EP1679954A1 - Procede et dispositif permettant de traire un animal avec auto-ajustage d'au moins un capteur pour surveiller au moins une caracteristique du lait - Google Patents

Procede et dispositif permettant de traire un animal avec auto-ajustage d'au moins un capteur pour surveiller au moins une caracteristique du lait

Info

Publication number
EP1679954A1
EP1679954A1 EP04790753A EP04790753A EP1679954A1 EP 1679954 A1 EP1679954 A1 EP 1679954A1 EP 04790753 A EP04790753 A EP 04790753A EP 04790753 A EP04790753 A EP 04790753A EP 1679954 A1 EP1679954 A1 EP 1679954A1
Authority
EP
European Patent Office
Prior art keywords
milk
milking
sensor
value
parameter
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.)
Withdrawn
Application number
EP04790753A
Other languages
German (de)
English (en)
Inventor
Heinz Francke
Friedrich Stolte
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.)
GEA Farm Technologies GmbH
Original Assignee
WestfaliaSurge GmbH
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 WestfaliaSurge GmbH filed Critical WestfaliaSurge GmbH
Publication of EP1679954A1 publication Critical patent/EP1679954A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/013—On-site detection of mastitis in milk
    • A01J5/0137—On-site detection of mastitis in milk by using sound, e.g. ultrasonic detection
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/013—On-site detection of mastitis in milk
    • A01J5/0131—On-site detection of mastitis in milk by analysing the milk composition, e.g. concentration or detection of specific substances
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/013—On-site detection of mastitis in milk
    • A01J5/0131—On-site detection of mastitis in milk by analysing the milk composition, e.g. concentration or detection of specific substances
    • A01J5/0132—On-site detection of mastitis in milk by analysing the milk composition, e.g. concentration or detection of specific substances using a cell counter
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/013—On-site detection of mastitis in milk
    • A01J5/0133—On-site detection of mastitis in milk by using electricity, e.g. conductivity or capacitance
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/013—On-site detection of mastitis in milk
    • A01J5/0134—On-site detection of mastitis in milk by using filters or decanters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/013—On-site detection of mastitis in milk
    • A01J5/0135—On-site detection of mastitis in milk by using light, e.g. light absorption or light transmission

Definitions

  • the subject of the invention relates to a method for providing data for a milk volume or milk quantity detection system of a milking installation, a method for adjusting a milk volume or milk quantity detection system of a milking installation and a milk volume or. Milk collection system for a milking system.
  • the subject of the invention is particularly suitable for use in milking sheep, goats, llamas, camels, dromedaries, buffaloes, mares, donkeys, yaks as well as other milk-producing animals.
  • the invention can be used both in robot-assisted milking systems and in fully automatic, semi-automatic and conventional milking systems.
  • WO 02/065063 AI discloses a method for determining the amount of milk by means of a flow meter using the electrical conductivity in the milking cluster or in the milk line from the milking cluster to the milk collecting container.
  • a system is known from EP 0 657 098 A1, in which animal-specific measurements of the milk flow during milking conclude that the animal may be oestrus, the measuring sensors also being formed in the milking cluster here.
  • Sensors that are integrated in the milking cluster or in the milk line from the milking cluster to the milk collection container allow parameters of the milk to be determined during the milking process, but they do require them
  • Sensor a regular calibration to ensure a high level of functional accuracy, which is not only in the operator's interest but is often also required by legally defined limit values.
  • Such a calibration is complex and cost-intensive due to the large number of measuring sensors available.
  • Such a calibration of the sensors must generally be done at least before the first start-up of a corresponding milking system.
  • the present invention is based on the objective of specifying a method for providing data for a milk quantity detection system of a milking installation, by means of which calibration of the milk quantity detection system is simplified.
  • this object is achieved by a method for providing data for a milk detection system of a milking installation with the features of claim 1.
  • Advantageous further developments are the subject of the dependent claims.
  • the method according to the invention for milking at least one animal comprises the following steps:
  • measuring sensors always have a, in particular systematic, measuring error which, for example, depends on the measuring principle of the measuring sensor and / or is generated or changed by external influences.
  • the method according to the invention offers the advantage that data are provided, by means of which a calibration of the first sensor can be achieved in a simple manner. These data can always be recalculated, so that if a limit value is exceeded, for example, the operating personnel is informed that calibration of at least one sensor is necessary. Instead of continuously adjusting correction values, this can also be done discontinuously at predetermined time intervals. It is not imperative that the time intervals are constant. These can also vary.
  • the method according to the invention is of particular importance in the case of milk quantity detection systems in a milking installation, since it is used to contaminate or deposit milk constituents in the measuring sensors used
  • the system of the first and second sensor has the advantage that there are virtually two independent measuring systems that are only very weakly coupled.
  • the system of the at least one first sensor can thus be corrected by correlation with values from the system of the at least one second sensor.
  • correction variables can be determined according to the invention and used as correction values.
  • the method according to the invention also generates error messages in a simple manner. For example, an error message can be generated if the calibration changes by a predetermined value, for example by 5%. It is also possible to periodically check whether the calibration has been exceeded by the predetermined value. In addition to a relative value, an absolute threshold value can also be specified so that an error message is generated if the absolute value has been exceeded.
  • At least one parameter is determined which is taken from a group of parameters, this group comprising the following variables:
  • This list of the parameters of the group is emmerative, so that other parameters that can be considered suitable can also be used.
  • the amount of milk can be defined via the milk mass and / or the milk volume.
  • the respective specific density at the respective temperature must be taken into account.
  • the cell count, color and electrical conductivity of the milk are important factors that make it possible to determine whether the milked animal is sick, for example mastitis.
  • optical characteristics of milk are understood to mean properties that can generally be recorded using optical measuring sensors, for example the determination of a transmission or reflection coefficient of the milk, the determination optionally also being wavelength-specific, as well as recording light in the infrared or ultraviolet range.
  • the acoustic characteristics are properties that can generally be recorded using acoustic sensors, for example the results of an ultrasound analysis of the milk.
  • Ingredients in milk are also to be understood in particular, for example, as residues of therapeutic agents or the like, just like all other possible substances which can be part of the milk and can be dissolved and / or suspended in it.
  • the content of flakes in and the pH value of the milk is a further indication of the quality of the milk, which in particular allows an indication of whether the milk has become acidic.
  • Inhibitors are, in particular, antibiotic residues, the content of which in milk is subject to strict legal regulations.
  • the measurement of the individual milk volume is of great importance: Not only in economic terms, since the milk volume provides information about the performance of the animal, but also from a veterinary point of view, since changes in the milk volume indicate possible diseases and / or improper feeding of the Animal there.
  • first sensors are arranged specifically for the milking parlor, for example in the milking cluster itself or also in the milking line from the milking cluster to the milk collecting container.
  • the formation of milking device-specific sensors means that at least as many first measuring sensors are designed as there are milking machines, or based on other data, for example the knowledge of which milking machine is used at which point in time, on the data of a first measuring sensor which is connected to several milking machines. conclusions can be drawn about the milking cluster from which the milk just acquired comes.
  • These sensors can be designed, for example, as flow meters, which measure the respective liquid flow through the milking cluster and / or milk line.
  • the first sensors provide values that ideally correspond to the volume of milk flowing through.
  • each sensor has a sensor-specific measurement error that must be eliminated by adjustment, for example by calibration, in order to obtain reliable measurement results.
  • Another systematic error can arise, for example, during the permanent and / or repeated use of the first measuring sensors, for example due to contamination or, in particular, cheesing. Such contamination or cheesing lead to a permanent deviation of the measured values obtained in one direction, the size of the deviation generally increasing over time. If the measured values of the individual first sensors are compared with a value determined by the second sensor, which is averaged over several milking units and / or several animals and / or several milking processes, the values of the first sensors can be corrected accordingly.
  • the correction variable is determined on the basis of a function of at least the first and the second value of the at least one characteristic variable
  • a correction is carried out in the case of a plurality of first measurement sensors on the basis of the values of all first measurement sensors and of the second measurement sensor.
  • a simple differential function can be selected as a function, but also, for example, a general correlation function.
  • a quantity of milk present in a milk collecting container is determined on the one hand on the basis of the signals supplied by the first measuring sensors, i.e. by integrating with flow meters over time and thus measuring the milk quantity milked with the individual milking units and on the other hand, it is determined by a second sensor, which detects the volume of milk stored in the milk collecting container.
  • One way of determining the correction quantity is, for example, to form the difference between these two values, to divide by the number of first sensors and to use this quantity as a correction quantity.
  • this can also be formed, for example, behind a point at which the
  • the at least one second sensor can also be formed in a tanker truck with which the milk is transported. This leads directly to an averaging over the milk milked with several milking units. Averaging over the milk of several animals takes place, for example, when the same animals are milked at each milking station, ie with each milking cluster, or when several animals are milked, which is the normal case, with the same milking cluster, that is to say in the same milking cluster. Averaging over several milking processes can take place, for example, in that the value of the at least one second sensor is recorded when several milking times, i.e. several intervals in which, for example, all the animals in a herd are milked, elapsed before the value of the second sensor was recorded are.
  • the second sensor detects values of the parameter in a milk collecting container and / or a tanker.
  • the formation of the second sensor in such a way is advantageous, since it is easy to record measured values here, which in the sense of the invention consist of several milking units and / or several Animals and / or several milking processes are averaged.
  • the present determination of the correction variable can advantageously be integrated into already existing semi-automatic or fully automatic milking systems. Often milking-specific sensors are already present in these, which can be provided with a correction value according to the method according to the invention.
  • Automatic milking methods at least in part, have well-defined initial conditions during milking, which generally provide reproducible measurement results which can be corrected in an advantageous manner according to the invention by means of correction values.
  • a uniform distribution of the deviation of the second value from the corresponding first values is assumed in step C).
  • the first values of the milk quantity are the values of the first measuring sensors, for example flow meters, which are recorded by a number of milking units, and the second value is a value averaged over the milk milked by these milking units. The deviation determined from these values is then assumed to be caused by all milking units to the same extent and the correction variable is determined accordingly.
  • animal-specific influences and / or milking-specific influences and / or milking-space-specific influences are taken into account in step C), each milking cluster being assigned to a milking stall.
  • the milk quantity to be expected from this animal can be taken into account when determining the correction quantity.
  • average milk flow rates to be expected for a milking stall or milking cluster can be used and, for example, it can be taken into account whether the flow rate fluctuates statistically by this value in the case of several successive milking processes or whether the values recorded by the first sensor are systematically above or below this value. The same applies to the flow rate also for the Amount of milk milked per milking place and milking process, whereby animal-specific expected values can also be taken into account here.
  • the at least one first value of the at least one parameter of the milk in the milking cluster and / or in the milk line from the milking cluster to the milk collecting container is recorded.
  • Both the formation of the first sensor in the milking cluster and in the milk line from the milking cluster to the milk collection container advantageously permit simple recording of milking-specific values of the parameter.
  • leaks in the milking cluster and / or in a milk line and / or in the milk collecting container are inferred from the correction variable and / or the correction value, the characteristic variable comprising at least the milked quantity of milk.
  • the determination of the amount of milk as a parameter of the milk allows the detection of smaller or larger leaks in a simple manner in the method according to the invention. If that was detected by the first sensors
  • the amount of milk for example at a certain milking stall or a certain milking cluster, is too low over a plurality of milking processes, in particular also to a considerable extent, so this indicates a leak between the milking cluster and the milk collecting container. If the value of the milk quantity determined on the basis of the values of the first measuring sensors over several milking processes or times is higher, in particular considerably higher than that of the second
  • the sensor detects the value recorded in the milk container, this indicates a leak in the milk container.
  • statistical data in particular of the milked animals, can advantageously be used, in order to have other influences on the values to exclude or reduce the at least one first or the at least one second sensor.
  • the second sensor detects the amount of milk milked at least optically, acoustically and / or mechanically, the characteristic variable comprising at least the amount of milked milk.
  • the milk quantity, in particular in the milk collecting container can be detected optically, in particular transmissively and / or reflectively. Furthermore, the second sensor can detect the amount of milk present in the milk collecting container acoustically, in particular on an ultrasound basis or also mechanically, for example in the form of a float.
  • the method according to the invention is particularly suitable for interaction with a process control or with a herd management system, since both the process control or in the herd management system also records the milk quantity of the individual places and one or more milking times from the entire milk quantity measuring device and compares it with the milk tank quantity ,
  • the sum of the milk quantities of all milking places corresponds to the milk quantity of a milking time. Due to different influencing factors, the quantities determined by the milk quantity measuring devices at the individual places are inaccurate, so that the sum generally does not correspond to the total milk quantity during the milking time. This deviation is reduced by the method according to the invention.
  • a herd management program or a central or decentralized data processing device can determine the deviation of the measured milk quantities from the centrally recorded milk tank quantity.
  • the error between the centrally measured milk volume and the sum of the individual milk volume measurements at the respective milking stations is calculated.
  • a correction quantity is provided on all milk quantity measuring devices at the milking stations, which is used to adjust the measuring sensors. This adjustment is preferably carried out automatically.
  • the individual sensors can be controlled accordingly by the process control or by the herd management system.
  • the total milk volume of the milk milked at the individual places is 100 liters, while the milk volume measurement in the tank gives a value of 102 liters.
  • a correction value can now be sent to all milk sensors for calibration, this correction value being 2% higher than the previous one. If the error is evenly distributed with the same amount of milk at the individual milking stations, this then leads to a correct adjustment of the sensor.
  • a sensor of better quality which has a higher classification or a higher accuracy, is preferably used as the sensor for the second sensor.
  • the first sensor can do volume-oriented better and the second quantity- or mass-oriented or volume-oriented or vice versa.
  • each individual milking stall or each individual milk sensor is individually calibrated, in which milking station-specific or animal-specific influences are taken into account.
  • herd management can calculate the expected amount of milk from each cow.
  • a new correction value can be derived from the comparison of the expected milk quantity and the actually measured milk quantity, which leads to more precise results. For example, if a herd of 300 animals is milked at 30 milking stations, an average of 10 different animals will be milked at each place. By analyzing whether individual milking places can record on average less or more than the expected milk quantities an individual adjustment of the individual milking places can be made. Due to the invention, complex manual calibrations of the individual persons can be avoided at least partially.
  • the data of the tank truck or the milking time can be used as sensor data of the second measuring sensor, so that no second measuring sensor has to be present in the system.
  • the control quantity can also be supplied via a system-dependent sensor.
  • the control value can be typed in by hand or transmitted wirelessly, e.g. B. by radio, Bluetooth, WLAN, SMS, e-mail and via the Internet and the like. More.
  • the method according to the invention also opens up the possibility of using information from a herd management system.
  • the herd management system contains animal-specific data, for example data on animal health, veterinary treatments, oestrus, etc.
  • animal-specific data for example data on animal health, veterinary treatments, oestrus, etc.
  • By linking the method according to the invention to data from the herd management system it is also possible to identify certain abnormal conditions or conditions which exceed a predetermined threshold value and to determine the relevant ones Data are disregarded. For example, linking the procedure with the data on current animal health can create the possibility of identifying outliers and, if necessary, eliminating them. There is also the possibility to generate moving messages.
  • the at least one parameter is determined on the basis of the optical properties of the milk, it is advantageous if this is done using filters, in particular using at least one edge filter and / or at least one texture filter.
  • filters in particular using at least one edge filter and / or at least one texture filter.
  • edge filter the light is essentially completely absorbed up to a certain wavelength.
  • the surface structure of the object can be determined by a texture filter and, if necessary, stored for further processing.
  • Inexpensive treasure irons can also be used to implement the method according to the invention, since the method according to the invention leads to an improvement in accuracy.
  • the present invention is further based on the objective of specifying a milk quantity detection system for a milking system which has more reliable values with regard to e.g. B. the milked amount of milk, especially z. B. provides the flow rate.
  • a control unit is connected to the sensors, which reads in, stores and / or processes the values recorded by the sensors. The control unit determines at least one parameter from the at least one first characteristic value and the at least one second value of the parameter and uses this parameter as a correction value in order to correct the future measured value of the at least one first sensor.
  • control unit has storage means for storing at least animal, milking parlor and / or milking parlor-specific information. This information can be used in particular when determining the at least one correction variable.
  • the sensors can detect at least one of the following variables:
  • FIG. 1 schematically shows a device according to the invention, without the invention being restricted thereto.
  • FIG. 1 shows a milking installation 1 which has two milking places 2, any other arrangement of the milking places 2 and / or any other number of milking places 2 being also possible.
  • Each of the milking places 2 is each equipped with a milking cluster 3, the design of which is adapted to the type of animals to be milked.
  • a milking cluster 3 for cows would have four teat cups, the dimensions of which are adapted to the teats of cows.
  • Similar milking clusters 3 are also possible according to the invention for milking sheep, goats, buffalos, horses, etc.
  • a first measuring sensor 4 is assigned to each of the milking clusters 3, and can sense first values K 1 of at least one parameter K of the milk.
  • These first sensors 4 are each formed in a first milk line 5 and a second milk line 6, which guide the milk from the milking units 3 to a milk collecting line 7, through which the milk milked in all the milking units 3 flows into a milk collecting container 8. Since the first sensors 4 are each formed in parts of the milk line 5, 6 that are specific to the milking cluster, that is, through which only milk that has been milked in a particular milking cluster 3 flows, these first measuring sensors 4 can provide first values K 1 of the characteristic variable K are detected, which are specific for the milk milked on this milking cluster 3.
  • a second sensor 9 is formed in the milk collecting container 8, which can detect second values K2 of the characteristic variable K. Since the milk is collected and mixed by different milking units 3 in the milk collecting container 8, the second measuring sensor 9 supplies second values K2 of the characteristic variable K, which are averaged at least over the milk of different milking units 3. Since 2 different animals are usually milked at each of the milking places, as a rule there is also an averaging over the milk of different animals and also different ones Milkings. In particular, averaging over different milking times can also take place, with a milking time being understood as a time period within which all animals in a herd are milked once.
  • the milking installation 1 also has a control unit 10 which is connected to the sensors 4, 9 via a data bus system 11.
  • the data bus system 11 represents a special form of connection of the individual elements via control lines, which is addressable and easily expandable.
  • the data bus system 11 transmits data at least from the sensors 4, 9 to the control unit 10 and vice versa.
  • the parameter K is the amount of milk.
  • the amount of milk can be recorded, for example, by flow meters, which for example measure the volume flow per unit of time.
  • the milked amount of milk provides an integration over time.
  • Such flow meters can be based on different physical principles.
  • the deviation ⁇ MG is calculated as the difference between the two total milk volumes MGI, MG2 recorded.
  • a corresponding number of correction values KW can be taken into account when acquiring the first values K 1.
  • An individual correction value KWI can be assigned to each milk volume MI detected by a first sensor 4.
  • a simple way of calculating these correction values KWI is to assume a uniform distribution of the measurement errors of the first sensors 4, that is, to assume that each first sensor 4 has an equally large measurement error.
  • a correction variable KG is calculated in the system control 10 by dividing the deviation ⁇ MG by a number N of the detected milk volumes MI:
  • correction variable KG determined in this way in the control unit 10 is then adopted as correction values KWI. Because with an equal distribution all individual correction values KWI are identical, a general correction value KW, which corresponds to the individual correction values KWI, is used to correct the following measured values recorded later, which are recorded by a sensor 4.
  • a sensor is used as the second sensor, which has a higher accuracy than the first sensor.
  • a system of several sensors can also be used as the second sensor, which are also based on different physical principles. The individual sensors of the second sensor are then z. B. averaged.
  • a different weighting of the errors of the individual first measuring sensors 4 is also possible.
  • a large number of individual correction variables KGI for the individual first sensors 4, the number of which preferably corresponds to the number of first sensors, can then be taken into account with corresponding weight factors. Any statistical distributions can be used as a basis for these weighting factors.
  • information can also be incorporated here that is milking parlor, milking parlor and / or animal specific.
  • a certain first measuring sensor 4 has relatively large deviations due to increasing contamination or that a certain animal has problems with the milking process, for example, which regularly lead to deviations in the milk volume or that the condition of the animal leads to different milk quantities than usual
  • a consideration of the chronological sequence of the milking of the milk volumes MI can be taken into account, for example by weighting older milk volumes MI less heavily than younger milk volumes MI.
  • the correction variables KGI are then determined, for example, using a multidimensional regression.
  • the method according to the invention advantageously makes it possible to correct values Kl of at least one parameter K of the milk, which are detected by at least one first sensor 4, on the basis of at least the values K2, which are detected by a second sensor 9.
  • two separate systems of values K1, K2 are advantageously used for correction. This advantageously enables reliable self-adjustment of the first measuring sensors 4.
  • MGI total milked milk volume calculated from measured values of the at least one first sensor MG2 total milked milk volume, recorded by the at least one second sensor

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  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • External Artificial Organs (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

L'invention concerne un procédé permettant de corriger de manière avantageuse les valeurs d'au moins une caractéristique du lait, ces valeurs étant détectées au moins par un premier capteur (4), à l'aide d'au moins les valeurs détectées par un deuxième capteur (9). A cet effet, on utilise de manière avantageuse et aux fins de correction deux systèmes séparés de valeurs. Cela permet de manière avantageuse un auto-ajustage fiable du premier capteur (4).
EP04790753A 2003-10-24 2004-10-22 Procede et dispositif permettant de traire un animal avec auto-ajustage d'au moins un capteur pour surveiller au moins une caracteristique du lait Withdrawn EP1679954A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10349577A DE10349577A1 (de) 2003-10-24 2003-10-24 Verfahren und Vorrichtung zum Melken eines Tieres bei Selbstjustierung zumindest eines Messfühlers zur Überwachung zumindest einer Kenngröße der Milch
PCT/EP2004/011960 WO2005039276A1 (fr) 2003-10-24 2004-10-22 Procede et dispositif permettant de traire un animal avec auto-ajustage d'au moins un capteur pour surveiller au moins une caracteristique du lait

Publications (1)

Publication Number Publication Date
EP1679954A1 true EP1679954A1 (fr) 2006-07-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP04790753A Withdrawn EP1679954A1 (fr) 2003-10-24 2004-10-22 Procede et dispositif permettant de traire un animal avec auto-ajustage d'au moins un capteur pour surveiller au moins une caracteristique du lait

Country Status (4)

Country Link
US (1) US20070272159A1 (fr)
EP (1) EP1679954A1 (fr)
DE (1) DE10349577A1 (fr)
WO (1) WO2005039276A1 (fr)

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NL1030703C2 (nl) * 2005-12-19 2007-06-20 Lely Entpr Ag Werkwijze en inrichting voor het melken van een dier.
SE531744C2 (sv) * 2005-12-21 2009-07-28 Delaval Holding Ab Mjölklantbrukssystem och kommunikationsmetod i ett sådant lantbrukssystem
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