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WO2022173352A1 - Procédé de commande d'un agencement de traite, et agencement de traite - Google Patents

Procédé de commande d'un agencement de traite, et agencement de traite Download PDF

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Publication number
WO2022173352A1
WO2022173352A1 PCT/SE2022/050138 SE2022050138W WO2022173352A1 WO 2022173352 A1 WO2022173352 A1 WO 2022173352A1 SE 2022050138 W SE2022050138 W SE 2022050138W WO 2022173352 A1 WO2022173352 A1 WO 2022173352A1
Authority
WO
WIPO (PCT)
Prior art keywords
milking
unit
control unit
milk flow
accelerometer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2022/050138
Other languages
English (en)
Inventor
Anders UMEGÅRD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DeLaval Holding AB
Original Assignee
DeLaval Holding AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DeLaval Holding AB filed Critical DeLaval Holding AB
Publication of WO2022173352A1 publication Critical patent/WO2022173352A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/007—Monitoring milking processes; Control or regulation of milking machines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/007—Monitoring milking processes; Control or regulation of milking machines
    • A01J5/01—Milkmeters; Milk flow sensing devices

Definitions

  • the present invention relates to a method of controlling a milking arrangement, said milking arrangement comprising: a milking unit configured to be attached to the teats of an animal for a milking operation, an accelerometer arranged on the milking unit, and a control unit connected to the accelerometer.
  • the present invention also relates to a milking arrangement
  • a milking arrangement comprising a milking unit configured to be attached to the teats of an animal during milking, an accelerometer arranged on the milking unit, and a control unit connected to the accelerometer.
  • the term connected is hereby designating communicatively connected by either physical wires or preferably by wireless communication.
  • WO2018084698 discloses a milking unit in the form of a milking cup equipped with a sensor such as an accelerometer for measuring the acceleration of the milking unit/cup during milking.
  • the sensor is advantageously configured to measure a variable related to the milking, such as pulsation vacuum.
  • W0200013490 also discloses a milking unit in the form of a teatcup equipped with a sensor such as an accelerometer arranged on the teatcup for measuring a motion such as a fall-off of the teatcup from a teat of the animal that is being milked.
  • a dedicated flow meter is normally used for measuring milk flow through the milking unit(s).
  • milk flow meters are rather complicated/expensive and only useful for measuring flow. Thus, it would be beneficial if such a milk flow meter could be replaced by a less complicated/costly and more versatile sensor for measuring milk flow.
  • the object of the invention is achieved by means of a method of controlling a milking arrangement, said milking arrangement comprising a milking unit configured to be attached to the teats of an animal for a milking operation, an accelerometer arranged on the milking unit, and a control unit connected to the accelerometer.
  • the method is characterised in that it comprises the steps of -attaching the milking unit to the teats of an animal,
  • a flow of milk through a milking unit will generate motions in the form of vibrations in the milking unit that are identifiable by means of the accelerometer and the control unit.
  • the vibrations caused by milk flow can be analysed.
  • the motions or vibrations resulting of milk flow can also be distinguished from motions of other origin, such as kick-off or fall-off of the milking unit or motions caused by a pulsating vacuum generated by a vacuum/pulsator system connected to the milking unit.
  • the flow rate may be determined and distinguished from motions of other origins by the control unit.
  • a basic signal analysis may result in determining if there is a relatively high, medium or low flow rate and if there is any flow or no flow at all through the milking unit. A relationship can in this way be determined between the flow rate and the vibrations for a range of flow rates.
  • a conventional flow meter or other means of accurately measuring the flow rate may hereby be used for determining reference flow rates in the basic signal analysis.
  • the basic singal analysis (in a time-frequency domain) may for instance involve a determination/calculation of a standard deviation of acceleration for each flow rate and/or identifying peak frequencies in a frequency range and/or amplitudes generated by said flow rates.
  • a more deep signal analysis can however preferably be provided by the control unit that results in a more fine determination of actual flow rate.
  • Such deep signal analysis may be done by training deep learning networks in the control unit using for instance a conventional flow meter or other means of accurately measuring the flow rate and analysing the signals/vibrations of the accelerometer on the milking unit in response to different measured flow rates.
  • the control unit can in this way be trained to determine the milk flow rate by the registered motions of the accelerometer on the milking unit, ready for use in the milking arrangement, which thereby does not require a more complicated/expensive conventional milk flow meter for the purpose measuring milk flow through said milking unit.
  • the accelerometer in combination with the control unit is also more versatile in the sense that it enables the registering and determining of further motions that may be of interest during the milking operation.
  • the method comprises the step of registering, by means of the accelerometer, further motions of the milking unit deriving from applied vacuum pulses and animal movement, and determining, by means of the control unit, which motions of the milking unit that derive from vacuum pulses, which motions that derive from animal movement and which motions (vibrations) that derive from milk flow through the milking unit.
  • the control unit can for instance distinguish/monitor vacuum pulses generated by a vacuum pump and pulsator connected to or forming part of the milking arrangement.
  • the vacuum pump and pulsator is connected to the milking unit through a vacuum hose or tube, and may generate a variable vacuum and pulsation ratio that can be measured/monitored by the control unit and the accelerometer on the milking unit during the milking operation.
  • Animal movement is hereby also distinguished and analysed to determine for instance if an animal is restless, attempting to kick-off or has kicked off the milking unit during a milking operation.
  • the milk flow rate determined by the control unit is compared with a milk flow threshold value, wherein an automatic detachment of the milking unit from the teats is triggered by the control unit if the determined milk flow is equal to or below the milk flow threshold value.
  • the milking arrangement may thus comprise means for automatic detachment of the milking unit from the teats, wherein said means for automatic detachment are operatively connected to the control unit.
  • the step of determining, by means of said control unit, a milk flow rate through the milking unit comprises the step of separating the registered motions of the vacuum pulses and the animal movement from the registered motion of the milk flow, wherein an amplitude of the registered motions of the milking unit deriving from the milk flow is used by the control unit for determining the milk flow rate.
  • the amplitude of the registered motion of the milk flow is compared to an amplitude threshold value, and, if the amplitude is equal to or below the amplitude threshold value, the control unit triggers an automatic detachment of the milking unit from the teats of the animal.
  • the object of the invention is also achieved by means of a milking arrangement comprising a milking unit configured to be attached to the teats of an animal during milking, an accelerometer arranged on the milking unit, and a control unit connected to the accelerometer.
  • the milking arrangement is hereby characterised in that the accelerometer is configured to register motions of the milking unit deriving from a milk flow through the milking unit, and the control unit is configured to determine a milk flow rate through the milking unit on basis of said registered motions.
  • control unit is configured to determine which further motions of the milking unit that derive from vacuum pulses, which motions that derive from animal movement and which motions (vibrations) that derive from milk flow through the milking unit.
  • control unit is configured to compare the milk flow rate determined by the control unit with a milk flow threshold value, wherein the control unit is configured to trigger an automatic detachment of the milking unit from the teats if the determined milk flow is equal to or below the milk flow threshold value.
  • control unit is configured to compare an amplitude of the registered motions of the milking unit deriving from milk flow to a threshold value, and, if the amplitude is below the threshold value, reduce or stop the application of vacuum via the vacuum system onto the milking unit.
  • the control unit may lower the applied vacuum, and if the flow rate goes below a second level, which is lower than the first level, the control unit may be configured to immediately stop the application of vacuum. For example, if the animal kicks off the milking unit, such kick off will thus result in the stopping of vacuum application. This may be an important feature in order to prevent a kicked off milking unit from sucking up dirt, manure or the like from the ground as a result of a kick off.
  • the milking unit comprises at least one teatcup, or preferably four teatcups, and that at least one said accelerometer is attached to the at least one teatcup, or preferably each of the four teatcups is provided with an individual said accelerometer.
  • the control unit is preferably configured so as to trigger an automatic detachment of the milking unit from the teats if a threshold value of the flow rate of one or more individual teats goes below a predetermined threshold.
  • the milking unit comprises a milking cluster, which comprises a set of teatcups, a central claw and a respective short milk tube extending from each teatcup to the central claw.
  • the accelerometer or accelerometers is/are positioned on the part of the milking cluster that present motions (vibrations) that best reflect the milk flow rate.
  • the accelerometer is attached to a short milk tube.
  • the accelerometer is attached to the central claw.
  • the milking arrangement comprises a gyro, arranged on the milking unit.
  • the accelerometer has a unique ID- number
  • the control unit is configured to read said ID-number and to identify the accelerometer on basis thereof.
  • the milking arrangement comprise a plurality of milking units in accordance with the teaching of the present invention. The use of unique ID-numbers will enable the control unit, which is common to the plurality of milking units, to control each milking unit separately.
  • the invention also relates to a milking robot, characterised in that the milking robot comprises a milking arrangement according to the invention.
  • Fig. 1 is a schematic representation of a first embodiment of a milking arrangement according to the present invention
  • Fig. 2 is a schematic representation of a second embodiment of a milking arrangement according to the present invention
  • Fig. 3 is a schematic representation of a milking robot according to the present invention.
  • Fig. 1 shows a first embodiment of a milking arrangement according to the present invention.
  • the milking arrangement comprises a milking unit 1 configured to be attached to the teats of an animal during milking, a plurality of accelerometers 2, 3, 4, 5 arranged on the milking unit 1 , and a control unit 33 connected to the accelerometers 2-5.
  • the accelerometers 2-5 are configured to register motions of the milking unit 1 deriving from a milk flow through the milking unit 1 .
  • the control unit 33 is configured to determine a milk flow rate through the m ilking unit 1 on basis of said registered motions.
  • the milking unit 1 comprises a milking cluster, which comprises a set of teatcups 6, 7, 8, 9, a central claw 10 and a respective short milk tube 1 1 , 12, 13, 14 extending from each respective teatcup 6-9 to the central claw 10. From the central claw 10, at least one long milk tube 15 extends to further equipment, such as a milk tank, in which milk is collected.
  • An automatic cluster removal (ACR) device for automatic detachment of the milking unit/cluster 1 from the teats of an animal can preferably be provided to automatically detach the milking unit/cluster when a milking operation is determined to be completed.
  • Such automatic cluster removal (ACR) device includes a cord connected between the milking unit/cluster and a pneumatic cylinder or the like for pulling of the milking unit/cluster from the teats, and is hereby preferably activated by the control unit 33.
  • a vacuum system comprising a vacuum pump 16 and a (not shown) pulsator is connected to the central claw 10 of the milking unit 1 via a vacuum tube 17.
  • the vacuum pump 16 and pulsator generates vacuum pulses in a way known per se, wherein the short milk tubes 1 1 - 14 are provided for transporting extracted milk from the teatcups 6-9 to the central claw 10.
  • a gyro 18 On the central claw 10 there is provided a gyro 18.
  • the gyro 18 detects if the central claw 10 or milking cluster takes a position during milking that deviates from a desired vertically balanced position in which all teatcups 6-9 are correctly attached to a respective teat.
  • the gyro 18 is shown as a separate single sensor provided at a bottom of the claw, the gyro 18 may preferably be provided as an integrated sensor in each of the shown accelerometers 2-5.
  • the control unit 33 is also connected to the gyro 18.
  • control unit 33 Upon detection of said deviating position, the control unit 33 is, preferably, configured to trigger an alarm and/or to trigger an automatic detachment of the milking unit 1 from the teats of an animal and to stop vacuum from being applied to the milking unit 1 .
  • the control unit 33 is configured to compare an amplitude of the registered motions of the milking unit/cluster 1 deriving from milk flow to a threshold value, and, if the amplitude is below the threshold value, the control unit 33 may trigger an automatic detachment of the milking unit/cluster 1 and/or reduce or stop the application of vacuum via the vacuum system onto the milking unit/cluster 1 .
  • the control unit 33 may trigger an automatic detachment of the milking unit/cluster 1 and/or reduce or stop the application of vacuum via the vacuum system onto the milking unit/cluster 1 .
  • the milk flow rate goes below a predetermined level, as determined by the control unit on basis of the information from the accelerometers 2-5, the milking unit/cluster is detached from the animal and/or the vacuum is reduced or stopped.
  • the animal kicks off the milking unit/cluster 1 such kick-off may trigger an alarm and a stopping of the vacuum application.
  • Each accelerometer 2-5 has a unique ID-number, and the control unit is configured to read said ID-number and to identify the accelerometer on basis thereof.
  • the milking arrangement comprise a plurality of milking units in accordance with the teaching of the present invention.
  • Fig. 2 shows an embodiment of the milking arrangement that differs from the first embodiment described hereinabove in that the accelerometers 19, 20, 21 , 22 are positioned on a respective short milk tube 1 1 -14.
  • Fig. 3 shows an embodiment in which the milking arrangement comprises a milking robot 23.
  • the milking robot 23 comprises an arm 24 for carrying and automatically attaching the teatcups 25-28 to the teats of an animal.
  • a respective accelerometer 29-32 is attached to a respective teatcup.
  • a control unit 34 is connected to the accelerometers 29-32 and configured to trigger an automatic detachment of an individual teatcup and reduction/stopping of the applied vacuum via the vacuum system onto the milking teatcup in response to a predetermined low milk flow.
  • the control unit 34 can also be connected to a drive mechanism for controlling the movement of the robot arm 24 in response to detected animal movement or indications of fall-off/kick- off.
  • the control unit 34 is configured to determine the milk flow through the teatcups 25-28 on basis registered motions of the associated accelerometers 29-32 in a way similar to the one disclosed hereinabove with reference to figs. 1 and 2. Flence, the control unit 34 is configured to trigger an automatic detachment, lowering/stopping of vaccum and/or control the motion and position of the arm 24 on basis of the registered milk flow rate and/or animal movement determined by the control unit 34 on basis of the input it receives from the accelerometers 29-32.

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  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • External Artificial Organs (AREA)

Abstract

L'invention concerne un agencement de traite comprenant une unité de traite (1) configurée pour être fixée aux trayons d'un animal pendant la traite, un accéléromètre (2-5) disposé sur l'unité de traite (1), et une unité de commande (33) connectée à l'accéléromètre (2-5). L'accéléromètre (2-5) est configuré pour enregistrer des mouvements de l'unité de traite (1) dérivant d'un écoulement de lait à travers l'unité de traite (1), et l'unité de commande (33) est configurée pour déterminer un débit de lait à travers l'unité de traite (1) sur la base desdits mouvements enregistrés.
PCT/SE2022/050138 2021-02-11 2022-02-08 Procédé de commande d'un agencement de traite, et agencement de traite Ceased WO2022173352A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE2150149-9 2021-02-11
SE2150149 2021-02-11

Publications (1)

Publication Number Publication Date
WO2022173352A1 true WO2022173352A1 (fr) 2022-08-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2022/050138 Ceased WO2022173352A1 (fr) 2021-02-11 2022-02-08 Procédé de commande d'un agencement de traite, et agencement de traite

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Country Link
WO (1) WO2022173352A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0953829A2 (fr) * 1998-05-01 1999-11-03 Maasland N.V. Méthode et dispositif pour la surveillance acoustique du déroulement d'un processus, tel qu'un processus de traite
WO2000013490A1 (fr) 1998-09-04 2000-03-16 Alfa Laval Agri Ab Procede et dispositif ameliorant la traite
WO2015120321A1 (fr) * 2014-02-07 2015-08-13 Naia Health, Inc. Procédés, appareil et système pour l'extraction de lait maternel humain
WO2018084698A1 (fr) 2016-11-07 2018-05-11 Lely Patent N.V. Système de traite comprenant un gobelet trayeur doté d'un capteur et d'une alimentation électrique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0953829A2 (fr) * 1998-05-01 1999-11-03 Maasland N.V. Méthode et dispositif pour la surveillance acoustique du déroulement d'un processus, tel qu'un processus de traite
WO2000013490A1 (fr) 1998-09-04 2000-03-16 Alfa Laval Agri Ab Procede et dispositif ameliorant la traite
WO2015120321A1 (fr) * 2014-02-07 2015-08-13 Naia Health, Inc. Procédés, appareil et système pour l'extraction de lait maternel humain
WO2018084698A1 (fr) 2016-11-07 2018-05-11 Lely Patent N.V. Système de traite comprenant un gobelet trayeur doté d'un capteur et d'une alimentation électrique

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