle of animal 120. In other words, the milk production rate P... V41 Milk production rate P during the two most recent previous milking cycles of animal 120 V1 and P V2 They are basically the same. Figure 2a In the middle, the milk production rate P V1 and P V2 and P V41 Each is represented as a linear function.

[0039] Figure 2b An example illustrates an alternative scenario, in which, alternatively, the milk production rate P of animal 120... V42 The fourth milking cycle was performed so late, already in the non-linear phase. This is indicated by the fact that the milk yield P per unit time... V42 The slope coefficient of the linear function represented by this expression differs from that of the linear function represented by the milk yield per unit time from the most recent earlier milking round of animal 120 by a predefined slope coefficient tolerance m, i.e., here it is... Figure 2a P shown V2 The predefined slope coefficient tolerance m can be defined as: P Vmin <m<P Vmax At the same time, P Vmin <P V2 , where P Vmax This represents the milk production rate P. V42 The maximum acceptable slope of the linear function is represented by P. Vmin This represents the milk production rate P. V42 This represents the minimum acceptable slope of the linear function. Alternatively, the slope coefficient tolerance m can be simply defined as m > P. Vmin .

[0040] Figure 2b The critical point V is illustrated. Lmax After this point, the milk production V of animal 120 no longer maintains a linear relationship with time t. Therefore, the time interval between consecutive milking cycles can be extended to find the critical point of the animal in question, which may range from, for example, 8 to 12 hours.

[0041] According to one embodiment of the invention, the controller 100 is further configured to extend the acceptance period AP if the permission condition MP is postponed relative to any previously set permission condition MP of the animal 120. That is, the controller 100 is only configured to set the permission condition MP such that if the milk production of the animal 120 has been shown to be linear over a longer period than initially estimated, the earliest possible subsequent milking is postponed.

[0042] The controller 100 may be configured, for example, to extend the acceptance period AP by a secondary time amount equal to a factor (e.g., 1, 1.5, or 2) multiplied by the permission condition MP in response to the discovery that the milk production of the animal 120 is linear over a longer period than initially estimated, and thus postponed by a primary time amount (e.g., 30 minutes, 60 minutes, or 90 minutes).

[0043] According to one embodiment of the invention, if the linearity requirement is not met, the controller 100 is configured to set the permissive condition MP for the animal 120 regarding milking cycles after the milking cycle in which the linearity requirement is not met to be equal to the permissive condition applied to the milking cycle when the linearity requirement is not met. This means that the permissive condition MP is set to allow for a slight deviation in milk yield from the linear relationship. As a result, the risk of any unnecessary milking operations is further reduced. However, if the farmer considers avoiding non-linear milk yields more important than maximizing the utilization of the milking apparatus 110, they can instead set the permissive condition MP for the animal 120 regarding future milking cycles, allowing for slightly shorter intervals for these milking cycles.

[0044] In this disclosure, the time point at which a milking cycle is performed is always defined as the time point at which the milking cycle begins. Alternatively, the time point at which a milking cycle is performed is always defined as the time point at which the milking cycle ends.

[0045] Typically, shortly after calving, dairy animals' milk production Y will peak in the initial period P. 01 The internal volume gradually increases. Figure 3 A schematic diagram is shown illustrating the change in milk yield Y as a function of lactation days DIM in dairy animals after calving at time point t0. Here, the initial time period P... 01 Starting from time point t0 when DIM is 0, and continuing until time point t1 when DIM is between 30 and 90, milk production Y remains at a certain level. P It remained relatively stable until time point t when DIM was approximately 210. m At this point, milk production Y begins to decline slightly.

[0046] Since the present invention aims to maintain a linear milk yield per unit time between consecutive milking cycles for each dairy animal, in order to utilize the automatic milking device 110 as efficiently as possible, the present invention is mainly applied to the period from time point t1 to time point t2. m It is advantageous for dairy animals during their lactation cycle. In the initial stage, P... 01 During at least the first part of the period, it is generally preferred to milk dairy animals relatively frequently to stimulate milk production, for example, milking approximately every five hours. At time point t m Afterward, dairy animals can be set to dry, which is a period of so-called dry period in preparation for the next calving.

[0047] It is generally advantageous that the controller 100 is configured to perform the above-described processes automatically by executing a computer program. Thus, the controller 100 may include a memory unit 105 (i.e., a non-volatile data carrier) storing a computer program 103, which in turn includes software for causing processing circuitry in the controller 100, in the form of at least one processor 101, to perform the actions mentioned in this disclosure when the computer program 103 is run on at least one processor 101.

[0048] For the purpose of summarizing and reference Figure 4 The flowchart in the diagram will now be used to describe a computer-implemented method according to the present invention, which is executed in at least one processor 101 of the controller 100.

[0049] In the first step 405, the animal's permission conditions are set based on at least one volume of milk squeezed from the animal during at least one earlier milking cycle.

[0050] Subsequently, in step 410, an acceptance period is set after the earliest time point, during which the animal should arrive at the automatic milking device for repeated milking.

[0051] Next, step 415 checks whether the animal in question has arrived at the milking device. If so, then proceed to step 420; otherwise, the process continues to step 430.

[0052] Step 420 checks whether milking the animal is permitted based on the licensing conditions. If so, proceed to step 425; otherwise, the process loops back to step 415.

[0053] In step 425, the animal is milked; and thereafter, the process cycles back to step 405.

[0054] Step 430 checks if the receiving period is still running. If so, proceed to step 415; otherwise, the process continues to step 435.

[0055] In step 435, a delayed milking alarm is triggered for the animal, and in response to the alarm, farm staff are prompted to manually drive the animal to the automatic milking machine for milking.

[0056] In the subsequent step 440, it is assumed that the animal has arrived at the milking device and is being milked.

[0057] Subsequently, in step 445, it is checked whether the milk expressed in step 440 meets the linearity requirement related to at least two earlier milking cycles of the animal. If so, step 450 is executed; otherwise, the process loops back to step 405.

[0058] In step 450, the animal's acceptance period is extended to meet the linearity requirement. The process then loops back to step 405.

[0059] refer to Figure 4 The described processing steps can be controlled by a programmable processor. Furthermore, although the embodiments of the invention described above with reference to the accompanying drawings include a processor and processing executed in at least one processor, the invention is therefore extended to computer programs suitable for practicing the invention, particularly computer programs on or within a carrier. The program can be in the form of source code, object code, intermediate source code, and object code such as partially compiled form, or any other form suitable for use in a specific implementation of the process according to the invention. The program can be part of an operating system or a separate application. The carrier can be any entity or device capable of carrying the program. For example, the carrier can include storage media such as flash memory, ROM (read-only memory), such as DVD (Digital Video / Universal Disc), CD (Compact Disc), or semiconductor ROM, EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), or magnetic recording media such as floppy disks or hard disks. Furthermore, the carrier can be a transmissible carrier, such as electrical or optical signals, which can be transmitted via cables or optical fibers, or through radio components or other components. When the program is embodied in a signal, the signal can be transmitted directly via a cable or other device or component, and the carrier can be constituted by such a cable or device or component. Alternatively, the carrier may be an integrated circuit in which a program is embedded, the integrated circuit being adapted to perform related processing or to perform related processing.

[0060] By studying the accompanying drawings, the disclosure, and the appended claims, those skilled in the art can understand and implement variations of the disclosed embodiments when practicing the claimed invention.

[0061] When used in this specification, the term "comprising" is used to specify the presence of a stated feature, integer, step, or component. This term does not exclude the presence or addition of one or more additional elements, features, integers, steps, or components, or groups thereof. The indefinite article "a" does not exclude a plurality. In the claims, the word "or" should not be interpreted as an exclusive OR (sometimes referred to as "XOR"). Rather, expressions such as "A or B" cover all cases of "A and not B", "B and not A", and "A and B", unless otherwise indicated. The fact that certain measures are recited in mutually different dependent claims does not imply that combinations of these measures cannot be advantageously used. Any reference marks in the claims should not be interpreted as limiting the scope.

[0062] It should also be noted that the features from the various implementation schemes described herein can be freely combined unless it is explicitly stated that such a combination would be unsuitable.

[0063] The present invention is not limited to the embodiments described in the accompanying drawings, but can be freely varied within the scope of the claims.

Claims

1. A controller (100) for an automatic milking apparatus (110) to which a dairy animal voluntarily proceeds and through which milking of an animal (120) is allowed only if a permission condition (MP) for the animal (120) is fulfilled, the permission condition (MP) specifying an earliest time point (MP(4)) after a preceding milking round of the animal (120) at which repeated milking of the animal is allowed, the controller (100) being configured to: set the permission condition (MP) based on at least one volume (V2, V3) of milk expressed from the animal (120) during at least one earlier milking round (t2, t3), and set an acceptance period (AP) after the earliest time point (MP(4)) within which the animal (120) should arrive at the automatic milking apparatus (110) for repeated milking, and trigger a delayed milking alert (A) for the animal (120) if the animal (120) has not arrived at the automatic milking apparatus (110) for the repeated milking at expiry of the acceptance period (AP). characterized in that The controller (100) is configured to extend the acceptance period (AP) for the animal (120) if a volume (V 41 ) of milk expressed from the animal (120) during the repeat milking (t4) after expiration of the acceptance period (AP) meets a linear requirement with respect to a most recent earlier milking round of the animal (120).

2. The controller (100) according to claim 1, wherein the linear requirement is considered to be fulfilled if a value of milk production per unit of time (P V41 ) determined for the animal (120) at the repeated milking differs less than a threshold difference from a value of milk production per unit of time (P V2 ) determined for the animal (120) at the most recent earlier milking round of the animal (120).

3. The controller (100) according to claim 1, wherein the linear requirement is considered to be fulfilled if a slope coefficient of a linear function represented by the milk yield per unit of time (P V41 ) determined for the animal (120) at the repeated milking and a slope coefficient of a linear function represented by the milk yield per unit of time (P V2 ) at the most recent earlier milking round of the animal (120) differ within a predefined slope coefficient tolerance (m).

4. The controller (100) according to any one of the preceding claims, wherein the controller (100) is configured to set the permission condition (MP) such that for each milking round completed with the linear requirement being met, the earliest time point (MP(4)) at which repeated milking is allowed is postponed relative to any preceding set permission condition (MP(3)) of the animal (120).

5. The controller (100) according to claim 4, wherein the controller (100) is configured to extend the acceptance period (AP) if the permission condition (MP(4)) is postponed relative to any preceding set permission condition (MP(3)) of the animal (120).

6. The controller (100) according to claim 5, wherein the controller (100) is configured to extend the acceptance period (AP) by a secondary amount of time which is equal to a factor multiplied by a primary amount of time by which the permission condition (MP) is postponed.

7. The controller (100) according to any one of the preceding claims, wherein if the linear requirement is not met, the controller (100) is configured to: set the permission condition (MP(4)) of the animal (120) for a milking round after the milking round for which the linear requirement is not met equal to a permission condition (MP(4)) applied at the milking round for which the linear requirement is not met.

8. The controller (100) according to any one of the preceding claims, wherein a time point at which the milking round is performed is always defined as: a time point at which the milking round is initiated, or a time point at which the milking round is completed.

9. A computer-implemented method for an automatic milking apparatus (110) to which a dairy animal voluntarily proceeds for milking and through which milking of an animal (120) is only allowed if a permission condition (MP) for that animal (120) is fulfilled, the permission condition (MP) specifying an earliest time point (MP(4)) after a preceding milking round of the animal (120) at which repeated milking of it is allowed, and the method being performed in a processing unit (101) in a controller (100), the method comprising: setting the permission condition (MP) based on at least one volume (V2, V3) of milk expressed from the animal (120) during at least one earlier milking round (t2, t3), and setting an acceptance period (AP) after the earliest time point (MP(4)) within which the animal (120) should arrive at the automatic milking apparatus (110) for repeated milking, and triggering a delayed milking alert (A) for the animal (120) if it has not arrived at the automatic milking apparatus (110) for the repeated milking by expiry of the acceptance period (AP), characterized in that If the volume (V 41 ) of milk expressed from the animal (120) during the repeat milking (t4) at the repeat milking (t4) after the acceptance period (AP) has expired meets a linear requirement regarding the most recent earlier milking round of the animal (120), then the acceptance period (AP) of the animal (120) is extended.

10. The method according to claim 9, wherein the linear requirement is considered to be fulfilled if a value of milk production per unit of time (P V41 ) determined for the animal (120) at the repeated milking differs less than a threshold difference from a value of milk production per unit of time (P V2 ) determined for the animal (120) at the most recent earlier milking round of the animal (120).​​​​ 11. The method according to claim 9, wherein the linear requirement is considered fulfilled if a linear function of the milk yield per unit of time (P V41 ) determined for the animal (120) at the repeated milking differs from a slope coefficient of a linear function represented by the milk yield per unit of time (P V2 ) at the most recent earlier milking round of the animal (120) within a predefined slope coefficient tolerance (m).

12. The method according to any one of claims 9 to 11, the method comprising: setting the permission condition (MP) such that for each milking round completed with fulfilment of the linearity requirement, the earliest time point (MP(4)) at which repeated milking is allowed is postponed relative to any previously set permission condition (MP(3)) for that animal (120).

13. The method according to claim 12, the method comprising: extending the acceptance period (AP) if the permission condition (MP(4)) is postponed relative to any previously set permission condition (MP(3)) for that animal (120).

14. The method according to any one of claims 12 and 13, the method comprising: extending the acceptance period (AP) by a secondary amount of time equal to a factor multiplied by a primary amount of time by which the permission condition (MP) is postponed.

15. The method according to any one of claims 9 to 14, wherein if the linearity requirement is not fulfilled, the method comprising: setting the permission condition (MP(4)) for the animal (120) for a milking round after the milking round for which the linearity requirement is not fulfilled equal to a permission condition (MP(4)) applied at the milking round for which the linearity requirement is not fulfilled.

16. The method according to any one of claims 9 to 15, wherein the time point at which the milking round is performed is always defined as: the time point at which the milking round is initiated, or the time point at which the milking round is completed.

17. A computer program (103) loadable into a non-volatile data carrier (105) communicatively connectable to a processing unit (101), the computer program (103) comprising software for executing the method according to any one of claims 9 to 15 when the computer program (103) is run on the processing unit (101).

18. A non-volatile data carrier (105) containing the computer program (103) according to claim 16.

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