Method of automatically milking animals and a milking machine suitable for performing same

Abstract

A system to be employed in a automated method and apparatus for milking animals such as cows wherein the milking apparatus is computer controlled to apply and remove teat cups from the teats of the animals being milked. The apparatus includes an animal recognition system which is communication with the computer whereby it is determined whether or not an animal that approaches or enters a milking compartment will be milked. This determination depended on the number of animals that have been milked after the latest milking turn of an animal that has reported to a milking compartment to be milked. Unless the number of interim milkings exceeds a predetermined numerical value, that animal would not again be milked. The herd of animals to be milked are divided into groups based on their currently expected milk yields as stored in the computer. The currently expected milk yield which determines the predetermined numerical value for each group of animals is based on physical characteristics of each animal such as the stage of lactation, which, in turn, determines the group which the computer (or dairy farmer manually) places the animal involved. As the physical characteristics of each animal change it may be placed in a different group. Irrespective of the predetermined numerical value of milkings which must occur before the animals can again be milked, that value is the same for all animals in a group as long they remain in that group.