JPH1189462A - Milking equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide milking equipment capable of carrying out milking of animal by an automatic milking apparatus in a reduced state of stagnation as less as possible while reducing the operation load of an operator by adopting a rational arrangement constitution. SOLUTION: A moving route for animal is constituted so that a feeding site 1A is placed at a position different from a living area 2A at which animals of target for milking live and the animals go from the living area 2A through a milking position 3 to the feeding site 1A and can freely move along a route in one way from the feeding site 1A to the living area 2A. The milking position 3 is equipped with an automatic milking apparatus for automatically carrying out milking operation for animals having reached the milking position. An inlet part to the automatic milking apparatus in the milking position is installed at a place visible from animals existing in the living area 2A.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a milking facility for milking animals such as dairy cows.

[0002]

2. Description of the Related Art Conventionally, as such a milking facility,
For example, there has been a configuration disclosed in JP-A-8-131003. In other words, an automatic milking device that can automatically milk a cow (an example of an animal as a milking target) that has entered a milking room (milking place) is provided, and all milking targets to be milked are provided. Was housed so as to be able to move freely between the living area (rest area) and the feeding ground, and the milking room could be freely entered and exited from the living area and the feeding ground. In addition, at every preset milking time (usually every time a predetermined time elapses), all dairy cows are collected in the living area, and from there, they are moved to the feeding place through an automatic milking device, so that milking is ensured. Was to be done.

[0003]

The automatic milking apparatus as described above is intended to reduce the workload of manual milking by a dairy worker, but milking animals such as dairy cows takes one day. It is generally performed several times. However, in the above-mentioned conventional configuration, in many hours of the day, since the animal can freely move between the living area and the feeding ground, all animals are directed to the milking place. However, there is a disadvantage that the number of milking times per day cannot be increased.

Accordingly, the present invention has been made in view of such a point, and an object of the present invention is to adopt a rational arrangement so as to make it possible to further reduce the work load on the worker. An object of the present invention is to provide a milking facility that can increase the number of milking times of animals as much as possible.

[0005]

According to the milking facility of the present invention, a feeding ground is provided in a place different from a living area where animals to be milked live, and animals are moved from the living area. The animal's movement path is configured so that it can move freely along the one-way path from the feeding place to the feeding area through the milking place and back from the feeding place to the living area. An automatic milking apparatus for automatically performing a milking operation is provided, and an entrance to the automatic milking apparatus at a milking place is arranged at a position where animals in a living area can be visually observed.

Therefore, when an animal in the living area tries to go to the feeding ground to eat food, the animal cannot go directly from the living area to the feeding ground, but can freely feed through the milking place along a one-way path. You can go to the place. Then, an automatic milking device is installed at the milking place, and the milking operation is automatically performed on the animals that come to the milking place, so that the animals are surely milked every time they go to the feeding ground. . In addition, since the food is in the feeding area, the animal does not stay at the milking place for a long time. Also, when trying to go from the living area to the feeding area, animals in the living area can move from the entrance to the milking place because the entrance to the automatic milking device in the milking place can be seen. The animal can move without hesitation by learning that the entrance that can be seen from the living area by experience is the entrance of the one-way route, that is, the entrance of the route to the feeding ground.

[0007] As a result, by adopting a rational arrangement, it is possible to further reduce the work load on the worker, and to increase the number of milking of the animal by the automatic milking apparatus as much as possible, thereby reducing the milking yield. You can do as much as you can.

[0008] According to the milking facility described in claim 2, in claim 1, in the entrance, an animal coming from the living area is moved to a milking room where the automatic milking is performed by the automatic milking apparatus. Opening / closing means that can be freely opened and closed so as to allow one animal to enter one by one is provided, and this opening / closing means is arranged at a position where animals in the living area can be viewed.

Therefore, when an animal is being milked by the automatic milking device, another animal is opened and closed by the opening / closing means so that another animal does not enter the milking room and obstructs milking. Milking can be performed efficiently by suppressing the inflow of milk. Moreover, since the animal in the living area can visually check the opening / closing means that is opened / closed every time another animal passes, it is possible to more reliably recognize that the animal is the entrance to the automatic milking device at the milking place. .

As a result, the animal can more reliably move from the entrance to the feeding ground through the milking place without getting lost.

According to a third aspect of the present invention, in the milking facility according to the second aspect, an actuator capable of opening / closing the opening / closing means and a control means for controlling the operation of the actuator are provided. The opening and closing means is configured to be opened and closed as the animal passes.

Since the opening / closing means is opened / closed by the actuator, the animal is operated by the operation sound of the actuator and the operation sound at the time of opening / closing the opening / closing means.
The fact that this is the entrance can be more reliably recognized not only visually but also by hearing.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a case where a milking facility according to the present invention is applied to a dairy cow as an animal to be milked will be described with reference to the drawings. FIG. 1 shows the entire layout of the barn. 1A is a feeding ground for cows compatible with automatic milking, 1B is a feeding ground for cows not suitable for automatic milking, 2
A is a first area as a living area for cows suitable for automatic milking, 2B is a free area of cows not suitable for automatic milking, 2B is a second area 2B, and 3 is a milking place as a milking place. A large number of stalls (beds) 2a, 2b separated by pipes are arranged in the two areas 2A, 2B. The feeding area 1A and the first area 2A are separated by two one-way gates 4 and 5, and these one-way gates 4 and 5 are separated.
Is configured to allow only passage from the feeding ground 1A to the first area 2A. That is, this one-way gate 4,
5 corresponds to one-way passing means. And the first area 2
Between the A and the second area 2B and the milking place 3, a passage L1 where cows move and a waiting place 6 for waiting the order of milking are provided. In addition, a passage L2 is formed between the milking place 3 and the feeding place 1A. Therefore, cows in the first area 2A
After passing through the milking parlor 3 to the feeding ground 1A, after eating, it moves along the one-way circulation path so as to pass through the one-way gates 4, 5 and return to the first area 2A. First
The breeding area is constituted by the area 2A and the feeding ground 1A. Note that a passage L3 is formed between the second area 2B and the feeding ground 2B so as to be able to move freely.

Between the first and second areas 2A and 2B and the dairy 3, cows in the first area 2A can freely go to the dairy 3 and are in the second area 2B. A first state in which cows are prohibited from going to milking place 3, and a cow in first area 2A is prohibited from moving to milking place 3, and cows in second area 2B are free to go to milking place 3. An opening / closing gate G8 is provided which can be switched to a second state in which the opening / closing can be performed. The milking place 3 is provided with an automatic milking apparatus A that automatically attaches a teat cup 50 as a milking tool to a nipple for a cow that has come and milks the cow.

The milking system in this barn will be described briefly. A plurality of cows to be milked are classified into cows that are suitable for automatic milking by the automatic milking apparatus A and cows that are not suitable for automatic milking. Cows compatible with automatic milking (hereinafter referred to as automatic cows) are managed so as to live in the first area 2A, and cows not suitable for automatic milking (hereinafter referred to as manual cows). Is managed to live in the second area 2B. In addition, the cows that are not compatible with automatic milking include, for example, cows whose nipple shape does not match the shape of the teat cup 50 and are difficult to be automatically fitted, and those who enter three milking parlors without being calm and rampage. A cow that cannot perform automatic milking or a cow that is suffering from a disease such as mastitis, and that cannot automatically perform automatic milking by the automatic milking apparatus A.

In many time periods of the day, as shown in FIG. 2, the opening / closing gate G8 is switched to the first state, and the automatic cows in the first area 2A are closed. Whenever you are hungry, you can freely go through the milking parlor 3 to the feeding ground. Also, at the place where animals feed when milking is performed by the automatic milking apparatus A in the milking place 3, a thick feed, which is a delicious feed that appeals to the taste of cattle, is fed, and this fact is known (education). Dairy cows will naturally go to milking parlor 3 when they are hungry. In addition, the said feeding grounds 1A and 1B which are places to feed when milking by the automatic milking apparatus A is not performed.
Is fed with a large amount of roughage such as grass. The automatic cows can freely go to the milking parlor 3 at any time, but each cow can perform individual identification by detecting the individual identification information transmitted by the responder provided to each cow by the tag T as described later. When the set time (about 4 hours) has not elapsed since the last milking time, the milking station 3 is left without performing the automatic milking.

[0017] The manual cows are artificially managed and milked. In other words, the manual cow in the second area 2B can go to the feeding place at any time through the passage L3 and feed, but cannot normally go to the milking place 3 freely because the opening and closing gate G8 is closed. . Then, when a predetermined milking time is reached, the operator switches the opening / closing gate G8 to the second state, and sequentially moves the manual cows in the second area 2B to the milking place 3. In 3, milking is performed by manually attaching a teat cup. Note that the milked manual cow passes through the return route L4 and passes through the second area 2
It returns to B.

Next, the milking parlor 3 will be described. As shown in FIG. 1, in the milking parlor 3, automatic milking apparatuses are installed in each of two milking rooms 7, 7 arranged in series, and a moving passage 8 is provided beside these milking rooms, and automatic milking fails. A return passage L5 for returning the cow to the entrance side is provided side by side. As shown in FIG. 5, the entrance side of the moving passage 8 (the waiting area 6
Side) is provided with a first gate G1 which can be freely opened and closed, and each milking room 7, 7 has a second (fourth) gate G2, which is an entrance of a cow.
G4 and third (fifth) gates G3 and G5 as exits are provided. At the exit side of the moving passage 8, a sixth gate G6 for distributing the automatic cow to the passage L2 to the feeding ground 1A and the return passage L5, and a seventh gate G7 for distributing the manual cow to the return passage L4 and the return passage L5. Is provided. still,
A one-way gate G9 is provided in the return passage L5 on the side of the waiting area 6 to allow only passage to the waiting area 6 side.

The first gate G1 as an opening / closing means includes:
Usually referred to as a Texas gate, as shown in FIGS. 8 and 9, a pair of left and right gate pieces 9 and 9 that can swing around the vertical axis P1 is provided.
The air cylinder C1 (an example of an actuator) has a double-opening structure in which a pair of gate pieces 9, 9 can be simultaneously opened and closed. The first gate G1 is arranged at a position where the cows in the first area 2A can be seen, so that the cows can move toward the milking plant 3 from the entrance provided with the first gate G1 without hesitation. Is configured. Also, when another cow passes through the gate, when the air cylinder C1 is opened and closed by the air cylinder C1, the operation sound and the operation sound when the gate opens and closes, etc. It will be possible to recognize that it is the entrance.

The second gate G2 is configured as a door type that can swing around the vertical axis, and is set so as to almost block the moving passage 8 when it is in the open position. There is to enter. The fourth gate G4 of the second milking room 7 has exactly the same structure.

The third gate G3 has a first door 10 supported on the side wall of the milking room 7 so as to be able to swing around the vertical axis, and is supported by the first door 10 so as to be able to swing around the vertical axis. The second door 11 has a two-folded structure.
The third gate G3 is configured to push the buttocks of the cows out of the milking room 7 to accelerate the forward movement of the cows by the movement of the second doors accompanying the closing operation (see FIG. 7F). The fifth gate G5 of the second milking room 7 has exactly the same structure.

The sixth gate G6 is configured to be switchable between a position where the moving passage 8 communicates with the passage L2 and a position where the moving passage 8 communicates with the return passage L5. The seventh gates G7 are provided so as to be swingable about vertical axes, respectively, and are switchable between a position for connecting the moving passage 8 and the return passage L5 and a position for connecting the moving passage 8 and the return passage L4. It is configured.

In order to operate the gates in a coordinated manner, a number of sensors S1 to S8 for detecting the passage and presence or absence of a cow are provided. All of the sensors are configured as optical sensors that are pairs of a light emitter and a light receiver, and detect and operate by blocking the optical axis or restarting the optical axis.

As shown in FIG. 3, a pair of upper and lower first and second
The sensors S1 and S2 are arranged so as to be orthogonal to the moving path 8 at a point 60 cm away from the first gate G1. The first sensor S1 detects a cow leg and the second sensor S2 detects a trunk. Is what you do. Third sensor S3
Are obliquely arranged so as to extend over the start end side portion of the first milking room 7 and the end portion of the first milking room 7 opposite to the moving passage. The fourth sensor S4 is disposed obliquely so as to extend over the portion of the first milking room 7 opposite to the moving passage on the start end side and the end portion of the first milking room 7. The fifth sensor S5 is disposed obliquely so as to extend over the start end side portion of the second milking room 7 and the end portion of the second milking room 7 opposite to the moving passage. Sixth
The sensor S6 is disposed obliquely so as to extend over the portion of the second milking room 7 opposite to the moving passage on the starting end side and the end portion of the second milking room 7. A pair of upper and lower seventh and eighth sensors S7, S8
Are arranged so as to be orthogonal to the moving passage 8 near the end side of the second milking room 7, and the first and second sensors S1, S
Similarly to the second sensor, the seventh sensor S7 has a leg portion, and the eighth sensor S8
Detects the body part respectively.

Next, the linking operation between each sensor and each gate will be described with reference to FIGS. First, in the initial state, as shown in FIG. 3 (a), the second gate G2 is opened and the sixth gate G6 is operated at a position where it is distributed to the side of the passage to the feeding ground. G3, G4,
G5 is all closed. As shown in FIG.
The gate G1 opens and the cow enters the passage 8 and
When the passage through the second sensors S1 and S2 is completed, the first gate G1 is closed. Then, the cow enters the first milking room 7 through the third sensor S3, and the tag (receiving device) T is solid (cow) by a responder (not shown) which is a transmitting device attached to the neck.
When the detection operation is performed, the second gate G2 is closed and the fourth gate G4 is opened (see FIG. 4C).

Then, the milking by the automatic milking apparatus A is started in the first milking room 7, and the first gate G1 can be opened again so that the next cow can enter the moving passage 8. The first gate G1 is located just before the gate,
In other words, the presence or absence sensor S9 disposed on the wall of the waiting area 6 confirms that the cow has arrived at the waiting position in front of the first gate G1, and any one of the first and second milking rooms 7,7. Is opened only when the condition is empty. The presence / absence sensor S9 is an ultrasonic sensor, and is configured to determine the presence or absence of a cow over a relatively wide range of the waiting area 6.

Next, when the cow enters the moving passage 8 and passes through the first and second sensors, the first gate G1 is closed, and the fourth gate G4, which is the entrance of the second milking room 7, is opened (the second gate G4). When the gate G2 is closed or when the first gate G1 is opened, the fourth gate G4 may be opened.)
The milking room 7 is ready to be greeted (see FIG. 4 (d)). And third, fourth, and fifth sensors S3, S4, S
When the cattle enters the second milking room 7 and the tag T is solid detected, the fourth gate G4 is closed and the milking state in the two milking rooms 7, 7 is established.

Next, when the milking in the first milking room 7 is completed, the third milking room, which is the outlet of the first milking room 7,
The gate G3 opens, and the cow proceeds to the moving passage 8 [Fig.
reference〕. At this time, the fourth sensor S4 blocked by the passage of the cow
The third gate G3, which is open in the folded state, closes and the third gate G3 closes, in conjunction with returning to the initial state again (or that the fifth and sixth sensors S5 and S6 both detect and operate). As shown in FIG. 5 (f), the double door 11 has a function of pushing the buttocks of the cow to promote forward movement. The cows exiting the first milking room 7 receive the fifth and sixth sensors S5,
When passing through S6 and reaching the seventh and eighth sensors S7 and S8, the third gate G3 is closed and the first gate G1 is opened (see FIG. 6 (g)), and the seventh and eighth sensors S7 and S8 are opened.
The first gate G1 can be opened by detecting the passage of S8. When the milking is completed, the cow is opened to the feeding ground 1 through the passage L2.

When the milking in the second milking room 7 is completed, the operation is almost the same as in the case of the first milking room 7 (see FIG. 6 (h)), but the difference is that the fifth gate G5 is closed. The operation and the openable state of the first gate G1 are achieved by the detection of the completion of the passage of the seventh and eighth sensors S7 and S8 (see FIG. 7), and the fourth gate G4 is still maintained in the closed state. (At this time, the fourth gate G4 is opened and operated when a cow is in the first milking room 7 at that time). Then, the cows in the second milking room 7
If no cows have yet come to the first milking room 7 when leaving outside, the gates G1 to G6 return to the initial state in which only the second gate is opened.

In this system, when both milking rooms 7 are empty, cows are set in preference to the first milking room 7. The advantages of the cross arrangement of the third to sixth sensors S3 to S6 in the moving passage 8 in front of the milking rooms 7, 7 are as follows. That is, since the moving-out movement from the moving passage 8 to the milking room 7 arranged in series is performed at the side wall portion of the milking room 7, the sensor can be sensed at a position close to the entrance and exit of the milking room 7 by the oblique arrangement of the sensors. The function and, for example, if a cow exiting the second milking room 7 is backed up while passing through the seventh and eighth sensors S7 and S8, the fifth and sixth sensors S5 and S6 are activated and It is possible to exhibit both functions of detecting inconveniences, and is superior to the means of arranging sensors at right and left of the moving passage 8 before and after each gate in terms of detection points and the required number of sensors.

Each of the gates described above is configured to be freely opened and closed by an air cylinder or the like, and the opening and closing operation is controlled by a control device (not shown) for controlling the operation of the automatic milking apparatus based on information detected by each sensor. However, the above operation is an example when the system is operating smoothly, and various operation situations can be considered on a case-by-case basis. For example, when the milking in the second milking room 7 is completed earlier than in the first milking room 7, the cows in the second milking room 7 are moved to the first milking room 7 in accordance with the end of the passage of the seventh and eighth sensors S7 and S8. Gate G1
Can be opened. At that time, if the next cow is in front of the first gate G1, the first gate G1 is opened, and the cow passes the first milking room 7 and enters the second milking room 7 directly. is there. Also, each sensor S1 to S8
All use the same sensor, and are optically configured by a pair of a light emitter and a light receiver.

The structure of the milking portion of the automatic milking apparatus A will be described. As shown in FIGS. 10 to 13, a breast pump (cluster) Aa including a hip folding arm 51 provided on the right side of the milking room 7 with four teat cups 50 that can be attached to the teat at the tip thereof, The milking room 7 is provided with a sensor robot Ab for sensing four nipples of a cow having a predetermined milking posture and positioning the teat cup 50 directly below each corresponding nipple.

As shown in FIGS. 10 and 11, the breast pump Aa
Is a tip arm 51a provided with a teat cup 50,
A waist-breaking link 51 composed of this distal arm 51a and a proximal arm 51b bridged over a support 54 fixed to the right side of the milking room 7 and two return cylinders 52, 53 are provided. The outside of the teat cup 50 is covered with a rubber material.
It is supported on the distal arm 51a via a non-equilateral link mechanism 63 comprising a lower link 3a and a lower link 63b shorter than this, and an elevating cylinder 64 is laid across the distal arm 51a and the lower link 63b. Base arm 51b
Is supported by a support 54 so as to be able to move up and down in parallel via an elevating mechanism 66, and is slidably movable up and down on a bar 67 erected on the support 54 so that the base end cylinder 53 can also move up and down in conjunction therewith. It is fitted.

The four teat cups 50 are arranged in a trapezoidal shape with a wide front side in accordance with the arrangement of the teats of the cow, and this arrangement is basically fixed. However, the upper and lower links 63a, 63b and the tip arm 51a
With the elasticity of the rubber bush (not shown) interposed at the connecting portion with the rubber member covering the teat cup 50,
The position and orientation of the teat cup 50 are flexible, and the opening at the upper end of the teat cup 50 has an upwardly expanding shape (see FIG. 10), so that the relative positions of the four nipples are different from the standard state. The teat cup 50 can be fitted even if it is slightly displaced. This structure is made possible by the fact that the relative positions of the teats are basically not so different from cow to cow.

When the teat cup 50 is mounted on the teat, it serves as a supporting reference body for mounting the next teat cup 50, and it is better that the mounted teat cup 50 does not move much when the next cup is mounted. It is convenient because it can improve the success rate. Therefore, when the teat cup 50 is mounted on the teat, a mechanism for reducing the flexibility of the rubber bush (for example, an electromagnetic magnet is embedded in the connecting portion, and the upper and lower links 63a and 63b and the tip arm are energized when energized). 51a is in a rigid state, etc.) to enhance the reliability of cup mounting. This milking machine A
a is a milking position (lower abdomen of a dairy cow) that projects from the retracted position retracted to the right side of the milking room 7 to the left and right center of the milking room 7 by the expansion and contraction drive of the distal cylinder 52 and the proximal cylinder 53.
Can be moved without changing the posture of the teat cup 50. Incidentally, reference numeral 65 denotes a mounting portion for the sensor robot Ab to be combined.

As shown in FIGS. 12 and 13, the sensor robot Ab has a four-end parallel quad link 57 having two rough sensors 55, 55 and one scanner (corresponding to a fine sensor) 56. A base parallel quadruple link 58 extending between the upper and lower protruding plates 69a and 69b at the lower part of the frame cylinder 69, and the first and second cylinders 60 and 61 are provided.
The frame cylinder 69 is fitted to a column 59 so as to be able to move up and down by a vertical movement mechanism 70 including a motor 70a and a screw shaft 70b, and the column 59 is provided at two milking rooms 7,7.
Right and left pair of moving rails 6 spanning the right side of the vehicle
2 is supported by a trolley 68 that can roll. still,
An extension of the lower protruding plate 69b is fitted to a support bar 68a erected on the carriage 68 so as to be slidable up and down to prevent the frame cylinder 69 from rotating.

The base parallel quadruple link 58 can be moved left and right with respect to the frame cylinder 69 by the expansion and contraction movement of the first cylinder 60, and the front end parallel quadruple link 57 can be moved by the expansion and contraction movement of the second cylinder 61. It can move left and right with respect to the quad link 58, and as shown in FIG.
Without changing the posture of the 56 with respect to the carriage 68, it is possible to move laterally from a retracted position retracted to the right of the milking room 7 to a milking position (lower abdomen of a dairy cow) projecting to the left and right center of the milking room 7. The positions of the rough sensors 55 and 55 are fixed, but the scanner 56 is configured to be vertically movable by a quadruple link including an upper arm 56a and a lower arm 56b and a motor mechanism 71 acting on the lower arm 56b. Link 57
And the receiving table 56 by an electric motor or the like.
It is configured to be rotatable around the vertical axis with respect to c.
In addition, 72 is a mounting part for the milking machine Aa combination.

Here, the breast pump Aa and the sensor robot Ab
14, the mounted portion 65 includes a pair of hook portions 65a, 65a and a pair of protrusion guides 65b, 65b. As shown in FIG.
2, a pair of engaging pieces 72 a, 72 a relatively connected by a waist-folding link 73 are vertically suspended so as to be pivotally supported, and a lower end of a rod 75 operable with a solenoid 74 is connected to a central link piece 73 a of the waist-breaking link 73. It is configured to be connected to. To release the engagement, the solenoid 74 may be extended. Therefore, as shown in FIG. 14 (a), when the entirety of the sensor robot Ab is moved downward in a state where the mounting portion 72 and the mounted portion 65 are aligned in the horizontal direction, the engagement piece 72a is moved to the projection guide 65b. As shown in FIG. 14 (b), the tip of the engaging piece 72a and the hook 65a are engaged at two places, and the breast pump Aa and the sensor robot Ab are engaged.
And coalesce.

Next, the operation of the automatic milking apparatus A will be described with reference to FIGS.
This will be described with reference to FIG. First, at the right side position of the first milking room 7, the breast pump Aa and the sensor robot Ab at a higher position are waiting side by side (FIG. 1).
5). Next, the feed box 36 is retracted by an amount suitable for the cow and is operated to a predetermined milking posture. At this time, with the end of the retreating movement of the bait box 36, the sensor robot Ab moves to the left side and moves downward, so that the sensor robot A
b merges with the breast pump Aa (see FIG. 16).

The combined automatic milking apparatus A moves the teat cup 50 to the lower abdomen of the cow by a general lateral movement by driving the first and second cylinders 60, 61 of the sensor robot Ab, and then the rough sensor The fourth teat (reference teat) is detected by using 55, 55, and the first and second cylinders 60, 61 are driven and controlled so that each teat cup 50 is located below the corresponding teat (milking machine Aa). (The two cylinders 52, 53 move following). Next, the motor mechanism 71 is driven to lift the scanner 56 so that the scanner 56 is positioned between the nipples in the vertical direction, and the nipple position is sensed at four locations while being driven and rotated (see FIGS. 17 and 18).

When the precision sensing (measurement of the nipple position) by the scanner is completed and each teat cup 50 is positioned immediately below each teat, first the teat cup of the first teat Te1 (refer to FIG. 28 for the positional relationship of the teat). The mounting trial of 50 is started (FIG. 19), and then the mounting of the second, third and fourth nipples Te2, Te3, Te4 is performed. When the attachment of the four teat cups 50 to the teat is completed, the engagement between the attachment section 72 and the attachment section 65 is released, the sensor robot Ab is slightly lifted, and then moves rightward to return to the retracted position. . After that, the sensor robot A using the rail 62
b goes to the second milking room 7 next to it.

When the sensor robot Ab returns to the retreat position,
The raising / lowering mechanism 66 is driven to rise, and the lifting / lowering cylinder 64 is driven to be shortened so that the breast pump Aa is lifted around the teat cup 50 as a base axis, thereby correcting the posture of the teat cup 50 to a state suitable for the teat (FIG. 20). Then milking begins.

In other words, the teat cup 50 is in a substantially vertically upright position in the lower position, giving priority to the ease of fitting to the nipple. It will be in a similar state and will have a slightly leaning posture,
Since the nipple is slightly twisted, the teat cup 50 is returned from the backward tilted posture to a substantially vertical standing posture by lifting the breast pump Aa body. In addition, a teat cup 5
It is more convenient to set the posture at a position below 0 and to set the remarkable backward leaning posture due to the ascent to the original slightly backward leaning posture. Lifting and moving the breast pump Aa body later is also meaningful in terms of securing the vertical space necessary for moving the combined sensor robot Ab to the side and moving it with the completion of the attachment of the teat cup 50. is there.

The sensing (measurement of the nipple position) by the scanner 56 will be described. The scanner 56 has both transmission and reception functions, and measures the presence, size, and position of an object by receiving the reflected wave of the transmitted ultrasonic wave. As shown in FIG. 4
By rotating at about the center of the nipples,
The position of each nipple is measured. Specifically, as shown in FIG. 25, the rear leg Le of the cow, the straw waste St, the teat Te, and the breast U
It is assumed that d exists in the measurement target area. And FIG.
As shown in the figure, the distance Di between the scanner 56 and the object due to the reception of the reflected wave and the angle An from the reference position thereof are sequentially recorded, but when no reflected wave comes (when there is no data), It is assumed that 0 (zero) is detected.

The rotation of the scanner 56 starts. First, the existence and the distance l _{L1 to} l _{Ln of the} rear leg Le and the angles θ _{L1 to} θ _Ln
Is detected. Next, the presence of straw waste and its distance l _S1 ~
l _Sn and angles θ _{S1 to} θ _Sn are detected.
e and their distances l _{T1 to} l _Tn and angles θ _{T1 to} θ _Tn ,
Existence of breast Ud and its distance l _{U1 to} l _Un and angle θ _{U1 to} θ
_Un is sequentially detected. Also, from the nipple position data for each cow measured in advance, the approximate nipple presence area x0, x1
A rectangular window Wi surrounded by y0 and y1 is defined, and whether an object exists in the window Wi is determined.
Judgment is made comprehensively based on whether the thickness as the nipple and the distance from the scanner are appropriate.

That is, as in the algorithm shown in FIG. 26, an arithmetic average of the detected distance and angle data is calculated for each object by the following [Equation 1] (step #a).

[0047]

## EQU1 ## Arithmetic average: l _Av = l ₁ + ... l _n / n, θ _AV = θ
₁ + ... _{θ n} / _n

Next, is the obtained value in a predetermined range? , And whether the object is within a predetermined window Wi? Are compared (step #b), and if both conditions are satisfied, it is regarded as a teat Te, and if either one is not satisfied, the teat is considered to be other than teat Te. As shown in FIG. 18, the first right nipple Te1 is located at the right rear in the plan view, and the second to fourth nipples Te2 to Te1 are sequentially clockwise from there.
Set to 4. What is detected by the rough sensor 55 is the fourth right teat Te4 on the front right.

Next, the algorithm of the entire operation of the automatic milking apparatus A from the time when the cow enters the milking room 7 until it leaves, that is,
The control procedure of the control device will be described with reference to FIGS. By the time this procedure is reached, if there is no cow in any of the milking rooms 7, 7 and it is confirmed by the presence / absence sensor S9 that there is a cow in the waiting area near the entrance, the first gate G1 is opened and actuated to lead the cows to milking parlor 3. First, the entrance gate G2 or G4 is opened (Step # 1), and whether or not the cow has entered the milking room 7 is detected based on whether or not the passage of the cow has been completed by the third or fifth sensor S3 or S5 (Step #). 2) If it passes, the entrance gate G2 or G4 is closed (step # 3). When the tag T is detected in the milking room 7 (step # 4), it is determined whether or not the cow has passed a set time (4 hours) or more from the previous milking time. Without performing milking, the process proceeds to step # 28, and the sixth gate is switched to return the cow to the waiting area 6 (first area 2A) (step # 48). If the set time has elapsed, the physique data and the like of the information of the cow previously input are output (step # 5), and the feed box 36 is moved backward by a distance suitable for the cow (step # 5). Step # 6) In this case, a collar-like responder wound around the cow's neck (not shown)
If the large transmitting device is configured so that the heavy transmitting device part always comes down, it is possible to avoid a situation in which the detection by the tag T cannot be performed.

When the feed box 36 is retracted and the cow is in the milking position, the sensor robot Ab moves to join the milking machine Aa (step # 7), and when the combining is completed (step # 8), the input is made in advance. The nipple position data of the information of the cow is output (step # 9), and the combined automatic milking apparatus A moves to the lower abdomen of the cow based on the preliminary data (step # 10). Then, the mounting operation of the teat cup 50 starts. Here, R: number of trials of a series of mounting operations (up to 5 times) N: nipple number (1 to 4) Sc: number of scanning attempts of the scanner (maximum) 2
Times) Tc: Defined as the number of tries (catch-up) of the teat cup ascending (up to two times).

First, R = 0 and N = 1 are set (step # 11), and Sc = 0 is set at the initial measurement position by the scanner 56 (step # 1).
In 2), the detection operation of the fourth nipple (reference teat) by the rough sensor 55 is performed (step # 13).
When the fourth nipple is detected (step # 14), if there is nipple position data at the time of the previous successful attachment (step # 1)
5) The precise positioning movement of the teat cup 50 is performed based on only the data (step # 16), and then the catch-up operation is performed (step # 17), and the sensor accompanying the teat cup mounting of the teat cup 50 (FIG. Based on the nipple detection operation (not shown), it is determined whether or not the attachment is successful (step # 18).

If the mounting is successful (sensor operation), catch-up try of the next nipple (second to fourth nipple) (step #)
The process proceeds to 19), and when the mounting has failed, the process proceeds to the nipple detecting operation (step # 20) by the scanner 56 for the first time. When the mounting of the teats of the four teat cups 50 is completed (step # 21), the union of the sensor robot Ab and the breast pump Aa is released (step # 22), and the breast pump A
Milking by a is started (step # 23).

The milking proceeds and the milking amount per minute (g
When the total amount of water falls below 0.2 l / min (Step # 24),
At the same time the attachment of the teat cup 50 is released and the milking machine Aa is retracted (step # 25), the total milking amount of the cow is predicted at that time (the milking amount can be predicted in advance based on past data and the like). (Step # 26). If 80% or more, the sixth gate G6
Is maintained (step # 27), the cow is moved to the feeding station 1, and if not, the sixth gate G6 is switched (step # 28), and the cow is returned to the entrance side to perform milking again.

On the other hand, the nipple detection operation of the scanner 56 accompanying the nipple mounting failure in step # 18 (step # 2)
0), the positions of the four teat cups 50 are measured (step # 29). If the measurement is completed, the rough sensor 55 is set in a state where Tc = 0 (step # 30).
Then, the position of the fourth nipple is continuously detected to detect whether or not the cow is moving (step # 31). That is, if the position of the fourth nipple changes, it can be determined that the cow is moving, and if it does not change, it is stationary (step # 32).
If it is moving, wait until it stops. At this time, the movement of the cow may be cut (considered not moving) after a predetermined time has elapsed.

Then, if stationary, the front-back distance L1 between the second nipple Te2 and the third nipple Te3, and the first nipple Te
1 and the oblique distance L2 between the third nipple Te3 (FIG. 1)
8) and these values are compared with a pre-set (lowest value in the standard range) the front-back distance L10 and the oblique distance L20 (step # 33). If the step # 34) is large, a different mounting order [start from the third nipple Te3 having a high degree of freedom in mounting the teat cup 50 corresponding to the third nipple Te3] (step #)
35) are performed respectively.

Next, based on the selected order, the teat cup 50 catches up (step # 3).
6) Then, the success or failure of the attachment is determined (step # 37), and if successful, the process proceeds to the catch-up try of the next nipple (second to fourth nipple) (step # 38). It is determined whether or not all four parts have been mounted (step # 39). If the mounting is successful, the flow merges to step # 22 where the sensor robot Ab and the breast pump Aa are united.

If NO in step # 37, a catch-up try is performed again (step # 40), and the number of tries is determined (step # 41). If the cow is not yet mounted, it is determined by the function of the rough sensor 55 whether or not the cow is moving at that time (step # 42). As a result, if the cow is moving, it is detected whether or not one minute or more has been spent for catching up to two times in that state (step # 43). And the number of times of sensing by the scanner 56 is increased by one (step # 44),
It is determined whether the number is less than or equal to two (step # 4).
5) If it is less than two times, return to step # 20 again and start again from sensing by the scanner 56.

If the number of times of sensing is the third time, the number of trials of the entire sensing starting from the detection of the fourth nipple Te4 by the rough sensor 55 is increased by one (step # 4).
6), it is determined whether the number is 5 or less (Step # 47). If the number is 5 or less, the process returns to Step # 13 to start over from the sensing operation of the rough sensor 55. The process proceeds to step # 28 of switching the sixth gate G6, and the cow is placed in the waiting area 6 (first area 2A).
Back to.

The milking of the automatic cow is appropriately performed by the operation of the automatic milking apparatus A as described above. However, for the cow that fails to attach and returns to the entrance side, the control device 81 identifies the individual. The number of failures as information is to be determined, and if the number of mounting failures exceeds the set number, such a cow is not suitable for automatic milking by an automatic milking device, It is re-registered as the manual cow, and thereafter moved to the second area 2B.

The automatic milking apparatus A has an automatic mounting mode in which a series of mounting operations of the teat cup 50 are automatically performed;
It is configured such that the series of mounting operations can be switched to a manual operation mode in which manual operation is performed. When the manual operation mode is switched, the movement of the breast pump Aa and the lifting movement of the teat cup 50 to the teats Te1 to Te4 are all performed. You have to do it manually.

The control device is provided with a control program for storing the information on the measurement of the nipple position by the scanner 56 while updating the information, and the "previous success data" in step # 16 in FIG. 22 is fetched. That is,
The determination in step # 15 is made based on the presence or absence of the success data, and every time the nipple position is measured by the scanner 56 when the teat cup 50 is successfully attached,
Only the latest success data is stored. In the "manual mode", even when the teat cup 50 is inserted into the nipple by manual operation, it is convenient if it is regarded that the wearing is successful and the success data is captured.

The milking of the manual cow is basically performed manually (manually). That is, when the preset milking time comes, the operator switches the opening / closing gate G8 to the second state, and sequentially moves the cows in the second area 2B to the milking room 7, and enters the "manual mode". Switch to manually attach the teat cup 50 to the nipple of a manual cow, and use the milking machine Aa.
Milking is performed. At this time, based on the individual identification information of the cow detected by the tag T, it is determined that the cow previously registered as an automatic cow is a cow re-registered as a manual cow due to a plurality of mounting failures. In the case of a cow, this is notified by, for example, voice or image display.
Is switched to the "auto mode", and the automatic mounting of the teat cup 50 is performed. If the automatic mounting is properly performed, the automatic cow is registered again as the automatic cow and the first area 2
It is going to return to A.

[Another Embodiment] (1) In the above embodiment, an air cylinder is used as an actuator for opening and closing the first gate G1.
An electric actuator or a hydraulic actuator may be used.

(2) A light-emitting means may be provided so that the cows in the first area pay attention to the vicinity of the entrance to the automatic milking apparatus.

(3) In the above embodiment, the automatic cows and the manual cows are divided and managed. However, all the cows are made to live in the first area, and the cows that cannot be adapted for automatic milking are prepared. You may make it manage separately in another place.

(4) In the above embodiment, the case of milking a cow is illustrated as an example of an animal. However, the present invention may be applied to a goat other than a cow and other animals.

[Brief description of the drawings]

FIG. 1 is an overall plan view showing a barn layout.

FIG. 2 is a plan view showing a milking place and an arrangement state of each gate and each sensor.

FIG. 3 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 4 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 5 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 6 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 7 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 8 is a front view of a first gate.

FIG. 9 is an operation diagram showing an opening / closing operation state of a first gate.

FIG. 10 is a side view showing the breast pump.

FIG. 11 is a plan view showing a breast pump.

FIG. 12 is a side view showing a sensor robot.

FIG. 13 is a plan view showing a sensor robot.

FIG. 14 is a side view of a partially cutaway showing a structure of a mounting portion and a non-mounting portion.

FIG. 15 is a plan view showing a state in which the breast pump and the sensor robot are arranged side by side at the retracted position.

FIG. 16 is a side view of a main part showing a uniting operation by descending of the sensor robot.

FIG. 17 is a side view of a main part showing a sensing state of the scanner.

FIG. 18 is a plan view of a main part showing a sensing state by a rough sensor and a scanner.

FIG. 19 is a side view showing a catch-up try of a teat cup.

FIG. 20 is a side view showing the state of lifting the breast pump after attaching the teat cup.

FIG. 21 is a diagram showing an algorithm 1 of an operation sequence of the automatic milking apparatus.

FIG. 22 is a diagram showing an algorithm 2 of the operation sequence of the automatic milking apparatus.

FIG. 23 is a diagram showing an algorithm 3 of the operation sequence of the automatic milking apparatus.

FIG. 24 is a diagram showing an algorithm 4 of the operation sequence of the automatic milking apparatus;

FIG. 25 is a plan view showing the principle of measurement by a scanner.

FIG. 26 is a diagram showing an algorithm of nipple detection by a scanner.

FIG. 27 is a diagram showing the principle of analysis of nipple detection data by a scanner.

[Explanation of symbols]

 1A Feeding ground 2A Living area 3 Milking place A Automatic milking device C1 Actuator G1 Opening / closing means

Claims (3)

[Claims] 1. A feeding ground is provided in a place different from a living area where an animal to be milked resides, and the animal goes from the living area to the feeding ground through a milking place and the feeding ground. The moving path of the animal is configured to be able to move freely along a one-way path returning from the living area to the living area, and the milking place automatically executes a milking operation on the animal that has come there. An automatic milking device is provided, wherein the entrance to the automatic milking device at the milking location,
A milking facility arranged at a position where animals in the living area can be seen. 2. An opening / closing operation that allows an animal coming from the living area to open and close freely so as to allow one animal at a time to enter the milking room where the automatic milking is performed by the automatic milking apparatus. The milking facility according to claim 1, further comprising means, wherein the opening / closing means is arranged at a position where an animal in the living area can be viewed. 3. An actuator capable of opening and closing the opening / closing means, and control means for controlling the operation of the actuator, wherein the control means causes the opening / closing means to open and close as an animal passes. The milking facility according to claim 2, wherein the milking facility is configured as follows.