NZ712046A - An arrangement and a method for training animals to be milked in a rotary milking parlour - Google Patents

Abstract

The invention relates to an arrangement and a method for training animals (1) to be milked in a rotary milking parlour. The rotary milking parlour comprises a rotary platform (2), an entrance passage (10) from which the animals (1) enter the platform (2), a first waiting area (14) from which animals (1a) enter the entrance passage (10). The arrangement comprises a second waiting area (15) from which animals (1b) enters the entrance passage (10), a gate arrangement (19, 20) configured to direct animals to the first waiting area (14) or the second waiting area (15), and a control unit (7) configured to control the gate arrangement (19, 20) such that it directs fully trained animals (1a) to the first waiting area (14) and not fully trained animals (1b) to the second waiting area (15).

Description

An arrangement and a method for training animals to be milked in a rotary milking parlour THE BACKGROUND OF THE INVENTION AND PRIOR ART The present invention relates to an arrangement and a method for training animals to be milked in a rotary milking parlour according to the preambles of claim 1 and 14.

In a conventional rotary milking parlour, the cows walk on to an annular rotating platform and enter a milking stall. The platform usually rotates with a constant low speed. The milking processes of the cows are finished and the cows leave the milking stalls before they have rotated one full revolution on the platform. The continuous flow of cows causes rotary milking parlours to have a high milking capacity. In an automatic rotary milking parlour, a robot is located on the outside or on the inside of the annular platform attaching teat cups to the teats of the cows. In an automatic rotary milking parlour, a robot may clean the teats before a milking process starts, a robot may attach teat cups to the teats and a robot may provide treatments of teats after the milking process has finished.

Dairy animals are to be trained before they are able to be milked in a rotary milking parlour. In certain countries such as, New Zeeland and Australia, substantially all dairy animals give birth at the same time of the year. As a consequence, there is a lot of dairy animals giving birth the first time which must be trained simultaneously. The training of the inexperienced animals is performed in groups. The first times the inexperienced animals are to be milked, they have to be pushed onto the platform. The inexperienced animals are stressed by the strange environment and the noises from the robots. There is also a risk that the individual animals are stressed by the other inexperienced animals in the group. Consequently, a group-based learning process of inexperienced animals can result in bad experiences for the individual animals and an extended learning time.

SUMMARY OF THE INVENTION The object of the present invention is to provide an arrangement and a method providing a very effective training of inexperienced animals to be milked in a rotary milking parlour.

This object is achieved by the arrangement initially defined, which is characterized in that it comprises a second waiting area from which animals enters the entrance passage, a gate arrangement configured to direct animals to the first waiting area or the second waiting area, and a first identification member associated with the gate arrangement configured to identify animals as fully trained animals or not fully trained animals, and that the control unit is configured to receive information from the identification member about the identity of the animals and to control the gate arrangement such that it directs fully trained animals to the first waiting area and not fully trained animals to the second waiting area.

Consequently, the not fully trained animals are directed to a second specific waiting area where they can achieve manual assistance from an operator. It is, for example, possible for the operator to shove the not fully trained animals out of the second waiting area and into the entrance passage at appropriate opportunities. Such appropriate opportunities may be when it is possible to introduce a not fully trained animal in the entrance passage in a position between two fully trained animals. In such a case, it is possible for the not fully trained animal to learn from the fully trained animal in front of it how to enter the platform and leave the platform. A further advantage is that the not fully trained animal can be pushed onto the platform by the fully trained animal behind. Furthermore, the not fully trained animal will be positioned in a milking stall on the platform between the milking stalls occupied by two calm fully trained animals. In this case, the not fully trained animal obtains an effective training and a quick adaption to the rotary milking parlour.

According to an embodiment of the invention, the arrangement comprises an indicating means configured to inform an operator when a not fully trained animal has been directed to the second waiting area. In this case, it is possible for an operator which not is in the second waiting area to move to the second waiting area and assist the not fully trained animal when it has to enter the rotary platform. The indicating means may provide a specific audible or visual signal indicating for an operator that a not fully trained animal has been directed to the second waiting area.

According to an embodiment of the invention, the arrangement comprises a second identification member configured to identify the animals in the respective milking stalls on the platform and that the control unit is configured to identity the milking stalls occupied by not fully trained animals. Usually, all animals are identified before they enter a milking stall on a rotary platform. In this case, the control unit especially notes the milking stalls occupied by not fully trained animals.

According to an embodiment of the invention, the arrangement may comprise an alarm member configured to inform an operator when a milking process in a milking stall with a not fully trained animal does not proceed in a desired manner. Usually, a milk meter indicates the milk flow in each milking stall on a rotary platform. In case the milk flow does not start or is stopped abruptly in a milking stall, it is an indication on that the attachment process of the teat cups has failed. In such a case, the alarm device may trigger an audible alarm or a visual alarm. Such an alarm member makes it is possible for an operator to move to the actual milking stall and attach the teat cups manually to the not fully trained animal.

According to an embodiment of the invention, the arrangement may comprise an alternative control program for the device in addition to the regular control program and that the control unit is configured to use the alternative control program for the device when it performs an action related to a not fully trained animal.

The alternative control program may be a training program for not fully trained animals in which the device provides slower and more gentle movements than when it is used for a not fully trained animal.

According to an embodiment of the invention, the arrangement comprises a manual remote control unit by which it is possible for an operator to temporarily take over the control of said device. In this case, it is possible for an operator to slow down the speed the device when it is used for a not fully trained animal. The manual remote control unit may be stationary arranged in or adjacent to the second waiting area. In this case, it is easy for an operator working in the second waiting area to reach the manual remote control unit. Alternatively, the manual remote control unit is portable and is carried by the operator. The portable remote control unit may be a mobile telephone.

According to an embodiment of the invention, said device is an entrance gate to a milking stall on the platform. In this case, it is possible by the remote control unit to control the opening time of the entrance gate and give a not fully trained animal more time to enter the platform. Alternatively or in combination, said device is a driving mechanism of the platform. In this time it is possible to reduce the speed or stop the rotary platform in order to give a not fully trained animal more time to, for example, enter the platform and leave the platform.

According to an embodiment of the invention, said device is a robot attaching teat cups to the animals in the milking stalls. The attachment process of the teat cups by a robot may stress a not fully trained animal. In order to reduce the stress, it is possible to slow down the speed of the robot when it attach the teat cups.

Such a measure may shorten the learning time for the attachment of teat cups to a not fully trained animal.

According to an embodiment of the invention, the device may be a robot performing a treatment of the teat of the animals in the milking stalls. Many rotary parlours are equipped with a robot performing a pretreatment in form of a cleaning treatment of the teat before the teat cups are attached and another robot performing an after treatment of the teats when the teat cups have been removed. Also in these cases, it is possible to slow down the speed of the robots when they perform a treatment of the teats in order to shorten the learning time.

According to an embodiment of the invention, the outlet opening of the second waiting area comprises a one way gate openable by the animals in the second waiting area. Initially, a not fully trained animals may have to be pushed through the one way gate by an operator. The one way gate may block an outlet opening of the first waiting area in an open position. Such a one way gate blocks temporarily the flow of animals from the first waiting area which facilitates the introduction of the not fully trained animals in the entrance passage.

The above mentioned objects are also achieved by the method defined in the claims 14 to 25.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is now to be explained more closely by means of preferred embodiments, which are disclosed as examples, and with reference to the attached drawings.

Fig 1 shows a rotary milking parlour comprising an arrangement according to a first embodiment for training animals to be milked on the rotary milking platform and Fig 2 shows an alternative rotary milking parlour comprising an arrangement according to a second embodiment for training animals to be milked on the rotary milking platform.

BRIEF DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION Fig 1 shows a rotary milking parlour for milking of cows 1. The rotary milking parlour comprises an annular platform 2 having an inner edge portion 2a and an outer edge portion 2b. A plurality of fence arrangements 4 are arranged on the platform 2. The fence arrangements 4 form milking stall 3 for receiving individual cows 1 in predetermined milking positions. The fence arrangements 4 have an essentially straight radial extension on the platform 2 between an inner end located at the vicinity of the inner edge portion 2a of the platform and an outer end located at the vicinity of the outer edge portion 2b of the platform. The fence arrangements 4 are arranged at equal intervals around the annular platform 2. In this case, the cows 1 stand in a radial direction on the platform 2 with their heads at the inner edge portion 2a of the platform 2. This rotary milking parlour is of the PR (Parallel Rotary) type. Each milking stall 3 is provided with a feeding trough 5 arranged in the vicinity of the inner periphery 2a of the platform. Each milking stall 3 is also provided with a set of teat cups to be attached to the teats of a cow 1 standing in the milking stall 3. Each milking stall 3 comprises a teat cup magazine 6 supporting the teat cups in a not used state.

An electric control unit 7 is adapted to control a schematically disclosed drive mechanism 8 for driving of the platform 2. The drive mechanism 8 may include a drive wheel mechanism, which is arranged in contact with a circular rail on the underside of the platform 2. A position sensor 9 is adapted to sense the rotational position of the platform 2 and to send a signal to the control 7 about the actual position of the platform 2. The milking parlour comprises an entrance passage 10 to the platform 2. The entrance passage 10 has a width such that only one cow at a time is able to reach a front position in the entrance passage 10 from which it enters the platform 2. The entrance passage 10 is, at a front end, provided with an entrance gate 11 and an additional gate 12 at a distance from the entrance gate 11. The distance between the entrance gate 11 and the additional gate 12 is shorter than the length of a cow 1. The movements of the entrance gate 11 is controlled by the control unit 7. The additional gate 12 include two swing doors which can be pushed open by the cows 1. The entrance passage 10 comprises an identification member 13. The cows 1 carry a transponder containing data about the individual cow 1. The identification member 13 identifies the individual cows 1 by means of the information from the transponder and sends a signal to the control unit 7 with information about the identity of the cow 1 in the front position of the entrance passage 10. Two pretreatment robots 23, two teat cup attaching robots 24 and one after treatment robot 25 are arranged in different positions on a floor surface at the side of the platform 2. The cows 1 enter an exit area 26 when they leave the platform 2.

The milking parlour comprises a first waiting area 14 for cows which are fully trained to be milked on the platform 2 without manual assistance. The first area 14 comprises an outlet opening 14a to the entrance passage 10. The milking parlour comprises a second waiting area 15 for cows which are not fully trained to be milked in the rotary milking parlour without manual assistance of an operator 16. The second waiting area 15 comprises an outlet opening to the entrance passage 10 provided with a one way gate 17. The operator 16 is equipped with a portable manual remote control unit 18 by which it is possible to control the movements of the entrance gate 11. The rotary milking parlour comprises a gate arrangement in the form of a first gate 19 arranged in an inlet opening to the first waiting area 14 and a second gate 20 arranged in an inlet opening to the second waiting area 15. An identifying member 21 senses the identity of the cows 1 in a position associated to the gates 19, 20. The cows 1 enters the gate arrangement from a surrounding resting area 22. The control unit 7 controls the gates 19, 20 by means of information from the identifying member 21.

A cow 1 wanted to be milked walks to the closed gates 19, 20.

The identifying member 21 detects the identity of the cow 1 and sends a signal to the control unit 7. The control unit 7 checks initially if the identified cow 1 fulfils a milking criterion. In case the identified cow does not fulfils the milking criterion, the gates 19, 20 are kept closed. In case the cow fulfils the milking criterion, it checks if it is a fully trained cow 1a or not fully trained cow 1b.

In case the identified cow is a fully trained cow 1a, the control unit 7 opens the first gate 19 and the fully trained cow 1a enters the first waiting area 14. The fully trained cow 1a can stay a while in the first waiting area 14 before it leaves the first area 14, via the outlet opening 14a, and enters the entrance passage 10. The fully trained cow 1a pushes open the additional gate 12 before it enters the front position in the entrance passage close to the entrance gate 11.

The control unit 7 receives information from the identifying member 13 about the identity of the cow 1a. The control unit 7 receives substantially continuously information from the position sensor 9 about the actual rotational position of the milking stalls 3 on the platform 2. When a milking stall 3 arrives to a first rotational position just in front of the entrance gate 11, the rotary platform 2 is stopped or slowed down. The control unit 7 opens the entrance gate 11 and the fully trained cow 1a enters the platform 2. The entrance gate 11 is moved to its closed position as soon as the whole cow 1a is inside the milking stall 3. The feeding trough 5 attracts the cow 1a and facilitates the positioning of the cow 1a in the milking stall 3. The control unit 7 activates the driving mechanism 8 such that the rotary movement of the platform 2 starts or accelerates up to a regular operating speed.

When the milking stall 3 with the fully trained cow 1a has rotated from an initial position to a position closed to the pretreatment robots 23, the control unit 7 activates one of the pretreatment robots 23 such that it performs a washing treatment of the teats of the cow 1a. When the milking stall 3 with the cow 1a has rotated to a position closed to the teat cup attaching robots 24, the control unit 7 activates one of the teat cup attaching robots 24. The activated teat cup attaching robot 24 fetches teat cups in the teat cup magazine 6 and attaches them to the cow 1. The milking process of the cow 1 starts as soon as the teat cups have been attached to the teats of the cow 1. A schematically indicated milk meter 27 in each milking stall supervises the milk flow during the milking process. Each milk meter 27 sends substantially continuously information to the control unit 7 about the milk flow from the cows 1 in the respective milking stalls 3. As soon as the milk flow drops below a predetermined value, a removing device (not shown) removes the teat cups from the teats of the cow 1. If the teat cups have not been removed earlier, they are at least removed when the milking stall 3 reaches a position closed to the after treatment robot 25. The after treatment robot 25 may spray a disinfecting medium on the teats of the cow 1a. When the after treatment of the teats is finished and the milking stall 3 reaches a final position, the cow 1a leaves the milking stall 3 and enters the exit area 26.

If instead the cow 1 to be milked is a not fully trained cow 1b, the control unit 7 opens the second gate 20 and the not fully trained cow 1b enters the second waiting area 15. The control unit 7 sends information to the remote control unit 18 about the fact that a not fully trained cow 1b has entered the second waiting area 15.

The remote control unit 18 comprises an indicating member 18a informing the operator 16 with an audible or visible signal by the fact that a not fully trained cow 1b has entered the second waiting area 15. The operator 16 moves to the second waiting area 15 if not already there. In case the not fully trained cow 1b does not voluntarily walk towards the outlet opening 15a of the second waiting area 15, the operator 16 shoves the cow 1b towards the outlet opening 15a. In case the not fully trained cow 1b does not voluntarily walk through the one way gate 17, the operator 16 may push the cow 1b through the one way gate 17 and into the entrance passage 10 at an appropriate opportunity.

Such an appropriate opportunity may be when a fully trained cow 1a is in the front position of the entrance passage 10. In this case, it is possible for the not fully trained cow 1b to follow the fully trained cow 1a to the platform 2. The not fully trained cow 1b may learn from the fully trained cow 1a how to enter a milking stall 3 on the platform 2. It is favourable if the not fully trained cow 1b is followed by a fully trained cow 1a in the entrance passage 10. In this case, the fully trained cow 1 may push the not fully trained cow 1b onto the platform 2 when the entrance gate 11 is open.

Furthermore, the not fully trained cow 1b will be milked in a milking stall 3 on the platform 2 between two adjacent milking stall 3 occupied by two calm fully trained cows 1a. Finally, the not fully trained cow 1b may learn from the first fully trained cow 1a how to leave the platform 2 and enter the exit area 26.

In order to further assist the not fully trained cow 1b, it is possible for the operator 16 to control the drive mechanism 8 and/or the entrance gate 11 by means of the remote control unit 18. In this case, it is possible to extend the time for a not fully trained cow 1b to enter the platform 2. Furthermore, the robots 23-25 can be driven by a regular control program 7b for fully trained cows 1a and an alternative control program 7b for not fully trained cows 1b which may, for example, include slower movements of the arms of the robots 23-25. The alternative control program 7b can be automatically activated as soon as a not fully trained cow 1b is identified in the front position of the entrance passage 10.

Alternatively, the alternative movement program is activated by the operator 16 via the remote control unit 18. Furthermore, the milk meters 27 may send signals to the manual remote control unit 18 about the milk flow in at least the milking stalls 3 accommodating not fully trained cows 1b. The remote control unit 18 comprises an alarm member 18b. The alarm member is trigged in case the milk flow does not start or stops abruptly in a milking stall 3 occupied by a not fully trained cow 1b. In case the alarm member is activated, it is possible for the operator 16 to move to the actual milking stall 3 and manually attach the teat cups to the teats of the not fully trained cows 1b.

Fig. 2 shows a milking parlour according to an alternative embodiment. In this case, the gate arrangement comprises three gates namely a first gate 19 to the first waiting area 14, a second gate 20 to the second waiting area 15 and a third gate 29 to a VIP passageway 30. The VIP passageway 30 extends from the third gate 29 to a one way gate 31 arranged in an outlet opening to the entrance passage 10. The VIP passageway 30 can be used for cows 1c having a low hierarchic order in a herd.

When a cow 1 enters the gate arrangement, it is identified by the identifying member 21. The identifying member 21 sends information about the identity of the cow 1 to the control unit 7.

The control unit 7 initially determines whether the cow 1 fulfils the milking criterion. If this is the case, the control unit 7 determines whether the cow 1 is a fully trained cow 1a or a not full trained cow 1b. In case the cow is a fully trained cow, the control unit 7 determines if the cow has a low hierarchic order in the herd. If this is the case, the control unit 7 open the third gate 29 such that the cow 1c obtains access to the VIP passageway 30. The VIP passageway 30 has a width small enough to prevent cows 1c from passing each other therein. Usually, the cow 1c pushes the one way gate 31 to an open position and enters the entrance passage when it is free from other cows 1. In case the fully trained cow 1a has not a low hierarchic order, the control unit 7 opens the first gate 19 such that the fully trained cow 1a is directed to the first waiting area 14. In case the identified cow is a not fully trained cow 1b, the control unit 7 opens the second gate 20 such that the not fully trained cow 1b is able to enter the second waiting area . It is possible that an operator 16 has to shove the not fully trained cow 1b to the gate arrangement and push it through the open gate 20 and into the second waiting area 15.

In this embodiment, there is a stationary manual remote control unit 28 arranged in the second waiting area 15. The stationary manual remote control unit 28 makes it possible for an operator 16 to control the movement of the entrance gate 11, the drive mechanism 8 of the platform 2, and the movements of the robots 23, 24, 25 when a not fully trained cow 1b is to be milked on the platform 2. Furthermore, the stationary manual remote control unit 28 includes an indicating member 28a which indicates when a not fully trained cow has entered the second waiting area 15.

Finally, the stationary manual remote control unit 28 includes an alarm member 28b which is trigged when a robot 24 has failed to attach a teat cup to a not fully trained cow 1b in a milking stall 3.

The invention is not restricted to the described embodiment but may be varied freely within the scope of the claims. The rotary parlour may have an arbitrary design. The rotary parlour can be a parallel rotary or a herringbone rotary and the cows may face inwards or outwards on the annular platform.

Claims (25)

Claims 1.

1. An arrangement for training animals (1) to be milked in a rotary milking parlour, wherein the rotary milking parlour comprises a 5 rotary platform (2), an entrance passage (10) from which the animals (1) enter the platform (2), a first waiting area (14) from which animals (1a) enter the entrance passage (10), a device (8, 11, 23-25) configured to perform an action related to the animals (1) and/or the platform (2), and a control unit (7) configured to 10 control said device (8, 11, 23-25), characterized in that the arrangement comprises a second waiting area (15) from which animals (1b) enters the entrance passage (10), a gate arrangement (19, 20) configured to direct animals to the first waiting area (14) or the second waiting area (15), and a first 15 identification member (21) associated with the gate arrangement (19, 20) configured to identify animals as fully trained animals (1a) or not fully trained animals (1b), and that the control unit (7) is configured to receive information from the identification member (21) about the identity of the animals (1) and to control 20 the gate arrangement (19, 20) such that it directs fully trained animals (1a) to the first waiting area (14) and not fully trained animals (1b) to the second waiting area (15).

2. An arrangement according to claim 1, characterized in that it 25 comprises an indicating member (18a, 28a) configured to inform an operator (16) when a not fully trained animal (1b) has been directed to the second waiting area (15).

3. An arrangement according to claim 1 or 2, characterized in that 30 it comprises a second identification member (13) configured to identify the animals (1) in the respective milking stalls (3) on the platform (2) and that the control unit (7) is configured to identity milking stalls (3) accommodating not fully trained animals. 35

4. An arrangement according to claim 3, characterized in that it comprises an alarm member (18b, 28b) configured to inform an operator (16) when a milking process in a milking stall (3) with a not fully trained animal (1b) does not proceed in a desired manner.

5.5. An arrangement according to any one of the preceding claims, characterized in that it comprises an alternative control program (7b) for the device (8, 11, 23, 24, 25) in addition to a regular control program (7a) and that the control unit (7) is configured to use the alternative control program for the device (8, 11, 23, 24, 10 25) when it performs an action related to a not fully trained animal (1b).

6. An arrangement according to claim 1 or 2, characterized in that the it comprises a manual remote control unit (18, 28) by which it 15 is possible for an operator (16) to temporarily take over the control of said device.

7. An arrangement according to claim 6, characterized in that the manual remote control unit (28) is stationary arranged in or 20 adjacent to the second waiting area (15).

8. An arrangement according to claim 6, characterized in that the manual remote control unit (18) is portable. 25

9. An arrangement according to any one of the preceding claims, characterized in that said device is an entrance gate (11) to a milking stall (3) on the platform.

10. An arrangement according to any one of the preceding claims 30 1-8, characterized in that said device is a driving mechanism (8) arranged to control the rotation and the speed of the platform (2).

11. An arrangement according to any one of the preceding claims 1-8, characterized in that said device is a robot (24) attaching teat 35 cups to the animals in the milking stalls (3).

12. An arrangement according to any one of the preceding claims 1-8, characterized in that the device is a robot (23, 25) performing a treatment of the teats of the animals (1) in the milking stalls (3). 5

13. An arrangement according to any one of the preceding claims, characterized in that an outlet opening of the second waiting area (15) comprises a one way gate (17) openable by the animals (1b) in the second waiting area (15). 10

14. A method for training animals (1) to be milked in a rotary milking parlour, wherein the rotary milking parlour comprises a rotary platform (2), an entrance passage (10) from which the animals (1) enter the platform (2), a first waiting area (14) for animals (1a) from which they enter the entrance passage (10), a 15 second waiting area (15) for animals (1b) from which they enter the entrance passage (10), a gate arrangement (19, 20) configured to direct animals to be milked to the first waiting area (14) or the second waiting area (15), and a device (8, 11, 23-25) configured to perform an action related to the animals (1) and/or 20 the platform (2), characterized by the steps of - identifying animals (1) in the gate arrangement (19, 20) as fully trained animals (1a) or not fully trained animals (1) and - controlling the gate arrangement (19, 20) such that it directs fully trained animals (1a) to the first waiting area (14) and not fully 25 trained animals (1b) to the second waiting area (15).

15. A method according to claim 14, characterized by the step of informing an operator (16) when a not fully trained animal (1b) has been directed to the second waiting area (15).

16. A method according to claim 14 or 15, characterized by the steps of identifying animals (1) in the respective milking stalls (3) on the platform (2) and identifying milking stalls (3) occupied by not fully trained animals (1b).

17. A method according to claim 16, characterized by the step of informing an operator (16) when a milking process in a milking stall (3) with a not fully trained animal (1b) does not proceed in a desired manner. 5

18. A method according to any one of the preceding claims 14- 17, characterized by the step of providing alternative control of said device (8, 11, 23, 24, 25) when it performs an action related to a not fully trained animal (1b) in comparison to a regular control of the device (8, 11, 23, 24, 25) when it performs an action related 10 to a fully trained animal (1a).

19. A method according to any one of the preceding claims 14- 18, characterized by the step of controlling said device (8, 11, 23, 24, 25) by a manual remote control unit (18).

20. A method according to claim 19, characterized by the step of controlling said device (8, 11, 23, 24, 25) by a manual remote control unit (18) stationary arranged in or adjacent to the second waiting area (15).

21. A method according to claim 19, characterized by the step of controlling said device (8, 11, 23, 24, 25) by a portable manual remote control unit (18). 25

22. A method according to any one of the preceding claims 19- 21, characterized by the step of controlling the movements of a device in the form of an entrance gate (11) to a milking stall (3) on the platform. 30

23. A method according to any one of the preceding claims 19- 21, characterized by the step of controlling the movements of a device in the form of a driving mechanism (8) controlling the rotation and the speed of the platform (2). 35

24. A method according to any one of the preceding claims 19- 21, characterized by the step of controlling the movements of a device in the form of a robot (24) attaching teat cups to the animals in the milking stalls (3).

25. A method according to any one of the preceding claims 19- 5 21, characterized by the step of controlling the movements of a device in the form of a robot (23, 25) performing a treatment of the teat of the animals (1) in the milking stalls (3). 16 14a