WO2023113688A1

WO2023113688A1 - Milking installation and method for milking

Info

Publication number: WO2023113688A1
Application number: PCT/SE2022/051193
Authority: WO
Inventors: Robert Jensen; Martin Palmqvist; Boris PEROVIC; Leonid RUDENKO; Johan Ter WEELE
Original assignee: Delaval Holding Ab
Priority date: 2021-12-17
Filing date: 2022-12-16
Publication date: 2023-06-22
Also published as: EP4447656A1

Abstract

The disclosure concerns a milking installation (2) configured to milk a group (4) of animals (6). The milking installation (2) comprises a number of milking positions (8) configured to milk one animal (6) at a time, a holding area (10), a collecting area (12) arranged adjacent to the holding area (10), and a movable barrier (14). Each milking position (8) is arranged with direct access from the holding area (10). The movable barrier (14) is arranged to move along the collecting area (12) in a first direction (16) towards the holding area (10). A one¬ way gate system (18) is arranged between the collecting area (12) and the holding area (10) and configured for passage of animals (6) from the collecting area (12) into the holding area (10).

Description

Milking Installation and Method for Milking

TECHNICAL FIELD

The invention relates to a milking installation configured to milk a group of animals and to a method for milking a group of animals.

BACKGROUND

Animals, such as cows, may be milked in a milking installation comprising several milking positions for individual milking of an animal. At each milking position there is provided milking equipment for drawing milk from the teats of the animal. Typically, the animals are admitted to the milking installation in groups. The milking positions may be stationary or may be provided on a platform which is rotated such that animals can enter respective milking positions at an entrance location and be milked whilst being conveyed around on the platform to an exit location where the milked animal can leave the platform.

Also known is a milking installation including at least one automatic milking system, AMS, i.e. , a system wherein animals are milked fully automatically without any direct human supervision of the milking process. Animals can on a voluntary basis enter a milking position of the AMS, have teat cups automatically attached to their teats e.g., by a robot arm, and be milked. Feedstuff may be supplied to the animal in the AMS e.g., to lure the animal into the AMS and the milking position. An AMS may provide an efficient manner of milking a suitably sized group of animals.

However, it has been found that animal behaviour e.g., due to herd hierarchy and pecking order within a group of animals and the time spent for animals to reach or to be brought to a milking position can sometimes interfere with efficient operation of the milking installation and reduce its capacity in terms of the number of milkings achieved per day. Therefore, a milking installation where milking is performed on a fully voluntary basis may not be optimal in every instance.

WO 2008/003341 discloses a milking installation that includes a rotary platform for transporting animals to fully automated milking stalls. The animals are allowed to board the rotating platform at a loading zone and to disembark the platform at an available milking stall under the control of gates located around the platform. EP 3214923 discloses a device for automatically milking fluid from udders of animals of a herd of cows in a time-specifiable manner. The device contains a plurality of milking robots arranged on a base for automatically milking animals, wherein each milking robot has an inlet and an outlet and a milking cluster that can be automatically attached to the udder of an animal. The device further comprises a fenced waiting area located upstream of the inlets of the milking robots for the animals of a herd to be milked. The waiting area has an entrance for manually delivering the animals to the waiting area. The device has an animal driver unit for automatically herding animals located in the waiting area to the inlets of respective milking robots that are becoming available.

Thus, solutions are known, which are aimed at utilising a number of milking positions in an efficient manner.

SUMMARY

The applicant has found that there still is room for enhancement of the utilisation of milking positions of a milking installation.

Accordingly, it would be advantageous to provide a milking installation configured for enhanced utilisation of its milking positions. In particular, it would be desirable to enable a group of animals to efficiently access milking positions in order to be milked therein. To better address one or more of these concerns, a milking installation and/or a method having the features defined in the independent claims is/are provided.

According to an aspect of the invention, there is provided a milking installation configured to milk a group of animals. The milking installation comprises a number of milking positions configured to milk one animal at a time, a holding area, a collecting area arranged adjacent to the holding area, and a movable barrier. Each milking position of the number of milking positions is arranged with direct access from the holding area. The movable barrier is arranged to move along the collecting area in a first direction towards the holding area. A one-way gate system is arranged between the collecting area and the holding area and configured for passage of animals from the collecting area into the holding area.

Since each milking position is arranged with direct access from the holding area, since the milking installation comprises the collecting area and the movable barrier is arranged to move along the collecting area towards the holding area, and since the one-way gate system is arranged between the collecting area and the holding area and configured for passage of animals from the collecting area into the holding area, the milking installation is configured for a group of animals in the collecting area to be driven by the movable barrier into the holding area from where the animals have direct access to the milking positions and cannot return to the collecting area. Accordingly, the milking installation is configured to ensure that an entire group of animals enters the holding area in order to therefrom individually enter the milking positions for being milked therein. Thus, a milking installation configured for an efficient access of animals to the milking positions is provided.

The milking installation renders it straightforward to steer the milking animals in a manner that results in a high overall utilization of the milking positions. Namely, the movable barrier increases the throughput of animals in the collecting area. The movable barrier also allows for a new group of animals to enter the collecting area without mixing with the present group passing into the holding area. Thus, the new group of animals may be introduced into the collecting area and kept standby for entering the holding area until the previous group has left the holding area (via the milking positions). Accordingly, a total vacancy time of the milking positions may be reduced. Moreover, by avoiding mixing of groups in the collecting area, the overall stress level of the animals can be kept relatively low because no animal needs to encounter an unknown animal in the limited space represented by the colleting area.

The milking installation may be a milking installation arranged in a farm building or underneath a protective roofing structure e.g., in connection with a pasture area.

The milking installation is configured to milk one group of animals at a time. In this context a group of animals may be formed by animals living together as a constellation over a longer period of time. A farm may keep its animals in a number of such groups. Each group is kept together and handled as one entity e.g., during feeding, milking, etc. Changes may be made in the constellation of the group by adding and/or subtracting one or a few animal individuals.

The animals are milk producing animals such as cows, sheep, or goats. The milking positions are configured to milk the particular kind of animal. For instance, each milking position comprises a relevant number of teat cups for the particular kind of animal.

Each milking position of the number of milking positions is configured to milk one animal at a time. Accordingly, each milking position comprises at least two teat cups, a vacuum connection for supplying vacuum to the teat cups, and at least one milk conduit for conducting milk from the milking position. Optionally, one or more of the milking positions may comprise one or more of a feed trough, a milk sensor, a milk receiver, and/or other equipment to be utilised in the handling and milking of animals, analysing milk, conducting milking, and directing milk to different containers, etc.

The holding area is an area wherefrom the animals of a group of animals is intended to enter the milking positions. Each animal of the group of animals may enter the milking positions voluntarily from the holding area.

As mentioned above, each milking position is arranged with direct access from the holding area. Herein, the term “direct access” means that an animal leaving the holding area will be able to enter an unoccupied milking position without deviation or interruption. That is, the animal leaving the holding area will either immediately set foot in the unoccupied milking position or an unobstructed passageway will lead the animal to the unoccupied milking position. Such an unobstructed passageway only leads to one milking position of the number of milking positions.

An urging member may be provided in the holding area, see further below.

The collecting area is an area in which the group of animals is held, or into which the group of animals is driven, prior to passing into the holding area. Accordingly, the collecting area is an area arranged for guiding and/or assembling and/or accommodating a group of animals to be passed into the holding area.

As mentioned above, the collecting area is arranged adjacent to the holding area i.e., no area is arranged between the collecting area and the holding area.

The movable barrier forms a barrier that cannot be passed by animals. It is arranged at a therefore suitable height in the collecting area. Accordingly, as the movable barrier moves along the collecting area in the first direction towards the holding area, animals in the collecting area or driven towards the one-way gate system and into the holding area.

Suitably, the movable barrier is also moveable in a direction opposite to the first direction in order to return the movable barrier to a starting position for driving a new group of animals towards the one-way gate and the holding area.

The movable barrier may also be moveable in a vertical direction. Accordingly, when the movable barrier has reached a position close to the one-way gate system and all animals of a first group of animals within the collecting area have been driven into the holding area, the movable barrier may be raised before being returned its starting position. Thus, the movable barrier may be moved above a second group of animals residing in the collecting area behind the movable barrier.

The moveable barrier is sometimes referred to as a crowd gate.

The milking positions of the number of milking positions may be arranged along one or more sides of the holding area.

The one-way gate system may have any suitable form permitting the passing of the animals from the collecting area into the holding area and preventing the animals in the holding area from returning to the collecting area. The one-way gate system may comprise one or more gates or gate members that open in a direction from the collecting area towards the holding area to form one or more passages from the collecting area into the holding area. The oneway gate system may include one or more stationary portions, such as posts or fence portions that do not open.

According to embodiments, the milking installation may comprise at least one robot arm configured to attach teat cups to the teats of an animal. The at least one robot arm may be associated with at least one milking position of the number of milking positions. In this manner, the milking installation may be automated for the purpose of attaching teat cups to the teats of the animals of the group of animals.

One robot arm may be associated with each milking position and configured to attach teat cups to each animal entering the relevant milking position. Alternatively, one robot arm may be associated with two adjacent milking positions and configured to attached teat cups to each animal entering the relevant milking position. If the robot arm is occupied with attaching teat cups in one milking position, an animal entering the other milking position has to wait before the teat cups are attached to its teats.

The robot arm may be configured to assist in further animal related tasks, such as teat cleaning and teat disinfecting.

According to embodiments, the one-way gate system may form at least two paths for animals from the collecting area into the holding area. The two paths may be arranged in parallel with each other. In this manner, more than one animal at a time may pass from the collecting area into the holding area i.e. , more than one animal may pass simultaneously from the collecting area into the holding area. This provides an efficient transfer of animals from the collecting area into the holding area.

According to embodiments, the holding area may be configured for the group of animals to move freely therein. In this manner, the individual animals within the group of animals may move freely within the holding area e.g., in order to enter milking positions as they become available at different portions of the holding area and/or for animals within the group to avoid one another. The latter may be the case for low ranked animals within the group of animals. Namely, within a group of animals such as cows, a strict hierarchy exists.

It may also be noted that the free movement of the animals within the holding area in combination with each milking position being arranged with direct access from the holding area entails that lower ranked animals within the group have a fair chance of finding an available milking position without being hindered by higher ranked animals of the group.

According to embodiments, the milking installation may comprise a gate arranged in the holding area, the gate being configured to divide the holding area into a first partial holding area and a second partial holding area. A first milking position of the number of milking positions may be arranged adjacent to the first partial holding area and a second milking position of the number of milking positions may be arranged adjacent to the second partial holding area. In this manner, animals within the holding area may reach the first milking position from the first partial holding area and the second milking position from the second partial holding area. Thus, animals within the holding area may access a milking position from each of the first and second partial holding areas.

This may be utilised for example, for keeping groups of animals separate from each other within the holding area while providing access to milking positions for the animals within each group, for handling milked milk and/or animals in the first milking position differently than in the second milking position, and/or for directing animals differently from the first and second partial holding areas after having passed through the respective first and second milking positions.

According to a further aspect of the invention, there is provided a method for milking a group of animals in a number of milking positions, the method comprising steps of:

- receiving the group of animals in a collecting area, - moving a movable barrier along the collecting area in a first direction towards a holding area, each milking position of the number of milking positions being arranged with direct access from the holding area,

- transferring the group of animals from the collecting area into the holding area via a oneway gate system, and

- milking animals of the group of animals individually at the milking positions.

Since the movable barrier is moved along the collecting area in the first direction towards the holding area, the animals of the group of animals are driven towards the holding area to ensure the transferring of the entire group of animals into the holding area, while the one-way gate system ensures that the animals do not return back to the collecting area but instead, from the holding area, individually access the milking positions to be milked therein.

Accordingly, the method ensures that an entire group of animals in the collecting area enters the holding area in order to therefrom individually enter the milking positions for being milked therein. Thus, a method for milking a group of animals is provided, in accordance with which the animals efficiently access the milking positions.

Similarly to the milking installation, the method renders it straightforward to steer the milking animals in a manner that results in a high overall utilization of the milking positions. Namely, the movable barrier increases the throughput of animals in the collecting area. The movable barrier also allows for a new group of animals to enter the collecting area without mixing with the present group passing into the holding area.

The method may be performed in a milking installation according to aspects and/or embodiments discussed herein.

According to embodiments, the step of milking animals of the group of animals individually at the milking positions may comprise a step of:

- attaching teat cups to the teats of individual animals of the group of animals at each milking position utilising at least one robot arm. In this manner, the method may be performed fully automatically without any direct human supervision of the milking process.

Further features of, and advantages with, the invention will become apparent when studying the appended claims and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects and/or embodiments of the invention, including its particular features and advantages, will be readily understood from the example embodiments discussed in the following detailed description and the accompanying drawings, in which:

Fig. 1 schematically illustrates a top view of a milking installation according to embodiments, Figs. 2a and 2b schematically illustrate a milking installation according to embodiments, Figs. 3a and 3b illustrate a collecting area and a moveable barrier according to embodiments,

Figs. 4a and 4b illustrates a one-way gate system according to embodiments,

Fig. 5 illustrates first, second, third and fourth stall areas connected to a milking installation, Figs. 6a and 6b schematically illustrate milking equipment of a milking installation, Fig. 7 illustrates a control arrangement for controlling a milking installation, and Fig. 8 illustrates embodiments of a method for milking of a group of animals.

DETAILED DESCRIPTION

Aspects and/or embodiments of the invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and/or clarity.

Fig. 1 schematically illustrates a top view of a milking installation 2 according to embodiments.

The milking installation 2 is configured to milk a group 4 of animals 6. This is also referred to as batchwise milking of animals 6. The group 4 of animals 6 is handled as one entity and as such e.g., presented for milking in the milking installation 2. As will be explained below with reference to Fig. 5, a number of groups of animals to be milked may be located in particular stall areas between milkings in the milking installation 2.

The milking installation 2 comprises a number of milking positions 8 configured to milk one animal 6 at a time, a holding area 10, a collecting area 12 arranged adjacent to the holding area 10, and a movable barrier 14.

The milking installation 2 is configured for a group 4 of animals 6 in the collecting area 12 to be driven by the movable barrier 14 into the holding area 10 from where the animals 6 cannot return to the collecting area 12. In the illustrated embodiments the number of milking positions 8 is 14 but any suitable number of milking positions 8 may alternatively be provided, such as > 4 milking positions. The number of milking positions 8 may be determined e.g., by one or more of the number of animals per group, the number of groups to be milked in the milking installation 2, a desired throughput of animals in the milking installation 2, available space at a farm facility, etc. Theoretically, the higher the number of milking positions 8, the higher the milking capacity of the milking installation 2.

The number of animals in a group is larger than the number of milking positions 8.

Each milking position 8 of the number of milking positions 8 is arranged with direct access from the holding area 10. That is, the milking positions 8 adjoin the holding area 10 for the individual animals 6 in the group 4 of animals 6 to access the milking positions 8. For instance, the milking positions 8 are arranged along one or more sides of the holding area 10.

Each milking position 8 is configured to milk one animal 6 at a time.

The holding area 10 forms an area wherein the animals 6 may freely move around, and from where the animals 6 enter the milking positions 8 as they are, or become, available.

Also, due to the possibility to move freely within the holding area 10, low ranked animals 6 within the group 4 stand a fair chance of finding an available milking position 8 without being hindered by higher ranked animals.

From the holding area 10, the animals 6 have direct access to the milking positions 8 i.e. , an animal 6, when leaving the holding area 10, will immediately access one of the milking positions 8, if it is unoccupied.

The collecting area 12 is arranged to receive one or more group/s 4 of animals 6, which group/s 4 is/are about to be milked at the milking positions 8. The collecting area 12 as such forms an intermediate space which the animals 4 have to pass in order to reach the holding area 10 and the milking positions 8.

The movable barrier 14 is arranged to move along the collecting area 12 in a first direction 16 towards the holding area 10. The movable barrier 14 is further discussed below with reference to Figs. 3a and 3b. The presence of the collecting area 12 and guiding a group 4 of animals via the collecting area 12 on their way to the holding area 10 provides control over separate groups of animals within a farm location, or within part of a farm location, as the groups are transferred for being milked in the milking installation 2. Since the movable barrier 14 is provided in the collecting area 12 it is ensured that all animals within the collecting area 12, on a side of the movable barrier 14 facing the holding area 10, will pass into the holding area 10 from wherein they have free access to the milking positions 8. Meanwhile, a new group of animals may be transferred towards or into the collecting area 12 ready for subsequent passing into the holding area 10 once milking of the previous group has been finished.

Without the collecting area 12 and the movable barrier 14 therein, one would have to wait until all animals 6 have voluntarily entered the holding area 10 or manually drive the animals 6 into the holding area 10, which would reduce the throughput of animals in the milking installation 2 and/or be laboursome.

The milking installation 2 further comprises a one-way gate system 18. The one-way gate system 18 is arranged between the collecting area 12 and the holding area 10. The one-way gate system 18 is configured for passage of animals 6 from the collecting area 12 into the holding area 10. That is, the one-way gate system 18 is configured for the animals 16 to pass it in the first direction 16.

As any one-way gate system, the one-way gate system 18 allows passage of the one-way gate system 18 in one direction and prevents passage of the one-way gate system 18 in an opposite direction.

The one-way gate system 18 may be any suitable one-way gate system. Example embodiments of the one-way gate system 18 are discussed below with reference to Figs. 4a and 4b.

The collecting area 12 may have a substantially rectangular shape. The one-way gate system 18 may extend along one side of the rectangularly shaped collecting area 12.

The holding area 10 has one side arranged adjacent to the collecting area 12. Accordingly, the one-way gate system 18 may extend also along one side of the holding area 10. At a starting position of the movable barrier 14, before being moved in the first direction 16, it is arranged at a side portion of the collecting area 12 opposite to the one-way gate system 18.

A width W of the collecting area 12 extends in a direction perpendicularly to the first direction 16. According to embodiments, the movable barrier 14 may extend across substantially the entire width W of the collecting area 12. In this manner, it may be ensured that no animals escape the movable barrier 14 as it moves in the first direction 16 to drive animals 6 from the collecting area 12 into the holding area 10.

The one-way gate system 18 has a longitudinal extension perpendicularly to the first direction 16. According to embodiments, the width W of the collecting area 12 may be substantially equal to the longitudinal extension of the one-way gate system 18. In this manner, a plurality of animals 6 may pass simultaneously the one-way gate system 18 along the entire width W of the collecting area 12.

The milking installation 2 may comprise an exit passage 20, which is connected to each milking position 8 of the number of milking positions 8. The exit passage 20 allows the individual animals in the group 4 of animals 6 to leave the milking positions 8 after having been milked without re-entering the holding area 10 or the collecting area 12.

This means that, an entry side of each milking position 8 faces the holding area 10 and an exit side of each milking position 8 faces the exit passage 20.

The exit passage 20 may lead to a number of stall areas for groups of animals, as discussed below with reference to Fig. 5.

Figs. 2a and 2b schematically illustrate a milking installation 2 according to embodiments. Fig. 2a shows a top view of the milking installation 2. Fig. 2b shows part perspective view and part angled top view of the milking installation 2. These embodiments resemble in much the embodiments of Fig. 1. Accordingly, in the following mainly the differences will be discussed.

Again, the milking installation 2 is configured to milk a group 4 of animals 6 and comprises a number of milking positions 8, a holding area 10, a collecting area 12, a movable barrier 14, and a one-way gate system 18. Again, the holding area 10 forms an area wherein the animals 6 may freely move around, and from where the animals 6 enter the milking positions 8 as they are, or become, available.

Accordingly, again, each animal 6 of the group 4 of animals 6 may enter the milking positions 8 voluntarily from the holding area 10.

In these embodiments, the milking installation 2 comprises a gate 22 arranged in the holding area 10. The gate 22 is configured to divide the holding area 10 into a first partial holding area 101 and a second partial holding area 102.

A first milking position 81 of the number of milking positions 8 is arranged adjacent to the first partial holding area 101 and a second milking position 82 of the number of milking positions 8 is arranged adjacent to the second partial holding area 102.

Further milking positions 8 of the same or similar kind to the first milking position 81 may be arranged adjacent to the first partial holding area 101. Similarly, further milking positions 8 of the same or similar kind to the second milking position 82 may be arranged adjacent to the second partial holding area 102.

Accordingly, animals 6 within the first partial holding area 101 have access to the first milking position 81 and further milking positions 8 arranged adjacent to the first partial holding area 101. Animals 6 within the second partial holding area 102 have access to the second milking position 82 and further milking positions 8 arranged adjacent to the second partial holding area 102.

The gate 22 has an open position and a closed position, as indicated in Fig. 2b with one half of the gate 22 in the open position and the other half of the gate 22 in the closed position. Animals may move freely within the holding area 10 when the gate 22 is open. Animals 6 within the second partial holding area 102 may be prevented from entering the first holding area 101 when the gate 22 is in its closed position.

The dividing of the holding area 10 into the first and second partial holding areas 101, 102 may be utilised for keeping groups 4 of animals 6 separate from each other within the holding area 10 while providing access to milking positions 8 for the animals 6 within each group 4, as discussed below in the context of an urging member 24 in the holding area 10. Optionally, the embodiments comprising the gate 22, may comprise an urging member 24. Accordingly, the milking installation 2 may comprise a movable urging member 24. The urging member 24 is arranged to pass along the first partial holding area 101 in a direction towards the gate 22 and the second partial holding area 102.

After having permitted the animals 6 to move freely around the holding area 10 for a period of time with the gate 22 open to voluntarily enter the milking positions 8 as they are, or become, available, the urging member 24 may be moved towards the gate 22 to drive animals remaining within the first partial holding area 101 into the second partition holding area 102. Thereafter, the gate 22 is closed. The first partial holding area 101 now is ready for receiving a new group of the animals while the animals 6 of the previous group 4 are milked in the milking positions 8, 82 accessible from the second partial holding area 102.

The urging member 24 may be a separate urging member configured to be used in the holding area 10 only, as shown in Fig. 2a. The urging member 24 may be raised and lowered similarly to the movable barrier 14 as discussed below with reference to Figs. 3a and 3b.

Alternatively, the movable barrier 14 may be used as the urging member. In such embodiments, the movable barrier 14 is configured to pass the one-way gate system 18 to be utilised as the urging member 24 in the first partial holding area 101. This may be the case in the embodiments shown in Fig. 2b.

The first and second milking positions 81, 82 may be of different kinds, as discussed below with reference to Figs. 6a and 6b. Accordingly, animals 6 and/or the milk milked from animals 6 in the first milking position 81 may be handled differently than animals 6 and/or the milk milked from animals 6 in the second milking position 82. For instance, milk extracted from different animal individuals may be processed in accordance with different schemes.

Such different handling of animals 6 in first and second milking positions 81 , 82 may also be utilised in embodiments of the milking installation 2 without the gate 22.

Figs. 3a and 3b illustrate a collecting area 12 and a moveable barrier 14 according to embodiments. The collecting area 12 and the movable barrier 14 may be utilised in milking installations 2 according to aspects and/or embodiments discussed herein. The movable barrier 14 may be steplessly movable, for instance by sets of wheels (not shown) rolling on a pair of rails arranged along parallel sides of the collecting area 12. The movable barrier 14 may be configured to be moved in the first direction 16 in response to manual handling by an operator, in response to an automatic action effected by a drive mechanism, or a combination thereof. In any case, the movable barrier 14 is configured to take different positions at the collecting area 12, so as to drive animals 6 in the first direction 16 towards a one-way gate and a holding area.

The movable barrier 14 is positioned along a vertical direction at a hight of the animals 6 such that the animals 6 cannot pass the movable barrier 14 and are driven by the movable barrier 14 as it moves in the first direction 16.

The movable barrier 14 may be configured to move back to a starting position in a second direction 26 along the collecting area 12, which second direction 26 is opposite to the first direction 16. Analogous to the movement in the first direction 16, the movable barrier 14 may be moved in the second direction 26 in response to manual handling by an operator, in response to an automatic action effected by a drive mechanism, or a combination thereof.

The movable barrier 14 may be positioned at the same vertical position when moving in the second direction 26 as when moving in the first direction 16. However, in such case no animals should be present in the collecting area 12.

Accordingly, to provide an efficient passing of two separate groups of animals from the collecting area 12 into a holding area, the movable barrier 14 may be configured to be raised to an elevated position, as illustrated in Fig. 3b. The elevated position is such that the movable barrier 14 is allowed to pass freely above animals of a group of animals.

Accordingly, at the elevated position, the movable barrier 14 can be moved in the second direction 26 above animals standing in the collecting area 12.

Thus, a new group 4’ of animals 6’ may be directed into the collecting area 12 without mixing with a group 4 presently passing from the collecting area 12 into the holding area 10. Thus, the new group 4’ of animals 6’ may be introduced into the collecting area 12 and kept ready for passing into the holding area 10 when the previous group 4 has left the holding area 10.

In Fig. 3a, a first group 4 of animals 6 is passing from the collecting area 12 into a nonshown adjacent holding area, while a second group 4’ of animals 6’ is entering the collecting area 12. The two groups 4, 4’ are kept separated by the movable barrier 14. In Fig. 3b, the animals of the first group have left the adjacent holding area. The movable barrier 14 had been raised to its elevated position and moved in the second direction 26 to its starting position at one side of the collecting area 12. At the starting position the movable barrier 14 will be lowered and again moved in the first direction 16. The animals 6’ of the second group 4’ will pass into the adjacent holding area, voluntarily and/or driven by the movable barrier 14.

Fig. 4a illustrates a one-way gate system 18 according to embodiments. The one-way gate system 18 may be utilised in a milking installation 2 discussed above with reference to Figs. 1 - 3b. Fig. 4b illustrates a partial enlargement of Fig. 4a.

The one-way gate system 18 is arranged between a collecting area 12 and a holding area 10. The one-way gate system 18 prevents animals 6 in the holding area 10 from returning back into the collecting area 12.

The one-way gate system may comprise one or more gates or gate members that open in a direction from the collecting area 12 towards the holding area 10 to form one or more passages from the collecting area 12 into the holding area 10.

As discussed above with reference to Fig. 1 , the one-way gate system 18 has a longitudinal extension perpendicularly to the first direction 16 i.e., the first direction 16 in which a movable barrier in the collecting area 12 moves towards the one-way gate system 18. The one-way gate system 18, along the longitudinal extension, forms a boundary between the collecting area 12 and the holding area 10.

The one-way gate system 18 forms at least two paths 28, 28’ for animals 6 from the collecting area 12 into the holding area 10. The two paths 28, 28’ are arranged in parallel with each other. Accordingly, at least two animals 6 may pass in parallel and similtaneoulsy from the collecting area 12 into the holding area 10.

In the illustrated embodiments, the one-way gate system 18 comprises a number of pivotable gate members 30. Gate members 30 of the number of pivotable gate members 30 are arranged in the at least two paths 28, 28’.

In the illustrated embodiments, there are provided a large number of gate members 30 along the longitudinal extension of the one-way gate system 18. Thus, more than two paths in parallel with each other are provided by the one-way gate system 18. Consequently, two or more animals may pass simultaneously from the collecting area 12 into the holding area 10.

Each of the gate members 30 of the number of pivotable gate members 30 comprises a first end portion 32 and an opposite second end portion 34. The number of pivotable gate members 30 are pivotable about a horizontal axis 36 at their respective first end portions 32. The second end portions 34 are configured to hang freely at a level below the horizontal axis 36. In this manner, a reliable one-way gate system of easy construction provides for a number of parallel paths from the connecting area 12 into the holding area 10.

This kind of one-way gate system 18 may be referred to as a finger gate since the gate members 30 resemble large fingers hanging downwardly.

Fig. 5 illustrates an example of first, second, third and fourth stall areas 40, 41, 42, 43 connected to a milking installation 2 according to embodiments. The milking installation 2 may be a milking installation as discussed above with reference to Figs. 1 - 4b.

Each of the first to fourth stall areas 40, 41 , 42, 43 houses one group of animals. Each group of animals is milked in the milking installation 2.

A passageway 44 connects the stall areas 40, 41 , 42, 43 such that each group of animals is allowed to pass from each of the stall areas 40, 41, 42, 43 to the collecting area 12. A number of manually or automatically controlled gates are arranged in the passageway 44 to direct one group of animals at a time towards the collecting area 12.

Also, the exit passage 20 may be connected to the stall areas 40, 41 , 42, 43, such that after completed milking, the individual animals of a group of animals can move back to the dedicated stall area 40, 41, 42, 43 of the relevant group of animals.

Specifically, to facilitate the return passage of animal individuals, one or more automatic gates 46, 45 may be arranged in the passageway 44. At the automatic gates 46, 45 returning animal individuals are identified in order to be directed via the automatic gates 46, 45 to their dedicated stall area 40, 41, 42, 43.

A movable barrier 14 of the milking installation 2 may be operated as discussed above with reference to Figs. 3a and 3b. A one-way gate system 18 of the milking installation 2 functions as discussed above with reference to Figs. 1 - 4b. Figs. 6a and 6b schematically illustrate inter alia milking equipment of a milking installation 2. The milking installation 2 may be a milking installation 2 as discussed above with reference to Figs. 1 - 5. Accordingly, in the following reference is also made to Figs. 1 - 5.

Fig. 6a illustrates a first milking position 81 and further milking positions 8 of a number of milking positions 8 of the milking installation 2. Fig. 6b illustrates a second milking position 82 of the number of milking positions 8 of the milking installation 2.

Each milking position 8, 81 , 82 comprises at least two teat cups 48, at least one milk conduit 52 for conducting milk from the milking position 8, 81 , 82.

In the embodiments shown in Figs. 6a and 6b, each milking position 8, 81, 82 comprises four teat cups 48 and accordingly, may be configured to milk cows.

A common milk receiver 54 is connected to a common milk line 58 for the milking positions 8, 81 of the milking installation 2. In particular, the common milk line 58 may be connected to the first milking position 81 and further milking positions 8 of the same or similar kind as the first milking position 81, as shown in Fig. 6a. Also, each milking position 8, 81 comprises a valve device 51.

A container 59 for temporary storage of milk milked from one animal individual only is provided at the second milking position 82, as shown in Fig. 6b. The container 59 may be a local milk receiver of the second milking position 82.

Milking vacuum is produced by a vacuum system 56. The vacuum system 56 is connected to the common milk receiver 54 and to the container 59.

Referring to Fig. 6a, from the common milk receiver 54, milking vacuum is provided at the teat cups 48 of the milking positions 8, 81 connected to the common milk line 58 via the common milk line 58 and the at least one milk conduit 52 of the respective milking positions 8, 81.

The valve device 51 at each milking position 8, 81 is configured for closing the connection between the teat cups 48 and the common milk line 58. Such a valve device 51 may also be referred to as a shut off valve. The valve device 51 is open in connection with milking of an animal in a relevant milking position 8, 81 and closed in between milkings of animals. Thus, air does not leak into the common milk line 58 when the teat cups 48 are not attached to the teats of an animal.

Milk from animals milked in the milking positions 8, 81 connected to the common milk line 58 may be pumped from the common milk receiver 54 to a common milk tank 63.

Referring to Fig. 6b, from the container 59, milking vacuum is provided at the teat cups 48 of the second milking position 82 via the at least one milk conduit 52 of the second milking position 82.

In a similar manner to the discussion above with reference to Fig. 6a, a valve device (not shown) may be provided to open and close the connection between the teat cups 48 and the container 59.

Milk from animals milked in the second milking position 82 may be pumped from the container 59 via a three-way valve 67 to either the common milk tank 63 or a tank 65 for separated milk.

As an alternative to a three-way valve there may be provided a valve manifold capable to direct milk via a plurality of outlets to different containers and/or sources.

Each of the three-way valve 67 and the valve manifold may be controlled to direct milk to the common milk tank 63 or to the tank 65 for separated milk or to a different receiving container or to drain. Such control may be based on animal identity and stored animal individual milk quality data and/or such control may be based on one or more milk parameters being established in real time during milking of an animal individual in the second milking position 82.

Referring to Figs. 6a and 6b, one or more of the milking positions 8, 81, 82 may comprise one or more of a feed trough 60, a milk sensor, a milk receiver, and/or other equipment to be utilised in the handling and milking of animals 6, analysing milk, conducting milking, and directing of milk, etc.

According to some embodiments, e.g., as discussed above with reference to Figs 2a and 2b, the first and second milking positions 81 , 82 of the milking positions 8 of the milking installation 2 may be of different kinds. Animals and/or the milk milked from animals in the first milking position 81 may be handled differently than animals and/or the milk milked from animals in the second milking position 82. For instance, milk extracted from different animal individuals may be processed in accordance with different schemes.

For instance, according to some embodiments, the first milking position 81 comprises a first set of equipment 53 and the second milking position 82 comprises a second set of equipment 55, and wherein the first set of equipment 53 is different from the second set of equipment 55. In this manner, the above-mentioned different handling of animals and/or the milk milked from animals may be achieved.

According to some embodiments, the first set of equipment 53 comprises milk conduits 52, 57 and is configured to, during milking of one animal individual, conduct milk milked from the one animal individual from the milking position 8 via the milk conduits 52, 57. The second set of equipment 55 comprises milk conduits 52, 57 and a container 59 for temporary storage of milk milked from one animal individual only. In this manner, extracted milk from animals in the first milking position 81 may be processed in accordance with a scheme wherein the milk is being conducted via the common milk line 58 directly to the common receiver 54 during milking. Extracted milk from an animal individual in the second milking position 82 may be processed in accordance with a scheme wherein the milk is collected in the container 59 before being conducted from the second milking position 82.

Accordingly, the second set of equipment 55 may be configured to process extracted milk according to a special scheme different from a standard scheme applied by the first set of equipment 53 provided in the first milking position 81 and milking positions 8 of the same kind as the first milking position 81. For example, the special scheme applied by the second set of equipment 55 may involve taking a milk sample and analysing the same. Alternatively, or additionally, the special scheme may involve forwarding the extracted milk to a storage tank 65 being physically separated from the common milk tank 63 to which the extracted milk is forwarded according to the standard scheme. Consequently, the second set of equipment 55 may be employed for milking animals whose milk must be separated from milk of other animals e.g., due to medical conditions.

Thus, the second set of equipment 55 may further comprise one or more milk sensors for analysing extracted milk.

The milking installation 2 comprises at least one robot arm 62 configured to attach the teat cups 48 to the teats of an animal individual presenting herself for milking in one of the milking positions 8, 81 , 82. The at least one robot arm 62 may be associated with at least one milking position 8, 81, 82.

Accordingly, the milking installation 2 may comprise one individual robot arm 62 for at least some of the milking positions 8, the robot arm being configured to attach the teat cups 48 of the relevant milking position 8 to the teats of animals. Alternatively, or additionally, the milking installation 2 may comprise a robot arm 62 configured to attach the teat cups 48 to animals in more than one milking position. Such a robot arm 62 may be configured to rotate and/or travel laterally in order to reach the different milking positions 8 to be served by the robot arm 62, as indicated by the arrows at the robot arm 62 in Fig. 6a.

Fig. 7 illustrates a control arrangement 70 for controlling a milking installation. The milking installation may be a milking installation 2 as discussed above with reference to Figs. 1 - 6b. Accordingly, in the following reference is also made to Figs. 1 - 6b.

The control arrangement 70 comprises a calculation unit 72 which may take the form of substantially any suitable type of processor circuit or microcomputer, e.g. a circuit for digital signal processing (digital signal processor, DSP), a Central Processing Unit (CPU), a processing unit, a processing circuit, a processor, an Application Specific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions. The herein utilised expression calculation unit 72 may represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones mentioned above. The control arrangement 70 may comprise a memory unit 74. The calculation unit 72 is connected to the memory unit 74, which provides the calculation unit 72 with, for example, stored programme code and/or stored data which the calculation unit 72 needs to enable it to do calculations. The calculation unit 72 may also be adapted to storing partial or final results of calculations in the memory unit 74. The memory unit 74 may comprise a physical device utilised to store data or programs i.e. , sequences of instructions, on a temporary or permanent basis.

The calculation unit 72 is connected to various parts and/or components of the milking installation 2 to control their operation. For instance, for controlling milking operations, for measuring and/or determining milking and/or milk parameters, etc. Exemplified in Fig. 7 are connections of the calculation unit 72 with the movable barrier 14, the gate 22, a robot arm 62, and a number of milking positions 8. The control arrangement 70 may comprise more than one calculation unit 72 and more than one memory unit 74. For instance, the control arrangement 70 may be a distributed control arrangement with two or more separate calculation units, each configured for one or more particular tasks within the milking installation 2, such as controlling movement of the movable barrier 14, opening and closing of the gate 22, opening and closing of entrance and exit gates of the milking positions 8, controlling milking operations, operating a robot arm 62, etc.

The control arrangement 70 is configured to perform a method 200 according to any one of aspects and/or embodiments discussed herein, see e.g. below with reference to Fig. 8.

Fig. 8 illustrates embodiments of a method 200 for milking of a group of animals in a number of milking positions. The method 200 may be performed in a milking installation 2 as discussed herein, inter alia with reference to Figs. 1 - 6b. Moreover, the method 200 may be performed utilising a control arrangement 70, as discussed with reference to Fig. 7.

Accordingly, in the following, reference will also be made to Figs. 1 - 7.

The method 200 may be provided in the form of a computer program comprising instructions which, when the program is executed by a computer, causes the computer to carry out the method 200. The computer may comprise a calculation unit 72, as discussed above with reference to Fig. 7. The computer program may be stored on a computer-readable storage medium.

The method 200 comprises steps of:

- receiving 202 the group 4 of animals 6 in a collecting area 12,

- moving 204 a movable barrier 14 along the collecting area 12 in a first direction 16 towards a holding area 10, each milking position 8 of the number of milking positions 8 being arranged with direct access from the holding area 10,

- transferring 206 the group 4 of animals 6 from the collecting area 12 into the holding area 10 via a one-way gate system 18, and

- milking 208 animals 6 of the group 4 of animals 6 individually at the milking positions 8.

According to embodiments, the step of milking 208 animals 6 of the group 4 of animals 6 individually at the milking positions 8 may comprise a step of:

- attaching 210 teat cups to the teats of individual animals 6 of the group 4 of animals 6 at each milking position 8 utilising at least one robot arm 62. According to embodiments of the method 200, the step of transferring 206 the group 4 of animals 6 from the collecting area 12 into the holding area 10 via a one-way gate system 18 may comprise a step of:

- transferring 212 at least two animals 6 along at least two paths 28, 28’ arranged in parallel with each other. In this manner, the animals 6 may pass efficiently from the collecting area 12 into the holding area 10.

According to embodiments of the method 200, wherein the milking installation 2 comprises a gate 22 arranged in the holding area 10 and a movable urging member 24, the gate 22 being configured to divide the holding area 10 into a first partial holding area 101 and a second partial holding area 102, the method 200 may comprise steps of:

- passing 214 the urging member 24 along the first partial holding area 101 in a direction towards the gate 22 and the second partial holding area 102, and

- transferring 216 at least one animal 6 of the group 4 of animals 6 from the first partial holding area 101 into the second partial holding area 102 via the gate 22. In this manner, the first partial holding area 101 may be cleared of animals, which are transferred into the second partial holding area 102.

The gate 22 may be closed and the animals 6 within the second partial holding area 102 may be detained therein. A new group of animals may then enter the first partial holding area 101 while the animals of the previous group are milked from milking positions accessible from the second partial holding area 102.

According to embodiments of the method 200, wherein a first milking position 81 accessible from the first partial holding area 101 comprises a first set of equipment 53 and a second milking position 82 accessible from the second partial holding area 102 comprises a second set of equipment 55, the method 200 may comprise steps of:

- handling 218 a first animal 6 and/or milk from the first animal 6 in the first milking position 81 according to a first scheme utilising the first set of equipment 53, and

- handling 220 a second animal 6 and/or milk from the second animal 6 in the second milking position 82 according to a second scheme utilising the second set of equipment 55, wherein the first scheme is different from the second scheme. In this manner, animals with different requirements concerning their handling or the handling of their milk than other animals within a group may be handled according to a different scheme than the other animals.

It is to be understood that the foregoing is illustrative of various example embodiments and that the invention is defined only by the appended claims. A person skilled in the art will realize that the example embodiments may be modified, and that different features of the example embodiments may be combined to create embodiments other than those described herein, without departing from the scope of the invention, as defined by the appended claims.

Claims

24 CLAIMS

1. A milking installation (2) configured to milk a group (4) of animals (6), the milking installation (2) comprising a number of milking positions (8) configured to milk one animal (6) at a time, a holding area (10), a collecting area (12) arranged adjacent to the holding area (10), and a movable barrier (14), wherein each milking position (8) of the number of milking positions (8) is arranged with direct access from the holding area (10), wherein the movable barrier (14) is arranged to move along the collecting area (12) in a first direction (16) towards the holding area (10), and wherein a one-way gate system (18) is arranged between the collecting area (12) and the holding area (10) and configured for passage of animals (6) from the collecting area (12) into the holding area (10).

2. The milking installation (2) according to claim 1, comprising at least one robot arm (62) configured for attaching teat cups (48) to the teats of an animal (6), wherein the at least one robot arm (62) is associated with at least one milking position (8) of the number of milking positions (8).

3. The milking installation (2) according to claim 1 or 2, wherein the one-way gate system (18) has a longitudinal extension perpendicularly to the first direction (16), and wherein the one-way gate system (18) along the longitudinal extension forms a boundary between the collecting area (12) and the holding area (10).

4. The milking installation (2) according to claim 3, wherein the one-way gate system (18) forms at least two paths (28, 28’) for animals (6) from the collecting area (12) into the holding area (10), and wherein the two paths (28, 28’) are arranged in parallel with each other.

5. The milking installation (2) according to claim 4, wherein the one-way gate system (18) comprises a number of pivotable gate members (30), and wherein gate members (30) of the number of pivotable gate members (30) are arranged in the at least two paths (28, 28’).

6. The milking installation (2) according to claim 5, wherein each of the gate members (30) of the number of pivotable gate members (30) comprises a first end portion (32) and an opposite second end portion (34), wherein the number of pivotable gate members (30) are pivotable about a horizontal axis (36) at their respective first end portions (32), and wherein the second end portions (34) are configured to hang freely at a level below the horizontal axis (36).

7. The milking installation (2) according to any one of the preceding claims, wherein the holding area (10) is configured for the group (4) of animals (6) to move freely therein.

8. The milking installation (2) according to any one of the preceding claims, wherein a width (W) of the collecting area (12) extends in a direction perpendicularly to the first direction (16), and wherein the movable barrier (14) extends across substantially the entire width (W) of the collecting area (12).

9. The milking installation (2) according to claim 3 and 8, wherein width (W) of the collecting area (12) is substantially equal to the longitudinal extension of the one-way gate system (18).

10. The milking installation (2) according to any one of the preceding claims, comprising a gate (22) arranged in the holding area (10) and being configured to divide the holding area (10) into a first partial holding area (101) and a second partial holding area (102), wherein a first milking position (81) of the number of milking positions (8) is arranged adjacent to the first partial holding area (101), and wherein a second milking position (82) of the number of milking positions (8) is arranged adjacent to the second partial holding area (102).

11. The milking installation (2) according to claim 10, comprising a movable urging member (24), wherein the urging member (24) is arranged to pass along the first partial holding area (101) in a direction towards the gate (22) and the second partial holding area (102).

12. The milking installation (2) according to claim 10 or 11 , wherein the first milking position (81) comprises a first set of equipment (53) and the second milking position (82) comprises a second set of equipment (55), and wherein the first set of equipment (53) is different from the second set of equipment (55).

13. The milking installation (2) according to claim 12, wherein the first set of equipment (53) comprises milk conduits (52, 57) and is configured to, during milking of one animal (6) individual, conduct milk milked from the one animal (6) individual from the milking position (8) via the milk conduits(52, 57), and wherein the second set of equipment (55) comprises milk conduits (52, 57) and a container (59) for temporary storage of milk milked from one animal (6) individual only.

14. A method (200) for milking a group (4) of animals (6) in a number of milking positions (8), the method (200) comprising steps of: - receiving (202) the group (4) of animals (6) in a collecting area (12),

- moving (204) a movable barrier (14) along the collecting area (12) in a first direction (16) towards a holding area (10), each milking position (8) of the number of milking positions (8) being arranged with direct access from the holding area (10),

- transferring (206) the group (4) of animals (6) from the collecting area (12) into the holding area (10) via a one-way gate system (18), and

- milking (208) animals (6) of the group (4) of animals (6) individually at the milking positions (8).

15. The method (200) according to claim 14, wherein the step of milking (208) animals (6) of the group (4) of animals (6) individually at the milking positions (8) comprises a step of:

- attaching (210) teat cups (48) to the teats of the individual animals (6) of the group (4) of animals (6) at each milking position (8) utilising at least one robot arm (62).

16. The method (200) according to claim 14 or 15, wherein the step of transferring (206) the group (4) of animals (6) from the collecting area (12) into the holding area (10) via a one-way gate system (18) comprises a step of:

- transferring (212) at least two animals (6) along at least two paths (28, 28’) arranged in parallel with each other.

17. The method (200) according to any one of claims 14 - 16, wherein the milking installation (2) comprises a gate (22) arranged in the holding area (10) and a movable urging member (24), the gate (22) being configured to divide the holding area (10) into a first partial holding area (101) and a second partial holding area (102), and wherein the method (200) comprises steps of:

- passing (214) the urging member (24) along the first partial holding area (101) in a direction towards the gate (22) and the second partial holding area (102), and

- transferring (216) at least one animal (6) from the group (4) of animals (6) from the first partial holding area (101) into the second partial holding area (102) via the gate (22).

18. The method (200) according to any one of claims 14 - 17, wherein a first milking position (81) accessible from the first partial holding area (101) comprises a first set of equipment (53) and a second milking position (82) accessible from the second partial holding area (102) comprises a second set of equipment (55), and wherein the method (200) comprises steps of:

- handling (218) a first animal (6) and/or milk from the first animal (6) in the first milking position (8) according to a first scheme utilising the first set of equipment (53), and 27

- handling (220) a second animal (6) and/or milk from the second animal (6) in the second milking position (8) according to a second scheme utilising the second set of equipment (55), wherein the first scheme is different from the second scheme.