# Patent

## Title
Live capture automated milking apparatus and method

## Abstract

A method and apparatus for the automated milking of dairy cattle employing live capture of the teats of a dairy cow without requiring identification of a particular dairy cow or the prior knowledge of the location of the individual teats. The live capture milking apparatus locates the individual teats of a dairy cow and attaches a teatcup to the teat without the need for human intervention. After the milking operation is completed, the live capture milking apparatus returns to a home position where cleaning and sanitization the milking equipment occurs.

## Background
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a continuation-in-part of application Ser. No. 10/264,499, filed on Oct. 4, 2002 now U.S. Pat. No. 6,729,262.


STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
Not Applicable.
BACKGROUND OF THE INVENTION
1. Field of Invention
The present invention relates to an apparatus and a method for automated milking of a dairy cow using real-time acquisition of the teat locations. More particularly, the present invention uses a network of sensors to locate the teats and does not require the dairy cow to carry an identifier providing teat position information.
2. Description of the Related Art
The dairy industry operates on low margin, high volume production of milk. Further, adequate labor is not available as the pay scale is minimal compared to other competing jobs, such as factory, fast food, and other service industries. In order to remain competitive, milk producers are constantly striving for ways to increase milk production at lower cost. The current trend is to improve milking efficiency through automation, or robotic milking. Robotic milking offers many advantages over manual milking. First, it drastically reduces labor costs. Second, it allows milk producers to increase herd size due to increased efficiency and regular milking schedules.
Automatic milking systems are known to those skilled in the art. Typical of these automatic milking systems are those disclosed in the following United States Patents:















U.S.





Pat. No.
INVENTOR
ISSUE DATE









6,357,387
Johannesson
Mar. 19, 2002



6,142,098
van den Berg
Nov. 7, 2000



5,967,081
Street, et al.
Oct. 19, 1999



5,931,115
Lind
Aug. 3, 1999



5,771,837
van der Lely
Jun. 30, 1998



5,769,025
van der Lely, et al.
Jun. 23, 1998



5,762,020
van der Lely
Jun. 9, 1998



5,718,186
van der Lely
Feb. 17, 1998



5,706,758
Street, et al.
Jan. 13, 1998










A number of patents disclose improvements to milking systems intended to reduce the collection of dirt and debris within the teatcup. These include U.S. Pat. No. 6,357,387, issued to Johannesson, which describes an automatic milking apparatus wherein the teatcups are stored upside down and U.S. Pat. No. 6,142,098, issued to van den Berg, which describes a flexible teatcup that can be bent to move the opening to a horizontal position.
Other patents disclose systems for automatically milking a cow. U.S. Pat. No. 5,967,081, issued to Street, et al., describes a robot which is capable locating one teat at a time and sequentially attaching the teatcups to the dairy cow. U.S. Pat. No. 5,718,186, issued to van der Lely, describes a robot for a box-type milking system. The robot includes a carrier for automatically attaching teatcups. The robot includes sensors to determine if the teatcups are not properly returned to the carrier.
BRIEF SUMMARY OF THE INVENTION
The present invention is a method and apparatus for the automated milking of dairy cattle employing live capture of the teats of a dairy cow without requiring identification of a particular dairy cow or the prior knowledge of the location of the individual teats. The live capture milking apparatus locates the individual teats of a dairy cow and attaches a teatcup to the teat without the need for human intervention. After the milking operation is completed, the live capture milking apparatus returns to a home position where cleaning and sanitizing of the milking equipment occurs.
The basic structural components move the milking platform from the home position to a position generally under the udder region of a dairy cow. The main positioning arm attaches to the main support via a main elevator and a rotary actuator. The main elevator adjusts the height of the main positioning arm along the longitudinal axis of the main support. The rotary actuator rotates the main positioning arm around the main support. The main positioning arm extends and retracts to position the milking platform along the longitudinal axis of the main positioning arm. The milking platform carries one controlling seeker arm and three secondary seeker arms.
The controlling seeker arm includes an x-axis actuator, a y-axis actuator, and a z-axis actuator, each of which are responsive to the logic controller and work together to move the controlling seeker arm. Each of the x-axis actuator and the y-axis actuator have a corresponding pair of sensors in communication with the logic controller. The sensors identify the location of the teat. A pair of limit switches are associated with each of the x-axis actuator and the y-axis actuator and are in communication with the logic controller. The activation of a limit switch stops movement of the corresponding actuator and generally indicates that the location of the teat was missed during scanning. A teatcup carried by the controlling seeker arm is adapted to attach to a teat of a dairy cow and collect milk. The teatcup is serviced by a flow switch, a vacuum switch, and a pinch valve that are in communication with the logic controller
Unique to the controlling seeker arm is a distance sensor. The distance sensor communicates with the logic controller. Specifically, the distance sensor measures the distance between the milking platform and the udder. The logic controller monitors the measured distance and moves the milking platform to compensate for movement of the dairy cow in order to keep the milking platform at a fixed distance relative to the udder during teat acquisition and milking. The secondary seeker arms are identical to the controlling seeker arm with the exception that the secondary seeker arms do not have an associated distance sensor.
The milking process begins with the milking platform in the home position. An input signals that the dairy cow is in position and ready to be milked. Starting the milking process moves the milking platform into the milking position under the udder of the dairy cow. Once in position, the position of the teats of the dairy cow are located by moving the seeker arms until the sensors detect the teat position along both the x- and y-axis. As each teat is located, a teat cup is attached. After all four teats have been located and the teat cups attached, the diary cow is milked until a stop condition is reached. When the milking operation is complete, the teat cups are detached. The milking platform is moved to a wash position. A wash cycle cleans and sanitizes the milking platform for use with the next diary cow. Finally, the milking platform returns to the home position, which may or may not be the same as the wash position.



BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
The above-mentioned features of the invention will become more clearly understood from the following detailed description of the invention read together with the drawings in which:
FIG. 1 is a top plan view of dairy cows in a herringbone milking arrangement;
FIG. 2 is a perspective view of one embodiment of the live capture automated milking apparatus of the present invention;
FIG. 3 is an exploded perspective view of one embodiment of the milking platform positioning arms used to position the milking platform generally under the udder region of the dairy cow;
FIG. 4 is a overhead pictorial representation showing the live capture automated milking apparatus in the home position relative to a dairy cow in a herringbone milking parlor;
FIG. 5 is a overhead pictorial representation showing the live capture automated milking apparatus in the milking position relative to a dairy cow in a herringbone milking parlor;
FIG. 6 is a perspective view showing the milking platform with the milking platform positioning arms resting in the home position;
FIG. 7 is a perspective view showing the milking platform with the seeker arms moved to the extents of the range of movement;
FIG. 8 illustrates the orientation and the maximum and minimum teatcup locations;
FIG. 9 is a perspective view of a teatcup platform from a seeker arm of the present invention;
FIG. 10 is pictorial block diagram representing one embodiment of the live capture milking apparatus of the present invention;
FIG. 11 is pictorial block diagram representing one embodiment of a secondary seeker arm of the present invention;
FIG. 12 is pictorial block diagram representing one embodiment of a controlling seeker arm of the present invention;
FIG. 13 is a flow diagram of the live capture method for securing the teatcups on the teats of a dairy cow;
FIG. 14 is a flow diagram further detailing the steps involved in moving the milking platform to the milking position;
FIG. 15 is a flow diagram further detailing the steps involved in locating the individual teats of the dairy cow;
FIG. 16 is a flow diagram further detailing the steps involved in attaching the teatcups to the individual teats of the dairy cow;
FIG. 17 is a flow diagram further detailing the steps involved in collecting the milk from the diary cow;
FIG. 18 is a flow diagram further detailing the steps involved in removing the teatcups from the dairy cow;
FIG. 19 is a flow diagram further detailing the steps involved in moving the milking platform to the wash/home position;
FIG. 20 is a flow diagram further detailing the steps involved in washing the milking platform after the milking operation;
FIG. 21 is a rear elevation view of the rear teatcup platforms incorporating leg sensors;
FIG. 22 is a top plan view of one embodiment of a teatcup platform adapted to provide rotation movement about two axes; and
FIG. 23 is a perspective view of a wash station for use with the present invention.



DETAILED DESCRIPTION OF THE INVENTION
The present invention is a method and apparatus for the automated milking of dairy cattle employing live capture of the teats of a dairy cow without requiring identification of a particular dairy cow or the prior knowledge of the location of the individual teats. The live capture milling apparatus is illustrated generally at 10 in the accompanying figures. The live capture milking apparatus 10 positions itself, locates the individual teats of a dairy cow, and attaches a teatcup to the teat without the need for human intervention. After the milking operation is completed, the live capture milling apparatus 10 returns to a home position where cleaning and sanitizing of the milking equipment occurs.
FIG. 1 illustrates a milking parlor 100 employing a herringbone arrangement. The herringbone arrangement utilizes a simple stall system 102 that orients each dairy cow 104a–h at an angle with respect to the operator pit 106. Typically, this angle is between thirty and forty-five degrees. This allows the dairy cows 104a–h to be side-milked, which provides easy access to the udders and allows the use of an arm-type takeoff. A herringbone arrangement requires approximately 45 inches per stall 102a–h. Each stall 102a–h is equipped with a live capture milking apparatus 10a–h. Those skilled in the art will recognize that the live capture milking apparatus 10 of the present invention can be utilized with other milking parlor arrangements, including tandem (side-milking), parallel (rear-milking), and rotary (side- or rear-milking) arrangements.
FIG. 2 is a perspective view of the live capture milking apparatus 10 of the present invention. The basic structural components of the live capture milking apparatus 10 include a main support 200, a main positioning arm 202, and a milking platform 204. The main support 200 is secured to a fixed object, such at the floor 206. The main support 200 has a height based upon the relative heights of the milking parlor floor and the pit floor.
FIG. 3 is an exploded perspective view of one embodiment of the basic structural components of the live capture milking apparatus 10. The basic structural components move the milking platform 204 from the home position to a position generally under the udder region of a dairy cow. The main positioning arm 202 attaches to the main support 200 via a main elevator 300 and a rotary actuator 302. The main elevator 300 adjusts the height of the main positioning arm 202 along the major Z-axis of the main support 200. The rotary actuator 302 rotates the main positioning arm 202 around the main support 200, i.e., adjusts the angle, θ, between an orthogonal projection from the main support 200 and the main positioning arm 202. The main positioning arm 202 extends and retracts to position the milking platform 204 along the major Y-axis of the main positioning arm 202.
The main elevator 300 includes a first drive mechanism capable of lifting the main positioning arm 202 to a height proximate to the bottom of the udder. The main elevator 300 is carried by the main support 200. Further, the axis of the main elevator 300 is parallel to the axis of the main support 200. The first drive mechanism moves a lift arm 304 that is raised and lowered to achieve the desired height. A bracket 306 attached to the lift arm cooperates with a corresponding bracket 308 on the main positioning arm 202 to form a hinge-like connection point. The rotary actuator 302 includes a hinge pin 310 that is received by the main support bracket 306 and the main positioning arm bracket 308 to complete the hinge. In an alternate embodiment, the main support 200 and the main positioning arm 202 are statically connected and rotation about the vertical axis is achieved by rotating the main support.
A second drive mechanism 312 adjusts the length of the main positioning arm 202 by moving a main extensor arm 314. A secondary positioning arm 316 is orthogonally secured to the end of the main extensor arm 314 distal from the second drive mechanism 312. A third drive mechanism 318 adjusts the length of the secondary positioning arm 316 along the major X-axis of the secondary positioning arm 316 by driving a secondary extensor arm 320. A base plate 322, which supports the entire milking platform 204, is secured to the end of the secondary extensor arm 320 distal from the third drive mechanism 318. The main positioning arm 202 and the secondary positioning arm 316 cooperate to position the milking platform 204 in the major X-Y plane. Collectively the main positioning arm 202, the main elevator 300, the rotary actuator 302, and the secondary positioning arm 316 are referred to as the major positioning system.
In one embodiment, the main elevator 300, the main positioning arm 202, and the secondary positioning arm 316 employ a fluid-powered linear slide, such as the Pneumoment® actuator offered by Bimba® Manufacturing Company as the drive mechanism for producing linear motion along the respective axes. The rotary actuator 302 is a fluid-powered rotary actuator, such as the Pneu-Turn® rotary actuator offered by Bimba® Manufacturing Company. Pneumatic devices offer the precision, accuracy, repeatability, and reliability necessary to properly move and position the milking platform. Further, pneumatic devices are generally moisture resistant by design. This feature makes them ideally suited for use in a device requiring frequent washing.
In an alternate embodiment, the pneumatic linear slides are replaced with dc gear driven lead-screw linear slides. The lead-screw linear slides are generally smaller and lighter than the corresponding pneumatic linear slides. In addition, the lead-screw linear slides are less susceptible to static friction, which often requires higher power to overcome the initial resistance to movement often found in pneumatic linear slides. The increased power needed to initially move a pneumatic linear slide results in the startup move being jerky rather than smooth and increasing the difficulty of making fine positional adjustments. Finally, lead-screw linear slides offer excellent corrosion resistance. Those skilled in the art will recognize that other drive types can be used without departing from the scope and spirit of the present invention.
The linear slide for the main elevator 300 has a stroke of approximately sixteen inches. The linear slide for the main positioning arm 202 has a stroke of approximately twenty-three inches. The linear slide for the secondary positioning arm 316 has stroke of approximately twelve inches. The rotary actuator 302 is capable of approximately seventy degrees of rotation. Those skilled in the art will recognize that the stroke lengths and rotation limits described herein have been selected to provide a typical range of motion for one embodiment of the live capture milking apparatus 10. However, the stroke lengths can be widely varied to accommodate a differing design of the live capture milking apparatus or a differing arrangement or design of the milking parlor.
FIG. 4 illustrates one station in a herringbone arrangement milking parlor. The live capture milking apparatus 10 is located in the pit 106. The dairy cow 104 is positioned in stall 102, which is located on a floor above the pit 106. In the illustrated embodiment, the live capture milking apparatus 10 is shown with the milking platform 204 located in the home position 400. While in the home position 400, the main positioning arm 202 is at angle θ0 with respect to the X-axis.
FIG. 5 illustrates the station of FIG. 4 with the milking platform 204 moved to the milking position 500. The milking position 500 places the milking platform 204 generally proximate to the udder region 502 of the dairy cow 104. While in the milking position 500, the main positioning arm 202 is at angle θM with respect to the orthogonal projection from main support 200. When at angle θM, the major coordinate system corresponds with the coordinate system defined relative to the dairy cow 104, in which the longitudinal axis runs substantially parallel to the spine of the dairy cow 104, i.e., head-to-tail, and the lateral axis is orthogonal to the spine, i.e., side-to-side. Adjusting the length of the main positioning arm 202 and the secondary positioning arm 316 with relative to the longitudinal axis and the lateral axis fine tunes the position of the milking platform 204 relative to the udder region.
FIG. 6 illustrates a perspective view of the milking platform 204. The milking platform 204 carries four seeker arms 600a–d that locate the teats of the dairy cow 104. A minor coordinate system is defined relative to the milking platform 204 and is referred to using lowercase letters. Again, when the milking platform is in the milking position 500, the minor coordinate system corresponds with the coordinate system defined relative to the dairy cow 104. One of the seeker arms 600a is designated as the controlling seeker arm 600a and is assigned special functions associated with maintaining the position of the milking platform 204 relative to the udder. The remaining seeker arms 600b–d are referred to as the secondary seeker arms. Collectively, the seeker arms 600a–d, together with the associated controllers and sensors make up the minor positioning system.
In the illustrated embodiment, the base plate 322 carries four lateral positioners including four track members 602a–d. Each track member 602a–d lies on a line parallel to the minor x-axis and extends across the width of the base plate 322. Each seeker arm 600a–d has an associated carriage 604a–d that moves along the corresponding track member 602a–d to adjust the position of the seeker arm 600a–d along the y-axis. The front teat seeker arms 600a, 600d move along the front track members 602a, 602d. The rear teat seeker arms 600b, 600c move along the rear track members 602b, 602c. Each seeker arm 600a–d includes a teatcup platform 610a–d. Also visible in the illustrated embodiment is a bank of pneumatic relays 614 used to control fluid pressure to the pneumatic actuators.
The controlling seeker arm 600a is attached directly to the carriage 604a. There is no mechanism provided for moving the teatcup platform 610a–d of the controlling seeker arm 600a along the minor x-axis. The controlling seeker arm 600a includes a distance sensor 606 for measuring a distance to the reference teat. Using information from the distance sensor 606, the milking platform 204 is held at a predetermined distance relative to the reference teat. In the illustrated embodiment, the controlling seeker arm 600a is the front, right seeker arm. Further, the distance sensor 606 is an ultrasonic sensor. Those skilled in the art will recognize that other types of distance sensors, such as a laser distance sensor, can be used without departing from the scope and spirit of the present invention.
Each carriage 604b–d of the secondary seeker arms 600b–d carries a longitudinal positioner 608b–d for extending and retracting the secondary seeker arms 600b–d along the x-axis. Depending upon the location of the longitudinal positioner 608b–d, the teatcup platform is either directly attached to the longitudinal positioner 608b–d via a mounting bracket or coupled to the longitudinal positioner 608b–d using an extension 612a–b. FIG. 7 illustrates a perspective view of the milking platform 204 with each seeker arm 600a–d extended to the respective limit of motion within the x-y plane and one teatcup platform 610b is raised to the position for attaching a teatcup to a teat.
In one embodiment, the carriages 604a–d and the track members 602a–d are part of a fluid-powered rodless cylinder such as the Ultran® slide offered by Bimba® Manufacturing Company and the longitudinal positioners 608b–d are linear thrusters such as those offered by Bimba® Manufacturing Company. Those skilled in the art will recognize that other movement mechanisms can be used without departing from the scope and spirit of the present invention.
FIG. 8 illustrates the orientation and the maximum and minimum teatcup locations. Distance 800 represents the minimum lateral separation between the front teatcups 810, 840. Distance 802 represents the maximum lateral separation between the front teatcups 812, 842. Distance 804 represents the minimum lateral separation between the rear teatcups 820, 830. Distance 806 represents the maximum lateral separation between the rear teatcups 822, 832. Distance 850 represents the minimum longitudinal separation between the front teatcups 810, 840 and the rear teatcups 820, 830. Distance 852 represents the maximum longitudinal separation between the front teatcups 812, 842 and the rear teatcups 822, 832. In the illustrated embodiment, distance 800 is approximately five inches, distance 802 is approximately ten inches, distance 804 is approximately two and one-half inches, and distance 806 is approximately seven and one-half inches. Similarly, distance 850 is approximately four inches and distance 852 is approximately seven inches. Those skilled in the art will recognize that the dimensions described in FIG. 8 are exemplary for one embodiment and are intended to describe a set of dimensions for a typical cow milking operation encompassing most udders. The dimensions can be varied without departing from the scope and spirit of the present invention.
FIG. 9 illustrates one embodiment of the teatcup platform 610 associated with each seeker arm 600a–d. The teatcup platform 610 carries a teatcup 900 defining an opening 902. A teatcup lifter 904 is provided to raise and lower the teatcup platform 610 along the z-axis. The teatcup lifter 904 includes a drive rod 906 and two guide shafts 908a, 908b. The drive rod 906 provides the force that moves the teatcup platform 610 and the guide shafts 908a, 908b maintain the stability and provide for smooth, even movement of the teatcup platform 610.
In one embodiment, the teatcup lifter 904 is a dc-powered lift column. In an alternate embodiment, the teatcup lifter 904 is a linear thruster such as is offered by Bimba® Manufacturing Company. Those skilled in the art will recognize that other drive mechanisms can be used without departing from the scope and spirit of the present invention.
The teatcup platform 610 carries the teat sensor, also referred to as the alignment sensor. In the illustrated embodiment, the teat sensor includes two pairs of sensors 910a–b, 912a–b. A first pair of sensors 910a–b locates the position of a teat on the y-axis. A second pair of sensors 912a–b locates the position of a teat on the x-axis. With reference to the y-axis sensor pair 910a–b, the operation of the sensors is generally explained. Each sensor 910a–b is mounted such that the sensitive surface 914a–b, 916a–b has a forward field of vision overlooking the opening 902 of the teatcup 900. The sensor pair 910a–b is arranged such that, as the teatcup platform 610 is moved along the y-axis, the teat interrupts the field of vision of the first sensor 910a. As the teatcup platform 610 continues to move, the teat interrupts the field of vision of the second sensor 910b at which time the teatcup platform 610 reverses directions. The teatcup platform 610 is centered on the teat when the teat is located between the sensor pair 910a–b. Those skilled in the art will recognize that order of the sensor/teat interaction is dependent upon the direction of movement of the teatcup platform 610.
In the illustrated embodiment, the arrangement and operation of each sensor pair 910a–b, 912a–b is substantially similar with the exception that the y-axis sensor pair 910a–b is orthogonal to the x-axis sensor pair 912a–b. 
When the teatcup 900 is in position, the vacuum system is engaged and the teatcup 900 sucks onto the teats of the dairy cow. Even when attached to a teat, the lower portion of the teatcup 900 remains within the opening defined by teatcup platform 610. In this manner, the teatcup 900 is guided so that when the milking operation is complete and the vacuum system turns off, the teatcup 900 releases the teat and drop back into a resting position in the teatcup platform 610.
In another embodiment, the live capture milking apparatus 10 includes leg sensors that prevent the teatcup platform 610 from making contact with the inside of the legs of the dairy cow 104. When the teatcup platforms 820, 830 laterally scan far enough to hit the legs, the contact typically startles the dairy cow 104. Startling the dairy cow 104 generally results in the cow moving or kicking, which disrupts the teat location process and decreases the efficiency of the live capture milking apparatus 10.
FIG. 21 illustrates one embodiment of the live capture milking apparatus 10 including leg sensors 2100, 2102 on the rear teatcup platforms 820, 830. The leg sensors 2100, 2102 sense the position of the legs 2104, 2106 of the dairy cow 104. When the leg sensors 2100, 2102 sense imminent contact between the one the teatcup platforms 820, 830 and one of the legs 2104, 2106, an output is generated that alerts the live capture milking apparatus 10 to stop moving the teatcup platform 820, 830 carrying the leg sensor 2100, 2102 that generated the alert. This is particularly beneficial considering the simultaneous operation of the individual teatcup platforms. It can be seen that if one teatcup platform causes the dairy cow to move, the teat location efforts of the other teatcup platforms will likely be wasted. For simplicity of illustration, the linkage, control lines, and other components of the live capture milking apparatus 10 are not shown in FIG. 21.
While various sensors are shown as exposed sensors, those skilled in the art will recognize that the sensors can be housed in an enclosure designed to protect the relatively delicate sensors from being obscured by dirt and smudges and damaged or misaligned from contact with the cow. The enclosure is fabricated from a material that is corrosion resistant and strong enough to endure contact, such as a cow stepping on the enclosure. One such material meeting these criteria is stainless steel; however, other materials can be used without departing from the scope and spirit of the present invention.
Those skilled in the art will recognize that various types of sensors including, but not limited to, visible, infrared, laser, machine vision, and ultrasonic sensors, can be used without departing from the scope and spirit of the present invention. Each sensor type offers advantages and disadvantages. For example, visible spectrum sensors are relatively immune from interference, such as adjacent sensor emissions, while sensors operating outside the visible spectrum are relatively immune from physical interference, such as dirt or manure.
Heretofore, the live capture milking apparatus 10 has been described in reference to two independent coordinate systems: a major coordinate system and a minor coordinate system corresponding to the major positioning system and minor positioning systems, respectively. Keeping in mind that the principle of operation for the live capture milking apparatus 10 remains the same, it is useful to consider alternative reference systems.
Returning to FIG. 1, consider the operation of the live capture milking apparatus 10 in terms of degrees of freedom. In one embodiment, the live capture milking apparatus 10 has four (4) degrees of freedom, i.e., vertical translation along a line 108 substantially parallel to the vertical axis of the live capture milking apparatus 10, longitudinal translation along a line 110 substantially parallel to the spine of the cow, lateral translation along a line 112 substantially orthogonal to the spine of the cow, and rotation 114 about the vertical axis 108. In order to provide a consistent frame of reference, the terms “lateral” and “longitudinal” describe movement relative to the spine of the cow in the following description of the alternate embodiment.
Movement within the various degrees of freedom is accomplished using both a gross motor control system and a fine motor control system. Preliminary movement positions are based upon statistical knowledge of dairy cow anatomy, specific characteristics of a particular dairy cow gathered contemporaneously, or a combination of both. The gross motor control system is responsible for generally positioning the group of teatcups underneath the udder of the cow. From this position, the fine motor control system moves the individual teatcups into positions relative to each teat of the cow.
The gross motor control system includes a height adjustment member, a radial positioning member, and a tangential adjustment member. As used herein, the term “radial” describes movement relative to the main support and the term “tangential” describes movement along a tangent to an arc around the main support. In other words, the radial positioning member moves relative to the main support and the tangential positioning arm moves substantially orthogonally relative to the radial positioning arm. The rotation 114 about the vertical axis 108 serves to move the main positioning arm from a resting position to a position substantially orthogonal to the spine of the cow. As such extension and retraction of the main positioning arm 202 is lateral movement relative to the cow.
Referring back to FIGS. 2 and 3, the height adjustment member 322 includes the main support 200 and the main lifter 300. The function of the height adjustment member 322 is to position the teatcups at a height relative to the bottom of the udder of the cow through vertical translation. Following the gross movement by the height adjustment member 322, the group of teatcups 600a–d and the teats are separated by a vertical distance less than the movement range of the fine motor control system. Those skilled in the art will recognize any number of configurations and suitable movement mechanisms for the height adjustment member without departing from the scope and spirit of the present invention.
The radial positioning member serves to position the group of teatcups under the udder of the cow through translation and rotation about the vertical axis. In the example of the side-milking herringbone parlor arrangement shown in FIG. 1, the translative movement of the radial positioning member is considered to be lateral movement. For any given parlor design, the general position of the cow is known because the cow is constrained. From a resting position (e.g., 10e–h) that does not hinder the movement of the dairy cow into or out of the milking stall (e.g., 102a–h), the radial positioning member rotates to a milking position (e.g., 10a–d) generally in line with the udder. Extension of the radial positioning member substantially centers the group of teatcups under the udder. In the embodiment shown in FIGS. 1–9, the radial positioning member is the main positioning arm 202 and is configured to be rotated about the height adjustment member 300. The illustrated arrangement includes a rotational linkage, i.e., the rotary actuator 302 between the main support and the radial positioning member. Those skilled in the art will recognize other suitable configurations and arrangements capable of providing the two degrees of freedom described herein. For example, it will be understood that the height adjustment member 300 and the radial positioning member 202 could be fixedly connected, with rotation of the entire structure occurring relative to the floor.
Once in position underneath the belly of a dairy cow (e.g., 104a–d), the tangential positioning member provides longitudinal movement to generally position the milking platform 204 beneath the udder. In FIGS. 1–9, the tangential positioning member is represented by the secondary positioning arm 316.
Similarly, the fine motor control system individually moves each of the teatcups laterally, longitudinally, and vertically into engagement with one of the teats of the dairy cow 104. In the embodiment shown in FIGS. 1–9, the fine motor control system moves the teatcup platforms 610a–d using four sets of three positioning arms. Each set of positioning arms used to move the teatcup platforms are made up from the seeker arms 600a–d, including the track members 602a–d and the carriages 604a–d, the longitudinal positioners 608a–d, and individual teatcup lifters 904. With respect to the main support 200, the carriages 604a–d are responsible for the radial movement with respect to the main support 200. The longitudinal positioners 608a–d assume the role of tangential movement along an arc about the main support 200, i.e., the longitudinal positioners 608a–d move substantially orthogonally relative to the carriages 604a–d. Finally, the teatcup lifters 904 are responsible for the vertical movement of the teatcups 900.
Those skilled in the art will recognize that the movement mechanisms described herein for the gross motor control system and the fine motor control system are exemplary. The movement mechanisms are selected to provide between four (4) and six (6) degrees of freedom. Functionally, the movement mechanisms must be capable of translative movement of the teatcups in three directions and rotational movement of the teatcups in at least one direction. Those skilled in the art will recognize that all movement could be performed individually with respect to each teatcup without departing from the scope and spirit of the present invention.
The gross motor control system provides the general ability to move the teatcups as a group. This is particularly useful for initial positioning where precise location is not necessary. Little or no sensing or scanning movement is done at the gross motor control system in most embodiments. Scanning movement generally occurs at the fine motor control system level. Functionally, scanning movement is the movement of the teatcups in a systematic manner, e.g., from left to right and from back to front, during which the live capture milking apparatus 10 searches for the teats. Scanning movement does not require knowledge of the teat locations prior to acquisition, i.e., acquisition is accomplished on the fly. In one embodiment, scanning movement occurs within a single horizontal plane to locate each teat and position one of the teatcups under each teat.
Other embodiments utilize scanning in a vertical plane to locate the starting position for the placement of the group of teatcups. In one embodiment, vertical scanning movement incorporates horizontal scanning to determine whether a teat and/or the udder is present in a sensor field. If a teat or the udder is not sensed, the vertical position of the teatcups is raised and another horizontal scan is performed. Such an implementation uses a line-of-sight sensor. The height sensor used for vertically positioning the group of teatcups can be one or move of the individual teat sensors carried by the teatcup platforms 610. A less time-consuming alternative is to use a height sensor with a broad field of vision, such as an active, rotating laser sensor or other wide-angle diffuse beam sensor. In this embodiment, the height sensor is independent of the teat sensors already carried by the teatcup platforms and can be carried by one of the teatcup platforms or on one of the major movement arm members, such as the secondary positioning arm. The use of the wide angle height sensor eliminates the need for the physical, horizontal movement of the sensor carrier and allows the scanning movement to occur in the vertical direction because the precise horizontal position in not need for vertical placement of the group of teatcups. Another embodiment utilizes a distance measuring sensor as one component of the height sensor to determine a distance to the bottom of the udder and move the group of teatcups to a specified vertical position based on the measured distance. Because the group of teatcups is position without scanning, the positioning can be considered theoretical, i.e., based on statistical knowledge and not specific knowledge. Accordingly, this embodiment may also incorporate horizontal scanning or wide angle scanning to further adjust the vertical position. In the case of overshoot, i.e., the vertical position is too high, scanning can be used to lower the group of teatcups until the teat and/or udder is no longer sensed, i.e., just below the target. In the case of undershoot, i.e., below the desired vertical position, scanning occurs as described above to raise the group of teatcups to the desired position. In effect, the positioning based upon the distance measurement is gross positioning and the refinement using the scanning is medium positioning used to account for movement and/or measuring inaccuracies.
In a milking system with fewer than five degrees of freedom, if the cow moves during the milking operation, one or more of the teatcups 900 can become skewed in relation to the teatcup platform 610. The present invention is capable of correcting for this by continually updating the position of the teatcup platform 610 when the teat and the teatcup platform 610 become misaligned. However, where the movement does not substantially misalign the teat and the teatcup platform 610, the teat may be placed at an angle that pinches off or restricts the flow of milk. The addition of fifth and/or sixth degrees of freedom allows the live capture milking apparatus 10 to handle small movements by the dairy cow 104 without restricting milk flow or requiring repositioning of the teatcup platform 610.
In another embodiment, the live capture milking apparatus has six (6) degrees of freedom by adding rotation about the longitudinal and lateral axes. Pivotally connecting the teatcup platform 610 to the seeker arm 600 adds the capacity for rotation about the lateral and longitudinal axes. In the embodiment illustrated in FIG. 22, a gimbal is used to pivotally mount the teatcup platform 610. The gimbal includes an outer ring 2200 defined by the teatcup platform 610, which allows rotation about one axis. The outer ring 2200 is pivotally connected to an inner ring 2202, which allows rotation about the other axis. The teatcup 900 is carried by a teatcup carrier 2204 that is pivotally connected to the inner ring. The pivotal connections allow the teatcup carrier 2204 to pivot about the lateral axis and the longitudinal axis with the movement of the cow, independent of the teatcup platform 610. This additional freedom of movement allows the guiding relationship between the teatcup 900 and the teatcup platform 610 to be maintained without requiring the teat to bend to such an extreme angle as is otherwise necessary with a fixed teatcup platform 610.
FIG. 10 is a block diagram of the live capture milking apparatus 10 at the major motion level. A logic controller 1000 provides logic and control for the operation of the live capture milking apparatus 10. The logic controller 1000 is capable of handling multiple operations either by running multiple programs simultaneous or by interrupt-driven subroutines. In the illustrated embodiment, the logic controller is a programmable logic controller. The X-axis actuator 1002, the Y-axis actuator 1004, the Z-axis actuator 1006, and the rotary actuator 1008 are each connected to and controlled by the logic controller 1000. Auxiliary systems not related to the movement of the milking platform 204 are also controlled by the logic controller 1000. The auxiliary systems include the vacuum system 1010, the milk collection system 1012, and the wash system 1014. The controlling seeker arm 1016a and the secondary seeker arms 1016b–d are connected to and controlled by the logic controller 1000. Each seeker arm 1016a–d is also connected to the vacuum system 1010 and the milk collection system 1012.
Generally, the logic controller 1000 drives the rotary actuator 1008 to move the milking platform 204 from a home/wash position to proximate the side of the dairy cow 104. The logic controller drives the Y-axis actuator 1004 to position the milking platform 204 at the approximate midpoint of a line running from side-to-side of the dairy cow 104. The logic controller drives the Z-axis actuator 1006 to raise the milking platform 204 to a level proximate the udder of the dairy cow 104. The logic controller drives the X-axis actuator 1002 to move the milking platform 204 longitudinally to a position proximate the udder of the dairy cow 104.
FIG. 11 is a block diagram of a secondary seeker arm 600b–d of the live capture milking apparatus 10. An x-axis actuator 1100, a y-axis actuator 1102, and a z-axis actuator 1104, in communication with the logic controller 1000, are responsible for movement of the controlling seeker arm 600a. Each of the x-axis actuator 1100 and the y-axis actuator 1102 have a corresponding pair of sensors 1104a–b, 1106a–b in communication with the logic controller 1000. The lateral and longitudinal sensors 1104a–b, 1106a–b are selected to identify the location of the teat through detection in one of many known spectrums, such as visible light, infrared, ultrasonic, or a laser. A pair of limit switches 1108a–b, 1110a–b are associated with each of the x-axis actuator 100 and the y-axis actuator 1102 and are in communication with the logic controller 1000. The activation of a limit switch 1108a–b, 1110a–b stops movement of the corresponding actuator 1100, 1102 and generally indicates that the location of the teat was missed during scanning. In the illustrated embodiment, the limit switches 1108a–b, 1110a–b are magnetic reed switches. Those skilled in the art will recognize other types of switches that can be used to implement the limit function without departing from the scope and spirit of the present invention. A milk collection unit, such as a teatcup, 1112 is serviced by a flow switch 1114, a pinch valve 1116, and a vacuum switch 1118. The flow switch 1114, the pinch valve 1116, and the vacuum switch 1118 are in communication with the logic controller 1000. The flow switch 1114 determines whether the quadrant of the udder has been emptied by monitoring the flow of milk being drawn from the teat. The pinch valve 1116 and the vacuum switch 1118 are opened and closed by the logic controller 1000 to toggle the suction action of the vacuum system 1010, to secure the teatcup 1112 on the teat after location, and to release the teatcup 1112 from the teat after the udder quadrant has been emptied.
FIG. 12 is a block diagram of the controlling seeker arm 600a of the live capture milking apparatus 10. The secondary seeker arms 600b–d are identical to the controlling seeker arm 600a with the exception that the secondary seeker arms 600b–d do not have an associated distance sensor 1200.
Unique to the controlling seeker arm 600a is the distance sensor 1200. The distance sensor 1200 communicates with the logic controller 1000. Specifically, the distance sensor measures the distance between the milking platform 204 and the udder. The logic controller 1000 monitors the measured distance and moves the milking platform 204 to compensate for movement of the dairy cow 104 in order to keep the milking platform 204 at a fixed distance relative to the udder during teat acquisition and milking.
While the embodiment described herein utilizes a dedicated programmable logic controller to provide logic and control functions, those skilled in the art will recognize other types of logic controllers that can be used without departing from the scope and spirit of the present invention. For example, the logic and control functions can be implemented using a microprocessor, a programmable interrupt controller, an application specific integrated controller, a microcontroller, or constructed from discrete logic components. Further, those skilled in the art will understand that the logic and control functions can be controlled from a general purpose computer running logic and control software adapted for use with the live capture milking apparatus 10.
The electrical components used in the live capture milking apparatus 10 conform generally to the following specifications. Those skilled in the art will recognize that these specifications are intended only as guidelines reflecting one embodiment and can be adapted depending upon the desired characteristics of the live capture milking apparatus. Such modifications are deemed to be within the purview of one skilled in the art and would not require undue experimentation. The sensors, solenoid valves, and the programmable logic controller of the present invention operate from a twenty-four volt direct-current power. The enclosure for the electronics is NEMA 4, UL approved. The vacuum switches are constructed of USDA approved materials, such as stainless steel. The limit switches are typically of the magnetic reed type.
FIG. 13 is a flow diagram of the basic functions of the live capture milking apparatus 10 of the present invention. The milking process begins with the milking platform 204 in the home position 400, shown in block 1300. An input signals that the dairy cow 104 is in position and ready to be milked, shown in block 1302. The input signal is generated from any of a number of sources including, but not limited to, a manually generated trigger activated by an employee, or a switch or a sensor activated by an event, such as a switch located in the stall 102 that is activated when the stall gate is closed. Those skilled in the art will recognize various mechanisms for triggering the start of the milking process, which do not depart from the scope and spirit of the present invention.
Starting the milking process moves the milking platform 204 into the milking position 500 under the udder of the dairy cow 104, shown in block 1304. Once in position, the teats of the dairy cow 104 are located, shown in block 1306. As each teat is located, a teat cup is attached, shown in block 1308. After all four teats have been located and the teat cups attached, the diary cow is milked until a stop condition is reached, shown in block 1310. When the milking operation is complete, the teat cups are detached, shown in block 1312. The milking platform 204 is moved to a wash position, shown in block 1314. A wash cycle cleans and sanitizes the milking platform 204 for use with the next diary cow 104, shown in block 1316. Finally, the milking platform returns to the home position 400, which may or may not be the same as the wash position, returning again to block 1300.
FIG. 14 diagrams the steps involved in moving the milking platform 204 form the home position 400 to the milking position in greater detail. In one embodiment, the wash cycle requires that the teat cups be placed in the raised position during washing. In this instance the teat cups may remain in the raised position until the start of the next milking cycle. Prior to positioning the milking platform 204 in the milking position 5500, the teat cups are lowered to the home position, shown in block 1400. The main positioning arm 202 is rotated about the Z-axis until it is substantially perpendicular to the stall 102, which should also be orthogonal to the dairy cow 104, shown in block 1402. The main positioning arm 202 is extended to the approximate center point of the stall 102, shown in block 1404, which results in the milking platform 204 being generally centrally located under the dairy cow 104. A sensor 606 on the milking platform 204 looks for the bottom of the udder while the main positioning arm 202 is raised, shown in block 1406. When the bottom of the udder is located, the height of the milking platform 204 is set at a known distance below the udder, shown in block 1408. The secondary positioning arm 316 is moved to a predetermined position being generally located proximate to the udder, shown in block 1410.
FIG. 15 diagrams the steps involved locating the individual teats of the dairy cow 104 in greater detail. The y-axis positions of a selected pair of teats, the reference teats, are identified, shown in block 1500. In one embodiment, the front teats are used as the reference teats with the front, right teat being the primary reference teat and the front, left teat being the secondary reference teat. The primary reference teat position on the y-axis is generally located by the controlling seeker arm 600a. The secondary seeker arm 600d scans and generally locates the position of the secondary reference teat on the y-axis. Using the position information, the distance between the reference teats is calculated, shown in block 1502. The distance is divided by two and the controlling seeker arm carriage 604a is moved to a corresponding position on the track member 602a, shown in block 1504. The milking platform 204 is moved by adjusting the main positioning arm 202 and the secondary positioning arm 316 until the primary reference teat has been reacquired by the controlling seeker arm 600a, shown in block 1506. The relative position of the milking platform 204 is maintained during the milking operation to accommodate for movement or shifting by the dairy cow 104. The remaining teats are simultaneously located by the secondary seeker arms 600b–d, shown in block 1508. The position of the secondary seeker arms 600b–d is adjusted using the corresponding carriages 604b–d and longitudinal positioners 608b–d. 
FIG. 16 diagrams the steps involved in attaching teatcups to the individual teats of the dairy cow 104 in greater detail. When the position of a teat has been identified by a secondary seeker arm 600b–d and the secondary seeker arm 600b–d is properly positioned beneath the teat, the teatcup platform 610b–d is raised using the teatcup lifter 904, shown in block 1600. The pinch-off valve is opened to turn on suction in the raised teatcup and secure it to the teat, shown in block 1602. The teatcup platform 610b–d then lowers back to the reference position during milking, shown in block 1604. These steps occur for each secondary seeker arm 600b–d independently of the others. The process continues until the teatcups have been attached to all secondary teats, shown in blocks 1606, 1608. Once the secondary teatcups have been attached, the teatcup associated with the controlling seeker arm attaches. By virtue of the reference status, the position of the primary reference teat is known and the teatcup platform 610a is properly positioned beneath the teat, so the teatcup platform 610a is raised using the teatcup lifter 904, shown in block 1610. The pinch-off valve is opened to turn on suction in the raised teatcup and secure it to the teat, shown in block 1612. The teatcup platform 610a then lowers back to the reference position during milking, shown in block 1614.
FIG. 17 diagrams the steps for collecting milk in greater detail. The flow of the milk from the individual teats is detected by a flow switch associated with each teatcup 900a–d, shown in block 1700. While the flow switch indicates that milk is still being collected from the teat, milk collection continues, shown in blocks 1702, 1704.
FIG. 18 diagrams the steps involved in detaching the teatcups from the individual teats of the dairy cow 104 in greater detail. Once the associated flow switch indicates that the flow of milk has stopped from an individual teat, the teatcup is removed. In one embodiment, the process includes a sanitization step wherein a teat is coated with sanitizer prior to or during the removal of the teatcup. The sanitization step can be accomplished by closing of the milk collection ports and backfilling the teatcup with sanitizer prior to removal or by applying sanitizer, such as by a spray ring, as the teatcup is removed, shown in block 1800. To remove the teatcup, the pinch off valve is closed to relieve the vacuum pressure inside the teatcup, shown in block 1802. Removal of the vacuum pressure allows the teatcup to drop back into the opening in the teatcup platform 610a–d. Once all teatcups have dropped, the removal process is complete, shown in block 1804.
FIG. 19 diagrams the steps involved in returning the mining platform 204 to the home/wash position 400 in greater detail. Generally, the steps are the reverse of the steps used to place the milking platform 204 in the milking position 5500. The seeker arms 600a–d are returned to the home position, shown in block 1900. The secondary positioning arm 316 retracts, shown in block 1902. The main positioning arm 202 retracts to bring the milking platform 204 back out from under the dairy cow 104. The rotary actuator 302 rotates the main positioning arm 202 back to the home/wash position 400, shown in block 1906.
FIG. 20 diagrams the steps involved in washing/sanitizing the milking platform 204 in greater detail. In one embodiment, the teatcup platforms are raised to engage a four-port sprayer configured similarly to the teats of a cow, shown in block 2000. Generally, the milking platform and, in particular, the teatcups are cleaned and sanitized, as shown in block 2002, to prevent the spread of infection between dairy cows 104 and to ensure that the milk collected remains safe for human consumption.
Those skilled in the art will recognize that the method described herein includes the steps generally required to implement live capture of the teats for automated milking. Certain steps can be performed in any order or simultaneously with other steps and non-essential steps can be added or omitted without departing from the scope and spirit of the present invention.
Finally, those skilled in the art will recognize that a manual control box can be provided to allow manual control box can be provided to allow manual override of the automatic teatcup positioning. Manual control is beneficial for diagnostics and for verifying that the diary cow is compatible with the dimensional limitations of the live capture milking apparatus, i.e., dimensional verification of teat location and udder height.
The live capture milking apparatus 10 of the present invention is intended to be used as part of a comprehensive milking procedure. Proper pre-milking procedure includes stimulation to cause milk let-down and washing of the udder/teats. Proper post-milking procedure includes sanitization of the teats and sanitization/washing of the milking platform 204.
Bacteria responsible for mastitis infections can be minimized by proper milking technique, maintaining a clean and dry environment for the dairy cows, and proper cleaning and maintenance of the live capture milking system. It is desirable for the udder region of the dairy cow to be washed using a disinfectant prior to milking. After milking, the likelihood of infection can be reduced by a dipping of the teats in a sanitizing solution. The present invention is directed to the actual milking process and is not intended to perform a preparatory wash. Pre-washes are known to those skilled in the art and can be satisfactorily performed at a separate station prior to milking. In one embodiment, the sanitization system that includes a shower ring carried with the teatcup.
Following the milking operation, a shower ring sprays a sanitizing solution, such as an iodine solution, onto the teat. The solution coats the teat and tends to block the teat opening. This reduces the chance of infection resulting from bacteria being able to enter the teat when the dairy cow comes in contact with unsanitary conditions.
Another embodiment of a sanitization system 2300 is shown in FIG. 23. The sanitization system 2300 includes a wash platform 2302 that carries a number of wash and rinse nozzles 2304a–d. There is one wash and rinse nozzle 2304a–d for each of the teatcups 900a–d. A supply line 2306 forces soap, sanitizer, disinfectant, and/or rinse solutions through the wash and rinse nozzles 2304a–d as desired. In this embodiment, the teatcup platforms 610a–d return to a resting position and are raised to engage the wash and rinse nozzles 2304a–d. The sanitization system 2300 performs a wash cycle followed by a rinse cycle. For simplicity of illustration, the linkage, control lines, and other components of the live capture milking apparatus 10 are not shown in FIG. 23.
A post-milking wash of the milking platform reduces the instances of infection in dairy cows, as well as to comply with Food and Drug Administration regulations concerning the maximum allowable bacteria count for equipment intended for collecting milk for human consumption. Post-milking equipment washes are known to those skilled in the art. One procedure for a milking equipment wash involves pasteurization of teatcup clusters with hot water at a given temperature for a given duration, e.g., 185° water for 5 seconds.
For clarity of illustration of the critical components of the live capture milking apparatus 10, the basic interconnection components, e.g., pneumatic lines, vacuum lines, and/or electrical wiring have been omitted from the figures. Those skilled in the art will recognize the proper interconnection required to implement the invention described herein without undue experimentation.
While a preferred embodiment has been shown and described, it will be understood that it is not intended to limit the disclosure, but rather it is intended to cover all modifications and alternate methods falling within the spirit and-the scope of the invention as defined in the appended claims.

## Claims

1. An apparatus for milking a dairy cow having an udder with a plurality of teats, said apparatus comprising:
a plurality of teatcups adapted to extract milk from the dairy cow;
a height adjustment member raising and lowering said plurality of teatcups as a group;
a radial positioning member moving said plurality of teatcups as a group in a radial direction relative to said height adjustment member;
a tangential adjustment member moving said plurality of teatcups as a group in a orthogonal direction relative to said radial positioning member;
a plurality of first positioning arms adapted to raise and lower each of said plurality of teatcups independently of each other of said plurality of teatcups;
a plurality of second positioning arms adapted to move each of said plurality of teatcups in a first direction independently of each other of said plurality of teatcups;
a plurality of third positioning arms adapted to move each of said plurality of teatcups in a second direction independently of each other of said plurality of teatcups, said second direction being different than said first direction;
an alignment sensing component associated with each of said plurality of teatcups, said alignment sensing component sensing when the associated one of said plurality of teatcups is aligned with one of the plurality of teats; and
a controller in communication with said sensor, said controller
activating said height adjustment member, said radial positioning member, and said tangential positioning member to position said plurality of teatcups generally proximate the plurality of teats;
aligning each of said plurality of teatcups with one of the plurality of teats along a line in a first direction using said plurality of second positioning arms;
aligning each of said plurality of teatcups with one of the plurality of teats along a line in a second direction using said plurality of third positioning arms;and
engaging each of the plurality of teats with one of said plurality of teatcups using said plurality of first positioning arms.

2. The apparatus of claim 1 wherein said second direction is substantially orthogonal relative to said first direction.

3. The apparatus of claim 1 wherein said radial positioning arm is fixedly connected to said height adjustment member, said height adjustment member having a vertical axis, said height adjustment member rotating about said vertical axis to adjust an angular offset of said plurality of teatcups relative to a fixed reference point.

4. The apparatus of claim 1 wherein said radial positioning arm is pivotally connected to said height adjustment member, said radial positioning arm pivoting about said height adjust member to adjust an angular offset of said plurality of teatcups relative to a fixed reference point.

5. The apparatus of claim 1 wherein said controller moves each of said plurality of teatcups simultaneously using said plurality of first positioning arms, said plurality of second positioning arms, and said plurality of third positioning arms.

6. The apparatus of claim 1 further comprising a height sensor for sensing a target, said target being either of the udder and any of the plurality of teats.

7. The apparatus of claim 6 wherein said height sensor has a narrow line-of-sight, said height sensor traveling through a specified range of motion, said controller further
moving said height sensor horizontally through said specified range of motion;
sensing the target;
moving said height sensor vertically if the target is not sensed within the specified range of motion; and
positioning said plurality of teatcups vertically relative to a sensed position of the target.

8. The apparatus of claim 6 wherein said height sensor has a first component measuring a distance to the target, said controller further positioning said plurality of teatcups vertically relative to a measured distance to the target.

9. The apparatus of claim 8 wherein said height sensor has second component having a narrow line-of-sight, said height sensor traveling through a specified range of motion, said controller further
moving said height sensor horizontally through said specified range of motion;
sensing the target and producing an output;
moving said height sensor based upon said output; and
positioning said plurality of teatcups vertically relative to a sensed position of the target.

10. The apparatus of claim 1 further comprising a leg sensor traveling with at least one of said plurality of teatcups, said leg sensor sensing a leg of the dairy cow.

11. The apparatus of claim 10 wherein said controller further
sensing the position of the leg of the dairy cow; and
stopping lateral movement of the plurality of teatcups when the distance between any of the plurality of teatcups and the leg of the dairy cow reaches a specified minimum distance.

12. The apparatus of claim 1 wherein aligning each of said plurality of teatcups with one of the plurality of teats along a line in a first direction using said plurality of second positioning arms includes
moving each of said plurality of teatcups along the line in the first direction;
sensing when each of said plurality of teatcups is proximate to one of the teats along the line in the first direction; and
stopping each of said plurality of teatcups when aligned with one of the teats along the line in the first direction.

13. The apparatus of claim 1 wherein each of said plurality of teatcups is pivotally connected to at least one of said plurality of first positioning arms, said plurality of second positioning arms, and said plurality of third positioning arms to allow each of said plurality of teatcups to rotate about the lateral axis and the longitudinal axis.

14. An apparatus for milking a dairy cow having an udder, the udder having a plurality of teats, said apparatus comprising:
a plurality of teatcups adapted to extract milk from the dairy cow, each of said plurality of teatcups having an associated alignment sensor for sensing the presence of one of the plurality of the teats;
a major positioning system for moving said plurality of teatcups underneath the dairy cow, said major positioning system positioning said plurality of teatcups at a specified distance relative to the plurality of teats;
a minor positioning system for individually positioning one of said plurality of teatcups on each of the plurality of teats, said minor positioning system simultaneously moving said plurality of teatcups until each said associated alignment sensor senses that each of the plurality of teats is aligned with one of said plurality of teatcups.

15. The apparatus of claim 14 wherein said major positioning system includes a height sensor for sensing the position of a target, a rotation component for moving said plurality of teatcups to position for insertion underneath the dairy cow, and a translation component for inserting said plurality of teatcups underneath said dairy cow, said translation component moving said plurality of teatcups in three mutually orthogonal directions, said target being one of the udder and any of the plurality of teats.

16. The apparatus of claim 14 wherein said major positioning system includes a vertical support, a radial arm attached to said vertical support, and a tangential arm attached to said radial arm, said radial arm being rotatable around a vertical axis running parallel to said vertical support, said radial arm extending and retracting radially from said vertical support, said tangential arm extending and retracting orthogonally with respect to said radial arm, said radial arm rotating relative to an vertical axis centered on said vertical support.

17. The apparatus of claim 14 wherein each associated alignment sensor senses when each of the plurality of teats is laterally and longitudinally aligned with one of said plurality of teatcups, said minor positioning system vertically moving each of said plurality of teatcups into engagement with the corresponding one of the plurality of teats.

18. The apparatus of claim 14 wherein said minor positioning system includes a lifter, a first carrier, and a second carrier for each of said plurality of teatcups, and said associated alignment sensor traveling with each of said plurality of teatcups, each said first carrier moving one of said plurality of teatcups in a substantially lateral direction with respect to the dairy cow until said associated alignment sensor indicates that said teatcup is laterally aligned with one of the plurality of teats, each said second carrier moving one of said plurality of teatcups in a substantially longitudinal direction with respect to the dairy cow until said associated alignment sensor indicates that said teatcup is longitudinally aligned with one of the plurality of teats, and each said lifter raising one of said plurality of teatcups into engagement with one of the plurality of teats.

19. The apparatus of claim 14 wherein each of said plurality of teatcups is pivotally connected to said minor positioning system to allow each of said plurality of teatcups to rotate about the lateral axis and the longitudinal axis.

20. An apparatus for milking a dairy cow having an udder, the udder having a bottom and a plurality of teats, said apparatus comprising:
a means for extracting milk from the dairy cow;
a means for laterally translating said means for extracting milk;
a means for longitudinally translating said means for extracting milk;
a means for vertically translating said means for extracting milk relative to a vertical axis;
a means for rotating said means for extracting milk about the vertical axis;
a means for sensing the presence of each of the plurality of teats; and
a means for determining when each of the plurality of teats is aligned with said means for extracting milk from the dairy cow.

21. The apparatus of claim 20 further comprising: means for rotating said means for extracting milk about the lateral axis; and means for rotating said means for extracting milk about the longitudinal axis.