CA2941881A1 - Milking device - Google Patents
Milking device Download PDFInfo
- Publication number
- CA2941881A1 CA2941881A1 CA2941881A CA2941881A CA2941881A1 CA 2941881 A1 CA2941881 A1 CA 2941881A1 CA 2941881 A CA2941881 A CA 2941881A CA 2941881 A CA2941881 A CA 2941881A CA 2941881 A1 CA2941881 A1 CA 2941881A1
- Authority
- CA
- Canada
- Prior art keywords
- pressure
- milking
- pulsation
- sensor
- control device
- 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.)
- Abandoned
Links
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
- A01J5/04—Milking machines or devices with pneumatic manipulation of teats
- A01J5/08—Teat-cups with two chambers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- External Artificial Organs (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
A milking device for milking a dairy animal is provided with: a milking cup having a teat space and a pulsation space, - a control device, a vacuum device, a pulsation device configured to apply, in a way which is controllable by the control device, a pressure which varies in a pulsed manner in the pulsation space by means of specifically opening and/or closing a vacuum pressure connection and/or a second (ambient) pressure connection, and a pressure-determining device configured to determine a pressure in the pulsation space and comprising a pressure sensor, and a third pressure connection which runs from the pulsation space to the pressure sensor, wherein the control device is configured to regulate the pulsation device on the basis of the determined pressure, wherein a sensor valve device which is controllable by the control device is also provided in the third pressure connection, which sensor valve device is configured to controllably open and close the third pressure connection. The pressure sensor can thus be screened from the pressure (changes) for a part of the time during which the change is considered to be negligible. This therefore increases the service life of the pressure sensor.
Description
Milking device The present invention relates to a milking device for milking a dairy animal, which device is provided with at least one milking cup having a teat space and a pulsation space, a control device for controlling the milking device, a vacuum device for applying an underpressure, a pulsation device having an openable and closable first pressure connection which is controllable by the control device and runs from the pulsation space to the vacuum device, and an openable and closable second pressure connection which is controllable by the control device and runs from the pulsation space to a source of a second pressure which is higher than said underpressure, which source in particular comprises the ambient, wherein the pulsation device is configured to apply, in a way which is controllable by the control device, a pressure which varies in pulses in the pulsation space by means of specifically opening and/or closing the first and/or the second pressure connection, and a pressure-determining device configured to determine a pressure in the pulsation space and comprising a pressure sensor, and a third pressure connection which runs from the pulsation space to the pressure sensor, wherein the control device is configured to regulate the pulsation device on the basis of the determined pressure.
Milking devices of this type are known, both in their conventional form and in the robot configuration. Measuring the pressure in the pulsation space may serve to monitor or adjust the pulsation in the device.
A problem with the known devices is that these only have a limited service life, more particularly that the pressure-determining device only provides a reliable pressure signal for a limited time. This means that a lot of time and money is associated with repairing or replacing the pressure-determining device.
It is an object of the present invention to at least partially eliminate said problem.
The invention achieves this object by means of a milking device according to Claim 1, in particular a milking device for milking a dairy animal and provided with:
- at least one milking cup having a teat space and a pulsation space, - a control device for controlling the milking device, - a vacuum device for applying an underpressure, - a pulsation device having an openable and closable first pressure connection which is controllable by the control device and runs from the pulsation space to the vacuum
Milking devices of this type are known, both in their conventional form and in the robot configuration. Measuring the pressure in the pulsation space may serve to monitor or adjust the pulsation in the device.
A problem with the known devices is that these only have a limited service life, more particularly that the pressure-determining device only provides a reliable pressure signal for a limited time. This means that a lot of time and money is associated with repairing or replacing the pressure-determining device.
It is an object of the present invention to at least partially eliminate said problem.
The invention achieves this object by means of a milking device according to Claim 1, in particular a milking device for milking a dairy animal and provided with:
- at least one milking cup having a teat space and a pulsation space, - a control device for controlling the milking device, - a vacuum device for applying an underpressure, - a pulsation device having an openable and closable first pressure connection which is controllable by the control device and runs from the pulsation space to the vacuum
2 device, and an openable and closable second pressure connection which is controllable by the control device and runs from the pulsation space to a source of a second pressure which is higher than said underpressure, which source in particular comprises the ambient, wherein the pulsation device is configured to apply, in a way which is controllable by the control device, a pressure which varies in pulses in the pulsation space by means of specifically opening and/or closing the first and/or the second pressure connection, and a pressure-determining device configured to determine a pressure in the pulsation space and comprising a pressure sensor, and a third pressure connection which runs from the pulsation space to the pressure sensor, wherein the control device is configured to regulate the pulsation device on the basis of the determined pressure, wherein furthermore a sensor valve device which is controllable by the control device is provided in the third pressure connection, which sensor valve device is configured to controllably open and close the third pressure connection.
The insight behind the invention is that the pressure sensor in milking devices is exposed to an underpressure for approximately half of each pulse, that such pulses are generated in the device for a large part of the time each day and that the pressure sensor is thus in total exposed to such an underpressure for a large part of the day, moreover that this pressure changes very frequently, and that the load on the pressure sensor is therefore very large. However, the pressure hardly appears to change from pulse to pulse, and certainly not so quickly that every pulse has to be measured. The idea is therefore to measure only during a limited period of time and not to expose the pressure sensor to the (alternating) underpressure for the remaining time. The service life of the pressure sensor can thus increase accordingly. In addition, the problems with the service life of the pressure sensor meant that, in the prior art, the pressure sensor often consisted merely of an external pressure sensor which was only connected and used during maintenance of the milking device. In that case, there was no protection for the sensor in the form of the sensor valve device, and certainly no sensor valve device controllable by the control device and/or permanently integrated. As a result, milking devices according to the prior art could therefore not, or at least to a far lesser extent, control the pulsator on the basis of measured pressure. The present invention makes it possible to implement a pressure
The insight behind the invention is that the pressure sensor in milking devices is exposed to an underpressure for approximately half of each pulse, that such pulses are generated in the device for a large part of the time each day and that the pressure sensor is thus in total exposed to such an underpressure for a large part of the day, moreover that this pressure changes very frequently, and that the load on the pressure sensor is therefore very large. However, the pressure hardly appears to change from pulse to pulse, and certainly not so quickly that every pulse has to be measured. The idea is therefore to measure only during a limited period of time and not to expose the pressure sensor to the (alternating) underpressure for the remaining time. The service life of the pressure sensor can thus increase accordingly. In addition, the problems with the service life of the pressure sensor meant that, in the prior art, the pressure sensor often consisted merely of an external pressure sensor which was only connected and used during maintenance of the milking device. In that case, there was no protection for the sensor in the form of the sensor valve device, and certainly no sensor valve device controllable by the control device and/or permanently integrated. As a result, milking devices according to the prior art could therefore not, or at least to a far lesser extent, control the pulsator on the basis of measured pressure. The present invention makes it possible to implement a pressure
3 sensor in a milking device in order to thus have pressure values available for each milking operation in order to control the milking process.
It should be noted here that it is known per se from the prior art relating to pressure sensors to shield a pressure sensor from the space in which the pressure must be measured in some cases, but this is only done if there is an overpressure wave or if a pressure value which differs (too) greatly from the customary pressure values is otherwise suspected or detected, which could damage the pressure sensor. In that case it is a safety valve. By contrast, the insight in the present invention is that the sensor valve device is closable by the control device in such a way that the pressure connection is closed in the case of a customary (under)pressure and not only in the case of a certain minimum overpressure. That is why, in this case, the closing does not occur automatically in response to an overpressure (which after all, in principle, will not occur), but does occur under the control of the control device and at a pressure with a value in the range from and including said underpressure up to and including said second pressure, or at a usual operating pressure. It should be noted that the precise value at which the control device closes the third pressure connection is not important and may vary for each opening and closing action. It is merely important that the opening and closing occurs at a usual operating pressure and not at a (dangerous) overpressure or such abnormal operating pressure. It should furthermore be noted that, if the sensor valve device were to close automatically at a usual operating pressure, the device according to the invention could not even work. The known valve device, as such, is therefore unusable in the present invention for the achieved object. It is of course not impossible to additionally integrate the known device mentioned above in order to protect the sensor valve device against possible overpressures, but the object of the invention is not achieved using this device alone.
Within the context of the present invention, the control device is configured to control the milking device and thus also parts thereof, such as the pulsation device. In this case, the control device may be distributed, in other words there are a plurality of modules which optionally function independently of one another. In that case, the control device should be considered to be the entirety of all components which (individually or together) control part of the milking device.
It should be noted here that it is known per se from the prior art relating to pressure sensors to shield a pressure sensor from the space in which the pressure must be measured in some cases, but this is only done if there is an overpressure wave or if a pressure value which differs (too) greatly from the customary pressure values is otherwise suspected or detected, which could damage the pressure sensor. In that case it is a safety valve. By contrast, the insight in the present invention is that the sensor valve device is closable by the control device in such a way that the pressure connection is closed in the case of a customary (under)pressure and not only in the case of a certain minimum overpressure. That is why, in this case, the closing does not occur automatically in response to an overpressure (which after all, in principle, will not occur), but does occur under the control of the control device and at a pressure with a value in the range from and including said underpressure up to and including said second pressure, or at a usual operating pressure. It should be noted that the precise value at which the control device closes the third pressure connection is not important and may vary for each opening and closing action. It is merely important that the opening and closing occurs at a usual operating pressure and not at a (dangerous) overpressure or such abnormal operating pressure. It should furthermore be noted that, if the sensor valve device were to close automatically at a usual operating pressure, the device according to the invention could not even work. The known valve device, as such, is therefore unusable in the present invention for the achieved object. It is of course not impossible to additionally integrate the known device mentioned above in order to protect the sensor valve device against possible overpressures, but the object of the invention is not achieved using this device alone.
Within the context of the present invention, the control device is configured to control the milking device and thus also parts thereof, such as the pulsation device. In this case, the control device may be distributed, in other words there are a plurality of modules which optionally function independently of one another. In that case, the control device should be considered to be the entirety of all components which (individually or together) control part of the milking device.
4 The source for the second pressure may in principle be any source which supplies a pressure which is sufficient for folding the pulsation space, in particular folding the lining of the milking cup. Such a second pressure may, for example, be a slight underpressure, or even an overpressure. In particular, however, the source for the second pressure is the surroundings, so that the second pressure is equal to the ambient pressure.
Such a source is of course always available and provides an adequately defined pressure.
However, separate sources may have an advantage since they are more readily controllable and offer even more accurately defined pressure.
According to the invention, the pressure-determining device is configured to to determine the pressure in the pulsation space, wherein "determine"
comprises the direct measurement and also the indirect measurement of the pressure. In this case it should be noted, however, that there must be a pressure connection when determining the pressure, in other words a flow connection, wherein air can flow between the pulsation space and the pressure sensor. After all, the resolved problem will predominantly occur if there is such a pressure connection to the pressure sensor.
It should also be noted here that the principle of the invention, namely, in the case of a substantially continuous alternation of the pressure to be measured, only exposing the pressure sensor to said pressure for a limited period of time, is also applicable to other pressure measurement devices. An example is a milking device having a pressure sensor configured to measure a pressure which varies in a pulsed manner, for example in the teat space, such as in the space between the place where the lining folds shut and the udder, which milking device is provided with a pressure connection between said space and the pressure sensor, wherein a sensor valve device which is controllable, in particular by the control device of the milking device, is also provided in the pressure connection, which sensor valve device is configured to controllably open and close the pressure connection. The advantages in this case are identical to those mentioned above.
Usually, however, this sensor is also exposed to milk, directly or indirectly, and there is a permanent barrier in the pressure connection for reasons of hygiene. A milking device having a pressure sensor for the vacuum source (vacuum pump), wherein the pressure sensor with a pressure connection is operatively connected to the vacuum source, and wherein a sensor valve device which is controllable by the control device is also provided in
Such a source is of course always available and provides an adequately defined pressure.
However, separate sources may have an advantage since they are more readily controllable and offer even more accurately defined pressure.
According to the invention, the pressure-determining device is configured to to determine the pressure in the pulsation space, wherein "determine"
comprises the direct measurement and also the indirect measurement of the pressure. In this case it should be noted, however, that there must be a pressure connection when determining the pressure, in other words a flow connection, wherein air can flow between the pulsation space and the pressure sensor. After all, the resolved problem will predominantly occur if there is such a pressure connection to the pressure sensor.
It should also be noted here that the principle of the invention, namely, in the case of a substantially continuous alternation of the pressure to be measured, only exposing the pressure sensor to said pressure for a limited period of time, is also applicable to other pressure measurement devices. An example is a milking device having a pressure sensor configured to measure a pressure which varies in a pulsed manner, for example in the teat space, such as in the space between the place where the lining folds shut and the udder, which milking device is provided with a pressure connection between said space and the pressure sensor, wherein a sensor valve device which is controllable, in particular by the control device of the milking device, is also provided in the pressure connection, which sensor valve device is configured to controllably open and close the pressure connection. The advantages in this case are identical to those mentioned above.
Usually, however, this sensor is also exposed to milk, directly or indirectly, and there is a permanent barrier in the pressure connection for reasons of hygiene. A milking device having a pressure sensor for the vacuum source (vacuum pump), wherein the pressure sensor with a pressure connection is operatively connected to the vacuum source, and wherein a sensor valve device which is controllable by the control device is also provided in
5 the pressure connection, which sensor valve device is configured for controllably opening and closing the pressure connection, also, for example, provides the advantages according to the invention. The latter milking device, however, is far less exposed to varying pressures.
Particular embodiments of the invention are described in the dependent claims, and in the following part of the description. In particular, the controllable sensor valve device has a controllably closable fourth pressure connection to ambient pressure. In embodiments, the control device is configured to open the fourth pressure connection when the third pressure connection has been closed by the sensor valve device.
Ambient pressure, in other words the ambient air, can flow to the pressure sensor via the fourth pressure connection to said ambient pressure in order to unload the pressure sensor. In particular when the third pressure connection is closed, when the pressure sensor no longer has to measure, opening the fourth pressure connection will very rapidly lead to an equalization of pressure, as a result of which the sensor may remain in the unloaded state until the following measurement point. However, it is also possible to operate without such a pressure connection to ambient pressure, for example allowing the pressure sensor to stop measuring when a substantially atmospheric pressure is measured, following which the third pressure connection is closed. Although there will always be some leakage of ambient air to the pressure sensor, which will also cause the pressure sensor to be unloaded in line with the amount of the leakage, the fourth pressure connection is a designed and intended connection to the surroundings, and is moreover controllably closable.
The pressure sensor may be an absolute sensor, in other words a sensor which emits a signal which is dependent on the absolute pressure as measured by the pressure sensor. In embodiments, the pressure sensor is a differential pressure meter, in particular a differential pressure meter of a pressure difference between the pressure in the pulsation space and ambient pressure. Such a differential pressure meter may have advantages in terms of calibration, as ambient pressure is the most commonly used second pressure for pulsators.
In embodiments, the control device is configured to keep the third pressure connection open for a predetermined time and to close the third pressure connection at the
Particular embodiments of the invention are described in the dependent claims, and in the following part of the description. In particular, the controllable sensor valve device has a controllably closable fourth pressure connection to ambient pressure. In embodiments, the control device is configured to open the fourth pressure connection when the third pressure connection has been closed by the sensor valve device.
Ambient pressure, in other words the ambient air, can flow to the pressure sensor via the fourth pressure connection to said ambient pressure in order to unload the pressure sensor. In particular when the third pressure connection is closed, when the pressure sensor no longer has to measure, opening the fourth pressure connection will very rapidly lead to an equalization of pressure, as a result of which the sensor may remain in the unloaded state until the following measurement point. However, it is also possible to operate without such a pressure connection to ambient pressure, for example allowing the pressure sensor to stop measuring when a substantially atmospheric pressure is measured, following which the third pressure connection is closed. Although there will always be some leakage of ambient air to the pressure sensor, which will also cause the pressure sensor to be unloaded in line with the amount of the leakage, the fourth pressure connection is a designed and intended connection to the surroundings, and is moreover controllably closable.
The pressure sensor may be an absolute sensor, in other words a sensor which emits a signal which is dependent on the absolute pressure as measured by the pressure sensor. In embodiments, the pressure sensor is a differential pressure meter, in particular a differential pressure meter of a pressure difference between the pressure in the pulsation space and ambient pressure. Such a differential pressure meter may have advantages in terms of calibration, as ambient pressure is the most commonly used second pressure for pulsators.
In embodiments, the control device is configured to keep the third pressure connection open for a predetermined time and to close the third pressure connection at the
6 end of the predetermined time. In these embodiments, measurements may be carried out during this predetermined time, following which the pressure sensor may rest for the remaining time. The predetermined time may in principle be chosen arbitrarily, but in practice is chosen in such a way that the measured value is able to determine the pressure in a sufficiently reliable manner. This time period may depend on the type of pressure sensor, on the degree to which pressure resonances may occur, etc. A practical test will simply be able to provide a suitable time. For example, the current pressure may be determined sufficiently accurately within 10 s. If calibration measurements further reveal that the maximum pressure variation is 2%/min. and the permitted margin in the pressure is 5%, it may then be sufficient to measure for 10 s and to then allow the sensor to rest for 2 min. 20 s. In such a case, the service life of the sensor may be extended by a maximum of a factor of 15. Other predetermined times and intervals are of course also possible. In particular, these predetermined times and intervals apply to each milking operation, so that the process is started from the beginning in each new milking operation. After all, the situation and the settings for the milking device may change for each dairy animal.
In embodiments, the predetermined time comprises a certain time period, a predetermined number of pulses or a time period during which a predetermined criterion is met. These are all possibilities for setting the "predetermined time". For instance, it could be desirable to measure the pressure for a predetermined minimum number of pulses, in order to thus obtain a sufficiently reliable and stable value.
In embodiments, the criterion comprises the measured pressure differing by more than a predetermined amount from a desired pressure value. In other words, the pressure value is measured for as long as the measured pressure value differs from the desired pressure value by more than the predetermined amount. This is particularly important if the pulsation device is self-adjusting, in which cases the settings of the pulsation device change in order to obtain the desired pressure value. In this case, the pressure sensor may serve to control the pulsation device on the basis of the measured pressure value. More particularly, the criterion comprises said difference being present during a predetermined measurement period. This means that a random peak or "spike" is not sufficient to meet the criterion. Moreover, it will be clear that in particular in the periods when ambient pressure prevails in the pulsation space there will be little or no difference
In embodiments, the predetermined time comprises a certain time period, a predetermined number of pulses or a time period during which a predetermined criterion is met. These are all possibilities for setting the "predetermined time". For instance, it could be desirable to measure the pressure for a predetermined minimum number of pulses, in order to thus obtain a sufficiently reliable and stable value.
In embodiments, the criterion comprises the measured pressure differing by more than a predetermined amount from a desired pressure value. In other words, the pressure value is measured for as long as the measured pressure value differs from the desired pressure value by more than the predetermined amount. This is particularly important if the pulsation device is self-adjusting, in which cases the settings of the pulsation device change in order to obtain the desired pressure value. In this case, the pressure sensor may serve to control the pulsation device on the basis of the measured pressure value. More particularly, the criterion comprises said difference being present during a predetermined measurement period. This means that a random peak or "spike" is not sufficient to meet the criterion. Moreover, it will be clear that in particular in the periods when ambient pressure prevails in the pulsation space there will be little or no difference
7 between the measured value and the desired value. The measurement period may therefore be accumulated from parts of successive pulses, in particular the parts of the pulses during which at least a minimum underpressure prevails, such as the so-called b phase or suction phase of a pulse, optionally combined with the a and c phases, or the transition phases.
In embodiments, the predetermined criterion comprises the third pressure connection having been closed during a closure period immediately prior thereto. This means that no measurements were made during the preceding closure period and that the circumstances may therefore have changed, which could require a new measurement. On the basis of calibration measurements, for example, it is possible to establish that measurements are required at least once per fixed period, such as once per 30 s or the like. A measurement itself may also have a certain duration, such as the above-mentioned minimum time period or a minimum number of pulses.
In an embodiment, the milking device according to the invention further comprises an additional measuring device configured to measure an additional parameter value relating to the milking operation, for example a flow of milk, and wherein the control device is configured to operate the sensor valve device on the basis of the measured additional parameter value. In particular, the criterion comprises the at least one additional parameter value meeting a second criterion. These embodiments may use the additional measuring device to establish whether a change in the pressure in the pulsation space is likely. Moreover, it is possible for the milking device to be controlled on the basis of the measured additional parameter value, which could also lead to a changed pressure in the pulsation space. A flow of milk may be mentioned as an example of the additional parameter. A change in the flow of milk, for example, may change the setting of the pulsation device. For instance, at the start of a milking operation the flow of milk must first get up to speed, for the purpose of which the pulsation device often carries out very rapid and somewhat weaker pulsation. Once the flow of milk is up to speed, a main milking regime is initiated, in which the pulsator pulses, for example, once per second with a high so-called suction/rest ratio. When the flow of milk once again sinks below a threshold at the end of a milking operation, the pulsation device may switch to a so-called post-milking setting, which may comprise yet other values for the pulsation pressure and its course over
In embodiments, the predetermined criterion comprises the third pressure connection having been closed during a closure period immediately prior thereto. This means that no measurements were made during the preceding closure period and that the circumstances may therefore have changed, which could require a new measurement. On the basis of calibration measurements, for example, it is possible to establish that measurements are required at least once per fixed period, such as once per 30 s or the like. A measurement itself may also have a certain duration, such as the above-mentioned minimum time period or a minimum number of pulses.
In an embodiment, the milking device according to the invention further comprises an additional measuring device configured to measure an additional parameter value relating to the milking operation, for example a flow of milk, and wherein the control device is configured to operate the sensor valve device on the basis of the measured additional parameter value. In particular, the criterion comprises the at least one additional parameter value meeting a second criterion. These embodiments may use the additional measuring device to establish whether a change in the pressure in the pulsation space is likely. Moreover, it is possible for the milking device to be controlled on the basis of the measured additional parameter value, which could also lead to a changed pressure in the pulsation space. A flow of milk may be mentioned as an example of the additional parameter. A change in the flow of milk, for example, may change the setting of the pulsation device. For instance, at the start of a milking operation the flow of milk must first get up to speed, for the purpose of which the pulsation device often carries out very rapid and somewhat weaker pulsation. Once the flow of milk is up to speed, a main milking regime is initiated, in which the pulsator pulses, for example, once per second with a high so-called suction/rest ratio. When the flow of milk once again sinks below a threshold at the end of a milking operation, the pulsation device may switch to a so-called post-milking setting, which may comprise yet other values for the pulsation pressure and its course over
8 time. The criterion may thus comprise, for example, that the flow of milk must be higher than a first threshold, or must fall below a second threshold. Other additional parameters could of course also be used, such as an expected milking duration.
In embodiments, the milking operation is divided into a plurality of periods having different pulsator settings, wherein the control device is configured to open the sensor valve device at least once during at least one of these periods, and in particular during each of these periods, for example for a predetermined opening time period selected for each period. As already described above, the settings of the pulsation device may change during the milking operation, for example as a function of the time or the measured flow of milk. Such a change in the settings may result in the pressure in the pulsation space changing, either in terms of absolute size or in terms of its progress over time. In order to obtain a reliable measurement even after such a possible change, it may be decided, in accordance with these embodiments, to measure at least once in one or more of these periods, for the purpose of which the sensor valve device is opened. In this case, it is possible, although not compulsory, to perform such a measurement for a predetermined opening time period selected for each period, such as 10 s or 10 pulses or the like. It should be noted that the opening time period may vary for each period.
The invention will be explained below with reference to the drawing, which shows some non-limiting illustrative embodiments of the invention, in which identical reference numerals indicate identical or similar components, and in which:
- Figure 1 diagrammatically shows an embodiment of the milking device according to the invention in a partially cut-away side view (not to scale);
- Figure 2 diagrammatically shows the interval of time of a pulsation pressure, and a representation of the measurement of the sensor 24; and - Figure 3 shows three graphs one above the other of the flow of milk, pressure and measurement, parallel in time.
Figure 1 diagrammatically describes an embodiment of the milking device according to the invention in a partially cut-away side view (not to scale).
The milking device as a whole is indicated by reference numeral 1, and comprises a robot arm 2, a milking cup 3, a pulsation device 4, a pressure-determining device 5 and a control device
In embodiments, the milking operation is divided into a plurality of periods having different pulsator settings, wherein the control device is configured to open the sensor valve device at least once during at least one of these periods, and in particular during each of these periods, for example for a predetermined opening time period selected for each period. As already described above, the settings of the pulsation device may change during the milking operation, for example as a function of the time or the measured flow of milk. Such a change in the settings may result in the pressure in the pulsation space changing, either in terms of absolute size or in terms of its progress over time. In order to obtain a reliable measurement even after such a possible change, it may be decided, in accordance with these embodiments, to measure at least once in one or more of these periods, for the purpose of which the sensor valve device is opened. In this case, it is possible, although not compulsory, to perform such a measurement for a predetermined opening time period selected for each period, such as 10 s or 10 pulses or the like. It should be noted that the opening time period may vary for each period.
The invention will be explained below with reference to the drawing, which shows some non-limiting illustrative embodiments of the invention, in which identical reference numerals indicate identical or similar components, and in which:
- Figure 1 diagrammatically shows an embodiment of the milking device according to the invention in a partially cut-away side view (not to scale);
- Figure 2 diagrammatically shows the interval of time of a pulsation pressure, and a representation of the measurement of the sensor 24; and - Figure 3 shows three graphs one above the other of the flow of milk, pressure and measurement, parallel in time.
Figure 1 diagrammatically describes an embodiment of the milking device according to the invention in a partially cut-away side view (not to scale).
The milking device as a whole is indicated by reference numeral 1, and comprises a robot arm 2, a milking cup 3, a pulsation device 4, a pressure-determining device 5 and a control device
9 6. Furthermore, reference numeral 7 indicates a teat of a dairy animal and 8 a milk-flow meter.
The robot arm 2 is configured to attach the milking cup 3 to a teat 7. For this purpose, the robot arm 2 comprises components which are known per se and are not illustrated here in more detail, such as a teat-detection device, robot-arm actuators and a milking-cup gripper.
The milking cup 3 comprises a sleeve 9, inside which is a flexible lining 10.
The sleeve 9 and the lining 10 enclose a pulsation space 11, and inside the lining 10 there is a teat space 12 for accommodating the teat 7. Underneath the milking cup 3, the lining
The robot arm 2 is configured to attach the milking cup 3 to a teat 7. For this purpose, the robot arm 2 comprises components which are known per se and are not illustrated here in more detail, such as a teat-detection device, robot-arm actuators and a milking-cup gripper.
The milking cup 3 comprises a sleeve 9, inside which is a flexible lining 10.
The sleeve 9 and the lining 10 enclose a pulsation space 11, and inside the lining 10 there is a teat space 12 for accommodating the teat 7. Underneath the milking cup 3, the lining
10 merges into, or is at least connected to, the milk pipe 13.
The pulsation device 4 is connected to the pulsation space 11 via a first pressure connection 14. The pulsation device 4 comprises a pulsator valve device 15 and a vacuum device 16 having a buffer vessel 17, a vacuum pump 18 and an air filter 19. The pulsation device 4 also comprises a second pressure connection 20 which is connected to the surroundings 21 via an air filter 19. The pulsation device 4, and in particular the pulsation valve device 15, is controllable by the control device 6.
The pressure-determining device 5 comprises a third pressure connection 22, a sensor valve device 23, a sensor 24 and an (optional) fourth pressure connection 25. The sensor 24 is connectable to the surroundings 21 via the sensor valve device 23 controllable by the control device 6 and the fourth pressure connection 25, provided with an air filter 19.
The sensor 24 is also operatively connected to the control device 6 for emitting a sensor signal.
During use of the milking device 1, the control device 6 will operate the robot arm 2 in order to attach a milking cup 3 to a teat 7. It should be noted that the robot arm 2 does not necessarily have to grip the milking cup 3 and that the milking cup 3 may also be provided on the robot arm 2 on a milking cup holder, such as for example in the Lely AstronautTM system. The details thereof, such as of the robot arm, do not fall within the scope of the present invention and will therefore not be explained in any more detail here.
Following attachment to the teat 7, the control device 6 will operate the pulsation device 4 in order to vary the pressure in the pulsation space 11 in a pulsed manner. This causes, in a manner known per se, the lining 10 to leave the teat space 12 open when there is a low pressure in the pulsation space 11, as a result of which the teat 7, which is then located in the teat space 12, is subjected to a milking vacuum which sucks milk out of the teat towards the milk pipe 13. The control device 6 then controls the pulsation device 4 in such a way that the pressure in the pulsation space 11 increases, as 5 a result of which the lining 10 will fold up and close off the teat space, in which case the milking vacuum no longer acts on the teat 7 but at least the lining 10 may massage the teat 7. This principle of milking in a pulsed manner is known per se. In order to realize the alternating pressure in the pulsation space 11, the pulsation device 4 on the one hand comprises a vacuum source in the form of the vacuum device 16, and on the other hand a 10 source of higher pressure, in this case the surroundings 21. The pulsation valve device 15 is configured to alternately bring the first pressure connection 14 into connection with the vacuum device 16 and the surroundings 21.
In order to monitor the pulsation action, a pressure-determining device 5 is provided with a sensor 24. If the sensor 24 were continuously in direct connection with the pulsation space 11, as is the case in the prior art, the sensor 24 would be under alternating pressure for a very large part of the time, for example between 1 atmosphere and approximately 0.5 atmosphere absolute. Moreover, the sensor 24 would in that case be under the low pressure for a large part of the time. Both situations, namely alternating pressures and the low pressure, cause ageing of the sensor 24, so that it only has a limited service life. With the aid of the sensor valve device 23, the sensor 24 may be closed off from the low pressure and/or the pressure alternations, if desired. For this purpose, the control device 6 may, for example, set the sensor valve device 23 in such a way that the sensor 24 becomes connected to the surroundings via the fourth pressure connection 25, with the third pressure connection 22 to the pulsation space 11 being simultaneously closed. In that case, the sensor device 24 is under a constant resting pressure, in other words atmospheric pressure.
By means of the sensor valve device 23, it is thus possible to extend the service life of the sensor 24 by allowing the sensor to measure and be exposed to a (varying) underpressure only if desired. The criterion for if desired" may be selected in accordance with the invention, such as in a predetermined duty cycle. An example is 10 s measuring and 30 s rest, 10 s measuring, 30 s rest, etc. In this case, it is assumed that the
The pulsation device 4 is connected to the pulsation space 11 via a first pressure connection 14. The pulsation device 4 comprises a pulsator valve device 15 and a vacuum device 16 having a buffer vessel 17, a vacuum pump 18 and an air filter 19. The pulsation device 4 also comprises a second pressure connection 20 which is connected to the surroundings 21 via an air filter 19. The pulsation device 4, and in particular the pulsation valve device 15, is controllable by the control device 6.
The pressure-determining device 5 comprises a third pressure connection 22, a sensor valve device 23, a sensor 24 and an (optional) fourth pressure connection 25. The sensor 24 is connectable to the surroundings 21 via the sensor valve device 23 controllable by the control device 6 and the fourth pressure connection 25, provided with an air filter 19.
The sensor 24 is also operatively connected to the control device 6 for emitting a sensor signal.
During use of the milking device 1, the control device 6 will operate the robot arm 2 in order to attach a milking cup 3 to a teat 7. It should be noted that the robot arm 2 does not necessarily have to grip the milking cup 3 and that the milking cup 3 may also be provided on the robot arm 2 on a milking cup holder, such as for example in the Lely AstronautTM system. The details thereof, such as of the robot arm, do not fall within the scope of the present invention and will therefore not be explained in any more detail here.
Following attachment to the teat 7, the control device 6 will operate the pulsation device 4 in order to vary the pressure in the pulsation space 11 in a pulsed manner. This causes, in a manner known per se, the lining 10 to leave the teat space 12 open when there is a low pressure in the pulsation space 11, as a result of which the teat 7, which is then located in the teat space 12, is subjected to a milking vacuum which sucks milk out of the teat towards the milk pipe 13. The control device 6 then controls the pulsation device 4 in such a way that the pressure in the pulsation space 11 increases, as 5 a result of which the lining 10 will fold up and close off the teat space, in which case the milking vacuum no longer acts on the teat 7 but at least the lining 10 may massage the teat 7. This principle of milking in a pulsed manner is known per se. In order to realize the alternating pressure in the pulsation space 11, the pulsation device 4 on the one hand comprises a vacuum source in the form of the vacuum device 16, and on the other hand a 10 source of higher pressure, in this case the surroundings 21. The pulsation valve device 15 is configured to alternately bring the first pressure connection 14 into connection with the vacuum device 16 and the surroundings 21.
In order to monitor the pulsation action, a pressure-determining device 5 is provided with a sensor 24. If the sensor 24 were continuously in direct connection with the pulsation space 11, as is the case in the prior art, the sensor 24 would be under alternating pressure for a very large part of the time, for example between 1 atmosphere and approximately 0.5 atmosphere absolute. Moreover, the sensor 24 would in that case be under the low pressure for a large part of the time. Both situations, namely alternating pressures and the low pressure, cause ageing of the sensor 24, so that it only has a limited service life. With the aid of the sensor valve device 23, the sensor 24 may be closed off from the low pressure and/or the pressure alternations, if desired. For this purpose, the control device 6 may, for example, set the sensor valve device 23 in such a way that the sensor 24 becomes connected to the surroundings via the fourth pressure connection 25, with the third pressure connection 22 to the pulsation space 11 being simultaneously closed. In that case, the sensor device 24 is under a constant resting pressure, in other words atmospheric pressure.
By means of the sensor valve device 23, it is thus possible to extend the service life of the sensor 24 by allowing the sensor to measure and be exposed to a (varying) underpressure only if desired. The criterion for if desired" may be selected in accordance with the invention, such as in a predetermined duty cycle. An example is 10 s measuring and 30 s rest, 10 s measuring, 30 s rest, etc. In this case, it is assumed that the
11 pulsation is sufficiently stable. This will be explained in greater detail below with reference to Figures 2 and 3.
In this case, the third pressure connection 22 is directly connected to the pulsation space 11 by means of a separate pressure connection, but could also be connected to the pulsation space 11 via the first pressure connection 14.
However, a direct connection which is separate from other pressure connections has the advantage that the pressure is measured through (by means of) a duct having a less turbulent flow. In that case, the pressure values measured by the pressure sensor 24 will be more reliable.
Figure 2 diagrammatically shows the progress over time of a pressure in the pulsation space 11, and a diagrammatic representation of the measurement of the sensor 24. The upper part of the graph shows the absolute pressure in the pulsation space 11, which varies between atmospheric pressure 1 bar and a lowest pressure of approximately 0.55 bar. The pulsations start shortly after the time to.
The lower part of the graph diagrammatically indicates the time during which the sensor 24 is actively measuring and is therefore connected to the pulsation space 11.
In this case, a value of 1 for the sensor S is equal to measuring the pressure, and thus being exposed to pressure variations and low pressure, while the value of 0 stands for not measuring, in other words resting at atmospheric pressure.
It can be seen that the sensor only measures between the times to and t1, in other words for approximately five pulsations. The sensor 24 does not measure during the time from t1 to t2, when the pulsations have already ceased and the milking operation has ended. It will be clear that the service life of the sensor 24 can be drastically extended in the case of such a measurement schedule.
Figure 3 shows three graphs one above the other which run parallel in time.
The upper part shows the course of the flow of milk as measured by the milk-flow meter 8 in the milk pipe 13 during a milking operation. Underneath this is the absolute pressure in the pulsation space 11 and underneath that is the optional measurement by the sensor 24.
The pulsation device begins pulsing at time to, in this case first of all in a stimulation mode using rapid pulses until a time t2 when the flow of milk exceeds a threshold ml. At that moment, the pulsation device switches to pulsing at a lower frequency
In this case, the third pressure connection 22 is directly connected to the pulsation space 11 by means of a separate pressure connection, but could also be connected to the pulsation space 11 via the first pressure connection 14.
However, a direct connection which is separate from other pressure connections has the advantage that the pressure is measured through (by means of) a duct having a less turbulent flow. In that case, the pressure values measured by the pressure sensor 24 will be more reliable.
Figure 2 diagrammatically shows the progress over time of a pressure in the pulsation space 11, and a diagrammatic representation of the measurement of the sensor 24. The upper part of the graph shows the absolute pressure in the pulsation space 11, which varies between atmospheric pressure 1 bar and a lowest pressure of approximately 0.55 bar. The pulsations start shortly after the time to.
The lower part of the graph diagrammatically indicates the time during which the sensor 24 is actively measuring and is therefore connected to the pulsation space 11.
In this case, a value of 1 for the sensor S is equal to measuring the pressure, and thus being exposed to pressure variations and low pressure, while the value of 0 stands for not measuring, in other words resting at atmospheric pressure.
It can be seen that the sensor only measures between the times to and t1, in other words for approximately five pulsations. The sensor 24 does not measure during the time from t1 to t2, when the pulsations have already ceased and the milking operation has ended. It will be clear that the service life of the sensor 24 can be drastically extended in the case of such a measurement schedule.
Figure 3 shows three graphs one above the other which run parallel in time.
The upper part shows the course of the flow of milk as measured by the milk-flow meter 8 in the milk pipe 13 during a milking operation. Underneath this is the absolute pressure in the pulsation space 11 and underneath that is the optional measurement by the sensor 24.
The pulsation device begins pulsing at time to, in this case first of all in a stimulation mode using rapid pulses until a time t2 when the flow of milk exceeds a threshold ml. At that moment, the pulsation device switches to pulsing at a lower frequency
12 and with a larger pressure difference, until time t4 when the flow of milk falls below the threshold m1 once again and after which the pulsation switches to pulsating at a frequency which is identical in principle but with a lower pressure difference. It should be noted that the pressure differences for the pulsation device may also remain the same in principle, given that a lowest vacuum which is lower will only widen the opening of the teat space 12.
Nevertheless, in certain cases it may be more advantageous to make the pulsation vacuum less strong when the associated milking vacuum is set lower during the phases between to and t2 and following t4. In that case, a smaller pulsation vacuum, in other words a smaller pressure difference between pulsation space 11 and teat space 12, is sufficient to open the to lining 10.
It can also be seen that the sensor 24 only measures during a first time interval T1, which runs from to to t1 and only represents part of the so-called pre-milking/stimulation phase. During the main milking phase which begins at time t2, the sensor 24 also starts measuring again, in this case for an interval T2 which lasts until time t3. The sensor then measures again during an interval T3 which runs from time t4 to t5, during the so-called post-milking phase. In all three cases, the sensor 24 thus measures only during part of the phase in question. In this case it is once again assumed that the pulsation setting is adequately stable during the rest of the phase, so that a measurement during only part thereof is sufficiently reliable. This may all be tested in a simple manner in practice. If the pulsation setting of the pulsation device is not sufficiently reliably stable, the control device 6 may also control the pressure-determining device 5 in such a way that measurements are carried out once again, for example after a certain waiting time, such as from 30 s after the previous measuring period. It should also be noted that the lengths of the respective intervals T1, T2, T3 are merely indicated diagrammatically and may have any desired duration, such as 10 s, 15 pulsations, etc.
The situation illustrated in Figure 3 is an example in which the pressure-determining device 5, in particular the sensor valve device 23, is controlled on the basis of a value of an additional parameter, in this case the flow of milk. It will be clear that the pressure-determining device 5 may also be controlled as a function of other variables, such as the expected milking time and the like.
Nevertheless, in certain cases it may be more advantageous to make the pulsation vacuum less strong when the associated milking vacuum is set lower during the phases between to and t2 and following t4. In that case, a smaller pulsation vacuum, in other words a smaller pressure difference between pulsation space 11 and teat space 12, is sufficient to open the to lining 10.
It can also be seen that the sensor 24 only measures during a first time interval T1, which runs from to to t1 and only represents part of the so-called pre-milking/stimulation phase. During the main milking phase which begins at time t2, the sensor 24 also starts measuring again, in this case for an interval T2 which lasts until time t3. The sensor then measures again during an interval T3 which runs from time t4 to t5, during the so-called post-milking phase. In all three cases, the sensor 24 thus measures only during part of the phase in question. In this case it is once again assumed that the pulsation setting is adequately stable during the rest of the phase, so that a measurement during only part thereof is sufficiently reliable. This may all be tested in a simple manner in practice. If the pulsation setting of the pulsation device is not sufficiently reliably stable, the control device 6 may also control the pressure-determining device 5 in such a way that measurements are carried out once again, for example after a certain waiting time, such as from 30 s after the previous measuring period. It should also be noted that the lengths of the respective intervals T1, T2, T3 are merely indicated diagrammatically and may have any desired duration, such as 10 s, 15 pulsations, etc.
The situation illustrated in Figure 3 is an example in which the pressure-determining device 5, in particular the sensor valve device 23, is controlled on the basis of a value of an additional parameter, in this case the flow of milk. It will be clear that the pressure-determining device 5 may also be controlled as a function of other variables, such as the expected milking time and the like.
13 It will be clear to a person skilled in the art that the scope of the invention is not limited to the examples discussed above, but that various variations and modifications thereof are possible without departing from the scope of the invention as defined in the attached claims.
Claims (10)
1. Milking device for milking a dairy animal and provided with:
- at least one milking cup having a teat space and a pulsation space, - a control device for controlling the milking device, - a vacuum device for applying an underpressure, - a pulsation device having an openable and closable first pressure connection which is controllable by the control device and runs from the pulsation space to the vacuum device, and an openable and closable second pressure connection which is controllable by the control device and runs from the pulsation space to a source of a second pressure which is higher than said underpressure, which source in particular comprises the ambient, wherein the pulsation device is configured to apply, in a way which is controllable by the control device, a pressure which varies in pulses in the pulsation space by means of specifically opening and/or closing the first and/or the second pressure connection, and - a pressure-determining device configured to determine a pressure in the pulsation space and comprising a pressure sensor, and a third pressure connection which runs from the pulsation space to the pressure sensor, wherein the control device is configured to regulate the pulsation device on the basis of the determined pressure, wherein furthermore a sensor valve device which is controllable by the control device is provided in the third pressure connection, which sensor valve device is configured to controllably open and close the third pressure connection.
- at least one milking cup having a teat space and a pulsation space, - a control device for controlling the milking device, - a vacuum device for applying an underpressure, - a pulsation device having an openable and closable first pressure connection which is controllable by the control device and runs from the pulsation space to the vacuum device, and an openable and closable second pressure connection which is controllable by the control device and runs from the pulsation space to a source of a second pressure which is higher than said underpressure, which source in particular comprises the ambient, wherein the pulsation device is configured to apply, in a way which is controllable by the control device, a pressure which varies in pulses in the pulsation space by means of specifically opening and/or closing the first and/or the second pressure connection, and - a pressure-determining device configured to determine a pressure in the pulsation space and comprising a pressure sensor, and a third pressure connection which runs from the pulsation space to the pressure sensor, wherein the control device is configured to regulate the pulsation device on the basis of the determined pressure, wherein furthermore a sensor valve device which is controllable by the control device is provided in the third pressure connection, which sensor valve device is configured to controllably open and close the third pressure connection.
2. Milking device according to Claim 1, wherein the controllable sensor valve device has a controllably closable fourth pressure connection to ambient pressure.
3. Milking device according to one of the preceding claims, wherein the control device is configured to open the fourth pressure connection when the third pressure connection has been closed by the sensor valve device.
4. Milking device according to one of the preceding claims, wherein the pressure sensor is a differential pressure meter, in particular a differential pressure meter of a pressure difference between the pressure in the pulsation space and ambient pressure.
5. Milking device according to one of the preceding claims, wherein the control device is configured to keep the third pressure connection open for a predetermined time and to close the third pressure connection at the end of the predetermined time, in particular per milking operation of a dairy animal.
6. Milking device according to Claim 5, wherein the predetermined time comprises a certain time period, a predetermined number of pulses or a time period during which a predetermined criterion is met.
7. Milking device according to Claim 6, wherein the predetermined criterion comprises the measured pressure differing by more than a predetermined amount from a desired pressure value, in particular during a predetermined measurement period.
8. Milking device according to Claim 6 or 7, wherein the predetermined criterion comprises the third pressure connection having been closed during a closure period immediately prior thereto.
9. Milking device according to one of the preceding claims, further comprising an additional measuring device configured to measure an additional parameter value relating to the milking operation, for example a flow of milk, and wherein the control device is configured to operate the sensor valve device on the basis of the measured additional parameter value, in particular wherein the criterion comprises the at least one additional parameter value meeting a second criterion.
10. Milking device according to one of the preceding claims, wherein the milking operation is divided into a plurality of periods having different pulsator settings, wherein the control device is configured to open the sensor valve device at least once during at least one of these periods, and in particular during each of these periods, for example for a predetermined opening time period selected for each period.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2012716 | 2014-04-30 | ||
| NL2012716A NL2012716B1 (en) | 2014-04-30 | 2014-04-30 | Milking establishment. |
| PCT/NL2015/050280 WO2015167325A1 (en) | 2014-04-30 | 2015-04-24 | Milking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2941881A1 true CA2941881A1 (en) | 2015-11-05 |
Family
ID=50896432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2941881A Abandoned CA2941881A1 (en) | 2014-04-30 | 2015-04-24 | Milking device |
Country Status (3)
| Country | Link |
|---|---|
| CA (1) | CA2941881A1 (en) |
| NL (1) | NL2012716B1 (en) |
| WO (1) | WO2015167325A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2014200B1 (en) | 2015-01-28 | 2017-01-11 | Lely Patent Nv | Milking device |
| CN105494109B (en) * | 2015-12-10 | 2018-02-27 | 上海科湃腾信息科技有限公司 | A kind of milk cow milking pulsator on-line monitoring system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE504427C2 (en) * | 1995-05-17 | 1997-02-10 | Tetra Laval Holdings & Finance | Method and apparatus for milking an animal by determining the level of the pulsation vacuum when the teat rubber opens or closes abruptly |
| KR101190058B1 (en) * | 2012-01-19 | 2012-10-12 | 조용석 | Apparatus and method for automatically checking milking machine |
-
2014
- 2014-04-30 NL NL2012716A patent/NL2012716B1/en not_active IP Right Cessation
-
2015
- 2015-04-24 WO PCT/NL2015/050280 patent/WO2015167325A1/en active Application Filing
- 2015-04-24 CA CA2941881A patent/CA2941881A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| NL2012716B1 (en) | 2016-07-18 |
| WO2015167325A1 (en) | 2015-11-05 |
| NL2012716A (en) | 2016-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6009832A (en) | Method of controlling the milking of an animal and a milking machine | |
| US8646411B2 (en) | Method and apparatus for milking animals having four teats | |
| US8695532B2 (en) | Milking system and method for vacuum regulation | |
| US20060112887A1 (en) | Controller for monitoring and controlling pulsators in a milking system | |
| JP2779241B2 (en) | Milking machine and its milking method | |
| US20110011343A1 (en) | Method and arrangement for controlling the milking by a milking machine | |
| CA2941881A1 (en) | Milking device | |
| AU2002232698B2 (en) | Method and apparatus for monitoring milking facility pulsation | |
| AU2002232698A1 (en) | Method and apparatus for monitoring milking facility pulsation | |
| EP3250024B1 (en) | Milking device | |
| EP1369032B1 (en) | A device for automatically milking an animal | |
| US20190141942A1 (en) | Milking system and method | |
| NL2007731C2 (en) | A method and apparatus for monitoring a milking process. | |
| CA2765933C (en) | A device for and a method of milking a dairy animal | |
| WO2011068400A1 (en) | Milking device and method of cleaning same | |
| NL2014200B1 (en) | Milking device | |
| WO1999063806A1 (en) | Sensor for milking machines | |
| US1045991A (en) | Milking-machine. | |
| SE528603C2 (en) | Method, computer program product and device for controlling the milking performed by a milking machine | |
| NO157002B (en) | MILK APPLIANCE AND MACHINE MILKING PROCEDURE. | |
| CZ305867B6 (en) | Method of measuring operational reserve of vacuum pump capacity and apparatus for making the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Dead |
Effective date: 20180424 |