SE1051337A1

SE1051337A1 - Method of automatically milking animals and automatic milking system

Info

Publication number: SE1051337A1
Application number: SE1051337A
Authority: SE
Inventors: Peter Carlsson
Original assignee: Delaval Holding Ab
Priority date: 2010-12-16
Filing date: 2010-12-16
Publication date: 2010-12-17

Abstract

Ett automatiskt mjölkningssystem (11) för mjölkning av djur innefattar en identifikationsanordning (17) för att identifiera ett djur som är närvarande vid mjölkningen, en mjölkningsmaskin (12), en mjölkningsrobot (13), och en process- och styranordning (14) inrättad att styra mjölkningsmaskinen och anordnad att hämta data avseende historiska mjölkningstider för var och en av djurets spenar. Vidare är process- och styranordning inrättad att (i) styra mjölkningsroboten att fastgöra mjölkningsmaskinens spenkoppar (15a-d) vid djurets (10) spenar i sekventiell ordning, och (ii) styra mjölkningsmaskinen att påbörja mjölkning av djurets spenar i den ordning enligt vilken spenarna fått sina spenkoppar fastgjorda. Den sekventiella ordningen enligt vilken spenkopparna fastgörs vid djurets spenar bestäms baserat på den hämtade datan avseende historiska mjölkningstider för var och en av djurets spenar.(Fig. 1)An automatic milking system (11) for milking animals comprises an identification device (17) for identifying an animal present at milking, a milking machine (12), a milking robot (13), and a processing and control device (14) arranged to controlling the milking machine and arranged to retrieve data relating to historical milking times for each of the animal's teats. Further, process and control device is arranged to (i) control the milking robot to attach the milking machine's teat cups (15a-d) to the animal's (10) teats in sequential order, and (ii) control the milking machine to start milking the animal's teats in the order according to which the teats had their teat cups attached. The sequential order in which the teat cups are attached to the animal's teats is determined based on the retrieved data regarding historical milking times for each of the animal's teats.(Fig. 1)

Description

during' the milking, and. each. of the teat cups is taken off individuallyf when the individual milk flow drops below a set threshold value, such as e.g. 210 g/min. It has been suggested to raise the threshold value as a means for shortening the milking time. this would also lead to corresponding losses in the milk yield. during 'the milking, and. each. of the teat cups is taken off individuallyf when the individual milk flow drops below a set threshold value, such as e.g. 210 g / min. It has been suggested to raise the threshold value as a means for shortening the milking time. this would also lead to corresponding losses in the milk yield.

However, SUMARY OF THE INVENTION It is an object of the present invention to provide a method of automatically milking animals, and an automatic milking system, by which the overall milk production can be optimized.However, SUMARY OF THE INVENTION It is an object of the present invention to provide a method of automatically milking animals, and an automatic milking system, by which the overall milk production can be optimized.

It is a further object to provide such method and such milking system by which the overall milking times can be shortened and the milk yield can be increased.It is a further object to provide such method and such milking system by which the overall milking times can be shortened and the milk yield can be increased.

It is yet a further object to provide such. method. and such milking system which are simple, robust, reliable, accurate, precise, cost-efficient, and easy to use.It is yet a further object to provide such. method. and such milking system which are simple, robust, reliable, accurate, precise, cost-efficient, and easy to use.

These objects, among others, are according to the present invention attained by methods of milking animals, and automatic milking systems, as claimed in the appended claims.These objects, among others, are according to the present invention attained by methods of milking animals, and automatic milking systems, as claimed in the appended claims.

According to a first aspect of the invention a method of milking animals is provided, according to which an animal present to be milked is identified. Data regarding historical milking times for each of the teats of the animal are retrieved. Teat cups are attached to the teats of the animal in a sequential order, and milk is begun to be drawn from the teats of the animal in the order in which the teat cups are attached to the teats. Preferably, for each of the teats of the animal, milk is begun to be drawn from the teat straightaway when a teat cup has been attached. to the teat. Milking is advanced and finally terminated. The sequential order in which the teat cups are attached. to the teats of the animal is 10 l5 20 25 30 determined. based. on the retrieved. data regardingc historical milking times for each of the teats of the animal.According to a first aspect of the invention a method of milking animals is provided, according to which an animal present to be milked is identified. Data regarding historical milking times for each of the teats of the animal are retrieved. Teat cups are attached to the teats of the animal in a sequential order, and milk is begun to be drawn from the teats of the animal in the order in which the teat cups are attached to the teats. Preferably, for each of the teats of the animal, milk is begun to be drawn from the teat straightaway when a teat cup has been attached. to the teat. Milking is advanced and finally terminated. The sequential order in which the teat cups are attached. to the teats of the animal is 10 l5 20 25 30 determined. based. on the retrieved. data regardingc historical milking times for each of the teats of the animal.

Advantageously, the sequential order in which the teat cups are attached to the teats of the animal is determined such that a teat cup is attached to the teat of the animal having the longest historical milking time first, and a teat cup is attached to the teat of the animal having the shortest historical milking time last.Advantageously, the sequential order in which the teat cups are attached to the teats of the animal is determined such that a teat cup is attached to the teat of the animal having the longest historical milking time first, and a teat cup is attached to the teat of the animal having the shortest historical milking time last.

By such teat cup attachment algorithm the overall milking time can be shortened, while minimizing the loss in milk yield, and the daily Inilk yield, of the Inilking' machine can. be increased since the ndlking machine is sooner ready to milk a following animal.By such teat cup attachment algorithm the overall milking time can be shortened, while minimizing the loss in milk yield, and the daily Inilk yield, of the Inilking 'machine can. be increased since the ndlking machine is sooner ready to milk a following animal.

In an alternative embodiment wherein the animal has four teats, two front teats and two rear teats, the teat cups are attached to the front teats or to the rear teats in a fixed manner, but for each of front teats and for each of the rear teats, the sequential order in which the teat cups are attached to the left and right teats is determined based on the retrieved data regarding historical milking times for each of the teats of the the animals are capable of yielding much more animal. Typically, milk from their rear teats than from their front teats. In such instance, teat cups are attached to the rear teats of the animal first and thereafter to the front teats. The teat cup attachment algorithm based on retrieved data regarding historical ndlking times for the teats of the animal has thus only to be applied in order to determine whereas a teat cup should be attached to the rear left teat before or after the rear right teat and whereas a teat cup should be attached to the front left teat before or after the front right teat.In an alternative embodiment where the animal has four teats, two front teats and two rear teats, the teat cups are attached to the front teats or to the rear teats in a fixed manner, but for each of front teats and for each of the rear teats, the sequential order in which the teat cups are attached to the left and right teats is determined based on the retrieved data regarding historical milking times for each of the teats of the the animals are capable of yielding much more animal. Typically, milk from their rear teats than from their front teats. In such instance, teat cups are attached to the rear teats of the animal first and thereafter to the front teats. The teat cup attachment algorithm based on retrieved data regarding historical ndlking times for the teats of the animal has thus only to be applied in order to determine whereas a teat cup should be attached to the rear left teat before or after the rear right teat and whereas a teat cup should be attached to the front left teat before or after the front right teat.

The data regarding historical milking times for each of the teats of the animal may comprise average milking times for each of the teats, and thus the sequential order in which the teat lO l5 20 25 30 cups are attached. to the teats of the animal is determined based on the average milking times for each of the teats of the animal. The data can be collected during a plurality of previous milkings of the animal.The data regarding historical milking times for each of the teats of the animal may comprise average milking times for each of the teats, and thus the sequential order in which the teat lO l5 20 25 30 cups are attached. to the teats of the animal is determined based on the average milking times for each of the teats of the animal. The data can be collected during a plurality of previous milkings of the animal.

According to a second aspect of the invention an automatic milking systenn in which. the above method. is implemented, is provided. The automatic milking system, which may be a voluntary milking system, comprises an identification device for identifying an animal present to be milked, a milking machine for milking the animal, a nulking robot for attaching teat cups of the milking machine to the teats of the animal, and a process and device for and the robot. The control controlling the milking machine milking process and control device is further configured to retrieve data regarding historical milking times for each of the teats of the animal. During milking, the process and control device is configured to (i) control the milking robot to attach the teat cups to the teats of the animal in a sequential order, and (ii) control the milking machine to begin drawing milk from the teats of the animal in the order which the teat cups are attached to the teats of the animal. The sequential order in which the teat cups are attached to the teats of the animal is determined based on the retrieved data regarding historical milking times for each of the teats of the animal.According to a second aspect of the invention an automatic milking systenn in which. the above method. is implemented, is provided. The automatic milking system, which may be a voluntary milking system, comprises an identification device for identifying an animal present to be milked, a milking machine for milking the animal, a nulking robot for attaching teat cups of the milking machine to the teats of the animal, and a process and device for and the robot. The control controlling the milking machine milking process and control device is further configured to retrieve data regarding historical milking times for each of the teats of the animal. During milking, the process and control device is configured to (i) control the milking robot to attach the teat cups to the teats of the animal in a sequential order, and (ii) control the milking machine to begin drawing milk from the teats of the animal in the order which the teat cups are attached to the teats of the animal. The sequential order in which the teat cups are attached to the teats of the animal is determined based on the retrieved data regarding historical milking times for each of the teats of the animal.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention will become fully understood from the detailed description of embodiments of the present invention given herein below, and the accompanying Figs. l-2, which are given by way of illustration only, and thus are not limitative of the present invention.BRIEF DESCRIPTION OF THE DRAWINGS The present invention will become fully understood from the detailed description of embodiments of the present invention given herein below, and the accompanying Figs. l-2, which are given by way of illustration only, and thus are not limitative of the present invention.

Fig. l displays schematically an automatic milking system according to an embodiment of the present invention.Fig. 1 shows schematically an automatic milking system according to an embodiment of the present invention.

Fig. 2 displays schematically a diagram in which the individual 10 15 20 25 30 milk flow from each teat of an animal being milked is set out against time during nulking according to an embodiment of the invention.Fig. 2 displays schematically a diagram in which the individual 10 15 20 25 30 milk flow from each teat of an animal being milked is set out against time during nulking according to an embodiment of the invention.

DETAILED DESCRIPTION OF EMBODIMENTS In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular techniques and applications, in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known techniques are omitted so as not to obscure the description of the present invention with unnecessary details.DETAILED DESCRIPTION OF EMBODIMENTS In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular techniques and applications, in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known techniques are omitted so as not to obscure the description of the present invention with unnecessary details.

Fig. 1 displays schematically' an automatic milking system. 11 according to an embodiment of the present invention. The automatic milking system ll, which may be a xmﬂuntary milking comprises a milking machine 12, milk flow which includes teat cups 16a-d system, l5a-d and measuring equipment capable of measuring the individual milk flow from each of the teats of an animal 10 present in the milking system 11. A milking robot 14 is arranged to attach the teat cups l5a-d to the teats of the animal 10 prior to milking. The milking machine 12 is arranged to subsequently milk the animal 10 by supplying vacuum to the teat cups l5a-d in a nmnner known to a person skilled in the art.Fig. 1 schematically displays an automatic milking system. 11 according to an embodiment of the present invention. The automatic milking system ll, which may be a xm ﬂ untary milking comprises a milking machine 12, milk flow which includes teat cups 16a-d system, l5a-d and measuring equipment capable of measuring the individual milk flow from each of the teats of an animal 10 present in the milking system 11. A milking robot 14 is arranged to attach the teat cups l5a-d to the teats of the animal 10 prior to milking. The milking machine 12 is arranged to subsequently milk the animal 10 by supplying vacuum to the teat cups l5a-d in a nmnner known to a person skilled in the art.

Simultaneously, the milk flow which measuring' equipment, advantageously includes four flow meters 16a-d, can be arranged to continuously measure the individual milk flow from each of the teats of the animal 10. After milking, the teat cups l5a-d are detached from the teats of the animal 10 in any manner known to a person skilled in the art.Simultaneously, the milk flow which measuring 'equipment, advantageously includes four flow meters 16a-d, can be arranged to continuously measure the individual milk flow from each of the teats of the animal 10. After milking, the teat cups l5a-d are detached from the teats of the animal 10 in any manner known to a person skilled in the art.

Conveniently, the vacuum supplied to the teat cups l5a-d is switched off, or at least considerably lowered, and as a result the teat cups l5a-d fall off the teats of the animal 10 by means of gravity, and can be retracted by an 10 15 20 25 30 arrangement provided for this (not explicitly illustrated). The pUIpOSG teat cup detachment can additionally be assisted by the milking robot 13 or any other arrangement known in the art.Conveniently, the vacuum supplied to the teat cups l5a-d is switched off, or at least considerably lowered, and as a result the teat cups l5a-d fall off the teats of the animal 10 by means of gravity, and can be retracted by an 10 15 20 25 30 arrangement provided for this (not explicitly illustrated). The pUIpOSG teat cup detachment can additionally be assisted by the milking robot 13 or any other arrangement known in the art.

The teat cup attachment, milking, and teat cup detachment are controlled by a process and control device 14 operatively connected to the milking robot 13 and to the milking machine 12 with its milk flow measuring equipment 16a-d.The teat cup attachment, milking, and teat cup detachment are controlled by a process and control device 14 operatively connected to the milking robot 13 and to the milking machine 12 with its milk flow measuring equipment 16a-d.

Further, an identification device 17 is provided for identifying the animal present to be milked and is operatively connected to the process and control device 14.Further, an identification device 17 is provided for identifying the animal present to be milked and is operatively connected to the process and control device 14.

According' to an embodiment of the invention, the process and control device 14 is configured to identify the animal 10 to be milked, each of the teats of the animal 10, to retrieve data regarding historical milking times for to control the milking robot 13 to attach the teat cups 15a-d of the milking machine 12 to the teats of the animal 10 in a sequential order, and to control the milking machine 12 to begin drawing milk from the teats of the animal 10 in the order which the teat cups 15a-d are attached to the teats of the animal 10, for each of the teats of the e.g. animal 10 straightaway when the respective teat cup has been attached to the respective teat. The sequential order in which the teat cups 15a-d are attached to the teats of the animal 10 is retrieved data determined based on the regarding historical milking times for each of the teats of the animal 10. By such teat cup attachment algorithm. the total milking time can be decreased.According to an embodiment of the invention, the process and control device 14 is configured to identify the animal 10 to be milked, each of the teats of the animal 10, to retrieve data regarding historical milking times for to control the milking robot 13 to attach the teat cups 15a-d of the milking machine 12 to the teats of the animal 10 in a sequential order, and to control the milking machine 12 to begin drawing milk from the teats of the animal 10 in the order which the teat cups 15a -d are attached to the teats of the animal 10, for each of the teats of the eg animal 10 straightaway when the respective teat cup has been attached to the respective teat. The sequential order in which the teat cups 15a-d are attached to the teats of the animal 10 is retrieved data determined based on the regarding historical milking times for each of the teats of the animal 10. By such teat cup attachment algorithm. the total milking time can be decreased.

Preferably, in case the animal has four teats, the sequential order in which the teat cups 15a-d are attached to the teats of the animal 10 is determined such that a teat cup is attached to the teat of the animal having the longest historical milking time first, a teat cup is next attached to the teat of the animal having the second longest historical milking time, a teat cup is lO l5 20 25 30 thereafter attached to the teat of the animal having the second shortest historical milking time, and finally' a teat cup is attached to the teat of the animal having the shortest historical milking time last.Preferably, in case the animal has four teats, the sequential order in which the teat cups 15a-d are attached to the teats of the animal 10 is determined such that a teat cup is attached to the teat of the animal having the longest historical milking time first, a teat cup is next attached to the teat of the animal having the second longest historical milking time, a teat cup is lO l5 20 25 30 thereafter attached to the teat of the animal having the second shortest historical milking time, and finally 'a teat cup is attached to the teat of the animal having the shortest historical milking time last.

The data regarding historical milking times for each of the teats of the animal comprise advantageously' average milking times for each of the teats, wherein the sequential order in which the teat cups are attached to the teats of the animal is determined based on these average milking times for each of the teats of the animal. The data regarding historical milking times for each of the teats of the animal can be collected during a plurality of previous milkings of the animal.The data regarding historical milking times for each of the teats of the animal comprise advantageously 'average milking times for each of the teats, where the sequential order in which the teat cups are attached to the teats of the animal is determined based on these average milking times for each of the teats of the animal. The data regarding historical milking times for each of the teats of the animal can be collected during a plurality of previous milkings of the animal.

Fig. 2 displays schematically an exemplary diagram in which the milk flow F from each teat of an animal is set out against time t during milking, with. the above described. teat cup attachment algorithm implemented.Fig. 2 displays schematically an exemplary diagram in which the milk flow F from each teat of an animal is set out against time t during milking, with. the above described. teat cup attachment algorithm implemented.

The milk flow curve for the rear left teat is denoted FNB, the milk flow curve for the rear right teat is denoted Fmﬂ, the milk flow curve for the front left teat is denoted FHE, and the milk flow curve for the front right teat is denoted Fnw. Each teat is begun to be milked as soon as a teat cup is attached to it. It can thus be seen that the teat cups are attached to the teats of rear left teat, the animal in the following order: rear right teat, front left teat, front right teat.The milk flow curve for the rear left teat is denoted FNB, the milk flow curve for the rear right teat is denoted Fm ﬂ, the milk flow curve for the front left teat is denoted FHE, and the milk flow curve for the front right teat is denoted Fnw. Each teat is beginning to be milked as soon as a teat cup is attached to it. It can thus be seen that the teat cups are attached to the teats of rear left teat, the animal in the following order: rear right teat, front left teat, front right teat.

The ndlking of the animal may comprise to individually discontinue drawing milk from each of the teats of the animal.The ndlking of the animal may comprise to individually discontinue drawing milk from each of the teats of the animal.

Milking can be terminated when the individual milk flow drops to a take-off flow Fm as indicated in Fig. 2.Milking can be terminated when the individual milk flow drops to a take-off flow Fm as indicated in Fig. 2.

The effective milking time for each teat is as follows: tmﬂ is the milking time for the rear left teat, tmw is the milking time for the rear right teat, tnﬂ is the milking time for the front left teat, and tnw is the milking time for the front right teat. 10 15 20 25 30 The total milking time is denoted tmmqw. This total milking time does not take into account any pre or post treatment of the teats of the animal nor the time for attaching the teat cup to the first teat, in this case the rear left teat.The effective milking time for each teat is as follows: tm ﬂ is the milking time for the rear left teat, tmw is the milking time for the rear right teat, tn ﬂ is the milking time for the front left teat, and tnw is the milking time for the front right teat. 10 15 20 25 30 The total milking time is denoted tmmqw. This total milking time does not take into account any pre or post treatment of the teats of the animal nor the time for attaching the teat cup to the first teat, in this case the rear left teat.

The sequential order in which the teat cups are attached to the teats of the animal follow the order of the milking times for the teats of the animal: tRLT > tFLT > tFLT > tFRT.The sequential order in which the teat cups are attached to the teats of the animal follow the order of the milking times for the teats of the animal: tRLT> tFLT> tFLT> tFRT.

Alternatively, in the case where the animal has four teats, two front teats and two rear teats, such as for cows, the teat cups l5a-d are attached to the front teats or to the rear teats first in a fixed manner, but, for each of front teats and for each of the rear teats, the sequential order in which the teat cups 15a-d are attached to the left and right teats is determined based on the retrieved data regarding historical milking times for each of the teats of the animal. Cows are often capable of yielding more to much more milk from the rear teats than from the front teats.Alternatively, in the case where the animal has four teats, two front teats and two rear teats, such as for cows, the teat cups l5a-d are attached to the front teats or to the rear teats first in a fixed manner, but, for each of front teats and for each of the rear teats, the sequential order in which the teat cups 15a-d are attached to the left and right teats is determined based on the retrieved data regarding historical milking times for each of the teats of the animal. Cows are often capable of yielding more to much more milk from the rear teats than from the front teats.

Therefore, the teat cups l5a-d may always be attached to the rear teats of the animal first and thereafter to the front teats. The inventive algorithm is here applied only to determine which of the rear left and rear right teats that should have a teat cup attached first and to determine which of the front left and front right teats that should have a teat cup attached first.Therefore, the teat cups l5a-d may always be attached to the rear teats of the animal first and thereafter to the front teats. The inventive algorithm is here applied only to determine which of the rear left and rear right teats that should have a teat cup attached first and to determine which of the front left and front right teats that should have a teat cup attached first.

In other milking approaches the termination of the milking of the animal 10 comprises to simultaneously discontinue drawing milk from all the teats of the animal lO or to discontinue drawing milk from. at least one of teats of the animal 10 depending on the drawing of milk from at least one other of teats of the animal.In other milking approaches the termination of the milking of the animal 10 comprises to simultaneously discontinue drawing milk from all the teats of the animal lO or to discontinue drawing milk from. at least one of teats of the animal 10 depending on the drawing of milk from at least one other of teats of the animal.

Here, data regarding historical milk flows from each of the teats of the animal 10 at the time milk was discontinued from being drawn from the teat are retrieved, and the sequential 10 15 20 25 30 order in which the teat cups 15a-d are attached to the teats of the animal is determined based on the retrieved data regarding historical milk flows from each of the teats of the animal 10 at the time milk was discontinued from being drawn from the teat. Such data can be collected during a plurality of previous milkings of the animal. A higher historical milk flow from a teat of the animal at the time milk was discontinued from being drawn from the teat may indicate that this teat should have a teat cup 15a-d attached and be begun to be milked sooner, and a lower historical milk flow from a teat of the animal at the time milk was discontinued from being drawn from the teat may indicate that this teat should have a teat cup 15a-d attached and be begun to be milked later. That is, the order in which the teat cups 15a-d are attached to the teats of the animal 10 may principally be based on the historical data regarding historical milking times for each of the teats of the animal 10, but the order may be modified by taking into account data regarding historical milk flows from each of the teats of the animal 10 at the time milk was discontinued from being drawn from the teat.Here, data regarding historical milk flows from each of the teats of the animal 10 at the time milk was discontinued from being drawn from the teat are retrieved, and the sequential 10 15 20 25 30 order in which the teat cups 15a-d are attached to the teats of the animal is determined based on the retrieved data regarding historical milk flows from each of the teats of the animal 10 at the time milk was discontinued from being drawn from the teat. Such data can be collected during a plurality of previous milkings of the animal. A higher historical milk flow from a teat of the animal at the time milk was discontinued from being drawn from the teat may indicate that this teat should have a teat cup 15a-d attached and be begun to be milked sooner, and a lower historical milk flow from a teat of the animal at the time milk was discontinued from being drawn from the teat may indicate that this teat should have a teat cup 15a-d attached and be begun to be milked later. That is, the order in which the teat cups 15a-d are attached to the teats of the animal 10 may principally be based on the historical data regarding historical milking times for each of the teats of the animal 10, but the order may be modified by taking into account data regarding historical milk flows from each of the teats of the animal 10 at the time milk was discontinued from being drawn from the teat.

It shall be appreciated that the order in which the teat cups 15a-d are attached to the teats of the animal 10 may additionally or alternatively be based on estimated milk yields from each of the teats of the animal 10.It shall be appreciated that the order in which the teat cups 15a-d are attached to the teats of the animal 10 may additionally or alternatively be based on estimated milk yields from each of the teats of the animal 10.

The invention relates also to a computer program product loadable into the internal memory of the process and control device 14 of the automatic ndlking system 11 and comprising software code portions for controlling the inventive teat cup attachment algorithm when the product is run on the process and control device 14. that the in a It will be obvious invention may be varied plurality of ways. Such variations are not to be regarded as a departure from the scope of the invention. All such 10 modifications as would be obvious to one skilled in the art are intended to be included within the scope of the appended claims.The invention also relates to a computer program product loadable into the internal memory of the process and control device 14 of the automatic ndlking system 11 and comprising software code portions for controlling the inventive teat cup attachment algorithm when the product is run on the process and control device 14. that the in a It will be obvious invention may be varied plurality of ways. Such variations are not to be regarded as a departure from the scope of the invention. All such 10 modifications as would be obvious to one skilled in the art are intended to be included within the scope of the appended claims.

Claims

lO l5 20 25 ll CLAIMSlO l5 20 25 ll CLAIMS

1. l. A method of automatically milking animals (10) comprising the steps of: - identifying an animal present to be milked; - retrieving data regarding historical milking times for each of the teats of the animal; - attaching teat cups (l5a-d) to the teats of the animal in a sequential order; - beginning to draw milk from the teats of the animal in the order in which the teat cups are attached to the teats; and - terminating the milking of the animal; characterized in that: - the sequential order in which the teat cups are attached to the teats of the animal is determined based on the retrieved data regarding historical milking times for each of the teats of the animal.1. l. A method of automatically milking animals (10) comprising the steps of: - identifying an animal present to be milked; - retrieving data regarding historical milking times for each of the teats of the animal; - attaching teat cups (l5a-d) to the teats of the animal in a sequential order; - beginning to draw milk from the teats of the animal in the order in which the teat cups are attached to the teats; and - terminating the milking of the animal; characterized in that: - the sequential order in which the teat cups are attached to the teats of the animal is determined based on the retrieved data regarding historical milking times for each of the teats of the animal.

2. The method of claim l wherein the sequential order in which the teat cups are attached. to the teats of the animal is determined such that a teat cup is attached to the teat of the animal having the longest historical milking time first, and a teat cup is attached. to the teat of the animal having' the shortest historical milking time last.2. The method of claim l wherein the sequential order in which the teat cups are attached. to the teats of the animal is determined such that a teat cup is attached to the teat of the animal having the longest historical milking time first, and a teat cup is attached. to the teat of the animal having 'the shortest historical milking time last.

3. The method, of clain1 l or* 2 wherein, the animal has four teats, two front teats and two rear teats, and wherein teat cups are attached to the front teats or to the rear teats first in a fixed manner, but wherein, for each of the front teats and for each of the rear teats, the sequential order in which the teat cups are attached to the left and right teats is 10 15 20 25 12 determined. based. on the retrieved. data regardingc historical milking times for each of the teats of the animal.3. The method, of clain1 l or * 2 wherein, the animal has four teats, two front teats and two rear teats, and wherein teat cups are attached to the front teats or to the rear teats first in a fixed manner, but wherein , for each of the front teats and for each of the rear teats, the sequential order in which the teat cups are attached to the left and right teats is 10 15 20 25 12 determined. based. on the retrieved. data regardingc historical milking times for each of the teats of the animal.

4. The method of claim 3 wherein teat cups are attached to the rear teats of the animal first and, thereafter' to the front teats.4. The method of claim 3 wherein teat cups are attached to the rear teats of the animal first and, thereafter 'to the front teats.

5. The method of any of claims 1-4 wherein - the data regarding historical milking times for each of the teats of the animal comprise average milking times for each of the teats; and - the sequential order in which the teat cups are attached to the teats of the animal is determined. based. on the average milking times for each of the teats of the animal.5. The method of any of claims 1-4 wherein - the data regarding historical milking times for each of the teats of the animal comprise average milking times for each of the teats; and - the sequential order in which the teat cups are attached to the teats of the animal is determined. based. on the average milking times for each of the teats of the animal.

6. The method of any of claims 1-5 wherein the data regarding historical milking times for each of the teats of the animal are collected during a plurality of previous milkings of the animal.6. The method of any of claims 1-5 wherein the data regarding historical milking times for each of the teats of the animal are collected during a plurality of previous milkings of the animal.

7. The method of any of claims 1-6 wherein, for each of the teats of the animal, milk is begun to be drawn from the teat straightaway when a teat cup has been attached to the teat.7. The method of any of claims 1-6 wherein, for each of the teats of the animal, milk is begun to be drawn from the teat straightaway when a teat cup has been attached to the teat.

8. The method of any of claims 1-7 wherein the termination of the milking of the animal comprises to individually discontinue drawing milk from each of the teats of the animal.8. The method of any of claims 1-7 wherein the termination of the milking of the animal comprises to individually discontinue drawing milk from each of the teats of the animal.

9. The method of claim 8 wherein - the milk flow from. each of the teats of the animal is monitored during milking of the animal; and - for each of the teats of the animal, milk is individually discontinued from being drawn from the teat depending on the monitored milk flow from the teat. 10 15 20 25 139. The method of claim 8 wherein - the milk flow from. each of the teats of the animal is monitored during milking of the animal; and - for each of the teats of the animal, milk is individually discontinued from being drawn from the teat depending on the monitored milk flow from the teat. 10 15 20 25 13

10. The method of any of claims 1-7 wherein the termination of the milking of the animal comprises to simultaneously discontinue drawing milk from all the teats of the animal or to discontinue drawing milk from at least one of the teats of the animal depending on the drawing of milk from at least one other of the teats of the animal.10. The method of any of claims 1-7 wherein the termination of the milking of the animal comprises to simultaneously discontinue drawing milk from all the teats of the animal or to discontinue drawing milk from at least one of the teats of the animal depending on the drawing of milk from at least one other of the teats of the animal.

11. The method of claim 10 wherein - data regarding historical milk flows from each of the teats of the animal at the time milk was discontinued from being drawn from the teat are retrieved; and - the sequential order in which the teat cups are attached to the teats of the animal is determined based on the retrieved data regarding historical milk flows from each of the teats of the animal at the time milk was discontinued from being drawn from the teat.11. The method of claim 10 wherein - data regarding historical milk flows from each of the teats of the animal at the time milk was discontinued from being drawn from the teat are retrieved; and - the sequential order in which the teat cups are attached to the teats of the animal is determined based on the retrieved data regarding historical milk flows from each of the teats of the animal at the time milk was discontinued from being drawn from the teat.

12. A computer program. product loadable into the internal memory of a computer of an automatic milking system, comprising software code portions for controlling the method of any of claims 1-11 when said product is run on said computer.12. A computer program. product loadable into the internal memory of a computer of an automatic milking system, comprising software code portions for controlling the method of any of claims 1-11 when said product is run on said computer.

13. An automatic milking system (11) for milking animals comprising: - an identification device (17) for identifying an animal present to be milked; - a milking machine (12) and a milking robot (13); and - a process and control device (14) provided for controlling the milking nmchine and the ndlking robot, and provided for retrieving data regarding historical milking times for each of the teats of the animal, wherein - the process and control device is configured to (i) control 10 15 20 25 14 the milking robot to attach teat cups (15a-d) (10) control the milking machine to begin drawing milk from of the milking machine to the teats of the animal in a sequential order, and (ii) the teats of the animal in the order which the teat cups are attached to the teats of the animal, characterized in that: - the process and control device is configured to control the milking robot to attach. the teat cups to the teats of the animal in a sequential order which is determined based on the retrieved data regarding historical milking times for each of the teats of the animal.13. An automatic milking system (11) for milking animals comprising: - an identification device (17) for identifying an animal present to be milked; - a milking machine (12) and a milking robot (13); and - a process and control device (14) provided for controlling the milking nmchine and the ndlking robot, and provided for retrieving data regarding historical milking times for each of the teats of the animal, wherein - the process and control device is configured to ( i) control 10 15 20 25 14 the milking robot to attach teat cups (15a-d) (10) control the milking machine to begin drawing milk from of the milking machine to the teats of the animal in a sequential order, and (ii ) the teats of the animal in the order which the teat cups are attached to the teats of the animal, characterized in that: - the process and control device is configured to control the milking robot to attach. the teat cups to the teats of the animal in a sequential order which is determined based on the retrieved data regarding historical milking times for each of the teats of the animal.

14. The automatic milking system. of claim. 13 wherein the process and control device is configured to determine the sequential order in which the teat cups are attached to the teats of the animal such that a teat cup is attached to the teat of the animal having the longest historical milking time first, and a teat cup is attached to the teat of the animal having the shortest historical milking time last.14. The automatic milking system. of claim. 13 wherein the process and control device is configured to determine the sequential order in which the teat cups are attached to the teats of the animal such that a teat cup is attached to the teat of the animal having the longest historical milking time first, and a teat cup is attached to the teat of the animal having the shortest historical milking time last.

15. The automatic milking system of claim 13 or 14 wherein the animal has four teats, two front teats and two rear teats, and wherein the process and control device is configured to control the milking robot to attach the teat cups to the front teats or to the rear teats first in a fixed manner, but to attach, for each of front teats and for each of the rear teats, teat cups to the left and right teats in a sequential order based on the retrieved data regarding historical milking times for each of the teats of the animal. 10 15 SAMANDRAG Ett automatiskt mjölkningssystem (11) innefattar en identifikationsanordning (17) för att identifiera för' mjölkning av djur ett djur som är närvarande vid mjölkningen, en mjölkningsmaskin (12), en (13), inrättad att styra mjölkningsmaskinen och mjölkningsrobot och en (14) anordnad att hämta data avseende historiska mjölkningstider för process- och styranordning var och en av djurets spenar. Vidare är process- och styranordning inrättad att (i) styra mjölkningsroboten att fastgöra mjölkningsmaskinens spenkoppar (l5a-d) vid djurets (10) spenar i sekventiell ordning, och (ii) styra mjölkningsmaskinen att påbörja mjölkning av djurets spenar i den ordning enligt vilken spenarna fått sina spenkoppar fastgjorda. Den sekventiella ordningen enligt vilken spenkopparna fastgörs vid djurets spenar bestäms baserat på den hämtade datan avseende historiska mjölkningstider för var och en av djurets spenar. (Fig. 1)15. The automatic milking system of claim 13 or 14 wherein the animal has four teats, two front teats and two rear teats, and wherein the process and control device is configured to control the milking robot to attach the teat cups to the front teats or to the rear teats first in a fixed manner, but to attach, for each of front teats and for each of the rear teats, teat cups to the left and right teats in a sequential order based on the retrieved data regarding historical milking times for each of the teats of the animal. SUMMARY An automatic milking system (11) comprises an identification device (17) for identifying for milking animals an animal present at the milking, a milking machine (12), a (13), arranged to control the milking machine and the milking robot and a (14) arranged to retrieve data regarding historical milking times for process and control device each of the animal's teats. Further, the process and control device is arranged to (i) control the milking robot to attach the teat cups (l5a-d) of the milking machine to the teats of the animal (10) in sequential order, and (ii) control the milking machine to start milking the teats of the animal in the order got their teat cups attached. The sequential order in which the teat cups are attached to the teats of the animal is determined based on the retrieved data regarding historical milking times for each of the teats of the animal. (Fig. 1)