WO2011117386A2 - A milking system - Google Patents

A milking system Download PDF

Info

Publication number
WO2011117386A2
WO2011117386A2 PCT/EP2011/054621 EP2011054621W WO2011117386A2 WO 2011117386 A2 WO2011117386 A2 WO 2011117386A2 EP 2011054621 W EP2011054621 W EP 2011054621W WO 2011117386 A2 WO2011117386 A2 WO 2011117386A2
Authority
WO
WIPO (PCT)
Prior art keywords
electric power
milking
power consuming
controller
common
Prior art date
Application number
PCT/EP2011/054621
Other languages
French (fr)
Other versions
WO2011117386A3 (en
Inventor
Mats Stellnert
Original Assignee
Delaval Holding Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to US31745410P priority Critical
Priority to SE1050281-3 priority
Priority to US61/317,454 priority
Priority to SE1050281 priority
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Publication of WO2011117386A2 publication Critical patent/WO2011117386A2/en
Publication of WO2011117386A3 publication Critical patent/WO2011117386A3/en

Links

Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00Circuit arrangements for ac mains or ac distribution networks
    • H02J3/12Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/14Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by switching loads on to, or off from, network, e.g. progressively balanced loading
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01JMANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00Milking machines or devices
    • A01J5/007Monitoring milking processes; Control or regulation of milking machines
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02BCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/30Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
    • Y02B70/32End-user application control systems
    • Y02B70/3208End-user application control systems characterised by the aim of the control
    • Y02B70/3225Demand response systems, e.g. load shedding, peak shaving
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/80Food processing
    • Y02P60/89Food processing characterised by the product
    • Y02P60/891Dairy products
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04SSYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S20/00Systems supporting the management or operation of end-user stationary applications, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
    • Y04S20/20End-user application control systems
    • Y04S20/22End-user application control systems characterised by the aim of the control
    • Y04S20/222Demand response systems, e.g. load shedding, peak shaving

Abstract

A milking system (2) comprising a first electric power consuming device and a second electric power consuming device is provided. The first and second electric power consuming devices are connected to a common electric power line (30) having a maximum allowed current rating and/or power rating. The system (2) comprises a first controller (34) connected with the first electric power consuming device for controlling the first electric power consuming device based on information provided by an electric power consumption monitoring arrangement (32) relating to the common electric power line (30) and its maximum allowed current rating and/or power rating. Electric capacity on the common electric power line may thus be administered.

Description

A MILKING SYSTEM

TECHNICAL FIELD

The present invention relates to a milking system comprising an electric power consuming device according to the precharacterizing portion of claim 1.

BACKGROUND

Vacuum is the main source of "energy" utilized for milking in a milking stall. It is used for drawing milk from teats of animals and is applied intermittently to a pulsation space of each teat cup in the milking stall. In modern milking stalls there are also electric devices installed, such as electric pulsators, electronic valves, milk monitoring equipment, electric motors and animal identification devices. Accordingly, modern milking stalls also consume electrical energy, which often is distributed at extra low voltage, e.g. 12V or 24V.

Electrical energy is supplied to electric power consuming devices in a milking stall from a power supply via power cables comprising electrical conductors. Physical properties of the electrical conductors put an upper limit to the maximum current which can flow through the conductors without damaging them. Also safety regulations specify maximum allowed current and/or power to be distributed in an electric power line.

AU-A-63403/94 discloses how valves in a milking system are controlled to reduce overall high power consumption. A first and a second electronic condition are applied to each valve.

SUMMARY

An object of the present invention is to provide a milking system wherein basis is provided to connect several electric power consuming devices to one and the same electric power line in a rational manner.

According to an aspect of the invention, this object is achieved by a milking system comprising a first electric power consuming device and a second electric power consuming device. The first and the second electric power consuming devices are connected to a common electric power line having a maximum allowed current rating and/or power rating. The system comprises a first controller connected with the first electric power consuming device for controlling the first electric power consuming device based on information provided by an electric power consumption monitoring

arrangement relating to the common electric power line and its maximum allowed current rating and/or power rating.

Since the system provides for the first controller to control the first electric power consuming device, the first electric power consuming device is controlled, e.g. switched on, depending on whether the second electric power consuming device is in operation or not, based on information as provided by the electric power consumption monitoring arrangement. As a result, the load on the common electric power line is controlled such that a maximum allowed current or power limit or rating is not exceeded in the milking system, basis is provided for rational connection of electric power consuming devices to a common electric power line in a sufficient manner, and the above mentioned object is achieved. The term controller is to be interpreted in a broad sense and may comprise one or more processors and/or control logic based on logic gates and/or discrete electric components.

A milking system may comprise several milking positions, in each of which animals are milked consecutively. In such a milking stall teat cups may be placed manually or automatically on the teats of animals to be milked. A milking system may comprise one or more milking positions and a fully automatic milking arrangement for milking animals without the aid of human labour. Previously, peak power load put a limit on the number of electric power consuming devices connected to a common electric power line in a milking system, even though all electric power consuming devices seldomly are consuming electric power at the same time. In the above mentioned milk system the electric power consumption monitoring arrangement provides information for the first controller to control the first electric power consuming device such that the maximum allowed current rating and/or power rating is not exceeded. The electric power consumption monitoring arrangement may be a device measuring the current in, and/or power load on, the common electric power line. Alternatively, the electric power consumption monitoring arrangement may be a database or similar, in which electric power consuming devices related to the common electric power line and their electric power or current consumption are noted. With the aid of the database track is kept of which electric power consuming devices are in operation, what present load is put on the common electric power line and/or what current headroom there is available until the maximum allowed current and/or power rating is reached, and which thus is available for any further electric power consuming devices to be initiated. According to example embodiments the common electric power line may be connected to a power supply via a fuse.

According to example embodiments the common electric power line may be adapted for extra low voltage. Extra low voltage is defined as alternating current up to 50 V R.M.S. or direct current up to 120 V. In milking systems, power lines for extra low voltage are utilized for powering various electric power consuming devices. Frequently used voltages are 12 V and 24 V.

According to example embodiments the first controller may be adapted to start or initiate the first power consuming device when the information provided by the electric power consumption monitoring arrangement indicates sufficient available electric capacity for the relevant electric power consuming device on the common electric power line, in this manner the load on the common electric power line does not exceed a maximum allowed rating of the common electric power line.

According to example embodiments the milking system may comprise a first milking position, a first set of teat cups for milking an animal associated with the first milking position, a common milk line leading to a milk tank, a first milk conduit forming at least part of a connection between at least one teat cup of the first set of teat cups and the common milk line. The milk tank need not be part of the milking system. It may be stationary or mobile. Accordingly, the first and second electric power consuming devices may be associated with one milking position and the first controller controls the first electric power consuming device to not exceed a maximum rating of the common electric power line. The first controller may also control the second electric power consuming device. In the latter case the first controller may start and stop the first and second electric power consuming devices as required to not exceed a maximum rating of the common electric power line. Further electric power consuming devices may be associated with the first milking position and connected to the common electric power line. Such further electric power consuming devices may or may not be controlled by the first controller. Some types of electric power consuming devices may be in operation for most of the duration of a milking operation, such as e.g. a milk meter, and could thus be left outside the control of the first controller, at least from a perspective of administering the load on the common electric power line. In this case the electric power consumption of the milk meter is given and other electric power consuming devices may be controlled by the first controller to not exceed a maximum rating of the common electric power line.

According to example embodiments the milking system may comprise a second milking position, which comprises a second set of teat cups and a second milk conduit forming at least part of a connection between at least one teat cup of the second set of teat cups and the common milk line. Accordingly, the first and second electric power consuming devices may be associated with two milking positions and the first controller controls the first electric power consuming device to not exceed a maximum rating of the common electric power line which supplies electric energy to two milking positions. For instance the first electric power consuming device may be associated with the first milking position and the second electric power consuming device may be associated with the second milking position. Further electric power consuming devices may be associated with the first and the second milking position and connected to the common electric power line. Again, such further electric power consuming devices may or may not be controlled by the first controller as exemplified above in connection with a milk meter.

According to example embodiments the first and/or the second electric power consuming devices may each be part of:

- a shut-off valve arranged in the first or the second milk conduit, or

- a take-off arrangement for taking off at least one teat cup of the first or the second set of teat cups from a teat of an animal, or

- an animal identification device, or

- a treatment arrangement for treating teats of an animal. As mentioned above the first and the second electric power consuming devices may both be arranged in a first milking position. In this case the first and second electric power consuming devices may be part of different electric power consuming devices. Alternatively, also as mentioned above, the first electric power consuming device may be arranged in a first milking position and the second electric power consuming device may be arranged in a second milking position. In this case the first and second electric power consuming devices may be part of the same type of device, e.g. both may be part of a shut-off valve, i.e. a first shut-off valve associated with the first milking position and a second shut-off valve associated with the second milking position.

According to example embodiments the electric power consumption monitoring arrangement may monitor or register electric current in, and/or power load on, the common electric power line continuously or intermittentiy. Such monitored or registered current and/or power load may form basis for information regarding available capacity on the electric power line.

According to example embodiments the first controller may control electricity fed to the first electric power consuming device from the common electric power line for starting or initiating and/or stopping the first electric power consuming device. In this manner the first controller may directly control the first electric power consuming device by feeding current to the relevant device. Alternatively, the first controller may indirectly control the first electric power consuming device via sending a control signals to e.g. a relay or switch, which in turn starts or stops feeding current to a relevant device. According to example embodiments the first controller may communicate with the first electric power consuming device sending control signals for starting or initiating and/or stopping the first electric power consuming device. In this embodiment the first electric power consuming device receives the control signal and utilizes the control signal to start, initiate or stop, by means of switching on or off the first electric power consuming device.

It is to be understood that some electric power consuming devices require electric power only when they change state, e.g. some types of valves require electric power only when they open or when they close, whereas other devices may require electric power continuously when they are active, such as a milk meter or a display.

According to example embodiments the electric power consumption monitoring arrangement may register or monitor, continuously or intermittently, which electric power consuming devices connected to the common electric power line are consuming electric power. One example may be a database of the above mentioned kind. Another example may be a counter counting the number of active electric power consuming devices. According to example embodiments the electric power consumption monitoring arrangement may measure actual electric current and/or electric power fed through the common electric power line.

According to example embodiments the first controller may be connected with the second electric power consuming device for controlling the second electric power consuming device based on information provided by the electric power consumption monitoring arrangement relating to the common electric power line and its maximum allowed current rating and/or power rating. In this manner both the first and the second electric power consuming devices may be controlled such that the maximum rating of the common electric power line is not exceeded. The first controller may be associated or arranged in connection with the first milking position. Alternatively, the first controller may be associated with the first and the second milking position and be arranged in connection with both milking positions. According to example embodiments a second controller may be connected with the second electric power consuming device for controlling the second electric power consuming device based on information provided by the electric power consumption monitoring arrangement relating to the common electric power line and its maximum allowed current rating and/or power rating. The first controller may be associated with the first milking position and the second controller may be associated with the second milking position. The first and second controllers may communicate with each other. The first and second controllers may communicate with the electric power consumption monitoring arrangement. According to example embodiments the milking system may comprise a central controller which communicates with the first controller, and wherein the central controller is associated with the electric power consumption monitoring arrangement. In this manner the central controller may take on a role of administering electric power consumption. Purely by way of example such administering may take the form of the first controller requesting to the centra! controller to start the first electric power consuming device. The central controller decides on the basis of information provided by the electric power consumption monitoring arrangement whether to allow the request from the first controller or not.

According to example embodiments the central controller may communicate with the second controller. In this manner both the first and the second controller may receive control information for controlling the first and second electric power consuming devices from the central controller.

According to example embodiments the first and second controllers communicate with the electric power consumption monitoring arrangement. This may be done either via the central controller or directly with the power consumption monitoring arrangement. According to example embodiments the electric power consumption monitoring arrangement may be integrated in one of the first, second or central controller. Thus, the electric power consumption monitoring arrangement may be a processor of the relevant controller, which processor performs the function of monitoring the power and/or current load on the common electric power line, In case of the power consumption monitoring arrangement comprising the above mentioned database, it may be stored in a memory associated with the relevant controller. The electric power consumption monitoring arrangement thus, may comprise computer program code, which is run in the first, second or central controller or on the above mentioned processor of the relevant controller.

According to example embodiments the milking system may comprise a third electric power consuming device connected to the common electric power line. The first controller may be connected with the third electric power consuming device and adapted to stop the third electric power consuming device to free electric capacity on the common electric power fine. In this manner a function of the milking system may temporarily be stopped when the power consumption monitoring arrangement notes that there is not enough headroom available on the common electric power line. For instance may a function involving an electric power consuming device in the form of a heating element or an animal identification device be stopped while another function involving a different electric power consuming device is to be performed, e.g. activating a shut-off valve to disconnect at least one of the teat cups from a vacuum source or a take-off arrangement for retracting at least one of the teat cups from the teat of an animal after milking. Thus, electric capacity is temporarily made available on the common electric power line such that a maximum allowed current or power limit or rating is not exceeded.

According to example embodiments the third electric power consuming device may be part of one of:

- a heating element, or

- an animal identification device, or

- an illuminating device.

According to example embodiments the electric power consumption monitoring arrangement may be adapted to provide information about an operation priority level of the first and the second electric power consuming devices. By means of the operation priority level different electric power consuming devices may each be categorized in relation to their relevance for different processes in the milking system. Accordingly, a relevant controller may utilize the information about the operation priority level of each electric power consuming device when controlling the different electric power consuming devices. For instance, based on the operation priority level the controller may stop an electric power consuming device having a low operation priority level in order to free electric capacity on the common electric power line when an electric power consuming device having a high operation priority level is to be started or initiated. On the other hand, when one or more electric power consuming devices having high operation priority levels are running and the electric capacity on the common electric power line does not suffice when an electric power consuming device having a low priority level is to be started, the controller will not allow the electric power consuming device having a low priority level to start until there is free capacity on the common electric power line. According to example embodiments at least two electric power consuming devices may be switched on and off collectively, In some arrangements it may be advantageous to control electric power consuming devices collectively to administer available power on a common electric power line. For instance may all electric functions in one milking position be deactivated to free electric capacity on the common electric power line in a different milking position.

Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following description. Those skilled in the art will realize that different features of the present invention may be combined to create embodiments other than those described in the following, without departing from the scope of the present invention, as defined by the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The various aspects of the invention, including its particular features and advantages, will be readily understood from the following detailed description and the accompanying drawings, in which:

Fig. 1 illustrates schematically a milking system according to example embodiments,

Figs. 2 and 3 illustrate schematically electric power consumption monitoring

arrangements of a milking system according to example embodiments,

Fig. 4 illustrates schematically a milking system according to example embodiments wherein a central controller communicates with a first controller and a second controller, and

Fig. 5 illustrates schematically a milking system according to example embodiments wherein a first controller controls electric power consuming devices of several milking positions. DETAILED DESCRIPTION

The present invention will now be described more fully with reference to the

accompanying drawings, in which example embodiments are shown. However, this invention should not be construed as limited to the embodiments set forth herein.

Disclosed features of example embodiments may be combined as readily understood by one of ordinary skill in the art to which this invention belongs. Like numbers refer to like elements throughout.

As used herein, the term "comprising" or "comprises" is open-ended, and includes one or more stated features, elements, steps, components or functions but does not preclude the presence or addition of one or more other features, elements, steps, components, functions or groups thereof.

As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As used herein, the common abbreviation "e.g.", which derives from the Latin phrase "exempli gratia," may be used to introduce or specify a general example or examples of a previously mentioned item, and is not intended to be limiting of such item. If used herein, the common abbreviation ";.e.", which derives from the Latin phrase "id est," may be used to specify a particular item from a more general recitation.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. It will be understood that when an element is referred to as being "coupled" or

"connected" to another element, it can be directly coupled or connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly coupled" or "directly connected" to another element, there are no intervening elements present.

Well-known functions or constructions may not be described in detail for brevity and/or clarity. Various functions of milking systems are discussed in the present description. Electric power consuming devices are associated with many of these functions.

Fig. 1 illustrates schematically a milking system 2 according to example embodiments. At least part of the milking system 2 is arranged in a milking stall 4. The milking stall 4 comprises a number of milking positions including a first milking position 6 and a second milking position 8. Each milking position is adapted for milking an animal 10. Each milking position comprises a set of teat cups 12, which are connected with a common milk line 4 via a milk conduit. That is, at least part of a connection between the set of teat cups 2 of the first milking position 6 and the common milk line 14 is formed by a first milk conduit 16 and at least part of a connection between the set of teat cups 12 of the second milking position 8 and the common milk line 14 is formed by a second milk conduit 18,

The common milk line 14 leads from the milking positions to an end unit 20, a pump 22 and a system of conduits 24 is arranged for transporting mifk from the end unit 20 to a milk tank 26 for storing milk extracted from animals in the milking stall 4.

A milking control arrangement 28 is associated with each milking position. In its most simple form the milking control arrangement 28 may comprise electric power consuming devices performing only basic functions. The milking control arrangement 28 may comprise e.g. a shut-off arrangement for closing the milk conduit 16 to interrupt a connection between the set of teat cups 12 and the common milk line 4. A more advanced milking control arrangement 28 is illustrated in Fig. 1 , wherein several electric power consuming devices form part of the control arrangement 28. A common electric power line 30 is arranged for feeding electric power to at least the control arrangements 28 of the first and the second milking positions 6, 8. The voltage of the common electric power line is extra low, e.g. 24 V, Each milking control arrangement 28 comprises several electric power consuming devices. It is to be understood that miiking control arrangements may comprise other electric power consuming devices and/or

combinations of electric power consuming devices than illustrated in Fig. 1. Such other electric power consuming devices or combinations thereof may function in the same manner concerning the control of electric power consuming devices as explained below. An electric power consumption monitoring arrangement 32 monitors the electric current in, and/or power load on, the common electric power line 30. The common electric power line 30 supplies electric power to the electric power consuming devices in the first milking position 6, which comprises a first controller 34. The electric power consuming devices require electric power from the common electric power line 30 to perform their tasks. The physical connection between each electric power consuming device and the common electric power line 30 is not shown in Fig. 1. The first controller 34 controls at least some of the electric power consuming devices of the first milking position 6 by sending control signals via illustrated connections. An electric power consuming device of the first milking position 6 is a shut-off valve 36 which is arranged in the first milk conduit 16 for shutting of a connection between at least one teat cup of the set of teat cups 12 and the common milk line 4, e.g. when the teat cup is to be removed from a teat of an animal when milking has been completed. The shut-off valve 36 is connected to, and supplied with power from, the electric power line 30. A control signal from the first controller 34 initiates the shut-off valve 36 to close. A further control signal opens the valve when so required. A further electric power consuming device of the first milking position 6 is a milk meter 38 for measuring e.g. the amount of milk and/or the flow of milk through the first milk conduit 16. A further electric power consuming device of the first milking position 6 is a heating element 40 arranged in the milk meter 38 for maintaining a preset temperature in the milk meter 38. A thermostat may turn on and off the heating element 40 but a control signal from the first controller 34 may override the thermostat to shut off the heating element 40. A further electric power consuming device of the first milking position 6 is a take-off arrangement 42 for taking off one or more of the teat cups of the set of teat cups 2 from the teats of an animal. In this case the efectric power consuming device, specifically, is a control valve 44 of a pneumatic cylinder, which retracts the set of teat cups 12, and which control valve 44 is controlled by the first controller 34, Alternatively, the take-off arrangement may be an electric motor, which is controlled by the first controller 34. In this case it would be the electric motor which is the electric power consuming device. A further electric power consuming device of the first milking position 6 is a treatment arrangement 46, which is adapted for supplying a fluid to the teats of an animal after milking has been completed. Again, the electric power consuming device, specifically, is a control valve 48, this time a control valve 48 for opening and closing a pressurized conduit for treatment fluid. The fluid is supplied to the teat via non-shown conduits arranged in the set of teat cups 12. A further electric power consuming device of the first milking position 6 is an animal identification device 50 for identifying an animal individual standing in the first milking position. The animal may carry an identification tag which is read by the identification device 50. Alternatively, the identification device 50 may identify an animal individual in a different manner, e.g. by identifying a pattern on the hide of an animal.

The first controller 34 may be dedicated for the purpose of controlling the electric power consuming devices of the first milking position 6. Alternatively, it may also have other functions such as controlling the milking of animals in the first milking position 6. For the latter function the milk meter 38 may provide a measured amount and/or flow of milk to the first controller 34.

The second milking position 8 comprises the same electric power consuming devices as first milking position 6 and a second controller for controlling at least some of the electric power consuming devices of the second milking position 8. Whereas a part of the control arrangement 28 in the first milking position 6 is shown in a cross-section, the same part of the control arrangement 28 in the second milking position 8 is shown as personnel in the milking stall 4 will see it when milking animals. The control arrangement 28 comprises a user interface 52 comprising a display 54 for showing information such as milking related information and/or service messages. The display 54 is also an electric power consuming device. A user may utilise a keypad 56 of the user interface 52 e.g. for stepping through menus, selecting functions or inputting data. One form of administering the electric power consuming devices in the first and second milking positions 6, 8 according to example embodiments will now be explained with reference to the electric power consuming devices illustrated in Fig. 1. The electric power consumption monitoring arrangement 32 comprises a database, which includes data about how much current each electric power consuming device in the first and second milking positions 6, 8 requires, for instance:

- shut-off valve 0,5 A

- take-off arrangement 0,5 A

- treatment arrangement 0,5 A

- heating element 0,7 A

- animal identification device 0,8 A

- milk meter 0,2 A

- display 0,2 A

- first/second controller 0,3 A

The database in the electric power consumption monitoring arrangement 32 further comprises an updated list over which electric power consuming devices are in operation and accordingly, how much current there is drawn from, and/or how much current headroom there is available in, the common electric power line 30. In example embodiments the maximum allowed current in the common electric power line 30 is 5 Ampere, A S A (Ampere) fuse may be arranged in the common electric power line 30.

In the example one animal is milked in each milking position 6, 8. Accordingly, in each milking position 6, 8 the controllers, displays, milk meters, heating elements and animal identification devices are in operation. Thus, each milking position 6, 8 draws 2,2 A current from the common electric power line 30, which makes 4,4 A current in total is drawn from the common electric power line 30.

In sequence the following example scenario may follow:

- Milking is completed in the first milking position 6 and it is time to take off the teat cups 12 from the teats of the animal.

- The first controller 34 checks with electric power consumption monitoring

arrangement 32 whether there is electric current/power capacity available in the common electric power line 30 to initiate the take-off arrangement 42. - The electric power consumption monitoring arrangement 32 communicates that there is capacity available.

- Take-off is initiated in the first milking position 6.

Following the take-off the treatment arrangement 46 is to be initiated for disinfecting the teats of the animal. Again the first controller 34 checks with electric power consumption monitoring arrangement 32 whether there is capacity available in the common electric power line 30 to initiate the treatment arrangement 46.

- Again, the electric power consumption monitoring arrangement 32 communicates that there is capacity available.

- The treatment arrangement 46 is activated.

- While the treatment arrangement 46 in the first milking position 6 is active,

milking of the animal in the second milking position 8 is completed and it is time to take off the teat cups 12 from the teats of the animal.

- The second controller checks with the electric power consumption monitoring arrangement 32 whether there is electric capacity available in the common electric power line 30 to initiate the take-off arrangement.

- Since the two milking positions 6, 8 at present draw 4.9 A and the maximum allowed current is 5A, the electric power consumption monitoring arrangement 32 communicates that there is no available capacity on the common electric power line 30.

- Accordingly, milking in the second milking position 8 continues for a preset time, e.g. 5 seconds.

- Treatment by means of the treatment arrangement 46 in the first milking position 6 finishes.

- After the preset time has passed, the second controller again checks with electric power consumption monitoring arrangement 32 whether there is electric capacity available in the common electric power line 30 to initiate the take-off

arrangement.

- The electric power consumption monitoring arrangement 32 now communicates that there is available capacity in the common electric power line 30.

- Take off is initiated in the second milking position 6. This was an example on how the milking system 2 on the basis of information provided by the electric power consumption monitoring arrangement 32 stays within the limits of maximum allowed current in the common electric power line 30. Without the electric power consumption monitoring arrangement 32 each milking position 6, 8 would require a separate electric power line to not exceed the maximum allowed current or power of 5 A, even though the maximum allowed current or power would only have been exceeded during a short period of time.

Further and/or alternative functions for administering electric power consumption in the first and second milking position 6, 8 by means of the electric power consumption monitoring arrangement 32 may of course be performed. For instance, instead of waiting for a preset time to initiate take-off or to perform treatment by means of the treatment arrangement 46, the second controller may be programmed to shut off the milk meter and/or the heating element since none of them need to be active during take-off. The second controller reports that the milk meter and the heating elements have been shut off to the electric power consumption monitoring arrangement 32. The electric power consumption monitoring arrangement 32 reports back to the second controller that there is electric capacity in the common electric power line 30 and take-off is initiated in the second milking position.

The shut-off valve 36, the take-off arrangement 42 and the treatment arrangement 46 are only in operation for short periods of time. It is possible that for each of them start and stop is communicated to the electric power consumption monitoring arrangement 32. A different possibility is to note a time for how long such a device is active, Thus, it is not necessary to communicate when such an electric power consuming device stops. It is instead known how long time after initiation or start the relevant electric power consuming device no longer draws any current from the common electric power line 30.

Shutting off of the milk meter and/or the heating element may either be a function which is performed after it becomes known to a relevant controller that there is no capacity on the common electric power line 30 or it may be performed as soon as milking has finished. The first case is exemplified in the above sequence. In the latter case the sequence example above would have included shutting off the milk meter and the heating element in the first milking position 6 after milking of the animal was completed and then there would have been capacity available for the take-off in the second milking position 8 while after-treating was performed in the first milking position 6.

Some functions in a milking position may be prioritized and accordingly, not interrupted. For example take-off of teat cups may be prioritized once it has been initiated or treating of the teats once it has been initiated. Some functions are not that critical and may be shut off and turn on to free capacity on the common electric power line 30, in particular if capacity is required only for short periods of time. For instance the heating element of the milk meter or the animal identification device 50 may be shut off for a short period of time, e.g. 10 seconds. It may also be arranged for a controiler of a milking position to reserve capacity, in order to perform tasks in sequence and ensure that there is electric capacity available. For instance the electric power consumption monitoring arrangement 32 may reserve capacity on the common electric power line 30 for activating the treatment arrangement as soon as the take-off arrangement 42 is initiated. Information about prioritized functions and functions which may be shut off for time periods may be available to the first and second controllers, e.g. stored in a memory or provided by the electric power consumption monitoring arrangement 32.

A further option is that an operation priority level of each of the electric power consuming devices may be stored in the database of the electric power consumption monitoring arrangement 32. Thus, based on the operation priority level the electric power consumption monitoring arrangement 32 may provide information to the first controller 34 and the second controller about which electric power consuming devices may be shut off to free capacity on the common electric power line 30 and which electric power consuming devices may not be shut off before a respective operation has finished. The operation priority level may also be utilized to prioritize which electric power consuming device is to be started first when two electric power consuming devices are about to be started simultaneously and there is not enough available capacity on the common electric power line 30 to start them simultaneously.

Fig. 2 illustrates schematically an electric power consumption monitoring arrangement 60 of a milking system 2 according to example embodiments. The electric power consumption monitoring arrangement 60 comprises a meter, which measures actual current or power load in a common electric power line 30 feeding electric power consuming device in a first, a second, and a third milking position 6, 8, 62. A controller in each of the three milking positions, i.e. a first controller 34, a second controller 64 and a third controller 66, receives information from the electric power consumption monitoring arrangement 60. Such information may be actual current and/or power consumption of the three milking positions, available headroom on the common electric power line 30 or control information to the first, second and third controllers 34, 64, 66.

In the first case when information about actual consumption is provided each controller, 34, 64, 66 is aware of the maximum allowed current and will only initiate or start functions when there is available capacity. Again, certain functions may be interrupted or shut off to free capacity. In the second case where available headroom is provided a relevant controller 34, 64, 66 will only initiate or start functions when the headroom is sufficient for the relevant function. Again, certain functions may be interrupted or shut off to free capacity. In the third case each controller 34, 64, 66 communicates with the electric power consumption monitoring arrangement 60 requesting to start or initiate a certain function. The information from the electric power consumption monitoring arrangement 60 forms basis for whether to, or whether not to, start or initiate the certain function. A list of the current requirements of the different electric power consuming device may again be utilized.

Fig. 3 illustrates schematically an electric power consumption monitoring arrangement 70 of a milking system 2 according to example embodiments. The electric power consumption monitoring arrangement 70 is arranged to keep track of current or power load on a common electric power line 30 feeding electric power consuming devices In a first, a second, and a third milking position 6, 8, 62. A controller in each of the three milking positions, i.e. a first controller 72, a second controller 74 and a third controller 76, receives information from the electric power consumption monitoring arrangement 70 regarding the current flowing in the common electric power line 30. Each one of the a first controller 72, the second controller 74 and the third controller 76 are further connected to the common electric power line 30. Each controller 72, 74, 76 supplies current from the common electric power line 30 to electric power consuming devices (non-shown) in the respective milking positions 6, 8, 62. In this manner the controllers 72, 74, 76 directly control the current to connected electric power consuming devices based on the information provided from the electric power consumption monitoring arrangement 70. Some electric power consuming devices in the milking positions 6, 8, 62 may be directly connected to the common electric power line 30. These may be devices, which are in operation most of the time, e.g. a display or a user interface of a milking position.

Fig. 4 illustrates a milking system 2 according to example embodiments wherein a central controller 80 communicates with a first controller 34 arranged in a first milking position 6 and a second controller 64 arranged in a second milking position 8. An electric power consumption monitoring arrangement 82 monitors the current in a common electric power line 30, which supplies power to the two milking positions 6, 8. The central controller 80 communicates with the electric power consumption monitoring arrangement 82 and the first and second controllers 34, 64 to administer power consumption in the first and second milking positions 6, 8. Basically, administering of the electric power consumption may be performed in accordance with the principles discussed above. The central controller 80 however, may provide greater flexibility regarding administering the electric power consumption. The electric power consumption monitoring arrangement 82 may utilize a database as discussed above or a meter for measuring actual power consumption in the common electric power line 30. The first and second controller 34, 64 may only need to perform the functions of starting, initiating or stopping electric power consuming devices in the respective milking positions and communicating with the central controller 80. The central controller 80 takes on the role of administering the actual control of which electric power consuming device are allowed to start or be initiated as well as which electric power consuming devices are to be stopped, The central controller 80 may be associated with more than one common electric power line and more than one electric power consumption monitoring arrangement.

Accordingly, the central controller 80 may administer electric power in several milking positions, even all milking positions in a milking stall 2. Fig. 5 illustrates schematically a milking system according to example embodiments wherein a first controller 34 controls electric power consuming devices of several milking positions. An electric power consumption monito ing arrangement 90 is connected with the first controller 34. Based on information from the electric power consumption monitoring arrangement 90, the first controller 34 controls electric power consuming devices (not shown) in a first and a second miiking position 6, 8. Again, the electric power consumption monitoring arrangement 90 may be a database as discussed above or a meter for measuring actual power consumption in the common electric power line 30.

Example embodiments may be combined as understood by a person skilled in the art. It is also understood by those skilled in the art that a milking system may operate without the electric power consumption monitoring arrangement knowing for which specific electric power consuming device electric power is required.

The milking system may be a fully automatic milking system, in which the teat cups of the set of teat cups are automatically attached to the teats of an animal. The fully automatic milking system may comprise arrangements for treating teats before and after milking, and an animal identification device. It may comprise apparatuses for measuring milk and miiking parameters such as fat, protein and possible blood content, amount and flow of milk, conductivity of milk. The fully automatic milking system may comprise a cleaning arrangement for cleaning the fully automatic milking system, in particular milk conduits thereof. Many of these arrangements, devices and apparatuses are, or comprise, electric power consuming devices. Accordingly, the electric power consumption monitoring arrangement and first controller may administer electric power consumption within a fully automatic milking system such that the maximum allowed current or power rating of an electric power conduit supplying the fully automatic milking system is not exceeded. Even though the invention has been described with reference to example embodiments, many different alterations, modifications and the like will become apparent for those skilled in the art.

For instance the electric power consumption monitoring arrangement may be a distributed arrangement, wherein part of the power consumption of a unit e.g. a milking position is administered in the milking position. To initiate one function a different function is interrupted or shut down by the relevant controlier of a milking position. This is done without communicating with a higher level electric power consumption monitoring arrangement for more than one milking position. That is, the milking position with regard to some functions performs its own electric power consumption monitoring within its present consumption of current from the common electric power line. The higher level electric power consumption monitoring arrangement may override administering on the milking position level to allow a different distribution of available current.

For instance the actual current requirement or power consumption of some or each electric power consuming device may be checked and stored at regular intervals, e.g. a check procedure may be performed when a control arrangement at a milking position is started up before a milking session is started. The acquired current or power requirement of each electric power consuming device may be stored.

Some electric power consuming devices may have more than one electric power consumption level. For instance a valve may have one high power consumption level when the valve changes state, from one position to another position. Once the valve has reached a position its electric power consumption is low because only a low current is required to maintain the valve in a relevant state. The electric power consumption monitoring arrangement may be arranged to provide information about the different power consumption levels of a relevant electric power consuming device such that account may be taken thereto when administering the electric power consumption of the milking system.

Therefore, it is to be understood that the foregoing is illustrative of various example embodiments and is not to be limited to the specific embodiments disciosed and that modifications to the disclosed embodiments, combinations of features of disclosed embodiments as well as other embodiments are intended to be included within the scope of the appended claims.

Claims

A milking system (2) comprising a first electric power consuming device and a second electric power consuming device, wherein said first and said second electric power consuming devices are connected to a common electric power line (30) having a maximum allowed current rating and/or power rating
characterised in that
said system (2) comprises a first controller (34, 72) connected with said first electric power consuming device for controlling said first electric power consuming device based on information provided by an electric power consumption monitoring arrangement (32, 60, 70, 82, 90) relating to said common electric power line (30) and its maximum allowed current rating and/or power rating.
The milking system (2) according to claim 1 , wherein said first controller (34, 72) is adapted to start or initiate said first power consuming device when said information provided by said electric power consumption monitoring arrangement (32, 60, 70, 82, 90) indicates sufficient available electric capacity on said common electric power line (30).
The milking system (2) according to any one of claims 1 and 2, wherein said system (2) comprises a first milking position (6), a first set of teat cups (12) for milking an animal associated with said first milking position (6), a common milk line (14) leading to a milk tank, and a first milk conduit (16) forming at least part of a connection between at least one teat cup of said first set of teat cups (12) and said common milk line (14).
The milking system (2) according to claim 3, wherein said system (2) comprises a second milking position (8), which comprises a second set of teat cups (12) and a second milk conduit (18) forming at least part of a connection between at least one teat cup of said second set of teat cups (12) and said common milk line (14).
The milking system (2) according to any one of claims 3 and 4, wherein said first and said second electric power consuming devices are each part of:
- a shut-off valve (36) arranged in said first or said second milk conduit (16, 8), or - a take-off arrangement (42) for taking off at ieast one teat cup of said first or said second set of teat cups (12) from a teat of an animal, or
- an animal identification device (50), or
- a treatment arrangement (46) for treating teats of an animal.
6. The milking system (2) according to any one of the preceding claimss wherein said first controller (72) controls electricity fed to said first electric power consuming device from said common electric power line (30) for starting or initiating and/or stopping said first electric power consuming device.
7. The milking system (2) according to any one of claims 1 - 5, wherein said first
controller (34) communicates with said first electric power consuming device sending control signals for starting or initiating and/or stopping said first electric power consuming device.
8. The milking system (2) according to any one of the preceding claims, wherein said electric power consumption monitoring arrangement (32, 70, 82, 90) registers or monitors continuously or intermittently which electric power consuming devices connected to said common electric power line are consuming electric power.
9. The milking system (2) according to any one of claims 1- 7, wherein said electric power consumption monitoring arrangement (60) measures actual electric current and/or electric power fed through said common electric power line (30).
10. The milking system according (2) to any one of the preceding claims, wherein said first controller (34) is connected with said second electric power consuming device for controlling said second electric power consuming device based on information provided by said electric power consumption monitoring arrangement (32, 60, 70, 82, 90) relating to said common electric power line (30) and its maximum allowed current rating and/or power rating.
11. The milking system (2) according to any one of the preceding claims, wherein a
second controller (64, 74) is connected with said second electric power consuming device for controlling said second electric power consuming device based on information provided by said electric power consumption monitoring arrangement (32, 60, 70, 82) relating to said common electric power line (30) and its maximum allowed current rating and/or power rating. 12. The milking system (2) according to any one of the preceding claims, wherein said system (2) comprises a central controller (80) which communicates with said first controller (34), and wherein said central controller (80) is associated with said electric power consumption monitoring arrangement (82). 3. The milking system (2) according to claim 12, wherein said central controller (80) communicates with said second controller (64).
14. The milking system (2) according to claim 11 , wherein said first and second
controllers (34, 64, 74) communicate with said electric power consumption monitoring arrangement (32, 60, 70, 82).
15. The milking system (2) according to any one of the preceding claims comprising a third electric power consuming device connected to said common electric power line, and wherein said first controller (34) is connected with said third electric power consuming device and adapted to stop said third electric power consuming device to free electric capacity on said common electric power line (30).
16. The milking system according to any one of the preceding claims, wherein said
electric power consumption monitoring arrangement (32, 60, 70, 82) is adapted to provide information about an operation priority level of said first and said second electric power consuming devices.
PCT/EP2011/054621 2010-03-25 2011-03-25 A milking system WO2011117386A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US31745410P true 2010-03-25 2010-03-25
SE1050281-3 2010-03-25
US61/317,454 2010-03-25
SE1050281 2010-03-25

Publications (2)

Publication Number Publication Date
WO2011117386A2 true WO2011117386A2 (en) 2011-09-29
WO2011117386A3 WO2011117386A3 (en) 2012-06-07

Family

ID=44625528

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/054621 WO2011117386A2 (en) 2010-03-25 2011-03-25 A milking system

Country Status (1)

Country Link
WO (1) WO2011117386A2 (en)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8393296B2 (en) 2011-04-28 2013-03-12 Technologies Holdings Corp. Milking box with robotic attacher including rotatable gripping portion and nozzle
US8590488B2 (en) 2010-08-31 2013-11-26 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9681634B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. System and method to determine a teat position using edge detection in rear images of a livestock from two cameras
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU6340394A (en) 1993-06-14 1994-12-15 Nu Pulse New Zealand Limited Control device

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4310770A (en) * 1979-07-25 1982-01-12 Ohio Agricultural Research And Development Center Demand load control
SU1464975A2 (en) * 1987-02-09 1989-03-15 Научно-производственное объединение по механизации и электрификации сельского хозяйства "Целинсельхозмеханизация" Apparatus for monitoring and regulating the process of milking at the beginning and at the end of milking
US5697324A (en) * 1993-06-25 1997-12-16 Van Der Lely; Cornelis Apparatus for automatically milking animals, such as cows
US5584262A (en) * 1995-03-02 1996-12-17 Babson Bros. Co. Pulsation control having pulse width modulating driving circuit
US6510369B1 (en) * 1999-08-24 2003-01-21 Plug Power Inc. Residential load shedding
EP1348332A1 (en) * 2002-03-27 2003-10-01 Prolion B.V. Milking device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU6340394A (en) 1993-06-14 1994-12-15 Nu Pulse New Zealand Limited Control device

Cited By (101)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9648839B2 (en) 2010-08-31 2017-05-16 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US10327414B2 (en) 2010-08-31 2019-06-25 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US9980458B2 (en) 2010-08-31 2018-05-29 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US8707905B2 (en) 2010-08-31 2014-04-29 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8720382B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8720383B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8726843B2 (en) 2010-08-31 2014-05-20 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9894876B2 (en) 2010-08-31 2018-02-20 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US8807086B2 (en) 2010-08-31 2014-08-19 Technologies Holdings Corp Automated system for applying disinfectant to the teats of dairy livestock
US8807085B2 (en) 2010-08-31 2014-08-19 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9888664B2 (en) 2010-08-31 2018-02-13 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9775325B2 (en) 2010-08-31 2017-10-03 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9763424B1 (en) 2010-08-31 2017-09-19 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9737043B2 (en) 2010-08-31 2017-08-22 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9706747B2 (en) 2010-08-31 2017-07-18 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9686961B2 (en) 2010-08-31 2017-06-27 Technologies Holdings Corp. Automated system for moving a robotic arm along a rotary milking platform
US9686962B2 (en) 2010-08-31 2017-06-27 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9648843B2 (en) 2010-08-31 2017-05-16 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9560832B2 (en) 2010-08-31 2017-02-07 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9126335B2 (en) 2010-08-31 2015-09-08 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9549531B2 (en) 2010-08-31 2017-01-24 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8590488B2 (en) 2010-08-31 2013-11-26 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9516854B2 (en) 2010-08-31 2016-12-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9480238B2 (en) 2010-08-31 2016-11-01 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9474248B2 (en) 2010-08-31 2016-10-25 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9247709B2 (en) 2010-08-31 2016-02-02 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US9462781B2 (en) 2010-08-31 2016-10-11 Technologies Holdings Corp. Automated system for moving a robotic arm along a rotary milking platform
US9462782B2 (en) 2010-08-31 2016-10-11 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US9439392B2 (en) 2010-08-31 2016-09-13 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9433184B2 (en) 2010-08-31 2016-09-06 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8393296B2 (en) 2011-04-28 2013-03-12 Technologies Holdings Corp. Milking box with robotic attacher including rotatable gripping portion and nozzle
US9282720B2 (en) 2011-04-28 2016-03-15 Technologies Holdings Corp. Arrangement of milking box stalls
US9326480B2 (en) 2011-04-28 2016-05-03 Technologies Holdings Corp. Milking box with robotic attacher
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9282718B2 (en) 2011-04-28 2016-03-15 Technologies Holdings Corp. Milking box with robotic attacher
US9374975B2 (en) 2011-04-28 2016-06-28 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9374979B2 (en) 2011-04-28 2016-06-28 Technologies Holdings Corp. Milking box with backplane and robotic attacher
US9402365B2 (en) 2011-04-28 2016-08-02 Technologies Holdings Corp. Milking box with robotic attacher
US9271471B2 (en) 2011-04-28 2016-03-01 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9439390B2 (en) 2011-04-28 2016-09-13 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9462780B2 (en) 2011-04-28 2016-10-11 Technologies Holdings Corp. Vision system for robotic attacher
US9253959B2 (en) 2011-04-28 2016-02-09 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9468188B2 (en) 2011-04-28 2016-10-18 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US9374974B2 (en) 2011-04-28 2016-06-28 Technologies Holdings Corp. Milking box with robotic attacher
US9183623B2 (en) 2011-04-28 2015-11-10 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9485955B2 (en) 2011-04-28 2016-11-08 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9491924B2 (en) 2011-04-28 2016-11-15 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9504224B2 (en) 2011-04-28 2016-11-29 Technologies Holdings Corp. Milking box with robotic attacher
US9510554B2 (en) 2011-04-28 2016-12-06 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9171208B2 (en) 2011-04-28 2015-10-27 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9549529B2 (en) 2011-04-28 2017-01-24 Technologies Holdings Corp. Robotic attacher and method of operation
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9582871B2 (en) 2011-04-28 2017-02-28 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9615537B2 (en) 2011-04-28 2017-04-11 Technologies Holdings Corp. Milking box with backplane responsive robotic attacher
US9480236B2 (en) 2011-04-28 2016-11-01 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US9648841B2 (en) 2011-04-28 2017-05-16 Technologies Holdings Corp. Cleaning system for a milking box stall
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US9681635B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. Milking box with robotic attacher
US9681634B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. System and method to determine a teat position using edge detection in rear images of a livestock from two cameras
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9686960B2 (en) 2011-04-28 2017-06-27 Technologies Holdings Corp. Milking box with robotic attacher
US9686959B2 (en) 2011-04-28 2017-06-27 Technologies Holdings Corp. Milking box with robotic attacher
US9706745B2 (en) 2011-04-28 2017-07-18 Technologies Holdings Corp. Vision system for robotic attacher
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9737042B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9737039B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. Robotic attacher and method of operation
US9737048B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. Arrangement of milking box stalls
US9737041B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9737040B2 (en) 2011-04-28 2017-08-22 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9743635B2 (en) 2011-04-28 2017-08-29 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9756830B2 (en) 2011-04-28 2017-09-12 Technologies Holdings Corp. Milking box with robotic attacher
US9763422B2 (en) 2011-04-28 2017-09-19 Technologies Holdings Corp. Milking box with robotic attacher
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US8826858B2 (en) 2011-04-28 2014-09-09 Technologies Holdings Corp. Milking box with robotic attacher
US9883654B2 (en) 2011-04-28 2018-02-06 Technologies Holdings Corp. Arrangement of milking box stalls
US8813680B2 (en) 2011-04-28 2014-08-26 Technologies Holdings Corp. Milking box with robotic attacher
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US9901067B2 (en) 2011-04-28 2018-02-27 Technologies Holdings Corp. Robotic attacher and method of operation
US9980460B2 (en) 2011-04-28 2018-05-29 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9980459B2 (en) 2011-04-28 2018-05-29 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10143179B2 (en) 2011-04-28 2018-12-04 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US10172320B2 (en) 2011-04-28 2019-01-08 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US10303939B2 (en) 2011-04-28 2019-05-28 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US8651051B2 (en) 2011-04-28 2014-02-18 Technologies Holdings Corp. Milking box with robotic attacher
US10327415B2 (en) 2011-04-28 2019-06-25 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US10349618B2 (en) 2011-04-28 2019-07-16 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US10373306B2 (en) 2011-04-28 2019-08-06 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera

Also Published As

Publication number Publication date
WO2011117386A3 (en) 2012-06-07

Similar Documents

Publication Publication Date Title
US5808277A (en) Programmable thermostat to reduce bacterial proliferation to prevent legionellosis
US6732387B1 (en) Automated pedicure system
US6257265B1 (en) Apparatus for connecting a heat exchanger with a fluid temperature regulation device
US7892423B2 (en) Dialysis system including multi-heater power coordination
EP1894586A2 (en) Peritoneal dialysis machine with dual voltage heater circuit and method of operation
US20120138533A1 (en) Dialysis system control system with user interface
EP0525696B1 (en) Apparatus for treating slaughtered animals
US8206578B2 (en) Dialysis system including supplemental power source
JP2003532183A (en) System for monitoring a plurality of cleaning process or a cleaning apparatus for the method and industries that provide maintenance support service or operation support services for a plurality of washing processes or washing apparatus for industrial from a service center
US6089242A (en) Dairy harvesting facility wash system
US20130006154A1 (en) Control Unit for a Therapy System and Method
JP2008148569A (en) Rearing support system
US20150351984A1 (en) Automated nursing system
JP5903473B2 (en) Magnetic resonance imaging system with adapted power supply unit to supply the DC power
JPH0528286U (en) Automatic liquid soap supply device
JP4348075B2 (en) Apparatus for supplying treatment liquid to the instrument for medical
US20040210283A1 (en) Pump controller for body temperature regulatory system
NZ546075A (en) Milking and applicator teat cup, system, and method
US20100206245A1 (en) Animal control system
US20040155784A1 (en) Water leak mitigation system
US20100099193A1 (en) System and method for monitoring and controlling quality of culture water and integrated water quality analyzer thereof
EP1569544A2 (en) High flow rate water supply assembly
US7387083B2 (en) Precision watering method and apparatus
US9686958B2 (en) Methods for preparing a dairy animal for milking
JP2014524766A (en) The method and system of the inlet temperature monitoring for centralized heat disinfection of dialyzer inlet line

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11710500

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase in:

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11710500

Country of ref document: EP

Kind code of ref document: A2