Means and methods for free dome range

Abstract

The present invention discloses a free dome range (FDR) where dairy animals have a free access to their stall to concurrently eat and to be milked. The FDR comprises a plurality of stalls; at least one of said stalls is characterized by a front side and rear opposite side into which a dairy animal is at least temporarily accommodated, head fronting said front side; a plurality of main living areas (MLAs); at least one of said MLAs is in connection with at least one of said stalls by means a plurality of gates. The FDR further comprising a substantially horizontally positioned elevated rail system comprising a plurality of elevated rails, and a plurality of mobile milking units (MMUs), each of said MMUs is configured to transport on said elevated rail to a dairy animal at its stall, and milk the animal while it is eating.

1 .- 18 . (canceled) 
     
     
         19 . A method of providing dairy animals in a free dome range (FDR) with free access to their stall for concurrently eating and being milking, comprising:
 (a) providing a plurality of stalls, at least one of said stalls having a front side and rear side into which a dairy animal can be at least temporarily accommodated with its head facing said front side;   (b) providing a plurality of main living areas (MLA); and   (c) connecting at least one of said MLAs with at least one of said stalls by a plurality of gates,   wherein said method further comprising   (i) positioning an elevated rail system horizontally and providing it with a plurality of elevated rails; and   (ii) providing a plurality of mobile milking units (MMUs), each MMU being configured to be transportable on at least one of said elevated rails to a dairy animal at its stall, and milk the animal while it is eating.   
     
     
         20 . The method of  claim 19 , further comprising steps of:
 (a) affixing a plurality of rails in a horizontal elevated configuration above of a floor of the plurality of MLAs in a manner so that at least one portion of said rail is located adjacent and above the rear side of said stall, where the rear portion of the animal is located; and   (b) interconnecting an MMU to said rail so that said MMU is movable along said elevated rail to a rear side of the stall,   thereby providing transportation of the mobile milking units to the stall of the dairy animal.   
     
     
         21 . The method of  claim 20 , wherein interconnecting an MMU to said rail comprises interconnecting a taxi portion of an MMU to an elevated rail. 
     
     
         22 . The method of  claim 19 , further comprising:
 (a) adjoining at least first FDR to at least one second FDR; and   (b) interconnecting said at least two FDRs by at least one mutual elevated rail thereby forming an array of FDRs and allowing the MMUs to be transported from at least one first FDR to at least one second FDR.   
     
     
         23 . The method of  claim 19 , further comprising:
 (a) transporting at least one of the MMUs horizontally along an elevated rail by means of a taxi mechanism;   (b) vertically lowering said MMU, by means of a messenger mechanism, from said elevated rail to a lower docking station provided within or in connection with the rear side of a stall; and   (c) by means of an extender mechanism, horizontally forwarding a teats cup assembly (TCA) from said docking station between rear legs of the animal, below its rear body portion, to a location provided adjacent and below the animal's teats.   
     
     
         24 . The method of  claim 19 , further comprising: providing a TCA with a motor gear box containing teat-cups ejection-straighten mechanism (TCESM), configured for enabling the teat cups (i) to approach the teats before milking; and (ii) retracting the teat cups after milking, thereby approaching teat cups to teats before milking and retracting the same after milking. 
     
     
         25 . The method of  claim 19 , further communicating said MMU, at least temporarily, to a computer readable magnetic media configured with milking-assisting protocol and MMU movement controlling protocol thereby allowing controlling and prioritizing transport of an MMU to a dairy animal in its stall. 
     
     
         26 . The method of  claim 19 , further comprising steps of:
 (a) connecting a TCA to an MMU;   (b) providing a TCA with a plurality of cameras; and   (c) focusing at least one of said cameras towards said teat and toward said cups;   thereby allowing determination of the spatial 3D orientation of the teat-cups with a teat to be milked,   
     
     
         27 . The method of  claim 23 , further comprising steps of:
 (a) acquiring a 2D or 3D image of at least one of the rear legs of the animal using at least one optic or thermal sensor;   (b) communicating said image with a computer readable medium (CRM), and processing said image to determine a time-resolved orientation of the leg or legs;   (c) by means of said CRM, defining the middle of the height of the legs, in a Z-main axis, and the distance between the legs, in a Y-main axis;   (d) producing and processing image data by the CRM; and   (e) manipulating a milking arm to operate between the rear legs of the animal, from the direction of a rear portion of the animal below its body, to a location adjacent and below the animal's teats; and retrieving said arm backwardly.   
     
     
         28 . The method of  claim 19 , further comprising steps of providing a dairy farm with at least one stall, providing a transformation infrastructure approaching the rear portion of said stall, and moving mobile milking units along said transformation infrastructure;
 thereby allowing a dairy animal to feed freely and for milking the animal while it is being fed.   
     
     
         29 . The method of  claim 19 , further comprising: by means of at least one unidirectional entrance gate, separating a stall area from a main living area; by means of at least one unidirectional exit gate, separating said stall area from a treatment area; and by means of at least one unidirectional entrance gate, separating said treatment area from said main living area. 
     
     
         30 . A free dome range (FDR) operatable in a method for providing animals with free access to their stall for concurrently eating and being milked, the method comprising:
 (a) providing a plurality of stalls wherein at least one of said stalls has a front side and rear side into which a dairy animal is can be at least temporarily accommodated, with its head facing said front side; and   (b) providing a plurality of main living areas (MLAs) where at least one main living area is connected at least one stalls by a respective plurality of gates;   (c) horizontally positioning an elevated rail system comprising a plurality of elevated rails; and   (d) providing a plurality of mobile milking units (MMUs) configured so as to be transportable on said elevated rail to a dairy animal in its stall, and to milk the animal while it is eating.   
     
     
         31 . The FDR of  claim 30 , wherein its method of operation further comprises:
 affixing a plurality of elevated rails in a horizontal and elevated position above a floor of the FDR so that a portion of at least one of the elevated rails is located adjacent and above the side portion of said stall, where a rear portion of an animal is located; and   interconnecting the MMUs to the elevated rails such that the MMUs are movable along said elevated rail to and from the rear side of the stall.   
     
     
         32 . The FDR of  claim 31 , wherein its method of operation wherein interconnecting an MMU to said rail comprises interconnecting a taxi portion of an MMU to an elevated rail. 
     
     
         33 . The FDR of  claim 30 , wherein its method of operation further comprises adjoining at least a first FDR to at least one second FDR; and interconnecting said FDRs by at least one mutual elevated rail to form an array of FDRs thereby allowing MMUs to be transported therebetween. 
     
     
         34 . The FDR of  claim 30 , wherein its method of operation further comprises:
 a. by means of a taxi mechanism, transporting an MMU substantially horizontally along an elevated rail;   b. by means of a messenger mechanism, vertically lowering said MMU from said elevated rail to a lower docking station provided within or in connection with the rear side of a stall; and   c. by means of an extender mechanism, horizontally forwarding a teats cup assembly (TCA) from said lower docking station between the rear legs of the animal, below its rear body portion, to a location provided adjacent and below the teats of the animal.   
     
     
         35 . The FDR of  claim 30 , wherein its method of operation further comprises providing a TCA with a motor gear box-containing teat-cups ejection-straightening mechanism (TCESM), configured to enable teat cups to approach the teats of the animal before milking and to retract after milking. 
     
     
         36 . The FDR of  claim 30 , wherein its method of operation further comprises communicating said MMU, at least temporarily, either wirelessly or via a wire, to a computer readable magnetic medium configured with milking-assisting protocol and MMU movement controlling protocol thereby allowing controlling and prioritizing transport of an MMU to a dairy animal in its stall. 
     
     
         37 . The FDR of  claim 30 , wherein its method of operation further comprises:
 a. connecting a TCA to an MMU;   b. providing a TCA with a plurality of cm cameras; cm is an integer number being greater than or equal one; and   c. focusing at least one of said cameras towards said teat and said cups;   thereby provided useful for determining the spatial 3D orientation of teat-cups to a teat to be milked,   
     
     
         38 . The FDR of  claim 30 , wherein its method of operation further comprises:
 a. acquiring at least one either 2D or 3D image of at least on leg of an animal using at least one optic or thermal sensor;   b. either wirelessly or via a wire, communicating said image with a computer readable medium (CRM), and processing said image to determine a time-resolved orientation of the at least one leg;   c. by means of said CRM, defining the midpoint of the height of the at least one leg (Z-main axis) and distance between two legs of the animal (Y-main axis); and   d. by means of processed image data of the CRM, manipulating a milking arm to move between the rear legs of the animal, from its rear portion, below its body to a location adjacent and below the teats of the animal, for milking, and to retract therefrom, after milking.