Abstract: In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

Abstract: In a milking cluster of teat cups, each teat cup has a port in the form of a nozzle disposed in the head portion of the flexible liner of the teat cup. The milking cluster includes a distributor having a fluid inlet and outlets connected to the nozzles of the cups. The distributor inlet is connected to a delivery line for supplying sanitising treatment fluid, which is utilised to treat the teats and teat cups in a cleansing cycle following the milking cycle, by a second valve operable to maintain the delivery line primed with treatment fluid preparatory to initiation of the cleansing cycle. A safety valve is disposed at the distributor inlet, the safety valve being operable during a milking cycle to open a drain port through which treatment fluid may flow to waste.

Abstract: In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

Abstract: In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

Abstract: In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup.

Abstract: In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

Abstract: In certain embodiments, a robotic attacher retrieves cups from the right side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the right front teat, a second cup to the left front teat, a third cup to the right rear teat, and a fourth cup to the left rear teat. In certain alternative embodiments, the robotic attacher retrieves cups from the left side of the equipment area, and the sequence comprises attaching a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.

Abstract: In certain embodiments, a robotic attacher performs a method of attaching and detaching a cup from the teats of a dairy livestock in the sequence of right front teat, left front teat, left rear teat, and right rear teat. The method comprises the steps of determining a reference point and then, for each teat, positioning the cup relative to the reference point, determining a location of the teat, attaching the cup to the teat, and detaching the cup from the teat. In certain alternate embodiments, the sequence of attaching and detaching the cup comprises left front teat, right front teat, right rear teat, and left rear teat.

Abstract: A method for improving the throughput of milking animals in a rotary milking system including a rotary platform, which milking animals enter and leave in a sequential order in order to be milked provides that a plurality of milking animals to be milked by the rotary milking system are identified; a measure indicative of the expected time required for performing at least one action on the rotary platform with respect to each of the milking animals is retrieved; and the milking animals are allowed to enter the rotary platform of the rotary milking system in an order, which is based on the measures indicative of the expected times required for performing the at least one action on the rotary platform with respect to the milking animals.

Abstract: A method of controlling a milking implement for automatically milking a dairy animal with an udder, such as a cow, which milking implement includes a camera and a teat cup. More particularly, the method includes attaching the teat cup to a teat of the udder, followed by producing by the camera an image of at least a part of the udder and of at least a part of the teat cup, making an analysis of the image of the udder with the teat cup, and performing at least one control action by the milking implement, based on the analysis.

Abstract: An apparatus for milking an animal provides a milking parlor (1) with a robotic manipulation device (25) and a milking stall (5) provided on a platform (3) moveable relative to the robotic manipulation device (25). An electric control system is adapted to vary the movement of the platform in response to the performance of the robotic manipulation device (25) in servicing the milking stall (5).

Abstract: A system for milking cows including a structure for retaining cows therein. Such structure includes at least one holding area within such structure, at least one exit alley connected to and extending from a predetermined portion of such at least one holding area to at least one of a predetermined housing area, at least one additional holding area, and a combination thereof. At least one of at least one milking robot, at least one automated milking machine, and a combination thereof is disposed within such at least one holding area for automatically milking at least one predetermined cow when such at least one predetermined cow is closely adjacent a predetermined side of such at least one of such at least one milking robot, such at least one automated milking machine, and such combination thereof. A method for milking cows is also provided.

Abstract: An arrangement for fetching a teat cup from a teat cup magazine in which each teat cup has a respective fixed position includes a reference entity in a fixed spatial relationship to the teat cup magazine and each teat cup stored therein; a remote detecting element that registers wireless energy reflected by the reference entity, and based thereon determines a respective position for the teat cup relative to a robotic arm. The robotic arm carries a gripper element configured to hold the teat cup during removal thereof from the teat cup magazine. The reference entity is configured to allow the remote detecting element to receive wireless energy reflected against the reference entity while moving the robotic arm towards the least one teat cup for removing the at least teat cup from the teat cup magazine.

Abstract: A method of milking dairy animals, wherein the dairy animals are milked by a milking implement. An access device is provided for allowing or not allowing a dairy animal access to a waiting area for the milking implement. The access device has at least a first and a second access state, which access states have mutually different accesses for the dairy animals to the waiting area. The method comprises the steps of providing the first access state of the access device; identifying by means of an animal identification system an animal which is milked by the milking implement; determining a milking implement processing data on the basis of the identified animals; comparing the milking implement processing data with a criterion; and providing the second access state of the access device when the milking implement processing data meets the criterion.

Abstract: A method of collecting a sample of milk while milking a succession of animals comprises diverting a portion of milk from an animal into a flowpath leading to an extraction point. The flowpath is dimensioned such that milk flows along the flowpath as a plug occupying the whole of its cross-section and allows some of the milk from the animal to pass the extraction point. Thereafter the milk is transferred into a container or other receiver and at least some of the remaining milk of that animal reaching the extraction point.

Abstract: In certain embodiments, a system includes a first robotic device operable to prepare the teats of a first dairy livestock located in a first milking stall of a rotary milking platform. The system also includes a second robotic device operable to attach a first milking device to the teats of a second dairy livestock located in a second milking stall of the rotary milking platform. The system also includes a third robotic device operable to attach a second milking device to the teats of a third dairy livestock located in a third milking stall of the rotary milking platform. The system also includes a fourth robotic device operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in a fourth milking stall of the rotary milking platform subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.

Abstract: A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller is operable to receive both a first rotary encoder signal indicating a first rotational position of a milking stall of the rotary milking platform (corresponding to a starting linear position of the robot carriage) and a second rotary encoder signal indicating a second rotational position of the milking stall. The controller is further operable to determine, based on a difference between the first and second signals, a desired linear position of the robot carriage on the carriage track (a position corresponding to the second rotational position of the milking stall). The controller is further operable to communicate a position signal to a carriage actuator, the position signal causing the carriage actuator to move the robot carriage to the desired linear position.

Abstract: A method for controlling the milking by a milking machine includes, during an initial phase of the milking, increasing a milking vacuum and/or a maximum pulsation vacuum for the milking gradually from a first selected vacuum level (1L) towards a second selected vacuum level (2L) to thereby improve teat stimulation and decreasing the risk of a second milk letdown. When a second milk letdown (2ML) is detected, the maximum pulsation vacuum is preferably immediately lowered to a third selected vacuum level (3L), and is kept at that third selected vacuum level until a certain milk flow has been established, whereupon the pulsation vacuum level is then again increased gradually until the second selected vacuum level is reached.

Abstract: A rotary milking station (1) for milking cows and the like, the rotary milking station (1) including a base (3) having a circular path (5) disposed about a given center (7). The rotary milking station (1) also includes a driving assembly (9) operatively mountable onto the base (3) so as to be disposed about the circular path (5) of the base (3).

Abstract: The invention provides a system and method of milking and feeding a dairy animal, wherein feed is dispensed in portions during the milking. At a predetermined moment the portion size is reduced, in order to increase the chance that the animal has actually eaten the last allocated portion at the moment when the milking has been ended, so that it will not hesitate to leave the milking parlour. This will result in a reduction of the time during which the milking parlour is unnecessarily occupied, and in an enhanced efficiency.

Abstract: In a milking cluster of teat cups, each teat cup has a port in the form of a nozzle disposed in the head portion of the flexible liner (3) of the teat cup. The milking cluster includes a distributor having a fluid inlet aid outlets connected to the nozzles of the cups. The distributor inlet is connected to a supply of filtered air under atmospheric pressure by a first valve which is operable to admit air to the distributor in order to regulate the level of vacuum present in the teat cup liners during a milking cycle. It is connected to a delivery line for supplying sanitising fluid, which is utilised to treat the teats and teat cups in a cleansing cycle following the milking cycle, by a second valve operable to maintain the delivery line primed with sanitising fluid preparatory to initiation of the cleansing cycle.

Abstract: In certain embodiments, a system includes a robotic arm. The robotic arm is operable to extend between the legs of a dairy livestock located in a milking stall of a rotary milking platform. The system also includes a controller communicatively coupled to the robotic arm. The controller is operable to determine whether a milking claw is attached to the teats of the dairy livestock. The controller is also operable to control the robotic arm to extend between the legs of the dairy livestock based at least in part on whether the milking claw is attached.

Abstract: Apparatus and method for milking animals, comprising a control device (2), four teat cups (6a to 6d), at least one collecting device (11a, 11b) for collecting the extracted milk and a milking line (15) for conveying the milk, said teat cups (6a to 6d) and said at least one collecting device (11a, 11b) and the milking line (15) being interconnected by way of milk lines (10a to 10d, 12a, 12b). A sensor device (13a) is provided and by means of said sensor device (13a) both the milk flow in at least one fore quarter (54, 55) of the udder (53) and the milk flow in at least one rear quarter (56, 57) is captured to separately control the milking operation by fore and rear udder half (58, 59).

Abstract: A milking implement comprising a frame with, disposed thereon, at least one teat cup holder with a teat cup movable relative thereto, and a replacing element connected with the teat cup, wherein the frame further includes an intermediate arm connected with the frame and with the teat cup holder and having a first joint and a second joint about which the teat cup holder and the intermediate arm, respectively, are tiltable with the aid of the replacing element, and a spring coupled with the teat cup holder and the frame and, if desired, with the intermediate arm.

Abstract: A milk sampling apparatus and method receives milk from a milking machine and discharges discrete samples of the milk for analysis. In the method, milk is collected in a chamber, excess milk is emptied from the chamber by an emptying parts which reduces the milk in the chamber to a predetermined level, and milk samples of predetermined quantity are successively discharged through respective outlets located at different heights within the chamber and which are opened in turn from the uppermost outlet to the lowermost outlet.

Abstract: An arrangement and a method for indicating an undesired detachment of a milking member from an animal in a milking stall. The arrangement includes a removing device adapted to detach the milking member from the animal and move the detached milking member to a parking position when the milking process has been completed, and a supervision device adapted to supervise when the milking member has been detached from the animal before the milking process has been completed. When the milking member has been detached from the animal before the milking process has been completed, the removing device is adapted to move the undesirably detached milking member to an indicating position located at a distance from the parking position.

Abstract: A rotary parlour for milking of animals includes an annular rotary platform (20) adapted to form a support surface (18) for the animals (22), positioning elements (19, 23) for arranging the animals (1) in milking positions on the platform (20), a drive mechanism (30) adapted to supply a rotational motion to the platform (20), and teat cup storing devices (11) for holding parked teat cups (2, 2?) in predetermined storing positions. The teat cup storing devices (11) are mounted in positions such that the teat cups (2, 2?) are located vertically above the platform (20) in their storing positions.

Abstract: The invention relates to a milking device, a method and software. The milking device includes a device for preventing contaminants in milk during the milking of an animal. The milking device includes a teat cup to be attached to a teat and to be connected to a milk collecting vessel for collecting the milk. The device further includes a detector for generating and transmitting a disruption signal as a result of the detection of a premature becoming detached of the teat cup, and/or as a result of the detection of the incorrect attachment of a teat cup. The device also includes a management system to separate, on the basis of the disruption signal, the milk from the animal into a first amount of milk, which is led to a first destination, and a second amount of milk, which is led to a second destination different from the first destination.

Abstract: The invention relates to a solution for cleaning a milking plant, which includes a milk line system (MLS), connectable to a collecting means, and is adapted to deliver milk that has been withdrawn from animals to a milk storage means (250). The milking plant also includes milk storage valve means (100; 235, 240), arranged between the milk line system (MLS) and the milk storage means (250). The valve means (240) are selectively adjustable to prevent fluid communication between the milk line system (MLS) and the milk storage means (250) during cleaning of the milk line system (MLS). Moreover, the valve means (100; 235, 240) are associated with a monitoring arrangement (275, EPS), which is adapted to determine an amount of leakage through the valve means (100; 235, 240) during the cleaning of the milk line system (MLS), and produce a valve health status signal (Sv) reflecting the amount of leakage. Hence, the functionality status of the valve means (100; 235, 240) may be qualitatively evaluated.

Abstract: A milking system comprises a plurality of apparatuses (11a-g), wherein each of the apparatuses comprises a device (12a-g) for performing an action related to the operation of the milking system; a microprocessor (13a-g); an error message generating system (14a-g) for generating error messages (21) about errors that have occurred in the apparatus; and means (15a-g) for communicating said error messages to all other ones of the apparatuses. Each of the error messages comprises information, preferably categorized information, regarding the nature (22) and severity (23) and optionally physical location of the error and is interpretable by all other ones of the apparatuses.

Abstract: The present invention relates to a system and method of managing a group of dairy animals. More particularly, the invention relates to measuring one or more milk parameters, comparing this parameter to a criterion, and allowing an animal access to a pasture based on this comparison. The milk parameter is related to the composition of milk obtained from a dairy animal in as far as the composition is defined by at least one of the amount of protein and the energy intake of the dairy animal. The measured milk parameter is, for example, urea. Access to the pasture will be completely or partly blocked for a dairy animal having a high content of urea. This dairy animal is thus prevented from taking in an undesirably large amount of protein.

Abstract: A method of producing a plant biostimulant includes hydrolyzing bacterial cells to obtain a hydrolysate and formulating the hydrolysate as a plant biostimulant for foliar application or application as a soil adjuvant.

Abstract: A method and arrangement for controlling milking by a milking machine includes a teat cup having a flexible teat receiving liner arranged inside a teat cup shell. During milking, a vacuum is applied to a lower part of the interior of the teat receiving liner to draw milk from a teat therein while the flexible teat receiving liner is periodically opened and collapsed by application of a pulsating massage vacuum between the flexible teat receiving liner and the teat cup shell. A pressure sensor repeatedly measures a vacuum level in an upper part of the interior of the teat receiving line, and depending on the repeatedly measured vacuum level, the periodic opening and collapsing of the flexible teat receiving liner is interrupted by keeping the flexible teat receiving liner collapsed for a specific period of time.

Abstract: In the method of milking a group of dairy animals by an automatic milking system, the group includes at least two subgroups. The method has a number of steps. In one step, a dairy animal that presents itself for a milking is identified. Subsequently, a decision is taken about whether or not the dairy animal should be milked at that moment. If milking is desirable and the dairy animal belongs to the first subgroup, a teat cleaning treatment is carried out prior to the start of the milking. During the teat cleaning treatment, at least one teat of the dairy animal is cleaned. Upon identification of a dairy animal from the second subgroup, a limitation for a teat cleaning treatment is issued by a control device.

Abstract: A space-saving milking facility includes an entrance passage way (17a) provided for receiving milking animals on a voluntary basis, a waiting area (11), a milking area (13) housing automatic milking stations (31), a post-milking area (15), and an exit passage way (17b), through which milking animals may leave the milking facility. The automatic milking stations (31) are arranged side by side along a row, the waiting area (11) and the post-milking area (15) are elongated and parallel with the row of automatic milking stations (31), the entrance passage way (17a) is joined to the waiting area (11) at a short side thereof, and the exit passage way (17b) is joined to the post-milking area (15) at a short side thereof. The milking facility is particularly aimed for herds of milking animals at grazing.

Abstract: An arrangement in a rotary milking system includes a rotating platform, an entry thereto and an exit therefrom. A selection gate arrangement at the exit of the rotating platform selectively guides animals, which have been milked in the rotary milking system and leave the rotating platform through the exit, back to the entry of the rotating platform or to a waiting area. A control device is provided for (i) determining whether an animal, which has been milked and leaves the rotating platform through the exit, has at least one udder compartment that was incompletely milked the last time the animal was milked, and (ii) controlling the selection gate arrangement to guide the animal back to the entry of the rotating platform or to the waiting area provided that the animal has at least one udder compartment that was incompletely milked the last time the animal was milked.

Abstract: The present invention relates to a milking device for milking a dairy animal, including at least one teat cup including a flexible cup liner around a teat space, and a single pulsation space and a milk line, a milking vacuum pump connected to the milk line, for providing a milking vacuum, a pulsator connected to the pulsation space, for providing a controllable air pressure therein, and a control device for controlling at least the pulsator during at least a milking action. The control device is configured to cause the pulsator and/or the milking vacuum pump to provide, in a period of time consecutive to a milking action wherein a dairy animal is milked and a teat is located in the teat space, such a substantially stable, non-pulsating pressure difference between the pulsation space and the teat space, that the cup liner shuts off the teat space from the milk line.

Abstract: The present invention relates to preparing dairy animal teats for being milked, and more particularly to teat preparation, rinsing, and milking that all take place in a milking machine teat cup liner. Such a method includes: applying a teat sanitizer to the teat; injecting air into the liner to force the teat sanitizer toward a waste milk line connected to the liner; pulsating the liner at a first pulsation rate; drawing a rinsing milk from the teat; directing the teat sanitizer, the air, and the rinsing fluid to the waste milk line; pulsating the liner at a second pulsation rate to draw additional milk from the teat; and directing the additional milk to a good milk line.

Abstract: The invention is related to a washing apparatus for cleaning milking related equipment comprising a washing apparatus connectable to an automatic milking station (2) by interconnecting pipelines in such a way as to enable the washing apparatus to circulate a washing fluid through the milking related equipment of the automatic milking station (2). The washing apparatus (6, 7) comprise a circulation tank 6 and a separate pre-filling tank (7), whereby filling in advance and holding of the washing fluid to be used in a subsequent washing step is enabled. The washing apparatus (6, 7) further comprises connecting means for connection of the pre-filling tank (7) to the circulation tank (6). By means of the invention the time needed to complete a cleaning procedure is shortened essentially, and a cleaning procedure rendered more effective. The invention further relates to such method.

Abstract: A method for animal management is provided in a milking system including a a milking box, a milking apparatus for milking animals, an enclosed waiting area from which the animals are capable of entering the milking box, and a gate arrangement, in which each of the animals is allowed to enter and pass the waiting area if the animal, after having been identified, fulfills a criterion. The method includes measuring a time an animal waits in the waiting area before being milked; determining a ranking for the animal based on the time, the ranking being a measure of a hierarchic order of the animal among the animals milked in the milking system; and performing an action with regard to the milking system depending on the determined ranking.

Abstract: The invention relates to a method for collecting milk in a milk tank. The method comprises the steps of: milking a milking animal of a herd of milking animals by means of a milking station; establishing a quality parameter for the milk obtained from the milking animal during the milking; estimating a quality level of the total amount of milk in a milk tank connected to the milking station, wherein the estimation is based at least on the quality parameter; and collecting, in the milk tank, the milk obtained from the step of milking if the result from the estimation indicates that the quality of the total amount of milk in the milk tank would then result in a desired quality level. The invention also relates to computer program products and a milking system.

Abstract: In certain embodiments, a milking system includes a rotary milking platform having a plurality of milking stalls and a plurality of milking devices, each milking device configured for attachment to the teats of a dairy livestock located in a corresponding milking stall of the rotary milking platform. The system further includes one or more robotic devices operable to perform one or more functions, including preparing the teats of a dairy livestock for the attachment of a milking apparatus, attaching a milking apparatus to the teats of a dairy livestock, and applying a sanitizing agent to the teats of a dairy livestock subsequent to the removal of a milking apparatus from the teats of the dairy livestock. Each of the one or more functions performed by the one or more robotic devices is performed during a period of time when the rotary milking platform is substantially stationary.

Abstract: An indicating system for use in a milking system including an automated milking machine with a method for detecting mastitis of a milking animal in an automated milking machine, includes a first device for automatically obtaining and determining a first indicator of mastitis; a second device for automatically obtaining and determining a second indicator of mastitis; a processor operatively connected to the first and second devices and configured for automatically i) evaluating the first and second indicators of mastitis, and ii) identifying, based on the result the evaluation of the first and second indicators of mastitis, the need for a third indicator of mastitis.

Abstract: An apparatus for milking an animal and provides a milking parlour includes first and second robotic manipulation devices and a plurality of milking stalls provided on a platform moveable relative to the robotic manipulation devices. The robotic manipulation devices are positioned so that each of the robotic manipulation devices is able to simultaneously service two neighbouring milking stalls on the platform.

Abstract: A method is disclosed for calculating a transition monitor value for one or more milk-producing animals so as to enable its use in evaluating and optimally managing the health and productivity (i.e., the transition performance) of those individual animals and of their herds. An expected milk production is calculated for a given time period of a current lactation based both on the individual's performance in her previous lactation and on her current state. Transition monitor values are calculated as the difference between actual and expected milk production values. The transition monitor values can then be used to evaluate and to optimize the health and productivity of both individuals and herds of individuals and to make comparisons of transition monitor programs both within and between herds.

Abstract: A method is provided for managing animals (10) in a milking system which comprises a milking stall (11) provided with a milking apparatus (13) for milking the animals, a gate arrangement (18a-b; 18a-b, 32; 55a-b) allowing the animals to enter said milking stall, one at a time, from at least two different locations, and a control device (15) which holds and updates a milking suitability index for each of the animals. According to the method a first animal is identified and received at a first location, and a milking suitability index for the first animal is retrieved. A second animal is identified and received at a second location, and a milking suitability index for the second animal is retrieved. The milking suitability indexes for the first and second animals are compared and an animal at either one of said first and second locations is allowed to enter the milking stall depending on the outcome of the comparison.

Abstract: An apparatus for recognizing and determining the position of at least one teat of a milking animal includes a scanning head comprising a light source and a camera. The light source emits light into a region which is expected to contain a teat or teats and the camera captures images formed by the light. In a first scanning mode, the scanning head is moved from a low initial position upwards in a circular coil until the position of at least a first teat has been established. Thereafter, in a second scanning mode, the scanning head is moved upwards in a to circular coil until the positions of all teats have been established, or a predetermined time limit has elapsed during the scanning procedure. The coil traversed during the first scanning mode is wider than the coil traversed during the second scanning mode.

Abstract: An adaptive milking system comprises a milk meter, a controller, and a detacher. The milk meter measures a flow rate of milking an animal during a first period of time, and continues to monitor the flow rate of milking the animal. The controller is communicatively coupled to the milk meter and calculates a percentage of the measured flow rate. The controller triggers a delay timer when the monitored flow rate of milking the animal becomes lower than the larger of (a) a default threshold flow rate and (b) the calculated percentage of the measured flow rate. The detacher is communicatively coupled to the controller and removes a milking unit from the animal when the delay timer reaches a threshold time.

Abstract: An apparatus for recognizing and determining the position of at least one teat of a milking animal includes a scanning head comprising a light source and a camera. The light source emits light into a region which is expected to contain a teat or teats and the camera captures images formed by the light. In a first scanning mode, the scanning head is moved from a low initial position upwards in a circular coil until the position of at least a first teat has been established. Thereafter, in a second scanning mode, the scanning head is moved upwards in a circular coil until the positions of all teats have been established, or a predetermined time limit has elapsed during the scanning procedure. The coil traversed during the first scanning mode is wider than the coil traversed during the second scanning mode.

Abstract: The invention relates to a device for and method of milking dairy animals, in particular cows. In one embodiment, for the milking, teat cups are connected by means of a robot arm to respective teats of the dairy animal. This makes it possible to start the milking of the teats of the dairy animal. A milk flow from the respective teat can be measured. The milking can be ended by means of a control unit in dependence on a comparison value which is calculated on the basis of a milking parameter representative of a milk flow from the respective teat and in dependence on a deactivation threshold. According to the invention, a second manner of calculating is used for calculating the comparison value of the last teat. The milking of the last teat can also depend on the moment of ending the milking of the one-but-last teat.