СИСТЕМА УПРАВЛЕНИЯ ВОДОКОЛЬЦЕВЫМ ВАКУУМНЫМ НАСОСОМ

Изобретение относится к водокольцевым вакуумным насосам и системам управления водокольцевыми вакуум-насосными агрегатами, используемыми при механизированной дойке крупного рогатого скота. Система управления водокольцевым вакуумным насосом включает вакуум-провод 5 с выводами для подключения доильных аппаратов 6, начало которого подведено к всасывающему патрубку 7 водокольцевого вакуумного насоса 4. Вакуум-провод 5 выполнен с заглушенным концом и в нем выполнен вывод для подключения датчика вакуумметрического давления 1, связанного с противоположного конца с блоком регулирования частоты и напряжения 2, подключенного к трехфазной сети переменного тока частотным преобразователем. Выход частотного преобразователя связан с электрическим входом асинхронного электродвигателя 3, вал которого соединен с валом рабочего колеса насоса 4. Изобретение обеспечивает поддержание необходимого вакуумметрического давления с одновременным корректированием расхода электроэнергии при изменении количества доильных ...

Устройство для позиционирования манипулятора роботизированных установок преддоильной подготовки вымени и доения

Полезная модель относится к области животноводства, в частности к роботизированным устройствам, используемых как для преддоильной подготовки вымени, так и для доения животных.Задача полезной модели - обеспечение позиционирования манипулятора установки преддоильной подготовки вымени, обеспечивающей одновременную обработку всех сосков.Для решения поставленной задачи устройство содержит две разнесенные по разным сторонам относительно оси станка преддоильной подготовки вымени видеокамеры и ЭВМ с программным обеспечением.Видеокамеры расположены в нижней части станка и способны перемещаться вдоль его элементов, а также совершать поворот относительно вертикальной оси для поиска оптимального места съемки.Обработка изображений, полученных с камер, осуществляется программным обеспечением ЭВМ.Положение сосков вымени определяется по результатам обработки двух плоских изображений вымени, полученных с камер. В основе обработки изображений лежат характеристики оптической части камер.Манипулятор используя ...

Доильный аппарат

Изобретение относится к сельскому хозяйству, в частности к доильным аппаратам. Доильный аппарат содержит двухкамерные доильные стаканы, коллектор, молокосборник, пульсатор с пульсирующим и стимулирующим блоками, устройство для управления работой доильного аппарата, включающее молоколовушку и камеру управления, внутри которой установлен подвижный элемент. Подвижный элемент выполнен в виде распределительного вала с двумя каналами. Один канал выполнен с возможностью сообщения камеры переменного вакуума стимулирующего пульсатора с атмосферным давлением при перемещении молоколовушки в верхнее положение. Второй канал выполнен с возможностью сообщения камеры переменного вакуума стимулирующего пульсатора с вакуумметрическим давлением при перемещении молоколовушки в нижнее положение. С одной стороны распределительного вала закреплен грузовой элемент. С другой стороны распределительного вала закреплена молоколовушка. Молоколовушка снабжена ограничителями ее перемещения в крайних положениях, установленными ...

Адаптивный доильный аппарат

Изобретение относится к сельскому хозяйству, в частности к устройствам для доения коров. Адаптивный доильный аппарат включает двухкамерные доильные стаканы (1) и пульсоколлектор (4). Коллектор выполнен четырехкамерным с общей молокоприемной камерой (5), молокопроводным патрубком (6) соединяемой с молокоприемным устройством. Камеры (9) пульсоколлектора включают датчик потока молока (10), регулятор (11) вакуумметрического давления в подсосковой камере (2), регулятор (12) вакуумметрического давления в межстенной камере (3) доильного стакана и пульсатор (13). Датчик потока молока выполнен в виде молоколовушки (14) с поплавком (15). Регулятор вакуумметрического давления в подсосковой камере и регулятор вакуумметрического давления в межстенной камере доильного стакана управляются общей камерой управления (20). Пульсатор выполнен в виде надпоршневой камеры (40) и подпоршневой камеры (41), разделяемых поршнем (42) с калиброванным отверстием для сообщения камер. Со стороны надпоршневой камеры поршень ...

СПОСОБ И УСТАНОВКА ДЛЯ УПРАВЛЕНИЯ ДОЕНИЕМ

... 1. Способ управления доением животных, которые имеют возможность передвигаться по предназначенной для этого территории (11), при этом указанная территория включает в себя в себя зону (13) доения, которая содержит автоматическую доильную систему (16) для доения животных, которые зашли в зону доения во время доильной сессии, отличающийся тем, что включает в себя стадии, на которых:- идентифицируют (31) каждое из животных, заходящее в указанную зону доения;- определяют (32) для каждого из идентифицированных животных, ожидаемый надой молока, который может быть получен при доении данного животного;- определяют (33) в повторяющемся режиме суммарный ожидаемый надой молока, который может быть получен при доении идентифицированных животных, на основании ожидаемых надоев молока идентифицированных животных; и- инициируют (34) доильную сессию с помощью автоматической доильной системы в зависимости от определяемого в повторяющемся режиме суммарного ожидаемого надоя молока.2. Способ по п.1, в котором ...

Устройство для определения перемещения доильного стакана относительно вымени коровы при вертикальной нагрузке

Изобретение относится к измерительной технике, в частности к устройствам для определения перемещения доильного стакана относительно вымени коровы при вертикальной нагрузке. Устройство для определения перемещения доильного стакана относительно вымени коровы при вертикальной нагрузке содержит доильный стакан (1), к которому жестко прикреплены пневмоцилиндры (2, 3), содержащие поршни (4, 5) с тягами (6, 7), которые посредством шарниров (8) и (9) соединены с упором (10). При этом одна из тяг содержит прилив (19), контактирующий с тензоэлементом (16), жестко прикрепленный к доильному стакану (1). К нижней части доильного стакана (1) прикреплены держатели (26) и (27), к которым жестко по краям прикреплена пластина (25) с тягой (30). К пластине (25) снизу прикреплены тензоэлементы (28) и (29) с упорами. Тензолементы (16), (28) и (29) электрически соединены с тензоусилителем (17) и многоканальным самописцем или ноутбуком (18). Обеспечивается измерение величины перемещения доильного стакана относительно ...

UNTERDRUCKABNAHMEVENTIL

Method and arrangement for control of the milking

An arrangement for control of the milking of animals which are allowed to move in an area (11) intended therefore is provided. The area includes a milking area (13) with an automatic milking system (16). The arrangement comprises at least one animal identification device (21c) for identifying each of the animals that enters the milking area, and a process and control device (17) operatively connected to the animal identification device. The process and control device determines, for each of the identified animals, an expected milk yield obtainable in milking that animal, determines repeatedly an accumulated expected milk yield obtainable in milking the identified animals based on the expected milk yields of the identified animals, and initiates a milking session depending on the repeatedly determined accumulated expected milk yield.

Milking machine testing method and apparatus

APPARATUS AND METHOD FOR AUTOMATICALLY EXAMINING A MILKING MACHINE

The present invention relates to an apparatus for automatically examining a milking machine, which can check an abnormality or damage to the milking machine in real time during a milking operation. The apparatus for automatically examining the milking machine (50), according to the present invention, comprises: a first vacuum sensor (510) for measuring a vacuum pressure which is transferred through a first vacuum hose (30a); a second vacuum sensor (520) for measuring a vacuum pressure which is transferred through a second vacuum hose (30b); a memory portion (530) to which a milking machine status analysis program (531) for determining an abnormality in a pulsator (20) or in a milk unit (40) by analyzing data with respect to a waveform of the vacuum pressure that is measured through the first vacuum sensor (510) and the second vacuum sensor (520); a display portion (540) for displaying analysis result data which is analyzed by the milking machine status analysis program (531); and a control ...

Melkfettdosiergerät

Device for detecting the activity of ruminants during the production of milk.

Die Erfindung betrifft eine Vorrichtung zur automatisierten Aktivitätserfassung von Wiederkäuern beim maschinellen Melken. Die Vorrichtung ist dadurch gekennzeichnet, dass ein Beschleunigungssensor (1) dazu dient, Bewegungen des zu melkenden Wiederkäuers während des Melkens aufzuzeichnen. Der Beschleunigungssensor (1) ist an einer Melkeinheit befestigt, mit einer Haltevorrichtung verbunden oder in einer Melkeinheit integriert. Bewegungen des Tieres während des Melkens, wie Trippeln, Fuss heben und Kicken, bewirken Bewegungen an der Melkeinheit in Form von Beschleunigungen und werden so von einer Messvorrichtung mit dem Beschleunigungssensor (1) aufgezeichnet.

METHOD AND ARRANGEMENT FOR CONTROL OF THE MILKING

An arrangement for control of the milking of animals which are allowed to move in an area (11) intended therefore is provided. The area includes a milking area (13) with an automatic milking system (16). The arrangement comprises at least one animal identification device (21c) for identifying each of the animals that enters the milking area, and a process and control device (17) operatively connected to the animal identification device. The process and control device determines, for each of the identified animals, an expected milk yield obtainable in milking that animal, determines repeatedly an accumulated expected milk yield obtainable in milking the identified animals based on the expected milk yields of the identified animals, and initiates a milking session depending on the repeatedly determined accumulated expected milk yield.

MILKING MACHINE TESTING METHOD AND APPARATUS

L'invention se rapporte à un appareil comportant au moins un pis artificiel (20) comprenant une chambre souple (15) ayant un premier orifice de vérification de la pression (13). Ladite chambre (15) peut s'aplatir sous l'effet d'une pression négative exercée par un gobelet lorsque la machine fonctionne. Un organe d'analyse est conçu pour être couplé au premier orifice de vérification de la pression (13) de manière à permettre la mesure de la pression au sein de la chambre souple (15). Un second orifice de détection de la pression (12) peut être utilisé pour détecter la pression appliquée sur le pis de l'animal.

Milking system

A milking system includes a milking device, and a milk storage system having: a temporary milk storage vessel for temporarily storing milk from a plurality of milking operations, a milk pipe from the milking device to the temporary milk storage vessel, a milk tank for storing the milk from the temporary milk storage vessel, a control unit, a main milk pipe from the temporary milk storage vessel to the milk tank, a pressurized liquid supply which is controllable by the control unit and is provided and configured to supply a pressurized liquid, other than milk, to the milk storage system, a first and a second discharge provided on the main milk pipe, a selection device which is controllable by the control unit and is on the main milk pipe towards the first discharge or the second discharge, wherein the control unit is configured to perform a milk transferring action for transferring milk in the main milk pipe into the milk tank with the aid of the pressurized liquid, wherein the liquid transferring ...

Conduit and a method of cleaning a conduit

The invention relates to a conduit for transferring milk. The conduit is provided with at least one flexible wall, which divides the conduit into at least one milk duct and at least one secondary duct. The milk duct and the at least one secondary duct extend along a longitudinal axis of the conduit, it being possible for the at least one milk duct to be substantially emptied by pressing through filling the at least one secondary duct.

Method and device for determining the volumetric flow rate of milk flowing during a milking process

The invention relates to a method and device for determining the volumetric flow rate of milk flowing during a milking process. A cross-sectional area (Ai) of the milk flow ( 2 ) is determined at a first measuring point ( 3 ) by means of a sensor ( 4 ) which is arranged outside the flowing milk. The time (ti) required by the milk flow ( 2 ) with the determined cross-sectional are (Ai), to go from the first measuring point ( 3 ) to a second measuring point (5) which is provided downstream from the first measuring point, is measured. The flow speed (vi) is derived from the measured time (ti) and the known distance (s) between the first and second measuring points ( 3, 5 ). The volumetric flow rate (V(t)) is determined on the basis of the determined cross-sectional area (Ai) and the flow speed (vi).

AN IMPLEMENT FOR DETECTING PHYSICAL ABNORMALITIES IN MILK

An implement for detecting physical abnormalities in milk, which implement is provided with a light source for irradiating milk with light of a red and/or a green and/or a blue colour. The intensity of light reflected and/or diffused and/or transmitted by the milk and/or background light is measured by means of light sensors. A computer processes the measurement data. The computer is programmed to select, on the basis of a comparison of values derived from the measured light intensities with reference values, one or more diagnoses for the abnormalities in the milk from a plurality of diagnosis possibilities stored.

ДОИЛЬНАЯ СИСТЕМА

Группа изобретений относится к сельскому хозяйству, в частности к доильным системам. Доильная система содержит доильное устройство и систему хранения молока. Система хранения молока имеет емкость для временного хранения молока, молокопровод, молочный резервуар, блок управления, главный молокопровод, подвод нагнетаемой жидкости, первый и второй выпуски, предоставленные на главном молокопроводе, устройство выбора, которым можно управлять посредством блока управления и которое находится на главном молокопроводе в сторону первого выпуска или второго выпуска. Блок управления выполнен с возможностью осуществления действия перемещения молока для перемещения молока в главном молокопроводе в молочный резервуар с помощью нагнетаемой жидкости. Выполняют частичное заполнение молокопровода молоком из первой емкости для хранения. Подают нагнетаемую жидкость, не являющуюся молоком, в главный молокопровод под давлением и обеспечивают ее перемещения в направлении второй емкости для хранения, для проталкивания ...

СПОСОБ И СИСТЕМА УПРАВЛЕНИЯ ГРУППОЙ МОЛОЧНЫХ ЖИВОТНЫХ

Группа изобретений относится к сельскому хозяйству, в частности к управлению группами молочных животных. На доильной станции выполняют автоматическое доение каждого молочного животного в группе молочных животных. Определяют подгруппу молочных животных, которых необходимо отделить от группы. Определяют время сбора, в которое запланировано, что молочных животных в подгруппе молочных животных отделяют от группы. Период отделения, который определяется продолжительностью времени от времени начала, предшествующего запланированному времени сбора, до запланированного времени сбора, выбирают индивидуально для каждого отдельного молочного животного в зависимости от свойства указанного отдельного молочного животного. Молочное животное отделяют от группы молочных животных, когда оно само заходит на доильную станцию в течение индивидуального периода отделения, выбранного для указанного молочного животного. Упрощается процесс отделения подгруппы молочных животных от группы молочных животных. 2 н. и 14 ...

ДОИЛЬНЫЙ АППАРАТ

Изобретение относится к сельскому хозяйству, в частности к доильным аппаратам. Доильный аппарат содержит доильные стаканы (3), двухполупериодный пульсатор (1), молочный шланг (13), кран (4) с молочным (5) и вакуумным (6) патрубками, электронный блок (11) со световой и звуковой сигнализацией, датчик почетвертного контроля молокоотдачи (9), соединенный с электронным блоком. Двухполупериодный пульсатор соединен с распределительными камерами (7) коллектора (2) двумя воздушными шлангами. В разрыве первого воздушного шланга (15) установлен нормально открытый пневмоклапан (17). Второй воздушный шланг (16) дополнительно соединен через нормально закрытый пневмоклапан (18) с первым воздушным шлангом между распределительной камерой коллектора и нормально открытым пневмоклапанном. В разрыве молочного шланга смонтирован нормально открытый молочный пневмоклапан (14). Первый нормально закрытый трехходовой электроклапан (19) соединяет управляющую камеру нормально открытого молочного пневмоклапана с первым ...

ГЕНЕРАТОР ПЕРЕМЕННОГО РАСХОДА ВОЗДУХА

Изобретение относится к сельскому хозяйству, в частности к устройствам для имитации расхода воздуха доильными аппаратами, подключенными к источнику вакуума. Генератор переменного расхода воздуха содержит два пульсатора, емкость переменного объема, регулятор частоты пульсаций. Пульсаторы соединены между собой параллельно, а с емкостью переменного объема - последовательно. Регулятор частоты пульсации пульсаторов выполнен в виде двухкривошипного шарнирного четырехзвенника, причем длины кривошипов отличаются в два раза. Повышается надежность и точность имитации расхода воздуха доильными аппаратами. 2 ил.

Устройство для индивидуального учета молока на фермах и взятия средней пробы при доении

Изобретение относится к сельскому хозяйству, в частности, к устройствам для учета молока. Устройство для индивидуального учета молока на фермах и взятия средней пробы при доении содержит корпус (1), подводящий (11), отводящий (13) и центрирующий (10) патрубки, тарированный стакан (15), делительный конус (2), трубку (8) с калиброванным отверстием (9), обойму (17) с Т-образным пазом (18), замок-подвеску (6). Опорная часть делительного конуса, установленная в одной плоскости с верхней поверхностью трубки с калиброванным прямоугольным отверстием и верхней поверхностью центрирующего патрубка, выполнена с возможностью частичного перекрытия калиброванного отверстия. На внутренней поверхности опорной части делительного конуса выполнено углубление (3), которое при обычной дойке расположено соосно с калиброванным отверстием, а при дойке высокоудойных коров смещено в сторону. На середине подводящего патрубка выполнено отверстие (12). На боковой поверхности пластмассового основания (19) обоймы выполнены ...

Устройство для управления процессом доения по четвертям вымени коровы

Изобретение относится к сельскому хозяйству, в частности к устройствам доения коров. Устройство для управления процессом доения по четвертям вымени коровы содержит коллектор с входными патрубками, подключенными к доильным стаканам, пневмоцилиндр, подключенный через электромагнитный клапан к вакуумпроводу и соединенный гибкой механической связью с коллектором, датчик-счетчик потока молока, снабженный выключателем вакуума, подключенным к электромагнитному клапану, и соединенный с молокопроводом, электромагнитный пульсатор, подключенный к блоку управления доением, вакуумпроводу и попарно двойным вакуумным шлангом - к доильным стаканам, на каждом входном патрубке коллектора расположен управляемый клапанный механизм, состоящий из патрубка с выпускным отверстием, которое имеет неперекрываемую калиброванную щель. Патрубок выполнен съемным, соединен с коллектором с помощью резьбового соединения и имеет длину, равную двойному диаметру входного патрубка коллектора, при этом на внутренней поверхности ...

Способ выявления в стаде быстро и медленно выдаиваемых коров при доении на роботизированной установке

Изобретение относится к сельскому хозяйству, в частности к выявлению в стаде быстро и медленно выдаиваемых коров при доении на роботизированной установке. Определяют интенсивность молоковыведения. При этом быстро и медленно выдаиваемых коров определяют по величине латентного периода выведения первой порции молока. К быстро выдаиваемым относят тех животных, у которых величина латентного периода выведения первой порции молока составляет 12,4±0,3 с. Упрощается процесс выявления в стаде быстро и медленно выдаиваемых коров.

Подвесной манипулятор для доения коров

Изобретение относится к сельскому хозяйству, в частности к манипуляторам доения коров. Подвесной манипулятор доения содержит навешиваемую на спину животного дугу с регулируемым по высоте держателем подвесной части доильного аппарата с коллектором, молочным, вакуумными шлангами и доильными стаканами. Нижний конец держателя выполнен в виде полусферы, с установленным в ней коллектором, подключенным к доильным стаканам, двойному шлангу переменного вакуума и молочному шлангу. Молочный шланг через отключатель вакуума соединен с датчиком-счетчиком потока молока, подключенным к блоку управления и съемной ручке, имеющий электрический разъем. Двойной шланг переменного вакуума соединен с электромагнитным пульсатором, подключенным к блоку управления, который вместе с датчиком-счетчиком потока молока и отключателем вакуума расположены на отдельном кронштейне, подвешиваемом к вакуумпроводу и одновременно подключены через съемную ручку с электрическим разъемом и расположенным на ней электромагнитным пульсатором ...

ДВУХТАКТНЫЙ ДОИЛЬНЫЙ АППАРАТ ПОПАРНОГО ДОЕНИЯ

Полезная модель относится к сельскому хозяйству, в частности к средствам механизации доения коров. Двухтактный доильный аппарат попарного доения содержит двухкамерные доильные стаканы, пульсатор, молочно-вакуумные шланги, коллектор с молокосборной камерой, камерами переменного вакуума, горизонтальным полым цилиндром с размещенным в нем поршнем с возможностью перемещения в пределах, ограниченных демпферами, закрепленными на внутренних торцевых стенках полого цилиндра. При этом по обе стороны от поршня образованы камеры, каждая из которых сообщена с камерами переменного вакуума коллектора. Полый цилиндр, размещенный в корпусе, выполнен в виде катушки с обмоткой вокруг него, соединенного с электронным блоком, расположенным на верхней части распределителя коллектора. Кроме того, в цилиндре поршень исполнен в виде постоянного магнита, причем в молокосборной камере коллектора размещен электродный датчик сигнализатора молокоотдачи, соединенный с электронным блоком. 1 з.п. ф-лы, 2 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 184 957 U1 (51) МПК A01J 5/00 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ (52) СПК A01J 5/00 (2006.01) (21)(22) Заявка: 2018125165, 09.07.2018 (24) Дата начала отсчета срока действия патента: Дата регистрации: 15.11.2018 (45) Опубликовано: 15.11.2018 Бюл. № 32 Адрес для переписки: 420015, г. Казань, ул. Карла Маркса, 65, ФГБОУ ВО "КГАУ", отдел научных исследований и инноваций (56) Список документов, цитированных в отчете о поиске: RU 2298916 C1, 20.05.2007. RU U 1 1 8 4 9 5 7 R U (54) ДВУХТАКТНЫЙ ДОИЛЬНЫЙ АППАРАТ ПОПАРНОГО ДОЕНИЯ (57) Реферат: Полезная модель относится к сельскому камеры, каждая из которых сообщена с камерами хозяйству, в частности к средствам механизации переменного вакуума коллектора. Полый доения коров. цилиндр, размещенный в корпусе, выполнен в Двухтактный доильный аппарат попарного виде катушки с обмоткой вокруг него, доения содержит двухкамерные доильные соединенного с ...

ПУЛЬСАТОР ДОИЛЬНОГО АППАРАТА

Изобретение относится к сельскому хозяйству, в частности к доильным установкам. Пульсатор доильного аппарата состоит из корпуса с управляющей камерой Управляющая камера разделена упругой мембраной на две части, камеры постоянного и переменного вакуума с патрубками, мембраны и соединенных между собой стержнем верхнего и нижнего клапанов. В пульсаторе, в управляющей камере установлен регулировочный элемент. Последний образован днищем управляющей камеры дисковой формы, имеющей борт с резьбовым соединением и размещенным снаружи его захват для вращения вручную днища управляющей камеры. Захват соединен со стенкой управляющей камеры через резьбу, нарезанную на внутренней части стенки. Нижняя часть управляющей камеры сообщена посредством соединительного канала с патрубком камеры переменного вакуума. Изобретение обеспечивает достижение технического результата, заключающегося в повышении производительности и удобства эксплуатации при одновременном предотвращении травмирования молочных желез коровы ...

СПОСОБ ОТБОРА КОРОВ ДЛЯ МАШИННОГО ДОЕНИЯ

Способ отбора коров для машинного доения, включающий расчет индекса вымени и отбор по оптимальному показателю, отличающийся тем, что осуществляется двухэтапный селективный отбор коров первой лактации по оптимальным требованиям технологии машинного доения к морфофункциональным свойствам вымени - предварительный по морфологическим показателям свойств вымени, определяемым при экстерьерной оценке коров и заключительный по функциональным свойствам вымени - скорости молокоотдачи, разовому и суточному удоям, по полученным данным при доении коров роботом-дояром.

ДОИЛЬНОЕ УСТРОЙСТВО

Доильный аппарат

Полезная модель относится к сельскому хозяйству, в частности к устройствам для механизации животноводства, и может быть использована для доения коров. Полезная модель позволяет обеспечить раздельное управление режимом доения передних и задних долей вымени. Для достижения этого коллектор доильного аппарата выполнен с двумя датчиками потока молока, соединенных с подсосковыми камерами доильных стаканов, устанавливаемых на передние и задние доли вымени коровы. Пульсатор состоит из корпуса с крышкой, в котором на оси установлено червячное колесо, вращаемое червяком. На нижней плоскости червячного колеса коаксиально оси выполнены кольцевые выступы, которые с дном корпуса образуют нижнюю вакуумную камеру, сообщаемую с источником вакуумметрического давления, и нижнюю атмосферную камеру, сообщаемую с атмосферой. На верхней плоскости червячного колеса выполнены криволинейные перегородки, которые с крышкой образуют верхнюю вакуумную камеру, отверстием сообщаемую с нижней вакуумной камерой, и верхнюю ...

Filter system

A filter system 10 comprises a filter housing 12 having an inlet 18 and an outlet (20, Fig 2) and a lumen extending there-between. A seat 24 is associated with the housing between the inlet and the outlet and is adapted to retain a filter within the lumen. Preferably the seat is a circumferentially extending restriction formed in the housing and projecting radially inward. A filter element 14 comprising a shoulder 30, neck 32 and sock 28 may be retained by the seat and may be accessed via a removable end cap (34, Fig 2) provided on one end of the housing. Advantageously the filter system is for use in the dairy industry for filtering solid contaminants from milk and the filter element may be quickly and easily replaced thus minimising down-time of the filter system.

DEVICE FOR THE DETECTION OF PHYSICAL DISTURBANCES IN MILK

Improvements in or relating to a claw of a milking machine

Sensor array for locating an object in space

The present invention is a detection device, system and/or method for locating the position of at least an object present in space, such as the position of a teat of an animal. The device may include an array of sensors. Each sensor in the array may incorporate a transmitter-receiver pair. The transmitter and receiver within each pair may be disposed at an angle, to detect an object in space, through the use of signals. Embodiments of the present invention may include one or more detection devices and may be utilized to detect one or more objects present invention space. The device of the present invention may be used in a system for milking dairy animals.

A milking robot, and a milking arrangement

A milking arrangement comprises a milking robot (10). The robot comprises a first link L ...

SENSOR ARRAY FOR LOCATING AN OBJECT IN SPACE

The present invention is a detection device, system and/or method for locating the position of at least an object present in space, such as the position of a teat of an animal. The device may include an array of sensors. Each sensor in the array may incorporate a transmitter-receiver pair. The transmitter and receiver within each pair may be disposed at an angle, to detect an object in space, through the use of signals. Embodiments of the present invention may include one or more detection devices and may be utilized to detect one or more objects present invention space. The device of the present invention may be used in a system for milking dairy animals.

MILKING DEVICE

A milking device includes a vessel (2) and cover plate (3). The vessel and the cover plate form a sealed volume that is internally divided into a collecting chamber (4), a vacuum chamber (5) and an air intake chamber (6). The collecting chamber is arranged between the vacuum chamber and the air intake chamber. The vessel has a first internal wall (7) that separates the collecting chamber from the air intake chamber, with a first passage ( 9 ) between the collecting chamber and the air intake chamber arranged at the first internal wall. The vessel has a second internal wall (8) that separates the collecting chamber from the vacuum chamber, with a second passage (10) between the collecting chamber and the vacuum chamber arranged at the second internal wall.

PIPE CONNECTING STRUCTURE TO BE USED FOR A MILK DELIVERY PIPE

A pipe connecting structure is constituted by a milk tap having an aperture to be aligned with a corresponding opening arranged at the top of a milk delivery pipe and a slide valve for opening and closing said aperture and a plug-in metal fitting removably fitted to said milk tap and including an elbow pipe. The slide valve has an aperture to be aligned with an upper opening of a milk delivery pipe and comprises a slide valve carriage having a substantially circular valve sliding hole disposed at the lower center and transversal collar insertion holes bored from a side toward the other side thereof and disposed along the lateral sides of the valve sliding hole, a pair of guide pins projecting outwardly from the bottoms of the respective collar insertion holes, a pair of guides projecting outwardly from said other side in a direction opposite to that of said guide pins, a pair of holders disposed oppositely and adjacent to the aperture of the milk tap for slidably holding said guides and ...

elemento de cartucho e teteira

MILKING CLAW

A milking claw for efficiently drawing milk is disclosed. The milking claw includes a claw top and a claw bottom. The claw top includes a pair of front inlets, a pair of rear inlets, and an outlet. The front inlets and the rear inlets extend upwardly from a top surface of the claw top and are spaced on opposite sides of a longitudinal axis of the claw top. The outlet includes an air channel along a direction parallel to the longitudinal axis and a flow passage disposed below the air channel. The flow passage includes a horizontal portion and a vertical portion. The claw bottom is disposed below the claw top and includes a dividing wall, a sump, and a raised knob disposed within the sump.

КАРТРИДЖ И ДОИЛЬНЫЙ СТАКАН

Группа изобретений относится к сельскому хозяйству, в частности к доильному оборудованию. Картридж содержит патрубок, вкладыш доильного стакана и пульсационную камеру. Вкладыш содержит верхнюю концевую часть, корпусную часть и нижнюю концевую часть. Нижняя концевая часть образует концевое сопло за пределами нижнего конца патрубка. Концевое сопло имеет сужающуюся внешнюю форму. Нижняя концевая часть изготовлена из материала, имеющего относительно низкую эластичность по сравнению с относительно высокой эластичностью материала корпусной части. Нижняя концевая часть содержит нижний зацепляющий элемент. Вокруг наружной поверхности патрубка расположено уплотняющее кольцо. Между уплотняющим кольцом и нижним концом патрубка выполнено отверстие. Уплотняющее кольцо выполнено с возможностью зацепления с поверхностью соединителя доильного стакана. Доильный стакан содержит картридж и молокопровод. Молокопровод содержит первую концевую часть, трубопроводную часть и вторую концевую часть, а также канал ...

ДОИЛЬНЫЙ РОБОТ И СИСТЕМА ДОЕНИЯ

Группа изобретений относится к области животноводства. Технический результат - повышение безопасности процесса доения. Система доения содержит доильный робот (10). Робот содержит первое звено (L1), второе звено (L2), третье звено (L3), рабочий орган (Е), датчик (16) и блок управления (15). Первое звено может поворачиваться до первого угла в пределах первого углового сектора (α1) через первое соединение (11). Второе звено может поворачиваться до второго угла в пределах второго углового сектора (α2) через второе соединение (12). Третье звено может поворачиваться до третьего угла в пределах третьего углового сектора (α3) через третье соединение (13). Звенья (L1, L2, L3) могут поворачиваться так, что рабочий орган (Е) может двигаться внутри трехмерного рабочего пространства (W) доильного робота (10). Каждое положение рабочего органа (Е) в пределах рабочего пространства (W) соответствует отдельному сочетанию первого, второго и третьего углов. 2 н. и 14 з.п. ф-лы, 10 ил.

Коллектор доильного аппарата

Изобретение относится к сельскому хозяйству, в частности к аппаратам для механизации доения животных. Коллектор доильного аппарата содержит корпус (1) с входными патрубками молока (2) и соединенную с ним крышку (3). У нижнего основания крышки выполнен сливной молочный патрубок (4). Внутри коллектора установлена конусообразная винтовая навивка (5), выполненная в виде желоба. Большим диаметром (6) конусообразная винтовая навивка обращена к входным патрубкам молока. Меньшим диаметром (7) конусообразная винтовая навивка обращена к сливному молочному патрубку. Повышается производительность доильного аппарата. 3 ил.

Сосковая резина для доильных аппаратов

КОНСТРУКЦИЯ МОБИЛЬНОГО ДОИЛЬНОГО УСТРОЙСТВА И ОДНА ИЗ СОСТАВНЫХ ЧАСТЕЙ ДАННОГО УСТРОЙСТВА

УСТРОЙСТВО ДЛЯ ПРЕДДОИЛЬНОЙ ОБРАБОТКИ ВЫМЕНИ

Изобретение относится к сельскому хозяйству, в частности к оборудованию для преддоильной обработки вымени. Устройство содержит теплоизолированную емкость с крышкой и патрубками для подключения к системе водоснабжения доильной установки и для подачи моющей жидкости по шлангу к клапанному распылителю. Внутри теплоизолированной емкости расположен поршень со стаканом, внутри которого установлена пружина. В крышке установлен пневмопереключающий клапан, переключение режимов работы которого осуществляется при помощи конечных выключателей. Повышается надежность и эффективность процесса обработки вымени. 1 ил.

ДВУХТАКТНЫЙ ДОИЛЬНЫЙ АППАРАТ ПОПАРНОГО ДОЕНИЯ

Изобретение относится к сельскому хозяйству, в частности к средствам механизации доения коров. Двухтактный доильный аппарат попарного доения содержит двухкамерные доильные стаканы, пульсатор, молочно-вакуумные шланги, коллектор с молокосборной камерой, камерами переменного вакуума, горизонтальным полым цилиндром. В полом цилиндре размещен поршень, имеющий возможность перемещаться в пределах, ограниченных демпферами, закрепленными на внутренних торцевых стенках полого цилиндра. При этом по обе стороны от поршня образованы камеры, каждая из которых сообщена с камерами переменного вакуума коллектора. Полый цилиндр выполнен в виде катушки с обмоткой вокруг него. Катушка соединена с электронным блоком, расположенным на верхней части распределителя коллектора. В цилиндре поршень исполнен в виде постоянного магнита. В молокосборной камере коллектора размещен электродный датчик сигнализатора молокоотдачи, соединенный с электронным блоком. Повышается эксплуатационная надежность доильного аппарата ...

Dairy platform measurement systems and methods

The position of a dairy platform (1) is monitored using a compass (7). From this position and a known relationship between platform position and stall position, the position of a stall (2, 3, 4) can be determined. Cows (5) are identified using signals from RFID tags attached to the cows. These signals are monitored during a time period and the time distribution of ID reads is used to identify the time when a cow is closest to the reader (6) and to associate that cow with a particular stall in the dairy platform (1).

DEVICE FOR AUTOMATIC MILK SEGREGATION

APPARATUS FOR PERFORMING ANIMAL RELATED OPERATIONS, WITH PROTECTION MEANS, I.E. BREAKER DEVICE

The invention regards an apparatus for performing an animal related operation like milking or grooming, where the animal (9) is confined in a stall (8). In order to protect animals and equipment, it is so arranged that any breaking of the functions activates an activable state, which retracts devices (21; 10) from the region of confinement before the apparatus is allowed to finally stop.

APPARATUS AND METHOD FOR AUTOMATICALLY EXAMINING A MILKING MACHINE

The present invention relates to an apparatus for automatically examining a milking machine, which can check an abnormality or damage to the milking machine in real time during a milking operation. The apparatus for automatically examining the milking machine (50), according to the present invention, comprises: a first vacuum sensor (510) for measuring a vacuum pressure which is transferred through a first vacuum hose (30a); a second vacuum sensor (520) for measuring a vacuum pressure which is transferred through a second vacuum hose (30b); a memory portion (530) to which a milking machine status analysis program (531) for determining an abnormality in a pulsator (20) or in a milk unit (40) by analyzing data with respect to a waveform of the vacuum pressure that is measured through the first vacuum sensor (510) and the second vacuum sensor (520); a display portion (540) for displaying analysis result data which is analyzed by the milking machine status analysis program (531); and a control ...

Chest for carrying milking installation test equipment, comprises foam filled base and hinged lid which accommodates connectors, float type flowmeter and mechanical depression indicator

Coffret de contrôle pour installations de traite du bétail, comportant un appareillage de contrôle (11) qui comprend une canalisation dotée de deux connecteurs (13, 15) destinés à être raccordés à des tuyaux (14, 16) appartenant à l'installation de traite à contrôler, et un débitmètre à flotteur (17) relié à ladite canalisation. Le coffret se présente sous la forme d'une valise comportant un couvercle (8) articulé sur une embase (2) entre une position fermée et une position ouverte où ledit couvercle est disposé sensiblement perpendiculairement au fond (3) de l'embase, l'appareillage de contrôle étant fixé sur la face intérieure du couvercle, de façon que tout cet appareillage de contrôle se trouve enfermé dans la valise lorsque le couvercle est fermé.

ARRANGEMENT OF MILKING BOX STALLS

A system includes a first milking box stall of a size sufficient to accommodate a first dairy livestock and a second milking box stall of a size sufficient to accommodate a second dairy livestock. The first and second milking box stalls face opposite directions. An equipment portion is located between the first milking box stall and the second milking box stall. A robotic attacher is housed in the equipment portion and configured to service both stalls at different times. The robotic attacher comprises a gripping portion having a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.

ДОИЛЬНЫЙ АППАРАТ

Изобретение относится к сельскому хозяйству, в частности к доильным аппаратам. Доильный аппарат содержит двухполупериодный пульсатор (1), коллектор (2) с молочными и воздушными патрубками, распределительной и молочной камерами. В молочной камере коллектора установлен датчик почетвертного контроля молокоотдачи (11). Распределительные камеры коллектора посредством жиклеров соединены с молочной камерой, воздушные шланги соединены между собой перемычкой с электроклапаном (20). В воздушном шланге перед перемычкой со стороны пульсатора установлен дополнительный электроклапан (21). К одному из двух воздушных патрубков пульсатора подключен дополнительный воздушный шланг (22), соединенный через третий электроклапан (23) с пневмоклапаном (24), установленным в молочном шланге. Улучшается выведение молока без машинного додоя с уменьшением механического воздействия на соски вымени коровы. 1 з.п. ф-лы, 4 ил.

КОНСТРУКЦИЯ МОБИЛЬНОГО ДОИЛЬНОГО УСТРОЙСТВА И ОДНА ИЗ СОСТАВНЫХ ЧАСТЕЙ ДАННОГО УСТРОЙСТВА

Группа изобретений относится к сельскому хозяйству, в частности к доильным устройствам. Несущая конструкция мобильного доильного устройства включает в себя полое тело, в котором сформированы кольцевой трубчатой частью первая и вторая поддерживающие секции. Секция рукояти расположена радиально вне кольцевой трубчатой части. Вторая поддерживающая секция расположена поперек относительно секции рукояти. Секция рукояти и вторая поддерживающая секция вместе обеспечивают, по существу, Т-образную компоновку. Полости, выполненные в каждой из секций, взаимно сообщаются, формируя резервуар. В первой поддерживающей секции выполнено отверстие, которое, в свою очередь, выполнено с возможностью соединения с вакуумным контуром доильной системы. Во второй поддерживающей секции выполнено отверстие, которое, в свою очередь, выполнено с возможностью соединения с устройством. Мобильное доильное устройство включает в себя несущую конструкцию и устройство, которое требует его подключения к пневматическому контуру ...

Устройство для автоматизированного управления процессом доения по четвертям вымени коровы

Изобретение относится к сельскому хозяйству, в частности к устройствам для доения коров. На каждом молочном патрубке доильного стакана расположен управляемый клапанный механизм, состоящий из входного патрубка, соединенного с доильным стаканом, выходного патрубка с установленной на нем электромагнитной катушкой, и корпуса кольцеобразной формы. В средней части корпуса расположены отверстия для прохода молока. В центральной части корпуса сверху расположено открытое чашеобразное углубление с закрепленными в нем двумя электродами. Внизу центральной части корпуса расположена цилиндрическая направляющая ниша с шарообразным куполом для размещения подвижного шарообразного клапана, выполненного из немагнитного материала. К нижней части клапана прикреплен неодимовый магнит в форме прутка. На вершине купола ниши установлен неодимовый магнит. На вершине шарообразного клапана установлен элемент из магнитопроводящего материала. Сила сцепления магнита и элемента меньше магнитодвижущей силы электромагнитной ...

Коллектор доильного аппарата

Коллектор относится к сельскому хозяйству, в частности к коллекторам доильных аппаратов, и предназначен для машинного доения коров. В корпусе выполнена из сообщающихся каналов камера переменного вакуума, при этом в корпусе расположены молокоприемные камеры с поплавковыми клапанами и молокосборная камера, в перегородках молокоприемных камер над днищами на высоте выше половины диаметра поплавкового клапана выполнены отверстия, перекрытые мембранами, имеющими клапаны, которые установлены в каналах камер переменного вакуума. С увеличением молокоотдачи каждый всплывший поплавковый клапан в такт сжатия ограничивает прогибание мембраны и выход клапана из каналов камеры переменного вакуума, из-за чего воздух в межстенные камеры не проходит, и такт сосания продливается, причем самостоятельно в каждом доильном стакане. Коллектор переходит на доение с длительным тактом сосания, что позволяет без увеличения рабочего вакуума сокращать время доения коровы.

Биотехническая система поиска сосков на вымени дойного животного для робота-дояра

Изобретение относится к сельскому хозяйству, в частности к устройствам для извлечения молока из вымени животных. Биотехническая система поиска сосков на вымени дойного животного для робота-дояра включает станок с дойным животным, клетку с животным молочного возраста, уздечку, вставленную в окно, выполненное в стенке клетки, и автоматизированный механизм робота для присоединения стаканов к соскам дойного животного. Клетка совмещена со станком так, что животное молочного возраста через окно клетки получает возможность дотянуться головой до вымени дойного животного и, используя естественный инстинкт и органы чувств, находит и берет в рот его сосок. При этом голова животного молочного возраста оказывается в уздечке, посредством продольных ремней связанной с механизмом управления, который позволяет уздечке двигаться вместе с головой животного молочного возраста или регулирует движение этой головы натяжением и/или ослаблением продольных ремней уздечки. При этом автоматизированный механизм робота ...

ДОИЛЬНЫЙ АППАРАТ И ДОИЛЬНАЯ УСТАНОВКА, СНАБЖЕННАЯ ТАКИМ ДОИЛЬНЫМ АППАРАТОМ

... 1. Доильный аппарат (1) для доильной установки (22), предназначенной для доения дающих молоко животных, причем указанный доильный аппарат содержит по меньшей мере один блок (3, 3′, 3′′) доильного стакана с кожухом (2), доильный стакан (4), приводное устройство (13) и систему шлангов, соединенную с доильным стаканом (4), отличающийся тем, что система шлангов направляется посредством направляющей (10) шланга, которая установлена с возможностью поворота в некотором фиксированном положении, а в положении, отличающемся от фиксированного положения, выполнена с возможностью свободного перемещения в определенных пределах посредством гибкого элемента (11).2. Доильный аппарат (1) по п.1, отличающийся тем, что по меньшей мере один блок (3, 3′, 3′′) доильного стакана выполнен с возможностью перемещения из исходного положения, в котором доильный стакан (4) занимает положение, наклоненное относительно перпендикуляра, в установочное положение, в котором доильный стакан (4) находится, по существу, в перпендикулярном ...

СИСТЕМА УПРАВЛЕНИЯ ВОДОКОЛЬЦЕВЫМ ВАКУУМНЫМ НАСОСОМ

Вакуумная водокольцевая насосная с двигателем, отличающаяся тем, что используется электродвигатель и введена система управления центробежным насосом, а в систему введен вакуум-провод с заглушенным концом с выводами для подключения доильных аппаратов, начало вакуум-провода подведено к всасывающему патрубку водокольцевого вакуумного насоса, а в вакуум-проводе имеется вывод для подключения датчика вакуумметрического давления, связанного с противоположного конца с блоком регулирования частоты и напряжения, подключенного к трехфазной сети переменного тока - частотным преобразователем, выход частотного преобразователя связан с электрическим входом асинхронного электродвигателя, вал которого соединен с валом рабочего колеса водокольцевого вакуумного насоса.

КАРТРИДЖ И ДОИЛЬНЫЙ СТАКАН

... 1. Картридж, выполненный с возможностью содержаться в доильном стакане, подлежащем прикреплению к соску животного, подлежащего доению, при этом картридж (1) содержит:патрубок (6), имеющий верхний конец (6a) и нижний конец (6b),вкладыш (7) доильного стакана, установленный в патрубке (6) и имеющий внутреннее пространство (8) для приема указанного соска,пульсационную камеру (9), предоставленную между внутренней стороной патрубка (6) и наружной стороной вкладыша (7) доильного стакана,при этом вкладыш (7) доильного стакана содержит:верхнюю концевую часть (7a), расположенную на верхнем конце (6a) патрубка (6),корпусную часть (7c) инижнюю концевую часть (7b), продолжающуюся за пределы нижнего конца (6b) патрубка (6),причем нижняя концевая часть (7b) образует концевое сопло (10) за пределами нижнего конца (6b) патрубка (6),отличающийся тем, чтоконцевое сопло (10) имеет сужающуюся внешнюю форму, выполненную с возможностью его приема в молокопроводе (4) для транспортировки молока из картриджа (1) ...

СПОСОБ И СИСТЕМА УПРАВЛЕНИЯ ГРУППОЙ МОЛОЧНЫХ ЖИВОТНЫХ

... 1. Способ управления группой молочных животных (10, 10А), включающий:- автоматическое доение, с помощью доильной станции (20), молочного животного (10, 10А), из группы молочных животных (10, 10А), которое само заходит на доильную станцию,- определение подгруппы молочных животных (10А), которых необходимо отделить от группы молочных животных (10, 10А),- определение периода отделения, ограниченного временем начала и временем окончания, в котором молочных животных (10А) в подгруппе молочных животных (10А), подлежащих отделению, которые сами заходят на доильную станцию во время периода отделения, отделяют от группы молочных животных (10, 10А),отличающийся тем, что индивидуальный период отделения, который определяется продолжительностью времени от индивидуального времени начала, предшествующего времени окончания, до времени окончания, выбирают индивидуально, для каждого отдельного молочного животного (10А) в подгруппе молочных животных (10А), которых необходимо отделить, в зависимости от свойства ...

Доильный агрегат

Изобретение относится к сельскому хозяйству, в частности к устройствам для доения коров. Доильный агрегат включает доильный аппарат (1) и установленные на одноосной тележке (2) доильное ведро (3), вакуумную аппаратуру (4) и блок управления (5). На платформе одноосной тележки вертикально установлен пневмоцилиндр (12) снятия доильного аппарата (1) по завершении процесса доения. К верхнему обрезу пневмоцилиндра посредством подшипника (15) прикреплен поворотный рычаг (16) с обводными роликами (17, 18). Поршень (19) пневмоцилиндра снятия доильного аппарата содержит обводной ролик (20). На молокоприемной камере коллектора (7) установлен рычаг (21), одним концом который соединен с клапаном (9), а к другому присоединен трос (22) пневмоцилиндра снятия доильного аппарата. Противоположный конец троса через обводные ролики поворотного рычага и далее обводной ролик поршня прикреплен к верхнему обрезу пневмоцилиндра. Для удержания троса в исходном положении перед установкой доильного аппарата на вымя ...

Melkroboter mit Zylinder

Melkroboter zum automatischen Melken von Milchvieh, umfassend mindestens ein bewegliches Armelement (2) und einen Zylinder (4, 4'), der eine Bewegung des Armelementes (2) unterstützt, und der Zylinder (4) eine Zylinderwand (11) mit einer Belüftungsöffnung (8) sowie eine Zylinderstange (5) zum Einfahren in den Zylinder (4) oder zum Ausfahren aus dem Zylinder (4) aufweist, wobei die Zylinderwand (11) mindestens eine variable Volumenkammer (13) umgibt, und die Volumenkammer (13) frei von Druckanschlüssen zum Verschieben der Zylinderstange (5) ist und ferner dazu ausgebildet ist, über die Belüftungsöffnung (8) nahezu im Druckgleichgewicht mit einer Umgebung des Zylinders (4) zu bleiben, wobei an der Belüftungsöffnung (8) in der Zylinderwand (11) rund um die Belüftungsöffnung eine Gasauffangvorrichtung (7) angeschlossen ist, die ein veränderliches Volumen aufweist und die Gasauffangvorrichtung (7) gemeinsam mit der variablen Volumenkammer (13) ein abgeschlossenes Gasvolumen bildet.

Milking robot with cylinders

Ein Melkroboter zum automatischen Melken von Milchvieh, umfassend mindestens ein bewegliches Armelement (2) und einen Zylinder (4, 4'), der eine Bewegung des Armelementes (2) unterstützt, und der Zylinder (4) eine Zylinderwand (11) mit einer Belüftungsöffnung (8) sowie eine Zylinderstange (5) zum Einfahren in den Zylinder (4) oder zum Ausfahren aus dem Zylinder (4) aufweist, wobei die Zylinderwand (11) mindestens eine variable Volumenkammer (13) umgibt, und die Volumenkammer (13) frei von Druckanschlüssen zum Verschieben der Zylinderstange (5) ist und ferner dazu ausgebildet ist, über die Belüftungsöffnung (8) nahezu im Druckgleichgewicht mit einer Umgebung des Zylinders (4) zu bleiben, wobei an der Belüftungsöffnung (8) in der Zylinderwand (11) rund um die Belüftungsöffnung eine Gasauffangvorrichtung (7) angeschlossen ist, die ein veränderliches Volumen aufweist und die Gasauffangvorrichtung (7) gemeinsam mit der variablen Volumenkammer (13) ein abgeschlossenes Gasvolumen bildet, wobei ...

DEVICE FOR THE EXECUTION OF ITSELF ON ANIMAL-REFERRING ACTIONS, WITH SCHUTZVORRICHUNG AS WELL AS CIRCUIT BREAKER DEVICE

Apparatus and method for milking machines

APPARATUS FOR PERFORMING ANIMAL RELATED OPERATIONS, WITH PROTECTION MEANS, I.E. BREAKER DEVICE

The invention regards an apparatus for performing an animal related operation like milking or grooming, where the animal (9) is confined in a stall (8). In order to protect animals and equipment, it is so arranged that any breaking of the functions activates an activable state, which retracts devices (21; 10) from the region of confinement before the apparatus is allowed to finally stop.

BOX OF CONTROL FOR INSTALLATION OF DRAFT

Skyddsorgan vid anordning för djurskötsel

APPARATUS FOR PERFORMING ANIMAL RELATED OPERATIONS, WITH PROTECTION MEANS, I.E. BREAKER DEVICE

L'invention concerne un appareil qui permet d'effectuer une intervention liée à un animal telle que la traite ou la toilette, dans lequel l'animal (9) est confiné dans une stalle (8). Pour protéger les animaux et le matériel, l'appareil est conçu de telle sorte que toute interruption des fonctions, active un état activable, qui fait sortir les dispositifs (21, 10) de la zone de confinement avant que l'appareil soit autorisé à s'arrêter véritablement.

MILKING BOX WITH ROBOTIC ATTACHER

ДОИЛЬНЫЙ АППАРАТ И ДОИЛЬНАЯ УСТАНОВКА, СНАБЖЕННАЯ ТАКИМ ДОИЛЬНЫМ АППАРАТОМ

Группа изобретений относится к молочному животноводству. Доильный аппарат (1) для доильной установки 22, предназначенной для доения дающих молоко животных, содержит по меньшей мере один блок (3′) доильного стакана с кожухом (2), доильный стакан (4), приводное устройство и систему шлангов, соединенную с доильным стаканом (4). Система шлангов направляется посредством направляющей (10) шланга, которая установлена с возможностью поворота в некотором фиксированном положении, а в положении, отличающемся от фиксированного положения, выполнена с возможностью свободного перемещения в определенных пределах посредством гибкого элемента. Изобретение раскрывает также доильную установку, содержащую описанный доильный аппарат (1). Изобретение обеспечивает большую степень свободного движения доильного стакана, снижение загрязнения кабелей и доильных стаканов. 2 н. и 14 з.п. ф-лы, 12 ил.

Биотехническая система высасывания молока из вымени лактирующих животных

Изобретение относится к сельскому хозяйству, в частности к получению молока, предназначенного для скармливания приплоду. Биотехническая система высасывания молока из вымени лактирующих животных включает устройство для дистанционного высасывания молока из вымени, состоящее из стакана с присоском, гибкого шланга и соски, и сосущее молоко животное. Стакан устройства надевается и фиксируется на соске вымени, создавая подсосковую камеру стакана, соединенную посредством шланга с соской устройства, которую сосущее животное держит во рту, создавая в подсосковой камере стакана пульсирующее вакуумметрическое давление. В шланг устройства, соединяющий стакан с соской, вмонтированы датчики прибора учета количества протекающей по шлангу жидкости. В шланг устройства, соединяющий стакан с соской вмонтированы датчики приборов, определяющих качество протекающей по шлангу жидкости. Повышается сохранность, ускоряется рост и развитие приплода. 2 з.п. ф-лы, 2 ил.

Доильный аппарат

Полезная модель относится к области сельского хозяйства, в частности к доильным аппаратам. Технический результат от использования изобретения достигается тем, что в доильном аппарате, содержащем двухкамерные доильные стаканы, коллектор, молокосборник, пульсатор с пульсирующим и стимулирующим блоками, каждый из которых содержит камеры постоянного и переменного вакуума и камеру атмосферного давления, устройство для управления режимом работы доильного аппарата, включающее молоколовушку и сегментную заслонку, блок управления уровнем вакуума, отличающийся тем, что устройство для управления режимом работы доильного аппарата включает распределитель, соединяющий одновременно с атмосферным давлением камеру переменного вакуума стимулирующего пульсатора и камеру переменного давления блока управления уровнем вакуума при перемещении молоколовушки в верхнее положение и с вакуумметрическим давлением соответственно - при перемещении молоколовушки в нижнее положение, блок управления уровнем вакуума имеет ...

Рабочий орган с дифференцированным управлением доильными стаканами манипулятора доильного робота

Полезная модель относится к сельскому хозяйству, а именно машинному доению коров, в частности к доильным аппаратам и роботам. Рабочий орган включает блок управления, доильный манипулятор и доильные стаканы. Он снабжен семью двигателями, пять из которых связаны с блоком управления, каждый из пяти двигателей поступательного действиясоединен со своим линейным преобразователем червячного типа. Четыре двигателя жестко связаны с основанием одного из доильных стаканов, а пятый - с задним крепежным элементом, соединяющим заднюю поперечную направляющую с продольной с возможностью продольного перемещения по ней, каждая пара доильных стаканов размещена на концах одной из двух поперечных направляющих, передняя поперечная направляющая соединена с передним концом продольной крепежным элементом, каждый крепежный элемент связан со своим двигателем и выполнен с возможностью поворота поперечной направляющей вокруг его оси. Кроме того, он снабжен дополнительными доильными стаканами с датчиками наличия вакуума ...

Доильный аппарат адаптивного действия

Изобретение относится к сельскому хозяйству, в частности, к молочному оборудованию для доения коров. Доильный аппарат адаптивного действия состоит из пульсатора (34) и четырехсекционного коллектора (1) с секциями (2), молокоприемной камеры (3), камеры постоянного вакуумметрического давления (4), двух камер управления (5, 6), камеры рабочего вакууметрического давления (7), камеры (8) регулируемого вакуумметрического давления и распределительной камеры (9), патрубков, один из которых подвижной (14), клапана (15) и электроклапана (16), молокопровода (17), вакуумной магистрали (18), перегородки (19), калиброванных каналов (20-23), мембран (24, 25), буртика (26), калиброванных щелей (27, 28), калиброванной выемки (29), отверстия с посадочным гнездом (30), молоколовушки с поплавком (31), магнита (32), геркона (33), рычага (35), троса (36), фиксатора барабана троса пружинного механизма снятия доильного аппарата (37), блока управления (38). Доильный стакан (39) состоит из компенсирующей пружины ...

ДОИЛЬНЫЙ АППАРАТ

Изобретение относится к сельскому хозяйству, в частности к доильным аппаратам. Доильный аппарат содержит двухполупериодный пульсатор, низкочастотный генератор, распределитель импульсов, коллектор, доильные стаканы, кран с молочным и вакуумным патрубками. Двухполупериодный пульсатор выполнен в виде двухсекционного блока электроклапанов. В разрыве молочного шланга установлен нормально открытый молочный пневмоклапан. Один выход распределителя импульсов соединен через одну пару нормально замкнутых контактов электромагнитного реле с первой секцией блока электроклапанов двухполупериодного пульсатора и со второй парой нормально разомкнутых контактов электромагнитного реле. Второй выход распределителя импульсов соединен со второй секцией блока электроклапанов двухполупериодного пульсатора и с нормально разомкнутыми контактами первой контактной группы электромагнитного реле. К нормально разомкнутым контактам второй контактной группы электромагнитного реле присоединен двухходовой электроклапан, пневматически ...

ДОИЛЬНЫЙ АППАРАТ

ДОИЛЬНЫЙ РОБОТ И СИСТЕМА ДОЕНИЯ

... 1. Доильный робот (10), содержащий:первое звено (L), выполненное с возможностью поворота вокруг первой оси (х) до первого угла в пределах первого углового сектора (α) через первое соединение (11) посредством исполнительного механизма (А) первого соединения,второе звено (L), присоединенное к первому звену (L), выполненное с возможностью поворота вокруг второй оси (х) до второго угла в пределах второго углового сектора (α) через второе соединение (12) посредством исполнительного механизма (А) второго соединения,третье звено (L), присоединенное ко второму звену (L), выполненное с возможностью поворота вокруг третьей оси (х) до третьего угла в пределах третьего углового сектора (α) через третье соединение (13) посредством исполнительного механизма (А) второго соединения,рабочий орган (Е),причем первое, второе и третье звенья (L, L, L) могут поворачиваться так, что рабочий орган (Е) перемещается внутри трехмерного рабочего пространства (W) доильного робота (10),датчик (16), приспособленный для ...

Способ получения млекопитающими животными молока из вымени матки и устройство для осуществления способа

Milking device for laboratory animals

A milking device for laboratory animals, capable of milking from laboratory animals (e.g. rats) by a single experimenter and providing unprejudiced milking data independent of individual experimenters. A teat cup capable of directly milking from teats of small, fertile laboratory animals such as rats and mice. These devices are very effective in evidencing the effects of extrinsic harmful substances on living bodies by means of milk. The milking device comprises a milk collecting container (10) capable of shutting off the inside thereof from the outside, and two, first and second, tubes (12, 13) inserted into the container in a mutually communicating condition, wherein a teat cup (20) is fitted to the other end of the first tube (12), and pressure switching means such as solenoid valves (33A, 33B) capable of switching between a condition in which the inside of the second tube (13) is connected to a negative pressure generating source (35) and a condition in which it is ...

Milking device for laboratory animals

Milking cluster pipe support

A milking cluster pipe support 1 for fitment to the deck-side / curb 3 of a milking parlour, the support comprising a pivotable support arm 5 defining at least one open-ended pipe slot 29, and being moveable about a pivot 7 between deployed and stowed positions. The pivot 7 defines horizontal X-X and a vertical Y-Y axes. The arm is pivotable in a first rotational sense from its deployed position to its stowed position, and in a second, opposite, rotational sense from its stowed position to its deployed position. Both a ‘deployed position end stop’ 13 and a ‘stowed position end stop’ 11 are provided, the ‘stowed position end stop’ being rotationally offset from first vertical axis Y-Y in the first rotational sense, and the ‘deployed position end stop’ being rotationally offset from the first vertical axis in the second rotational sense. When the arm is in the deployed position, the arm has a centre of gravity which is rotationally offset from axis Y-Y in the second rotational sense. Preferably ...

Dairy platform measurement systems and methods

The position of a dairy platform (1) is monitored using a compass (7). From this position and a known relationship between platform position and stall position, the position of a stall (2, 3, 4) can be determined. Cows (5) are identified using signals from RFID tags attached to the cows. These signals are monitored during a time period and the time distribution of ID reads is used to identify the time when a cow is closest to the reader (6) and to associate that cow with a particular stall in the dairy platform (1).

Apparatus and method for automatically examining milking machine

The present invention relates to an apparatus for automatically examining a milking machine, which can check an abnormality or damage to the milking machine in real time during a milking operation. The apparatus for automatically examining the milking machine (50), according to the present invention, comprises: a first vacuum sensor (510) for measuring a vacuum pressure which is transferred through a first vacuum hose (30a); a second vacuum sensor (520) for measuring a vacuum pressure which is transferred through a second vacuum hose (30b); a memory portion (530) to which a milking machine status analysis program (531) for determining an abnormality in a pulsator (20) or in a milk unit (40) by analyzing data with respect to a waveform of the vacuum pressure that is measured through the first vacuum sensor (510) and the second vacuum sensor (520); a display portion (540) for displaying analysis result data which is analyzed by the milking machine status analysis program (531); and a control ...

A cartridge, and a teatcup

The invention refers to a teatcup and a cartridge to be comprised by the teatcup to be attached to a teat of an animal to be milked. The cartridge (1 ) comprises a sleeve (6) having an upper end (6a) and a lower end (6b), and a teatcup liner (7) mounted in the sleeve and having an inner space (8) for receiving said teat. A pulsation chamber (9) provided between an inner side of the sleeve and an outer side of the teatcup liner. The teatcup liner comprises an upper end portion (7a) located at the upper end of the sleeve, a barrel portion (7c) and a lower end portion (7b) extending beyond the lower end of the sleeve. The lower end portion forms an end nozzle (10) beyond the lower end of the sleeve. The end nozzle has a tapering external shape configured to be received in a milk conduit (4) for transporting the milk from the cartridge to the milk conduit.

Improvements in or relating to a claw of a milking machine

Milking device for laboratory animals

AN IMPLEMENT FOR DETECTING PHYSICAL ABNORMALITIES IN MILK

An implement for detecting physical abnormalities in milk, which implement is provided with a light source for irradiating milk with light of a red and/or a green and/or a blue colour. The intensity of light reflected and/or diffused and/or transmitted by the milk and/or background light is measured by means of light sensors. A computer processes the measurement data. The computer is programmed to select, on the basis of a comparison of values derived from the measured light intensities with reference values, one or more diagnoses for the abnormalities in the milk from a plurality of diagnosis possibilities stored.

MILKING DEVICE

Milking system comprising: several milking devices (4), each having a milk-carrying part, a temporary milk storage vessel (10), a milk pipe system (8), a milk storage tank (12), and a main milk pipe (11), which connects the temporary milk storage vessel to the milk storage tank, wherein the milking system furthermore comprises a first cleaning device (40) having at least one first cleaning liquid supply and at least a pump, which cleaning device is configured to clean at least the milk-carrying part of at least one milking device and a part of the milk pipe system which connects the milk-carrying part to the temporary milk storage vessel, by transferring cleaning liquid from the cleaning liquid supply through at least the milk-carrying part of the at least one milking device and through said part of the milk pipe system to the temporary milk storage vessel by pumping, wherein the temporary milk storage vessel comprises a main pump for transferring liquid from the temporary milk storage ...

A GATE ARRANGEMENT TO A FENCED AREA FOR AT LEAST ONE ANIMAL

The invention relates to a gate arrangement to a fenced area for at least one animal. The gate arrangement comprises a gate (2d2, 2d3) movably arranged between a closed position and open position in an opening to the fenced area (2), and a lock mechanism (8, 8a, 8b) capable of locking the gate (2d2, 2d3) when it is in the closed position. The lock mechanism (8, 8a, 8b) is configured to lock the gate (2d2, 2d3) in the closed position by a specific locking force such that it is possible to open the gate (2d2, 2d3) by applying a larger force than the specific force on the gate (2d2, 2d3), and the gate arrangement comprises force adjusting means (5) configured to set the lock mechanism (8, 8a, 8b) in an unlocked state and in at least two different locked states, in which the gate (2d2, 2d3) is locked by two different specific locking forces.

METHOD AND SYSTEM FOR MANAGING A GROUP OF DAIRY ANIMALS

A method for managing a group of dairy animals (10, 10A) comprises using a milking station (20) to automatically milk each dairy animal in the group of dairy animals. A subgroup (10A) of dairy animals to be separated from the group of dairy animals (10, 10A) is determined. A planned collection time is determined, at which time it is planned that the dairy animals in the subgroup of dairy animals to be separated are separated from the group of dairy animals. An individual separation period, which is determined by the length of time from a start time, preceding the planned collection time, to the planned collection time, is selected separately, for each individual dairy animal in the subgroup of dairy animals to be separated, in dependence of a property of said individual dairy animal. Each individual dairy animal in the subgroup of dairy animals to be separated is separated from the group of dairy animals during the individual separation period selected for said dairy animal.

METHOD AND SYSTEM FOR MANAGING A GROUP OF DAIRY ANIMALS

A method for managing a group of dairy animals (10, 10A) comprises using a milking station (20) to automatically milk each dairy animal in the group of dairy animals. A subgroup (10A) of dairy animals to be separated from the group of dairy animals (10, 10A) is determined. A planned collection time is determined, at which time it is planned that the dairy animals in the subgroup of dairy animals to be separated are separated from the group of dairy animals. An individual separation period, which is determined by the length of time from a start time, preceding the planned collection time, to the planned collection time, is selected separately, for each individual dairy animal in the subgroup of dairy animals to be separated, in dependence of a property of said individual dairy animal. Each individual dairy animal in the subgroup of dairy animals to be separated is separated from the group of dairy animals during the individual separation period selected for said dairy animal.

DEVICE TO MILK AN ANIMAL

Dairy harvesting facility with milk line protection system and methods

Apparatus and methods for a dairy harvesting facility including valves and valve assemblies that prevent contaminants from reaching a central milk collection system.

Vision System for Facilitating the Automated Application of Disinfectant to the Teats of Dairy Livestock

In certain embodiments, a system includes a controller operable to access an image signal generated by a camera. The accessed image signal corresponds to one or more features of the rear of a dairy livestock. The controller is further operable to determine positions of each of the hind legs of the dairy livestock based on the accessed image signal. The controller is further operable to determine a position of an udder of the dairy livestock based on the accessed image signal and the determined positions of the hind legs of the dairy livestock. The controller is further operable to determine, based on the image signal and the determined position of the udder of the dairy livestock, a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock.

System and Method for Improved Attachment of a Cup to a Dairy Animal

In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup.

Milking Box With Robotic Attacher

In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

Vision System and Method of Operation

In an exemplary embodiment, a system includes a first camera, a second camera, and a processor wherein the second camera has a higher resolution than the first camera. The processor is communicatively coupled to the first camera and the second camera and is operable to determine a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by the first camera. The processor is also operable to determine a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by the second camera.

System and Method for Analyzing Data Captured by a Three-Dimensional Camera

In an exemplary embodiment, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first edge of a dairy livestock, determine a second edge of the dairy livestock, determine a third edge of the dairy livestock, and determine a fourth edge of the dairy livestock.

Conduit and a method of cleaning a conduit

The invention relates to a conduit for transferring milk. The conduit is provided with at least one flexible wall, which divides the conduit into at least one milk duct and at least one secondary duct. The milk duct and the at least one secondary duct extend along a longitudinal axis of the conduit, it being possible for the at least one milk duct to be substantially emptied by pressing through filling the at least one secondary duct.

Method for milking an animal, and milking arrangement

There are provided a method of and arrangement for automatically milking an animal by use of an automatic milking system comprising a plurality of teat cups, a robot arm for automatic attachment of the teat cups and a control system arranged to control the milking system, wherein the teat cups are used, until a defect is established with a teat cup. In that case, milking of the non-milked teat is automatically taken over with the first teat cup that has stopped milking.

MILKING ROBOT, AND A MILKING ARRANGEMENT

A milking arrangement includes a milking robot () having a first link (L), a second link (L), a third link (L), an end effector (E), sensor () and a control unit (). The first link is rotatable to a first angle within a first angle range (α) via a first joint (). The second link is rotatable to a second angle within a second angle range (α) via a second joint (). The third link (L) is rotatable to a third angle within a third angle range (α) via third joint (). The links (L, L, L) are rotatable so that the end effector is movable within a three-dimensional workspace (W). Each position of the end effector within the workspace corresponds to a single combination of the first, second and third angles. 110. A milking robot () , comprising:{'sub': 1', '1', '1', '1, 'b': '11', 'a first link (L) rotatable around a first axis (x) to a first angle within a first angle range (α) via a first joint () acted on by a first joint actuator (A),'}{'sub': 2', '1', '2', '2', '2, 'b': '12', 'a second link (L) attached to the first link (L) and rotatable around a second axis (x) to a second angle within a second angle range (α) via a second joint () acted on by a second joint actuator (A),'}{'sub': 3', '2', '3', '3', '3, 'b': '13', 'a third link (L) attached to the second link (L) and rotatable around a third axis (x) to a third angle within a third angle range (α) via third joint () acted on by a third joint actuator (A),'}an end effector (E),{'sub': 1', '2', '3, 'b': '10', 'wherein the first, second and third links (L, L, L) are rotatable so that the end effector (E) is movable within a three-dimensional workspace (W) of the milking robot (),'}{'b': '16', 'a sensor () configured to sense a position of an object, including a teat of an animal, and'}{'b': 15', '16, 'a control unit () configured to control the first, second and third joint actuators to move the end effector (E) to the position sensed by the sensor (),'}wherein each position of the end effector (E) within the workspace (W ...

ARRANGEMENT AND METHOD FOR CONTROL IN AN ANIMAL HANDLING SYSTEM

An arrangement for control in an animal handling system includes an automated teat preparation station for preparation of teats of animals to be milked and a separately located milking system for milking of the animals. The arrangement is operatively connected to the teat preparation station and the milking system and includes a unit estimating a time left until the milking system is ready to receive a further animal to be milked; a unit estimating, for a animal present at the teat preparation station, a time for preparation of the teats of the animal; and initiating unit initiating automated preparation of the teats of the animal at a point of time, which is dependent on the estimated time left until the milking system is ready to receive a further animal to be milked and on the estimated time for preparation of the teats of the animal. 115-. (canceled)1614111312131312. A control arrangement () for an animal handling system () , which animal handling system comprises i) at a first location , an automated teat preparation station () for automated preparation of teats of milking animals to be milked , and ii) at a separate , second location , a milking system () for milking of the milking animals after their teats have been prepared by the automated teat preparation station () , the first location being separate from the second location so that after the teats of the milking animals have been prepared by the automated teat preparation station () , each milking animal moves from the first location to the second location for being milked by milking system () , the control arrangement being operatively connected to the teat preparation station and to the milking system and comprising:{'b': '14', 'i': 'a', 'a first estimating unit () operatively connected to estimate a time left until the milking system is ready to receive a further milking animal to be milked;'}{'b': '14', 'i': 'b', 'a second estimating unit () operatively connected to estimate, for a milking animal ...

SYSTEM AND METHOD OF SUB CLINICAL DETECTING MASTITIS

Mastitis in a milking animal is detected through sensing the capacitance effects in milk. Using frequencies of greater than 60 megahertz applied by a capacitance probe to milk as it streams through otherwise conventional milking equipment during milking, yields a reliably discernable shift in the phase angle, indicating the presence of mastitis. 1. A milking apparatus , comprising:a) a milking claw having teat cups, each teat cup in fluid communication with a cup conduit;b) claw conduit in fluid communication with said cup conduits;c) multiple electrical probes positioned to contact milk as it flows through the apparatus during milking, with one probe per teat;d) generator circuits for supplying AC current to each of said probes at a frequency of greater than 60 megahertz;e) phase monitoring circuits for measuring the shift in the phase angle of the signal while AC current is applied to said probe that results from the presence of the milk in each probe;f) comparison circuits for comparing the phase angle measurement of any one probe with complementary companion probes.2. A milking apparatus according to claim 1 , wherein said probe comprises two spaced-apart electrodes exposed directly to milk.3. A milking apparatus according to claim 2 , wherein said electrodes are cylindrical and parallel to each other.4. A method of detecting disease in a milk cow claim 2 , comprising:a) positioning an electrical probe within milk to be tested;b) delivering current to said probe at a frequency of greater than 60 megahertz;c) measuring the phase angle of the signal while AC current is applied to said electrodes;d) comparing the measured phase angle from the circuit electrically upstream of the milk to that measured by the probe in the milk.5. A method according to claim 4 , wherein said frequency is greater than 65 megahertz.6. A method according to claim 4 , wherein said step of delivering current is conducted during milking of a cow. The present application is the Utility ...

METHOD AND ARRANGEMENT FOR CONTROL OF THE MILKING

An arrangement for control of milking of animals permitted to move in an area that includes a milking area with an automatic milking system, the arrangement including at least one animal identification device for identifying the animals entering the milking area, and a process and control device operatively connected to the animal identification device. The process and control device determines, for each of the identified animals, an expected milk yield obtainable in milking that animal, determines repeatedly an accumulated expected milk yield obtainable in milking the identified animals based on the expected milk yields of the identified animals, and initiates a milking session depending on the repeatedly determined accumulated expected milk yield. 121-. (canceled)2211131613. A method for control of milking of animals permitted to move in an area () intended therefore , said area including a milking area () that includes an automatic milking system () for milking animals that have moved to the milking area () , the method comprising the steps of:{'b': 31', '13, 'identifying () each of the animals that enter said milking area ();'}{'b': '32', 'determining (), for each of the identified animals, an expected milk yield obtainable from milking;'}{'b': '33', 'repeatedly determining () an accumulated expected milk yield obtainable from milking of the identified animals based on the expected milk yields determined for each of the identified animals; and'}{'b': 34', '16', '13, 'initiating () a milking session by the automatic milking system () for milking the animals that have entered the milking area () depending on the repeatedly determined accumulated expected milk yield.'}23. The method of wherein the expected milk yield determined for each of the identified animals is based on previously collected data associated with each animal.24. The method of claim 24 , wherein the previously collected data includes any of previous milk yields claim 24 , previous milking times ...

MILKING APPARATUS AND A METHOD FOR PRESENTING A TEAT CUP FOR ATTACHING TO AN ANIMAL

A rotary milking platform () comprises a plurality of apparatus, each of which comprises a platform () which forms a segment of the rotary platform (). The platforms () define respective animal accommodating locations () for animals to be milked. A communicating opening () in each platform () is closed by a pair of closure plates () which are pivotal upwardly into an open state for separating the hind legs of an animal. A carriage () which is slideably carried beneath the platform () of each apparatus () in the directions of the arrows A and B. A teat cup carrier () is pivotally mounted in the carriage () of each apparatus () and is pivotal from a first state with teat cups () in the carrier () in a protective state extending horizontally and a second state with the teat cups () in a ready state extending vertically upwardly and ready for manual placement onto the teats of an animal. The carriage () is urgeable into a first position with the teat cup carrier () in the first state and with the teat cups () sealably engaged in plug elements () which include jetters () for use in rinsing and washing the milking system. The carriage () is moveable from the first position to a second position with the teat cup carrier () substantially aligned with the udder of an animal so that when the teat cup carrier () is urged into the second state, the teat cups () can be manually urged upwardly by hand and attached to the teat of the animal. 1100-. (canceled)101. Apparatus for presenting a teat cup for attaching to a teat of an animal to be milked , the apparatus comprising a support means adapted for mounting beneath an upwardly facing major surface of a platform on which an animal stands during milking thereof , and a teat cup carrier for holding the teat cup , the teat cup carrier being mounted on the support means and being adapted for holding the teat cup beneath the animal in a ready state with the teat cup ready to be urged upwardly from the teat cup carrier for attaching ...

METHOD AND ARRANGEMENT FOR CONTROL OF THE MILKING

A method for control of milking of animals permitted to move within an area including at least one grazing paddock wherein the animals graze, a milking area located remote from the grazing paddock, and a raceway via which animals in the grazing paddock access the milking area, the milking area including a milking system for milking the animals that access the milking area. The animals that access the milking area via the raceway are counted in at least one position located remote from the milking system, a future amount of animals in the milking area is predicted based on the animals counted in the at least one position located remote from the milking system, and the operation of the milking system or other arrangement in the area is controlled in a manner and at a point of time based on the predicted future amount of animals in the milking area. 120-. (canceled)2111111213141316ac. A method for control of milking of animals permitted to move in an area () intended therefore , said area () including at least one grazing paddock () in which the animals can graze , a milking area () located remote from the grazing paddock , and a raceway (-) via which animals in the grazing paddock can access the milking area () , the milking area having a milking system () therein for milking of animals that have moved to the milking area , the method comprising the steps of:{'b': 31', '18', '13', '13', '14, 'i': a', 'c, 'counting animals () at at least one position () that is remote from the milking area () and from which the milking area () is accessible by the animals via the raceway (-);'}{'b': 33', '18', '16, 'predicting () a future amount of animals in the milking area based on animals counted at the at least one position () located remote from the milking system (); and'}{'b': 35', '13', '13, 'controlling () an operation of at least one system that administers to animals in the milking area () in a manner and at a point of time which is dependent on the predicted future amount ...

MILKING SYSTEM AND METHOD FOR MILKING A HERD OF DAIRY ANIMALS

A milking system for milking a herd of dairy animals includes a first milking device and a second milking device, an identification device for identifying dairy animals to be milked of a herd of dairy animals, and a control device for determining an estimated treatment time of each dairy animal to be milked. The control device also classifies each dairy animal to be milked with the aid of a criterion on the basis of the estimated treatment time in at least a first or second group of dairy animals. The milking system admits the first group of dairy animals to preferably only the first milking device and admits the second group to preferably only the second milking device. 1. A milking system comprising a first milking device , an identification device for identifying dairy animals to be milked of a herd of dairy animals , and a control device which is configured to determine an estimated treatment time of each dairy animal to be milked , and wherein the control device is configured to classify each dairy animal to be milked that has been identified by the identification device with the aid of a criterion on the basis of the estimated treatment time in at least a first or second group of dairy animals , and wherein the milking system is configured to admit at least one dairy animal classified in the first group to the first milking device in order to milk said dairy animal by the first milking device , wherein the milking system comprises a second milking device , and the milking system is configured to admit at least one dairy animal classified in the second group to the second milking device in order to milk said dairy animal by the second milking device.2. The milking system according to claim 1 , wherein the first milking device and the second milking device are each provided with a plurality of milking stalls for in each case one dairy animal claim 1 , and wherein the milking system is configured to admit a plurality of dairy animals classified in the first group ...

CONTROL SYSTEM AND A METHOD FOR MILKING MEMBERS IN A MILKING PARLOUR

A control system and a method for milking members in a milking parlour having plural milking stalls. The control system includes a local control unit in each milking stall automatically preparing the milking member for a milking operation by setting a vacuum valve in an open position when the milking member is moved from a storage position, and a control unit setting the milking stalls in the milking parlour in a pre-cleaning mode when a milking operation is still in progress in at least one other of the milking stalls. In this case, the local control units prepare the milking members for a cleaning operation instead of a milking operation by maintaining the vacuum valve in a closed position when the milking member is moved from a storage position, until the cleaning operation of the milking member is started. 115-. (canceled)16. A control system for milking members in a milking parlour , comprising:{'b': 23', '26', '3', '4', '3', '4, 'a local control unit (, ) in each of a plurality of milking stalls (, ), each milking stall (, ) comprising'}{'b': 14', '1', '3', '4', '14', '27, 'i) a milking member () attachable to an animal () present in the milking stall (, ), the milking member () receiving a vacuum pressure based on a position of a vacuum valve (),'}{'b': 25', '29', '14, 'ii) a storage device (, ) holding the milking member () in a storage position when the milking member is not in use for milking the animal, and'}{'b': 18', '14, 'iii) a cleaning unit () arranged to clean the milking member (),'}{'b': 14', '23', '26', '14', '27', '14, 'wherein, when the milking member () is moved from the storage position for a milking operation, the local control unit (, ) automatically prepares the milking member () for the milking operation by setting the vacuum valve () from a closed position to an open position to provide the vacuum pressure to the milking member (); and'}{'b': 11', '12', '3', '4', '3', '4', '3', '4, 'a control unit (, ) connected to at least two of the ...

MILKING PARLOUR FOR ANIMALS

A milking parlour for animals comprising at least one milking stall arranged to receive an animal in a predetermined milking position, teat cups arranged to be used in milking the animal in the milking stall, a teat cup carrier arranged to store the teat cups in the milking stall when they are not used, and at least one robot arm provided with at least one gripping member arranged to grip a teat cup in the teat cup carrier and attach the teat cup on the teat of an animal in the milking stall. The teat cup carrier stores the teat cups in a storing area located at least partly in front of the front legs of the animal with respect to the direction of the animal when it stands in the predetermined milking position in the milking stall. 116-. (canceled)17. A milking parlour for an animal , comprising:{'b': '3', 'a milking stall () arranged to receive the animal in a predetermined milking position along a longitudinal direction of the milking stall;'}{'b': 9', '4', '3, 'teat cups () arranged to be used in milking the animal () when the animal is in the predetermined milking position in the milking stall ();'}{'b': 8', '9', '9, 'a movable teat cup carrier () storing the teat cups () when the teat cups () are not in use;'}{'b': 10', '16', '8', '10', '16', '8', '1', '2', '8', '4, 'i': 'a', 'a positioning unit (, ) connected to the teat cup carrier (), the positioning unit (, ) operative to displace the teat cup carrier () between i) a storing area (A) and ii) a gripping area (A) by displacing the teat cup carrier () below the animal and between front legs () of the animal along a line running between the front legs and between rear legs of the animal,'}{'b': 4', '3', '1', '8', '8', '4', '4, 'i': 'a', 'wherein, when the animal is located in the predetermined milking position () in the milking stall (), the storing area (A) locates the teat cup carrier () below a body of the animal and along the line running between the front legs and between rear legs of the animal, with the ...

DAIRY ANIMAL TREATMENT SYSTEM

There is provided a method and system for connecting a teat cup () to a first teat () of an udder (). In connecting, a first reference position () on the first teat () is taken for connecting, until that reference position () is covered by the teat cup (), or is otherwise no longer observed. Then, a further reference position () on the udder is taken for tracking movements by the dairy animal. Thus the optimum reference position () is used for connecting, while when this optimum position is no longer available, a further reference position () is taken. 1. Method for automatically connecting an object to a teat of an udder of a milking animal , by means of a milking robot with a robot arm and a position determining device for determining reference positions on the animal with respect to one of a teat cup and the robot arm , the method comprising the steps ofa) determining a first reference position of a part of the first teat to which an object is to be connected, wherein the object is a teat cup,b) positioning the teat cup below said teat by means of the robot arm and on the basis of the first reference positionc) moving the teat cup onto the teat,wherein the first reference position is observed and tracked during step b) and/or c) characterized by the steps ofd) determining a further reference position of another part of said udder with respect to one of the teat cup, the robot arm and the first reference position, ande) tracking said further reference position while the first reference position is not being observed with at least a predetermined accuracy or reliability, and performing the moving of the teat cup on the basis of the tracked further reference position.2. Method according to claim 1 , wherein the first reference position is on a tip part of the teat claim 1 , and in particular is the teat tip.3. Method according to claim 1 , wherein the tracking of the further reference position is performed during at least a part of step c).4. Method claim 1 , ...

ANIMAL INSTALLATION USER INTERFACE

A control and monitoring system includes an interactive display that displays output information relating to the current status of operations in animal treatment stalls arrangement and operator input channels. The system displays a representation of the stall arrangement in which each stall is represented by a cell and in which the cells are displayed in a spatial layout corresponding to the layout of stalls in the stall arrangement. The system displays live video picture images of any animal present at that stall in association with corresponding represented cells in the interactive display. Video picture images may be available in connection with additional elements in an animal installation and may be displayed in combination with data associated with the element depicted in the video pictures and describing the current status of operations at the shown location. 116-. (canceled)17. A control and monitoring system for an animal installation comprising automated animal treatment equipment , plural animal stalls arranged around a periphery of a rotary animal platform , and a camera system that includes a camera that takes images of an animal stall , said control and monitoring system comprising:{'b': 27', '14', '20', '22', '24', '21, 'a computer control device () operatively linked to the rotary animal platform (), to the automated animal treatment equipment (, , ), and to the camera system that includes the camera () that takes images of the animal stall;'}{'b': '28', 'a display device (), the display device operatively linked to the control device, the display device including an interactive display and a user input element allowing an operator viewing the display to receive output information concerning processes taking place at the animal stalls and to intervene in the processes,'}{'b': 12', '8', '4, 'wherein the display device receives the output information from the control device and displays, on the display, the output information relating to a current ...

Methods and Apparatus for Applying Teat Dip to a Dairy Animal

Methods and apparatus are used at the end of a dairy animal milking process to stop milking pulsation in an off position and then applying a teat dip into a milker unit teat cup liner to improve dip coverage on the teat. 1. A method of automatically applying a dip to a dairy animal teat , the method comprising the steps of:discontinuing pulsation to a pulsation chamber between a teat cup and a liner;maintaining atmospheric pressure in the pulsation chamber;maintaining vacuum in the liner; andapplying teat dip to an upper portion of the dairy animal teat.2. The method of claim 1 , and further comprising the step of:allowing the vacuum in the liner to at least partially spread dip along the dairy animal teat.3. The method of claim 1 , wherein the step of discontinuing pulsation to the pulsation chamber has a duration of between about 0.1 second and about 10 seconds before applying the teat dip.4. The method of claim 1 , wherein the step of discontinuing pulsation to the pulsation chamber has a duration of between about 0.1 seconds and about 3 seconds before applying the teat dip.5. The method of claim 1 , wherein the step of discontinuing pulsation to the pulsation chamber has a duration of between about 3 seconds and about 30 seconds before applying the teat dip.6. The method of claim 1 , wherein the step of applying dip comprises the step of applying dip having a viscosity of between about 1 centipoise and about 20 centipoise.7. The method of claim 1 , wherein the step of applying dip comprises the step of applying dip having a viscosity of between about 21 centipoise and about 40 centipoise. This application is a continuation-in-part of U.S. patent application Ser. No. 12/584,475, filed Sep. 4, 2009, issued as U.S. Pat. No. 8,033,247 on Oct. 11, 2011, and is a continuation-in-part of U.S. patent application Ser. No. 12/584,479, filed Sep. 4, 2009, issued as U.S. Pat. No. 8,025,029 on Sep. 27, 2011, and is a continuation-in-part of U.S. patent application Ser. No. ...

System and a Method for Controlling an Automatic Milking System

There is disclosed a system () for controlling an automatic milking system (), configured for automatically receiving, identifying and selectively milking a lactating animal in accordance with a set of milking parameters associated with said animal. The system comprises a thermal imaging device (), configured for generating at least one current thermal image of at least a portion of an udder of said animal, a storage device (), configured for storing at least one reference thermal image of said udder, and a processing device (), configured for comparing at least one current value derived from said at least one current thermal image and/or at least one current thermal image with at least one reference value derived from said at least one reference thermal image and/or at least one reference thermal image. The processing device is arranged to selectively provide a status indication of said animal in response to a result of said comparison. 1. A system for controlling an automatic milking system , configured for automatically receiving , identifying and selectively milking a lactating animal in accordance with a set of milking parameters associated with said animal , said system comprising:a thermal imaging device, configured for generating at least one current thermal image of at least a portion of an udder of said animal,a storage device, configured for storing at least one reference thermal image of said udder, anda processing device, configured for comparing at least one current value derived from said at least one current thermal image and/or at least one current thermal image with at least one reference value derived from said at least one reference thermal image and/or at least one reference thermal image,wherein the processing device is arranged to detect a temperature difference between the udder as depicted on the current thermal image and the udder as depicted on the reference thermal image,wherein said processing device is arranged to selectively provide a ...

DETECTION APPARATUS FOR THE MONITORING OF MILKING ANIMALS

An apparatus is provided for monitoring a milking animal during milking of the animal. The apparatus includes a number of productivity sensors, each measuring at least one indicator of productivity of the animal. A number of temperature sensors, including at least two thermographic cameras, measure heat output from different processing areas of the milking animal. A processor receives the heat outputs and productivity indicators, and uses a combination of these to determine a condition of the milking animal. The condition is then indicated in real time at the monitoring apparatus. 1. An apparatus for monitoring a milking animal during milking of the animal , comprising:a plurality of productivity sensors, each configured to measure at least one indicator of productivity of the animal and output a signal indicative of same;a plurality of temperature sensors, each sensor configured to measure an indicator of heat output from different processing areas of the milking animal and output a signal indicative of same, wherein at least two of the temperature sensors are thermographic cameras; and receive the signals indicative of heat output;', 'receive the signals indicative of the productivity indicators, and', 'use a combination of the heat output and productivity indicators to determine at least one condition of the milking animal, and cause that condition to be indicated in real time at the monitoring apparatus., 'a processor configured to2. The apparatus of claim 1 , wherein the at least two thermographic cameras comprise a thermographic camera directed towards the eyes of the animal claim 1 , and a thermographic camera directed to the rear end of the animal.3. The apparatus of claim 1 , comprising an ID reader configured to read an identification tag associated with the animal.4. The apparatus of claim 3 , wherein the processor is configured to update a historical record associated with the identification of the animal with the condition claim 3 , heat output and ...

HUMAN ASSISTED MILKING ROBOT AND METHOD

A human operated control device for assisting a plurality of milking robots includes a controller adapted for controlling communication with a plurality of milking robots operated substantially simultaneously, graphical user interface (GUI) adapted for displaying information received from at least one milking robot and for receiving input from a human supervisor for operating the at least one milking robot based on the displayed information, and a processor adapted to convert the input received from the human supervisor into a command for operating the at least one milking robot from which the information was received. A milking robot for operating milking equipment is adapted to operate in one of an automated mode of operation and a human assisted mode of operation. 125-. (canceled)26. A milking robot for operating milking equipment comprising:a location computation unit adapted for locating at least one teat for milking;at least one robotic arm or robotic platform adapted for maneuvering milking equipment;a motion control unit adapted for controlling movement of the at least one robotic arm or robotic platform; anda controller for controlling operation of the milking robot and the milking equipment, wherein the controller is adapted operate in one of an automated mode of operation and a human assisted mode of operation and wherein the controller is adapted to communicate with a control device that is human operated.27. The milking robot of claim 26 , wherein the controller is adapted to switch from the automated mode of operation to the human assisted mode of operation in response to failure to perform a task.28. The milking robot of claim 26 , wherein the controller is adapted to switch from the automated mode of operation to the human assisted mode of operation in response to failure to attach a milking cluster to the dairy animal within a predefined time limit or after a predefined number of trials.29. The milking robot claim 26 , wherein the controller is ...

Milking Cluster and Milking Parlor Having Such a Milking Cluster

A milking cluster used for milking a dairy animal in a milking parlor, the milking cluster including a teat cup unit, a teat cup, a drive device, a hose arrangement joined to the teat cup, a hose guide engaging the hose arrangement, and a flexible element that pivots the hose guide between a fixed position and a second position. 1. A milking cluster for a milking parlor for milking milk-producing animals , the milking cluster comprising:a teat cup unit having a teat cup; a drive device; a hose arrangement joined to the teat cup; a hose guide pivotable between a fixed position and a second position to guide the hose arrangement; and a flexible element extending between the drive device and the hose guide.2. The milking cluster of claim 1 , wherein the teat cup unit is movable between a park position in which the teat cup assumes a position inclined with respect to the perpendicular claim 1 , a positioning position in which the teat cup is in a substantially perpendicular position claim 1 , and a milking position in which the teat cup is connected to an associated teat of the animal to be milked.3. The milking cluster of claim 1 , wherein the drive device of the teat cup unit is operatively connected to the hose arrangement and to the hose guide.4. The milking cluster of claim 3 , wherein the drive device has a first position that exerts a pulling force on the teat cup and the hose arrangement to assume a positioning position in abutment against the hose guide claim 3 , and the hose guide is held in a fixed position claim 3 , and a second position that does not exert a pulling force on the teat cup.5. The milking cluster of claim 1 , and further comprising:an adjustable guide roller operatively connected to the drive device and the hose arrangement, and the drive device is operatively connected to the hose guide by the flexible element for moving the teat cup unit between a positioning position and a milking position.6. The milking cluster of claim 5 , wherein the ...

PRESSURE CONTROL DEVICE FOR A MILKING MACHINE

A pressure control device for a milking machine includes a housing, a vacuum inlet, and two control circuits. Each circuit includes a main vacuum passage extending through the housing from the vacuum inlet to an outlet, and a main valve configured to take one of an open position and a closed position. A pilot passage extends from the main vacuum passage and includes a pilot valve body configured to take one of an open pilot position and a closed pilot position. The pilot passage acts in the open pilot position on the main valve to move to the open position, and permits in the closed pilot position the main valve to move to the closed position. A solenoid controls the pilot valve body. A holding member receives the solenoid and is attached to the housing through a first bayonet coupling. 1. A pressure control device for a milking machine , comprising:{'b': 16', '17, 'a first bayonet coupling comprising a first part () and a second part ();'}{'b': 1', '2', '1', '5', '1', '16', '16, 'a housing () with a vacuum inlet () located at a first side of the housing (), a vacuum outlet () located at a second side of the housing (), and the first part () of the first bayonet coupling, the first part () of the first bayonet coupling being located along an exterior surface extending between the first and second sides of the housing; and'}{'b': 3', '3, 'i': a,', 'b, 'at least one control circuit () comprising'}{'b': 4', '1', '2', '5', '6', '4', '4, 'i) a main vacuum passage () that extends through the housing () from the vacuum inlet () to the outlet (), and includes a main valve () that moves between an open position, in which the main vacuum passage () is open, and a closed position, in which the main vacuum passage () is closed,'}{'b': 7', '4', '8', '7', '7', '7', '6', '6', '6, 'ii) a pilot passage () that extends from the main vacuum passage () and includes a pilot valve body () that moves between an open pilot position, in which the pilot passage () is open, and a closed pilot ...

TOOL-PICKUP SYSTEM, METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER

Tools in an automatic milking arrangement are picked up by using a robotic arm (). The robotic arm () moves a camera () to an origin location (PC) from which the camera () registers three-dimensional image data (DimgD) of at least one tool (). The three-dimensional image data is processed using an image-based object identification algorithm to identify objects in the form of the tools and hoses (). In response to identifying at least one tool, a respective tool position (PT, PT, PT) is determined for each identified tool based on the origin location (PC) and the three-dimensional image data. Then, a grip device () is exclusively controlled to the one or more of the respective tool positions (PT, PT, PT) to perform a pick-up operation. Thus, futile attempts to pick-up non-existing or blocked tools can be avoided. 1. A tool-pickup system for an automatic milking arrangement , the tool-pickup system comprising:{'b': 110', '115', '141', '142', '143', '144', '130', '3, 'a robotic arm () provided with a grip device () configured to pick up tools (, , , ), and a camera () configured to register three-dimensional image data (DimgD); and'}{'b': 120', '120, 'a control unit () operatively connected to the robotic arm, the control unit () configured to{'b': 110', '130', '141', '142', '143', '144', '130, 'control the robotic arm () to move the camera () to an origin location (PC) from which at least one tool of the tools (, , , ) is expected to be visible within a view field (VF) of the camera (),'}{'b': 3', '130, 'obtain three-dimensional image data (DimgD) registered by the camera () at the origin location (PC),'}{'b': 3', '141', '143', '144', '152, 'process the three-dimensional image data (DimgD) using an image-based object identification algorithm to identify objects in a form of the tools (, , ) and/or hoses (), and'}{'b': 141', '143', '144, 'in response to identifying at least one of the tools (, , ){'b': 1', '3', '4', '141', '143', '144', '3, 'i) determine a respective ...

DAIRY FARMING SYSTEM

A dairy farming system comprises at least one milking device for obtaining milk from dairy animals by means of a milking process, a control unit for controlling the at least one milking device, and a data input for automatically receiving data relating to milk which was obtained earlier and supplied to an external party. The data comprises at least one content of a substance in the milk and/or at least one physical or chemical property of the milk, and a quantity value of the milk, the milking device has at least one adjustable parameter relating to the milking process, the control unit automatically processes at least part of the received data to obtain at least one control parameter value, and the control unit automatically adjusts at least one of the at least one parameter of the milking device on the basis of the at least one control parameter value. 1. A dairy farming system , comprising:at least one milking device for obtaining milk from dairy animals by means of a milking process;a control unit for controlling the at least one milking device; anda data input for automatically receiving data relating to milk which was obtained earlier and supplied to an external party, whereinthe data originates from the external party and comprises at least one content of a substance in the milk and/or at least one physical or chemical property of the milk, in particular also comprising a quantity value of the milk,the milking device has at least one adjustable parameter relating to the milking process,the control unit is configured to automatically process at least part of the received data to obtain at least one control parameter value, andthe control unit is configured to automatically adjust at least one of the at least one parameter of the milking device on the basis of the at least one control parameter value.2. A dairy farming system , comprising:at least one milking device for obtaining milk from dairy animals by means of a milking process;at least one animal-related ...

SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE

A system includes a robotic arm positioned in an equipment area of a milking box that includes a stall portion housing a dairy livestock with four teats. The robotic arm retrieves a cup, and for a plurality of teats of the dairy livestock, the robotic arm attaches the cup to a teat, detaches the cup from the teat, and maintains the cup within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into the equipment portion of the milking box after it is detached from the last teat of the dairy livestock. 1. A method , comprising:housing a dairy livestock in a stall portion of a milking box;retrieving, by a robotic attacher, a cup; attaching the cup to the teat;', 'detaching the cup from the teat; and', 'maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock;, 'for each of a plurality of teats of a dairy livestock, using the robotic arm to perform the steps ofretracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.2. The method of claim 1 , wherein the cup comprises a preparation cup.3. The method of claim 1 , wherein the cup comprises a teat cup.4. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of right front teat claim 1 , left front teat claim 1 , left rear teat claim 1 , and right rear teat.5. The method of claim 4 , wherein retrieving the cup comprises retrieving the cup from the left side of an equipment area of the milking box.6. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of left front teat claim 1 , right front teat claim 1 , right rear teat claim 1 , and left rear ...

VISION SYSTEM FOR FACILITATING THE AUTOMATED APPLICATION OF DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK

A system includes a camera, a controller and a robotic arm. The camera generates an image of an udder of a dairy livestock. The controller determines a position of the udder of the dairy livestock based at least in part upon the image. The controller further determines a spray position based at least in part upon the determined position of the udder of the dairy livestock. Determining the spray position includes processing the accessed image to determine a tangent at the rear of the udder and a tangent at the bottom of the udder. The spray position is a position relative to the intersection of the two tangents. The robotic arm is communicatively coupled to the controller and positions a spray tool at the spray position. 1. A method , comprising:accessing an image signal of an udder of a dairy livestock;determining a position of the udder of the dairy livestock based at least in part upon the image signal;determining a spray position based at least in part upon the determined position of the udder of the dairy livestock, wherein determining the spray position comprises processing the accessed image signal to determine a tangent at the rear of the udder and a tangent at the bottom of the udder, the spray position being a position relative to the intersection of the two tangents; andpositioning a spray tool at the spray position.2. The method of claim 1 , further comprising applying disinfectant to one or more teats of the dairy livestock using the spray tool.3. The method of claim 1 , wherein the image signal comprises a three-dimensional video image signal.4. The method of claim 1 , further comprising determining positions of each of two hind legs of the dairy livestock by processing the accessed image signal to locate edges in depth claim 1 , the edges in depth corresponding to the edges of the hind legs of the dairy livestock.5. The method of claim 4 , wherein determining the position of the udder of the dairy livestock comprises processing the accessed image ...

SYSTEM AND METHOD FOR PREPARATION CUP ATTACHMENT

A robotic arm maneuvers a teat preparation cup and executes instructions from a robotic arm controller. The controller comprises an interface, a memory, and a processor. The processor instructs the sensor to perform a first scan. If the first scan discovers a first set of teats, the processor moves the robotic arm a first distance and instructs the sensor to perform a second scan. If the second scan discovers a second set of teats, the processor moves the robotic arm to a location under the first teat, and instructs the sensor to perform a third scan. The processor determines if the third scan discovers a third set of teats. If each of the first set, second set, and third set of discovered teats comprises the first teat, the processor instructs the robotic arm to attach the preparation cup to the first teat. 1. A system comprising:a robotic arm having a sensor, wherein the robotic arm is operable to maneuver a teat preparation cup and execute instructions received from a robotic arm controller; and an interface operable to communicate with the robotic arm and the sensor;', 'a memory operable to store one or more teat identifiers associated with one or more teats of a dairy livestock; and', select a first teat identifier from the memory and instruct the sensor to perform a first scan;', 'if the first scan discovers a first set of one or more teats, record a first set of identifiers stored in the memory corresponding to the first set of teats, move the robotic arm a first distance toward the dairy livestock and instruct the sensor to perform a second scan;', 'if the second scan discovers a second set of one or more teats, record a second set of identifiers stored in the memory corresponding to the second set of teats, determine that the first recorded set of teat identifiers and the second recorded set of teat identifiers each comprises the first teat identifier, move the robotic arm to a location under the first teat, and instruct the sensor to perform a third scan ...

SYSTEM AND METHOD FOR DETECTING PREPARATION CUP ATTACHMENT

A system comprising a teat preparation cup coupled to a vacuum pump. A first pressure sensor measures the vacuum level of the vacuum pump. A second pressure sensor measures vacuum level inside the preparation cup. The system further comprises a controller comprising an interface, a memory, and a processor. 1. A system comprising:a teat preparation cup coupled to a fluid source container and a fluid disposal container;a vacuum pump coupled to the teat preparation cup, wherein the vacuum pump is operable to alter a vacuum level inside the teat preparation cup;a first pressure sensor operable to measure vacuum level generated by the vacuum pump;a second pressure sensor operable to measure vacuum level inside the teat preparation cup; and an interface operable to communicate with the vacuum pump, the first pressure sensor, and the second pressure sensor;', 'a memory operable to store a first vacuum threshold value and a second vacuum threshold value; and', receive information indicating an attempt to attach the teat preparation cup onto a teat;', 'receive information from the first pressure sensor to determine if the vacuum pump has a vacuum level that is greater than the first vacuum threshold value;', 'if the vacuum pump vacuum level is greater than the first vacuum threshold value, communicate instructions to induce a partial vacuum in the teat preparation cup using the vacuum pump;', 'receive information from the second pressure sensor to determine if the teat preparation cup has a vacuum level that is greater than the second vacuum threshold value; and', 'if the teat preparation cup vacuum level is greater than the second vacuum threshold value, communicate instructions to initiate a teat preparation cycle comprising allowing fluid flow from the fluid source container through the teat preparation cup into the fluid disposal container., 'a processor operable to], 'a controller comprising2. The system of claim 1 , wherein the first vacuum threshold value indicates a ...

CIRCULAR GRAZING SYSTEM AND METHOD

A circular grazing system for poultry and/or livestock. The circular grazing system including a center pivot structure installed at a field. The center pivot structure may have a center pivot axis. The field may be a poultry and/or livestock grazing field. The circular grazing system for poultry and/or livestock may include an enclosure for containing poultry and/or livestock. The enclosure may extend generally radially from the center pivot structure to a circumference of the field. The enclosure may be rotably coupled to the center pivot structure such that the enclosure rotates around the center pivot axis. 1. A grazing system comprising:a poultry enclosure for containing poultry that extends at least partially across a side of a field, the field comprising a grazing field for one or both of poultry and livestock, the poultry enclosure comprising:two side barriers including a first side barrier and a second side barrier extending generally across the side of the field,a third barrier coupled to the first side barrier and the second side barrier that connects the two side barriers, anda fourth barrier coupled to the first side barrier and the second side barrier, opposite the third barrier, that connects the two side barriers to form the poultry enclosure, wherein the poultry enclosure moves one or both of linearly and laterally over the field;a motor configured to initiate movement of the mobile poultry enclosure; andone or more sound devices coupled to the poultry enclosure and oriented in a direction of the movement of the poultry enclosure, wherein responsive to the motor initiating the movement of the mobile poultry enclosure, the one or more sound devices produce acoustic energy via sounds configured to stimulate one or both of the poultry and the livestock away from the sound.2. The grazing system of claim 1 , wherein the poultry enclosure is floorless.3. The grazing system of claim 1 , wherein the poultry enclosure includes a chassis with wheels that ...

CLEANING OF A FRONT OF AN OPTICAL INSTRUMENT OF A MILKING PARLOR

An arrangement and a corresponding method for cleaning a front of an optical instrument using a movable cap for directing a cleaning fluid to the front of the optical instrument. 1. A milking parlor optical instrument cleaning apparatus comprising:a moveable cap defining a chamber, and having a fluid feed and a fluid discharge in fluid communication with the chamber, and the cap is moveable to cover at least a portion of a front of a milking parlor optical instrument in a fluid-tight manner and expose the chamber to the front of the milking parlor optical instrument.2. The milking parlor optical instrument cleaning apparatus of claim 1 , wherein the cap is sized to completely cover the front of the milking parlor optical instrument in the cleaning position.3. The milking parlor optical instrument cleaning apparatus of claim 1 , wherein the cap includes a flow-guiding device disposed in the chamber and extending at least partially between the fluid feed and the fluid discharge.4. The milking parlor optical instrument cleaning apparatus of claim 1 , and further comprising:a cap adjustment device engaged with the cap to move the cap between a rest position and a cleaning position.5. The milking parlor optical instrument cleaning apparatus of claim 1 , and further comprising:a rail on which the cap is disposed.6. The milking parlor optical instrument cleaning apparatus of claim 1 , wherein the fluid feed is disposed to receive a cleaning liquid.7. The milking parlor optical instrument cleaning apparatus of claim 1 , and further comprising:a seal disposed on the cup to engage the front of the milking parlor optical instrument in the cleaning position.8. The milking parlor optical instrument cleaning apparatus of claim 1 , wherein the cap remains in the cleaning position during milking of an animal.9. The milking parlor optical instrument cleaning apparatus of claim 1 , wherein the fluid feed and the fluid discharge are in fluid communication via the chamber.10. A method ...

SYSTEM AND METHOD FOR ANALYZING DATA CAPTURED BY A THREE-DIMENSIONAL CAMERA

In an exemplary embodiment, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first edge of a dairy livestock, determine a second edge of the dairy livestock, determine a third edge of the dairy livestock, and determine a fourth edge of the dairy livestock. 1. A system , comprising:a three-dimensional camera that captures visual data associated with a dairy livestock; determines a first edge of the dairy livestock based at least in part upon the visual data, wherein the first edge includes a first hip and an outer portion of a first hind leg of the dairy livestock;', 'determines a second edge of the dairy livestock based at least in part upon the visual data, wherein the second edge includes an inner portion of the first hind leg and a first portion of an udder of the dairy livestock;', 'determines a third edge of the dairy livestock based at least in part upon the visual data, wherein the third edge includes a second hip and an outer portion of a second hind leg of the dairy livestock;', 'determines a fourth edge of the dairy livestock based at least in part upon the visual data, wherein the fourth edge includes an inner portion of the second hind leg and a second portion of the udder of the dairy livestock; and', 'calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge, the second edge, the third edge, and the fourth edge; and, 'a processor communicatively coupled to the three-dimensional camera, wherein the processora robotic attacher that moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.2. The system of claim 1 , wherein the visual data comprises a plurality of pixels and the processor determines at least one edge of the dairy livestock by comparing depth locations of the plurality of pixels to each other.3. The system of claim 1 , ...

SPACE DIVIDER OF A MILKING PARLOR ARRANGEMENT, AND MILKING PARLOR ARRANGEMENT

A space divider of a milking parlor arrangement for at least one milking parlor for milking milk-producing animals, wherein the space divider is arranged approximately parallel to a longitudinal axis of the animal to be milked, has an arm device having a milking cluster, which can be adjusted from a parking position to a working position and back. The arm device is arranged with the milking cluster in the parking position in the space divider and can be adjusted into the working position laterally to the animal to be milked between the front and rear legs thereof. The space divider may include a replaceable service unit. 1. A divider for a longitudinal side of a milking parlor milking stall for milking milk producing animals , the divider comprising:an arm device for supporting a milking cluster, and the arm device is adjustable between a parked position arranged in the divider and an operating position between front and hind legs of the milk-producing animal; anda service unit which is insertable and removeable.2. The divider of claim 1 , wherein the divider defines an accommodating space in which the service unit is disposed.3. The divider of claim 2 , wherein the accommodating space is positioned in a hindquarter portion of the divider.4. The divider of claim 2 , wherein the accommodating space is closable by a cover.5. The divider of claim 1 , wherein the service unit contains service-specific parts.6. The divider of claim 1 , wherein the service unit contains milk-channeling parts.7. The divider of claim 2 , wherein the service unit is disposed within the accommodating space and is connected to an installation by a connecting device.8. The divider of claim 2 , wherein the service unit has a carrying frame disposed in the accommodating space to support milk-channeling parts.9. The divider of claim 2 , and the service unit further comprises:a central communication line connected between the service unit and a control unit that is arranged on an upper side of a ...

MILKING SYSTEM

Improving milking system performance through the incorporation of a source of greater than atmospheric pressure air into a pulsator while limiting total pressure in the teat cup. The system is further improved by providing an improved supply of regulated vacuum to the milking cluster throughout the milking process. The system is further improved with a monitoring and detecting the functional failure of the pulsation assemblies. Additional system improvements are provided with the addition of a fresh air valve assembly, a wireless method of regulating vacuum levels and the remote location of a pulsator assembly in a basement style parlor. 1. A pulsator for alternatingly supplying air and vacuum to a pulsation chamber to open and close a flexible liner of a teat cup assembly of a milking system attached to an animal comprising: a first solenoid housing having a first end open to a channel and a second end;', 'a first solenoid having an interior end, located within the channel of the first solenoid housing;', 'a respective inlet and a respective outlet through which greater than atmospheric pressure air can be respectively supplied to the pulsation chamber of the teat cup assembly; and', 'a first solenoid valve plunger reciprocally movable in the first solenoid housing with a first end in the channel for sealing the inlet from the outlet and a second end opposite the first end;, 'a first valve comprising a second solenoid housing having a first end open to a channel and a second end a second solenoid having an interior end, within the channel of the second solenoid housing;', 'a respective inlet and a respective outlet through which a vacuum can be respectively supplied to the pulsation chamber of the teat cup assembly; and', 'a second solenoid valve plunger reciprocally movable in the second solenoid housing with a first end in the channel for sealing the inlet from the outlet and a second end opposite the first end;, 'a second valve comprisinga common outlet ...

METHOD FOR OPERATING A MILKING PLANT

In order to avoid negative changes in the teat ends of a cow, in particular to avoid hyperkeratoses, the invention proposes a method for operating a milking system in which at least one of the parameters from total pressure per cycle, minimum total pressure per cycle or the ratio of total suction to total pressure is determined for at least one animal of a herd during at least one part of a milking process, and is compared with at least one reference value. 1. A method for operating a milking system , the method comprising the steps of: total pressure per cycle, wherein the total pressure per cycle is determined from an integral of a differential pressure curve and a fold-in pressure straight line over a predetermined time interval, wherein the differential pressure curve is determined from a vacuum in a short pulsation hose and a vacuum in a short milk hose; and', 'minimum total pressure per cycle, wherein the minimum total pressure per cycle is determined by the lowest total pressure per cycle; and a ratio of total suction per cycle to total pressure per cycle for at least one animal of a herd during at least one part of a milking process, wherein the total suction per cycle is defined as the integral of the pressure in the short milk hose in the predetermined time interval during a suction cycle; and, 'determining at least one parameter from the group consisting ofcomparing the parameter to at least one reference value.2. The method of claim 1 , in which the total pressure per cycle is determined using a value from the group consisting of: an arithmetic claim 1 , geometric claim 1 , and harmonic mean value.3. The method of claim 1 , in which the parameter is determined during an entire milking process.4. The method of claim 1 , in which the reference value for the parameter total pressure per cycle lies between 5 kPa's and 11 kPa's5. The method of claim 1 , in which the reference value for the parameter minimum total pressure per cycle lies between 5 kPa's and 9 ...

MILKING DEVICE

A milking system includes several milking devices, each having a milk-carrying part, a temporary milk storage vessel, a milk pipe system, a milk storage tank, and a main milk pipe, which connects the temporary milk storage vessel to the milk storage tank. The milking system includes a first cleaning device having at least one first cleaning liquid supply and at least a pump, which cleaning device is configured to clean at least the milk-carrying part of at least one milking device and a part of the milk pipe system which connects the milk-carrying part to the temporary milk storage vessel, by transferring cleaning liquid from the cleaning liquid supply through at least the milk-carrying part of the at least one milking device and through said part of the milk pipe system to the temporary milk storage vessel by pumping. The temporary milk storage vessel includes a main pump for transferring liquid from the temporary milk storage vessel through the main milk pipe in the direction of the milk storage tank. The milking system includes a second, additional cleaning device with at least one second, additional cleaning liquid supply, which second cleaning device is configured to supply additional cleaning liquid from the second cleaning liquid supply in a direction of flow from the temporary milk storage vessel towards the main milk pipe. The second cleaning liquid supply is situated downstream of at least each of the milking devices, viewed in said direction of flow. 1. A milking system for use on a dairy farm , wherein the milking system comprises:several milking devices, each having a milk-carrying part;a temporary milk storage vessel;a milk pipe system connecting the temporary milk storage vessel to each of the milking devices;a milk storage tank;a main milk pipe connecting the temporary milk storage vessel to the milk storage tank; anda first cleaning device having at least one first cleaning liquid supply and at least a pump, said first cleaning device being ...

METHOD OF DETECTING A FLOW, DETECTION DEVICE, AUTOMATIC MILKING DEVICE AND COMPUTER PROGRAM

Milk flow detecting method and device monitors a flow of milk in a milk line which is connected to a teat cup and which has an aeration opening, like in a milking device. For this purpose, the milk filling level is monitored in a measuring section of the line. If the variation therein is too little, the absence of a flow, or at least an inadequate flow, is established. If, additionally, a (sufficient) filling level is detected, it can be concluded that there is an obstructed aeration opening. 1. A method of detecting a flow of milk in a milk line which is connected to a teat cup , having a pulsator space and which has an aeration opening , wherein the milk defines a filling level in a measuring section of the milk line , wherein the method comprises:applying a milking vacuum in the milk line, and a pulsating vacuum in the pulsator space of the teat cup;measuring the filling level of the milk in the measuring section at least during a first period of time;determining a variation of the filling level measured at least during the first period of time in the form of an indicator number;comparing the indicator number and a predetermined threshold value, which threshold value is indicative of the presence or absence of a flow of milk in the milk line.2. The method according to claim 1 , wherein the filling level is a linear level of the milk in the measuring section.3. The method according to claim 1 , wherein the determining of the indicator number comprises the determining of one of the maximum variation claim 1 , the variance or the standard deviation of the filling level measured at least during the first period of time.4. The method according to claim 3 , wherein the filling level measured at least during the first period of time is divided by the average of the measured filling level.5. The method according to claim 1 , wherein the method comprises the step of milking a dairy animal claim 1 , during which milking run the filling level is detected.6. The method ...

A vacuum pump arrangement for a milking plant

A vacuum pump arrangement for a milking plant includes a main vacuum conduit with at least two vacuum pump units for maintaining a system vacuum in the main vacuum conduit. Each of the vacuum pump units includes a pump, a vacuum tank connected to the pump by an intermediate conduit, and an inlet conduit connecting the vacuum tank to the main vacuum conduit. A drainage extends from the vacuum tank and includes a draining valve. The pump sucks air from the main vacuum conduit via the inlet conduit, the vacuum tank and the intermediate conduit. The vacuum pump unit includes a closing valve provided on the inlet conduit and configured to close the inlet conduit in an automatic manner when the pump has been stopped.

SYSTEM AND METHOD FOR IMPROVED ATTACHMENT OF A CUP TO A DAIRY ANIMAL

A system comprises a robotic arm, camera, and a controller. The camera is positioned on a surface of the robotic arm and emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm. The controller instructs the robotic arm to grip a milking cup, and determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera. The controller instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear, release the milking cup in response to the milking cup being attached to the teat. move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup, and to move away from the teat. 1. A system , comprising:a robotic arm;a camera positioned on a surface of the robotic arm and that emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm; and instructs the robotic arm to grip a milking cup;', 'determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera;', 'instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear;', 'instructs the robotic arm to release the milking cup in response to the milking cup being attached to the teat;', 'instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup; and', 'instructs the robotic arm to move away from the teat., 'a controller communicatively coupled to the robotic arm, wherein the controller2. The system of claim 1 , wherein instructing the robotic arm to move the milking cup towards the teat comprises instructing the robotic arm to move to a set of ...

IMPLEMENT FOR KEEPING DAIRY ANIMALS

An implement for keeping dairy animals, provided with a first and a second production unit and with a care unit having a plurality of subunits, wherein each production unit is provided with at least one accommodation area for a production group, which comprises a group of lactating dairy animals, and with a milking implement for milking the production group, wherein the subunits of the care unit at least include a calving unit for separately accommodating dairy animals in a calving period, and a milking implement for milking newly calved dairy animals, and an infirmary unit for separately accommodating sick animals, and wherein the care unit forms a connection between the production units. There is thus provided a compact disposition, comprising efficient and short distances, for dairy animals requiring care. 1. An implement for keeping dairy animals ,provided with a first and a second production unit and a care unit having a plurality of subunits, wherein each production unit is provided with at least one accommodation area for a production group, wherein the production group comprises a group of lactating dairy animals, and with a milking implement for milking the production group, andwherein the subunits of the care unit comprise at least: a calving unit for separate accommodation of at least one dairy animal in a calving period, a milking implement for milking at least one just calved dairy animal, and an infirmary unit for separate accommodation of at least one sick animal,and wherein the care unit forms a connection between the production units.2. The implement according to claim 1 , wherein at least one milking implement of at least one production unit is positioned at the side thereof which is contiguous to the care unit.3. The implement according to claim 1 , wherein the subunits of the care unit comprise a dry animal unit for separate accommodation of at least one dry dairy animal.4. The implement according to claim 1 , wherein the care unit comprises an ...

MILKING BOX WITH ROBOTIC ATTACHER AND BACKPLANE FOR TRACKING MOVEMENTS OF A DAIRY ANIMAL

A milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock located in the stall portion. A controller determines the position of the backplane relative to the rear of the stall portion. The controller determines an x-offset based at least in part upon the position of the backplane relative to the rear of the stall portion, wherein the x-offset increases as the dairy livestock moves toward the front of the stall and the x-offset decreases as the dairy livestock moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher in an x-direction, the amount of movement determined at least in part according to the x-offset. 1. A milking box , comprising:a stall portion; move toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane; and', 'move toward the front of the stall portion in response to pressure removed from the contact surface;, 'a backplane positioned in the stall portion of the milking box, and configured toa robotic attacher configured to extend from the rear of the stall portion and between the hind legs of a dairy livestock located in the stall portion; determine the position of the backplane relative to the rear of the stall portion;', 'determine an x-offset based at least in part upon the position of the backplane relative to the rear of the stall portion, wherein the x-offset increases as the dairy livestock moves toward the front of the stall and the x-offset decreases as the dairy livestock moves toward the rear of the stall; and', 'communicate a signal to move the robotic attacher in ...

SYSTEM AND METHOD FOR CONTROLLING THE POSITION OF A ROBOT CARRIAGE BASED ON THE POSITION OF A MILKING STALL OF AN ADJACENT ROTARY MILKING PLATFORM

A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines a position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track to the determined position in conjunction with the movement of the rotary milking platform. 1. A system for controlling the position of a robot carriage , comprising:a carriage track positioned adjacent to a rotary milking platform;a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track; and determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position;', 'determines a position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform; and', 'communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track, the position signal causing the carriage actuator to move the robot carriage along the carriage track to the determined position in conjunction with the movement of the rotary milking platform., 'a controller that2. The system of claim 1 , wherein the robot carriage comprises a robot arm having a spray tool operable to discharge an amount of disinfectant to the teats of a dairy livestock located in the milking stall of the milking platform as the rotary milking platform ...

MOBILE MILKING ROBOT WITH MINIMAL FOOTPRINT

Disclosed is a system for treating dairy livestock having fore legs and hind legs, wherein the system comprises a milking parlor ramp, livestock stalls positioned along at least part of the milking parlor ramp, wherein each stall is configured to contain one dairy livestock, at least one vertical upright teat cup holder comprising teat cups and a mobile unit. The mobile unit comprises equipment for treating livestock and a processor, where the mobile unit is configured to travel between the fore legs and hind legs of the dairy livestock on the milking parlor ramp and use the equipment to perform at least one action related to a treatment of the dairy livestock. Also disclosed is that the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock. 1. A system for treating dairy livestock having fore legs and hind legs comprising:a ramp;livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;a mobile unit comprising travel between the fore legs and hind legs of the dairy livestock on the ramp; and', 'use the equipment to perform at least one action related to a treatment of the dairy livestock; and, 'equipment for treating livestock and a processor, the mobile unit configured towherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock.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 ramp is a parallel milking parlor ramp.4. The system according to claim 3 , wherein the system includes two parallel ramps or more.5. The system according to claim 1 , further comprising a parking area ...

System and method of attaching cups to a dairy animal

A robotic attacher retrieves cups from the right side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the right front teat, a second cup to the left front teat, a third cup to the right rear teat, and a fourth cup to the left rear teat.

MILKING DEVICE

A milking system including: at least one milking device; a milk storage vessel storing milk obtained with the milking device; a milk line system with a milk line with a first end connected to the milking device and with a second end connected to the milk storage vessel; and a monitoring system including: a sensor configured to measure a fluid parameter value of a fluid in the milk line, and a control system actively connected to the sensor and configured to process the measured fluid parameter value and generate a transition signal on fulfilment of a predefined transition criterion. The milk line includes a substantially vertical line portion, and a proposed discharge direction of milk runs through the milk line from the milking device to the milk storage vessel and is raised through the line portion, wherein the sensor is placed in or on the substantially vertical line portion. 112-. (canceled)13. A milking system comprising:at least one milking device;a milk storage vessel storing milk obtained with the milking device;a milk line system including a milk line with a first end connected to the milking device and with a second end connected to the milk storage vessel; and a sensor configured to measure a fluid parameter value of a fluid in the milk line, and', 'a control system operatively connected to the sensor and configured to process the measured fluid parameter value and to generate a transition signal on fulfilment of a predefined transition chterion;, 'a monitoring system which compriseswherein the milk line comprises a substantially vertical line portion, and a proposed discharge direction of milk runs through the milk line from the milking device to the milk storage vessel and is upwards through the line portion, andwherein the sensor is placed in or on the substantially vertical line portion.14. The milking system as claimed in claim 13 , wherein the substantially vertical line portion transforms with a bend into a substantially horizontal line portion ...

MILKING BOX WITH ROBOTIC ATTACHER

A robotic attacher comprises a gripping portion, a vision system positioned on a first surface of the gripping portion, and at least one nozzle positioned on a second surface of the gripping portion. The gripping portion is rotates about a longitudinal axis such that during a first time, the vision system is positioned generally on the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion. 1. A robotic attacher , comprising:a gripping portion;a vision system positioned on a first surface of the gripping portion; andat least one nozzle positioned on a second surface of the gripping portion;wherein the gripping portion is operable to rotate about a longitudinal axis such that during a first time, the vision system is positioned generally on the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion.2. The robotic attacher of claim 1 , wherein the gripping portion comprises a wrist operable to perform a tilt movement.3. The robotic attacher of claim 1 , wherein the gripping portion comprises a wrist operable to perform a pivot movement.4. The robotic attacher of claim 1 , wherein the gripping portion is operable to:retrieve a preparation cup;attach the preparation cup to a teat of a dairy livestock; andremove the preparation cup from the teat of the dairy livestock.5. The robotic attacher of claim 1 , wherein the gripping portion is operable to:retrieve a teat cup; andattach the teat cup to a teat of a dairy livestock.6. The robotic attacher of claim 1 , wherein the gripping portion is operable to extend between the hind legs of a dairy livestock.7. The robotic attacher of claim 1 , wherein the vision system comprises a first camera and a second camera.8. The robotic attacher of claim 7 , wherein the first camera comprises a three dimensional camera and the second camera comprises a two dimensional camera.9. The robotic attacher ...

CLEANING SYSTEM AND METHOD FOR AN AUTOMATIC MILKING SYSTEM

A cleaning system for an automatic milking system includes a water supply arrangement alternatively serving first and second cleaning arrangements. The first cleaning arrangement is configured, in milking mode, to clean the teat cups of the automatic milking system and/or the teats of milking animals prior to being milked. The first cleaning arrangement includes at least one cleaning module, at least one feed line interconnecting the cleaning module with a tank, and a feed pump for feeding water from the tank to the cleaning module. The second cleaning arrangement is configured, in system cleaning mode, to clean the automatic milking system and includes a detergent supply system connected to the tank for supplying detergent to the tank, and a supply line interconnecting the tank with the automatic milking system allowing the cleaning liquid to be supplied to the automatic milking system. 11112121212abc. A cleaning system () adapted to an automatic milking system () including teat cups () , a milk collecting vessel () , and a milk tube arrangement () interconnecting the teat cups with the milk collecting vessel , the cleaning system comprising:{'b': '20', 'claim-text': {'b': 13', '13', '13', '13, 'i': a', 'b', 'c, 'a water supply arrangement () operatively connected to and controlled by the control arrangement, the water supply arrangement comprising a supply system () configured to connect to a cold tap water source and to a hot tap water source, and a tank () provided with an overflow (),'}, 'a control arrangement () configured for alternately operating the cleaning system in a milking mode and in a system cleaning mode;'}{'b': 13', '13', '13, 'i': d', 'd', 'e, 'claim-text': {'b': '15', 'a first cleaning arrangement () operatively connected to and controlled by the control arrangement during the milking mode for cleaning at least one of the group consisting of the teat cups of the automatic milking system and the teats of milking animals prior to being milked by ...

Rotary Platforms

A rotary dairy cow milking platform that rotates about a rotational axis and has a plurality of pre-fabricated moulded bail floor defining modular components 1-10 and a supporting substructure 12, 13 14. Each modular component is detachable from the substructure and has been pre-formed independently of any components from the substructure. Each modular component is also totally or at least in part formed from a fibre reinforced resin based composite material. The modular components each have a mould defined rigid exoskeleton 34 wrapped about an inlay or an imbedded core 33 of another material moulded within the exoskeleton. The end peripheries of the modular components are substantially radially aligned with respect to the axis of rotation of the milking platform. Further, the modular components have been assembled onto the substructure to form a substantially annular deck of the milking platform.

ROTARY QUICKSTART

A milking system includes an assembly, a controller, and a milking cluster configured to attach to one or more teats of a livestock. The assembly includes a clevis, a piston, a pulley system, and a sensor. The clevis includes a first member, a second member, a base member, and a cylinder. The cylinder is coupled to the base member. The piston is positioned at least partially within the cylinder, and is configured to move within the cylinder. The pulley system of the assembly includes a cord configured to be coupled to the milking cluster. The assembly includes a sensor configured to generate a displacement signal in response to detecting that a portion of the clevis is within a predefined distance of the sensor. 1. A system comprising:a milking cluster configured to attach to one or more teats of a livestock; a pulley system comprising a cord, wherein the cord comprises a first end coupled to the milking cluster; and', a first member comprising a first aperture configured to couple the pulley system to the clevis;', 'a second member comprising a second aperture configured to couple the pulley system to the clevis;', 'a base member coupled to the first member and the second member; and', 'a cylinder coupled to the base member;, 'a clevis comprising, 'a piston positioned at least partially within the cylinder and configured to move within the cylinder;', 'a sensor configured to generate a displacement signal in response to detecting that a portion of the clevis is within a predefined distance of the sensor; and, 'an assembly comprisinga controller configured to receive the displacement signal from the sensor.2. The system of claim 1 , wherein:the controller is further configured to generate a release signal in response to receiving the displacement signal from the sensor; and receive the release signal from the controller; and', 'cause the piston to move within the cylinder., 'the cylinder is configured to3. The system of claim 1 , wherein:the clevis comprises a first ...

Vision System with Teat Identification

A system that includes a laser, a memory, and a processor. The processor is configured to receive a teat position associated with an unknown teat, determine a first position distance between the teat position and a first teat, determine a second position distance between the teat position and a second teat, determine a third position distance between the teat position and a third teat, and determine a fourth position distance between the teat position and a fourth teat. The processor is further configured to compare the first position distance, the second position distance, the third position distance, and the fourth position distance to determine a smallest position distance from the unknown teat, identify a teat of the dairy livestock corresponding with the smallest position distance, associate a teat identifier for the unknown teat with the identified teat, and store the association in the memory. 1. A vision system comprising:a robotic arm comprising a laser configured to scan at least a portion of a dairy livestock in a stall;a memory configured to store teat location information comprising teat locations for a plurality of teats of the dairy livestock; and position the laser adjacent to the dairy livestock;', 'determine a robot position offset between a center line of the dairy livestock and a position of the robotic arm;', 'apply the robot position offset to the teat location information associated with the plurality of teats to shift the teat locations for the plurality of teats;', 'generate a teat position associated with an unknown teat based on the scan of the at least a portion of the dairy livestock;', 'determine a first position distance between the teat position and a first shifted teat location for a first teat of the plurality of teats;', 'determine a second position distance between the teat position and a second shifted teat location for a second teat of the plurality of teats;', 'determine a third position distance between the teat position and a ...

Vision System with Teat Detection

A system that includes a laser configured to generate a profile signal of at least a portion of a dairy livestock, a memory operable to store a teat detection rule set, and a processor. The processor is configured to obtain the profile signal and detect one or more edge pair candidates in the profile signal, compare the complementary distance gradients of each of the one or more edge pair candidates to a minimum distance gradient length to be considered an edge pair, and identify one or more edge pairs from among the one or more edge pair candidates based on the comparison. The processor is further configured to apply the teat detection rule set to the one or more edge pairs to identify one or more teat candidates from among the one or more edge pairs and determine position information for the one or more teat candidates. 1. A vision system comprising: information associated with a relative distance between the dairy livestock and the laser;', 'one or more rising distance gradients indicating an increase in the distance between the dairy livestock and the laser; and', 'one or more falling distance gradients indicating a decrease in the distance between the dairy livestock and the laser;, 'a laser configured to generate a profile signal of at least a portion of a dairy livestock, wherein the profile signal comprisesa memory operable to store a teat detection rule set; and obtain the profile signal;', 'detect one or more edge pair candidates in the profile signal, wherein each of the one or more edge pair candidates comprises complementary distance gradients comprising a rising distance gradient and a falling distance gradient;', 'compare the complementary distance gradients of each of the one or more edge pair candidates to a minimum distance gradient length to be considered an edge pair;', 'identify one or more edge pairs from among the one or more edge pair candidates based on the comparison, wherein each of the one or more edge pairs comprises complementary ...

Vision System with Teat Candidate Identification

A system that includes a laser, a three-dimensional (3D) camera, a memory, and a processor. The processor is configured to determine the position of a first teat candidate relative to a second teat candidate, assign the first teat candidate and the second teat candidate as a left teat candidate or right teat candidate, and receive a teat identifier for a target teat. The processor is configured to determine whether the left or right teat candidate is within a teat location range of the target teat and to link the teat identifier with the left teat candidate or right teat candidate based on the determination.

Vision System with Tail Positioner

A system includes a robotic arm, an imaging device coupled to the robotic arm, a tail positioner coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The tail positioner is able to move from a down position to an up position. The processor is coupled to both the imaging device and the tail positioner and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device. 1. A system comprising:a robotic arm;one or more grabbers coupled to the robotic arm at a first end, each of the one or more grabbers configured to hold a teat cup for obtaining milk from a dairy livestock;an imaging device coupled to the robotic arm and configured to capture imaging data of a rearview of the dairy livestock through a field of view of the imaging device; a fluid diverter operable to divert fluid away from the imaging device; and', 'an aperture that the imaging device passes through when the tail positioner lowers from the up position to the down position;, 'a tail positioner coupled to the robotic arm and configured to pivot between up and down positions, the tail positioner comprising identify a tail of the dairy livestock within the imaging data captured by the imaging device; and', 'send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device., 'a processor communicatively coupled to the imaging device and the tail positioner, the processor configured to2. The system of claim 1 , wherein the imaging device comprises a three dimensional (3D) camera.3. The system of claim 1 , wherein the imaging device comprises a laser.4. The system of claim ...

Vision System for Teat Detection

A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a distance between a left and right teat of a dairy livestock is less than or equal to a predetermined distance, and if so, command the robotic arm to move to a scan location that is between the left and right teats. The processor is further configured to command the laser to perform a scan of the teats after the robotic arm is at the scan location and to determine whether the left and right teats are found in the scan. If both the left and right teats are found in the scan, the processor commands the robotic arm to attach a teat cup to either the left or right teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine, from the historical teat location information, a first expected teat position associated with a first teat and a second expected teat position associated with a second teat;', 'determine a distance between the first expected teat position and the second expected teat position;', 'determine that the distance is less than or equal to a predetermined distance;', 'in response to determining that the distance is less than or equal to the predetermined distance, command the robotic arm to move to a first location that is between the first expected teat position and the second expected teat position;', 'command the robotic arm to move up a predetermined amount after the robotic arm moves to the first location;', 'command the laser to perform a scan of the dairy livestock after the robotic arm moves up the predetermined amount;', 'access a first profile ...

Vision System for Teat Detection

A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a first location corresponding to an expected teat position of a first teat. The processor is further configured to determine whether the first teat is found in a first scan by the laser, and if so, command the robotic arm to move to a second location corresponding to the location in the scan. The processor is further configured to determine whether the first teat is found in a second scan by the laser, and if so, determine whether the first teat is within a predetermined distance from a current location of the robotic arm. If the first teat is within the predetermined distance from the current location of the robotic arm, the processor commands the robotic arm to attach a teat cup to the first teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser coupled to the robotic arm and configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine, from the historical teat location information, an expected teat position associated with a first teat;', 'command the robotic arm to move to a first location corresponding to the expected teat position;', 'command the robotic arm to move up a predetermined amount after the robotic arm moves to the first location corresponding to the expected teat position;', 'command the laser to perform a first scan of the dairy livestock after the robotic arm moves up the predetermined amount;', 'access a first profile signal generated by the laser from the first scan;', 'determine that the first teat is found in the first profile signal, the first teat located at a first scan ...

Vision System for Teat Detection

A system includes a robotic arm, memory, and a processor. The processor is configured to access first and second success counters stored in the memory. The first success counter is associated with a first attach algorithm and the second success counter is associated with a second attach algorithm. The processor is further configured to determine whether the first success counter is greater than the second success counter. The processor is further configured to execute the first attach algorithm if the first success counter is greater than the second success counter, and to execute the second attach algorithm if the first success counter is not greater than the second success counter. The processor is further configured to increment the first success counter if the first attach algorithm is successful, and to increment the second success counter if the second attach algorithm is successful.

Vision System for Teat Detection

A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a location of an expected teat position of a dairy livestock and to command the laser to perform two scans of the dairy livestock. The processor is further configured to determine whether a first teat is found in both of the scans, and if so, determine whether locations of the first teat in the two scans are within a predetermined distance of each other. The processor is further configured to, in response to determining that locations of the first teat in the two scans are within the predetermined distance of each other, command the robotic arm to move to a location corresponding to the location of the first teat and to command the robotic arm to attach a teat cup to the first teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser coupled to the robotic arm and configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine, from the historical teat location information, an expected teat position associated with a first teat;', 'command the robotic arm to move to a first location corresponding to the expected teat position;', 'command the laser to perform first and second scans of the dairy livestock after the robotic arm moves to the first location corresponding to the expected teat position;', 'access a first profile signal and a second profile signal generated, respectively, by the laser from the first and second scans;', 'determine that the first teat is found in both the first and second profile signals;', 'in response to determining that the first teat is found in both the first and second profile ...

Vision System for Teat Detection

A system includes a robotic arm, a laser, and a processor. The processor is configured to determine that a teat cup is to be attached to a front teat of a dairy livestock, and in response, determine an amount of separation between the front teat and a rear teat. The processor is further configured to calculate, if the amount of separation between the front and rear teats is greater than or equal to a predetermined distance, an updated front teat position based on the amount of separation between the front and rear teats and command the robotic arm to move to the updated front teat position. The processor is further configure to determine whether the front teat is found in a scan of the dairy livestock by the laser, and if so, command the robotic arm to attach the teat cup to the front teat. 1. A vision system comprising:a robotic arm configured to attach a teat cup to a dairy livestock in a stall;a laser configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock;one or more memory devices operable to store historical teat location information for a plurality of teats of the dairy livestock; and determine that the teat cup is to be attached to a front teat of the dairy livestock;', 'determine, from the historical teat location information, an amount of separation between the front teat and a rear teat of the dairy livestock, the front teat having a front teat position;', 'determine that the amount of separation between the front teat and the rear teat is greater than or equal to a predetermined distance;', 'in response to determining that the amount of separation between the front teat and the rear teat is greater than or equal to the predetermined distance, calculate an updated front teat position based on the amount of separation between the front teat and the rear teat;', 'command the robotic arm to move to a first location ...

Vision System for Teat Detection

A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a first teat of a diary livestock is found in a first scan of the dairy livestock by the laser, and if so, command the robotic arm to move to a location corresponding to the location of the first teat. The processor is further configured to increment a counter associated with the first teat and then determine whether the counter equals a predetermined number. If the counter equals the predetermined number, the processor commands the robotic arm to attach a teat cup to the first teat. If the counter does not equal the predetermined number, the processor determines whether the first teat is found in a second scan by the laser. If the first teat is found in the second scan, the processor commands the robotic arm to attach the teat cup to the first teat.

MOBILE MILKING ROBOT WITH MINIMAL FOOTPRINT

Disclosed is a system for treating dairy livestock having fore legs and hind legs, wherein the system comprises a milking parlor ramp, livestock stalls positioned along at least part of the milking parlor ramp, wherein each stall is configured to contain one dairy livestock, at least one vertical upright teat cup holder comprising teat cups and a mobile unit. The mobile unit comprises equipment for treating livestock and a processor, where the mobile unit is configured to travel between the fore legs and hind legs of the dairy livestock on the milking parlor ramp and use the equipment to perform at least one action related to a treatment of the dairy livestock. Also disclosed is that the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock. 131-. (canceled)32. A system for treating dairy livestock having fore legs and hind legs comprising:a ramp;livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;at least one vertical upright teat cup holder comprising teat cups and at least one flap for covering the teat cups;a mobile unit comprising travel between the fore legs and hind legs of the dairy livestock on the ramp; and', 'use the equipment to perform at least one action related to a treatment of the dairy livestock; and, 'equipment for treating livestock and a processor, the mobile unit configured towherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock.33. The system according to claim 32 , wherein the ramp is a rotary milking parlor ramp.34. The system according to claim 32 , wherein the ramp is a parallel milking parlor ramp.35. The system according to claim 34 , wherein the system includes two parallel ramps or more.36. The system according to claim 32 , further comprising a parking area configured to ...

MILKING SYSTEM COMPRISING A MILKING CUP WITH A SENSOR AND A POWER SUPPLY

A milking system for milking a dairy animal includes a milking cup to be attached to a teat of the dairy animal and milking the milk, and an electronic component. The electronic component includes a sensor which is arranged in or on the milking cup for measuring a value of a variable related to the milking, a transmitter for transmitting the measured values, and a power supply for supplying the sensor and/or the transmitter with electrical energy. The power supply may include an inductive power supply with a first coil component and a second coil component, where the first coil component and the electronic component are electrically connected to each other, and where the second coil component is electrically directly connectable to an external source of electrical energy. The milking system also includes a fastening means which holds the first coil component and the second coil component together. 1: A milking system for milking a dairy animal , comprising:a milking cup to be attached to a teat of the dairy animal and milking milk from the dairy animal, andan electronic component with a sensor which is arranged in or on the milking cup for measuring a value of a variable related to the milking, a transmitter for transmitting the measured values, and a power supply for supplying the sensor and/or the transmitter with electrical energy,wherein the power supply comprises an inductive power supply with a first coil component and a second coil component,wherein the first coil component and the electronic component are electrically connected to each other in a direct and fixed manner, and wherein the second coil component is electrically directly connectable to an external source of electrical energy,wherein the milking system furthermore comprises a fastening means which holds the first coil component and the second coil component together, even during milking.2: The milking system as claimed in claim 1 , wherein the fastening means is detachable by a user in order to ...

AUTOMATED MILKING SYSTEM SAFETY VALVE ARRANGEMENT

A safety valve arrangement and method, having an upstream block valve, a downstream block valve, and a pressure monitored galley between the upstream valve and the downstream valve. 1. A teat dip applicator valve assembly comprising:a teat dip fluid conduit defining a flow path having a first end and a second end;a first valve at the first end of the flow path and having an open position and a closed position;a second valve at the second end of the flow path and having an open position and a closed position; anda pressure monitor in communication with the flow path to determine fluid pressure in the flow path.2. The teat dip applicator valve assembly of claim 1 , wherein the pressure monitor is set to react to a predetermined fluid pressure.3. The teat dip applicator valve assembly of claim 1 , wherein the pressure monitor generates data corresponding to fluid pressure in the flow path claim 1 , and the valve assembly further comprises:a controller that compares the data to a predetermined flow channel pressure range and generates a signal if the data comparison indicates that the data is outside of the predetermined range.4. The teat dip applicator valve assembly of claim 1 , and further comprising:a fluid source in fluid communication with the flow path when the first valve is in the closed position, and the second valve is in the closed position.5. The teat dip applicator valve assembly of claim 1 , wherein the flow channel is open when the first valve is in the open position and the second valve is in the open position.6. The teat dip applicator valve assembly of claim 1 , wherein the pressure monitor generates a signal corresponding to valve performance.7. The teat dip applicator valve assembly of claim 1 , wherein the flow channel receives fluid through the first valve and emits fluid through the second valve.8. The teat dip applicator valve assembly of claim 1 , wherein the first valve is an upstream valve.9. The teat dip applicator valve assembly of claim 1 ...

SYSTEM AND METHOD FOR ANALYZING DATA CAPTURED BY A THREE-DIMENSIONAL CAMERA

A system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first and second edge of a dairy livestock. The first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock. The second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock. The processor calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge. A robotic attacher moves toward the udder of the dairy livestock based at least in part upon the calculated reference point. 1. A system , comprising:a three-dimensional camera that captures visual data associated with a dairy livestock; determines a first edge of the dairy livestock based at least in part upon the visual data, wherein the first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock;', 'determines a second edge of the dairy livestock based at least in part upon the visual data, wherein the second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock; and', 'calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge; and, 'a processor communicatively coupled to the three-dimensional camera, wherein the processora robotic attacher that moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.2. The system of claim 1 , wherein the visual data comprises a plurality of pixels and the processor determines at least one edge of the dairy livestock by comparing depth locations of the plurality of pixels to each other.3. The system of claim 1 , wherein the visual data comprises a plurality of pixels and the processor determines at least one ...

MILKING BOX WITH ROBOTIC ATTACHER AND VISION SYSTEM

A system includes a robotic attacher comprising a main arm and a supplemental arm operable to extend into a stall portion of a milking box. A camera couples to the supplemental arm. The supplemental arm comprises a camera-facing nozzle operable to spray the camera with a cleanser. 1. A milking system , comprising: a main arm; and', 'a supplemental arm, the supplemental arm operable to extend into a stall portion of a milking box;, 'a robotic attacher comprisinga camera coupled to the supplemental arm; anda camera-facing nozzle coupled to the supplemental arm and operable to spray the camera with a cleanser.2. The system of claim 1 , wherein the camera comprises a two-dimensional camera coupled to a gripping portion of the supplemental arm.3. The system of claim 1 , wherein the camera comprises a protective layer in front of a lens of the camera and the camera-facing nozzle sprays the cleanser on the protective layer.4. The system of claim 1 , further comprising a controller that is programmed to communicate a signal instructing the camera-facing nozzle to spray the camera with cleanser.5. The system of claim 4 , wherein the controller is programmed to communicate the signal in response to determining that a milking cycle has been completed.7. The system of claim 6 , wherein the two-dimensional camera includes a transmitter operable to transmit a two-dimensional signal at a fixed angle and a lens operable to receive a reflection of the two-dimensional signal.8. The system of claim 7 , wherein the fixed angle comprises an upward angle between substantially 5 and 35 degrees relative to an x-axis of the arm. This application is a continuation application of pending U.S. patent application Ser. No. 13/448,882 entitled “Milking Box with Robotic Attacher and Vision System”, filed Apr. 17, 2012 which is a continuation-in-part application of pending U.S. patent application Ser. No. 13/095,983 entitled “Milking Box with Robotic Attacher”, filed Apr. 28, 2011, which is now U.S ...

MILKING SYSTEM

A milking system for milking of a milk animal, including a milking cup for obtaining the milk, the milking cup having a teat space with a first milk outflow opening, and a measuring chamber directly and rigidly connected to the milking cup for at least temporarily containing the obtained milk. The measuring chamber is provided with a milk inflow opening which is in flow communication with the first milk outflow opening, a second milk outflow opening, a vacuum outlet, and a sensor device for measuring a property of the milk in the measuring chamber. The sensor device includes an optical sensor device having a plurality of optical sensor elements, at least one light source, and a control unit which is configured to process sensor signals into values of at least two parameters of the milk in the measuring chamber. 1. A milking system for milking a dairy animal , comprising:a milking cup for obtaining milk from the dairy animal, with a teat space having a first milk outflow opening,a measuring chamber directly and rigidly connected to the milking cup for at least temporarily containing the obtained milk and provided with a milk inflow opening which is in flow communication with a first milk outflow opening, a second milk outflow opening, a vacuum outlet which is connectable, to a reduced-pressure pump, and a sensor device for measuring a property of the milk in the measuring chamber,wherein a flow path of the milk runs from the first milk outflow opening via the milk inflow opening through the measuring chamber to the second milk outflow opening,wherein the sensor device comprises an optical sensor device having a plurality of optical sensor elements and at least one light source configured to shine light via at least a part of the milk onto the sensor elements and to generate sensor signals therein, further comprising a control unit which is configured to process the sensor signals into values of at least two different parameters of the milk in the measuring chamber, ...

Method for operating a milking plant

In order to avoid negative changes in the teat ends of a cow, in particular to avoid hyperkeratoses, the invention proposes a method for operating a milking system in which at least one of the parameters from total pressure per cycle, minimum total pressure per cycle or the ratio of total suction to total pressure is determined for at least one animal of a herd during at least one part of a milking process, and is compared with at least one reference value. 1. A method for operating a milking system , the method comprising the steps of:determining at least one parameter from the group consisting of: total pressure per cycle, minimum total pressure per cycle and the ratio of total suction to total pressure for at least one animal of a herd during at least one part of a milking process andcomparing the parameter to at least one reference value.2. The method of claim 1 , in which the total pressure per cycle is determined using a value from the group consisting of: an arithmetic claim 1 , geometric and harmonic mean value.3. The method of claim 1 , in which the cycle comprises at least one milking process.4. The method of claim 1 , in which the reference value for the parameter total pressure per cycle lies between 5 kPa's and 11 kPas.5. The method of claim 1 , in which the reference value for the parameter minimum total pressure per cycle lies between 5 kPa's and 9 kPas.6. The method of claim 1 , in which the reference value for the ratio of total suction to total pressure lies between 2 and 5.7. The method of claim 1 , and further comprising the step of:changing a fold-in pressure of at least one teat liner.8. The method of claim 1 , and further comprising the step of:changing at least one operating parameter of a pulsator.9. The method of claim 1 , and further comprising the step of:changing a level of vacuum in the area of a teat end in the milking cup.10. The method of claim 1 , and further comprising the step of:changing the variation of the vacuum in the area of ...

Arrangement of milking box stalls

A system includes an equipment portion and a plurality of milking box stalls arranged adjacent to the equipment portion. Each of the milking box stalls is of a size sufficient to accommodate a dairy livestock. The system further includes a robotic attacher housed in the equipment portion and configured to service each of the plurality of milking box stalls at different times. The robotic attacher has a gripping portion with a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.

SYSTEM AND METHOD FOR TREATING LIVESTOCK

A system and method for treating livestock may include a ramp for containing dairy livestock and one or more mobile units configured to travel on the ramp, below the dairy livestock, and perform at least one action related to a treatment of the livestock. A mobile unit may be adapted to travel to a predefined location within a stall, and attach a milking equipment unit to a cow in the stall. A plurality of mobile units and a central management unit may be configured to dynamically cause at least some of the plurality of mobile units to each perform a portion of a treatment or task. 1. A system for treating dairy livestock having fore legs and hind legs , the system comprising: a plurality of adjacent milking stations positioned around said annular driven milking platform;', 'at least one teat cup holder positioned between two adjacent milking stations, wherein said teat cup holder comprises teat cups;, 'a milking parlor comprising an annular rotary driven milking platform configured to rotate and providing a support surface for livestock to stand during milking or treatment, wherein said annular rotary driven milking platform further comprises a guide rail track positioned along at least a portion of the support surface of the milking platform; and', travel along a predefined path defined by said guide rail track, wherein said predefined path is at least partially defined between the fore legs and hind legs of the dairy livestock standing at adjacent milking stations; and', 'use said treatment unit to perform at least one action related to a treatment of the dairy livestock;', 'wherein the treatment unit includes an arm configured to remove the teat cups from the teat cup holder and connect them to the dairy livestock; and, 'at least one mobile unit positioned on said guide rail track and comprising means for enabling mobility of the mobile unit, a treatment unit for treating livestock and a processor for automatically controlling, communicating and executing ...

System and method for filtering data captured by a 2d camera

A system comprises a memory operable to store light intensity information for a plurality of neighboring pixels of an image that includes a dairy livestock. The system further comprises a processor communicatively coupled to the memory. The processor determine that a difference between the light intensity information for a first pixel of the plurality of neighboring pixels and at least some of the other neighboring pixels exceeds a threshold. The processor further discards the first pixel and determines a location of a teat of the dairy livestock based on the image, excluding the discarded pixel.

System for high performance, ai-based dairy herd management and disease detection

Systems and methods for detecting udder disease based on machine learning methods and complementary supporting techniques are presented. Included are methods for assembling time sequences of images of each animal of a herd or set for subsequent use in per-animal image analysis for disease detection. Methods presented also include image pre-processing methods used prior to image analysis, resulting in contrast and resolution optimization such as appropriate image intensity level adjust wilt and resolution down sampling for more rapid and more accurate disease detection. Combinatorial techniques for compositing whole-udder images or udder-quarter images from partial images captures are described. Methods are provided for power usage optimization in regard to computing resources used in the computing-intensive AI analysis methods. Location-based and animal history-based detection refinements are incorporated into described systems. Further presented are methods for multi-modal and multi-factor detection of udder disease, as well as methods for infection type classification.

LIP MEMBER, A TEATCUP LINER AND A TEATCUP

A lip member of a teatcup liner for a teatcup includes a first end () turned towards an udder of an animal to be milked; a second end () turned away from the udder; a longitudinal center axis (x) extending through the first end and the second end; an annular base () extending around the longitudinal center axis; and a lip () with a lip edge () defining an opening for receiving a teat of the animal, the lip extending inwardly from the annular base towards the longitudinal center axis to the lip edge and having an oscillating shape with a plurality of oscillations seen radially from the longitudinal center axis, each oscillation including a peak portion () and valley portion (), where the lip, at least in the rest state, slopes from the annular base towards the second end. 115-. (canceled)163. A lip member of a teatcup liner , the lip member () comprising:{'b': '3', 'i': 'a', 'a first end () that in use is turned towards an udder (U) of an animal to be milked;'}{'b': '3', 'i': 'b', 'a second end () that in use is turned away from the udder (U);'}{'b': 3', '3, 'i': a', 'b, 'a longitudinal center axis (x) extending through the first end () and through the second end ();'}{'b': '60', 'an annular base () extending around the longitudinal center axis (x);'}{'b': 65', '3', '60, 'i': 'a', 'an annular end surface () provided at the first end () on an end of the annular base (); and'}{'b': 61', '65', '62, 'a lip () extending from the annular end surface () and terminating with a lip edge () that defines an opening for receiving a teat (T) of the animal to be milked,'}{'b': 65', '3', '61', '65', '65', '3, 'i': 'b', 'wherein, in at least a rest state, the lip extends inwardly towards the longitudinal center axis (x) and downwardly from the annular end surface () toward the second end () with no part of the lip () projecting beyond the annular end surface () such that the annular end surface () defines an uppermost end of the lip member (), and'}{'b': 61', '63', '64, 'wherein the ...

POSITION-DETERMINING DEVICE

A position-determining device, and a milking device, that determines a relative position of an object and includes a 3D time-of-flight camera with a 2D arrangement of pixels configured to repeatedly record an image of a space. A control unit is connected and includes an image-processing device. The 3D time-of-flight camera has a controllable light source and is configured to record a 2D image by means of reflected emitted light and collect distance information. The image-processing device is configured to recognize an object in the 2D image using image-processing criteria and determine distance information and relative position by analysing the 2D image and the distance information. Due to the fact that distance information, which is often much more noisy than 2D brightness information, can be determined with far fewer image points, the position is determined more quickly and reliably. 2. The position-determining device according to claim 1 , wherein the image-processing device is configured to determine a subset of the possible object in the 2D image as only 1 pixel.3. The position-determining device according to claim 1 , wherein the image-processing device is configured to determine the subset of the possible object in the 2D image as precisely 2 or 3 pixels.4. The position-determining device according to claim 1 , wherein the 2D arrangement of pixels also comprises colour pixels claim 1 , wherein the 3D time-of-flight camera is configured to record a colour image of the space.5. The position-determining device according to claim 1 , wherein the image-processing device is configured to determine distance information for each of the possible objects for an associated subset of pixels if it recognises several different sets of pixels of the recorded image as possible objects claim 1 , and is furthermore configured to classify the possible objects on the basis of the determined distance information according to a predetermined classification criterion.6. A position- ...

MILKING SYSTEM

A milking system includes an automatic robotic milking device having a control unit, and is configured to milk a dairy animal fully automatically to form a milking. The system also includes a milk treatment device connected to the milking device for receiving and treating the milked milk of the milking. The milking device includes an animal identification device which is operatively connected to the control unit for identifying the dairy animal and comprises an animal database with information about at least the composition of the milk from the dairy animal, and/or a milk sensor device which is operatively connected to the control unit for collecting information about the composition of the milked milk. The milk treatment device is connected to the control unit and includes a standardization device which is configured to standardize a fat content and/or a protein content of the milk of the milking. 1. A milking system , comprising:an automatic robotic milking device having a control unit, the milking device being configured to milk a dairy animal fully automatically to form a milking, anda milk treatment device connected to the milking device for receiving and treating milked milk of the milking, an animal identification device which is operatively connected to the control unit for identifying the dairy animal, the identification device comprising an animal database with information about at least a composition of the milk from the dairy animal, and/or', 'a milk sensor device operatively connected to the control unit for collecting information about the composition of the milked milk,, 'wherein the milking device further compriseswherein the milk treatment device is connected to the control unit for receiving said information, and the milk treatment device comprises a standardization device which is configured to standardize a fat content and/or a protein content of the milk of the milking,wherein the milk treatment device controls the standardization device in ...

A milking cluster for milking an animal

There is provided a milking cluster (102) for milking an animal, the milking cluster comprising a plurality of teat cups (1) connected to a clawpiece (106). The clawpiece comprises a plurality of milk inlets that are connected to the plurality of teat cups via respective short milk tubes (11). A milk flow passageway begins at the barrel of the teat cup and ends at the clawbowl of the clawpiece, and a valve system is present within each milk flow passageway. The valve system comprises a first pressure-actuated valve through which milk flowing along the milk flow passageway must pass.

Milking system and method

Disclosed herein is a method of milking a cow using a milking cup of the type including a shell and a flexible liner, said liner including a hollow bore for receiving an animal's teat at a top end thereof, and for being connected to a vacuum source at the lower end thereof; the liner and shell being disposed relative to one another to create a pulsation volume between them in which fluid pressure can be controlled in order to control a pressure differential across the liner between its bore and the pulsation volume to thereby control movement of the liner and the application of air pressure to the animal's teat, the method including: Applying a vacuum to the lower end of the liner; Modulating the pressure in the pulsation volume according to a pulsation cycle to cause a milking operation on a teat of an animal that is inserted into the top end of the bore; said modulation including an “on” phase in which the vacuum applied to the liner bore is less than a vacuum applied to the pulsation volume to thereby enable milk flow from the teat, and an “off” phase in which the pulsation volume is at an increased pressure relative to the “on” phase to close the liner bore to thereby stop milk flow from the teat, said modulation including applying positive pressure to the pulsation volume to apply compressive load to the teat wherein the pulsation cycle has a duration of less than 1 second.

MILKING BOX WITH ROBOTIC ATTACHER

A system includes a milking box and a robotic attacher. The milking box has a stall to accommodate a dairy livestock. The robotic attacher extends under the dairy livestock and comprises a nozzle. The robotic attacher is operable to rotate such that, during a first operation, the nozzle is positioned generally on the bottom of the robotic attacher, and during a second operation, the nozzle is positioned generally on the top of the robotic attacher. 1. A system , comprising:a milking box having a stall to accommodate a dairy livestock;a robotic attacher operable to extend under the dairy livestock, the robotic attacher comprising a nozzle and operable to rotate such that, during a first operation, the nozzle is positioned generally on the bottom of the robotic attacher, and during a second operation, the nozzle is positioned generally on the top of the robotic attacher.2. The system of claim 1 , wherein the milking box comprises a front wall and a rear wall opposite the front wall claim 1 , and the robotic attacher is positioned adjacent the rear wall and operable to extend between the hind legs of the dairy livestock.3. The system of claim 2 , wherein the milking box comprises a side wall between the front wall and a rear wall claim 2 , the side wall comprising an entrance gate and an exit gate claim 2 , and the system further comprising a controller operable to control the opening and closing of the entrance gate and the exit gate.4. The system of claim 2 , wherein the milking box comprises:a first side wall extending between a front wall and a rear wall, the first side wall comprising an entrance gate; anda second side wall extending between the front wall and the rear wall, the second side wall comprising an exit gate;the system further comprising a controller operable to control the opening and closing of the entrance gate and the exit gate.5. The system of claim 2 , wherein the milking box comprises:a first side wall extending between the front wall and the ...

METHODS AND SYSTEMS FOR DETECTION AND TRACKING OF MASTITIS IN DAIRY CATTLE

A method for identifying mastitis in a dairy animal, the method including the steps of: (i) identifying a dairy animal suspected of being affected by mastitis; (ii) collecting a sample of milk from the identified dairy animal; (iii) analyzing the sample for the presence of one or more mastitic bacteria; (iv) analyzing the sample for the presence of one or more mastitic pathogens; (v) identifying, if the presence of one or more mastitic bacteria is indicated, the mastitic bacteria in the sample; and (vi) determining, based on the identified mastitic bacteria in the sample, a management decision for the dairy animal. 1. A computerized method for identifying a management outcome for a dairy animal , the method comprising the steps of:identifying a dairy animal suspected of being affected by mastitis;tagging the identified dairy animal with a tag comprising a unique identifier;collecting a sample of milk from the identified dairy animal, wherein the sample of milk is coded to be associated with the dairy animal's unique identifier;associating, using a herd management computing device in communication with a herd management database, the tag with the collected sample;analyzing the sample for the presence of one or more mastitic bacteria;identifying, if the presence of one or more mastitic bacteria is indicated, the mastitic bacteria present in the sample;providing the results of the analyzing and/or identifying step to the herd management computing device; andidentifying, using the herd management computing device and based at least in part on the identified mastitic bacteria in the sample, a management outcome for the dairy animal.2. The method of claim 1 , wherein the tag comprises a GPS receiver claim 1 , an RFID tag claim 1 , and/or a Bluetooth transponder.3. The method of claim 1 , wherein the sample is analyzed using PCR analysis.4. The method of claim 1 , wherein said first analyzing step comprises analysis of the collected sample using PCR analysis comprising a ...

Device for milking animals

A device for milking animals including a plurality of milking stations, wherein each milking station includes a milk collecting container and a displacing mechanism for displacing liquid from the milk collecting container. The milk collecting container (is connected to a first discharge line and to a second discharge line, a second central milk line is connected to the second discharge line for leading milk from a plurality of milking stations to a collective liquid discharge and further includes a line cleaning device connected to the second central milk line for cleaning at least the second central milk line with a cleaning liquid, wherein the connection of the line cleaning device with the second central milk line is located at least equally far from the liquid discharge as the connection of a second discharge line with the second central milk line.

Robotic attacher and method of operation

A method of operating a robotic attacher, includes suspending a robotic attacher from a rail and extending the robotic attacher between the legs of a dairy livestock. The method continues by attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method concludes by rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.

AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK

A spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The plurality of spray nozzles are coupled to the linear member. 1. A system for applying a substance to the teats of a dairy livestock , comprising:a robotic arm operable to extend between the legs of a dairy livestock; a linear member that rotates about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of the dairy livestock;', 'a first spray nozzle coupled to the linear member proximate a first end of the linear member; and', 'a second spray nozzle coupled to the linear member proximate a second end of the linear member;, 'a spray tool coupled to the robotic arm and operable to discharge a substance to at least some of the teats of a dairy livestock, wherein the spray tool compriseswherein the first and second spray nozzles discharge the substance in a substantially circular pattern as the linear member rotates about the axis; anda controller operable to control the movement of the robotic arm and to determine whether to operate the spray tool.2. The system of claim 1 , wherein the linear member is positioned parallel to a length of the robotic arm when the robotic arm is extended between the legs of the dairy livestock.3. The system of claim 2 , wherein the first and second spray nozzles discharge the substance with a spray coverage area that is wide enough to cover each of four teats of the dairy livestock.4. The system of claim 2 , wherein the robotic arm is operable to extend between the hind legs of a dairy livestock.5. The system of claim 2 , wherein ...

System and method of attaching cups to a dairy animal

A robotic attacher retrieves cups from the left side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.

MILKING APPARATUS AND A METHOD FOR PRESENTING A TEAT CUP FOR ATTACHING TO AN ANIMAL

A rotary milking platform () includes a plurality of apparatus, each having a platform () which forms a segment of the rotary platform (). The platforms () define respective animal accommodating locations () for animals to be milked. A communicating opening () in each platform () is closed by a pair of closure plates () which are pivotal upwardly into an open state for separating the hind legs of an animal. A carriage () which is slideably carried beneath the platform () of each apparatus () in the directions of the arrows A and B. A teat cup carrier () is pivotally mounted in the carriage () of each apparatus () and is pivotal from a first state with teat cups () in the carrier () in a protective state extending horizontally and a second state with the teat cups () in a ready state extending vertically upwardly and ready for manual placement onto the teats of an animal. The carriage () is urgeable into a first position with the teat cup carrier () in the first state and with the teat cups () sealably engaged in plug elements () which include jetters () for use in rinsing and washing the milking system. The carriage () is moveable from the first position to a second position with the teat cup carrier () substantially aligned with the udder of an animal so that when the teat cup carrier () is urged into the second state, the teat cups () can be manually urged upwardly by hand and attached to the teat of the animal. 1. Apparatus for presenting a teat cup for attaching to a teat of an animal to be milked , the apparatus comprising a support means adapted for mounting beneath an upwardly facing major surface of a platform on which an animal stands during milking thereof , and a teat cup carrier for holding the teat cup , the teat cup carrier being mounted on the support means and being adapted for holding the teat cup beneath the animal in a ready state with the teat cup ready to be urged upwardly from the teat cup carrier for attaching to the teat of the animal.2. ...

Means and methods for free dome range

The present invention discloses a free dome range (FDR) where dairy animals have a free access to their stall to concurrently eat and to be milked. The FDR comprises a plurality of stalls; at least one of said stalls is characterized by a front side and rear opposite side into which a dairy animal is at least temporarily accommodated, head fronting said front side; a plurality of main living areas (MLAs); at least one of said MLAs is in connection with at least one of said stalls by means a plurality of gates. The FDR further comprising a substantially horizontally positioned elevated rail system comprising a plurality of elevated rails, and a plurality of mobile milking units (MMUs), each of said MMUs is configured to transport on said elevated rail to a dairy animal at its stall, and milk the animal while it is eating.

Dairy Harvesting Facility with Milk Line Protection System and Methods

Apparatus and methods for a dairy harvesting facility including valves and valve assemblies that prevent contaminants from reaching a central milk collection system. 1. A dairy animal milking apparatus comprising:a milking stall for receiving a dairy animal;a milker unit having a plurality of teat cups, each teat cup for receiving a respective teat of the dairy animal;a teat wash conduit in fluid communication with at least one teat cup;a teat wash valve assembly in communication with the teat wash conduit, and movable between a teat wash position and a closed milking position;a box wash conduit in fluid communication with the milker unit;a box wash valve assembly in communication with the box wash conduit, and movable between a box wash position and a closed milking position;a clean-in-place conduit in fluid communication with the milker unit;a clean-in-place dispenser assembly in fluid communication with the milker unit and movable between a clean-in-place position and a closed milking position;a milk conduit in fluid communication with the milker unit;a good milk valve assembly in fluid communication with the milk conduit, and movable between an open position for passing good milk and a closed position;a calf milk valve assembly in fluid communication with the milker unit, and movable between an open position for passing calf milk and a closed position;a bad milk valve assembly in fluid communication with the milker unit, and movable between an open position for passing bad milk and a closed position;a controller for opening and closing the teat wash valve assembly and the box wash valve assembly to control; teat washing, box washing, clean-in-place washing, and milking; andfor opening and closing the good milk valve assembly, the calf milk valve assembly, and the bad milk valve assembly to control the flows of good milk, calf milk, and bad milk in response to a milk factor.2. The apparatus of claim 1 , wherein the milk factor includes a milking time factor.3. ...

AUTOMATED CLUSTER REMOVER

A system includes a cylinder and a piston that moves within the cylinder from a retracted position to an extended position. A vacuum port facilitates application of a vacuum pressure to the cylinder that results in a vacuum force being applied to the piston, which causes the piston to move toward a top end of the cylinder to the retracted position. A spring member applies a spring force to the piston when the piston is in the retracted position. The spring force offsets at least a portion of the vacuum force. A sensor generates a displacement signal in response to detecting movement of the piston from the retracted position toward the extended position. A control unit receives the displacement signal generated by the sensor and generates a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to the vacuum port. 1. A system , comprising:a cylinder;a piston positioned within the cylinder, the piston operable to move within the cylinder from a retracted position to an extended position;a vacuum port facilitating application of a vacuum pressure to the cylinder, the vacuum pressure resulting in a vacuum force being applied to the piston, the vacuum force causing the piston to move toward a top end of the cylinder to the retracted position;a spring member configured to apply a spring force to the piston when the piston is in the retracted position, the spring force offsetting at least a portion of the vacuum force;a sensor operable to generate a displacement signal in response to detecting movement of the piston from the retracted position toward the extended position, and receive the displacement signal generated by the sensor;', 'generate, in response to receiving the displacement signal, a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to the vacuum port, the valve control signal causing the valve to move from a first position in which the vacuum pressure is ...

SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE

A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock. 1. A method , comprising:housing a dairy livestock in a stall portion of a milking box;retrieving, by a robotic attacher, a cup; attaching the cup to the teat;', 'detaching the cup from the teat; and', 'maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock; and, 'for each of a plurality of teats of a dairy livestock, using the robotic arm to perform the steps ofretracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.2. The method of claim 1 , wherein the cup comprises a preparation cup.3. The method of claim 1 , wherein the cup comprises a teat cup.4. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of right front teat claim 1 , left front teat claim 1 , left rear teat claim 1 , and right rear teat.5. The method of claim 4 , wherein retrieving the cup comprises retrieving the cup from the left side of an equipment area of the milking box.6. The method of claim 1 , wherein the attaching and detaching steps are performed in a sequence of left front teat claim 1 , right front teat claim 1 , right rear teat claim ...

MULTIPLE CELL VOLUNTARY MILKING METHOD AND SYSTEM, COMPRISING A MOBILE MILKING ROBOT HAVING A MINIMAL FOOTPRINT

A voluntary milking system and method for treating dairy livestock having fore legs and hind legs, wherein the system comprises milking stalls voluntarily accessible to animals that are milked by mobile units configured to travel between the fore and hind legs of the animal. 1. Voluntary livestock milking system comprising:a plurality of voluntarily accessible milking stalls for holding dairy livestock, wherein the dairy livestock freely roam in an area outside the milking stalls and enter the milking stalls, without human intervention, for milking;vertical upright teat cup holders comprising teat cups, which are part of the milking stalls and are connected directly to the main milk-line; and [ travel between the fore legs and hind legs of the dairy livestock; and', 'use the equipment to perform at least one action related to a treatment of the dairy livestock;, 'equipment for treating livestock and a processor, wherein the mobile unit is configured to, 'wherein the equipment includes an arm configured to withdraw the teat cups from the vertical teat cup holder and connect them to the dairy livestock., 'at least one mobile unit comprising2. The system according to claim 1 , wherein the milking stalls in the plurality of milking stalls are adjacent to one another claim 1 , and wherein each milking stall is voluntarily accessible claim 1 , not depending on the occupancy of any of the other adjacent milking stalls.3. The system according to claim 1 , wherein the milking stall has a front end and a rear end and wherein the milking stall is designed for the animal to enter and exit the milking stall from the rear end.4. The system according to claim 3 , wherein the milking stall is wide enough for the animal to rotate within the milking stall in order to exit the milking stall from the rear end.5. The system according to claim 3 , wherein the milking stall is designed for the animal to back out of the rear end of the milking stall in order to exit the milking stall.6. ...

METHOD AND APPARATUS FOR MONITORING A MILKING PROCESS

A method of monitoring a milking process by a milking apparatus that includes a teatcup with a pulsation space and an airline to deliver varying levels of pressure to the pulsation space. The method includes: measuring airflow within the airline to obtain an indication of volume of displaced air within the pulsation space; comparing the volume with a reference value; and determining a connection parameter, indicating how the teatcup is connected to the teat, based on the comparison. The displaced air volume correlates to the extent the teat protrudes into the teatcup, thus providing information on how the teatcup is connected. Also provided is a milking system incorporating the method. 1. A method of monitoring a milking process , the milking process performed by a milking apparatus including at least one teatcup configured to receive a teat of a milking animal and at least one airline configured to deliver varying levels of pressure to the teatcup , the method including the steps of:measuring airflow within the airline using a flow sensor to obtain an indication of volume of displaced air within the teatcup;comparing the indication of volume with a reference value; anddetermining a connection parameter relating to an extent of connection between the teat and the teatcup based on the comparison.2. The method of claim 1 , wherein an indication of a length of the teat protruding into the teatcup is determined on the basis of the connection parameter.3. The method of claim 1 , wherein disconnection of the teatcup from the teat is determined on the basis of the connection parameter.4. The method of claim 1 , wherein improper connection of the teatcup to the teat is determined on the basis of the connection parameter.5. The method of claim 1 , wherein the reference value is obtained by measuring airflow when the teatcup is not connected to the teat.6. The method of claim 1 , wherein the indication of volume is obtained by measuring airflow over a predetermined time ...

MILKING DEVICE

A milking device including a base frame, a functional frame coupled to the base frame and configured to move relative to the base frame with a teat detector and at least one milking cup holder with a milking cup to move relative to the milking cup holder. The functional frame can be filled relative to the base frame through an angle around at least one horizontal tilting axis transversely to a connection line between the teat detector and the milking cup holder. There may be two horizontal tilting axes, and consequently the functional frame can be subjected to a combination of a primary tilting movement and a secondary tilting movement. It is then possible to adjust an optimal level for the functional frame, and also an optimal mutual height relation of the teat detector and the milking cup in the milking cup holder. 115-. (canceled)16. A milking device comprising:a base frame;a functional frame coupled to the base frame and moveable relative to the base frame, including teat detection means and at least one milking cup holder with a milking cup moveable relative to the milking cup holder; andtilting means for tilting of the functional frame relative to the base frame through an angle around at least one horizontal tilting axis transversely to a connection line between the teat detection means and the milking cup holder.17. The milking device as claimed in claim 16 , wherein the tilting means is configured to vary claim 16 , by the tilting of the functional frame relative to the base frame claim 16 , a level of the functional frame as a whole with respect to the base frame claim 16 , and wherein the tilting axis traverses the base frame and is situated outside the functional frame.18. The milking device as claimed in claim 16 , wherein the tilting axis traverses the functional frame at a position between a section of the functional frame where the teat detection means is located and a section of the functional frame where the milking cup holder is located.19. The ...

AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK

A method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm. 1. A method for operating a robotic arm , comprising:determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock;moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform;extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm; andretracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.2. The method of claim 1 , further comprising discharging a substance to at least some of the teats of the dairy ...

MILK TANK SYSTEM, INTERMEDIATE MILK STORAGE VESSEL FOR THIS, MILKING SYSTEM FOR THIS, AND METHOD FOR CLEANING THIS

A milk tank system includes a first holder configured for intermediate storage of milk from several milkings of a milking device, and not being a milk glass; a second holder for storage of milk from the first holder; a transport device for transporting milk including a milk line from the first holder to the second holder, via which milk line the second holder may be brought into fluidic connection with the first holder, and a shut-off for shutting off the fluidic connection, in particular from the first holder to the milk line, wherein the transport device has a first operating state which is configured for collecting milk in the first holder, and a second operating state which is configured for transferring the milk from the first holder to the second holder, wherein the milk tank system further includes a control system for switching the transport device from the first to the second operating state when the milk in the first holder reaches a switching milk level which changes over time. Because the pumping of the milk from the intermediate milk storage vessel does not always begin at the same or comparable maximum milk level, but preferably at an ever increasing level, potentially caking milk residue is always rinsed away on a subsequent filling.

AN ANIMAL FEEDING ARRANGEMENT

An animal feeding arrangement includes feed supply station (), configured to house feed therein, a fence () that surrounds the feed supply station () and an area () adjacent to the feed supply station (), a gate (), arranged in the fence () and movable between an open state and a closed state, at least one autonomous mobile feed wagon (), configured to receive feed from the feed supply station () and to deliver the feed to an animal feeding station () located outside said fence (), and at least one feed loading device (), configured to load feed housed in the feed supply station () into the feed wagon (). The feed wagon () includes a coupling device () configured to temporarily couple the feed wagon () to the feed loading device and enabling the feed wagon () to move the feed loading device. 1. An animal feeding arrangement comprising:{'b': '1', 'a feed supply station () configured to house feed therein;'}{'b': 2', '1', '3', '1, 'a fence () that surrounds the feed supply station () and an area () adjacent to the feed supply station ();'}{'b': 4', '2, 'a gate () arranged in the fence () and movable between an open state and a closed state;'}{'b': 7', '8, 'at least one feed loading device (, ); and'}{'b': 5', '5', '9', '5', '7', '8, 'at least one autonomous mobile feed wagon (), the at least one autonomous mobile feed wagon () comprising a coupling device () configured to temporarily couple the at least one autonomous mobile feed wagon () to the least one feed loading device (, ),'}{'b': 5', '7', '8', '9', '5', '7', '8', '1, 'wherein, with the at least one autonomous mobile feed wagon () temporarily coupled to the least one feed loading device (, ) via the coupling device (), the at least one autonomous mobile feed wagon () is enabled to move the least one feed loading device (, ) to the feed supply station (),'}{'b': 5', '7', '8', '9', '7', '8', '1', '7', '8', '1', '5', '5', '7', '8, 'wherein, with the at least one autonomous mobile feed wagon () temporarily coupled ...

MILKING SYSTEM

A milking system includes a milking device, and a milk storage system having: a temporary milk storage vessel for temporarily storing milk from a plurality of milking operations, a milk pipe from the milking device to the temporary milk storage vessel, a milk tank for storing the milk from the temporary milk storage vessel, a control unit, a main milk pipe from the temporary milk storage vessel to the milk tank, a pressurized liquid supply which is controllable by the control unit and is provided and configured to supply a pressurized liquid, other than milk, to the milk storage system, a first and a second discharge provided on the main milk pipe, a selection device which is controllable by the control unit and is on the main milk pipe towards the first discharge or the second discharge, wherein the control unit is configured to perform a milk transferring action for transferring milk in the main milk pipe into the milk tank with the aid of the pressurized liquid, wherein the liquid transferring action includes bringing the pressurized liquid supply and the first discharge into liquid connection with the main milk pipe, and breaking a liquid connection of the main milk pipe with the second discharge, allowing an amount of pressurized liquid to flow under pressure from the pressurized liquid supply into the main milk pipe, and breaking the liquid connection between the main milk pipe and the first discharge. Transferring the milk in this way means that it is subjected to less mechanical load and mixed with less air, which benefits the quality. The invention also provides a temporary milk storage vessel and method of this type. 1. A milking system , comprising:at least one milking device; anda milk storage system, a temporary milk storage vessel configured to temporarily store milk from a plurality of milking operations of the at least one milking device;', 'at least one milk pipe connected to the temporary milk storage vessel for supplying milk from the one or more ...

ARRANGEMENT AND METHOD FOR A MILKING SYSTEM

A combined teat position and breeding rating determining arrangement for a milking system having a milking stall, a movable robot arm for automatically attaching teat cups to the teats of the milking animal, and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement includes a three-dimensional camera directed towards the udder of the milking animal that repeatedly records three-dimensional images of the udder, and a processing unit that repeatedly detects the udder or teats of the milking animal, determines their positions based on the recorded three-dimensional images, automatically determines the shapes of the udder or teats based on the repeatedly recorded three-dimensional images, and automatically calculates a breeding rating based on the determined shapes of the udder or teats of the milking animal. 129-. (canceled)303581511191921. A combined teat position and breeding rating determining method for a milking system () comprising a milking stall () that houses a milking animal () during milking of the milking animal , a movable robot arm () that automatically attaches teat cups () to teats of the milking animal in the milking stall , and a control device () that controls movement of said robot arm based on determined positions of the teats of the milking animal , the control device () including a processing part () , said method comprising:{'b': 42', '21', '41, 'a recording step of automatically and repeatedly recording () three-dimensional images of the milking animal in real time by a three-dimensional camera () directed () towards the udder of the milking animal in the milking stall;'}{'b': '4', "a position determination step of the processing part repeatedly and automatically detecting and determining one of the group consisting of i) the udder of the milking animal and the udder's position, and ii) the teats of the milking animal and teat () positions, based on said ...

SYSTEM AND METHOD FOR MILKING STALL ASSIGNMENT USING REAL-TIME LOCATION

A system comprises a memory and a processor. The memory stores information about a milking stall where a dairy livestock is located at a first time, and a coordinate location of the dairy livestock at a second time. The processor is communicatively coupled to the memory and determines if the coordinate location of the dairy livestock at the second time is different than the milking stall where the dairy livestock is located at the first time. If the coordinate location where the dairy livestock is located at the second time is not the milking stall, the processor generates an error flag associated with the dairy livestock. 1. A system for milking stall assignment , comprising: first location information associated with a dairy livestock, the first location information comprising a coordinate location of the dairy livestock within a milking parlor at a first time; and', 'second location information associated with the dairy livestock, the second location information comprising a coordinate location of the dairy livestock within the milking parlor at a second time;', 'and, 'a memory that stores analyzes the first location information to identify a milking stall in which the dairy livestock is located at the first time;', 'assigns the dairy livestock to the milking stall in which the dairy cow is located at the first time;', 'analyzes the stored second location information to identify a milking stall in which the dairy livestock is located at the second time;', 'determines whether the milking stall in which the dairy livestock is located at the second time is the milking stall assigned to the dairy livestock; and', 'if the milking stall in which the dairy livestock is located at the second time is not the milking stall assigned to the dairy livestock, generates an error flag associated with the dairy livestock., 'a processor communicatively coupled to the memory and that2. The system of claim 1 , wherein the first location information is generated by a real-time ...

Method, Control, Message Receipt Module, Data Message Format and Network Protocol for Farm System

The present invention relates to a method for controlling devices within an agricultural network system via a network bus such as a physical network bus or a logical network bus, wherein the devices are controlled by means of control information which is transmitted to the devices by means of messages comprising a content and a header title, the method comprising steps for:—determining a function for performing thereof by a device in the network,—determining the content of a message to be transmitted,—compiling header title information for inclusion thereof in a header title for the message to be transmitted, wherein—the header title information comprises a predetermined number of data fields, such as preferably a network identifier, a device type designation, a function designation, a location designation and/or a group designation, for the purpose of determining on the basis of compliance with one or more of these data fields which device or devices receive(s) the message. 1. Method for controlling devices within an agricultural network system via a network bus , wherein the devices are controlled by means of control information which is transmitted to the devices by messages comprising a content and a header title , the method comprising:determining a function for performing thereof by a device in the network,determining the content of a message to be transmitted; andcompiling header title information for inclusion thereof in a header title for the message to be transmitted; whereinthe header title information comprises a predetermined number of data fields for the purpose of determining on the basis of compliance with one or more of these data fields which device or devices receive(s) the message.2. Method as claimed in claim 1 , wherein a first type of data field claim 1 , a type field claim 1 , relates to a type of device connected to the network bus claim 1 , wherein the type may have an overlap with networks claim 1 , functions claim 1 , locations claim 1 , ...

AUTOMATED CLUSTER REMOVER

A method comprises receiving a displacement signal generated by a sensor, the displacement signal generated by the sensor in response to detecting movement of a piston from a retracted position in a cylinder toward an extended position in the cylinder. The method further comprises generating, in response to receiving the displacement signal, a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to a vacuum port of the cylinder. The valve control signal causes the valve to move from a first position in which a vacuum pressure is applied to the cylinder via the vacuum port to a second position in which atmospheric pressure is applied to the cylinder via the vacuum port. 1. A method , comprising:receiving a displacement signal generated by a sensor, the displacement signal generated by the sensor in response to detecting movement of a piston from a retracted position in a cylinder toward an extended position in the cylinder;generating, in response to receiving the displacement signal, a first valve control signal to be communicated to a first valve located on a first vacuum line connecting a vacuum source to a vacuum port of the cylinder, the first valve control signal causing the first valve to move from a first position in which a vacuum pressure is applied to the cylinder via the vacuum port to a second position in which atmospheric pressure is applied to the cylinder via the vacuum port; andgenerating, in response to receiving the displacement signal, a second valve control signal to be communicated to a second valve located on a second vacuum line connecting the vacuum source to a cluster control valve, the second valve control signal causing the second valve to move from a second position in which atmospheric pressure is supplied to the second vacuum line to a first position in which a vacuum pressure is supplied to the second vacuum line.2. The method of claim 1 , wherein:the cluster control valve is located on ...