WO2008051137A1 - Method and arrangement for controlling the milking by a milking machine - Google Patents
Method and arrangement for controlling the milking by a milking machine Download PDFInfo
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- WO2008051137A1 WO2008051137A1 PCT/SE2007/000911 SE2007000911W WO2008051137A1 WO 2008051137 A1 WO2008051137 A1 WO 2008051137A1 SE 2007000911 W SE2007000911 W SE 2007000911W WO 2008051137 A1 WO2008051137 A1 WO 2008051137A1
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- milking
- flow rate
- time
- animal
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- 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
Definitions
- the present invention relates generally to dairy farming and to milking of dairy animals therein. Particularly, the invention relates to a method and an arrangement for controlling the milking by a milking machine.
- Machine milking generally utilizes teat cups and vacuum sources to perform the milking function.
- each teat is contained within a teat cup having a teat cup shell and a teat cup liner inside the teat cup shell next to the teat.
- a working vacuum is applied to the interior of the teat cup liners to draw the milk from the teats, with the teat cup liners periodically opened and collapsed by applications of a pulsating massage vacuum between the teat cup liners and the teat cup shells.
- This periodic working of the teat cup liners results in the periodic flow of milk from each teat into a receiving vessel, and constitutes the actual milking of the cow.
- the milking of animals is typically terminated by removing the teat cups from the teats of the animals and/or by switching off the milking vacuum.
- the point, at which the milking is terminated is today triggered by a given parameter related to the milking such as the milk flow.
- the milking machine is typically set to initiate or indicate termination of the milking when the milk flow decreases to a given level. This leads inevitably to that all animals milked by the milking machine will be treated similarly, i.e. the milking of them will be terminated based on the same parameter value, for instance a flow level.
- the flow level is set rather high, which for some animals will result in too early termination of the milking.
- the udders of some of the animals will not be milked out. If the flow level is set lower, this may result in overmilking of other animals.
- a flow rate of milk drawn from a milking animal is measured at least two times, one after the other, at a latter part of the milking of the milking animal.
- a change rate or temporal derivative of the flow rate of milk drawn from the milking animal is calculated based on the measured flow rates and a milking of the milking animal is terminated based on the calculated change rate of the flow rate of milk drawn from the milking animal.
- the flow rate is decreasing and therefore the change rate will in practice be a decrease rate.
- the milking of the milking animal is terminated based also on at least one, preferably the last one, of the measured flow rates.
- a period of time, at the end of which the flow rate should have reached a threshold value, is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates, wherein the milking of the milking animal is terminated when the period of time has lapsed.
- a period of time, at the end of which the flow rate should have reached a threshold value, is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates and the calculated period of time is compared with a first selected period of time, wherein the milking of the milking animal is terminated depending on the result of the comparison of the calculated period of time with the first selected period of time.
- the above method may be performed selectively for each animal, or even for each teat of each animal, to be milked and thus animal-individual, or even teat-individual, termination of milking is obtained.
- the overall milk production can be optimized. Faster milking is achieved and more milk is produced, simultaneously as the animal care is improved. Higher throughput is obtained, while the udders of all animals will be milked out without overmilking the animals.
- the arrangement comprises a measuring device for measuring the flow rate of milk drawn from the milking animal, a processing device for calculating the decrease rate of the flow rate, and a device for terminating the milking of the milking animal.
- Fig. 1 illustrates schematically main components of a milking machine, wherein an embodiment of the present invention is implemented.
- Fig. 2 is an exemplary diagram of a milk flow rate versus time during milking of an animal by the milking machine of Fig. 1.
- Fig. 3 is a flow scheme of an algorithm for controlling the milking by the milking machine of Fig. 1 according to an embodiment of the present invention.
- Fig. 4 is an exemplary diagram of a milk flow rate versus time during milking of an animal while the milking is controlled by the algorithm of Fig. 4.
- a milking machine in which the invention is implemented is disclosed in Fig. 1.
- a vacuum pump 11 is via a vacuum regulator 27 and a vacuum conduit 14 connected to a milking device 15.
- the milking device 15 comprises a milking claw 16, which, via a milk tube 17 and a pulse tube 18, is connected to a teat cup 19 provided to be attached to a teat of an animal, such as a cow, to be milked.
- the milking device 15 may comprise more than the illustrated single teat cup.
- the milking device 15 further comprises a receiving vessel 21 which is connected to the milking claw 16 via a further milk tube 20.
- the receiving vessel 21, which is connected to the vacuum conduit 14, may be provided with a separator for intermittently removing separated liquid and for preventing that liquid is introduced in the vacuum conduit 14.
- a pulsator 23 is connected to the milking claw 16 via a pulse tube 22.
- the pulsator 23 may be connected, as illustrated, to the vacuum pump 11 via a further vacuum conduit 24.
- the vacuum pump 11 sucks a flow of air from the milking device 15 via the vacuum conduits 14 and 24.
- a milking vacuum is produced in the teat cup 19 via the vacuum conduit 14, the receiving vessel 21 , and the milk tubes 20 and 17.
- a pulsating vacuum is produced in an annular space between a teat receiving liner and a teat cup shell via the further vacuum conduit 24, the pulsator 23, and the pulse tubes 22 and 18.
- the pulsating vacuum varies during a pulsation cycle, for instance between atmospheric pressure and a maximum pulsating vacuum and causes the teat receiving liner 33 to periodically open and collapse to thereby massage the teat and stimulate milk ejection.
- milk is drawn from the teat of an animal to the receiving vessel 21.
- a controllable valve 28 is interconnected between the milk tube 17 and the teat cup 19 in order to turn on and turn off vacuum in the teat cup 19 thereby controlling the milking by the milking machine.
- a milk flow meter or other milk quantity measuring device 30 is provided e.g. at the inlet to the receiving vessel 21 to measure the flow rate or instantaneous quantity of milk produced during milking.
- the controllable valve 28 and the milk flow meter 30 are connected to a processing device 29 via respective signal connections so that the processing device 29 may read measured flow rates of milk drawn from the animal during milking and control the milking of the animal, i.e. the initiation and the termination of the milking.
- Other means for termination of the milking such as e.g. a robot for removing the teat cup 19 from the teat of the animal being milked, or a switch for switching off the vacuum pump 11 may alternatively or additionally be provided. Such robot would preferably be controlled by the processing device 29.
- the processing device 29 is, at a latter part of the milking of an animal, provided for reading at least two times, one after the other, a flow rate of milk drawn from the animal as measured by the milk flow meter 30.
- the processing device 29 calculates a decrease rate, or more generally speaking a rate of change or temporal derivative, of the flow rate of milk drawn from the animal based on the read flow rates and controls the controllable valve 28 or other suitable device such as a robot to terminate the milking of the animal based on the calculated decrease rate of the flow rate of milk drawn from the animal, and optionally based on at least one, preferably the last one, of the read flow rates.
- Fig. 2 is shown an exemplary diagram of a milk flow rate ⁇ versus time t during milking of an animal by the milking machine of Fig. 1.
- the two flow rates are indicated by O 1 and ⁇ 2 and are measured at times t x and t 2 .
- the decrease rate of the flow rate may then be calculated as :
- the decrease rate is calculated as the slope of the flow rate curve in the time interval [t lf t 2 ].
- a period of time t o at the end of which the flow rate should have reached a threshold value V th , is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates, wherein the processing device 29 controls the milking machine to terminate the milking of the animal when the calculated period of time t o has lapsed.
- the period of time t c is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates and the calculated period of time t c is compared with a first selected period of time t ⁇ .
- the first selected period of time t may be set by the user in advance or may be determined in any other manner.
- the first selected period of time t- L is between about 5 and 60 seconds, preferably between about 10 and 30 seconds, and more preferably between about 15 and 25 seconds.
- the processing device 29 then controls the milking machine to terminate the milking of the animal depending on the result of the comparison of the calculated period of time t c with the first selected period of time t x .
- the milking of the animal may for instance be terminated when the first selected period of time t 1 has lapsed if the calculated period of time t c is shorter than the first selected period of time t x .
- the algorithm starts at reference numeral 31, and in a step 33 it is established whether a latter part of the milking of an animal has been determined to occur. This may be found in the following manner.
- the flow rate of milk drawn from the animal is repeatedly measured, a maximum flow rate ⁇ Max of milk drawn from the animal is established, and the latter part is determined to occur when the measured flow rate has decreased to a selected flow rate ⁇ Se i ectec u which is dependent on the established maximum flow rate ⁇ Max .
- the selected flow rate ⁇ Selected ma Y be determined as a percentage of the established maximum flow rate ⁇ Max , such as about 10 to 40 % of the established maximum flow rate ⁇ Max , or as about 20 to 25 % of the established maximum flow rate ⁇ Max .
- a flow rate ⁇ lf ⁇ 2 of milk drawn from the animal is in a step 34 measured at least two times, one after the other.
- the first measured flow rate O 1 may be identical with the selected flow rate ⁇ selected or is measured just after the selected flow rate ⁇ Se i ected nas been obtained.
- a decrease rate ⁇ / ⁇ t of the flow rate of milk drawn from the animal is in a step 35 calculated based on the measured flow rates.
- a period of time t o at the end of which the flow rate should have reached a threshold value V th , is calculated in a step 36 based on the calculated decrease rate ⁇ / ⁇ t of the flow rate and on at least one of the measured flow rates ⁇ ir ⁇ 2 .
- the calculation may assume that the flow rate decreases linearly. However, if the flow rate versus time is at least approximately known from historical data the calculation may be based on this information as well, and may consequently be made more accurate.
- a step 37 it is checked whether the calculated period of time t c is shorter than a first selected period of time t t and if the answer is affirmative, the algorithm waits, in a step 38, for a second period of time t 2 to lapse. Upon lapse of the second period of time t 2 the milking of the animal is terminated in a step 39 and the algorithm ends at reference numeral 40.
- the termination of the milking may be performed in any manner known to a person skilled in the art.
- step 37 If the calculated period of time t c is longer than the first selected period of time t x as checked in step 37 , the algorithm waits, in a step 41 , for a third selected period of time t 3 to lapse, and is then returned to step 34.
- Fig. 4 is an exemplary diagram of a milk flow rate versus time during milking of an animal, which illustrates a second measurement of the flow rates of milk drawn from the animal and a second calculation of the decrease rate of the flow rate when a third selected period of time t 3 has lapsed.
- the flow rates of the second measurement are indicated by ⁇ 1Nsw and ⁇ 2New and are measured at times t 1New and t 2New .
- the decrease rate of the second calculation is similarly indicated by ⁇ New / ⁇ t New .
- Steps 41, 34, 35, 36, and 37 form a loop, which is ended when the calculated period of time t c is shorter than the first selected period of time t x .
- This means that the termination of the milking is made when a period of t 2 + n*t 3 has lapsed from the start of the algorithm, where n is the number of times the loop including step 41 is run.
- the first t lf second t 2 , and third t 3 selected periods of time may be selected in any suitable manner.
- the animal health can be improved. Suitable emptying of the udders and the lack of overmilking of the udders as being obtained by the invention are advantageous for the animal care. At the same time the milk production is improved.
- the invention can be implemented separately for each teat of the animal if the flow rate meter 30 is exchanged for a flow meter arrangement that is capable of measuring the flow rate of milk drawn from each teat of the animal individually.
- the above method may thus be performed not only for each animal separately, but for each teat of each animal separately.
- step 34 the flow rates of milk drawn from a single teat of an animal is measured
- step 39 the milking of the single teat of the animal is terminated when the second selected period of time t 2 has lapsed if the calculated period of time t c is shorter than the first selected period of time t x .
- the method is performed individually for each teat of the animal .
- the present invention may be implemented in any kind of milking system having the capability of measuring a milk flow rate during milking.
- milking systems encompass those served by robots, those that are semi- automated, as well as those that are manually operated.
Abstract
A method for controlling the milking by a milking machine is provided. According to the method a flow rate (Φ?1#191, Φ?2#191) of milk drawn from a milking animal is measured (34) at least two times, one after the other, at a latter part of the milking of the milking animal. A decrease rate (ΔΦ/Δt) of the flow rate of milk drawn from the milking animal is calculated (35) based on the measured flow rates and a milking of the milking animal is terminated (39) based on the calculated decrease rate of the flow rate of milk drawn from the milking animal, and optionally based on at least one of the measured flow rates.
Description
METHOD AND ARRANGEMENT FOR CONTROLLING THE MILKING BY A MILKING MACHINE
TECHNICAL FIELD OF THE INVENTION
The present invention relates generally to dairy farming and to milking of dairy animals therein. Particularly, the invention relates to a method and an arrangement for controlling the milking by a milking machine.
DESCRIPTION OF RELATED ART AND BACKGROUND OF THE INVENTION
In modern dairy farm industry there are continuous research and development activities in order to improve the efficiency of various activities such as machine milking, which, inter alia, involves increased milk yield and reduced milking time, while, naturally, ethical aspects as well as animal care are considered.
Machine milking, as known in the art, generally utilizes teat cups and vacuum sources to perform the milking function. In such systems each teat is contained within a teat cup having a teat cup shell and a teat cup liner inside the teat cup shell next to the teat. A working vacuum is applied to the interior of the teat cup liners to draw the milk from the teats, with the teat cup liners periodically opened and collapsed by applications of a pulsating massage vacuum between the teat cup liners and the teat cup shells. This periodic working of the teat cup liners results in the periodic flow of milk from each teat into a receiving vessel, and constitutes the actual milking of the cow.
The milking of animals is typically terminated by removing the teat cups from the teats of the animals and/or by switching off the milking vacuum. The point, at which the milking is
terminated, is today triggered by a given parameter related to the milking such as the milk flow. The milking machine is typically set to initiate or indicate termination of the milking when the milk flow decreases to a given level. This leads inevitably to that all animals milked by the milking machine will be treated similarly, i.e. the milking of them will be terminated based on the same parameter value, for instance a flow level. In order to obtain a high throughput, the flow level is set rather high, which for some animals will result in too early termination of the milking. The udders of some of the animals will not be milked out. If the flow level is set lower, this may result in overmilking of other animals.
SUMMARY OF THE INVENTION
It is an object of the present invention to provide a method and an arrangement for controlling the milking by a milking machine, by which the overall milk production can be increased.
It is in this respect a particular object of the invention to provide such a method and such an arrangement by which an animal-individual, or even teat-individual, termination of milking may be obtained.
It is a further object of the invention to provide such a method and such an arrangement, by which udders of milking animals can be suitably milked out without overmilking the milking animals.
It is yet a further object of the invention to provide such a method and such an arrangement, by which the animal care and treatment are improved.
It is a further object of the invention to provide such a method and such an arrangement, which are accurate, precise, efficient, reliable, of low cost, and easy to implement.
These objects, among others, are attained by the methods and the arrangement as defined in the appended patent claims.
According to a first aspect of the invention there is provided a method for controlling the milking by a milking machine. According to the method a flow rate of milk drawn from a milking animal is measured at least two times, one after the other, at a latter part of the milking of the milking animal. A change rate or temporal derivative of the flow rate of milk drawn from the milking animal is calculated based on the measured flow rates and a milking of the milking animal is terminated based on the calculated change rate of the flow rate of milk drawn from the milking animal. At the latter part of the milking of the milking animal, the flow rate is decreasing and therefore the change rate will in practice be a decrease rate.
Preferably, the milking of the milking animal is terminated based also on at least one, preferably the last one, of the measured flow rates.
According to an embodiment of the invention a period of time, at the end of which the flow rate should have reached a threshold value, is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates, wherein the milking of the milking animal is terminated when the period of time has lapsed.
According to another embodiment a period of time, at the end of which the flow rate should have reached a threshold value, is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates and the calculated period of time is compared with a first selected period of time, wherein the milking of the milking animal is
terminated depending on the result of the comparison of the calculated period of time with the first selected period of time.
The above method may be performed selectively for each animal, or even for each teat of each animal, to be milked and thus animal-individual, or even teat-individual, termination of milking is obtained.
By means of the present invention the overall milk production can be optimized. Faster milking is achieved and more milk is produced, simultaneously as the animal care is improved. Higher throughput is obtained, while the udders of all animals will be milked out without overmilking the animals.
According to a second aspect of the invention there is provided an arrangement for implementing the above method. The arrangement comprises a measuring device for measuring the flow rate of milk drawn from the milking animal, a processing device for calculating the decrease rate of the flow rate, and a device for terminating the milking of the milking animal.
Further characteristics of the invention and advantages thereof, will be evident from the detailed description of preferred embodiments of the present invention selected hereinafter and the accompanying Figs. 1-4, which are selected by way of illustration only and thus , are not limitative of the present invention.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 illustrates schematically main components of a milking machine, wherein an embodiment of the present invention is implemented.
Fig. 2 is an exemplary diagram of a milk flow rate versus time during milking of an animal by the milking machine of Fig. 1.
Fig. 3 is a flow scheme of an algorithm for controlling the milking by the milking machine of Fig. 1 according to an embodiment of the present invention.
Fig. 4 is an exemplary diagram of a milk flow rate versus time during milking of an animal while the milking is controlled by the algorithm of Fig. 4.
DETAILED DESCRIPTION OF EMBODIMENTS
A milking machine in which the invention is implemented is disclosed in Fig. 1. A vacuum pump 11 is via a vacuum regulator 27 and a vacuum conduit 14 connected to a milking device 15. The milking device 15 comprises a milking claw 16, which, via a milk tube 17 and a pulse tube 18, is connected to a teat cup 19 provided to be attached to a teat of an animal, such as a cow, to be milked. Of course, the milking device 15 may comprise more than the illustrated single teat cup.
The milking device 15 further comprises a receiving vessel 21 which is connected to the milking claw 16 via a further milk tube 20. The receiving vessel 21, which is connected to the vacuum conduit 14, may be provided with a separator for intermittently removing separated liquid and for preventing that liquid is introduced in the vacuum conduit 14. A pulsator 23 is connected to the milking claw 16 via a pulse tube 22. The pulsator 23 may be connected, as illustrated, to the vacuum pump 11 via a further vacuum conduit 24.
The vacuum pump 11 sucks a flow of air from the milking device 15 via the vacuum conduits 14 and 24. Hereby, a milking vacuum is produced in the teat cup 19 via the vacuum conduit 14, the
receiving vessel 21 , and the milk tubes 20 and 17. Similarly, a pulsating vacuum is produced in an annular space between a teat receiving liner and a teat cup shell via the further vacuum conduit 24, the pulsator 23, and the pulse tubes 22 and 18. The pulsating vacuum varies during a pulsation cycle, for instance between atmospheric pressure and a maximum pulsating vacuum and causes the teat receiving liner 33 to periodically open and collapse to thereby massage the teat and stimulate milk ejection. By means of the applied milking and pulsating vacuums, milk is drawn from the teat of an animal to the receiving vessel 21.
A controllable valve 28 is interconnected between the milk tube 17 and the teat cup 19 in order to turn on and turn off vacuum in the teat cup 19 thereby controlling the milking by the milking machine. A milk flow meter or other milk quantity measuring device 30 is provided e.g. at the inlet to the receiving vessel 21 to measure the flow rate or instantaneous quantity of milk produced during milking.
The controllable valve 28 and the milk flow meter 30 are connected to a processing device 29 via respective signal connections so that the processing device 29 may read measured flow rates of milk drawn from the animal during milking and control the milking of the animal, i.e. the initiation and the termination of the milking. Other means for termination of the milking, such as e.g. a robot for removing the teat cup 19 from the teat of the animal being milked, or a switch for switching off the vacuum pump 11 may alternatively or additionally be provided. Such robot would preferably be controlled by the processing device 29.
In accordance with the present invention the processing device 29 is, at a latter part of the milking of an animal, provided
for reading at least two times, one after the other, a flow rate of milk drawn from the animal as measured by the milk flow meter 30. The processing device 29 calculates a decrease rate, or more generally speaking a rate of change or temporal derivative, of the flow rate of milk drawn from the animal based on the read flow rates and controls the controllable valve 28 or other suitable device such as a robot to terminate the milking of the animal based on the calculated decrease rate of the flow rate of milk drawn from the animal, and optionally based on at least one, preferably the last one, of the read flow rates.
In Fig. 2 is shown an exemplary diagram of a milk flow rate Φ versus time t during milking of an animal by the milking machine of Fig. 1. In the diagram the two flow rates are indicated by O1 and Φ2 and are measured at times tx and t2.
The decrease rate of the flow rate may then be calculated as :
Decrease rate ΔΦ/Δt = (Φ2 - Φi)/(t2 - tx)
Thus, the decrease rate is calculated as the slope of the flow rate curve in the time interval [tlf t2].
In one embodiment a period of time to, at the end of which the flow rate should have reached a threshold value Vth, is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates, wherein the processing device 29 controls the milking machine to terminate the milking of the animal when the calculated period of time to has lapsed.
In another embodiment the period of time tc, at the end of which the flow rate should have reached the threshold value
Vth, is calculated based on the calculated decrease rate of the flow rate and on at least one of the measured flow rates and the calculated period of time tc is compared with a first selected period of time tλ. The first selected period of time t: may be set by the user in advance or may be determined in any other manner. Preferably, the first selected period of time t-L is between about 5 and 60 seconds, preferably between about 10 and 30 seconds, and more preferably between about 15 and 25 seconds. The processing device 29 then controls the milking machine to terminate the milking of the animal depending on the result of the comparison of the calculated period of time tc with the first selected period of time tx.
The milking of the animal may for instance be terminated when the first selected period of time t1 has lapsed if the calculated period of time tc is shorter than the first selected period of time tx.
A more developed algorithm according to an embodiment of the invention will be described with reference to the flow scheme of Fig. 3.
The algorithm starts at reference numeral 31, and in a step 33 it is established whether a latter part of the milking of an animal has been determined to occur. This may be found in the following manner. The flow rate of milk drawn from the animal is repeatedly measured, a maximum flow rate ΦMax of milk drawn from the animal is established, and the latter part is determined to occur when the measured flow rate has decreased to a selected flow rate ΦSeiectecu which is dependent on the established maximum flow rate ΦMax. For instance, the selected flow rate ΦSelected maY be determined as a percentage of the established maximum flow rate ΦMax, such as about 10 to 40 % of
the established maximum flow rate ΦMax, or as about 20 to 25 % of the established maximum flow rate ΦMax.
In connection with that the latter part has been determined to occur, a flow rate Φlf Φ2 of milk drawn from the animal is in a step 34 measured at least two times, one after the other. The first measured flow rate O1 may be identical with the selected flow rate ©selected or is measured just after the selected flow rate ΦSeiected nas been obtained.
A decrease rate ΔΦ/Δt of the flow rate of milk drawn from the animal is in a step 35 calculated based on the measured flow rates.
A period of time to, at the end of which the flow rate should have reached a threshold value Vth, is calculated in a step 36 based on the calculated decrease rate ΔΦ/Δt of the flow rate and on at least one of the measured flow rates Φir Φ2. The calculation may assume that the flow rate decreases linearly. However, if the flow rate versus time is at least approximately known from historical data the calculation may be based on this information as well, and may consequently be made more accurate.
Then, in a step 37, it is checked whether the calculated period of time tc is shorter than a first selected period of time tt and if the answer is affirmative, the algorithm waits, in a step 38, for a second period of time t2 to lapse. Upon lapse of the second period of time t2 the milking of the animal is terminated in a step 39 and the algorithm ends at reference numeral 40. The termination of the milking may be performed in any manner known to a person skilled in the art.
If the calculated period of time tc is longer than the first selected period of time tx as checked in step 37 , the algorithm waits, in a step 41 , for a third selected period of time t3 to lapse, and is then returned to step 34.
Fig. 4 is an exemplary diagram of a milk flow rate versus time during milking of an animal, which illustrates a second measurement of the flow rates of milk drawn from the animal and a second calculation of the decrease rate of the flow rate when a third selected period of time t3 has lapsed. The flow rates of the second measurement are indicated by Φ1Nsw and Φ2New and are measured at times t1New and t2New. The decrease rate of the second calculation is similarly indicated by ΔΦNew/ΔtNew.
Steps 41, 34, 35, 36, and 37 form a loop, which is ended when the calculated period of time tc is shorter than the first selected period of time tx . This means that the termination of the milking is made when a period of t2 + n*t3 has lapsed from the start of the algorithm, where n is the number of times the loop including step 41 is run.
The first tlf second t2, and third t3 selected periods of time may be selected in any suitable manner.
By means of the present invention the animal health can be improved. Suitable emptying of the udders and the lack of overmilking of the udders as being obtained by the invention are advantageous for the animal care. At the same time the milk production is improved.
If so desired, the invention can be implemented separately for each teat of the animal if the flow rate meter 30 is exchanged for a flow meter arrangement that is capable of measuring the flow rate of milk drawn from each teat of the animal
individually. The above method may thus be performed not only for each animal separately, but for each teat of each animal separately. In step 34 the flow rates of milk drawn from a single teat of an animal is measured, and in step 39 the milking of the single teat of the animal is terminated when the second selected period of time t2 has lapsed if the calculated period of time tc is shorter than the first selected period of time tx. The method is performed individually for each teat of the animal .
It shall be appreciated that the present invention may be implemented in any kind of milking system having the capability of measuring a milk flow rate during milking. Such milking systems encompass those served by robots, those that are semi- automated, as well as those that are manually operated.
Claims
1. A method for controlling the milking by a milking machine, characterized by the steps of :
- at a latter part of the milking of a milking animal measuring (34) at least two times, one after the other, a flow rate (O1,
Φ2) of milk drawn from the milking animal;
- calculating (35) a decrease rate (ΔΦ/Δt) of the flow rate of milk drawn from the milking animal based on the measured flow rates; and
- terminating (39) a milking of the milking animal based on said calculated decrease rate of the flow rate of milk drawn from the milking animal.
2. The method of claim 1 wherein the milking of the milking animal is terminated based on at least one of the measured flow rates.
3. The method of claim 1 or 2 wherein
- a period of time (tc), at the end of which the flow rate should have reached a threshold value (Vth), is calculated based on said calculated decrease rate of the flow rate and on at least one of the measured flow rates; and
the milking of the milking animal is terminated when calculated said period of time has lapsed.
4. The method of claim 1 or 2 wherein
- a period of time, at the end of which the flow rate should have reached a threshold value, is calculated based on said calculated decrease rate of the flow rate and on at least one of the measured flow rates;
- said calculated period of time is compared with a first selected period of time (tx); and
- the milking of the milking animal is terminated depending on the result of said comparison of said calculated period of time with said first selected period of time.
5. The method of claim 4 wherein said first selected period of time is between about 5 and 60 seconds, preferably between about 10 and 30 seconds, and more preferably between about 15 and 25 seconds
6. The method of claim 4 or 5 wherein the milking of the milking animal is terminated when said first selected period of time has lapsed if said calculated period of time is shorter than said first selected period of time.
7. The method of claim 4 or 5 wherein the milking of the milking animal is terminated when a second selected period of time (t2) has lapsed if said calculated period of time is shorter than said first selected period of time.
8. The method of claim 7 wherein said second selected period of time (t2) is shorter than said first selected period of time (M-
9. The method of any of claims 6-8 wherein, if the calculated period of time is longer than the first selected period of time,
- a new flow rate (Φ1New, Φ2NeW) °f milk drawn from the milking animal is measured at least two times, one after the other, when a third selected period of time (t3) has lapsed; - a new decrease rate (ΔΦNew/ΔtNew) of the flow rate of milk drawn from the milking animal is calculated based on the measured new flow rates; and
- the milking of the milking animal is terminated based on said calculated new decrease rate of the flow rate of milk drawn from the milking animal.
10. The method of claim 9 wherein said third selected period of time is equal to said first selected period of time.
11. The method of any of claims 1-10 wherein
- the flow rate of milk drawn from the milking animal is repeatedly measured;
- a maximum flow rate (ΦMax) of milk drawn from the milking animal is established; and
- said latter part of the milking is determined to occur when the repeatedly measured flow rate has decreased to a selected flow rate, which is dependent on the established maximum flow rate.
12. The method of claim 11 wherein said selected flow rate is determined as a percentage of the established maximum flow rate, preferably as about 10 to 40 % of the established maximum flow rate, and more preferably as about 20 to 25 % of the established maximum flow rate.
13. The method of any of claims 1-12 wherein said flow rate of milk drawn from the milking animal is a flow rate of milk drawn from a single teat of the milking animal and said milking, which is terminated, is a milking of said single teat of the milking animal .
14. An arrangement for controlling the milking by a milking machine, characterized in:
- a measuring device (30) provided for, at a latter part of the milking of a milking animal, measuring at least two times, one after the other, a flow rate (O1, Φ2) of milk drawn from the milking animal;
- a processing device (29) provided for calculating a decrease rate (ΔΦ/Δt) of the flow rate of milk drawn from the milking animal based on the measured flow rates; and
- a device (28) for terminating the milking of the milking animal based on said calculated decrease rate of the flow rate of milk drawn from the milking animal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE0602220 | 2006-10-23 | ||
| SE0602220-6 | 2006-10-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2008051137A1 true WO2008051137A1 (en) | 2008-05-02 |
Family
ID=39324844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/SE2007/000911 WO2008051137A1 (en) | 2006-10-23 | 2007-10-17 | Method and arrangement for controlling the milking by a milking machine |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2008051137A1 (en) |
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| US11963510B2 (en) | 2019-01-16 | 2024-04-23 | Delaval Holding Ab | Control unit, system and method related to an animal's energy balance |
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