WO2002007505A1 - Procede et appareil de traite d'animaux - Google Patents

Procede et appareil de traite d'animaux Download PDF

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Publication number
WO2002007505A1
WO2002007505A1 PCT/SE2001/001549 SE0101549W WO0207505A1 WO 2002007505 A1 WO2002007505 A1 WO 2002007505A1 SE 0101549 W SE0101549 W SE 0101549W WO 0207505 A1 WO0207505 A1 WO 0207505A1
Authority
WO
WIPO (PCT)
Prior art keywords
teat
milking
animal
time
teats
Prior art date
Application number
PCT/SE2001/001549
Other languages
English (en)
Inventor
Martin SJÖLUND
Original Assignee
Delaval Holding Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Priority to AU2001268002A priority Critical patent/AU2001268002A1/en
Publication of WO2002007505A1 publication Critical patent/WO2002007505A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/12—Milking stations
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/007—Monitoring milking processes; Control or regulation of milking machines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters

Definitions

  • the present invention relates to a method and an apparatus for automatically milking an animal and to an automatic milking system comprising said method and/or apparatus.
  • a cluster of teat cups is applied to a animal's udder, a pulsating pneumatic or vacuum source is applied to the teat cups to effect milking, and the resulting milk is drawn by a vacuum from the cluster to a milk collecting tank.
  • EP 0 728 412 describes a milking method where the milking of the rear udder quarters are started before the milking of the fore udder quarters since the rear udder quarters can supply more milk than the fore ones .
  • a drawback with said method is that in order to be efficient enough said rear udder quarters must contain more milk than the fore udder quarters which may not always be the case.
  • An advantage with the present invention is that the order of cleaning the teats, attaching the teat cups and milking the udder quarters is dependent on which animal is going to be milked which will render the milking procedure more effective.
  • Another advantage of a preferred embodiment of the present invention is that the order of cleaning the teats, attaching the teat cups and milking the udder quarters is dependent not only on which animal is to be milked, but also at which point of time said milking is going to take place which will render the milking procedure even more efficient .
  • Yet another advantage of a preferred embodiment of the present invention is that the milking procedure can easily be adapted so that all udder quarters can be emptied at the same time in the most time efficient way to minimise handling time and maximise efficiency.
  • Fig. 1 shows a schematic teat versus time diagram when milking a milking animal according to a prior art technique.
  • Fig. 2 shows a schematic teat versus time diagram when milking a milking animal according to a first embodiment of the present invention.
  • Fig. 3 shows a schematic teat versus time diagram when milking a milking animal according to a second embodiment of the present invention.
  • Fig. 4 shows a plan view of an animal and its teats in a milking booth.
  • Fig. 1 shows a teat versus time diagram according to a prior art technique, which will be described hereinafter for the sake of clarification of the present invention only.
  • a vertical axis represents the different teats with its corresponding udder quarters which are marked with different reference numerals 10, 12, 14, 16 representing the specific order of the teats in Fig. 4.
  • a left fore udder quarters is indicated with reference numeral 10
  • a right fore udder quarters is indicated with reference numeral 12
  • a right rear udder quarters is represented with reference numeral 14
  • a left rear udder quarters is represented with reference numeral 16.
  • a robot arm 206 (Fig. 4) collects a cleaning cup 207 with which one teat after the other is cleaned.
  • the order in which the teats in this specific example are cleaned is 10, 12, 14, 16, where each said number represents a specific teat as described above.
  • Application of teat cups starts when cleaning is finished.
  • a travel time Tr represents a time for the robot arm 206 to put back the cleaning cup and pick up a teat cup. As soon as the first teat cup is connected to the first teat 10 the milking of that teat commences .
  • the robot arm 206 collects the second teat cup and connects it to the second teat 12, then collects the third teat cup and connects it to the third teat 14 and then collects the fourth teat cup and connects it to the fourth teat 16.
  • the milking of teats 12, 14 and 16 commences as soon as the teat cups are connected to the corresponding teat.
  • the application of the teat cups, the milking procedure of the teat 10, 12, 14, 16 and travel time of the robot arm 206 is represented with a certain time A on the horizontal time axis.
  • the time A for teat 14 is considerably more time consuming compared to the time A for the other teats.
  • the time it takes to milk said teat 14 will affect to total milking time Tl of said animal .
  • Fig. 2 shows a schematic teat versus time diagram according to a first embodiment of the present invention.
  • the cleaning procedure is performed as described in connection with Fig. 1.
  • the first teat cup is connected to the teat with the longest expected milking time.
  • the teat with the longest expected milking time in Fig. 2 is teat 14.
  • the order in which the following teat cups are attached depends on their influence on the total milking time T2. If the expected milking times of the other three teats are equal, the order does not affect the total milking time of the animal and the connection of the teat cup may be done in any order.
  • the order to connect them in order to save time should be in decreasing milking time, i.e. starting to connect the teat cup to the teat with the longest expected milking time, thereafter connecting the teat cup to the teat with the second longest expected milking time, thereafter the third longest and fourth longest expected milking time.
  • Fig. 3 shows a schematic teat versus time diagram according to a second embodiment of the present invention.
  • both the cleaning procedure and the milking procedure are changed as compared to the prior art as described in connection with Fig. 1.
  • the total milking time T3 according to this second embodiment of the present invention is shorter compared to the total milking time T2 in the first embodiment of the present invention.
  • two or three teats may be cleaned and having their teat cups attached before the remaining teats are cleaned.
  • the order in which the remaining teat cups shall be connected depends on the expected total milking time associated with each of them.
  • the order in which the teats 10, 12, 14, 16 are cleaned and milked in order to achieve the most efficient milking at a first milking event, for example in the morning, according to either the first or the second embodiment of the present invention, may well be changed at a later milking event the same day.
  • the sequence of cleaning and milking the teats does not only change over a day, but may also change over a longer time perspective, for example lactation period, summer and winter, etc.
  • the expected milking time for the specific animal and the specific teat is therefore strongly dependent on when milking takes place. The calculation of the expected milking time takes account of these differences.
  • the data stored in the data base could be used to empty all udder quarters at the same time.
  • Fig. 4 shows a plan view of an animal and its teats in a milking booth 201 comprising a robot arm, cleaning cup 207 and teat cups 208.
  • a milking booth 201 comprising a robot arm, cleaning cup 207 and teat cups 208.
  • each teat of the animal is given a specific reference numeral 10, 12, 14, 16 for the sake of clarification of the present invention only.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Zoology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Investigating Or Analysing Biological Materials (AREA)
  • Cleaning In General (AREA)

Abstract

La présente invention concerne un procédé de traite automatique d'un animal et une machine de traite automatique comprenant un moyen d'identification destiné à identifier l'animal à traire, un moyen de localisation permettant de localiser une mamelle sélectionnée, un moyen lié à la mamelle et un bras robot conçu pour saisir le moyen lié à la mamelle et pour appliquer ce moyen sur la mamelle sélectionnée. Les informations relatives à la date/heure associées à l'application et au fonctionnement du moyen lié à la mamelle sont mémorisées dans une base de données en étant associées à l'identité de l'animal. La mamelle sélectionnée et les informations liées à la date/heure d'une traite précédente sont utilisées permettent de déterminer l'ordre de sélection des mamelles.
PCT/SE2001/001549 2000-07-26 2001-07-04 Procede et appareil de traite d'animaux WO2002007505A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2001268002A AU2001268002A1 (en) 2000-07-26 2001-07-04 A method and an apparatus for milking animals

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0002772-2 2000-07-26
SE0002772A SE516961C2 (sv) 2000-07-26 2000-07-26 Förfarande och anordning för spenkoppspåsättning

Publications (1)

Publication Number Publication Date
WO2002007505A1 true WO2002007505A1 (fr) 2002-01-31

Family

ID=20280591

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2001/001549 WO2002007505A1 (fr) 2000-07-26 2001-07-04 Procede et appareil de traite d'animaux

Country Status (3)

Country Link
AU (1) AU2001268002A1 (fr)
SE (1) SE516961C2 (fr)
WO (1) WO2002007505A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008051134A1 (fr) * 2006-10-23 2008-05-02 Delaval Holding Ab Dispositifs et procédé d'un système de traite
WO2014142728A1 (fr) * 2013-02-06 2014-09-18 Delaval Holding Ab Procédé et appareil de traitement de pis
WO2014148972A1 (fr) * 2013-02-06 2014-09-25 Delaval Holding Ab Procédé et appareil de traitement de pis
US9549534B2 (en) 2008-08-29 2017-01-24 Delaval Holding Ab Method for milking, computer program product, and milking system
EP2138034B2 (fr) † 2008-06-26 2017-07-05 Lely Patent N.V. Procédé de nettoyage de tétine et dispositif de nettoyage de tétine et dispositif de traite automatique

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0728412A1 (fr) * 1995-02-24 1996-08-28 Maasland N.V. Dispositif de traite d'animaux
WO1999027770A1 (fr) * 1997-11-28 1999-06-10 Maasland N.V. Dispositif pour traire des animaux
WO2000011933A1 (fr) * 1998-08-31 2000-03-09 Delaval Holding Ab Procede et appareil de nettoyage des trayons du pis de betes laitieres

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0728412A1 (fr) * 1995-02-24 1996-08-28 Maasland N.V. Dispositif de traite d'animaux
WO1999027770A1 (fr) * 1997-11-28 1999-06-10 Maasland N.V. Dispositif pour traire des animaux
WO2000011933A1 (fr) * 1998-08-31 2000-03-09 Delaval Holding Ab Procede et appareil de nettoyage des trayons du pis de betes laitieres

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008051134A1 (fr) * 2006-10-23 2008-05-02 Delaval Holding Ab Dispositifs et procédé d'un système de traite
US7992519B2 (en) 2006-10-23 2011-08-09 Delaval Holding Ab Arrangement and method in a milking system
EP2138034B2 (fr) † 2008-06-26 2017-07-05 Lely Patent N.V. Procédé de nettoyage de tétine et dispositif de nettoyage de tétine et dispositif de traite automatique
US9549534B2 (en) 2008-08-29 2017-01-24 Delaval Holding Ab Method for milking, computer program product, and milking system
WO2014142728A1 (fr) * 2013-02-06 2014-09-18 Delaval Holding Ab Procédé et appareil de traitement de pis
WO2014148972A1 (fr) * 2013-02-06 2014-09-25 Delaval Holding Ab Procédé et appareil de traitement de pis
CN104968195A (zh) * 2013-02-06 2015-10-07 利拉伐控股有限公司 奶头处理方法和设备
CN104968194A (zh) * 2013-02-06 2015-10-07 利拉伐控股有限公司 奶头处理方法和装置
AU2014230058B2 (en) * 2013-02-06 2016-10-20 Delaval Holding Ab Teat treatment method and apparatus
AU2014238531B2 (en) * 2013-02-06 2016-12-15 Delaval Holding Ab Teat treatment method and apparatus
US9770007B2 (en) 2013-02-06 2017-09-26 Delaval Holding Ab Teat treatment method and apparatus
US9826709B2 (en) 2013-02-06 2017-11-28 Delaval Holding Ab Teat treatment method and apparatus

Also Published As

Publication number Publication date
SE516961C2 (sv) 2002-03-26
SE0002772L (sv) 2002-01-27
SE0002772D0 (sv) 2000-07-26
AU2001268002A1 (en) 2002-02-05

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