U.S. patent application number 17/232312 was filed with the patent office on 2021-07-29 for mobile milking robot with minimal footprint.
The applicant listed for this patent is Afimilk Agricultural Cooperative Ltd.. Invention is credited to Haviv AMNON, Efraim GARTI, Niv PINSKY, Adar SHACHAR, Doron SHALEM.
Application Number | 20210227786 17/232312 |
Document ID | / |
Family ID | 1000005523191 |
Filed Date | 2021-07-29 |
United States Patent
Application |
20210227786 |
Kind Code |
A1 |
PINSKY; Niv ; et
al. |
July 29, 2021 |
MOBILE MILKING ROBOT WITH MINIMAL FOOTPRINT
Abstract
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.
Inventors: |
PINSKY; Niv; (Kibbutz
Afikim, IL) ; GARTI; Efraim; (Zichron Yaakov, IL)
; SHALEM; Doron; (Kibbutz Mishmar-Haemek, IL) ;
SHACHAR; Adar; (Kibbutz Hannaton, IL) ; AMNON;
Haviv; (Kibbutz Gesher, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Afimilk Agricultural Cooperative Ltd. |
Kibutz Afikim |
|
IL |
|
|
Family ID: |
1000005523191 |
Appl. No.: |
17/232312 |
Filed: |
April 16, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16377221 |
Apr 7, 2019 |
11006613 |
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17232312 |
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15533654 |
Jun 7, 2017 |
10638718 |
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PCT/IL2016/051046 |
Sep 21, 2016 |
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16377221 |
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62221168 |
Sep 21, 2015 |
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62221173 |
Sep 21, 2015 |
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62221216 |
Sep 21, 2015 |
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62221224 |
Sep 21, 2015 |
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62221116 |
Sep 21, 2015 |
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62221189 |
Sep 21, 2015 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A01J 5/017 20130101;
A01J 7/04 20130101; A01J 5/04 20130101; A01J 5/003 20130101; A01K
1/12 20130101; B25J 9/1679 20130101; A01K 1/126 20130101 |
International
Class: |
A01K 1/12 20060101
A01K001/12; A01J 5/003 20060101 A01J005/003; B25J 9/16 20060101
B25J009/16; A01J 5/04 20060101 A01J005/04; A01J 7/04 20060101
A01J007/04; A01J 5/017 20060101 A01J005/017 |
Claims
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
equipment for treating livestock and a processor, the mobile unit
configured to: 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
wherein 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 configured to contain parked mobile units.
6. The system according to claim 3, wherein at least one vertical
upright teat cup holder is positioned in line with a space between
the hind legs of said dairy livestock.
7. The system according to claim 1 further comprising a milking pit
adjacent to the ramp, wherein at least one vertical upright teat
cup holder is positioned, at least partially, in the milking
pit.
8. The system according to claim 1, wherein the system does not
include pressure valves for controlling pressure in the teat
cups.
9. The system according to claim 1, wherein the arm is further
configured to remove the teat cups from the dairy livestock, after
which they are returned to the vertical upright teat cup
holder.
10. The system according to claim 1 further comprising a milking
pit, wherein the mobile unit is configured such that it does not
enter the milking pit or does not extend the arm into the milking
pit.
11. The system according to claim 1, wherein said system further
comprises a stretching along at least part of the ramp, and wherein
the mobile unit is configured to travel between the fore legs and
hind legs of the dairy livestock on the ramp and along the
rail.
12. The system according to claim 11, wherein the rail provides
electricity to the mobile unit under wet and unsanitary conditions
and wherein the rail comprises an internal housing that houses
contactors and a gliding cart in contact with the contactor,
wherein said gliding cart is prepared from a conducting material
and is coupled to the mobile unit via a conductive rod.
13. The system according to claim 1, wherein said teat cups
comprise a double groove.
14. A vertical upright teat cup holder comprising teat cups,
wherein the teat cups comprise holes in which the teats are
positioned, and in which the teat cups are positioned vertically
upright in the teat cup holder, such that the holes in which the
teats are positioned face upwards.
15. The vertical upright teat cup holder according to claim 14,
wherein the vertical upright teat cup holder comprises at least one
flap for covering the holes, such that the teat cups are connected
directly to the main milk line through tubes that do not include
pressure valves for controlling pressure in the teat cups.
16. The vertical upright teat cup holder according to claim 14,
wherein the vertical teat cup holder further comprises at least one
integrated teat cup and tube separator that protrudes out of the
vertical upright teat cup holder.
17. The vertical upright teat cup holder according to claim 14,
wherein the vertical teat cup holder further comprises a manifold
attached to tubes leading milk from the teat cups as well as to a
tube leading into a main milk line.
18. A teat cup assembly comprising at least a first teat cup and at
least a second teat cup, wherein there is a difference in length
between the first teat cup and the second teat cup.
19. The teat cup assembly according to claim 18, wherein the teat
cups comprise a double groove.
20. An autonomous pre-milking brush comprising: at least two
brushes; at least one motor; a rechargeable battery; a charging
slot; a handle; a switch; a nozzle; and a liquid reservoir.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Continuation of U.S. application Ser.
No. 16/377,221 filed on Apr. 7, 2019, which is a
Continuation-in-Part of U.S. application Ser. No. 15/533,654, filed
on Jun. 7, 2017, which is a National Phase Application of PCT
International Application No. PCT/IL2016/051046, International
Filing Date Sep. 21, 2016, claiming the benefit of U.S. Provisional
Patent Applications Nos. 62/221,116, 62/221,168, 62/221,173,
62/221,189, 62/221,216, 62/221,224, all of which were filed Sep.
21, 2015, wherein all of the above are hereby incorporated by
reference.
FIELD OF THE INVENTION
[0002] The present invention is in the field of treating livestock.
In particular, the present invention is directed to milking,
disinfecting and other treatment of dairy livestock using a mobile
unit having a minimal footprint. The present invention is further
directed to such a mobile unit that moves along a rail or guide.
The present invention is further directed to a plurality of such
milking robots that are coordinated with one another.
BACKGROUND OF THE INVENTION
[0003] Automated systems for treating dairy livestock are known.
For example, robotic milking machines are known. Typically, a
milking robot comprises an arm that attaches a milking unit to any
type of dairy livestock. Other operations of a milking robot arm
may include removing a milking unit from the dairy livestock,
placing the milking unit in a housing, etc.
[0004] However, known systems and methods suffer from a number of
drawbacks. For example, the arm of a milking robot travels
relatively long distances and covers large spaces. For example, in
order to attach a milking unit to the dairy livestock, the arm
needs to enter (and exit) the stall containing the livestock. For
example, the milk is not milked directly into the main milk-line.
For example, a human operator cannot come in close contact with the
dairy livestock, due to robot operation. For example, known systems
require the assembly of an entire new milking platform or at least
require major changes in the existing milking platform, since they
cannot be simply included and assembled in any type of existing
milking platform. Many of the above detailed drawbacks, as well as
others not mentioned, stem from the concept that the animal enters
a particular "robotic zone", in which it is treated, e.g., milked,
using industrial robotic arms known in the industry, that are
fitted to milking and the like. Therefore, in order to construct
such a "robotic zone", the entire milking parlor needs to be
rearranged and industrial robotic arm are used.
[0005] Therefore, it would be highly desirable to develop a system
for treating, e.g., milking, animals in a milking parlor by
actually introducing the robot into the animal's footprint, rather
than introducing the animal into a "robotic zone". This would allow
the use of miniature robotic arms that could move swiftly over
short distances, and more importantly, it would allow the use of
any type of existing milking parlor, without necessitating
cumbersome alterations thereto.
SUMMARY OF EMBODIMENTS OF THE INVENTION
[0006] Embodiments of the invention are directed to a system for
treating dairy livestock having fore legs and hind legs comprising:
[0007] a ramp; [0008] livestock stalls positioned along at least
part of the ramp, wherein each stall is configured to contain one
dairy livestock; [0009] at least one vertical upright teat cup
holder comprising teat cups; [0010] a mobile unit comprising [0011]
equipment for treating livestock and a processor, the mobile unit
configured to: [0012] travel between the fore legs and hind legs of
the dairy livestock on the ramp; and [0013] use the equipment to
perform at least one action related to a treatment of the dairy
livestock; and [0014] wherein 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.
[0015] According to some embodiments, the ramp is a rotary milking
parlor ramp. According to some embodiments, the ramp is a parallel
milking parlor ramp. According to some embodiments, the system
includes two parallel ramps or more. According to some embodiments,
the system further comprises a parking area configured to contain
parked mobile units.
[0016] According to some embodiments, at least one vertical upright
teat cup holder is positioned between two stalls. According to some
embodiments, at least one vertical upright teat cup holder is
positioned in line with a space between the hind legs of the dairy
livestock. According to some embodiments, the system further
comprises a milking pit adjacent to the ramp, wherein at least one
vertical upright teat cup holder is positioned, at least partially,
in the milking pit. According to some embodiments, at least one
vertical upright teat cup holder comprises at least one flap for
covering the teat cups. According to some embodiments, the teat
cups are connected to the main milk line such that the system does
not include pressure valves for controlling pressure in the teat
cups.
[0017] According to some embodiments, the arm comprises a
lengthwise double gripper. According to some embodiments, at least
two teat cups are of different lengths. According to some
embodiments, the system further comprises at least one non-planar
leg separator on the ramp in each stall, wherein the at least one
non-planar leg separator is positioned between the hind leg of an
animal, when standing in the stall.
[0018] According to some embodiments, the system further comprises
an autonomous pre-milking brush that may be utilized manually or by
the mobile unit in order to sanitize the animal's teat and to
stimulate milk release.
[0019] According to some embodiments of the system, the autonomous
pre-milking brush comprises: [0020] at least two brushes; [0021] at
least one motor; [0022] a rechargeable battery; [0023] a charging
slot; [0024] a handle; [0025] a switch; [0026] a nozzle; and [0027]
a liquid reservoir.
[0028] According to some embodiments, the system further comprises
a post-milking disinfection tool and a filling station, wherein the
post-milking disinfection tool comprises a dipping chamber and a
filling detection element.
[0029] According to some embodiments, the arm is further configured
to remove the teat cups from the dairy livestock, after which they
are returned to the vertical upright teat cup holder.
[0030] According to some embodiments, the teat cups are withdrawn
from the upright teat cup holder in a first order and returned
thereto in a second order. According to some embodiments, the teat
cups are returned to the vertical teat cup holder by a pulling
force exerted on tubes connected to the teat cups. According to
some embodiments, the system further comprises a milking pit,
wherein the mobile unit is configured such that it does not enter
the milking pit or does not extend the arm into the milking
pit.
[0031] Embodiments of the invention are directed to a system for
treating dairy livestock having fore legs and hind legs comprising:
[0032] a ramp; [0033] livestock stalls positioned along at least
part of the ramp, wherein each stall is configured to contain one
dairy livestock; [0034] a rail stretching along at least part of
the ramp; [0035] at least one vertical upright teat cup holder
comprising teat cups; [0036] a mobile unit comprising [0037]
equipment for treating livestock and a processor, the mobile unit
configured to: [0038] travel between the fore legs and hind legs of
the dairy livestock on the ramp and along the rail; and [0039] use
the equipment to perform at least one action related to a treatment
of the dairy livestock; and [0040] wherein 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.
[0041] According to some embodiments, the rail provides electricity
to the mobile unit under wet and unsanitary conditions and wherein
the rail comprises an internal housing that houses contactors and a
gliding cart in contact with the contactor, wherein the gliding
cart is prepared from a conducting material and is coupled to the
mobile unit via a conductive rod.
[0042] Embodiments of the invention are directed to a system for
treating dairy livestock having fore legs and hind legs comprising:
[0043] a ramp; [0044] livestock stalls positioned along at least
part of the ramp, wherein each stall is configured to contain one
dairy livestock; [0045] at least one vertical upright teat cup
holder comprising teat cups; [0046] a plurality of mobile units,
wherein each mobile unit comprises: [0047] equipment for treating
livestock, communication means and a processor, and wherein each
mobile unit is configured to: [0048] travel between the fore legs
and hind legs of the dairy livestock on the ramp; [0049] use the
equipment to perform at least one action related to a treatment of
the dairy livestock; and [0050] coordinate with any other mobile
unit, with a central management unit, with an external
communication means, or any combination thereof; [0051] wherein 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.
[0052] Further embodiments of the invention are directed to a
system for treating dairy livestock having fore legs and hind legs
comprising: [0053] a ramp; [0054] a rail stretching along at least
part of the ramp; [0055] livestock stalls positioned along at least
part of the ramp, wherein each stall is configured to contain one
dairy livestock; [0056] at least one vertical upright teat cup
holder comprising teat cups; [0057] a plurality of mobile units,
wherein each mobile unit comprises: [0058] equipment for treating
livestock, communication means and a processor, and wherein each
mobile unit is configured to: [0059] travel between the fore legs
and hind legs of the dairy livestock on the ramp and along the
rail; [0060] use the equipment to perform at least one action
related to a treatment of the dairy livestock; and [0061]
coordinate with any other mobile unit, with a central management
unit, with an external communication means, or any combination
thereof; [0062] wherein 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.
[0063] Embodiments of the invention include a vertical upright teat
cup holder comprising teat cups, wherein the teat cups comprise
holes in which the teats are positioned, and in which the teat cups
are positioned vertically upright in the teat cup holder, such that
the holes in which the teats are positioned face upwards.
[0064] According to some embodiments, the vertical upright teat cup
holder comprises at least one flap for covering the holes, such
that the teat cups are connected directly to the main milk line
through tubes that do not include pressure valves for controlling
pressure in the teat cups. According to some embodiments, the
vertical upright teat cup holder comprises: [0065] a first step and
a second step being positioned at different heights, thereby
forming a difference in height between the first step and the
second step; and [0066] a first teat cup and a second teat cup,
each having a top, wherein there is a difference in length between
the first teat cup and the second teat cup, and wherein the
difference in height between the first step and the second step is
approximately the same as the difference in length between the
first teat cup and the second teat cup, such that when the first
teat cup rests on the first step and the second teat rests on the
second step, the position of the tops of the first and second teat
cups is approximately at the same height.
[0067] According to some embodiments, the vertical upright teat cup
holder further comprises a manifold attached to tubes leading milk
from the teat cups and to another tube leading milk into a main
milk line. According to some embodiments, the vertical upright teat
cup holder further comprises at least one integrated teat cup and
tube separator that protrudes out of the vertical upright teat cup
holder.
[0068] Embodiments of the invention are directed to a teat cup
assembly comprising at least a first teat cup and a second teat
cup, wherein there is a difference in length between the first teat
cup and the second teat cup. According to some embodiments, the
teat cups comprise a double groove.
[0069] Embodiments of the invention are directed to a system for
treating dairy livestock having fore legs and hind legs comprising:
[0070] a ramp; [0071] a milking pit; [0072] livestock stalls
positioned along at least part of the ramp, wherein each stall is
configured to contain one dairy livestock; [0073] a mobile unit
comprising [0074] equipment for treating livestock and a processor,
the mobile unit configured to: [0075] travel between the fore legs
and hind legs of the dairy livestock on the ramp; and [0076] use
the equipment to perform at least one action related to a treatment
of the dairy livestock; and [0077] wherein 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 and
wherein the mobile unit is configured such that it does not enter
the milking pit or does not extend the arm into the milking
pit.
[0078] Further embodiments of the invention are directed to an
autonomous pre-milking brush comprising: [0079] at least two
brushes; [0080] at least one motor; [0081] a rechargeable battery;
[0082] a charging slot; [0083] a handle; [0084] a switch; [0085] a
nozzle; and [0086] a liquid reservoir.
[0087] Some embodiments of the invention are directed to a vertical
upright teat cup holder designed for use of a human operator and
comprising teat cups, wherein the teat cups comprise holes in which
the teats are positioned, and in which the teat cups are positioned
vertically upright in the teat cup holder, such that the holes in
which the teats are positioned face upwards; and wherein the
vertical upright teat cup holder comprises at least one flap for
covering the holes, such that the teat cups are connected directly
to the main milk line through tubes that do not include pressure
valves for controlling pressure in the teat cups.
[0088] Further embodiments of the invention are directed to a
vertical upright teat cup holder designed for the use of a human
operator and comprising teat cups, wherein the teat cups comprise
holes in which the teats are positioned, and in which the teat cups
are positioned vertically upright in the teat cup holder, such that
the holes in which the teats are positioned face upwards, wherein
the vertical upright teat cup holder comprises: [0089] a first step
and a second step being positioned at different heights, thereby
forming a difference in height between the first step and the
second step; and [0090] a first teat cup and a second teat cup,
each having a top, wherein there is a difference in length between
the first teat cup and the second teat cup, and wherein the
difference in height between the first step and the second step is
approximately the same as the difference in length between the
first teat cup and the second teat cup, such that when the first
teat cup rests on the first step and the second teat rests on the
second step, the position of the tops of the first and second teat
cups is approximately at the same height.
[0091] According to some embodiments, the vertical upright teat cup
holder further comprises a manifold attached to tubes leading milk
from the teat cups and to another tube leading milk into a main
milk line.
[0092] Further embodiments of the invention are directed to a
vertical upright teat cup holder designed for the use of a human
operator and comprising teat cups, wherein the teat cups comprise
holes in which the teats are positioned, and in which the teat cups
are positioned vertically upright in the teat cup holder, such that
the holes in which the teats are positioned face upwards, and
wherein the vertical teat cup holder further comprises at least one
integrated teat cup and tube separator that protrudes out of the
vertical upright teat cup holder.
BRIEF DESCRIPTION OF THE DRAWINGS
[0093] The subject matter regarded as the invention is particularly
pointed out and distinctly claimed in the concluding portion of the
specification. The invention, however, both as to organization and
method of operation, together with objects, features and advantages
thereof, may best be understood by reference to the following
detailed description when read with the accompanied drawings.
Embodiments of the invention are illustrated by way of example and
not limitation in the figures of the accompanying drawings, in
which like reference numerals indicate corresponding, analogous or
similar elements, and in which:
[0094] FIG. 1 shows an exemplary system according to embodiments of
the invention;
[0095] FIG. 2A schematically shows a mobile unit according to
embodiments of the invention;
[0096] FIG. 2B schematically presents an engaged configuration of a
safety mechanism for a mobile unit according to embodiments of the
invention;
[0097] FIG. 2C schematically presents a disengaged configuration of
a safety mechanism for a mobile unit according to embodiments of
the invention;
[0098] FIG. 3 schematically shows components included in a mobile
unit according to embodiments of the invention;
[0099] FIG. 4 shows a system according to embodiments of the
invention in a rotary milking parlor;
[0100] FIGS. 5A, 5B and 5C present a system according to
embodiments of the invention in a parallel milking parlor, wherein
FIG. 5A presents
[0101] FIG. 6 shows a system according to embodiments of the
invention in a parallel milking parlor, specifically presenting the
treatment of the livestock, including attaching treat cups thereto,
by a plurality of mobile units;
[0102] FIGS. 7A, 7B, 7C and 7D present embodiments of the system
including rails comprising branches and loops;
[0103] FIG. 8 presents an embodiment of the invention including a
plurality of mobile units wherein at least one of them communicates
with at least one other unit;
[0104] FIG. 9 presents an embodiment of the invention including a
plurality of mobile units that communicate with a central
management unit;
[0105] FIG. 10 presents an embodiment of the invention including a
plurality of mobile units wherein at least one of them communicates
with one other unit and with a central management unit;
[0106] FIG. 11 presents an embodiments of the invention including a
vertical upright teat cup holder comprising four teat cups, two of
which are longer than the others, wherein every pair of teat cups
is covered with a flap;
[0107] FIG. 12 presents an embodiment of the double gripper;
[0108] FIG. 13 presents an embodiment where the mobile unit,
positioned under the abdomen of the animal, reaches with a double
gripper towards the vertical upright teat cup holder, which is
behind the hind legs of the animal;
[0109] FIG. 14 presents an embodiment of the double gripper, after
having gripped two teat cups;
[0110] FIG. 15 presents an embodiment where the double gripper,
gripping two teat cups, attaches the first of the two teat cups to
the teat of the animal;
[0111] FIG. 16 presents an embodiment of the system include a
vertical upright teat cup holder comprising tubes, flaps, axels and
a piston;
[0112] FIG. 17A presents a back-side view of an embodiment of the
vertical upright teat cup holder, showing the tubes leading to the
main milk line and the axels attached to each two sets of
tubes;
[0113] FIG. 17B presents a front-side view of an embodiment of the
vertical upright teat cup holder, showing a manifold for gathering
the milk from the four tubes, as well as wheels, axels and pistons,
intended to aid in returning the teat cups into the vertical
upright teat cup holder;
[0114] FIG. 17C presents a front-side view of an embodiment of the
vertical upright teat cup holder, including an integrated teat cup
and tube separator;
[0115] FIG. 17D presents an embodiment of an integrated teat cup
and tube separator;
[0116] FIGS. 18A and 18B present embodiments of the non-planar leg
separator;
[0117] FIGS. 19A and 19B present embodiments of the autonomous
pre-milking brush, differing from one another in the shape of their
handle;
[0118] FIG. 19C presents an embodiment of the autonomous
pre-milking brush that includes a liquid reservoir.
[0119] FIG. 20 presents an embodiment of the post-milking
disinfection tool;
[0120] FIG. 21 presents an embodiment of the post milking
disinfection tool in the filling station;
[0121] FIG. 22A presents an embodiment of the rail providing
electricity to the mobile unit under wet and unsanitary
conditions;
[0122] FIG. 22B presents an embodiment of the rail providing
electricity to the mobile unit under wet and unsanitary conditions,
wherein the entrance to the rail is protected by a curtain
element;
[0123] FIG. 23, presents a system according to an embodiment of the
invention in a parallel milking parlor, specifically presenting
mobile units moving along a rail, wherein the rail includes a
parking area designed in an arc-shape;
[0124] FIG. 24 presents an embodiment of a hip separator that may
be incorporated into the system of the invention;
[0125] FIGS. 25A and 25B present an embodiment of the arm and
gripper of the invention, in the non-extended (FIG. 25A) and
extended (FIG. 25B) configurations; and
[0126] FIG. 26 presents an embodiment of the arm of the invention,
which includes a ball screw and one belt.
[0127] It will be appreciated that for simplicity and clarity of
illustration, elements shown in the figures have not necessarily
been drawn accurately or to scale. For example, the dimensions of
some of the elements may be exaggerated relative to other elements
for clarity, or several physical components may be included in one
functional block or element. Further, where considered appropriate,
reference numerals may be repeated among the figures to indicate
corresponding or analogous elements.
DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION
[0128] Although embodiments of the invention are not limited in
this regard, discussions utilizing terms such as, for example,
"processing," "computing," "calculating," "determining,"
"establishing", "analyzing", "checking", or the like, may refer to
operation(s) and/or process(es) of a computer, a computing
platform, a computing system, or other electronic computing device,
that manipulates and/or transforms data represented as physical
(e.g., electronic) quantities within the computer's registers
and/or memories into other data similarly represented as physical
quantities within the computer's registers and/or memories or other
information non-transitory processor-readable storage medium that
may store instructions, which when executed by the processor, cause
the processor to perform operations and/or processes.
[0129] Although embodiments of the invention are not limited in
this regard, the terms "plurality" and "a plurality" as used herein
may include, for example, "multiple" or "two or more". The terms
"plurality" or "a plurality" may be used throughout the
specification to describe two or more components, devices,
elements, units, parameters, or the like. Although embodiments of
the invention are not limited in this regard, the term "set" when
used herein may include one or more items.
[0130] It is noted that throughout this document, the definitions
of the "parallel milking parlor", "parallel ramp" and the like,
include ramps and milking parlors in which the stalls for confining
the animals on the same ramp are at least approximately parallel to
one another. Thus, those terms include, what is known in the art as
parallel ramps/milking parlors as well as parabone ramps/milking
parlors, and any other type of ramp/milking parlor, in which the
system may operate.
[0131] It is noted that throughout this document, unless
specifically mentioned otherwise, the terms "teat cups", "milking
cups" and the like are interchangeable. It is noted that
throughout, term such as "vertical upright holder", "vertical
upright teat cup holder", and the like, are interchangeable unless
specifically mentioned otherwise or unless a person skilled in the
art would understand that any one of those terms has a different
and/or broader definition than the other. In this respect it is
noted that the vertical upright teat cup holders are defined herein
to hold teat cups that are directly connected to the main
milk-line; however, other than being connected to the main
milk-line, the teat cups held in the vertical upright teat cup
holder are not connected to any robotic arm or the like. It is
further emphasized that the teat cups according to this invention
are defined to be connected to the main milk-line, though not to
any robotic arm or the like. As detailed herein, the teat cups may
be held/gripped by a robotic arm of the mobile unit; however, they
are not connected thereto.
[0132] It is further emphasized that the main milk line, referred
to in the art also as the "milk line", and the like, refers to the
milk line leading from various points in the milking parlor to the
milking parlor's milk tank, referred to also as the main milk
tank.
[0133] It is further noted that, throughout, terms such as
"communication", "collaboration", "coordination" and the like,
relevant to the operation of several mobile units in the same
system, are interchangeable unless specifically mentioned
otherwise, or unless a person skilled in the art would understand
that any one of those terms has a different and/or broader
definition than the other. In this respect, and as detailed herein,
several mobile units may communicate/collaborate/coordinate
directly with one another and/or via a central management system or
any other appropriate means.
[0134] Although dairy livestock (and in particular, cows) are
mainly discussed herein, it will be understood that embodiments of
the invention may be applicable to any type of livestock (e.g.,
goats, sheep, horses etc.). Particularly, even when cows are
specifically related to, the embodiments are intended to cover any
other type of livestock as well. Although milking of dairy
livestock is mainly discussed herein it will be understood that
embodiments of the invention may be applicable to other operations,
or treatments of livestock. For example, treatments, such as,
disinfecting or washing the livestock, heating an organ of the
livestock and/or milking may all be enabled or performed by a
system or method according to embodiments of the invention.
Embodiments of the invention may be applicable to operations such
as; diagnostic measures, acquiring an image, testing for pregnancy
or capturing a heartbeat of a fetus and/or identifying the
livestock.
[0135] Embodiments of the invention may include a system and method
for treating livestock. The term "treating" includes treatments
such as, milking, disinfecting, administering medicaments, and/or
testing and/or diagnosing, and the like. In particular, embodiments
of the invention may include a system and method directed to
milking, disinfecting and other treatments and/or testing of dairy
livestock. An embodiment of a system may include a ramp for
containing dairy livestock and one or more mobile units configured
to travel on the ramp, below the abdomen, i.e., between the front
and hind legs of the dairy livestock, and perform at least one
action related to a treatment of the dairy livestock. In this
respect it is noted that throughout the application, unless
specifically mentioned otherwise, when the terms "under the
livestock" "below the livestock" or similar terms are used, they
refer to a mobile unit found on the same geometric plane as the
livestock, i.e., on the same ramp, platform, rail or guide attached
to the ramp, and the like, while being positioned, at least
partially, under the belly/abdomen of the livestock, between the
fore and hind legs thereof.
[0136] An action performed by a mobile unit may be, or may include,
milking, disinfecting, cleaning the ramp, washing the livestock,
acquiring an image, identifying the livestock, testing for
pregnancy, capturing a heartbeat of a fetus, taking blood and/or
milk samples and heating an organ of the livestock. According to
some embodiments, the mobile unit comprises an arm that may be
operated to perform any necessary actions, such as gripping
equipment, sensing the location of equipment, moving equipment from
one location to another and the like. The arm itself may be
equipped with any necessary equipment, such as a gripping unit, a
sensor and the like, allowing the arm to perform any necessary
actions.
[0137] An embodiment of a system may include a ramp adapted to
translate both the livestock and the mobile unit, e.g., in a rotary
milking parlor. According to other embodiments, the ramp is
stationary, such as in a parallel milking parlor. include An
embodiment of a system may include a ramp configured to house a
milking equipment unit and a mobile unit may be adapted to detach
the milking equipment unit from a housing unit and attach the
milking equipment unit to dairy livestock. Particularly, according
to the system of the invention, the teat cups may be positioned in
holders, such that they are considered to be part of the platform,
ramp or stall, not part of the mobile unit. Accordingly, milk
entering the teat cups may be transferred, as detailed below,
directly into the main milk-line. It is further noted that other
than the teat cups and the main milk-line, any other equipment in
the milking parlor may also be used in the system of the invention,
e.g., by the mobile units, as required, such as the vacuum line,
vacuum tank, vacuum pulsator, pre-cooling tank, milk tank, milk
meter, milking point controller, and the like.
[0138] According to some embodiments, the system of the invention
includes a platform or ramp that is divided into stalls, wherein
each stall is intended for one animal. As known in the art, in a
rotary milking parlor the stalls are arranged in a circle on a
rotating platform/ramp, wherein a milking pit surrounds the
rotating platform. In a parallel milking parlor, the stalls are
arranged in two parallel lines, wherein the milking pit is found
between those two parallel lines of stalls.
[0139] According to some embodiments, the teat cup holders are
positioned at a pre-designated location, wherein each stall has a
designated teat cup holder. According to some embodiments, the teat
cup holders, as well as holders for any other necessary equipment
or substances, are positioned such that when an animal enters the
stall, the holder is about in line with the space between the hind
legs of the animal. According to some embodiments, the teat cup
holders, as well as holders for any other necessary equipment or
substances, are positioned between every two stalls, wherein an
additional holder may be positioned before the first stall or after
the last stall, such that each stall has a designated holder.
According to some embodiments, any of the holders, holding the same
or different equipment, may be positioned about in line with the
space between the back legs of an animal, when confined to the
stall. According to some embodiments, some of the holders are
positioned about in line with the space between the back les of an
animal confined to the stall while other holders may be positioned
between two stalls.
[0140] According to some embodiments, the holders do not extend
into the milking pit. According to other embodiments, the holders
extend into the milking pit by up to about 5, 10, 15, 20, 25, 30,
35, 40, 45 or 50 cm. according to some embodiments, each stall is
designated with at least one holder, though the designated holders
may be positioned inside, partially outside, or fully outside of
the stall itself, e.g., in the milking pit. According to some
embodiments, when the holders are positioned in line with the space
between the hind legs of the animal, they are positioned in the
milking pit. According to some embodiments, in a rotary milking
parlor the holders are positioned between the stalls. According to
some embodiments, in a parallel milking parlor, the holders are
positioned about in line with the space between the hind legs of
the animal confined to the stall, protruding, at least partially,
into the milking pit. According to some embodiments, in a parallel
milking parlor, at least part of the holders are positioned fully
in the milking pit about in line with the space between the hind
legs of the animal on the ramp.
[0141] According to some embodiments, the position and/or height of
the holders may change during operation. According to some
embodiments, while the animals enter the stalls, the holders may be
positioned, at least partially, in or over the milking pit, such
that the entrance of the animals into the stalls is not hindered by
the holders. Once the animals are positioned in the stalls, the
holders may remain in their position (between the stalls or about
in line with the space between the hind legs of the animal, though,
at least partially, in or over the milking pit), from where the
mobile unit will remove the necessary equipment. According to such
an embodiment, the arm of the mobile unit extends into the milking
pit by up to about 5, 10, 15, 20, 25, 30, 35, 40, 45 or 50 cm, as
necessary, for reaching the equipment or substances in the holders.
According to other embodiments, once the animals are positioned in
the stalls, the position of the holders may be changed, such that
they move, at least partially, from the milking pit, into a
position between the stalls, or between the hind legs of the
animal, on the platform/ramp. According to such an embodiment, the
arm of the mobile unit may not extend into the milking pit.
According to some embodiments, all of the holders move at the same
time. According to other embodiments, each one of the holders may
move, in or out of the position between the stalls/hind legs of the
animal, at a designated time, e.g., when the equipment therein,
e.g., teat cups, is to be reached by a mobile unit or when the
livestock enter, are positioned in, or leave the stalls. According
to some embodiments, the holders may have folded and unfolded
configurations, such that their angle, in respect to their
surroundings, e.g. the ramp or stalls, may be altered, as
necessary. The change in configuration of the holders may be
performed by the same or by other means as the change in their
positions and further, the configuration change may be performed on
all holders together or differently on different holders, the same
as described regarding the position of the holders.
[0142] According to some embodiments, the movement of the holders
is performed by any appropriate means, which may be mechanical,
manual, electronic or automatic. According to some embodiments, the
movement of the holders is initiated according to any signal
received from any appropriate sensors, which may be either part of
the milking platform or of the mobile unit. According to some
embodiments, any one of the mobile units may grab any part of any
one of the holders and either pull it, at least partially, into the
ramp or push it, at least partially, away from the ramp. Similarly,
according to any of the embodiments detailed above relevant to
height, the height of the holders may change during operation, so
that, regardless of their initial height, when the mobile unit
reaches to withdraw/replace a teat cup (or any other equipment)
from/in the holder, the height of the holders is lower than the
animals' abdomen. According to some embodiments, the height of the
holders is set to be constantly lower than the bottom of the
livestock's abdomen. According to some embodiments, the height of
the holders may be altered by any automatic, mechanical,
electronic, or manual means, wherein, at least one position of the
holders is at a height that is lower than the bottom of the
livestock's abdomen. According to other embodiments, the height of
the holders is not below the animal's abdomen; however, the holders
are positioned at any appropriate position, including height, so
that they can be reached by the mobile unit, e.g., when the mobile
unit is positioned under the animal.
[0143] Embodiments of the invention are directed to vertical
upright teat cup holders. Typically, as known to those familiar
with the art, the teat cups in the milk cup holders are upside
down, such that when the teat cups are withdrawn from the holders,
they are flipped (i.e., turned over) by about 180.degree. in order
to attach them to the animals' udder. According to some
embodiments, as shown, e.g., in FIG. 11, the holders according to
this invention are vertical upright holders, such that the teat
cups are positioned therein with the hole, in which the animal's
teat is placed, facing upwards. Such upright teat cup holders
enable a mobile unit to withdraw the teat cups from the teat cup
holders and attach them directly to the animal, with only slight
adjustment of the position of the hole, such that the mobile unit
is not required to flip the teat cups by 180.degree.. This may
enable the procedures performed by the mobile unit to be simple,
fast and inexpensive.
[0144] According to some embodiments, the teat cups in the teat cup
holders are covered by at least one flap, wherein the flap may
prevent the entrance of undesired matter into the teat cups. The
flap may be considered to be part of the holder, such that when a
teat cup is withdrawn from the holder, it is withdrawn from under
the flap, and is no longer covered. According to some embodiments,
each holder includes one flap, covering all of the teat cups in the
holder. According to some embodiments, each holder includes two
flaps, each covering half of the teat cups, e.g., each covering two
out of four teat cups. According to some embodiments, each teat cup
is covered by its own flap. According to some embodiments, the
flaps may be replaced by any other appropriate element, either part
of the holder or of any other element in the milking parlor, which
prevents the entrance of unwanted matter into the teat cups and/or
the loss of vacuum during attachments of the teat cups to the
animals, as detailed herein.
[0145] According to some embodiments, other than preventing the
entrance of unwanted matter into the teat cups, the flaps may also
prevent the loss of vacuum during the attachment of the teat cups
to the animal. Typically, the line/tube leading from each teat cup
includes a valve, such that the vacuum in each teat cup is
controlled separately. According to some embodiments, any two teat
cups may be connected to the main milk line via the same valve.
According to some embodiments, each two teat cups may be connected
to the main milk line via one valve. According to some embodiments,
all of the teat cups are connected to the main milk line via one
valve. According to some embodiments, all of or at least some of
the teat cups are connected directly to the main milk line, without
any valves. It is noted that embodiments having teat cups connected
directly to the main milk line include embodiments in which the
teat cups are connected to the main milk line via milk monitors,
meters and the like. Thus, the flap mechanically holds the vacuum
in the teat cups covered by it. When removing any of the teat cups
from the holder, the vacuum in the remaining teat cups is preserved
mechanically by the flap/s, such that the teat cups withdrawn from
the holder may be attached to the animal's udder, maintaining the
vacuum therein once attached. According to some embodiments, once
attached to the animals' udder, the teat cups will remain attached
during the time in which the remaining teat cups are withdrawn from
the holder, i.e., from under the flap/s, until they are attached to
the udder as well, even though vacuum is not maintained, since the
period of time during which the vacuum is not maintained is short
and further, since already attached to the udder, the teat cups,
which are fitted to the udder, will not fall off so quickly.
[0146] Once the milking is concluded, the teat cups are removed
from the animal's udder and returned to the holder. A signal that
the milking process has been concluded may be received by any
appropriate part of the system by any electronic or mechanical
means known in the art. According to other embodiments, once the
milking is concluded, the teat cups are returned to the holder
automatically, mechanically, electronically, by human operators, by
any other appropriate means or by any combination thereof.
According to some embodiments, the teat cups are removed from the
udder and returned to the holder by the mobile unit. According to
some embodiment, the tubes attaching the teat cups to the main
milk-line pass by any number of wheels, pulleys and the like, in
order to allow smooth and easy motion of the tubes, thereby
allowing the teat cups to be easily withdrawn from and returned to
the holder. According to some embodiments, the teat cups themselves
move adjacent to any number of wheels, pulleys and the like, in
order to reduce friction. The wheels, pulleys and the like may
further guide the teat cups and the tubes along a certain desired
path.
[0147] According to some embodiments, every one of the teat cups is
attached to one tube, which in turn is attached to a piston, motor
or the like, which is designed to return the teat cup to the holder
once the milking is concluded. According to other embodiments, any
number of tubes may be externally connected to one another by any
appropriate means, such as an axle, wherein each axle is connected
to a motor, piston or the like, which is designed cup to the holder
once the milking is concluded. According to some embodiments, every
two tubes are externally connected, allowing the removal of the
teat cups in pairs and further allowing the system to include half
the number removal motors/pistons, for removing the teat cups, as
the number of teat cups. According to some embodiments, it is noted
that although any number of tubes may be connected to one another,
allowing removal in pairs or more, the holder and system are
designed such that the attachment of the teat cups to the animal is
not dependent on the removal of the teat cups therefrom. Thus, even
if withdrawn in pairs or more, the teat cups may be attached one by
one, or attached in pairs or more, though not necessarily the same
pairs or more of teat cups, as removed.
[0148] According to some embodiments, the holder is designed such
that it may be operated and used by a mobile unit and/or by a human
operator. Thus, the holder may be designed to allow the teat cups
to be withdrawn therefrom and returned thereto one-by-one, all
together, in pairs or in any appropriate combination, depending on
the operator. The holder may further allow enough room for the
hands of a human operator to utilize any parts of the holder as
well as the held equipment, e.g., teat cups, while at the same
time, be designed such that a mobile unit may simply utilize any
parts thereof, such that the teat cups are withdrawn
therefrom/returned thereto in an orderly manner. For example, the
holder is designed such that when the teat cups are returned to the
holder, they are held upright and covered by the flaps, thereby
preventing the loss of vacuum as well as preventing the entrance of
undesired matter into the main milk line. For example, the holder
is designed such that the teat cups are held therein in parallel
and/or vertical lines, allowing any type of robotic or human
operator to withdraw/return the teat cups in pairs or more, without
requiring unnecessary maneuvers.
[0149] According to some embodiments, the holder is designed to
allow the teat cups to be placed therein in parallel, vertical or
staggered lines. According to some embodiments, the holder is
designed to allow the teat cups to be placed therein, such that the
bottom of the teat cups is staggered. According to some
embodiments, the holder includes a step, indentation or the like,
allowing the bottom of the teat cups to be staggered. According to
some embodiments, a tube leading to the main milk line is connected
to the teat cup, such that the tube is on the bottom back side of
the teat cup, i.e., the bottom of the side directed away from the
animal. An example of such a teat cup may be seen, e.g., in FIG.
11. Allowing the teat cups to be held in the holders when their
bottoms are staggered, e.g., by placing the teat cups on designated
steps in the holder, as shown, e.g., in FIG. 11, allows the tubes
connected to each teat cup to be under/above the tubes connected to
the teat cup sitting on the next step in the holder, thereby
preventing the entanglement of the tubes. According to some
embodiments, the holder includes one step, such that the bottom
part of the front teat cups, i.e., the teat cups in the direction
of the animal, is lower than the bottom part of the back teat cups,
i.e., the teat cups further from the animal, e.g., as shown in FIG.
11. According to some embodiments, the teat cups are positioned in
the holder in pairs, such that the front teat cup in each pair,
i.e., the teat cup closer to the animal, is placed on a lower step
than the back teat cups. Therefore, the tube connected to the front
teat cup is positioned under the tube connected to the back teat
cup. Stated otherwise, each pair of teat cups may be designed to
rest of two steps different in height from one another, wherein the
height difference between the two steps may be at least similar to
the difference in length of the two teat cups, such that when
resting on the steps, the bottoms of the teat cups are staggered,
while the tops thereof are not, as detailed herein.
[0150] Embodiments of the invention are directed to teat cups
designed to fit the holder and to allow any type of operator to
simply withdraw the teat cups from the holder and to return them
thereto. According to some embodiments, the teat cups comprise any
number of grooves or the like, allowing the arm of the mobile unit,
as detailed herein, to easily grasp the teat cups.
[0151] As detailed herein, the holder may include at least one
step, or the like, such that the bottoms of the teat cups are
staggered. Accordingly, if the teat cups are all the same size, the
tops thereof would be staggered as well. According to some
embodiments, the set of teat cups held together in the same holder
are designed such that the tops of any number of teat cups may be
at approximately the same height, even if the bottom of those teat
cups is staggered. According to some embodiments, the teat cups are
designed such that the height of the different teat cups may be
different from one another, thereby allowing the bottoms of any two
teat cups to be staggered, while the tops thereof are not.
[0152] As shown in FIG. 11, at least two teat cups may be staggered
at the bottom when positioned in the holder, as detailed herein,
wherein the front teat cup is longer than the back teat cup,
thereby allowing the tops of the two teat cups to be positioned at
approximately the same height, even though the bottoms are
staggered. This may allow the two (or more) teat cups to be covered
by the same flap. This may further allow the removal of a pair of
teat cups from the holder by a mobile unit, wherein the tubes
thereof do not tangle, since they are staggered at the bottom,
while still allowing the mobile unit to "see" the tops of both of
the teat cups, e.g., by laser, such that the mobile unit may
properly grasp both teat cups, as detailed herein. It is noted that
although the staggering of the teat cups is described mainly for a
pair or teat cups, the same type of staggering may be used for any
number of appropriate teat cups.
[0153] Accordingly, embodiments of the invention are directed to a
plurality of teat cups wherein at least two teat cups have
different lengths. According to some embodiments, the teat cups
having different lengths are positioned one behind the other in the
holders, wherein the front of the holder is considered to be in the
direction of the animal. According to some embodiments, when
positioned in the holders, the bottoms of the teat cups having
different lengths are staggered, possibly resting on steps of
different heights, wherein the height of the steps is determined
such that the tops of the teat cups are approximately at the same
height. Thus, the difference in length between the teat cups may be
approximately identical to the difference in height of the steps on
which the teat cups are positioned. Although steps are referred to
herein, it is noted that any other means, such as clips and the
like may be used in order to position the teat cups in the holder,
such that they are staggered at the bottom, though not at the
top.
[0154] Embodiments of the invention are directed to teat cups
comprising more than one groove, hook, handle, indentation, notch
and the like, which are designed such that a gripping unit on the
arm of the mobile may easily grasp the teat cup, as detailed
herein.
[0155] Embodiments of the invention are directed to a vertical teat
cup holder, in which the teat cups are positioned vertically
upright, wherein the holes in which the teats are positioned face
upwards, as detailed herein, comprising: [0156] a first step and a
second step being positioned at different heights; [0157] a first
teat cup and a second teat cup, each having a top, wherein there is
a difference in length between the first teat cup and the second
teat cup, and wherein the difference in height between the first
step and the second step is approximately the same as the
difference in length between the first teat cup and the second teat
cup, such that when the first teat cup rests on the first step and
the second teat rests on the second step, the position of the tops
of the first and second teat cups is approximately at the same
height; [0158] a flap covering the tops of the first and second
teat cups; and [0159] first and second tubes leading from the first
and second teat cups, respectively, to the main milk line, wherein
the first tube is positioned, at least partially, under the second
tube.
[0160] According to some embodiments, in order to allow smooth and
easy movement of the teat cups in and out of the holder, the system
includes any appropriate number of smooth surfaces, wheels,
ball-bearings, rollers and the like, positioned inside and/or
outside of the holder, along the paths in which the teat cups
and/or tubes move when the teat cups are withdrawn/returned to the
holder.
[0161] A mobile unit may be adapted to determine its location and,
based on its location, it may determine the location of any
necessary equipment or substances, including a milking equipment
unit, such as teat cups or teat cup holders, sanitizing fluid,
cleaning brushes and the like. A plurality of mobile units and
optionally 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. A first mobile unit
may be adapted to attach a first portion of a milking unit to the
dairy livestock and a second mobile unit may be adapted to attach a
second portion of the milking equipment to the dairy livestock.
According to other embodiments, and as detailed herein, a plurality
of mobile units and optionally a central management unit may be
configured such that each of the mobile units performs the entire
treatment or task in a certain, designated, number of stalls.
According to further embodiments, some of a plurality of mobile
units performs part of a task, while others operate in part of the
stalls. In this respect it is noted that any combination and
coordination between the various mobile units is possible, wherein
their overall operation is intended to perform the overall required
treatment or task.
[0162] An embodiment of a system may include a ramp that includes a
guide or rail designed to keep the mobile unit within or on a
predefined path under the livestock. An embodiment of a system may
include a ramp that includes stalls and a mobile unit may be
adapted to automatically travel from a first stall to a second
stall. A ramp may include a mark and a mobile unit may be adapted
to use the mark in order to determine its location with respect to
a stall, the ramp and/or other entities in the milking parlor. A
mobile unit may be configured to travel between the front and hind
legs of the livestock and the rail may be configured to maintain
the mobile unit on a predefined path that passes between the front
and hind legs of the livestock, when they are positioned in the
stalls.
[0163] According to some embodiments, once the livestock are
positioned in the stalls, ready for milking, the mobile units may
enter the ramp and move between the stalls, performing tasks, as
detailed herein. Particularly, the tasks may be performed while the
mobile units are positioned/parked under the livestock. According
to some embodiments, the mobile units move into their "work-mode"
position under the livestock only after the location of the
livestock has been determined, according to any appropriate means,
such as sensors and the like, which may be part of any element of
the milking parlor. As detailed herein, the mobile unit itself may
include any type of sensors, which may aid in determining the exact
location of the livestock and/or the position of the mobile unit in
relation to the livestock. According to some embodiments, the
mobile units include any appropriate type of sensor, which prevents
the mobile unit, or any part thereof, from colliding with other
mobile and/or stationary entities in the milking parlor. According
to some embodiments, the mobile unit includes an arm equipped with
such a sensor.
[0164] According to some embodiments, the system includes a rail or
guide, along which the mobile units may travel, such that they are
confined to a predefined path, wherein the rail/guide may be
positioned to run along at least part of the length of the
ramp/platform approximately in the mid-line between the front and
hind legs of the livestock. It is noted that throughout, unless
specifically mentioned otherwise, the terms "guide" and "rail" are
interchangeable and include any elements that may maintain the
mobile units within or on a predefined path. It is noted that any
type of rail may be used, including a monorail, double rail, flat
rail, rail using a magnetic guide and the like. It is further noted
that the rail may be prepared from any appropriate type of
material, such as a metal, a polymer or any combination thereof.
According to some embodiments, the rail is designed such that it is
strong enough to resist deformation caused by the livestock
stepping on the rail, kicking it and the like. Thus, both the shape
(e.g., width) and the material from which the rail is prepared take
the forces that will be exerted on the rail into account.
[0165] Implementing a rail, according to embodiments of the
invention, may ensure that the mobile units remain on a predefined
path, such that collisions of the mobile units with the livestock,
human operators, other mobile units or other entities in the
milking parlor, either mobile or stationary, are minimized. The
path of the rail may be set such that it does not enter the most
"kick prone" zones on the ramp, which may be around the hind legs
of the animal, particularly in back of them, thereby limiting the
damage to both the mobile units and the livestock. According to
some embodiments, once the rail has been in position on the ramp
over a certain period of time, the animals will refrain from
placing their hooves on the rail, ensuring both animal and mobile
unit safety, as well as allowing the mobile unit to increase its
speed along the rail without harming the mobile unit or any of the
animals on the ramp. According to some embodiments, the rail
provides the mobile units with stability, i.e., since the mobile
units are attached to a rail, a strong force may be required to
"derail" them, when not desired, and therefore, even if the mobile
units are hit, e.g., by an animal kick, they remain on their
designated path.
[0166] According to some embodiments, when the mobile units move
along a rail, their speed may be increased since, as detailed
above, the rail may provide the mobile units with stability, and
further, since, as detailed above, the risk of collisions is
decreased when the mobile units are confined to a rail. The
increase in speed of the mobile units may reduce the overall
treatment, e.g., milking, time. According to some embodiments, the
speed of the mobile units is in the range of about 0-2 m/s.
According to some embodiments, the speed of the mobile units is in
the range of about 0-3 m/s. According to some embodiments, the
speed of the mobile units is in the range of about 0-1 m/s.
[0167] According to some embodiments, the system may be designed
such that the mobile units have different working and security
modes that differ from one another, e.g., in the speed of the
mobile unit, the use of the arm of the mobile unit, the extension
distance of the arm of the mobile unit and the like. Thus,
according to some embodiments, the mobile units speeds, as detailed
above, are defined for the working mode of the mobile unit.
According to some embodiments, the mobile unit further includes a
security mode. In the security mode the speed of the mobile unit
may be in the range of about 0-0.25 m/s.
[0168] According to some embodiments, when in the security mode,
the mobile unit does not perform actions, and therefore, does not
extend/retract its arm. According to some embodiments, limited
extensions and/or retractions of the mobile unit arm are allowed in
the security mode. According to some embodiments, in the security
mode, the arm may extend/retract up to 10% of its maximal
extension/retraction capability. According to some embodiments, in
the security mode, the arm may extend/retract up to 20% of its
maximal extension/retraction capability. According to some
embodiments, in the security mode, the arm may extend/retract up to
30% of its maximal extension/retraction capability. According to
some embodiments, in the security mode, the arm may extend/retract
up to 40% of its maximal extension/retraction capability. According
to some embodiments, in the security mode, the arm may
extend/retract up to 50% of its maximal extension/retraction
capability.
[0169] According to some embodiments, the mode of the mobile units
is changed from working mode to security mode, or vice versa, by
manually pressing a button, flipping a switch, a magnetic sensor,
or the like, wherein the button/switch may be on the mobile unit,
on the teat cup holder, in any location on the ramp, in the milking
parlor or in a control center remotely positioned. According to
some embodiments, the mode of the mobile units is changed from
working mode to security mode, or vice versa, by an electronic
command sent to the mobile unit from any appropriate remote device,
possible via the guide/rail, as detailed herein, via RF, Bluetooth,
WiFi or the like.
[0170] According to some embodiments, the use of the rail further
allows immediate or quick halts of the mobile unit when necessary,
e.g., in a particular stall, in an accurate position along the rail
and the like. The mobile unit may be pre-programmed to stop at
certain positions, or otherwise, may stop according to data
received during operation.
[0171] It this respect it is noted that the system of the invention
is a modular system, which may include any number of mobile units
and a rail/guide comprising any number and length of sections.
Accordingly, the system of the invention may be assembled in any
type of existing milking parlor, e.g. a rotary milking parlor or a
parallel milking parlor. According to some embodiments, in a rotary
milking parlor, the guide/rail is positioned on the circular
platform/ramp, from the first to the last stall, possibly
completing the circle. According to some embodiments, it a parallel
milking parlor, the guide/rail is placed on each one of the
parallel platforms/ramps, stretching from one end of the platform
to the other. It is noted that the guide/rail may be designed to
include any required branches, loops and the like, used, for
example, for removing a mobile unit from the platform at any
necessary point along the platform, and the like. According to some
embodiments, the rail may include linking units, which link
together two or more rail sections. According to some embodiments,
the various rail sections and linking units may be easily and
quickly assembled (or disassembled) into any required length and/or
shape of rail, wherein, although the rail composes several
sections/linking units, they are designed and attached such that
the mobile units smoothly move from section to section along the
rail, after assembled. According to some embodiments, when required
or desired, any section/linking unit may be replaced, removed or
added.
[0172] Since the system of the invention is modular, it may also be
assembled in any milking parlor, regardless of the size or type of
the milking parlor. Generally, a larger milking parlor would be
equipped with a system including a larger number of mobile units
and well as a longer overall length of rail/guide. The system of
the invention may also be provided with a varying number of mobile
units, such that at times a certain number of mobile units may be
used, while at other times a different number of mobile units may
be used.
[0173] The rail may be connected by any appropriate means to the
ramp or to any other elements in the milking platform, such that
the mobile units may travel thereon and such that the rail itself
does not hinder the movements of the animals on the ramp, e.g., as
they enter and exit the stalls. According to some embodiments, the
rail is designed to be adjacent to the ramp. According to some
embodiments, at least the top of the rail is designed to be raised
above the ramp. According to some embodiments, the top of the rail
is raised by about 8-20 cm above the ramp. According to some
embodiments, the top of the rail is raised by about 5-10 cm above
the ramp. According to some embodiments, the top of the rail is
raised by about 10-15 cm above the ramp. According to some
embodiments, the top of the rail is raised by about 15-20 cm above
the ramp. According to some embodiments, when the top of the rail
is raised above the ramp, the area beneath the ramp may be cleaned,
as detailed herein. According to some embodiments, the top surface
of the rail may be flush with the surface of the ramp, wherein the
rest of the rail is sunken in the ramp. According to some
embodiments, the entire rail, including the top surface thereof, is
sunken into the ramp. Designated cleaning means, as detailed
herein, may be designed to clean the rail and/or its
surroundings.
[0174] According to some embodiments, the rail includes means by
which electricity is provided to the mobile units. Accordingly, the
mobile units are not required to include a battery pack, which
would increase their size and weight, as well as require charging
or replacement. Further, if electricity is provided by the rail,
there is no need for attaching electric cables to the mobile units,
which may be hazardous to the mobility of the livestock, may be
tangled by the motion of the mobile unit and may further be
cumbersome when more than one mobile unit is used. According to
some embodiments, the electricity is provided from the rail to the
mobile units by any appropriate pickup design. According to some
embodiments, the electricity providing means may be included within
the rail, attached to the outside of the rail, adjacent to the
rail, or any other appropriate design. According to some
embodiments, the electricity providing means may provide
electricity to the mobile units, as well as to any other mobile or
stationary entities.
[0175] Similarly to the means for providing electricity by the
rail, electronic wires may be included in the system, such that
electronic commands are forwarded to the mobile units via the rail.
Therefore, throughout, the description regarding the rail directed
to electricity transfer is meant to include electronic data
transfer as well, when applicable.
[0176] According to some embodiments, the rail is assembled on the
same ramp upon which the livestock move, and therefore, the rail is
prone to get both wet and dirty. Thus, if the rail includes means
for providing electricity to the mobile units, those means must be
designed to be liquid-proof, so as to prevent electricity shorts
and the like. The rail and the electricity providing means may
further be designed to prevent liquids or undesired solids and
contaminants from entering certain parts or elements of the
rail/electricity providing means. According to some embodiments,
the positive and negative poles of the electricity providing means
may be designed to be at a minimal distance, such as to prevent the
entrance of liquids into the space between the two. According to
some embodiments, the electricity providing means have a labyrinth
shape, so as to prevent, or at least minimize, the introduction of
liquids, undesired solids and contaminants into the electrical
systems. According to some embodiments, the electricity providing
means may include a pickup unit, such as a brush, which is designed
to contact a metal strip. According to some embodiments, the metal
strip is installed along the ramp, possibly under the rail, while
the pickup unit, such as a brush, is attached to a mobile unit, or
any other entity moving along the rail. It is noted that
electricity may be provided to the mobile unit at all times, both
when mobile and when parked, as necessary. The electricity may also
be cut off at any appropriate times, e.g., during maintenance, or
when no treatment is being performed and the like.
[0177] According to some embodiments, the rail includes an internal
housing unit through which the electricity is provided to the
mobile unit, e.g., via contactors. According to some embodiments, a
gliding cart is positioned in the internal housing unit and is
attached by a rod or the like to the mobile unit. According to some
embodiments, the gliding cart and the rod are prepared from a
conductive material (either the same or different materials),
wherein the gliding cart receives electricity by any appropriate
means inside the internal housing unit, such as contactors and the
like. The electricity may be passed from the gliding cart via the
rod to the mobile unit, thereby activating any appropriate motors
in the mobile unit. When the mobile unit moves forward or backwards
along the rail, it may essentially move together with the gliding
cart since they are connected to one another via the rod or the
like. Thus, according to some embodiments, the gliding cart
provides electricity to the mobile unit, while the mobile unit
provides mobility to the gliding cart, which, according to some
embodiments does not include its own motors and therefore, moves
together with the mobile unit.
[0178] According to some embodiments, in order to prevent water and
other contaminants from entering the electric system in the
internal housing, the rod may pass through a water block, a rubber
stopper, and the like, or any combination thereof. Further,
according to some embodiments, the rod, which is isolated, enters
the internal housing via a labyrinth shaped element, thereby
preventing the entrance of water or other contaminants into the
internal housing unit.
[0179] Other than electricity, the rail, or any sections thereof,
may include elements for communicating and/or giving commands to
any components in the system, including the mobile units. According
to some embodiments, the rail includes means for specifically and
accurately defining the position of the mobile units moving thereon
and/or of any other entities in the milking parlor.
[0180] It if further noted that, although the rail is described
herein as an element for guiding mobile units, it may be used for
transporting any other elements, devices and/or substances, such as
to convey water or any other liquid along the ramp, and the like.
For example, a reservoir of pre- or post-milking disinfection
liquid may be conveyed along the rail, where it may be reached,
e.g., by any one of the mobile units performing the pre- or
post-milking tasks. According to some embodiments, any sections of
the rail may include elements such as a conveyer belt for conveying
the mobile units, or any other entities, from one point to another.
Hoses, pipes, conduits and the like may also be stretched along the
rail or any parts thereof, wherein any liquid, such as water and
the like, may be provided as required through such
hoses/pipes/conduits.
[0181] According to some embodiments, the rail may include a
self-cleaning mechanism. According to some embodiments, the ramp
includes means for cleaning the rail. According to some
embodiments, cleaning elements may be attached to or integrated
into any sections of the rail. According to some embodiments,
cleaning elements may be attached to or integrated into any of the
components, e.g., mobile units, or designating cleaning units, that
travel along the rail. According to some embodiments, cleaning
equipment, which is part of the milking parlor, may be used for
cleaning the rail. According to some embodiments, in a rotary
milking platform, cleaning liquid sprayed from a stationary nozzle
may be used to clean the rail. According to some embodiments, if
the rail is raised above the ramp, it is possible to clean under
the rail. The rail, its surroundings, and in some embodiments, the
area under the rail, may be cleaned by any appropriate means,
including manually, automatically, mechanically or electronically.
Further, the rail, its surroundings and in some embodiments, the
area under the rail may be cleaned at any appropriate time, e.g.,
at pre-defined times or when required, as determined according to
any appropriate sensors, which may be part of the ramp/milking
parlor/mobile unit or the like, or according to decisions made by
human operators.
[0182] It is further noted that since the milk may be milked
directly into the main milk-line and further, since several mobile
units may be used, as detailed below, the efficiency of the system
of the invention, measured in milk yield per hour, is higher than
in prior art systems in which milk needs to be transferred from one
or more storage vessels to the main milk-line, and/or when only one
operator (robotic or other) is implemented. It is further noted,
that, as detailed herein, the arm of the mobile unit has relatively
small dimensions, since it needs to fit and maneuver under the
livestock. Further, since the arm may remain mainly within
"non-kick" zones and further, may include a safety mechanism, as
detailed herein, it is not required to be robust. Small arms may
perform quick maneuvers, even if equipped only with small motors,
which may also contribute to a high milking yield. It is further
noted, that as detailed herein, a number of mobile units may
coordinate with one another, possibly via a central management
system or any other appropriate element, such that the speed
required from each mobile unit may also be reduced.
[0183] It is further noted that, as detailed herein, the mobile
units remain on the ramp or in other designated areas, such as
parking areas, and do not enter non-designated areas, e.g., the
milking pit. Accordingly, human operators may safely access any
other region of the milking parlor, including the milking pit, as
detailed herein, which may be essential for treating any mobile
unit malfunctions, as well as livestock that need manual treatment
and the like. It is further noted that since the arm of the mobile
unit is not robust, even if contacted or collided with a human
operator or with any other elements in the milking parlor, the
outcome may not be hazardous.
[0184] According to some embodiments, the arm of the mobile unit
extends into the milking pit at predetermined times and/or up to
predetermined distances. In order to provide safety to humans in
the milking pit, the system may include safety means, preventing
the entrance of a human into the part of the milking pit in which
the mobile unit arm may reach. The safety means may be stationary
or may move, such that when the arm enters the pit, or at times in
which the arm may enter the pit, the safety means are in positioned
to block contact between human operators and mobile units, while
when the arm does not enter the pit, or at times when it will not
enter the pit, the safety means may be positioned otherwise. For
example the system may include a barrier that is positioned in the
milking pit, at the maximal distance that the arm may extend into
the milking pit. According to some embodiments, the barrier may
change positioned, according to any received signals, such that
when mobile unit arm may enter the milking pit the barrier is in
place, blocking contact between human operators and the arm of the
mobile unit, while at other times it is lifted or removed by any
other appropriate means. It is noted in this respect that, when
required, any element of the mobile unit, not only the arm, may
extend into the milking pit, which remains safe for humans as
detailed above.
[0185] According to some embodiments, if any part of the mobile
unit, teat cup holders or the like is positioned, at least at
certain times, in non-designated areas, such as the milking pit,
safety mean may be included in the system as detailed above, such
that when any part of the mobile unit, teat cup holder or the like,
moves, a human operator found in the non-designated area will not
be harmed. For example, a bar may separate between the human
operator and the mobile unit, teat cup holder, and the like. The
bar may have several positions, as necessary. Any other covers,
barriers, and the like may be used in order to allow the human
operator to safely be in the same area as at least part of the
mobile unit, teat cup holder and the like. For example, the back to
the teat cup holder may be covered, such that, even when various
elements thereof move, a human operator would not be harmed.
[0186] An embodiment of a system may include a maintenance area
(related to herein also as a maintenance pit) for servicing mobile
units. A mobile unit may travel from a guide or rail to a service
or maintenance area. A first mobile unit may be adapted or caused
to complete an action that at least one other mobile unit failed to
complete. A mobile unit may include sensors and/or treatment
units.
[0187] According to some embodiments, the system includes a parking
area for the mobile units. The parking area and the maintenance
area may be the same, different or overlapping areas. According to
some embodiments, while the livestock enters the ramp/platform, the
mobile unit remains stationary in the parking area. Once the
livestock have finished being positioned in the stalls, the mobile
unit leaves the parking area and enters the ramp, in order the
treat the cows, as described herein. Thus, when the livestock are
mobile, the mobile units may remain stationary, e.g., in the
predefined parking area, and when the mobile units are mobile, the
livestock remain relatively stationary, e.g., confined to the
predefined areas of the stalls. Once the mobile units finish
performing their task, e.g., milking, they may return to the
parking area. Once the mobile units are in the parking area, the
livestock may be allowed to leave the stalls. The designated
parking area may be large enough to park as many mobile units as
may be used in the particular milking parlor. Such a setup
minimizes collisions between the livestock and the mobile units, as
well as any possible fright that might be caused to the livestock,
due to the movements of the mobile units. According to some
embodiments, the rail that stretches along the ramp reaches, by
extended length or by a branch/loop in the rail, or the like, into
the parking area, such that the mobile units may easily move along
the rail from the ramp into the parking area and vice versa.
According to some embodiments, the rail may be designed to include
any number of loops, U shapes and the like, within the parking area
in order to allow a plurality of mobile units to be positioned
thereon.
[0188] An embodiment of a system may include a central management
unit adapted to instruct or cause a mobile unit to perform an
action and/or to coordinate the operation of various elements in
the system with one another, including the coordination of a
plurality of mobile units. It is noted that a plurality of mobile
units may be used to simultaneously treat more than one animal. It
is further noted that any one of the mobile units in a plurality of
mobile units may preform part of the treatment of the livestock,
while other mobile units perform other parts of the treatment. It
is further noted that each one of the mobile units may fully treat
one of the animals, while the other mobile units treat other
animals. Thus, by using a plurality of mobile units, the efficiency
of the system may be optimized, regarding the time necessary for
completing the treatment, the amount and type of equipment any one
of the mobile units is required to use or carry and the like.
[0189] If any one of the mobile units is intended to perform a
certain task, possibly part of the overall required treatment, that
mobile unit may be fitted with any appropriate equipment. Thus, not
all mobile units must be identical to one another. For example, the
end of the arm of each mobile unit may be fitted with an
appropriate arm element, possibly at the distal end of the arm. For
example, any one of the mobile units may be fitted with
cleaning/disinfecting equipment, including brushes, hoses, nozzles,
valves, cleaning or disinfecting liquids and the like. For example,
any one of the mobile units may be fitted with an arm element that
may grip equipment, such as teat cups, brushes and the like.
According to some embodiments, such an arm element is related to
herein as a gripping element, gripping unit or the like.
[0190] According to some embodiments, the arm element, or any other
detachable equipment on the mobile unit, may be attached/detached
from the mobile unit when necessary, e.g., by a human operator, by
another mobile unit, by the mobile unit itself, or by any other
entity in the milking parlor. Changing the equipment may be before,
during or after the treatment of the livestock. Changing the
equipment may change the role of the mobile unit in performing the
treatment task, or may replace equipment that has malfunctioned, or
replenish substances that need to be replenished. According to some
embodiments, the role of the mobile unit may be changed in order to
optimize the treatment, such that any of the mobile units may take
over part of a task of another mobile unit, which, for some reason,
is held up with the task it was required to perform or has
malfunctioned.
[0191] According to some embodiments, any one of the mobile units
may include replacement arm elements as well as replacements for
any other detachable elements on the mobile unit and stores of
replenishable substances. According to some embodiments,
replacement elements, including arm elements and stores of
replenishable substances, may be placed in any appropriate position
in the milking parlor, including a parking area, the stalls, the
ramp, the milking pit, as well as at any elevated point in the
milking parlor, e.g., above the ramp, and the like. According to
some embodiments, any one of the mobile units may leave equipment
in any appropriate location, e.g., a holder in a stall or at a
pre-designated location outside of the stall, for another mobile
unit (or other entity) to use.
[0192] Any one of the detachable elements, including arm elements,
may receive electricity, substances, such as sanitizing liquids,
and the like via the mobile unit. Further, any one of the
detachable elements, including arm elements, may receive commands
from the mobile unit it is attached to, from any one of the other
mobile units, from a central management unit or the like.
[0193] According to some embodiments, any two mobile units may be
configured to communicate directly with one another, with a central
management unit, or both. According to some embodiments, a central
management unit may relay signals from one mobile unit to another.
The central management unit may be positioned at any appropriate
position in the milking parlor and may be either mobile or
stationary. According to some embodiments, the central management
unit is physically attached to any one of the mobile units.
According to some embodiments, the central management unit may
include a plurality of control units, each positioned as required,
e.g., on a mobile unit or at any appropriate position in the
milking parlor.
[0194] It is noted that the communication between the mobile units,
directly or indirectly, via, e.g., control units attached to any of
the mobile units, one or more central management units, or any
other communicating entities in the milking parlor, may optimize
the treatment of the livestock, enabling the various mobile units
to perform different parts of the same task, to treat different
animals, to take over tasks from one another when required, e.g.,
when one mobile unit malfunctions, to change roles before, during
or after the treatment, to refrain from colliding and the like.
[0195] According to some embodiments, the communication between the
various mobile units with one another and/or with the central
management unit and/or control units, and/or with any other
appropriate elements in the system/milking parlor may be wireless
or may be via wires or at least partially so. According to some
embodiments, communication wires may be included, at least
partially, in a rail, or attached thereto. According to some
embodiments, wireless communication may be transferred by any known
means, such as RF, Bluetooth, WiFi, and the like.
[0196] Any one of the mobile units, control units, central
management units, and the like, may assign tasks to any one of the
mobile units, as well as to any other appropriate entities in the
milking parlor, for example, a bar distancing human operators from
the mobiles units' path, as detailed herein.
[0197] One embodiment is directed to a system in which at least one
of a plurality of mobile units includes a camera and/or laser
scanner, sonar scanner, radio wave scanner or radar device for
obtaining data comprising an image of the livestock and/or for
identifying any region of the livestock, wherein the system
comprises a computing device for processing the data to determine a
location of an organ of the livestock with respect to a marking on
the ramp.
[0198] According to some embodiments, the arm of the mobile unit
comprises an arm that includes a gripping unit. The gripping unit
may be designated to withdraw teat cups from the holders and attach
them to the animal. Once attached, the gripping unit may be
detached from the teat cups and possibly, the mobile unit may move
to a different location, e.g., for treating a different animal. As
detailed herein, the gripping unit may further be designed to grip
any other necessary equipment for pre- or post-milking processes,
such as a sanitizing brush, sanitizing fluid receptacle, and the
like.
[0199] According to some embodiments, the gripping unit includes a
multiple gripper, i.e., a gripper that may simultaneously grip a
multiple number of objects. According to some embodiments, the
gripping unit includes a double gripper, i.e., a gripper that may
simultaneously grip two objects. According to some embodiments, any
one of the grippers may be designed to grip an object, to press a
button on any appropriate object, e.g., in order to cause that
object to perform a certain operation, to rotate any part of an
object, to squeeze any part of an object, and the like.
[0200] According to some embodiments, the gripping unit includes a
lengthwise double gripper that includes two gripping elements.
According to some embodiments, the lengthwise double gripper
essentially simultaneously grips two teat cups that are positioned
one behind the other in the holder, and attaches them one after the
other to the animal's teats, wherein the back teat cup is attached
to the back teat first and only then is the front teat cup attached
to the front teat. It is noted that in this respect, the front of
the holder is considered to be the side of the holder facing the
animal and the front teat cups are the teat cups closest to the
front of the holder. Further, the front teats are the teats closest
to the head of the animal. According to some embodiments, there are
two rows of teat cups in the holder, a front row and a back row,
wherein each row comprises two teat cups. The lengthwise double
gripper may simultaneously grip two teat cups, one form the front
row and one from the back row, and attach them to the animal, as
detailed herein. Once the first two teat cups are attached to the
animal, the lengthwise double gripper may return to the holder to
grip the next two teat cups, also, one from the front row and one
from the back row, and so on. In order for the lengthwise double
gripper to be able to grip two teat cups at the same time, withdraw
them from the holder and attached them to the animal's udder one at
a time by releasing them one at a time from the lengthwise double
gripper, the lengthwise double gripper is designed so that the two
grippers may work together or independently, depending on the
action necessary for the lengthwise double gripper to perform.
[0201] According to some embodiments, as detailed herein, the front
teat cups are on a first step and the back teat cups are on a
second step, wherein the first and second steps are positioned at
different heights and wherein there is a difference in length
between the front in back teat cups that is about the same as the
difference in heights between the first and second steps. Thus, the
lengthwise double gripper may grip one long (front) and one short
(back) teat cup, and may further first attach the short teat cup to
the back teat and then attach the long teat cup to the front
teat.
[0202] According to some embodiments, the teat cups comprise more
than one groove, hook, handle and the like, which are designed such
that lengthwise double gripper may easily grasp the teat cup.
According to some embodiments, the teat cups comprise two grooves,
such that the lengthwise double gripper is able to properly grip
two teat cups at a time, attaching them to the udder one after the
other, which includes releasing them from the lengthwise double
gripper one at a time. The two grooves may be about 0.5-2.0 cm
apart from one another. According to some embodiments, the grooves
cover the full circumference of the teat cups, while according to
other embodiments, they are designed to be only on part of the
circumference. According to some embodiments, the grooves are
helical.
[0203] It is noted that the force required from any of the grippers
to grip any appropriate equipment may be provided by an ex-center
mechanism, thereby allowing a firm grip while using a relatively
small motor. According to further embodiments, the arm and/or
gripper will include a release mechanism, enabling the release of
the equipment when necessary, e.g., when no longer in use or when a
malfunction occurs.
[0204] As detailed herein, the lengthwise double gripper may be
designed to grip any appropriate equipment, including teat cups,
pre-milking equipment and post-milking equipment. Embodiments of
the invention are directed to an autonomous pre-milking brush.
According to some embodiments, the autonomous pre-milking brush
both sanitizes the teats and stimulates the milk release from the
udder. According to some embodiments, the autonomous pre-milking
brush includes any number of brushes that may move, e.g., rotate,
such as to sanitize and stimulate the teat. According to some
embodiments, the autonomous pre-milking brush includes one, two,
three or four rotating brushes. According to some embodiments, the
autonomous pre-milking brush includes two rotating brushes, which
are operated such that the teat is positioned in between the two
brushes.
[0205] According to some embodiments, the autonomous pre-milking
brush is operated by electricity. According to some embodiments,
electricity is provided to the autonomous pre-milking brush by any
appropriate electric cable or by a battery, possibly rechargeable,
which is included in the autonomous pre-milking brush assembly.
According to some embodiments, the autonomous pre-milking brush may
be part of or attached to the teat cup holder. According to some
embodiments, the autonomous pre-milking brush is part of the stall
or ramp assembly. According to some embodiments, there is an
autonomous pre-milking brush designated for each stall. According
to other embodiments, an autonomous pre-milking brush may be used
for a number of stalls. According to some embodiments, the
autonomous pre-milking brush is held in a holding port that is part
of the teat cup holder, attached to the teat cup holder, part of
the stall, ramp, or the like.
[0206] According to some embodiments, the autonomous pre-milking
brush is coupled to or comprises a rechargeable battery. Means for
recharging the battery may be found where the autonomous
pre-milking brush is positioned when not in use, e.g., the holding
port. For example, a recharger may be attached to or included in or
on the teat cup holder. For example, a recharger may be positioned
in any appropriate location in any one of the stalls, between any
two of the stalls, in the milking pit or the like, as long as both
the mobile unit and a manual operator may reach the autonomous
pre-milking brush when necessary. According to some embodiments,
the autonomous pre-milking brush includes a charging socket through
which the autonomous pre-milking brush is charged when attached to
the recharger, which is, e.g., an element of the teat cup holder,
an element positioned in or between the stall, in the milking pit
or the like. According to some embodiments, the charging socket is
water proof.
[0207] According to some embodiments, the autonomous pre-milking
brush is held and operated by the mobile unit. According to some
embodiments, the autonomous pre-milking brush is held and operated
by a human operator. According to some embodiments, the location of
the autonomous pre-milking brush is set such that either a human
operator or a mobile unit may reach it, grab the part of the
autonomous pre-milking brush to be used for sanitizing and
stimulating the animal, and move it to the animal's udder and
utilize it. According to some embodiments, the autonomous
pre-milking brush comprises grooves, handles, notches,
indentations, hooks and the like, possibly similar to those of the
teat cups, thus allowing the same lengthwise double gripper to
utilize the autonomous pre-milking brush.
[0208] According to some embodiments, the autonomous pre-milking
brush includes a magnetic sensor, a switch, a button, or the like,
for turning it on, e.g., for causing the brush/es to rotate.
According to some embodiments, the same sensor/button/switch or
another sensor/button/switch, or any other appropriate means, which
may be on-site or remote, may be used to operate a nozzle, or the
like, to spray disinfectant/water on the autonomous pre-milking
brush. According to some embodiments, the nozzle, or the like, is
an element of the teat cup holder, such that essentially, the
autonomous pre-milking brush is sprayed with water/disinfectant, by
an element of the teat cup holder. Thus, according to some
embodiments, the teat cup holder includes an element for spraying
the autonomous pre-milking brush with water/disinfectant. According
to some embodiments, the autonomous pre-milking brush is sprayed
with disinfectant/water while in its holding port, possibly located
on the teat cup holder or in its vicinity. According to other
embodiments, the autonomous pre-milking brush is sprayed with
disinfectant/water after it is withdrawn from its holding port.
According to some embodiments, the disinfectant disinfects the
autonomous pre-milking brush and further, wets the autonomous
pre-milking brush, such that the autonomous pre-milking brush is
ready to use for mechanically cleaning and stimulating the teats,
by rotating the wet brush on the teats. According to some
embodiments, the disinfectant used is such that it disinfects the
brush itself, not necessarily the teat, due to the rapid action of
the disinfectant. However, rotating the wet, disinfected brush on
the teat disinfects the teat and further, stimulates milk
release.
[0209] According to some embodiments and unlike other known
systems, the various elements of the system of the invention,
including the autonomous pre-milking brush, may be both manually
and robotically operated.
[0210] Embodiments of the invention are further directed to a
post-milking disinfection tool and filling station. According to
some embodiments, the post-milking disinfection tool includes a
dipping chamber and a filling detection element, wherein the
dipping chamber is filled with a disinfectant. According to some
embodiments, the post-milking disinfection tool further comprises a
brush. According to some embodiments, the brush is positioned, at
least partially, around the entrance of the dipping chamber, such
that when the animal's teat is dipped into the dipping chamber, it
passes through the brush, such that it is brushed thereby, thus
ensuring that the disinfectant found in the dipping chamber is
brushed and spread onto the teat. Further, since filled in a
filling chamber, no tubes or the like are necessarily attached to
the post-milking disinfection tool, thus, the post-milking
disinfection tool is considered to be an autonomous post-milking
disinfection tool.
[0211] According to some embodiments, the filling detection element
detects whether the dipping chamber is full, whether it needs to be
filled or any other possible parameter allowing the system to fill
the dipping chamber when necessary. According to some embodiments,
the filling detection element is electronic. According to other
embodiments, the filling detection element is mechanical. According
to some embodiments, the filling detection element merely detects
when the dipping chamber should be filled, while according to other
embodiments, the filling detection element monitors the amount of
disinfectant in the chamber and alerts the system when a minimal
predefined amount is reached. According to some embodiments, the
filling detection element is a float. According to some
embodiments, the height of the float is detected by a detection
element on the mobile unit, e.g., and IR sensor. According to some
embodiments, when the height of the float is below a predefined
height, the dipping chamber is filled.
[0212] The dipping chamber may be filled by any appropriate means
at any location in the milking parlor. According to some
embodiments, the dipping chamber is filled at a designated filling
station. According to some embodiments, the system includes more
than one filling station. According to some embodiments, there is a
filling station for each stall. According to some embodiments,
there is a filling station for every few stalls. According to some
embodiments, the filling station is positioned in the stalls, in
between the stalls, in the milking pit, partially in the stalls and
partially in the milking pit, or at any other appropriate location.
According to some embodiments, the filling station is positioned at
about the height of the pelvis of the animals, and is positioned
between two animals, such that the filling station separates
between the two animals and further, is not located where the
animal's legs may hinder the use thereof. According to some
embodiments, the filling station is also a holding station, wherein
the post-milking disinfection tool is held when not in use.
[0213] According to some embodiments, the post-milking disinfection
tool is used by the mobile unit. According to some embodiments, the
mobile unit takes the post-milking disinfection tool from the
filling station when necessary, sanitizes the animals' teat
therewith after milking, and returns the post-milking disinfection
tool to the filling station when filling is necessary and/or when
the post-milking disinfection process is concluded.
[0214] According to some embodiments, the post-milking disinfection
tool is gripped by a gripping element attached to the arm of the
mobile unit. According to some embodiments, the post-milking
disinfection tool is gripped by the double gripper, as described
herein. According to some embodiments, the post-milking
disinfection tool includes grooves, hooks, handles and the like, as
described regarding the teat cups herein, in order to allow the
gripper to grip the post-milking disinfection tool. According to
some embodiments, of the grippers of the double gripper holds the
post-milking disinfection tool, while the second gripper activates
the filling of the dipping chamber by, e.g., pressing or rotating a
button or the like. The button may be part of the post-milking
disinfection tool or of the filling station. According to some
embodiments, the filling of the dipping chamber is via a mechanical
valve that is pressed, rotated or the like. According to some
embodiments, the filling of the dipping chamber is via an
electronic valve that is activated by an electronic switch, a
magnetic sensor, a motion detector, a metal detector, an
electro-optic sensor or the like. The mechanical/electronic valve
may be activated by any one of the grippers, by any other elements
on the mobile unit, by elements on the teat cup holder, by a human
user, electronically from a remote device or by any other
appropriate means.
[0215] According to some embodiments, like the remaining elements
in the system, the post-milking disinfection tool may be used
manually as well as robotically. In addition, since the
post-milking disinfection tool includes a dipping chamber such that
the teat of the animal is dipped in the disinfectant, the amount of
disinfectant wasted is reduced in comparison to most systems in
which the disinfectant is sprayed onto the animals' teats.
[0216] Further embodiments of the invention are directed to a
non-planar leg separator that is positioned on the ramp,
particularly on the floor in each stall approximately in the center
between the hind legs, in order to cause the animal to separate its
hind legs. Leg separators are known in the art and are used for
separating the animals' hind legs in order to allow the robotic arm
to easily access the animal's teats. Accordingly, the leg
separators are designed such that the animal is uncomfortable
standing on them, and therefore, will position its hind legs on the
sides of the leg separator, not on the separator itself, thus
separating its hind legs. According to embodiments of the
invention, any number of non-planar leg separators may be
positioned on the ramp, e.g., in each one of the stalls that
animals may occupy and be treated, e.g., milked. According to some
embodiments, any number of non-planar leg separators may be
included in any one of the stalls. For example, any one of the
stalls may include one relatively large leg separator or a number
of smaller leg separators. For example, the number of leg
separators in any stall may be different from the number of leg
separators in any of the other stalls.
[0217] However, the systems known in the art include chambers into
which the animals enter without needing to step on the leg
separator, just to step and stand on the two sides of it. As
detailed herein, the system of the invention may be used in a
parallel milking parlor; accordingly, the animals walk through
several stalls before reaching their designated stall. Once
reaching their designated stall, they turn about 90.degree. to be
positioned for milking and/or any other treatment. Thus, if leg
separators are located on the ramp, i.e., on the floor in each
stall, the animals will continuously walk on them, which would be
uncomfortable for them. Thus, when working in a parallel milking
parlor the leg separators may be designed such that the animals may
comfortably walk over them, while they are at the same time
uncomfortable to stand on and therefore, are affective in causing
the animal to separate its hind legs.
[0218] Thus, embodiments of the invention are directed to a
non-planar leg separator, which is designed such that when the
animal walks through the stall, the first and last parts of the
non-planar leg separator are about flush with the ramp, i.e., the
same height as the ramp, while the middle of the non-planar leg
separator is elevated. According to some embodiments, the
non-planar leg separator may include any number of arches, either
depressed or elevated, steps, triangular shapes, V-shapes and the
like, such that an animal may easily walk over the non-planar leg
separator, while after rotating about 90.degree. in the stall, the
animal will be uncomfortable standing on the leg separator and will
therefore, separate its hind legs. According to some embodiments,
electronic, mechanic and/or manual means may change the position of
the non-planar leg separator after the animal is positioned in the
stall and turns about 90.degree.. Accordingly, the leg separator
itself may be flat, though is raised from the ramp after the animal
turns about 90.degree., thereby separating the animals' hind
legs.
[0219] According to some embodiments, the non-planar leg separator
includes rods and spaces between the rods, wherein the size of the
rods, the size of the spaces, the shape of the rods and the like
are designed in order for the animal to easily walk over the
non-planar leg separator sideways, while after turning about
90.degree. in the stall, the animal is uncomfortable standing on
the non-planar leg separator and therefore separates its hind legs.
According to some embodiments, the non-planar leg separator
includes cross-bars that connect that rods one to another and/or to
the sides of the non-planar leg separator, such that the non-planar
leg separator is sturdy and does not become deformed when, e.g.,
stepped on by an animal. According to some embodiments, any parts
of the non-planar leg separator, including the rods, the
cross-bars, the frame and the like, are textured to any appropriate
degree in order to prevent the animal from slipping when placing a
hoof on the non-planar separator however, the texturing of the
various elements is such that it is not harmful to the animal.
[0220] According to some embodiments, the diameter of any one of
the rods is between about 10-30 mm, wherein the diameters of the
rods are independent from one another, such that any two rods may
have a different diameter. According to some embodiments, the
number of rods is between about 4-10. According to some
embodiments, the height difference between any two rods is between
about 2-20 mm.
[0221] Reference is made to FIG. 1 that shows an exemplary system
105 according to embodiments of the invention. As shown by FIG. 1,
system 105 may include a walkway or ramp 130, an enclosure, fence
or stall 120 for containing and/or confining livestock (e.g.,
containing cow 110 as shown) and a mobile unit 140. In an
embodiment of the invention, mobile unit 140 may be a mobile robot
designed to travel on ramp 130 and under the livestock (e.g., under
cow 110 as shown in FIG. 1). For example, mobile unit 140 may be
designed and manufactured such that it freely travels under, and
between the front and hind legs of the livestock. In this respect
it is noted that FIG. 1 presents a side view of a cross section of
ramp 130, such that mobile unit 140 is intended to enter the area
between the front and hind legs of the livestock from the side,
i.e., from the left or right of the animal confined to stall
120.
[0222] Various models of mobile unit 140 may be contemplated, for
example, a model used for goats may be smaller than one used for
cows. In one embodiment, mobile unit 140 is adapted for treating
cows. Assuming a space of up to about 60 centimeters in height is
available under an average cow, mobile unit 140, including an
attached arm, may be designed such that it can freely travel
through a space that is about 50 centimeters in height. Mobile unit
140 may be designed such that it can travel between the fore and
hind legs of a cow. Accordingly, mobile unit 140 may be small
enough in size to travel under cows standing on a ramp, as
described.
[0223] Including a small mobile unit 140 as described, embodiments
of the invention enable advantages that cannot be achieved by
systems and methods known in the art. As discussed above, robotic
milking machines known in the art use an arm that is based (or
extends from) outside the stall containing the livestock. During
operation, such an arm needs to extend into the stall and under the
livestock, e.g., in order to attach a milking unit. An arm
extending from outside the stall may harm the livestock when
traveling, since its path may collide with the livestock, e.g., the
legs of a cow in the stall. Moreover, the distance traveled by an
arm based (or extending from) outside the stall is relatively
long.
[0224] Designed to fit, and operate, under the livestock, and
travel between the legs of the livestock, mobile unit 140 as
described herein eliminates some of the above mentioned drawbacks.
For example, as further described herein, mobile unit 140 may
travel to a location under the livestock from the side of the
livestock, thus, entering a location between the fore and hind legs
along a path such that it does not collide with the legs of the
livestock.
[0225] Embodiments of the invention enable treating livestock by a
system that minimizes the movement or distance travelled by an arm.
For example, movement of arm 215 may be minimal, e.g., extending
from under the cow to a housing of a milking unit that may be in
close proximity.
[0226] Reference is made to FIG. 2A, schematically showing a mobile
unit 140 according to embodiments of the invention. As shown,
mobile unit 140 may include wheels 210 enabling it to travel, e.g.,
on ramp 130 as described. It will be understood that other means
for enabling a mobility of mobile unit 140 may be used. For
example, instead of wheels 210, mobile unit 140 may be equipped
with continuous tracks (e.g., as used in bulldozers). Further, ramp
130 may be equipped with means for transporting mobile unit 140,
such as a conveyer belt, a chained track and the like.
[0227] As shown, mobile unit 140 may include an arm 215 having
joints 220, wherein arm 215 is connected to main body 144 of mobile
unit 140. According to some embodiments, arm 215 is connected to
main body 144 via arm base 225. Although FIG. 2A shows arm 215 as
being centrically positioned on main body 144, it is noted that arm
215 may be positioned and connected to main body 144 at any
appropriate position, including an eccentric position. The
eccentric positioning of arm 215 may allow the same mobile unit 140
to be used for treating different sized livestock, relating both to
the livestock's length and height, as well as to reach farther in
one direction than in the other, as required. As shown, arm 215 may
include a gripping unit 250, a set of sensor units 230 and a set of
treatment units 240. Arm 215 may be designed such that it may
extend and rotate such that gripping unit 250, sensor units 230 and
treatment units 240 may be placed at a chosen location and/or
orientation. For example, although not shown, mobile unit 140 (or
arm 215) may include electric motors adapted to move, rotate and/or
extend arm 215 such that gripping unit 250, sensor units 230 and
treatment units 240 are brought to a selected location and/or
orientation. Although not shown, it is noted that, as detailed
herein, gripping unit 250 may be replaced by any other required
equipment. According to some embodiments, any of the equipment on
mobile unit 140 may be detachable, such as gripping unit 250,
sensors 230 or treatment units 240, such that they may be replaced
by other units, either of the same or different type.
[0228] According to some embodiments, arm 215 is in a folded
configuration while mobile unit 140 is in a mobile mode, e.g.,
moving from one stall to the next, into the first stall or out of
the last stall. Once mobile unit 140 positions itself in a work
mode, between the fore and hind legs of the livestock, arm 215 may
transform into an unfolded configuration, wherein the length,
height, position and orientation of arm 215 depend on the specific
livestock under which it is positioned, the operation it is to
perform, its orientation in respect to any type of equipment it is
intended to use and the like.
[0229] Gripping unit 250 may be any unit adapted to selectively
hold and release an object. For example, gripping unit 250 may be
adapted to hold a teat cup, e.g., while removing it from the holder
and attaching it to the animal, further, gripping unit 250 may be
adapted to release the teat cups, e.g., after they are attached to
the animal. It is noted that the while teat cups and/or gripping
unit 250 may be designed to be attached to the animal in an
assembly of two or four teat cups, the teat cups may also be
designed to be attached to the animal in a singular manner, one
after the other, according to any appropriate sequence.
[0230] Sensor units 230 may include any sensing device, system or
module. For example, sensing units 230 may include a camera, laser
scanner, sonar scanner, radio wave scanner, radar or any other
appropriate device, for acquiring an image of an organ of an animal
(e.g., in order to identify the animal) and/or for identifying any
region of the animal, possibly assessing the position of that
region in space. In an embodiment of a system, sensing units 230
may include sensors for testing for pregnancy. Testing for
pregnancy using an ultrasonic sensor is known in the art. For
example, in an embodiment of a system, sensor units 230 include an
ultrasonic sensor used in order to test livestock for pregnancy
wherein the actual testing may be performed as known in the art. In
the same or other embodiment of a system, sensing units 230 may
include sensors for capturing a heartbeat of a fetus. Any other
sensors may be included in sensing units 230.
[0231] Treatment units 240 may include any applicable device,
system or module. For example, treatment units 240 may include a
washing unit adapted to wash an organ (e.g., washing the udder of
an animal before or after milking). For example, mobile unit 140
may include an assembly including a tank or container that contains
liquid (e.g., water, solvent or other liquid solution). The
assembly may include pipes to run the liquid from the tank to jets
on nozzles included in treatment units 240. The assembly may
include a pump to force liquids from a liquid container through the
pipes and jets.
[0232] An assembly included in mobile unit 140 as described herein
may be used for cleaning or washing any object. For example, arm
215 may be positioned such that jets in treatment units 240 are
directed downwards, at a floor. For example, mobile unit 140 may
wash the floor of ramps 130 and 405 described herein.
[0233] Sensor units 230 may include a thermometer for determining a
temperature of the livestock or a temperature of an organ of a
livestock. For example, udder infections may be identified or
detected for example by measuring the temperature of the udder. Any
data collected by sensor units 230 may be stored on mobile unit
140, may be processed by a controller included in mobile unit 140
as described herein and/or may be sent to a remote computer using
communication components included in mobile unit 140 as described
herein (e.g., with reference to FIG. 3, as detailed below).
[0234] For the sake of simplicity and clarity, various elements
that may be included in mobile unit 140 are not shown in FIG. 2A.
For example, wires providing electric power to arm 215, sensor
units 230 and treatment units 240 may be included, but are not
shown. Other elements, e.g., wires carrying digital data or signals
to/from sensor units 230 and treatment units 240 are not shown.
Other elements included and not shown may be pipes or conduits used
for running liquids (e.g., liquids used for washing or
disinfecting). For example, mobile unit 140 may include an assembly
including a container that contains disinfectant liquid (e.g.,
iodine) and a pump for causing the liquid to be transferred from
the tank and sprayed on an udder of an animal through nozzles or
jets in a disinfecting unit included in treatment units 240.
Included also may be any types of syringes, test tubes, slides,
scissors, forceps and the like, which enable the operator to
perform any type of desired testing/treatment. Further, the mobile
unit may include any type of safety mechanism. Such a safety
mechanism may protect the mobile unit against possible collisions.
The safety mechanism may further protect the mobile unit against
possible kicks from the livestock.
[0235] As detailed herein, the system may be configured such that
the mobile unit does not enter, or does not frequently enter, zones
in which it is highly probable that a livestock will kick. In this
respect it is noted that an analysis of livestock movements shows
that dairy livestock, such as cows, tend to kick strongly mainly
backwards with their hind legs. Other kicks are also apparent,
though are not as strong. Thus, the system is configured such that
the mobile unit does not move behind the hind legs of the dairy
livestock. Nonetheless, the mobile unit may still be kicked and
further, may collide with other mobile and/or stationary objects
and therefore, embodiments of the mobile unit may include a safety
mechanism. According to some embodiments, the safety mechanism is
included in arm 215. According to some embodiments, the safety
mechanism is at base 225 of arm 215, where arm 215 is attached to
mobile unit 140. However, the configuration of the system such that
the mobile unit is mostly positioned in "non-kick zones", allows
arm 215 to be relatively small and light, since it is not required
to withstand harsh blows. According to some embodiments, the mobile
units are programed to refrain from entering "kick zones" by any
known means, which may be either a physical part of the mobile
unit, the ramp, or other elements of the system, or electronic data
transferred thereto when necessary by RF, Bluetooth, WiFi, and the
like. According to some embodiments, the mobile units include
sensors that aid in directing them to "non-kick" zones. According
to some embodiments, the ramp includes marks that relay data to the
mobile unit regarding zones that it may or may not enter. According
to some embodiments, any types of barriers may be included on the
ramp to prevent the mobile unit from entering kick-zones, wherein
such barriers, while affecting the movements of the mobile units,
would, generally, not affect the movements of the animals on the
ramp. According to some embodiments, a rail/guide is positioned on
the ramp/platform, such that mobile units moving along the
rail/guide, do not enter kick-zones. The kick- and non-kick zones
may be predefined, according to the regular use and movements of
the livestock in the milking parlor.
[0236] According to some embodiments, the dimensions of the main
body 144 of the mobile unit 140 are in the range of 20-100 cm
(length).times.25-55 cm (height).times.20-60 cm (width). According
to some embodiments, the weight of the mobile unit 140 is in the
range of about 10-50 kg. According to some embodiments, the weight
of the mobile unit is under about 40 kg. According to some
embodiments, the weight of the mobile unit is under about 30 kg.
According to some embodiments, the weight of the mobile unit is
under about 25 kg. According to some embodiments, the weight of the
mobile unit is under about 20 kg. Embodiments allowing mobile unit
140 to be both small and light weight, provide a mobile unit that
it easily treated by any operator, including a human operator. For
example, if a mobile unit 140 malfunctions, an operator may simply
manually lift it up off of ramp 130. The size of mobile unit 140
also enables it to easily maneuver between the livestock's front
and hind legs. Additionally, the smaller mobile unit 140 is, the
less prone it will be to collisions with other stationary and
mobile objects, including kicks from the livestock. A small sized
mobile unit also provides safety to human operator as well as other
elements in the milking parlor, since collisions with a small
mobile unit may not be hazardous. Further, the parking or storage
area, as detailed herein, necessary for small mobile units is
relatively small and therefore, existing areas in the milking
parlor can be used for storage/parking, without requiring
additional space or rearrangement of the milking parlor.
[0237] Reference is now made to FIGS. 2B and 2C, presenting an
embodiment of a safety mechanism that may be included in mobile
unit 140, as described in FIG. 2A, wherein FIG. 2B presents safety
mechanism 260 in an engaged configuration while FIG. 2C presents
safety mechanism 260 in a disengaged configuration. It is noted
that certain elements appear only in one of the figures (e.g.,
elements 140 or 215 in FIG. 2A) though are relevant to the other
figures as well and therefore, the description of a certain figure
may include elements appearing in a different figure. Accordingly,
all of the figures should be related to together.
[0238] The safety mechanism may be any appropriate safety mechanism
known in the art, which disengages top plate 261 from bottom plate
262 when an element, such as arm 215, attached to the top plate 261
is hit. Space 263 is formed by the disengagement of top plate 261
from bottom plate 262. When space 263 is formed, elements attached
to top plate 261, such as arm 215, will not operate, until safety
mechanism 260 is reengaged; however, the disengagement prevents
irreversible damage to arm 215, mobile unit 140 and the like, since
it allows top plate 261 to swivel freely around an axis, such that
the force of the blow is translated into rotational movement.
Safety mechanism 260 may be reengaged by any appropriate means,
e.g., manually, electronically, automatically, according to
predefined conditions, and the like.
[0239] According to some embodiments, in the engaged configuration,
an element, such as a ball bearing, a pushpin, a protrusion, or the
like (not shown) attached to top plate 261 protrudes into, e.g., a
groove (not shown) in bottom plate 262, e.g., beneath one or more
of springs 264. When disengaged, top plate 261 may rotate in
respect to bottom plate 262, such that the ball bearing, pushpin,
protrusion, or the like is withdrawn from the groove in bottom
plate 262. When reengaged, top plate 261 may be rotated in respect
to bottom plate 262, such that the ball bearing, pushpin,
protrusion, or the like reenters the groove in bottom plate
262.
[0240] According to some embodiments, safety mechanism 260 is
included in arm 215. According to some embodiments, safety
mechanism 260 is included in arm base 225. According to some
embodiments, arm 215 is connected to main body 144 by way of safety
mechanism 260.
[0241] Reference is made to FIG. 3, schematically showing
components that may be included in mobile unit 140 according to
embodiments of the invention. As shown, mobile unit 140 may include
a controller 310, a memory 315, a radio frequency (RF)
receive/transmit (Rx/Tx) unit 335 (also referred to as "RF unit
335" herein), a data storage unit 340, input/output (I/O) devices
345, a power source 320, a set of motors 325 and a set of sensors
330. For the sake of simplicity and clarity, some components that
may be included in mobile unit 140 are omitted from FIG. 3. For
example, arm 215 and wheels 210 are not shown in FIG. 3. Power
source 320 may be any suitable power source for providing power to
any components of mobile unit 140. For example, power source 320
may be a battery that provides electric energy to motors 325,
controller 310, RF unit 335 and/or other components included in
mobile unit 140. Accordingly, mobile unit 140 may include an
internal power source. According to other embodiments, mobile unit
140 receives electricity from any appropriate external source,
connected to mobile unit 140, e.g., via power source 320.
[0242] Motors 325 may be electric motors that move and/or extend
arm 215, rotate wheels 210 or drive other components included in
mobile unit 140. Sensors 330 may be any suitable sensors. For
example, sensors 330 may be adapted to sense light, infra red (IR)
light, magnetic flux and the like. For example and as described
herein, a sensor included in sensors 330 may sense a mark or
markers on path or ramp 130 thus enabling mobile unit 140 to
position itself at predefined locations on ramp 130 or to refrain
from entering certain areas on ramp 130. Another example could be
that sensors 330 sense that they are positioned correctly under the
animal, e.g., by detecting the shadow created by the animal's body,
the heat produced thereby or the like, thus positioning mobile unit
140 as desired.
[0243] RF unit 335 may be a component enabling mobile unit 140 to
communicate with any component in a system as described herein. For
example, RF unit 335 may be a WiFi (also spelled Wi-Fi or Wifi)
component or device enabling mobile unit 140 to communicate with a
management system or with other mobile units, e.g., in a system
that includes a remote management system and/or a plurality of
mobile units 140 as described herein. According to other
embodiments, the communication is via Bluetooth.
[0244] Controller 310 may be, for example, a central processing
unit processor (CPU), a chip or any suitable computing or
computational device. In some embodiments, more than one controller
310 may be used. For example, a plurality of controllers similar to
controller 310 may be included in mobile unit 140.
[0245] Memory 315 may be or may include, for example, a Random
Access Memory (RAM), a read only memory (ROM), a Dynamic RAM
(DRAM), a Synchronous DRAM (SD-RAM), a double data rate (DDR)
memory chip, a Flash memory, a volatile memory, a nonvolatile
memory, a cache memory or other suitable memory units or storage
units. In an embodiment, memory 315 is a non-transitory
processor-readable storage medium that stores instructions and the
instructions are executed by controller 310. Memory 315 may be or
may include a plurality of, possibly different memory units.
[0246] Executable code 316 may be any executable code, e.g., an
application, a program, a process, software, a task or a script.
Executable code 316 may be executed by controller 310 possibly
under control of an operating system. For example, executable code
316 may be one or more applications that control or manage
components in mobile unit 140. For example, when executed by
controller 310, executable code 316 may cause controller 310 to
control or manage arm 215, treatment units 240, sensors 230, RF
unit 335, motors 325 and other components included in mobile unit
140. Where applicable, executable code 316, when executed by
controller 310 may cause controller 310 to carry out operations
described herein in real-time. For example, controller 310 may be
configured to update, process and/or act upon information at the
same rate the information, or a relevant event, is received.
Executable code 316 may include a plurality of executable code
segments. For example, a first code segment may manage and/or
interact with RF unit 335 and a second code segment included in
executable code 316 may control motors 325. Executable code 316 may
include an operating system (OS) that may be a commercial operating
system designed and/or configured to perform tasks involving
coordination, scheduling, arbitration, supervising, controlling or
otherwise managing operation of controller 310, for example,
scheduling execution of programs.
[0247] Data storage unit 340 may be any suitable system or device
capable of storing digital information. For example, data storage
unit 340 may include a hard disk, a universal serial bus (USB)
device, a CD-Recordable (CD-R) drive and media, a nonvolatile
memory chip or any other memory. Content may be stored in data
storage unit 340 and may be loaded from data storage unit 340 into
memory 315 where it may be processed by controller 310. Content may
be stored in data storage unit 340 and may be sent, e.g., using RF
unit 335, from data storage unit 340 to a remote computer or
system. For example, data acquired by sensor units 230 may be
stored in data storage unit 340 and may later be extracted from
data storage unit 340 and sent or uploaded to a remote
computer.
[0248] Input/Output (I/O) devices 345 may be or may include a
mouse, a keyboard, a touch screen or pad, a microphone, or any
suitable input device. It will be recognized that any suitable
number of input devices may be operatively connected to mobile unit
140 or controller 310. I/O devices 345 may include one or more
displays, speakers and/or any other suitable output devices. It
will be recognized that any suitable number of output devices may
be operatively connected to mobile unit 140 or controller 310. Any
applicable input/output (I/O) devices may be connected to mobile
unit 140 or controller 310. For example, a wired or wireless
network interface card (NIC), a modem, printer or facsimile
machine, a universal serial bus (USB) device or external hard drive
may be included in I/O devices 345.
[0249] Embodiments of the invention may include a mini robot (e.g.,
in the form of mobile unit 140) adapted to travel on a ramp and
below dairy livestock, between the fore and hind legs of the
livestock. For example, an embodiment of a system may include a
mini robot adapted to travel on a ramp on which livestock is
standing. An embodiment of a system may include a mini robot
adapted to travel to a spot under the livestock and park in at the
predefined spot, e.g., as further described herein. In an
embodiment, the mini robot or mobile unit may carry equipment
usable for treating livestock or may use equipment placed in
various, possibly designated, positions in the milking parlor. For
example, the mini robot may carry, or extract from a housing, a
milking unit and attach the milking unit to the dairy livestock.
The milking robot may park under the livestock and, when parked,
perform a treatment. For example, a treatment may be milking,
disinfecting, obtaining measurements and the like. As described, a
mini robot or mobile unit may travel on a ramp on which the
livestock is standing. For example, a ramp on which cows are
standing may include a guide or rail and a mini robot or mobile
unit may travel along or on the guide or rail.
[0250] A method of treating dairy livestock may include navigating
a mobile unit to a location under the livestock; and carrying out,
by the mobile unit, at least one action related to a treatment of
the dairy livestock. It will be understood that portions of the
operations, such as milking, disinfecting, washing and obtaining
measurements, may include usage of equipment as known in the art,
which may be included in or on the mobile unit or at any
appropriate location in the milking parlor. For example, the actual
washing of udders of the animals, as described herein, may be
performed as known in the art. Similarly, using jets to spray a
disinfectant liquid may be as known in the art. Accordingly, for
the sake of clarity and simplicity, details related to some of the
operations performed by a mini robot or mobile unit as described
herein are assumed to be understood or known to a person having
ordinary skill in the art and are not described in detail.
[0251] Reference is made to FIG. 4 that shows a system 400
according to embodiments of the invention in a rotary milking
parlor. As described herein, system 400 may be included in or
operated as a milking parlor or milking platform. It is
particularly noted, as will be detailed herein, that all of the
elements of the system of the invention may be included in any
existing milking parlor, including rotary and parallel milking
parlors and may be altered as required according to the type of the
milking parlor. As shown, system 400 may include a ramp 405. For
example, ramp 405 may be a platform on which animals stand being
milked or treated, wherein each animal, once entering ramp 405,
stands in a stall, one animal per stall, as known in the art. As
shown by arrow 406, ramp or platform 405 may rotate, with the
livestock on it. As shown, ramp 405 may include a guide or rail 410
for guiding mobile units. As shown by mobile units 441, 442, 443,
444, 445, 446, 447 and 415, mobile units that may be similar to
mobile unit 140 described herein, may be placed on ramp 405 and may
travel on ramp 405, e.g., forward or backwards along rail 410 or
out to a maintenance area (see, e.g., the position of mobile unit
441). As shown, system 400 may include a maintenance area 435. For
example, as shown by mobile unit 441, a mobile unit may exit rail
410 into a maintenance area 435 where it may be serviced,
including, for example, removing samples that mobile unit 441
collected from the monitored livestock. It is noted that once
mobile unit 441 enters maintenance area 435, it may remain there
until ramp 405 stops rotating and until at least in the vicinity of
maintenance area 435 there are no moving animals and/or mobile
units, such that an operator may safely enter ramp 405, without
being endangered by movements of ramp 405, animals and/or mobile
units. As shown by arrow 460, animals may enter or mount ramp 405
through a dedicated opening and as shown by arrow 461, animals may
exit ramp 405 through a dedicated opening or gate.
[0252] System 400 may include a component for housing a milking
unit, e.g., before milking has begun and/or after milking has been
completed. For example, as shown by assembly 420, an assembly for
housing milking equipment may be included in ramp 405. For example,
when placed in assembly 420, a milking unit may be washed,
disinfected and the like. A system may include a component for
placing milking units in a dedicated place or holder that is
relatively close to the location of an animal when milked. For
example, as shown by arrangement 430, special holders may be
included in ramp 405 and a milking unit may be placed in the holder
or holders. For example, quartets of holders 430 may separately
hold teat cups. As shown by arm 425, a system may include an arm
adapted to extract or fetch a milking unit from assembly 420 and
place the milking unit in holders 430. It is further noted that arm
425 may not be included in the system and that the milking units
may be placed in holders 430 by any appropriate means, such as
human operators. In addition, it is noted that the milking unit,
which, as shown in FIG. 4, is part of system 400 or of the milking
parlor, not part of mobile unit 140, is connected directly to the
main milk-line (not shown). Accordingly, system 400 may further
include any milk or livestock testing means necessary for assuring
that only desired milk enters the main milk-line. Undesired milk,
e.g., from an animal receiving antibiotics, may be collected
separately. Different types of milk, such as colostrum, may also be
collected separately.
[0253] In one embodiment, holders 430 are located at a minimal
distance from the milked animal. It is noted that holders 430 may
hold milking equipment, such as teat cups, cleaning equipment, such
as brushes, disinfecting fluid or disinfecting fluid conduits, or
any other necessary equipment or substances. According to one
embodiment, one holder 430 is positioned between every two stalls,
wherein an additional holder may be positioned before the first
stall or after the last stall, or between the first and last stalls
on a rotary platform. According to some embodiments, any one of the
holders may be positioned about in line with the space between the
hind legs of an animal, when confined to the stall. Either one of
those positions enables arm 215 to be of minimal length, such that
mobile unit 140 (see FIG. 2A) has a minimal footprint. According to
some embodiments, arm 215 (see FIG. 2A) does not reach beyond the
edge of ramp 130. According to some embodiments, arm 215 reaches up
to 20 cm beyond the edge of ramp 130. According to some
embodiments, arm 215 reaches up to 15 cm beyond the edge of ramp
130. According to some embodiments, arm 215 reaches up to 10 cm
beyond the edge of ramp 130. According to some embodiments, arm 215
reaches up to 5 cm beyond the edge of ramp 130.
[0254] It is noted that throughout, although reference herein is
made to specific mobile units and elements thereof, as well as
specific elements of the system, such as mobile unit 140 and arm
215, as presented in FIG. 2A, the embodiments detailed are relevant
for any mobile units and system elements, such as mobile units 441,
442, 443, 444, 445 and 446, unless specifically mentioned
otherwise.
[0255] According to some embodiments, mobile unit 140 is configured
such that it may travel on ramp 130, easily fit between the front
and hind legs of the livestock, and, when parked under the
livestock in working mode, can use arm 215 to reach and operate any
necessary equipment, such as teat cups, cleaning brushes and the
like. According to some embodiments, the mobile unit is designed
such that, when parked under the livestock, as described, the
external edges of main body 144 do not protrude beyond the external
edge of the body of the livestock under which it is parked.
According to some embodiments, any one of the external edges of
main body 144 protrudes up to 20 cm beyond the external edge of the
body of the livestock under which it is parked. According to some
embodiments, any one of the external edges of main body 144
protrudes up to 15 cm beyond the external edge of the body of the
livestock under which it is parked. According to some embodiments,
any one of the external edges of main body 144 protrudes up to 10
cm beyond the external edge of the body of the livestock under
which it is parked. According to some embodiments, any one of the
external edges of main body 144 protrudes up to 5 cm beyond the
external edge of the body of the livestock under which it is
parked.
[0256] According to some embodiments, while mobile unit 140 is
parked under the livestock, base 225 of arm 215 is positioned under
the livestock, while arm 215 may extend out from under the
livestock in order to perform any necessary operations, e.g.,
withdraw teat cups from holder 130 and the like.
[0257] As shown, system 400 may include a management unit 470 that
may include an RF unit 471 enabling management unit 470 to
communicate/coordinate with other components of system 400. For
example, management unit 470 may communicate/coordinate with mobile
units 441, 442, 443, 444, 445, 446, 447 and 415. As shown,
management unit 470 may include a controller or processor 474 and a
memory 472 that may include software, instructions or executable
code 473. When executed by controller 474, executable code 473 may
cause controller 474 to perform operations performed by management
unit 470 as described herein. In one embodiment, management unit
470 includes a server computer equipped with RF capabilities.
Accordingly, a management software application may be executed on
management unit 470 and the management application may communicate
with mobile units 441, 442, 443, 444, 445, 446, 447 and 415.
Although not shown, management unit 470 may be connected to other
components or computers, e.g., management unit 470 may be connected
to the internet or to a remote sever. Accordingly, any data
obtained by mobile units 441, 442, 443, 444, 445, 446, 447 and 415
may be communicated to management unit 470 and from management unit
470 to any computer or network. Controller or processor 474 and/or
controller or processor 310 may be configured to carry out
embodiments of the invention by for example executing instructions
or software.
[0258] L001861 As described, a system for treating dairy livestock
may include a ramp for containing dairy livestock and one or more
mobile units configured to travel on the ramp and below the dairy
livestock and perform at least one action related to
treatment/testing of the dairy livestock. For example, mobile units
441, 442, 443, 444, 445, 446, 447 and 415 may be small enough to
travel under, and between the front and hind legs of cows standing
on ramp 405 and may perform various treatments and operations as
described herein.
[0259] L001871 According to some embodiments, ramp 405 is a
rotating platform in a rotary milking parlor. According to some
embodiments, ramp 405 is a stationary platform in a parallel
milking parlor. As would be understood by a person skilled in the
art, when the system of the invention is assembled in a parallel
milking parlor, there will be two ramps 405, each possibly fitted
with a guide or rail 410, as detailed herein, and each having
mobile units 140, 415 and the like moving thereon and treating
animals on each one of the two parallel platforms.
[0260] In a rotary milking parlor ramp 405 may be adapted to
translate or move both the dairy livestock and the mobile unit.
Accordingly, when positioned under an animal, a mobile unit (e.g.,
mobile unit 442) may be stationary with respect to an animal above
it, while both the animal and the mobile unit are translated (e.g.,
rotated) by ramp 405. For example, ramp 405 may be a round ramp
adapted to translate the livestock and mobile units in a circle
around a center. Ramp 405 may include stalls (e.g., as shown in
FIG. 1) and may rotate slowly such that animal can enter or mount
ramp 405 as shown by arrow 460 and exit ramp 405 as shown by arrow
461.
[0261] Guide or rail 410 may be designed to keep the mobile units
(e.g., mobile units 446, 447 and 415) within a predefined path
along ramp 405 and under the livestock positioned on ramp 405,
wherein rail 410 may extend from one end of the ramp to the other
and when the ramp is circular (or oval or otherwise shaped in a
closed shape), rail 410, or at least a part thereof, may be
designed to be the same shape as the ramp, or similar thereto, such
that when the livestock are positioned on the ramp, rail 410
travels between the fore and hind legs of the livestock. For
example, rail 410 may include side walls that may prevent mobile
units from traveling at any direction other than along rail 410. In
one embodiment, rail 410 may include rails on which wheels 210
(that may include a groove that fits the rails) travel such that
the rails hold the wheels (and thus the mobile units) in a way
similar to the way rails hold or guide a train.
[0262] In an embodiment, rail 410 may provide mobile units with
electrical energy. For example, contacts may be placed on the sides
of rail 410 and may provide current to mobile units via electrical
contacts included in the mobile units. For example, metal brushes
or other components in mobile unit 442 may be connected to motors
325 and be in touch with conductive metal strips or terminals
placed on (or along) rail 410. Electric power may be fed into the
conductive metal strips or terminals, may flow through the brushes
and may power motors 325. Accordingly, rail 410 may provide mobile
units with electrical energy.
[0263] According to other embodiments, rail 410 is absent, and
then, possibly, the movement of the mobile units is controlled,
e.g., limited to a certain path, by management unit 470, which may
be transmitted/received via electrical means, Bluetooth, internet,
WiFi and the like, by controller 310, included in mobile unit 140,
by marks, such as marks 480, 481 and 482 on ramp 405 or rail 410 or
by any other appropriate means.
[0264] Mobile unit 140 may be adapted to perform various treatments
and operations. For example, mobile unit 415 may disinfect animals
(e.g., udders or teats) by spraying a disinfectant liquid. For
example, mobile unit 415 may include a container or tank that
stores iodine and treatment units 240 may include a nozzle or jet
for spraying the iodine on the animals, e.g., after milking is
completed and a milking unit was removed. Treatment units 240 may
include a component adapted to warm or heat the udder or other part
of an animal, accordingly, a mobile unit as described herein may
heat an organ of the livestock, e.g., by attaching a heating
component to the livestock or placing a heating component in the
proximity thereof.
[0265] In one embodiment, a mobile unit (e.g., mobile unit 140) may
include a tank or container that stores water or other liquids
usable for cleaning or washing the livestock and/or cleaning or
washing ramp 405. For example, nozzles included in treatments units
240 may eject water or other liquids on animals standing on ramp
405. Nozzles or jets included in treatments units 240 may be used
to wash ramp 405. Acting as a robot, a mobile unit described herein
may move/extend arm 215 such that nozzles or jets are directed to
wash a livestock or wash ramp 405.
[0266] Treatments units 240 and/or sensing units 230 may include a
camera usable for acquiring an image. It is noted that throughout,
unless specifically mentioned otherwise, the camera may be replaced
with any other appropriate device, such as a laser scanner and the
like. It is further noted that, unless specifically mentioned
otherwise, any unit may include more than one device for acquiring
an image, possibly two different types of devices. For example, arm
215 may place or aim a camera included in sensing units 230 such
that an image of any desired part of the animal, such as an
animal's belly, buttock or udder is captured. An image acquired as
described may be used for attaching a milking unit (e.g., by
determining exact or relevant location of teats), for diagnosing
any possible condition or the like. An image may be used to
identify an animal. For example, by analyzing an image of an udder
or an image of a mark on an animal's body, the animal may be
identified. For example, hot-iron branding on a belly of an animal
may be identified by processing an image of the animal's belly and
using known image or pattern recognition methods. For example, an
image of the animal's belly may be processed by controller 310 or
controller 474, a mark may be identified in the processed image and
a database that includes a list of the animals and their respective
marks may be used in order to identify the animal. Other marks
(e.g., made using freezing, e.g., using liquid nitrogen or dry ice)
may be similarly identified. Accordingly, sensing units 230 may
include a sensing device for identifying the livestock.
[0267] Other devices or sensors included in treatments units 240
and/or sensing units 230 may be devices or sensors for testing for
pregnancy as known in the art. For example, an ultrasound sensing
device included in sensing units 230 may be used to capture a
heartbeat of a fetus. It is noted that, although sensing units 230,
treatment units 240 and gripping unit 250 are depicted on the
distal end of arm 215, according to different embodiments they may
be positioned on arm 215 or on mobile unit 140 at any appropriate
location, and further, their location on arm 215 or mobile unit 140
may be changed, as required.
[0268] Any data acquired by sensing units 230 may be stored. For
example, images acquired by a camera, laser scanner or any other
appropriate device, or signals acquired by a sensor may be stored
on data storage unit 340. Any data stored on data storage unit 340
may be downloaded or uploaded to a remote computer or data in data
storage unit 340 may be communicated over a network. Data in data
storage unit 340 may be transferred or copied using a direct wire,
e.g., using a USB port included in mobile unit 140. Accordingly, it
will be understood that data acquired, processed or generated by
mobile units such as 441, 442, 443, 444, 445 and/or 140 may be
available to other components of system 400.
[0269] In one embodiment, mobile unit 140 (or similar mobile units
shown in FIG. 4) may travel to a predefined location under an
animal and perform operations described herein when located at the
predefined spot or location. For example, an optimal location for
treating an animal may be right under the animal, possibly at a
short distance from the udder. At the predefined location, mobile
unit 140 may rotate or otherwise move or maneuver such that it is
at a selected, possibly pre-defined, orientation. For example,
mobile unit 140 may rotate itself such that arm 215 is at minimal
distance from holders 430.
[0270] To determine its location, mobile unit 140 may use any
applicable system or technique. For example, controller 310 (or
controller 474) may use image processing techniques in order to
determine a location of mobile unit 140, based on video or images
received from a camera or any other appropriate device in sensor
units 230.
[0271] An electro-mechanic switch may be used in order to enable
mobile unit 140 to determine it has reached a predefined spot in a
stall. For example, a mechanical sensor included in mobile unit 140
may be configured to detect a mark on rail 410. For example, rail
410 may include a bulge (or cavity or hole) that marks a center of
a stall and a rod connected to a micro-switch included in mobile
unit 140 may slide along rail 410 and activate the micro-switch
when reaching the bulge or cavity. An activation of the
micro-switch may enable mobile unit 140 to determine it is located
in a center of a stall. An optical sensor included in mobile unit
140 may detect an optically detectable signal emitted from a source
placed in a center of a stall. In yet other embodiments, a mark may
be or may include a magnet placed in a stall and a sensor adapted
to sense a change in magnetic flux may be included in mobile unit
140, such that mobile unit 140 may stop or park in a stall based on
a sensed magnetic field or flux.
[0272] In an embodiment, ramp 130 includes stalls for containing
the livestock. For example, when entering platform 405 as shown by
arrow 460, animals enter separate stalls.
[0273] In an embodiment, the floor of ramp 405 includes markings or
marks that are detectable by the mobile units. For example, a mark
may be placed at the center of each stall in ramp 130. For example,
the mark may be an RF beacon, a specific color, e.g. paint, and the
like. A sensor included in sensors 330 may detect a mark (e.g., by
identifying the color of the mark or picking up an RF beacon).
Based on identifying the location of the mark, mobile unit may
travel to a location defined based on the location of the mark. For
example, mobile unit may position itself such that a specific part
of the mobile unit, e.g., the center thereof, is right above the
mark or in a predefined proximity thereof. For example, a sensor
included in sensors 330 may send controller 310 the location of a
mark (or a relative location with respect to a mobile unit) and
controller 310 may cause motors 325 to move (e.g., by driving
wheels 210) a mobile unit to a location that is closest to the
mark. It will be understood that various other methods or
components for enabling a mobile unit to determine its location in
a stall may be used.
[0274] In an embodiment, a marking or mark may be placed on or
within rail 410. Accordingly, in order to place a mobile unit right
above the mark, controller 310 may only need to cause the mobile
unit to move in one of two directions (e.g., either forwards or
backwards). For example, marks placed on the floor of ramp 405
and/or on or in rail 410 and at the centers of stalls may be used
by mobile units such as 444, 445 and/or 140 in order to determine
their location with respect to a stall containing the livestock.
For example, using a mark as described, a mobile unit may position
itself under an animal in a stall.
[0275] As described, a system may include a unit for placing a
milking unit in a housing. For example, a system may include an arm
425 adapted to fetch a milking unit from assembly 420 (where the
milking units may have been washed or otherwise treated) and place
the milking units in holders 430. It will be understood that
holders 430 may be any suitable housing adapted to house the
milking units.
[0276] Holders 430 may be located at a minimal distance from the
animal and the location of holder 430, e.g., with respect to a
center of a stall, may be known. Accordingly, when located right
above a mark or in close proximity thereto, e.g., approximately in
a center of a stall, a mobile unit may determine the relative
location of holders 430. Accordingly, a mobile unit may be adapted
to determine its location (e.g., in a stall) and, based on its
location, determine the location of holders 430. Otherwise
described, knowing its location in a stall, a mobile unit may
readily determine the location of a milking equipment unit housed
by holder 430. According to some embodiments, mobile unit 140 is
designed to locate any necessary milking equipment, even if when
the specific location of the mobile unit is not known.
[0277] In an embodiment, a mobile unit is adapted to detach a
milking equipment unit from a housing or holder and attach the
milking equipment unit to the dairy livestock. For example, using
arm 215 and gripping unit 250, mobile unit 140 may detach a milking
unit (e.g., a teat cup) from holders 430 and attach the milking
unit to the milked animal. For example, the location of holders 430
(with respect to a center of a stall) may be known in advance,
accordingly, controller 310 may cause arm 215 to move to holders
430 and grip a milking unit. As described, the location and/or
shape of an udder may be known to mobile unit 140 (e.g., based on
processing an image of the lower part of the animal as described).
Accordingly, controller 310 may cause arm 215 to move to a location
under an udder and lift teat cups such that they snap onto the
teats (e.g., by force of vacuum in the teat cups as known in the
art). It will be noted that when a mobile unit is located under an
animal, possibly in the near proximity of the udder, the distance
an arm of the milking unit needs to travel in order to fetch a
milking unit and attached the milking unit to the animal is kept to
a minimum. A milking unit may be, for example, a set of four teat
cups or it may be one teat cup.
[0278] Using marks 480, 481 and 481 in stalls as described, a
mobile unit may automatically travel from a first stall to a second
stall. For example, detecting marks 480, 481 and 481 on a floor of
ramp 130 as described, mobile units 441, 442, 443, 444, 445, 446,
447 and 415 may travel from a first stall to a second stall. For
example, to travel from a first to a second stall, mobile unit 442
may travel, along rail 410 until mark 480 is detected and
determined to be right under any part of mobile unit 442. Leaving a
first stall, a mobile unit may travel, along rail 410, till it
detects mark 480. Detecting a mark on the floor of ramp 130 may
indicate to a mobile unit that it is located in the proper position
in a stall. In order to travel from a first stall to a third stall,
a mobile unit may continue its motion after detecting a first mark
till a second mark 481 is detected. Marks 480 and 481, for example,
are placed on rail 410, while mark 482 is placed on the floor of
ramp 130, and may be used, e.g., for a mobile unit not traveling on
the rail, at least in that specific area in the vicinity of mark
482. Although for sake of simplicity only three marks are shown,
and their position in the figure seems to be between the stalls, it
is noted that any number of marks may be used, and they may be
positioned as required, in the stalls, outside of the stalls,
between the stalls, on the middle of the rail, and the like. It is
further noted that as detailed above, different types of marks may
be used, and further, the same system may include any number of any
appropriate type of marks.
[0279] As shown by area 435, a system may include a service or
maintenance area where mobile units may be parked and serviced or
where samples obtained from the animals by the mobile unit may be
collected and/or examined. Other operations may be performed when a
mobile unit is hi area 435, for example, data stored in data
storage unit 340 may be transferred or copied from a mobile unit
when in area 435. In an embodiment, management unit 470 may cause a
mobile unit to exit rail 410 and enter area 435. For example, rail
410 may include an arrangement similar to a railroad switch or
turnout as used in trains. A turnout may be operated by electric
motors that may be controlled by management unit 470 (e.g., using
RF or wired communication).
[0280] Accordingly, by controlling a component of rail 410,
management unit 470 may cause a mobile unit to travel to area 435,
e.g., as shown by mobile unit 441. In an embodiment, management
unit 470 may monitor movements and locations of mobile units 441,
442, 443, 444, 445, 446, 447 and 415. For example, mobile units may
report their location to management unit 470 or other means may be
used (e.g., global positioning system components installed in
mobile units). Accordingly, management unit 470 may determine when
and how to operate a turnout such that a selected mobile unit
travels into area 435.
[0281] Mobile units 441, 442, 443, 444, 445, 446, 447 and 415 may
collaborate and/or cooperate to complete a task, treatment or
operation. As known in the art, a milking unit may include four
teat cups that need to be attached to the four teats of a cow (the
number and size varying according to the animal being milked). In
an embodiment, a first mobile unit (e.g., mobile unit 443) may be
adapted to attach a first portion of a milking unit to the dairy
livestock and a second mobile unit (e.g., mobile unit 444) may be
adapted to attach a second portion of the milking unit to the dairy
livestock. For example, mobile unit 443 may attach a first teat
cup, mobile unit 444 may attach a second teat cup and mobile units
445 and 446 may respectively attach the third and fourth teat cups.
Mobile unit 442 may perform preparation related operations, e.g.,
washing, heating and the like. As described, by processing an image
of an udder, the teats in the udder may be identified and their
location may be calculated, for example using known computer image
processing or recognition methods. For example, if the location of
mobile unit 442, when acquiring an image of an udder, is known, and
a location of a camera, laser scanner or the like, on arm 215 is
known (e.g., since the location or position of arm 215 are known)
then the location of objects in an image may be calculated. In some
embodiments, a video stream may be produced by a camera, laser
scanner or the like, carried by arm 215 and controller 310 may use
a video stream to move/extend arm 215 such that it brings a milking
unit to the teats. Any known methods used by robots or other
automated systems may be used by mobile units in order to carry and
place equipment such as a milking unit at a desired location or
position. For example, any methods used by milking robots known in
the art may be used by mobile units 415, 442 and 443. As noted,
unlike milking robots placed outside a stall, in an embodiment, a
milking robot may be, or may be included, in a small mobile unit
adapted to move to a location under the livestock and perform
operations from under the livestock, thus minimizing movement of an
arm or other parts of the milking robot.
[0282] When a mobile unit completes its task in a current stall it
may travel to the next stall, e.g., in a direction opposite to the
direction of rotation of ramp 405 or in the same directed as the
rotation of ramp 405. Prior to moving to the next stall, a mobile
unit may determine whether or not another mobile unit is located in
the next stall. For example, as described, management unit 470 may
monitor mobile units' locations and may therefore know whether or
not mobile unit is located in a specific stall. Accordingly, a
mobile unit may communicate with management unit 470 and may be
advised whether or not it may move from its current stall to the
next stall. In another embodiment, a mobile unit may
communicate/coordinate with adjacent mobile units in order to
determine their location and thus determine whether or not it may
move into a stall. Accordingly, a mobile unit may automatically
travel from a first stall to a second stall based on a command or
information received from a management unit 470 and/or
autonomously, based on information received from other mobile
units.
[0283] In an embodiment, a plurality of mobile units may be
configured to intercommunicate/coordinate in order to collaborate
in performing an action related to treatment/testing of the dairy
livestock. Collaboration or cooperation may be realized in various
ways. For example, one mobile unit, e.g., mobile unit 442 that may
be the first mobile unit to treat an animal in the current milking
session, may include a camera, laser scanner or the like, for
obtaining an image of the livestock. The image may be processed,
e.g., by management unit 470 or by one of the mobile units, and a
location of an organ of the livestock may be determined and
possibly recorded. For example, using an image and provided with
the location of the mobile unit that acquired the image, the
location of an udder (and/or teats), with respect to a marking in a
stall may be determined and possibly recorded. For example,
coordinates of an udder or teats, relative to a mark in a stall may
be sent to other mobile units. Accordingly, using an image obtained
by mobile unit 442, mobile units 443, 444, 445, 446 and 447 may be
informed, in advance, of the location of the udder or teat of the
animal.
[0284] One (or more) mobile units in a plurality of mobile units
may act as a backup unit. For example, mobile units 443, 444, 445
and 446 may each attach one of four teat cups to a cow (or two of a
goat, etc.). For example, after mobile unit 443 attaches a first
teat cup, it moves to the next stall and mobile unit 444 moves to
the stall that mobile unit 443 left. Mobile unit 444 may then
attach the second of four teat cups to the cow. Thus, mobile units
may collaborate in attaching a complete milking assembly.
[0285] However, if one of mobile units 443, 444, 445 and 446 fails
to attach a teat cup, it may report failure to management unit 470
(or to other mobile units) and mobile unit 447, when acting as a
backup unit, may attach a teat cup that another mobile unit failed
to attach. Adapted to communicate/coordinate either with each other
or with a central management unit 470, mobile units may send and
receive any information related to an operation performed by a set
of mobile units. Accordingly, one mobile unit may correct errors or
failures caused by another mobile unit. For example, a first mobile
unit may automatically complete an action that at least one other
mobile unit failed to complete as described.
[0286] In an embodiment, each mobile unit in a set of mobile units
may be configured to communicate/coordinate with other mobile units
included in the set. A set of mobile units may be configured to
dynamically and automatically determine a portion of a treatment to
be performed by each of the mobile units in a set. For example,
mobile unit 444 may only move to the next stall if mobile unit 443
has left that stall. If mobile unit 444 completes attaching a teat
cup as configured and cannot move to the next stall, mobile unit
444 may attach another teat cup, e.g., one typically attached by
mobile unit 445. In an embodiment, distribution of sub-tasks may be
configured (e.g., each mobile unit is configured to attach one
specific teat cup). Mobile units may override a configured
distribution of sub-tasks, e.g., a first mobile unit may perform a
sub-task that was assigned to a second mobile unit in a configured
distribution of sub-tasks.
[0287] It is noted that although the attachment of teat cups is
related to herein, any sort of desired treatment/testing may be
contemplated, such as cleaning, wherein one mobile unit applies
disinfectant to a certain area on the animal, the second washes the
disinfected area with water and the third dries the area. Testing
may also be involved, e.g., utilizing syringes, wherein, after
disinfecting/washing and possibly drying, a further mobile unit is
utilized for retrieving a blood or milk sample.
[0288] Mobile units may send any information to management unit
470. For example, mobile units may report completion of a sub-task,
failure to complete a task or sub-task and the like. Management
unit 470 may be configured to be aware of the progress of the
various tasks and to dynamically cause at least some of the mobile
units to each perform a portion of a treatment. For example,
provided with information from mobile units related to a progress
of a treatment (e.g., milking), management unit 470 may dynamically
allocate tasks to mobile units. For example, if mobile unit 445
reports a malfunction or a failure to attach a teat cup, management
unit 470 may command mobile unit 444 to "fill in" for mobile unit
443, e.g., attach a teat cup that, in a previous configuration, was
to be attached by mobile unit 443.
[0289] According to some embodiments, the distance between the
mobile unit and the animal is between about 30-50 cm. According to
some embodiments, the distance between the mobile unit and the
animal is between about 20-30 cm. According to some embodiments,
the distance between the mobile unit and the animal is between
about 30-40 cm. According to some embodiments, the distance between
the mobile unit and the animal is between about 40-50 cm. According
to some embodiments, the distance between the mobile unit and the
animal is between about 50-60 cm. It is noted that, although not
limited to this definition, the distance between the mobile unit
and the animal may be between any part, e.g., the base of the arm
of the mobile unit and the position on the animal that is treated,
e.g., the udder, such that the distance between the mobile unit and
the animal is essentially the distance that the arm extends.
According to other embodiments, the distance between the mobile
unit may be measured between it's position on the ramp relative to
the position of the animal or the area on the animal that it
treated.
[0290] A movement of a mobile unit from one stall to another may be
synchronized or based on a movement of another mobile unit. For
example, when mobile unit 442 has finished washing the animal in
its current stall it may move to the next stall and inform mobile
unit 443 that it may move to the stall that mobile unit 442 just
left. In another embodiment, mobile unit 442 reports to management
unit 470 that it has finished its tasks in the current stall and
may request permission from management unit 470 to move to the next
stall. Management unit 470 may keep track of the location of all
mobile units in system 400 (e.g., based on reports from the mobile
units as described). Accordingly, management unit 470 may determine
whether or not a mobile unit may move to the next stall (e.g., by
determining no other mobile unit is present in the next stall), to
the maintenance area or the like.
[0291] Mobile units and management unit 470 may share information.
For example, an image taken by mobile unit 442 (that may be the
first unit to treat an animal in a milking session) may be shared
by all mobile units in system 400. Data (e.g., coordinates of teats
in an udder) determined based on an image taken by one of the
mobile units may be shared by some of or all of the units. For
example, management unit 470 may receive an image from mobile unit
442, determine, based on the image, the location of the animal's
teats with respect to the stall or with respect to a known location
within a stall, and provide the coordinates to mobile units 442,
443, 444, 445, 446 and 447.
[0292] Reference is now made to FIGS. 5A, 5B and 5C, presenting
embodiments of system 500 assembled in a parallel milking parlor.
As shown in FIG. 5A, the livestock load into stalls 501, 502, 503,
504 and the like, while mobile units 540, 541, 542, 543, 544, 545
and 546 are positioned in parking area 560. It is noted that any
number of mobile units may be used, including a single mobile unit
and that for illustration reasons only a certain number of a
plurality of mobile units is presented. It is further noted that
although different numbers have been designated to different mobile
units in the same or different figures, any of the mobile units may
include any of the embodiments detailed regarding any of the other
mobile units, including mobile unit 140. It is further noted that
according to some embodiments, the system includes parking area
565, which may be used by the same or additional mobile units.
According to some embodiments, the system includes both parking
areas 560 and 565. It is further noted that any of the parking area
may be used for parking, maintenance and the like.
[0293] As presented, stalls 501, 502, 503, 504 and the like are
arranged on two parallel ramps 510 and 520, between which is
milking pit 550. As presented, according to some embodiments,
mobile units 540, 541, 542, 543, 544, 545 and 546 are positioned on
or attached to rails 515 and 525, which stretch along platforms 510
and 520, respectively, and according to some embodiments, as shown,
extend into parking area 560.
[0294] Once the livestock are loaded into stalls 501, 502, 503, 504
and the like, they remain within the stalls until the treatment
thereof has been concluded. In this respect it is noted that
although milking is the main treatment described herein, any other
types of treatment could be performed according to the invention.
While the livestock remain in the stalls, any number of mobile
units 540, 541, 542, 543, 544, 545 and 546 may leave parking area
560. It is noted that according to embodiments of the invention,
the mobile units are stationary while the livestock are "on the
move", i.e., not confined to the stall, while when the livestock
are confined to the stalls, the mobile units may be mobile,
entering the stalls for treating the livestock. Accordingly, the
chances of collisions and the like, between the livestock and the
mobile units and kept to a minimum.
[0295] As presented in FIG. 5B, once the livestock are confined to
stalls 501, 502, 503, 504 and the like, mobile units 540, 541, 542,
543, 544, 545 and 546 leave parking area 560. According to some
embodiments, mobile units 540, 541, 542, 543, 544, 545 and 546
leave parking area 560 only after the positions of the livestock in
stalls 501, 502, 503, 504 and the like have been
identified/verified by any appropriate means, such as sensors
positioned on the livestock, in the stalls and the like. As
detailed herein, any number of controllers, management units, RF
units, memory units, and the like may be included in the system and
may provide data, e.g., regarding the position of the livestock,
the position of the mobile units, any health parameters of the
livestock, the stage of treatment and the like.
[0296] According to some embodiments, as shown, mobile units 540,
541, 542, 543, 544, 545 and 546 move along rails 515 and 525 from
parking area 560 along ramps 510 and 520. As shown, rails 515 and
525 are positioned along ramps 510 and 520, respectively, such that
when the livestock is confined to the stalls, rails 515 and 525 are
positioned between the fore and hind legs of the livestock.
Therefore, mobile units 540, 541, 542, 543, 544, 545 and 546 moving
along rails 515 and 525 are also located on a path that passes
between the fore and hind legs of the livestock, from where they
perform any necessary treatments on the livestock. It is noted that
one mobile unit may fully treat any one of the livestock, while
according to other embodiments, a plurality of mobile units may
treat any one of the livestock, such that each one of the plurality
of mobile units performs part of the treatment. It is further noted
that although two rails 515 and 525 are presented, any other
configuration of a rail or number of rails is possible. For
example, the rails may not extend into parking area 560. For
example the rails may include any number of branches, e.g., within
the parking area, or leading from any point on the ramp to any
other point, e.g., into the milking pit, into designated areas in
the milking pit or into other areas surrounding the ramp, which may
be used, e.g., for removing or repairing malfunctioned mobile units
from the ramp, for introducing additional mobile units, when
necessary, for removing/replacing or exchanging parts of the mobile
units and the like. For example, rails 515 and 525 may be connected
to one another, e.g., in parking area 560, essentially providing
one continuous rail. For example, any number of bridges may be
formed between rails 515 and 525, e.g., over milking pit 550.
According to some embodiments, any such branches, bridges and the
like are designed such that human operators in the milking pit are
not endangered by the mobile units, e.g., the branches/bridges are
designed to be above the heads of the human operators, the
branches/bridges are positioned in predefined areas to which the
access of human operators is limited, at least when functioning
mobile are present or may be present therein, and the like. It is
noted that the rails referred to herein may be considered to be, or
replaced by, any other type of guide, pathfinder or the like.
[0297] As shown in FIG. 5C, once the treatment of the livestock has
been concluded, mobile units 540, 541, 542, 543, 544, 545 and 546
return to parking area 560 along rails 515 and 525. Once mobile
units 540, 541, 542, 543, 544, 545 and 546 are parked in parking
area 560, the livestock exits stalls 501, 502, 503, 504 and the
like, as presented in FIG. 5C, wherein the livestock have already
partially exited stalls 501 and 502.
[0298] It is further noted that any embodiments detailed above
regarding system 400 in a rotary milking parlor, e.g., management
unit 470, and the like, may be used, possibly after any necessary
adjustments, in a system assembled in a parallel milking parlor,
such as system 500, unless those embodiments are not appropriate
for a parallel parlor setup. Further, any embodiments detailed
regarding system 500 in a parallel milking parlor may be used,
possibly after any necessary adjustments, in a system assembled in
a rotary milking parlor, such as system 400, unless those
embodiments are not appropriate for a rotary parlor setup.
[0299] Reference is now made to FIG. 6, presenting embodiments of
system 600, in a parallel milking parlor, wherein only part of one
of the two parallel ramps is shown. As shown, rail 615 extends
along ramp 610 and mobile units 641, 642, 643 and 644 move along
rail 615, between the fore and hind legs of the livestock, while
treating the livestock. According to some embodiments, any one of
mobile units 641, 642, 643 and 644 may be mobile or stationary at
any appropriate time or point along rail 615 and/or during the
treatment of the livestock on ramp 610. For example, while treating
a certain one of the livestock, any one of the mobile units may be
parked under that livestock, at least for the time necessary to
complete the treatment, or part of treatment, as necessary. It is
further noted that, although a certain embodiment is presented, any
coordination between the various mobile units is possible. For
example, each livestock may be fully treated by one of the mobile
units. For example, any number of mobile units may treat each
livestock, wherein each one of the mobile units performs part of
the overall necessary treatment. It is further noted that although
four mobile units are depicted in FIG. 6, any number of mobile
units, including a single mobile unit or a plurality of mobile
units may be used according to embodiments of the invention.
[0300] As presented in FIG. 6, assuming that the mobile units are
loaded onto ramp 610 from the right hand side, mobile unit 641 is
the first mobile unit to pass under the livestock. According to
some embodiments, when the treatment of the livestock includes
milking, mobile unit 641 may be used for any necessary pre-milking
task, such as cleaning and sanitizing the udders, stimulating the
milk production, and the like. According to some embodiments,
mobile unit 641 parks under each and every one of the livestock
along the ramp, beginning on the right side in stall 601, and
performing the designated part of the required treatment, e.g.,
pre-milking sanitizing the udders and stimulating milk production.
According to some embodiments, mobile unit 641 includes any of the
necessary pre-milking equipment, including brushes and sanitizing
liquid, which may be stored on mobile unit 641 in a designated
receptacle. According to some embodiments, any of the pre-milking
equipment may be positioned on the ramp, e.g., in the stalls, at a
position that mobile unit 641 may easily reach when positioned to
treat the livestock. For example, each stall may comprise a
receptacle holding sanitizing fluid and/or at least one brush.
According to some embodiments, holders 620, 630 and the like may
comprise any necessary pre-milking equipment. According to some
embodiments, a separate unit comprising a reservoir of pre-milking
disinfection liquid, brushes or any other equipment, may be
conveyed along the rail, where it may be reached, e.g., by any one
of the mobile units performing the pre-milking tasks.
[0301] Once mobile unit 641 has completed the pre-milking task on
the animal in stall 601, it may move on into stall 602, where it
may again park and treat the animal confined to stall 602. As
detailed herein, any number of marks may be included on ramp 610
and/or on rail 615, enabling the proper positioning of any one of
the mobile units as well as enabling the movement of any one of the
mobile units from stall to stall.
[0302] Once mobile unit 641 leaves stall 601, second mobile unit
642 may enter stall 601. As detailed herein, the coordination
between the various mobile units may be performed by any
appropriate means, including direct communication between any of
the mobile units, communication between the mobile units and a
central management unit, sensors that are part of the milking
parlor, e.g., on the ramp, in the stalls, from above the stalls, in
the milking pit, and the like, which communicate with the mobile
units and/or a central management unit.
[0303] Mobile unit 642 may be designated to connect any number of
teat cups to the livestock. As detailed herein, the teat cups
according to the invention are considered to be part of the milking
parlor/platform/ramp/stalls, not part of the mobile unit, and
accordingly, the milk passing through those teat cups passes
directly into the main milk-line and is not stored in any
receptacle on the mobile unit or the like. It is noted that, as
known in the field, if certain milk should not enter the main
milk-line for any reasons, such as it being milked from a cow
receiving antibiotics, known methods may be used to prevent that
particular milk from entering the main milk-line. Known methods may
also be used to classify, test or identify the milk and/or its
components.
[0304] Since the teat cups, e.g., teat cups 621, 622, 623 and 624,
as well as teat cups 631, 632, 633, 634 and the like, are part of
the milking parlor/platform/ramp, not part of the mobile unit, they
may be positioned on ramp 610 at a position at which the mobile
units may easily reach them. According to some embodiments, teat
cups 621, 621, 623, 624, 631, 632, 633, 634 and the like are held
in designated holders 620, 630 and the like. It is noted that
although only a certain number of holders and teat cups are
specifically related to herein, any appropriate number thereof may
be included in system 600, as required according to the type of
livestock, number of livestock and the like.
[0305] Each of holders 620, 630 and the like may hold any required
number of teat cups, such as two or four. The number of teat cups
per holder may change according to the number of teats the
particular animal being milked has. As mentioned above, holders
620, 630 and the like are positioned in the milking parlor, e.g.,
on ramp 610, at a position where they can be readily reached by the
mobile units. According to some embodiments, holders 620, 630 and
the like are positioned between every two stalls 601, 602, 603,
604, 605, 606 and the like. Further, in order for the number of
holders to match the number of stalls, an additional holder may be
positioned before the first stall (according to the depicted
embodiment, to the right of the first stall 601) or after the last
stall (according to the depicted embodiment, to the left of the
last stall). According to other embodiments, holders 620, 630 and
the like are positioned about in line with the space between the
hind legs of the animal confined to each stall.
[0306] According to some embodiments, holders 620, 630 and the like
do not extend into milking pit 650. According to some embodiments,
holders 620, 630 and the like extend into milking pit 650 by up to
about 5, 10, 15, 20, 25, 30, 35, 40, 45 or 50 cm.
[0307] According to some embodiments, the position of holders 620,
630 and the like, including their configuration, e.g., folded or
unfolded, may change during the treatment of the livestock.
According to some embodiments, while the livestock enter stalls
601, 602, 603, 604, 605, 606 and the like, holders 620, 630 and the
like extend, at least partially, out of ramp 610 into any part of
the milking parlor, including, though not limited to, milking pit
650. For example, while the livestock enter stalls 601, 602, 603,
604, 605, 606 and the like, holders 620, 630 and the like, may be
positioned, at least partially, in milking pit 650, such that the
entrance of the livestock into stalls 601, 602, 603, 604, 605, 606
and the like is not hindered by holders 620, 630 and the like. Once
the livestock are positioned in stalls 601, 602, 603, 604, 605, 606
and the like, holders 620, 630 and the like may remain in their
position (between the stalls, though, at least partially, outside
ramp 610, e.g., in milking pit 650), from where the mobile unit
will remove the necessary equipment. According to such an
embodiment, the arm of the mobile unit extends into milking pit 650
by up to about 5, 10, 15, 20, 25, 30, 35, 40, 45 or 50 cm.
According to other embodiments, once the livestock are positioned
in stalls 601, 602, 603, 604, 605, 606 and the like, the position
of holders 620, 630 and the like may be changed, such that holders
620, 630 and the like move, at least partially, from milking pit
650 (or from any other appropriate area in the milking parlor),
into a position between the stalls on the platform/ramp and/or into
a position between the hind legs of the animal confined to the
stall. According to such an embodiment, the arm of the mobile unit
may not extend into milking pit 650 (or into any other appropriate
area in the milking parlor). According to some embodiments, all of
the holders move at the same time. According to other embodiments,
any one of the holders may move, in or out of the position between
the stalls, at a designated time, e.g., when the equipment therein,
e.g., teat cups, is to be reached by a mobile unit, or when the
livestock are confined to the two stalls between which the holder
is positioned (or to any one of the stalls at the ends of ramp 610)
or to the stall in which the holder is positioned, if the holder is
about in line with the space between the hind legs of the animal
confined to the stall. According to some embodiments, the movement
of the holders and/or the configuration change thereof, is
performed by any appropriate means, which may be mechanical,
manual, electronic or automatic. According to some embodiments, the
movement or configuration change of the holders is initiated
according to any signal received from any appropriate sensors,
which may be either part of the milking platform or of the mobile
unit. According to some embodiments, any one of the mobile units
may grab an edge of any one of the holders and either pull it, at
least partially, into ramp 610 or push it, at least partially, away
from ramp 610. According to some embodiments, when mobile unit 641,
or any other mobile unit, is positioned in stall 605, it may grab
holder 630 and pull it into a predefined area in stall 605 or into
a predefined area between stalls 605 and 606 in order for mobile
unit 641, and/or any other mobile unit, to be able to easily reach
and withdraw teat cups 631, 632, 633 and 634 from holder 630. Once
the milking is completed and teat cups 631, 632, 633 and 634 are
removed from the livestock and returned to holder 630, mobile unit
641, or any other mobile unit, may push holder 630, at least
partially, out from stall 605 or from between stalls 605 and 606
into milking pit 650 (or any other predefined area). It is noted
that, although not shown, instead of the holders moving in and out
of the ramp, they may be moved out of the way of the livestock,
e.g., by elevation, depression, folding in any appropriate
direction and the like. Once the milking is concluded and the
holders are out of the way, the livestock may leave ramp 610, as
presented, e.g., in FIG. 5C, without the movements thereof being
hindered by holders 620, 630 and the like and without holders 620,
630 and the like being disturbed by movements of the livestock.
[0308] According to some embodiments, one mobile unit, e.g., mobile
unit 643 attaches all of the teat cups, e.g., teat cups 621, 622,
623 and 624, to the animal confined in a stall, e.g., stall 601.
According to other embodiments, a number of mobile units, e.g.,
mobile units 642 and 643 attached the teat cups, e.g., teat cups
621, 622, 623 and 624 to the animal confined in the stall, e.g.,
stall 601, wherein each one of the mobile units, e.g., mobile units
642 and 643 attaches a number of teat cups, e.g., teat cups 621,
622, 623 and 624 to the animal. According to some embodiments,
mobile unit 642 attaches teat cups 621 and 622 to the animal in
stall 601, and subsequently moves on towards stall 602 (where it
may also attach two teat cups to the animal confined to stall 602).
Once mobile unit 642 has moved out of stall 601 mobile unit 643 may
enter stall 601. Mobile unit 643 may then park in stall 601 (or
remain relatively stationary, e.g., reduce its speed in comparison
to its speed when moving in and out of stalls) and then withdraw
teat cups 623 and 624 from holder 620 and attached them to the
animal confined to stall 601. Once all four teat cups 621, 622, 623
and 624 are attached to the animal, the milking may begin. Further,
though not shown, four different mobile units may each attached one
teat cup to the animal in stall 601 and to any other animals in any
of the other stalls.
[0309] According to some embodiments, the order in which the teat
cups are attached to the animal is random. According to other
embodiments, the teat cups are attached to the animal in a
predefined order, such that the tubes leading from the teat cups to
the milk-line do not get tangled, and further, so that the
attachment of one teat cup does not cause a different teat cup to
detach from the animal's udder. For example, the mobile units may
attach two teat cups near the hind legs of the animal and
subsequently attach the next two teat cups closer to the front of
the animal. For example, if the teat cups are taken from a holder
on the left side of the animal, the first teat cups to be attached
could be on the right hand side of the animal. For example, the
teat cups may be attached in the order of the teat cups designated
621, 622, 623 and 624, as depicted. According to some embodiments,
the removal of the teat cups from the animal is performed in a
random order. According to some embodiments, the removal of the
teat cups from the animal is performed in the same or the opposite
order as the attachment of the teat cups to the animal. According
to some embodiments, the removal of the teat cups from the animal
may be performed according to any one of the embodiments disclosed
above regarding the attachment of the teat cups, or opposite
thereto, wherein the attachment and the removal orders may or may
not be dependent on one another.
[0310] According to some embodiments, as presented in FIG. 6, the
teat cups are arranged in a straight line array in the holder.
According to some embodiments (not shown), the teat cups may be
arranged in a staggered array in the holder. According to some
embodiments (not shown), the teat cups may be arranged in two or
more parallel lines in the holder.
[0311] According to some embodiments, the order in which the teat
cups are withdrawn from the holders is random. According to other
embodiments, the teat cups are withdrawn from the holders in a
predefined order, inter alia, preventing the tubes attached thereto
from tangling. According to some embodiments, the teat cups may be
withdrawn from the holder from back to front. According to some
embodiments, the teat cups may be withdrawn from the holder from
front to back. According to some embodiments, the teat cups are
withdrawn from the holder from left to right or from right to left.
According to some embodiments, if the teat cups are arranged in two
parallel lines in the holder, the left line is withdrawn first and
then the right line, or vice versa. According to some embodiments,
if the teat cups are arranged in two parallel lines in the holder,
the teat cups in the back are withdrawn first and then the teat
cups in the front, or vice versa. According to some embodiments,
the teat cups are returned to the holders in a random order.
According to some embodiments, the return of the teat cups to the
holder is performed in the same or the opposite order as the
removal of the teat cups from the holder. According to some
embodiments, the return of the teat cups to the holder may be
performed according to any one of the embodiment disclosed above
regarding the removal of the teat cups form the holder, or opposite
thereto, wherein the removal and return orders may or may not be
dependent on one another.
[0312] Once the milking stage has been concluded and the teat cups
are returned to the holders, a mobile unit may perform any
necessary post-milking treatment, such as post-milking washing,
disinfection and the like. According to some embodiments, the same
mobile unit that performs at least part of the milking process,
e.g., mobile unit 643, may perform the post-milking treatment.
According to other embodiments, an additional mobile unit, e.g.,
mobile unit 644 may perform the post-milking treatment. According
to some embodiments, the post-milking treatment is performed after
all of the animals have been milked and all of the teat cups have
been returned to the holders. According to some embodiments, the
post-milking treatment is performed after at least one animal has
been milked and the teat cups attached thereto have been returned
to their holder. For example, once the animal confined to stall 601
has been milked and teat cups 621, 622, 623 and 624 have been
returned to holder 620, mobile unit 643 may perform the
post-milking treatment on that animal, regardless of whether the
other animals have been fully milked or whether all of the teat
cups have been removed therefrom. According to other embodiments
and as presented in FIG. 6, once the animal confined to stall 601
has been milked and teat cups 621, 622, 623 and 624 have been
returned to holder 620, mobile unit 643 may move along rail 615,
e.g., into stall 602 and then, mobile unit 644 enters stall 601 and
performs the post-milking treatment on the animal confined thereto.
According to some embodiments, mobile unit 644 parks under each and
every one of the livestock along the ramp, beginning on the right
side in stall 601, and performing the designated part of the
required treatment, e.g., post-milking treatment, regardless of
whether the other animals have been fully milked or whether all of
the teat cups have been removed therefrom.
[0313] According to some embodiments, the equipment necessary for
the post-milking treatment, e.g. brushes and post-dip liquid, is
part of ramp 615 or of each or any one of the stalls. If the
equipment is part of the ramp or stall, it is positioned therein at
a position convenient for the mobile unit to reach. According to
some embodiments, the post-milking equipment may be included in
holders 620, 630 and the like. According to other embodiments, the
equipment necessary for the post-milking treatment, e.g. brushes
and post-dip liquid, is part of the mobile unit performing the
post-milking treatment. For example, mobile unit 644 may comprise
at least one brush as well as a receptacle for post-dip liquid.
According to some embodiments, a separate unit comprising a
reservoir of post-dip liquid, brushes or any other equipment, may
be conveyed along the rail, where it may be reached, e.g., by any
one of the mobile units performing the pre-milking tasks.
[0314] Regarding the coordination between several mobile units it
is noted that mobile unit 644 may enter stall 601 only after mobile
unit 643 has, at least partially, exited stall 601, moving towards
stall 602. This is true for all stalls and mobile units along ramp
615 in order to prevent collisions and the like between the various
mobile units. Accordingly, in order for a plurality of mobile units
to operate in a parallel milking parlor, it may be necessary to
design ramp 610, rail 615 and/or to program the coordination
between the different mobile units (641, 642, 643, 644 and the
like) so as to prevent collisions since, if all of the mobile units
are programmed to reach the left end of ramp 610, and since all are
moving in a straight line along ramp 610, they may inevitably run
into one another in the left-most stalls, unless designed
otherwise.
[0315] For example, even if a plurality of mobile units is used,
each mobile unit may be programmed and designed to perform all of
the milking tasks, including pre- and post-milking, such that each
one of the mobile units operates in a certain number of stalls,
according to the order in which the mobile units enter ramp 610.
For example, mobile unit 641 may treat the livestock confined to
stalls 607 and 608, mobile unit 642 may treat livestock confined to
stalls 605 and 606, mobile unit 643 may treat livestock confined to
stalls 603 and 604 and mobile unit 644 may treat livestock confined
to stalls 601 and 602. Once mobile unit 644 completes the treatment
of the livestock on stalls 601 and 602, it may exit ramp 610 on the
right, followed by mobile units 643, 642 and 641, in the opposite
order in which they entered ramp 610.
[0316] According to other embodiments, a first mobile unit, e.g.,
mobile unit 641, may perform the pre-milking treatment on all of
the livestock on ramp 610. After the pretreatment is performed,
mobile unit 641 exits ramp 610 and then, either one or more mobile
units enter ramp 610 to perform the milking tasks (attaching and
then removing teat cups). If more than one mobile unit is
designated to perform the milking tasks, the various mobile units
may each operated in predefined stalls, e.g., mobile unit 642 may
perform the milking tasks in stalls 605, 606, 607 and 608, while
mobile unit 643 may perform the milking tasks in stalls 601, 602,
603 and 604. Once the milking task are completed, mobile units 643
and 642 exit ramp 610 in the opposite order in which they entered
ramp 610. Once ramp 610 is free of mobile units, an additional
mobile unit, e.g., mobile unit 644, may enter ramp 610 and perform
the post-milking treatments in all of the stalls. In this respect
it is noted, that although embodiments with only one mobile unit
for performing pre- and post-milking treatments have been
described, those treatments may be performed by any number of
mobile units, each operating is predefined stalls, as described
regarding the milking.
[0317] According to some embodiments, system 600 includes two
parking areas, one on the right of ramp 610, in which the mobile
units may be parked before entering ramp 610 and one on the left of
ramp 610, in which the mobile units may be parked after leaving
ramp 610. Accordingly, any number of tasks may be performed by any
number of mobile units, each treating one or more livestock,
wherein several mobile units may treat the same livestock, in turn,
as detailed herein, and wherein once a specific mobile unit, which
enters ramp 610 on the right, performs its designated tasks along
ramp 610, it may exit ramp 610 on the left, allowing additional
mobile units into the leftmost stalls on ramp 610. For example,
mobile unit 641 performs pre-milking treatment in stalls 601-608,
and is followed by mobile unit 642, which attaches teat cups to the
livestock in stalls 601-608; however, before mobile unit 642 enters
stall 608, mobile unit 641 exits ramp 610 on the left, e.g., into a
second parking area (not shown), thus allowing mobile unit 642 to
enter stall 608. Mobile unit 643 may then remove teat cups, after
milking in all stalls 601-608, in the same manner, followed by
mobile unit 644, which performs post-milking treatment in all
stalls 601-608. It is noted that if two such parking areas are
present, the mobile units may, in certain instances, leave the
right parking area to treat the livestock and enter the left
parking area after treating the livestock, while in other instances
they may leave the left parking area to treat the livestock and
enter the right parking area after treatment.
[0318] According to some embodiments, rail 615 includes any number
of branches, allowing a first mobile unit to pass a second mobile
unit, while the second mobile unit moves to any one of the
branches. According to some embodiments, each ramp 610 may include
a stall that remains vacant, such that mobile units may use the
vacant stall to park, pass one another and the like. Such
embodiments are shown in FIGS. 7A and 7B. Reference is now made to
FIG. 7A, presenting system 700, assembled in a parallel milking
parlor (only part of one of the parallel platforms/ramps is shown),
wherein rail 715, along which mobile units 741, 742, 743 and 744
move, stretches across ramp 710. As shown in FIG. 7A, mobile units
741, 742, 743 and 744 may move along rail 715 in a straight line,
one after the other. Rail 715, as well as ramp 710, including
vacant stall 705, are designed such that when necessary, any one of
the mobile units may pass any other mobile unit. Particularly, rail
715 may include any number of branches, which may extend in any
appropriate direction, such as branches 716 and 717. The length and
specific position of each branch may depend on the size of the
mobile units, the size of the stalls, the size of the ramp, the
size of the livestock and the like. It is further noted that the
position of other equipment, such as teat cup holders, as detailed
above regarding FIG. 6, may be taken into account when designing
any branches, such as branches 716 and 717. The areas in which the
animals stand and in which they are most prone to kick may also be
taken into account when designing branches in rail 715.
[0319] According to some embodiments, ramp 710 includes at least
one vacant stall, such as stall 705, which remains vacant
throughout the treatment process. Rail 715 may be designed to
include any branches or loops, such as loop 718 which extend into
vacant stall 705. Although in FIG. 7A vacant stall 705 is depicted
as the last stall on ramp 710, it is noted that the position of the
vacant stall may be determined to be different in every milking
parlor. If the vacant stall is indeed the last stall on ramp 710,
rail 715 may extend further until the end of ramp 710, or beyond,
e.g., as presented by rail extension 719. According to other
embodiments, rail 715 ends or loops in the last vacant stall.
According to other embodiments, rail 715 ends in a loop towards the
end of ramp 710, in an area beyond the stalls (not shown).
[0320] Reference is now made to FIG. 7B, presenting mobile unit
744, which passed mobile units 743 and 741, which are located on
branches 716 and 717, respectively. Mobile unit 744 may move
further to the left hand side of ramp 710 and, if necessary, may
pass mobile unit 742, positioned on loop 718, and possibly further
move to rail extension 719. In this respect it is noted that the
structure of loop 718 may vary, for example, it may include the
inner path in the loop, as shown, or not. Using such a structure,
each one of the mobile units may perform part of the treatment on
the livestock and further, they may all be on ramp 710 at the same
time, while the coordination between their movements includes the,
possibly temporary, parking of any one of the mobile units on any
one of the branches/loops in rail 715. For example, mobile unit 741
may perform the pre-milking treatment, followed by mobile unit 742,
which attaches two teat cups (not shown) to the animals in all of
the stalls. Once mobile unit 741 finalizes the pre-milking task in
stall 704, it may move towards branch 717, allowing mobile unit 742
to pass by it into stall 704. Further, mobile unit 742 may be
followed by mobile unit 743, which attaches two more teat cups to
the animals in all of the stalls. In order for mobile unit 743 to
also be able to enter stall 704 without colliding with mobile unit
742, mobile unit 742 may move further into stall 705 onto loop 718.
Finally, mobile unit 744 may perform the post-milking treatment. In
order for mobile unit 744 to be able to enter stall 704 without
colliding with mobile unit 743, mobile unit 743 may move on into
vacant stall 705 onto loop 718 (not shown, e.g., on the bottom part
of loop 718, so as not to collide with mobile unit 742) or further
onto rail extension 719 (not shown). According to other
embodiments, mobile unit 743 may move back along rail 715 and enter
branch 716 before mobile unit crosses rail 715 at the branching
point of branch 716. Then mobile unit 744 is free to move on into
any one of the stalls along ramp 710. When exiting ramp 710 and
returning to the parking area to the right of ramp 710 (not shown),
the mobile units may move in any appropriate order, e.g., in the
opposite order in which they entered the ramp, such that mobile
unit 744 returns to the parking area first, followed by mobile
units 743, 742 and 741 in successive order. According to other
embodiments, the mobile units may return according to their
position on ramp 710, such that the rightmost mobile unit returns
first. For example, according to FIG. 7B, the mobile units may
return to the parking area on the right of ramp 710 (not shown) in
the following order: mobile unit 743 (from branch 716), mobile unit
741 from branch 717, mobile unit 744 from stall 704 and finally,
mobile unit 742 from loop 718. Any other order is also possible, as
long as none of the mobile units collide with any other mobile
unit. According to some embodiments, the coordination between the
various mobile units, including their positions on the branches and
loops along the rail and their sequence of movements along the rail
and in and out of the parking area, may be optimized such that the
overall treatment time is minimized.
[0321] According to some embodiments, rail 715 loops out of ramp
710. In this respect, reference is made to FIGS. 7C and 7D. In FIG.
7C, for example rail 715 loops out of ramp 710, into (or over)
milking pit 750, and back into parking area 760. Thus each one of
the mobile units may perform any part of the treatment and none of
them interfere with the others, since they loop out of ramp 710
into/over milking pit 750, in the same successive order that they
enter ramp 710. It is noted that in order for human operators to be
able to enter milking pit 750 it may be essential to design rail
715 such that the human operators are not in danger from the mobile
units. According to some embodiments, rail 715 loops out of ramp
710 and is elevated in height and possibly placed on a plank, such
that it passes over milking pit 750 in such a way that human
operators are not endangered by the mobile units. According to
further embodiments, rail 715 loops into milking pit 750 adjacent
to ramp 710, possible fitted to a plank adjacent to ramp 710, such
that the space occupied by the rail and the mobile units operating
thereon is minimal. According to some embodiments, the space
occupied by the rail and the mobile units may be separated from the
surrounding milking pit areas by any appropriate means such as a
barrier, bar and the like. According to some embodiments, the
barrier may be moveable, by any appropriate means, such that it
blocks part of the milking pit only when mobile units are found
therein or may be found therein, or may be mobile therein. In FIG.
7D for example, rail 715 loops out of ramp 710 in the area where
the animals usually leave the stalls. In order for the animals and
the mobile units to be separate, it is possible for the rail to
travel at a height above the tallest animal, possibly attached to
or on a plank. It is further possible for the rail to travel in a
path that is ordinarily not occupied by the livestock. It is also
possible to have any type of bar, border, trench, fence or the
like, surrounding the area the rail passes through, not allowing
the livestock to enter the rail area.
[0322] Reference is now made to FIG. 8, presenting an embodiment in
which each of mobile units 1441, 1442, 1443 and 1444 includes a
control unit 1451, 1452, 1453 and 1454, respectively, such that any
one of mobile units 1441, 1442, 1443 and 1444 may
communicate/coordinate with any of the other mobile units, as well
as with any other communicating entities in the milking parlor (not
shown). FIG. 9 presents an embodiment in which mobile units 1541,
1542, 1543 and 1544 all communicate with central management unit
1550, and possibly with other communicating entities in the milking
parlor (not shown). Further, FIG. 10 presents an embodiment in
which each of mobile units 1641, 1642, 1643 and 1644 includes a
control unit 1651, 1652, 1653 and 1654, respectively, such that any
one of mobile units 1641, 1642, 1643, and 1644 may
communicate/coordinate with any of the other mobile units, as well
as with central management unit 1650 and possibly with other
communicating entities in the milking parlor (not shown). It is
noted that the arrows in FIGS. 8, 9 and 10 present communication
between the two entities the arrows connect. It is further noted
that the communication may be wired, or wireless, as detailed
herein, and that it may be one-way or two way communication, as
required.
[0323] As detailed above, the communication between the mobile
units, directly or indirectly, via, e.g., control units 1451, 1452,
1453, 1454, 1651, 1652, 1653 or 1654, central management unit 1550
or 1650, or any other communicating entities in the milking parlor
(not shown), may optimize the treatment of the livestock, enabling
the various mobile units to perform different parts of the same
task, to treat different animals, to take over tasks from one
another when required, e.g., when one mobile unit malfunctions, to
change roles before, during or after the treatment, to refrain from
colliding and the like.
[0324] Reference is now made to FIG. 11, presenting an embodiment
of the vertical upright teat cup holders. As shown in FIG. 11, the
vertical upright teat cup holder 1100 holds teat cups 1101, 1102,
1103 and 1104 vertically upright, wherein the holes into which the
teat enters (not shown) face upwards. In order to maintain vacuum
in the system, without having a valve on each one of tubes 1111,
1112 and 1114, which lead milk from teat cups 1101, 1102 and 1104,
respectively, (or on the tube leading from teat cup 1103, which is
not shown) to the main milk line (not shown), and further in order
to prevent contaminations from entering the system, teat cups 1101
and 1102 are covered by flap 1110 and teat cups 1103 and 1104 are
covered by flap 1120. It is noted that, although not shown in FIG.
11, another tube leads from teat cup 1103 to the main milkline.
According to some embodiments, flaps 1110 and 1120 mechanically lay
on top of teat cups 1101, 1102, 1103 and 1104, and are held
approximately in their position, e.g., about 90.degree. to the back
of vertical teat cup holder 1100, even after the teat cups are
withdrawn from the holder, such that teat cups 1101, 1102, 1103 and
1104 are easily inserted back into vertical upright holder 1100
when the milking is concluded and are then covered by flaps 1110
and 1120.
[0325] As shown in FIG. 11, an angle of about 90.degree. may be
formed at the attachment point between each one of tubes 1111,
1112, 1114 and the tube attached to teat cup 1103 (not shown) and
the teat cup to which it is attached (a similar approximately
90.degree. angle is presented in FIG. 14, between teat cup 1101 and
tube 1441 as well as between teat cup 1102 and tube 1442). This may
enable the teat cups to be withdrawn from vertical upright teat cup
holder 1100 and to be returned thereto while minimizing
entanglement between the various tubes, even though vertical
upright teat cup holder 1100 may be positioned towards the back of
the animal being milked, not necessarily under or above the
animal.
[0326] As further shown in FIG. 11, there is a difference in length
between teat cups 1101 and 1103 and teat cups 1102 and 1104,
wherein teat cups 1101 and 1103 are longer than teat cups 1102 and
1104. In order for the top end of teat cups 1101, 1102, 1103 and
1104 to be at the same height, teat cups 1102 and 1104 (the shorter
teat cups) sit on step 1130, wherein the height of step 1130 is
about the same as the difference in length between short teat cups
1102 and 1104 and long teat cups 1101 and 1103.
[0327] As further shown in FIG. 11, vertical teat cup holder 1100
comprises a multiple number of rollers 1140, some of which are not
shown in the figure. Rollers 1140 allow teat cups 1101, 1102, 1103
and 1104 to easily move in and out of vertical teat cup holder 1100
by reducing the friction during movement of teat cups 1101, 1102,
1103 and 1104 as well as of tubes 1111, 1112, 1114, and the tube
connected to teat cup 1103, which is not shown. Accordingly, since
friction is reduced, the force necessary for withdrawing the teat
cups from the holder and returning them thereto is reduced. It is
further noted that rollers 1140 may also aid in moving teat cups
1101, 1102, 1103 and 1104 and tubes 1111, 1112, 1114 and the tube
connected to teat cup 1103, along certain paths or trajectories. In
addition, rollers 1140 may aid in holding teat cups 1101, 1102,
1103 and 1104 in place in their positions in vertical upright teat
cup holder 1100. It is noted that rollers 1140 may be replaced by
any appropriate element, such as wheels, ball bearings and the
like, that may reduce the friction as detailed herein and possibly
aid in holding the teat cups in place.
[0328] Reference is now made to FIG. 12, presenting an embodiment
of the lengthwise double gripper. As shown in FIG. 12, lengthwise
double gripper 1200 includes two gripping units 1201 and 1202,
wherein each of gripping units 1201 and 1202 may grip any
appropriate object, such as a teat cup, an autonomous pre-milking
brush, a post-milking disinfection tool and the like. According to
some embodiments, any one of gripping units 1201 and 1202 may grip
an object, operate an object, such as press a button, move a lever,
rotate a dial and the like, wherein the action of each of the
gripping units may independent of the other gripping unit. Thus,
according to some embodiments, while gripping unit 1201 performs
one type of action, e.g., gripping, gripping unit 1202 may perform
the same or a different type of action, e.g., pressing a
button.
[0329] As shown in FIG. 12, gripping unit 1202 may be longer than
gripping unit 1201 in order for the two gripping units to be able
to grip two objects at the same time, without those two objects
getting in the way of one another.
[0330] For example, as shown in FIG. 13, mobile unit 1300,
comprising arm 1301 that is equipped with lengthwise double gripper
1200, may be positioned under an animal's abdomen, wherein arm 1301
extends between animal's hind legs 1310 towards vertical upright
holder 1100 in order to grip teat cups 1101 and 1102, which is
positioned behind teat cup 1101, in order to withdraw teat cups
1101 and 1102 from holder 1100 and attach them to teats 1305 and
1306. It is noted that, when attaching the teat cups to the teats,
teat cup 1102 will be attached to teat 1306 and only then will teat
cup 1101 be attached to teat 1305, such that when arm 1301 moves to
attached the second teat cup or retracts towards mobile unit 1300,
none of the teat cups will be hindered by the movement of arm
1301.
[0331] As shown in FIG. 14, once lengthwise double gripper 1200
reaches vertical upright holder 1100 (not shown), gripping unit
1202 grips teat cup 1102, while gripping unit 1201 grips teat cup
1101. In order to properly maneuver and grip the teat cups (or
perform any other required action), lengthwise double gripper 1200
and/or arm 1301 and/or mobile unit 1300 may be equipped with a
detection element (not shown), e.g., a laser, an IR sensor or the
like. The detection element may have field of detection 1400,
through which data is received and may be transmitted, by any
appropriate means, to a control system that provides motion
instructions to mobile unit 1300 and/or arm 1301, according to the
received data. According to some embodiments, tops 1121 and 1122 of
teat cups 1101 and 1102, respectively, are designed to be
essentially the same height even though bottoms 1131 and 1132 of
teat cups 1101 and 1102, respectively are staggered. Accordingly,
since tops 1121 and 1122 are at the same height, field of detection
1400 is not hindered by any of the teat cups and therefore, the
detection element has "full view" of the area around it.
[0332] As shown in FIG. 14, bottoms 1131 and 1132 are staggered,
since teat cup 1102 is shorter than teat cup 1101. This enables the
two teat cups to be in line, one in back of the other, without
tubes 1441 and 1442 hindering one another, so that lengthwise
double gripper 1200 may grip both teat cups 1101 and 1102
simultaneously and maneuver them as necessary.
[0333] As further shown in FIG. 14, teat cup 1101 comprises two
grooves 1401 and 1402 and teat cup 1102 comprises two grooves 1403
and 1404, wherein grooves 1401, 1402, 1403 and 1404 enable
lengthwise double gripper 1200 to securely grip the two teat cups,
i.e., teat cups 1101 and 1102.
[0334] Once teat cups 1101 and 1102 are gripped by lengthwise
double gripper 1200, as shown in FIG. 14, they are withdrawn from
vertical upright holder 1100 (see FIG. 13) and are maneuvered into
the proximity of teats 1305 and 1306 by arm 1301. As shown in FIG.
15, lengthwise double gripper 1200 grips teat cup 1101 with
gripping unit 1201 and teat cup 1102 with gripping unit 1202. When
attaching the teat cups to the animal, the back teat cup is
attached to the back teat before the front teat cup is attached to
the front teat, wherein the back and front directions are the same
as the back and front directions of the animal. Thus, as shown in
FIG. 15, first, teat cup 1102 is attached to teat 1306 and is then
released from gripper 1202 (it is noted that gripping unit 1202 is
not fully shown in FIG. 15 in order to provide a better view of
teat cup 1102 and to emphasize that once teat cup 1102 is attached
to teat 1306 it is released by gripping unit 1202). After teat cup
1102 is attached to teat 1306, arm 1301 (as shown in FIG. 13)
maneuvers teat cup 1101 towards teat 1305, to which it is attached
(not shown). Once teat cup 1101 is attached to teat 1305, gripping
unit 1201 releases teat cup 1101 and arm 1301 retreats towards
mobile unit 1300 and/or is maneuvered to withdraw teat cups 1103
and 1104 (as shown in FIG. 11) from vertical upright teat cup
holder 1100, in order to attach teat cups 1103 and 1104 to the two
remaining teats (now shown).
[0335] Reference is now made to FIG. 16, presenting an embodiment
of the system including a vertical upright teat cup holder
comprising tubes, flaps, axels and a piston. As shown in FIG. 16,
system 1600 includes vertical upright teat cup holder 1100 for
holding teat cups 1101, 1102, 1103 and 1104. Mobile unit 1300,
positioned under the abdomen of cow 1610 extends arm 1301,
comprising lengthwise double gripper 1200, and utilizes lengthwise
double gripper 1200 to grip teat cups 1101 and 1102, removing them
from under flap 1110 and from vertical upright holder 1100, leaving
teat cups 1103 and 1104 under flap 1120 and in vertical upright
holder 1100, to be withdrawn therefrom at a later stage.
[0336] Each one of teat cups 1101, 1102, 1103 and 1104 is attached
to tube 1441, 1442, 1443 and 1444, respectively, wherein milk
entering teat cups 1101, 1102, 1103 and 1104 flows through tubes
1441, 1442, 1443 and 1444 into the main milk line (not shown). As
known in the art, vacuum is provided through tubes 1441, 1442, 1443
and 1444 in order to milk cow 1610. Once the milking is concluded,
teat cups 1101, 1102, 1103 and 1104 are released from the teats and
returned to vertical upright holder 1100 by any appropriate means.
According to some embodiments, teat cups 1101, 1102, 1103 and 1104
are released from the teats by release of the vacuum in tubes 1441,
1442, 1443 and 1444. According to some embodiments, once teat cups
1101, 1102, 1103 and 1104 are released from the teats, they are
returned to vertical upright teat cup holder 1100 by a pulling
force that pulls them backwards towards vertical teat cup holder
1100. According to some embodiments, all teat cups are pulled
together, the teat cups are pulled back in pairs, one by one, or
any other appropriate combination. According to some embodiments,
piston 1620 provides a puling force for pulling teat cups 1101,
1102, 1103 and 1104 back into vertical upright holder 1100.
According to some embodiments, at least one motor (not shown)
provides such force. According to some embodiments, teat cups 1101,
1102, 1103 and 1104 are pulled back into vertical upright holder
1100 in pairs by two pistons, one of which is not shown, two
motors, or the like. According to some embodiments, when teat cups
1101, 1102, 1103 and 1104 are returned to vertical upright holder
1100 in pairs, first the back teat cups, i.e., teat cups 1102 and
1104 are returned and then the front teat cups, i.e., teat cups
1101 and 1103 are returned.
[0337] Reference is now made to FIG. 17A, presenting the back side
view of an embodiment of vertical upright holder 1100, showing
tubes 1441, 1442, 1443 and 1444, leading from the teat cups to the
main milk line (not shown), wherein each pair of tubes is attached
a set of axels and wheels. Particularly, as shown in FIG. 17A,
tubes 1441 and 1443, which are attached to teat cups 1101 and 1103,
respectively, are attached to axel and wheel set 1720, while tubes
1142 and 1144, which are attached to teat cups 1102 and 1104,
respectively, are attached to axel and wheel set 1710. Thus, axel
and wheel set 1710 aids in returning the back teat cups, i.e., teat
cups 1102 and 1104, into vertical upright holder 1100. Once the
back teat cups 1102 and 1104 are returned to vertical upright
holder 1100, axel and wheel set 1720 aids in returning the front
teat cups, i.e., teat cups 1101 and 1103, into vertical upright
holder 1100. As mentioned above, any appropriate means, such as a
motor, a piston and the like, such as piston 1620 in FIG. 16, may
be included in the system in order to move axel and wheel sets 1710
and 1720, as necessary, wherein each axel and wheel set may be
coupled to a separate motor, piston or the like. Particularly,
according to this embodiment, tubes 1441, 1442, 1443 and 1444 are
pulled on backwards and/or downwards, i.e., in a direction that
causes teat cups 1101, 1102, 1103 and 1104 to move away from the
animal and back into vertical upright holder 1100. Thus, pulling on
tubes 1441, 1442, 1443 and 1444 essentially returns teat cups 1101,
1102, 1103 and 1104 into vertical upright holder 1100. It is noted
that although this particular embodiment is shown, any number of
wheels/axels/pistons/motors may be attached to any number of
tubes/teat cups.
[0338] Reference is now made to FIG. 17B, presenting a front-side
view of another embodiment of vertical upright holder 1100, showing
manifold 1750 for gathering the milk from the four tubes 1441,
1442, 1443 and 1444 into vessel 1755, from which a single tube,
1756 leads the milk flowing through the tube to the main milk line
(not shown) possibly via any further equipment, such as a milk
monitor (not shown). Although not directly shown in FIG. 17B, each
one of tubes 1441, 1442, 1443 and 1444 may be attached to each one
of teat cups 1101, 1102, 1103 and 1104, possibly via any additional
tubes, valves, connecting elements and the like, as shown, e.g., in
FIGS. 14, 16 and 17A.
[0339] As further presented in FIG. 17B, the system of the
invention may include two vertical pistons 1730 and 1740, one of
which may operate wheel and axel set 1710, while the other may
operate wheel and axel set 1720. When operated, e.g., moved
vertically by any one of pistons 1730 and 1740, wheel and axel set
1710 may pull on tubes 1442 and 1444, pulling in turn on teat cups
1102 and 1104, thereby returning teat cups 1102 and 1104 into
vertical upright teat cup holder 1100. Similarly, when operated,
wheel and axel set 1720 may pull on tubes 1441 and 1443, pulling in
turn on teat cups 1101 and 1103, thereby returning teat cups 1101
and 1103 into vertical upright teat cup holder 1100.
[0340] As detailed herein, pistons 1730 and/or 1740 may be replaced
by any suitable motor. Further, as detailed herein, the invention
is not bound to comprising two pistons/motors. Any appropriate
number may be used in order to operate any appropriate number of
wheel and axel sets, wherein the operation of the wheel and axel
sets consists essentially of pulling on the tubes leading from teat
cups 1101, 1102, 1103 and 1104, such that teat cups 1101, 1102,
1103 and 1104 are pulled back from the animal and returned into
vertical upright holder 1100.
[0341] Reference is now made to FIG. 17C, presenting a front-side
view of an embodiment of the vertical upright teat cup holder 1100,
including integrated teat cup and tube separators 1760 and 1770.
Integrated teat cup and tube separators 1760 and 1770 are
positioned and shaped such that when teat cups 1101, 1102, 1103 and
1104 are returned to vertical upright teat cup holder 1100, the
entanglement between the tubes (not shown) leading from each one if
teat cups 1101, 1102, 1103 and 1104, is minimized.
[0342] It is noted that vertical upright teat cup holder 1100 may
include any number of integrated teat cup and tube separators. In
the particular embodiment shown, integrated teat cup and tube
separator 1770 is positioned inside vertical upright teat cup
holder 1100 between teat cups 1101/1102 and teat cups 1103/1104.
Thus, integrated teat cup and tube separator 1770 ensured that each
one of teat cups 1101, 1102, 1103 and 1104 is returned to its
proper position inside vertical upright teat cup holder 1100.
Integrated teat cup and tube separator 1770 may be further designed
such that the teat cups adjacent thereto are held upright,
minimizing their "wobbling" or "rocking" motion within vertical
upright teat cup holder 1100.
[0343] As shown in FIG. 17C, vertical upright teat cup holder 1100
may include integrated teat cup and tube separator 1760, which
protrudes out of vertical upright teat cup holder 1100 and into the
stall/ramp (not shown). Integrated teat cup and tube separator 1760
may be designed such that entanglement of the tubes (not shown) is
minimized. Integrated teat cup and tube separator 1760 may be
specifically designed to fit the type (size, shape etc.) of tubes
used and the type of teat cups used (size, shape, etc.).
[0344] As shown in FIGS. 17C and 17D, according to some
embodiments, integrated teat cup and tube separator 1760 is
designed approximately as a right angle triangular pyramid, wherein
the approximately 90.degree. angle thereof may be adjacent to a
bottom end of integrated teat cup and tube separator 1770. When
referring to the bottom end of integrated teat cup and tube
separator 1770 it is noted that any appropriate region near the
bottom of integrated teat cup and tube separator 1770 is also
included. According to some embodiments, base length 1763 of the
triangular pyramid integrated teat cup and tube separator 1760 may
have a length of between about 40-120 mm (wherein base length 1763
is defined as the length of the cross section of the pyramid).
According to some embodiments, height 1761 of the triangular
pyramid integrated teat cup and tube separator 1760 may be between
about 60-150 mm (wherein height 1761 is defined as the highest line
in the cross section, e.g., where separator 1760 is adjacent to
separator 1770). According to some embodiments, base width 1762 of
the triangular pyramid integrated teat cup and tube separator 1760
may be between about 5-20 mm (wherein base width 1762 is the side
of the triangular pyramid integrated teat cup and tube separator
1760 that may be adjacent to separator 1770 and that may be at the
about 90.degree. angle of the pyramid).
[0345] It is noted that although a triangular shape is detailed
herein, any other appropriate shape may be used for the integrated
teat cup and tube separator 1760, e.g., an approximate triangular
or triangular pyramid shape, wherein any one of the sides may be at
least slightly curved or wherein any of the vertices may be
trimmed, such that an additional, possibly small, side/edge is
formed. It is further noted that although two separate integrated
teat cup and tube separators 1760 and 1770 are described, one
integrated teat cup and tube separator may be included in the
system, wherein the single separator may have the approximate shape
of the combination of the two integrated teat cup and tube
separators 1760 and 1770.
[0346] As further shown in FIG. 17C and as detailed regarding FIG.
11, vertical upright teat cup holder 1100 may include any number of
rollers 1140, some of which are not shown in the figure. Rollers
1140 allow teat cups 1101, 1102, 1103 and 1104 to easily move in
and out of vertical teat cup holder 1100 by reducing the friction
during movement of teat cups 1101, 1102, 1103 and 1104 as well as
of tubes 1111, 1112, 1114, and the tube connected to teat cup 1103,
which is not shown. Accordingly, since friction is reduced, the
force necessary for withdrawing the teat cups from the holder and
returning them thereto is reduced. It is further noted that rollers
1140 may also aid in moving teat cups 1101, 1102, 1103 and 1104 and
tubes 1111, 1112, 1114 and the tube connected to teat cup 1103,
along certain paths or trajectories. In addition, rollers 1140 may
aid in holding teat cups 1101, 1102, 1103 and 1104 in place in
their positions in vertical upright teat cup holder 1100. It is
noted that rollers 1140 may be replaced by any appropriate element,
such as wheels, ball bearings and the like, that may reduce the
friction as detailed herein and possibly aid in holding the teat
cups in place.
[0347] Reference is now made to FIG. 18A, presenting an embodiment
of non-planar leg separator 1800. As shown in FIG. 16, non-planar
leg separator 1800 is positioned on the floor of ramp 1650, between
the hind legs of cow 1610, and essentially causes cow 1610 to
separate its hind legs, since non-planar leg separator 1800 is
uncomfortable for cow 1610 to stand on. As shown in FIG. 18A,
non-planar leg separator 1800 includes rods 1810 and cross rods
1820. Although six rods 1819 and four cross rods 1820 are shown in
FIG. 18A, it is noted that any appropriate number of rods and cross
rods may be used. Further, although all rods and cross rods shown
in FIG. 18A are of the same length and diameter, it is noted they
may differ from and further, they may be of any appropriate shape,
not necessarily rounded rods. The size of the spaces between the
rods/cross rods, e.g., space 1830 may also be changed as
appropriate. The degree of the arch, as well as the number of
arches and their shape may be determined as necessary. It is noted
that the leg separator referred to herein is a non-planar leg
separator, and therefore, it is referred to as being arched, or
including a number of arches. It is further noted that any of the
rods and/or cross rods may be on different planes and at different
heights in comparison to one another and to the platform on which
the non-planar leg separator is positioned, essentially defining
the non-planar characteristic of the leg separator, may be
described as arches or linear lines or any other shape. It is noted
that the arch-like (or other) shape of the non-planar leg separator
may be formed by including rods and cross rods of different
diameters in the same non-planar leg separator.
[0348] Reference is now made to FIG. 18B, presenting non-planar leg
separator 1850 comprising middle rods 1860 and end-rods 1870. It is
noted that, although no shown, any number of cross bars may be
present. It is further noted that non-planar leg separator 1850 may
be arched, waved, linearly non-planar or the like, wherein any of
middle rods 1860 and end-rods 1870 may be on a different plane and
at a different height, in comparison to one another and to the
platform on which non-planar leg separator 1850 is positioned. As
presented in FIG. 18B, end-rods 1870 may have a diameter larger
than the diameter of middle rods 1860. As shown in FIG. 18B,
different sections of end rods 1870 may have different diameters,
wherein at least one of those sections may have a diameter larger
than the diameter of middle rods 1860. Each of the milking stalls
may be equipped with a leg separator, e.g., non-planar leg
separator 1850. Having end rods of larger diameter may allow the
animal to walk over non-planar leg separators 1850, in order to
reach the next vacant milking stall; however, once in the milking
stall, the large diameter of end rods 1870 may cause the animal to
refrain from standing on non-planar leg separator 1850, thus
causing the animals legs to be separated, allowing the treatment,
including milking, of the animal.
[0349] Reference is now made to FIGS. 19A and 19B, presenting
embodiments of autonomous pre-milking brush 1900. According to the
embodiment shown in FIGS. 19A and 19B, autonomous pre-milking brush
1900 includes two rotating brushes 1901 and 1902, which, upon
rotation, may both sanitize and stimulate the teat, which is
positioned between rotating brushes 1901 and 1902. As detailed
above, rotating brushes 1901 and 1902 may be sprayed, e.g., by an
element of the upright teat cup holder, with a disinfectant/water
before contact with the teat, possibly a quick acting disinfectant,
such that rotating brushes 1901 and 1902 themselves are both
sanitized and wet and accordingly sanitize and stimulate the teats
with their rotational movement and do not harm the teats since they
are wet. According to other embodiments, rotating brushes 1901 and
1902 may be sprayed with disinfectant/water while contacting the
teats.
[0350] According to some embodiments, the rotation of rotating
brushes 1901 and 1902 is activated by switch 1910. According to
some embodiments, lengthwise double gripper 1200, as shown e.g., in
FIG. 12, grips autonomous pre-milking brush 1900 from its docking
station, e.g., on vertical upright holder 1100, and maneuvers it,
when necessary, to the animals' teats. According to some
embodiments, one of gripping units 1201 or 1202 is utilized to grip
and autonomous pre-milking brush 1900, while the second one of
gripping units 1201 or 1202 is utilized to press switch 1910,
thereby activating rotating brushes 1901 and 1902. Although not
shown, any one of gripping units 1201 and 1202 may be utilized to
cause disinfectant to be sprayed onto rotating brushes 1901 and
1902, e.g., by pressing a switch on vertical upright holder 1100 or
the like. Further, although not shown, autonomous pre-milking brush
1900 includes a battery, e.g., a rechargeable battery, which is
recharged when the autonomous pre-milking brush 1900 is placed in
its docking station. According to some embodiments, the docking
station is water proof.
[0351] According to the embodiment presented in FIG. 19A,
autonomous pre-milking brush 1900 includes handle 1920, which is
designed to be held or gripped by any appropriate means, including
any one or both of gripping units 1201 and 1202. According to the
embodiment presented in FIG. 19B, autonomous pre-milking brush 1900
includes handle 1930, which is designed to be held or gripped by
any appropriate means, such as manually, by a human operator's
hand. It is noted that the handle of autonomous pre-milking brush
1900 may be designed such that it may be gripped and used well by
any number of means, including mechanical means, such as gripping
units 1201 and 1202, as well as manual means, such as a human
operator hands.
[0352] Reference is now made to FIG. 19C, in which is it shown
that, according to some embodiments, autonomous pre-milking brush
1900 includes liquid receptacle 1940. Any type of liquid, e.g.,
sanitizing liquid or water, may be introduced into liquid
receptacle 1940, from where the liquid may be sprayed via, e.g., a
nozzle (not shown), onto brushes 1901 and 1902, onto the animal's
teats (not shown) or both.
[0353] According to some embodiments, switch 1910 may activate the
rotation of rotating brushes 1901 and 1902 as well as activating
the spraying of liquid from liquid receptacle 1940 onto rotating
brushes 1901 and 1902 and/or onto the animal's teats. According to
some embodiments, activating switch 1910 once activates both the
spraying of the liquid and the rotating of the brushes, either
simultaneously or consecutively. According to some embodiments,
activating switch 1910 once first activate spraying the liquid onto
the brushes/teats and then, after a predetermined time, the brushes
begin to rotate.
[0354] Further, although not all elements are shown in the Figures,
it is noted that the autonomous pre-milking brush may include the
following elements: a motor and a rechargeable battery. It is
further noted that according to some embodiments, the autonomous
pre-milking brush includes a direct drive motor. According to some
embodiments, the autonomous pre-milking brush includes a motor for
each brush, e.g., when including two brushes, two motors are
included as well, wherein each motor operates one brush. According
to other embodiments, any number of brushes, e.g., 1, 2, 3, 4, 5
etc., may be operated by one motor. According to some embodiments,
the motor used is highly durable, provides high speeds, while
requiring a relatively low electric current flow. According to some
embodiments, the motor is an RC servos motor. According to some
embodiments, the operating speed of the motor is between about
70-300 rpm. According to some embodiments, the stall torque of the
motor is between about 1-4 Nm.
[0355] Further, although not shown in the Figures, switch 1910 may
be replaced with any appropriate magnetic sensor. According to some
embodiments, the mobile unit, e.g., the arm of the mobile unit or
any element on the arm, such as the gripper, may include any
appropriate magnetic sensor in order to operate the pre-milking
brush.
[0356] Reference is now made to FIG. 20, presenting post-milking
disinfection tool 2000. As shown, post-milking disinfection tool
2000 comprises dipping chamber 2001, which is filled with a
disinfectant (not shown) and filling detection element 2010.
According to some embodiments, post-milking disinfection tool 2000
further comprises a brush (not shown), which may be positioned, at
least partially, around the entrance of dipping chamber 2001. When
post-milking disinfection is required, post-milking disinfection
tool 2000 is brought into contact with the animal's teat, wherein
post-milking disinfection tool 2000 is pushed up towards the teat,
such that the teat is dipped in the disinfectant found in the
dipping chamber. If post-milking disinfection tool 2000 includes a
brush, the brush may brush the disinfectant on the teat, thereby
spreading the disinfectant on the teat. It is noted that
post-milking disinfection tool 2000 may be maneuvered manually or
by a mobile unit, e.g., being gripped by a gripping element
attached to the mobile unit, e.g., lengthwise double gripper 1200,
as shown in FIG. 12.
[0357] As shown in FIG. 20, post-milking disinfection tool 2000
includes filling detection element 2010, which may detect the
amount of disinfectant in dipping chamber 2001, or may simply
detect whether dipping chamber 2001 needs to be filled. In the
embodiment shown, filling detection element 2010 is a mechanical
float the height of which is detected by a sensor, e.g., a laser,
on the mobile unit, e.g., on the arm of the mobile unit, e.g., on a
gripping element (not shown). If the height of filling detection
element 2010 is below a predefined value, the system is alerted
that dipping chamber 2001 needs to be filled and therefore,
post-milking disinfection tool 2000 is brought to a filling
station.
[0358] Reference is now made to FIG. 21, presenting an embodiment
of filling station 2100. As mentioned above, post-milking
disinfection tool 2000 may be maneuvered by a mobile unit, e.g.,
being gripped by lengthwise double gripper 1200. As shown in FIG.
21, gripping unit 1201 grips post-milking disinfection tool 2000,
while gripping unit 1202 presses filling activator 2110, in order
to fill dipping chamber 2001 with disinfectant (not shown), which
flows through tube 2101. Once the system detects, e.g., by a laser
on lengthwise double gripper 1200 (not shown) that filling
detection element 2010 reaches a predefined height, the filling is
ceased, e.g., by gripping unit 1202 releasing filling activator
2110. Once filled, post-milking disinfection tool 2000 may be
maneuvered back to the teat of an animal by the mobile unit and
lengthwise double gripper 1200. When the post-milking disinfection
is concluded, post-milking disinfection tool 2000 may be stored for
further use in filling station 2100, which may further serve as a
docking station.
[0359] Although not shown in the Figures, it is noted that any of
the elements in autonomous pre-milking brush 1900, post milking
disinfection tool 2000, filling station 2100, or any other
embodiments of a pre-milking brush, a post milking disinfection
tool or a filing station, may be activated by magnetic sensors.
Each of those elements may include an appropriate magnetic sensor,
as may any of the mobile units described herein, including the arm
of the mobile unit, the gripper and the like.
[0360] Reference is now made to FIG. 22A presenting an embodiment
of the rail providing electricity to the mobile unit under wet and
unsanitary conditions. As presented in FIG. 22A, rail 2200 includes
internal housing 2201, which houses contactors 2210. Gliding cart
2202, also found in internal housing 2201, prepared from a
conductive material, is in contact with contactors 2210. Gliding
cart 2202 is further in contact with (or is coupled to) mobile unit
2220 (not fully shown) via conductive rod 2203 and therefore,
electricity is passed from contactors 2210, through gliding cart
2202 and conductive rod 2203 to mobile unit 2220. As detailed
above, mobile unit 2220 comprises a motor that allows mobile unit
2220 to move along rail 2200, wherein gliding cart 2202, attached
to mobile unit 2220, is pulled along the rail, inside housing 2201,
together with mobile unit 2220.
[0361] Further, as detailed above, since rail 2200 is positioned on
the floor of the ramp in the milking parlor, i.e., where the
animals stand and walk, rail 2200 is designed such that water and
contaminations do not come in contact with gliding cart 2202,
contactors 2210, conductive rod 2203, or any other electrical
elements. Accordingly, exposed electrical elements, such as
conductive rod 2203 are securely insulated. Further, the entrance
of conductive rod 2203 into internal housing 2201 may be through a
rubber stopper 2204 and/or a water block 2205, wherein water block
2205 may have a labyrinth shape, as shown.
[0362] In addition, as presented in FIG. 22B, the entrance of
conductive rod 2203 into internal housing 2201 may be protected by
curtain element 2206. Curtain element 2206 may be prepared from any
appropriate flexible material, such as silicone or rubber. Curtin
element 2206 may be designed and intended to protect the duct
through which conductive rod 2203 passes into rail 2200, possibly
including internal housing 2201 and contactors 2210. Thus, curtain
2206 prevents water and contaminations from entering into rail
2200, and contacting the electrical elements found therein. In
order for curtain 2206 to be securely fastened against rail 2200,
wheels 2207 and 2208 are positioned on both sides of conductive rod
2203, such that they press on curtain 2206, assuring that it is
securely fastened against rail 2200.
[0363] Gliding cart 2202, which may be coupled to mobile unit 2220
via conductive rod 2203, may be further coupled to mobile unit 2220
via any additional elements, such as coupler 2209, which may be
connected to both mobile unit 2220 as well as to gliding cart 2202.
Wheels 2207 and 2208 may be attached to both sides of coupler 2209,
as presented in FIG. 22B; however, it is noted that any
configuration of wheels 2207 and 2208 may be possible, as long as
they operate in order to secure curtain 2206 against rail 2200,
thereby preventing the entrance of water/contaminations into rail
2200. It is further noted that although wheels are exemplified
herein, any other element, such as a roller, or even a strip of any
type of firm material may be used to replace any one of wheels 2207
and 2208, as long as water/contaminations are prevented from
entering into rail 2200.
[0364] According to some embodiments, a zipper element, such as a
Ziploc.RTM. element may be included in curtain 2206 and/or rail
2200, such that curtain 2206 is secured against rail 2200 by such a
zipper element.
[0365] Reference is now made to FIG. 23, presenting system 2300,
according to an embodiment of the invention in a parallel milking
parlor, comprising rail 2315. Rail 2315 comprises parking areas,
first parking area 2320 and second parking area 2321. As shown in
FIG. 23, second parking area 2321 is beyond barrier 2330 and
therefore, when mobile unit 2342 (or any other mobile unit) is
found in parking area 2321, there is no possibility of contact
thereof with any of the animals in the milking parlor. However,
parking area 2320 is not found beyond any barrier and therefore,
according to some embodiments, measurements are made in order to
ensure that animals entering/exiting the parallel milking ramp or
platform do not, even minimally, collide with any of the mobile
units, e.g., mobile unit 2341.
[0366] According to the embodiment presented in FIG. 23, rail 2315
includes segment 2316, stretching into parking area 2320 as well as
segment 2317, stretching into parking area 2321. Since, as
mentioned above, no collisions between animals and mobile unit are
possible in parking area 2321, such collisions need not be
accounted for in parking area 2321 and therefore, segment 2317,
which is found in parking area 2321, may be a simple continuation
of rail 2315, e.g., in a straight line, as shown in FIG. 23. In
contrast, as mentioned above, in parking area 2320 such collisions
are theoretically possible and therefore, parking area 2320 and
segment 2316 must be designed accordingly, in order to prevent such
collisions. Therefore, as shown in FIG. 23, segment 2316 has an
arc-like shape, wherein the parameters of the arc are set such that
mobile unit 2341 may easily maneuver along segment 2316 and
continue smoothly along the entire length of rail 2315. The
parameters of the arc are further set such that the path on which
the animals travel when entering/exiting the milking stalls does
not intercept the area along segment 2316 on which mobile units,
such as mobile unit 2341, may park.
[0367] Reference is now made to FIG. 24, presenting hip separator
2400. Hip separator 2400 may be connected to any element in any
existing milking parlor, wherein hip separator 2400 is intended to
be positioned approximately at the hip height of the animals at the
rear end of the milking stall, such that the hips of animals
standing in adjacent stalls will be separated from one another. A
designated hip separator 2400 may be positioned between every two
milking stalls. The shape, dimensions and materials from which hip
separator 2400 is prepared may be defined such that the hips of the
animals are indeed separated when standing in the milking stalls,
while not interfering with the movements of the animals between the
milking stalls, e.g., when the animals are entering the milking
stalls. According to some embodiments, hip separator 2400 is
prepared from a rubber that is flexible enough to allow the animals
to walk into the stall, while being rigid enough to ensure that the
hips of the animals are separated. According to some embodiments,
the position of the hip separator may change according to the
occupancy of the milking stalls. For example, when the animals
enter the milking stalls, hip separators 2400 may be in a folded
position, e.g., folded against the back railing of the milking
stalls. Once the animal enters the milking stall, the movement of
the animals may mechanically change the position of the hip
separators to unfold and be position between the animal in the
stall that was just occupied to the next stall in line (similar to
the head barriers that separate the stalls from one another).
According to other embodiments, sensor that detect the change in
position of the animal, i.e., that detect an animal standing in a
stall, may electronically send a command causing hip separators
2400 to unfold between the stall that was currently occupied and
the next stall in line. Although hip separator 2400 is designed as
a "U" shaped element, it is noted that any other appropriate shape
or designed may be contemplated.
[0368] Reference is now made to FIGS. 25A and 25B, presenting an
embodiment of arm 2515, in the non-extended (FIG. 25A) and extended
(FIG. 25B) configurations, wherein arm 2515 is attached to gripper
2550. As shown in FIGS. 25A and 25B arm 2515 is a telescopic arm
that has both a non-extended configuration (FIG. 25A), in which the
telescopic element is folded, and an extended configuration (FIG.
25B), in which the telescopic element is unfolded. Extensions 2560
allows gripper 2550 to be positioned on top of the telescopic
element of arm 2515, such that the overall length of arm 2515, from
left to right, is determined only according to the length of the
longest section of the telescopic element, without any addition of
length due to gripper 2550. As detailed herein, the compact size of
the mobile unit and the arm thereof may allow the mobile unit to
move freely under the animals. Therefore, the configuration of arm
2515, including extensions 2560, which allow gripper 2550 to be
placed above, rather than beside, arm 2515 in the folded or
non-extended configuration, provides an overall compact mobile unit
(not completely shown in FIGS. 25A and 25B), that may move freely
under the animals as well as throughout the milking parlor.
[0369] Reference is now made to FIG. 26, presenting an embodiment
of arm 2615 in an extended configuration. As presented in FIG. 26,
arm 2615 includes ball screw 2620 and belt 2625, fitted around
pulley wheels 2666 and 2667, allowing the extension of arm 2615 to
the extended configuration, as presented in FIG. 26. In this
respect it is noted that conventional similar telescopic arms,
having three telescopic segments, are known in the art to be fitted
with two belts and pulleys in order to be fully extended, while
according to the embodiment presented in FIG. 26, only one belt
2625, fitted around pulley wheels 2666 and 2667, is utilized,
together with ball screw 2615.
[0370] Unless explicitly stated, the method embodiments described
herein are not constrained to a particular order or sequence.
Additionally, some of the described method embodiments or elements
thereof can occur or be performed simultaneously, at the same point
in time, or concurrently.
[0371] While certain features of the invention have been
illustrated and described herein, many modifications,
substitutions, changes, and equivalents may occur to those skilled
in the art. It is, therefore, to be understood that the appended
claims are intended to cover all such modifications and changes as
fall within the true spirit of the invention.
* * * * *