JPH1189465A - Milking equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide milking equipment capable of automatically washing a route for transporting milk in a state not obstructing milking operation and of reducing the operation load of an operator while surly performing the milking of the whole animals. SOLUTION: An animal can freely come from a raising area to a milking position. When the animal reaches the milking position, a milking tool 50 is fitted to an animal teat, milk sucked by a suction apparatus 81 in a fitted state of the milking tool 50 is transported to a milk tank 80 and stored. When a milking waiting time for waiting a next animal coming to the milking position for milking is passed more than a set time, a milk route part for passing the collected milk is automatically cleaned by a cleaning means CL.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an automatic milking apparatus for automatically performing milking on an animal to be milked when the animal to be milked arrives at the milking place. A milking device that is automatically attached to and detached from the nipple of an animal to be milked, a storage device that stores milk that has been milked, and the storage device that sucks for milking while the milking device is mounted. Milking apparatus comprising: feeding means for feeding milk to the means; washing means for performing a washing operation for washing a milk path portion through which milk to be milked passes; and control means for controlling the operation of each part. Equipment related.

[0002]

2. Description of the Related Art In order to reduce the burden of manual milking by workers operating a dairy farm, a milking facility having the above-mentioned structure is designed so that animals can freely come to a milking place from a breeding area. It is used as a thing that can automatically perform milking for animals that have come to the milking place, so as to reduce the work load of workers. Conventionally, the start command of the control operation by the cleaning means is appropriately artificially performed.

[0003]

However, in the above-mentioned conventional construction, when the movement to the milking place is left to the free intention of the animal, it is not known when the animal comes to the milking place, so that the milking operation is not possible. The automatic milking machine may wait for a long time between the execution of an animal and the next animal.
As described above, if the milking is performed once and then left for a set time or more, milk remains on the inner surface of the feeding means, and there is an inconvenience that such residual milk hardens.
Therefore, in order to avoid such disadvantages, it is necessary to frequently clean the feeding means, and there is a disadvantage that the work load becomes large.

The present invention has been made in view of such a point, and an object of the present invention is to automatically perform milking and to reduce the work load on an operator while avoiding inconvenience caused by a longer waiting time. It is to provide a milking facility that enables the milking.

[0005]

According to the first aspect, when an animal to be milked comes to a milking place, milking is automatically performed on the animal by an automatic milking apparatus. That is, the milking implement is automatically mounted on the nipple of the animal, and the milk sucked and milked while the milking implement is mounted is fed to the storage means and stored. Then, when the milking standby state of waiting for the next animal to come to the milking place for milking continues for a set time or more, the washing means automatically cleans the milk path portion through which the milk to be milked passes. The cleaning operation will be performed.

[0006] Therefore, the automatic milking device can automatically milk the animal to be milked that has come to the milking place, and when the milking standby state continues for a set time or more, the milk path portion is automatically washed. Although it is possible to properly wash the milk passage through which milk flows without hindering the milking operation as much as possible, it is possible to avoid inconvenience such as hardening of the milk, while the operator manually cleans the milk. Compared to,
Work load can be reduced.

According to claim 2, in claim 1, 1
Each time the head milking operation is performed on the animal, the partial cleaning operation is performed, and when the milking standby state continues for a set time or longer, the entire path cleaning operation is performed.

[0008] Therefore, the cleaning of the milking implement is performed one by one,
When the state in which milk does not pass continues for a long time, the milk path portion can be more appropriately automatically cleaned, and the preferable means of claim 1 can be obtained.

According to the third aspect, in the first or second aspect, when the flow path switching means provided in the milk path portion is switched to a state in which milk flows, the milk that has been milked passes through the milk path portion. When the state is changed to a state in which the cleaning liquid is flowed and stored in the storage means and the cleaning liquid is passed, the cleaning liquid stored in the cleaning liquid storage section flows through the milk path section and is discharged from the discharge section to the outside, and the milk path section is washed. .

[0010] Therefore, the milk path portion can be appropriately switched between the state corresponding to the milking operation and the state corresponding to the washing operation by the flow path switching means. can get.

[0011]

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. Further, between the first area 2A and the second area 2B and the milking place 3, a passage L1 in which 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
Go to the feeding ground 1A, and after eating the one-way gate 4,
5 so as to move along a one-way circulation path so as to return to the first area 2A. First area 2
A and the feeding ground 1A form a breeding area. Note that a passage L3 is formed between the second area 2B and the feeding ground 1B so as to be able to move freely.

Between the first and second areas 2A and 2B and the milking place 3, cows in the first area 2A can freely go to the milking place 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 briefly described. 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. Although there is no food in the first area 2A, the place where the animal feeds when milking is performed by the automatic milking apparatus A in the milking place 3 is fed with a tasty but dense feed that is intriguing to cows. The dairy cow who knows this (educated) naturally goes to the milking parlor 3 when hungry. still,
Feeding areas 1A and 1B, which are places to feed when milking by the automatic milking apparatus A is not performed, are fed with a feed containing 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.

The manual cow is 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, the milking is performed by attaching the teat cup 50 by manual operation. The milked manual cow returns to the second area 2B via the return route L4.

Next, the milking parlor 3 will be described. As shown in FIG. 1, in the milking parlor 3, automatic milking apparatuses A are installed in each of two milking rooms 7, 7 arranged in series, a moving passage 8 beside these milking rooms, and an automatic milking apparatus. A return passage L5 for returning the failed cow to the entrance side is provided side by side. As shown in FIG. 3, a first gate G1 which can be opened and closed is provided at the entrance side of the moving passage 8 (on the side of the waiting area 6), and each of the milking rooms 7, 7 is a second (fourth) entrance serving as a cow. ) Gate G
2 and G4, and third (fifth) gates G3 and G5 as exits. At the exit side of the moving passage 8, a sixth automatic cattle is divided into a passage L2 to the feeding ground 1A and a return passage L5.
Gate G6, manual cow return L4 and return L5
And a seventh gate G7.
A one-way gate G9 is provided on the side of the waiting area 6 of the return path L5, which allows only passage to the waiting area 6 side.

The first gate G1 is usually called a Texas gate, and has a pair of left and right gate pieces 9 and 9 that can swing around the vertical axis. The pair of gate pieces 9 and 9 are simultaneously opened and closed by an air cylinder or the like. It has a double door structure. The second gate G2 is configured as a door type that is swingable about the vertical axis, and is set so as to almost block the moving passage 8 at the open position, so that the cow can enter the first milking room 7 without fail. It is. The fourth gate G4 of the second milking room 7 has exactly the same structure.

The third gate G3 is supported on a side wall of the milking room 7 by a first door 10 which is swingable about a vertical axis, and is supported by the first door 10 to be swingable about a vertical axis. The second door 11 has a two-folded structure.
The third gate G3 is configured to push the buttocks of the cow out of the milking room 7 to promote the forward movement by the movement of the second door accompanying the closing operation (see FIG. 5 (f)). 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 are provided for detecting the passage or presence or absence of a cow. 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 and 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, in the first milking room 7, milking by the automatic milking apparatus A is started, 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 connected to the first gate G1 by a presence / absence sensor (not shown) arranged in front of the gate.
1 It is convenient if the cow is at the immediately preceding standby position and it is set to be openable only when the first and second milking rooms 7, 7 are empty (first). Gate G
There is also a means to manually operate only the opening operation of 1).

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,
When the automatic milking apparatus A is reset, the third gate G3, which is the outlet of the first milking room 7, is opened in association with the reset, and the cow proceeds to the moving passage 8 (see FIG. 5 (e)). At this time, the fourth sensor S4 blocked by the passage of the cow returns to the initial state again (or both the fifth and sixth sensors S5 and S6 detect and operate), and the folded state. The third gate G3, which is open at the time, is closed, and the second door 11 is closed as shown in FIG.
As shown in (f), a function of pushing the buttocks of the cow to promote forward movement is exhibited. When the cows exiting the first milking room 7 pass the fifth and sixth sensors S5 and S6 and then reach the seventh and eighth sensors S7 and S8, the third gate G3.
Is closed and the first gate G1 is opened [FIG.
(G), the first gate G1 can be opened by detecting the passage of the seventh and eighth sensors S7 and 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 and 7 are both empty, the first milking room 7 is set so that cows can be put thereinto in priority. 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 diagonal arrangement of the sensors. The function and, for example, if the cows exiting the second milking room 7 back up during the passage of 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 openable and closable by an air cylinder or the like, and its opening and closing operations are controlled by a control device based on information detected by each sensor. It is an example when the operation is performed, and various operation situations can be considered depending 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. The gate G1 can be opened. At this time, if the next cow is in front of the first gate G1, the first gate G1 opens, and the cow passes the first milking room 7 and goes directly to the second milking room 7.
And so on. Each of the sensors S1 to S8 uses the same sensor, and is configured as an optical type comprising a pair of a light emitter and a light receiver.

The structure of the automatic milking apparatus A will be described.
As shown in FIGS. 8 to 11, a breast pump (cluster) configured to include a hip folding arm 51 having four teat cups 50 attachable to a teat at a tip thereof on the right side of the milking room 7.
Aa and a sensor robot Ab for sensing the four teats of a cow in a predetermined milking position in the milking room 7 and positioning the teat cup 50 directly below each corresponding teat. ing.

As shown in FIGS. 8 and 9, the breast pump Aa
A tip arm 51a having a teat cup 50, and a support 5 fixed to the right side of the milking room 7 with the tip arm 51a.
And a base arm 51b provided between the lower arm 4 and a lower end link 51, and two return cylinders 52 and 53. The outside of the teat cup 50 is covered with a rubber material, and the upper link 63 a
A lower link 63b having a shorter length than the lower link 63b supports the tip arm 51a via a non-equilateral link mechanism 63, and a lifting cylinder 64 extends between the tip arm 51a and the lower link 63b. The proximal arm 51b
It is supported by the support 54 so as to be able to move up and down in parallel via an elevating mechanism 66, and is vertically slidably fitted to a bar 67 erected on the support 54 so that the base cylinder 53 can also be moved up and down in conjunction with it. I have.

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 posture 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. 8), 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 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 FIG. 10 and FIG. 11, the sensor robot Ab has a four-end parallel link 57 provided with two rough sensors 55 and 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 extension / retraction movement of the first cylinder 60 allows the base parallel quadruple link 58 to move left and right with respect to the frame cylinder 69, and the extension / retraction movement of the second cylinder 61 causes the tip parallel quadruple link 57 to move proximally parallel. The sensor can be moved left and right with respect to the quad link 58, 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
12, 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. Accordingly, as shown in FIG. 12A, when the entirety of the sensor robot Ab is moved downward with the mounting portion 72 and the mounted portion 65 being aligned in the horizontal direction, the engagement piece 72a is moved to the projection guide 65b. As shown in FIG. 12B, 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).
3). 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. 14).

The combined automatic milking apparatus A moves the teat cup 50 to the lower abdomen of the cow by the approximate lateral movement by driving the first and second cylinders 60 and 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. 15 and 16).

When the precision sensing (nipple position measurement) 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 (see FIG. 28 for the positional relationship of the teat). 50 mounting trials are started (FIG. 17), and then the second, third and fourth nipples Te2, Te3 and Te4 are mounted. 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 retracted position,
The raising / lowering mechanism 66 is driven to rise, and the lifting / lowering cylinder 64 is shortened to drive the breast pump Aa up around the teat cup 50, thereby correcting the posture of the teat cup 50 to a state suitable for the teat (FIG. 18). Then milking begins.

In other words, as shown in FIG. 17, the teat cup 50 is in an almost vertically upright position at the lower position, giving priority to the ease of fitting to the nipple. Since the ascending movement is similar to the swing ascending movement, the posture is slightly inclined backward, and the nipple is slightly twisted.
0 is returned from the backward inclined posture to a substantially vertical standing posture. Further, the posture at the lower position of the teat cup 50 is set in accordance with the backward inclination posture of the teat whose tip is slightly forward, so that the remarkable backward inclination posture due to the ascent is returned to the original slightly backward inclination posture. It is more convenient. The milking machine Aa body is lifted and moved later by using the teat cup 50.
With the completion of the mounting of the sensor robot Ab
There is also a point in securing the vertical space required to escape the side and move it.

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. 23, 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 distances 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. 24, the arithmetic average of the detected distance and angle data is obtained for each object by the following [Equation 1] (step #a).

[0044]

## 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. 16, the rightmost one in the plan view is the first teat Te1, from which the second to fourth teats Te2 to Te1 are sequentially arranged in the clockwise direction.
Set to 4. What is detected by the rough sensor 55 is the fourth right teat Te4 on the front right.

Next, an apparatus for allowing milked milk to flow therethrough and to store it will be described. As shown in FIG.
A milk tank 80 is provided as storage means for storing milk milked by the automatic milking apparatus A, and a milk supply path 83 to the milk tank 80 includes a buffer tank 82,
A pump 84 for sending the milk stored in the buffer tank 82 to the milk tank 80 and a filter 85 for removing dust and the like from the milk sent by the pump 84 are provided. The upstream part of the milk feeding path 83 is connected to the buffer tank 8.
2 and a downstream portion is connected to a buffer tank 82.
Connected to the liquid phase section. In addition, a suction device 81 that suctions the gas phase portion of the buffer tank 82 is provided.

In the milk feeding path 83 from the teat cup 50 to the buffer tank 82, the flow path from the teat cup 50 is switched between a path toward the buffer tank 82 and a path to the discharge section 90A to the outside. A first valve means 91 including a pair of switching valves 91A and 91B is provided. In the milk feeding path 83 between the filter 85 and the milk tank 80, the flow path from the filter 85 is switched between a path toward the milk tank 80 and a path to the discharge section 90B to the outside. A pair of switching valves 92A, 92
A second valve means 92 made of B is provided.

Then, with the teat cup 50 attached to the udder of the dairy cow, the first valve means 91 is switched to the buffer tank 82 side and the second valve means 92 is switched to the milk tank 80 side, and the suction device 81 is operated. When activated, the milk is milked from the breast, and the milk that has been milked flows through the milk supply path 83 and flows into the buffer tank 82 to be buffered.
Collect in 2. When the pump 84 is operated, the milk stored in the buffer tank 82 flows through the milk supply path 83, flows into the milk tank 80, and is stored in the milk tank 80. That is, the suction device 81, the buffer tank 82, the milk feeding passage 83, and the pump 84 suck the milk tank 8 with the teat cup 50 attached thereto for milking.
The feeding means QS for feeding the milk to 0 is constituted.

Next, a description will be given of a cleaning apparatus for cleaning the flow path through which the milked milk flows. In the standby state, the automatic milking apparatus A is located at the standby position with the four teat cups 50 with the opening for mounting on the breast facing upward. On the other hand, the standby position 4
A header 89 to which four nozzles 87 corresponding to the arrangement of the teat cups 50 are attached is connected to a nozzle mounting cylinder 86 while being positioned above the teat cup 50. The header 89 is connected to a cleaning liquid tank 88 as a cleaning liquid storage section via an on-off valve 93, and the cleaning liquid tank 88
Contains a cleaning liquid such as water or hot water. From the above,
Nozzle 87, header 89, nozzle mounting cylinder 86,
Cleaning means CL for performing a cleaning operation for cleaning a milk path portion through which milk to be milked passes by a cleaning liquid tank 88 or the like.
Is configured.

The cleaning means CL includes a partial cleaning operation for cleaning the teat cup 50, and a full-path cleaning for cleaning all milk transport paths from the teat cup 50 to the milk tank 80. The cleaning liquid stored in the cleaning liquid tank 88 is passed through the milk path portion, and the discharge section 90 is operated.
A and 90B are configured to be discharged to the outside. That is, during the partial cleaning operation, the first valve means 9
1 to the discharge section 90A to the outside, and in the case of the all-path cleaning operation, the first valve means 91 is connected to the buffer tank 82.
Side and the second valve means 92 is connected to the discharge section 90 to the outside.
Switch to B side. In the case of a partial cleaning operation, the cleaning can be performed for each one of the two automatic milking apparatuses A,
In the case of the all-path cleaning operation, all the flow paths from the two automatic milking apparatuses A to the milk tank 80 are cleaned. Therefore, the first and second valve means 91 and 92 correspond to the flow path switching means provided in the milk path portion and capable of switching between a state in which milk flows and a state in which the washing liquid flows. .

As shown in FIG. 2, an ultrasonic sensor S9 is installed in the waiting room 6 to detect whether there is a cow waiting for milking. Although not shown, control means for controlling the operations of the above-described units is provided. Then, as shown in FIG. 27, the control means
Based on the detection information of the sensor S9, when a milking standby state (a state in which no cows are present in the standby room 6) for waiting for the next cow to come to the milking place 3 for milking continues for a set time or more, The operation of the cleaning means CL is controlled so as to execute the all-path cleaning operation as the cleaning operation. The partial cleaning operation is executed each time milking of one cow is executed. On the other hand, when cows enter milking place 3,
The milking operation shown in FIG. 9 is started.

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 the milking room 7, that is,
The control procedure will be described with reference to FIGS. 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 by the third or fifth sensor S3 or S5 has been completed (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, where the sixth gate is switched to place the cow in the waiting area 6
(Step # 48). If the set time has elapsed, the physique data and the like of the pre-input information of the cow are output (step #).
5) The feed box 36 is moved backward at a distance commensurate with the cow (step # 6). In this case, if a collar-like responder (not shown) wound around the cow's neck is used as a large wheel so that the heavy transmitting device portion always comes down, a situation in which the tag T cannot detect the signal may occur. Can be avoided.

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 at the initial position measured by the scanner 56, Sc = 0 is set (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).

As milking progresses, the milking amount per minute (to
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 attachment 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 longitudinal distance L1 between the second teat Te2 and the third teat Te3, and the first teat Te
1 and the oblique distance L2 between the third nipple Te3 (FIG. 1)
6) and these values are compared with a pre-set (lowest value in the standard range) the front-rear interval L10 and the oblique interval 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 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.

A control program for updating and storing the nipple position measurement information by the scanner 56 is provided.
"Success data in the previous time" in step # 16 at 0
Is taken in. That is, the determination in step # 15 is made based on the presence or absence of the success data.
Scanner 5 when the teat cup 50 is mounted successfully
Each time the nipple position measurement is performed according to No. 6, only the latest success data is stored. In "manual mode",
Even when the teat cup 50 is fitted into the teat by an artificial operation, it is convenient if it is regarded that the wearing is successful and the success data is taken in.

The milking for 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.

[Alternative Embodiment] In the above-described embodiment, a case has been described in which the breeding area is configured as a moving route in which a living area, a milking place, and a feeding ground can move in one direction. Instead, the breeding area may be configured such that the living area and the feeding area are provided at the same place, and the breeding area can be freely moved from the breeding area to the milking place.

In the above-described embodiment, an example has been shown in which the entire path cleaning operation is to clean all the flow paths of a predetermined path from the automatic milking apparatus to the milk tank. The path may be branched into a plurality of parts, and the cleaning may be performed for each branch path. For example, a path for washing only a path from the teat cup 50 to the buffer tank 82 (in addition, in many cases, a milk measuring device or other equipment is often provided in this path) is provided. You may.

In the above embodiment, the case of milking a cow has been exemplified as an example of an animal to be milked. However, the invention may be applied to goats and other animals other than cows.

[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 side view showing the breast pump;

FIG. 9 is a plan view showing the breast pump.

FIG. 10 is a side view showing a sensor robot.

FIG. 11 is a plan view showing a sensor robot.

FIG. 12 is a partially cutaway side view showing the structure of a mounting portion and a non-mounting portion.

FIG. 13 is a plan view showing a state in which the breast pump and the sensor robot are side-by-side at the retracted position.

FIG. 14 is a side view of the main part showing the union operation by the lowering of the sensor robot.

FIG. 15 is a side view of a main part showing a sensing state of the scanner.

FIG. 16 is a plan view of a main part showing a sensing state by a rough sensor and a scanner.

FIG. 17 is a side view showing a catch-up try of a teat cup.

FIG. 18 is a side view showing the state of lifting the breast pump after attaching the teat cup.

FIG. 19 is a diagram showing an algorithm 1 of an operation sequence of the automatic milking apparatus.

FIG. 20 is a diagram showing an algorithm 2 of the operation sequence of the automatic milking apparatus.

FIG. 21 is a diagram showing an algorithm 3 of the operation sequence of the automatic milking apparatus.

FIG. 22 is a diagram showing an algorithm 4 of the operation sequence of the automatic milking apparatus;

FIG. 23 is a plan view showing the principle of measurement by a scanner.

FIG. 24 is a diagram showing an algorithm for nipple detection by a scanner.

FIG. 25 is a diagram showing the principle of analysis of nipple detection data by a scanner.

FIG. 26 is a system diagram showing a milk or washing liquid flowing device of a milking facility.

FIG. 27 is a flowchart of milking equipment control.

[Explanation of symbols]

 1A, 2A Breeding area 3 Milking place 50 Milking equipment 80 Storage means 88 Cleaning liquid tank 90A Discharge part 90B Discharge part 91, 92 Channel switching means A Automatic milking device CL Cleaning means QS Feeding means

Claims (3)

[Claims] When an animal to be milked arrives at a milking place, an automatic milking apparatus is provided for automatically performing milking on the animal, and the automatic milking apparatus comprises an automatic milking apparatus for milking the animal to be milked. A milking tool that can be automatically attached to and detached from the nipple, storage means for storing the milk that has been milked, and feeding the milk to the storage means by sucking for milking while the milking tool is mounted. Feeding means, and a washing means for performing a washing operation for washing a milk path portion through which milk to be milked passes, and a milking facility configured with control means for controlling the operation of each part, The control means controls the operation of the cleaning means so as to execute the cleaning operation when a milking standby state of waiting for the next animal to come to the milking place for milking continues for a set time or more. Composed milking plant . 2. The washing means includes, as the washing operation, a partial washing operation for washing the milking implement, and an entire path for washing all milk transport routes from the milking implement to the storage means. The control means is configured to be capable of switching to a cleaning operation. The control unit performs the partial cleaning operation every time the milking operation is performed on one of the animals. The milking facility according to claim 1, wherein the milking facility is configured to perform a path cleaning operation. 3. The washing means is configured to allow the washing liquid stored in the washing liquid storage part to flow through the milk path part and discharge it from the discharge part to the outside. The milking facility according to claim 1 or 2, further comprising a flow path switching means capable of switching between a state in which the cleaning liquid flows and a state in which the cleaning liquid flows.