System and computer-implemented method and computer program for controlling a rotary milking parlor arrangement

Abstract

A rotary milking parlor arrangement has a rotating platform (130) with a plurality of compartments (S) for housing animals during milking. Drive units (241, 242, 243, 244, 245) rotate the rotating platform (130) about a rotation axis (P). A control unit (220) obtains a respective first state of a first operating parameter (p11, p21, p31, p41, p51), such as a torque, of each drive unit (241, 242, 243, 244, 245) while the rotating platform (130) is operating in a first operating mode, such as when idle. The control unit (220) also obtains a respective second state of the first operating parameter (p11, p21, p31, p41, p51) of each drive unit (241, 242, 243, 244, 245) while the rotating platform (130) is operating in a second operating mode, such as when rotating in a steady state. The control unit (220) compares the first and second states of the first operating parameter with each other for each drive unit (241, 242, 243, 244, 245). If the difference between the first and second states does not exceed a threshold level for one or more detected drive units, the control unit (220) generates a first alarm (A1) for the one or more detected drive units. The first alarm (A1) can warn that the maximum steady-state speed of the rotating platform (130) is reduced.

Description

Technical Field

[0001] The present invention generally relates to solutions for positioning animals on rotating platforms during milking. More specifically, the present invention relates to a system for operating a rotating platform of a rotary milking parlor arrangement and a computer-implemented method for use with such a system. The present invention also relates to a corresponding computer program for use with the method. Background Art

[0002] Today's automated milking arrangements are extremely complex. A particular example is the rotary milking parlor arrangement. Here, an extremely heavy platform supporting a large number of animals rotates while the milking machine milks the animals. This platform rotation requires numerous high-power electric motors. These motors must also be controlled with extremely high accuracy, for example, to adjust the rotation speed based on the milking characteristics of the animals currently on the platform. Furthermore, in the event of an accident or malfunction, the platform's rotation must be stopped and / or reversed as quickly as possible.

[0003] Typically, one or more friction drive wheels are arranged under the platform, which act on the drive surface of the platform to rotate it. For the required control, an integrated braking system can also be used, for example as described in US2016 / 0278340. WO 2020 / 021521 discloses an example of another control solution. Here, the optimal angular velocity of the milking platform is calculated to maximize the number of animals milked per unit time. EP 2 060 173 shows a design in which the movement of the platform varies in response to the current performance of the milking robot serving the milking stalls on the platform.

[0004] The applicant has discovered that the efficiency and reliability of a rotary milking parlor arrangement can be improved if the drive mechanism is organized as one or more drive units arranged below the rotating platform to rotate it. Each drive unit may in turn comprise a single drive motor or a pair of drive motors that cooperate to reduce slip relative to the drive rails.

[0005] If a drive unit malfunctions, for example due to a failed drive motor, drive wheel, or transmission / gearbox, the overall control capabilities of the rotating platform are degraded. Specifically, its movement becomes sluggish, making it less efficient. In other words, it takes longer to stop the platform from a given speed. This, of course, has negative consequences for the safety of both people and animals. Summary of the Invention

[0006] It is therefore an object of the present invention to provide a solution which provides early notification of any faulty drive unit so that appropriate safety measures can be taken.

[0007] According to one aspect of the present invention, the object is achieved by a system for operating a rotary milking parlor arrangement, the arrangement comprising a rotating platform with a plurality of compartments, each of the plurality of compartments being configured to house a respective animal during milking. The arrangement comprises one or more drive units configured to move the rotating platform in at least a first rotational direction about a rotational axis. The system comprises a control unit configured to obtain a respective first state of a first operating parameter for each of the drive units while the rotating platform is operating in a first operating mode. The control unit is further configured to obtain a respective second state of the first operating parameter for each of the drive units while the rotating platform is operating in a second operating mode. For example, the control unit can thereby obtain information regarding the respective current or torque of each drive unit in idle mode and in steady-state operation, respectively. The control unit is further configured to compare, for each of the drive units, a first and a second state of the first operating parameter; and if, for one or more detected drive units, the difference between the first and the second state does not exceed a threshold level, the control unit is configured to generate a first alarm for the one or more detected drive units. In other words, if, for example, the current or torque of a particular drive unit is almost the same in idle mode as in steady-state operation, this drive unit is most likely defective - a situation that should be indicated by a first alarm.

[0008] The above system is advantageous because it is able to identify faulty drive units in a straightforward and reliable manner. As a result, appropriate measures can be taken to compensate for and mitigate the effects of any faulty drive unit, such as by preventing operation of the rotating platform or reducing the maximum steady-state speed on each drive unit to compensate for the longer braking time caused by the faulty drive unit, and / or issuing an inspection / repair alert for the faulty drive unit. The identification of any faulty drive unit by means of a first alert can also be considered as a software disengagement of any faulty drive unit, meaning that the control unit cannot rely on the faulty drive unit to control the speed of the rotating platform. That is, for each drive unit that is not functioning correctly, the ability to operate, accelerate, and slow / brake the rotating platform deteriorates. From a safety perspective, braking capability is the most critical aspect here.

[0009] The first alarm is not simply an indication of a malfunctioning drive motor or transmission / gearbox. Instead, depending on the circumstances, it could simply be an indication of a worn drive wheel or an improperly engaged drive wheel. In some types of rotary milking parlor arrangements, the drive unit is manually rotated and secured into position where the drive wheel engages the drive surface on the rotating platform. The system also enables the identification of any improperly secured drive unit.

[0010] According to one embodiment, each of the at least one drive unit comprises at least one drive motor, the at least one drive motor being arranged to engage a drive surface of the rotating platform and act on the drive surface via at least one drive wheel to cause the rotating platform to perform the movement, and the control unit is further configured, in response to the first alarm, to prevent operation of the rotating platform or reduce the maximum steady-state speed of the rotating platform, and / or to issue an inspection / maintenance alarm for the faulty drive unit. Preferably, the rotary milking parlor arrangement comprises at least two such drive units. Thus, if one of the drive units is not functioning properly, the rotary milking parlor arrangement can still operate, while the maximum steady-state speed of the functioning drive units (including the faulty drive unit) is reduced for safety reasons. In other words, the rotating platform does not need to be shut down in response to an alarm indicating a faulty drive unit. Rotary milking parlor arrangements typically comprise a greater number of drive units, such as anywhere from five to sixteen, so that the maximum permissible steady-state speed can be gradually reduced in response to an increasing number of faulty drive units being indicated.

[0011] Each drive unit may comprise a single drive motor that is arranged to engage the drive surface of the rotating platform in a non-detachable manner. In this case, the drive unit is preferably manually secured in the position in which the drive wheel engages the drive surface of the rotating platform. In other words, non-detachable means that the drive unit cannot be (automatically) detached during operation of the rotary milking parlor arrangement. However, the drive unit can be manually detached after stopping the rotating platform.

[0012] Alternatively, each of the at least one drive unit may comprise a first and a second drive motor, said first and second drive motors being arranged to engage two of said drive surfaces in the form of drive rails of the rotating platform and act on respective sides of the drive rails via respective drive wheels in order to cause the rotating platform to perform said movement. Thus, the first and second drive motors cooperate in an efficient manner.

[0013] According to one embodiment, in response to the first alarm, the control unit is further configured to send a first control signal to the one or more detected drive units, wherein the first control signal is configured to automatically / physically disengage the one or more detected drive units from the drive track. This is beneficial because if one of the first and second drive motors is operating as desired while the other is stationary, opposite sides of the drive track experience different levels of resistance. This, in turn, could lead to a derailment of the rotating platform, which is both dangerous and costly.

[0014] According to another embodiment, the first operating mode involves operating the at least one drive unit in an idle mode in which the drive motor of any of the at least one drive unit is not engaged to move the rotating platform in at least the first rotational direction about the rotation axis; and the second operating mode involves operating the at least one drive unit in a steady-state mode in which the at least one drive unit is engaged to move the rotating platform in at least the first rotational direction about the rotation axis at a steady-state speed. Thus, while the drive motors are operated in the idle mode without being engaged, first operating parameters of the drive motors (such as current or torque) are obtained / recorded, whereby the first operating parameters of the drive motors (such as current or torque) obtained in the steady-state mode are compared with reference values obtained in the idle mode to determine whether any of the drive motors has failed.

[0015] According to another embodiment, a first operating mode involves operating at least one drive unit in an unengaged ramp-up mode, wherein the drive motor of any of the at least one drive unit is not engaged to accelerate the rotating platform in at least a first rotational direction about the rotational axis toward a steady-state speed; and a second operating mode involves operating at least one drive unit in an engaged ramp-up mode, wherein the at least one drive unit is engaged to accelerate the rotating platform in at least the first rotational direction about the rotational axis toward a steady-state speed. Thus, when operating the drive motor to a desired steady-state speed in an unengaged (unloaded) ramp-up mode, a first operating parameter of the drive motor (such as current or torque) is obtained / recorded, wherein the first parameter can be used as a reference value that can be plotted on a reference curve, which is subsequently compared to the value / curve of the first parameter in the engaged ramp-up mode when the rotating platform is accelerated (from rest) to the desired steady-state speed. Thus, if the difference between the first and second states does not exceed a threshold level, the control unit is configured to generate a first alarm for one or more detected drive units during the ramp-up mode.

[0016] According to another embodiment, the arrangement includes at least three drive units. Here, if the difference between the first and second states exceeds a threshold level for each of the at least three drive units, i.e., passes a first checkpoint, the control unit is further configured to obtain a first operating parameter of each of the at least three drive units, such as the torque of each drive unit or the magnitude of the current fed thereto, while the rotating platform is operating in the second operating mode. The control unit is configured to pairwise compare the first operating parameter of each drive unit with the first operating parameter of each of the other drive units to derive a corresponding first difference between each combination of drive units. Based on the first differences, the control unit is configured to determine whether the first operating parameter of a particular one of the drive units deviates from the first operating parameters of the other drive units by more than a first threshold difference. If so, the control unit is configured to generate a second alarm for the particular one of the drive units. Thus, a drive unit exhibiting deviating performance in the second state (second operating mode) can be designated as faulty. In other words, this embodiment detects drive units that may be faulty during the second operating mode, such as during steady-state operation of the rotating platform.

[0017] According to yet another embodiment, the control unit is further configured to obtain at least one second operating parameter of each of the at least three drive units, such as a corresponding amplitude of voltage and / or a corresponding value of frequency (rpm), while the rotating platform is operating in the second operating mode. Similar to the above, the control unit is configured to pairwise compare the at least one second operating parameter of each of the drive units with at least one second operating parameter of each of the other drive units to derive at least one second difference between each combination of drive units. Based on the difference, the control unit is configured to determine whether the second operating parameter of a particular one of the drive units deviates from the second operating parameters of the other drive units by more than a second threshold difference. If so, the control unit is configured to generate a third alarm for the particular one of the drive units. This provides an additional means of detecting defective drive units.

[0018] According to another aspect of the present invention, the object is achieved by a computer-implemented method for operating a rotary milking parlor arrangement, the arrangement comprising a rotating platform with a plurality of compartments, each of the plurality of compartments being configured to house a respective animal during milking. It is further assumed that the arrangement comprises at least one drive unit configured to move the rotating platform in at least a first rotational direction about an axis of rotation. The method involves obtaining a respective first state of a first operating parameter for each of the at least one drive unit while the rotating platform is operating in a first operating mode. The method also involves obtaining a respective second state of the first operating parameter for each of the at least one drive unit while the rotating platform is operating in a second operating mode. For each of the at least one drive unit, the first and second states of the first operating parameter are compared with each other. If, for one or more detected drive units, the difference between the first and second states does not exceed a threshold level, the method involves generating a first alarm for the one or more detected drive units. The advantages of the present method and its preferred embodiments are apparent from the discussion above with reference to the system.

[0019] According to another aspect of the invention, the object is achieved by a computer program loadable into a non-volatile data carrier communicatively connected to a processing unit. The computer program comprises software for performing the above method when the program is run on the processing unit.

[0020] Further advantages, advantageous features and applications of the invention will be apparent from the following description and the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The invention will now be explained more closely by means of a preferred embodiment disclosed as an example and with reference to the accompanying drawings.

[0022] Figure 1 Shows a rotating platform of a rotary milking parlor arrangement according to one embodiment of the present invention;

[0023] Figure 2 A system for operating a rotating platform according to one embodiment of the present invention is shown;

[0024] Figure 3 A perspective view showing a drive unit according to a first embodiment of the present invention;

[0025] Figure 4 A perspective view showing a drive unit according to a second embodiment of the present invention;

[0026] Figure 5a-5b schematically illustrates the function of a drive unit according to a second embodiment of the present invention; and

[0027] Figure 6The general method according to the invention is illustrated with the aid of a flow chart. DETAILED DESCRIPTION

[0028] Figure 1 A rotating platform 130 is shown, which forms part of a rotary milking parlor arrangement. In this embodiment, the rotating platform 130 has 18 milking stalls S. However, of course, any higher or lower number of stalls S is conceivable according to the present invention. However, each stall S is configured to accommodate a corresponding animal being milked by the milking machine.

[0029] The system according to the invention comprises at least one drive unit and a control unit 220. The drive unit moves the rotating platform 130 in at least a first rotation direction RF around the rotation axis P. Depending on the size of the rotating platform 130, the number of drive units may be any number from one to, for example, sixteen.

[0030] Figure 2 A system for operating a rotating platform 130 according to one embodiment of the present invention is shown. The system includes a control unit 220 configured to obtain respective first states of first operating parameters p11, p21, p31, p41, and p51 of each of the drive units 241, 242, 243, 244, and 245, respectively, during operation of the rotating platform 130 in a first operating mode.

[0031] The first operating mode may involve operating the drive unit and rotating platform 130 in an idle mode or an unengaged ramp-up mode, in which the drive motor of any of the drive units 241, 242, 243, 244, or 245 is not engaged to move the rotating platform 130 in at least the first rotational direction RF about the rotation axis P. Thus, the drive unit operates in the idle mode or the unengaged ramp-up mode, and the rotating platform is stationary. The second operating mode may involve operating the drive unit and rotating platform 130 in a steady-state mode or an engaged ramp-up mode, in which the drive units 241, 242, 243, 244, and 245 are engaged to move or accelerate to a steady-state speed about the rotation axis P in at least the first rotational direction RF.

[0032] The first operating parameters p11, p21, p31, p41, and p51 may represent the respective magnitudes of the currents fed to each of the drive units 241, 242, 243, 244, and 245 in the first and second states, respectively. Alternatively, the first operating parameters p11, p21, p31, p41, and p51 may represent the respective torques of each of the drive units or the respective magnitudes of the voltages fed to each of the drive units 241, 242, 243, 244, and 245 or the respective values of the frequencies.

[0033] However, the control unit 220 is configured to obtain the respective second states of the first operating parameters p11 , p21 , p31 , p41 and p51 of each of the driving units 241 , 242 , 243 , 244 and 245 during operation of the rotating platform 130 in the second operating mode.

[0034] For each of the drive units 241, 242, 243, 244, and 245, the control unit 220 is configured to compare first and second states of first operating parameters p11, p21, p31, p41, and p51, such as the magnitude of the corresponding current fed to each drive unit in idle mode and in steady-state mode. If, for one or more detected drive units, say 241, the difference between the first and second states does not exceed a threshold level, the control unit 220 is configured to generate a first alarm A1 for the one or more detected drive units, here 241.

[0035] Typically, according to the invention, the first and second states are selected such that a drive unit operating as intended shows significantly different values of the first operating parameters p11 , p21 , p31 , p41 and p51 in the first and second states, respectively.

[0036] According to the invention, each of the drive units 241, 242, 243, 244 and 245 comprises at least one drive motor arranged to engage a drive surface of the rotating platform 130. Thus, the at least one drive motor is mechanically connected to at least one drive wheel, which in turn acts on the drive surface in order to cause the rotating platform 130 to perform its rotational movement.

[0037] Each drive unit 241, 242, 243, 244, and 245 is configured to generate at least one respective signal p11, p12, p13; p21, p22, p23; p31, p32, p33; p41, p42, p43; and p51, p52, p53 indicating a respective first, second, and / or third operating parameter of the drive unit in question. The first operating parameters p11, p21, p31, p41, and p51 may represent the respective magnitude of the current fed to the drive units 241, 242, 243, 244, and 245, respectively, or the respective torque of each of the drive units 241, 242, 243, 244, and 245. The second operating parameters p12, p22, p32, p42, and p52 may represent the respective magnitude of the voltage fed to the drive units 241, 242, 243, 244, and 245, respectively. The third operating parameters p13 , p23 , p33 , p43 , and p53 may represent corresponding values of frequencies fed to the driving units 241 , 242 , 243 , 244 , and 245 , respectively.

[0038] Figure 3 A perspective view of a drive unit 241 according to a first embodiment of the present invention is shown. Here, the drive unit 241 includes a single drive motor 341, which is arranged to engage the drive surface of the rotating platform 130 in a non-disengageable manner as previously described. The drive unit 241 is shown in an unengaged external position, used for recording first operating parameters in idle mode or unengaged ramp-up mode. Thereafter, the drive unit 241 can be securely engaged by manually rotating the drive unit to an internal position and locking an arm equipped with rollers 361 and 362, which are arranged to press the drive wheel 350 into secure engagement with the drive surface on the rotating platform 130. Because the drive motor 341 cannot automatically disengage from the rotating platform 130 from the internal locked or engaged position, a detected failure of the drive unit 342 can be considered a software disengagement. This means that the control unit 220 cannot rely on the drive unit 342 when controlling the rotating platform 130. In particular, in response to the first alarm A1 , the control unit 220 may therefore be configured to reduce the maximum allowed steady-state speed of the rotating platform 130 and issue an inspection / maintenance alarm for the drive unit 342 to the operator of the arrangement.

[0039] Figure 4 1 and 2 show a perspective view of a drive unit 242 according to a second embodiment of the present invention. Here, the drive unit 242 includes a first drive motor 541 and a second drive motor 542 (see also FIG. Figure 5a and 5b ), the first and second drive motors are arranged to engage the drive track 230 of the rotating platform 130. Specifically, each of the first drive motor 541 and the second drive motor 542 is mechanically connected to a respective drive wheel 551 and 552, which acts on opposite sides of the drive track 230 to cause the rotating platform 130 to perform its rotational movement, as further described below with reference to Figure 5a and 5b described.

[0040] In response to the first alarm A1 , the control unit 220 is preferably configured to send a first control signal C2 to any drive unit 242 that has been detected as faulty. The first control signal C2 is configured to automatically / physically disengage the detected drive unit 242 from the drive rail 230 .

[0041] Figure 5a and 5b FIG. 2 is a schematic diagram illustrating a driving unit 242 according to a second embodiment of the present invention. Figure 5a The operation of the drive unit 242 is shown, wherein the rotating platform 130 is moved in a first direction RF, for example, forward; and Figure 5bThe operation of the drive unit 242 is shown, wherein the rotating platform 130 is moved in the second direction RB, for example, backward. The first drive motor 541 and the second drive motor 542 are each arranged to engage a drive surface of the rotating platform 130 in the form of a drive track 230. The drive track 230 is preferably located below the rotating platform 130 and follows the circular contour of the rotating platform 130.

[0042] Now refer to it again Figure 4 The drive unit 242 includes an actuator 410 that is configured, in response to a control signal C2, to decouple the drive unit 242 from the drive rail 230 by separating the first drive wheel 351 from the second drive wheel 352. The actuator 410 may include a pneumatic cylinder, a hydraulic cylinder, and / or an electric linear motor arranged to separate the first drive wheel 551 and the second drive wheel 552 from each other.

[0043] The first drive wheel 551 is arranged on a first side of the drive track 230, for example, on the inside of the circular loop formed by the drive track 230. The first drive wheel 551 is operated by the first drive motor 541 in the drive unit 242. The second drive wheel 552 is arranged on a second side of the drive track 230, for example, on the outside of the circular loop, and is operated by the second drive motor 542 in the drive unit 242.

[0044] Preferably, the drive unit 242 contains at least one clamping member configured to urge the first drive wheel 551 toward a first side of the drive track 230 and the second drive wheel 352 toward a second side of the drive track 230 in the engaged mode. Figure 4 The embodiment of the invention shown in FIG has two clamping members 421 and 422, respectively, which can be represented by elastic elements such as coil springs and / or leaf springs. Thus, in practice, whenever the actuator 410 is deactivated, the clamping members 421 and 422 press the drive wheels 551 and 552 toward the drive rail 230, causing the drive wheels 551 and 552 to engage and rotate the platform 130. Activation of the actuator 410 causes the entire motor and drive wheel arrangement 541 / 551 and 542 / 552, respectively, to swing away from each other by rotating about the pivot axis.

[0045] According to one embodiment of the present invention, the arrangement comprises at least three drive units 241, 242, 243, 244 and 245. Here, if the difference between the first and second states of the first operating parameters p11, p21, p31, p41 and p51 exceeds a threshold level for each of the at least three drive units 241, 242, 243, 244 and 245, the control unit 220 is configured to perform the following steps.

[0046] While the rotating platform 130 is operating in the second operating mode (here, steady-state operation), the control unit 220 is configured to obtain first operating parameters p11, p21, p31, p41, and p51 of each of the drive units 241, 242, 243, 244, and 245. The control unit 220 is further configured to compare the first operating parameters p11, p21, p31, p41, and p51 of each of the drive units 241, 242, 243, 244, and 245 with the first operating parameters p11, p21, p31, p41, and p51 of each of the other drive units 241, 242, 243, 244, and 245 in pairs to obtain corresponding first differences between each combination of the at least three drive units 241, 242, 243, 244, and 245. Based on the first difference, control unit 220 is configured to determine whether the first operating parameter of a particular one of the drive units, say 242, deviates from the first operating parameters of the other drive units 241, 243, 244, and 245 by more than a first threshold difference. If so, control unit 220 determines that drive unit 242 exhibits atypical operating behavior in the second operating mode (here, steady-state operation). Therefore, control unit 220 is configured to generate a second alert A2 for drive unit 242.

[0047] Alternatively or additionally, according to an embodiment of the present invention, and with the proviso that the arrangement comprises at least three drive units 241 , 242 , 243 , 244 and 245 , the control unit 220 is configured to perform the following steps.

[0048] During operation of the rotating platform 130 in the second operating mode, the control unit 220 is configured to obtain at least one second operating parameter p12, p22, p32, p42 and p52 of each of the at least three drive units 241, 242, 243, 244 and 245; and compare in pairs at least one second operating parameter p12, p22, p32, p42 and p52 of each of the drive units 241, 242, 243, 244 and 245 with at least one second operating parameter p12, p22, p32, p42 and p52 of each of the other drive units 241, 242, 243, 244 and 245 to derive a corresponding at least one second difference between each combination of the drive units 241, 242, 243, 244 and 245. Based on the difference, control unit 220 is configured to determine whether at least one second operating parameter (operating parameters p12, p22, p32, p42, and p52) of a particular drive unit, say 243, deviates from at least one second operating parameter of the other drive units of at least three drive units 241, 242, 244, and 245 by more than a second threshold difference. If so, similar to the above, this is interpreted as a sign that drive unit 243 exhibits atypical operating behavior in the second operating mode. Therefore, control unit 220 is configured to generate a third alert A3 for drive unit 243.

[0049] It is generally advantageous if the control unit 220 is configured to implement the procedures described above in an automated manner by executing a computer program 227. Therefore, the control unit 220 may comprise a memory unit 225, i.e. a non-volatile data carrier, storing a computer program 227 which in turn contains software for causing a processing circuit system in the form of at least one processor 223 in the central control unit 220 to perform the actions described above when the computer program 227 is run on the at least one processor 223.

[0050] To summarize, and refer to Figure 6 Referring to the flow chart in FIG. 1 , we will now describe a general computer-implemented method of operating a rotary platform of a rotary milking parlor arrangement according to the present invention.

[0051] In a first step 610 , a respective first state of a first operating parameter of each drive unit is obtained during operation of the rotating platform in a first operating mode.

[0052] Then, in step 620 , a corresponding second state of the first operating parameter of each drive unit is obtained during operation of the rotating platform in the second operating mode.

[0053] In a subsequent step 630 , for each of the drive units, the first and second states of the first operating parameter are compared with each other.

[0054] Thereafter, in step 640, a check is performed to determine whether the respective differences between the first and second states of the first operating parameter are above a threshold for each of the drive units. If so, the process ends. Otherwise, step 650 follows, in which a first alarm is generated for each drive unit for which the difference does not exceed the threshold. The process then ends.

[0055] The reference can be controlled by a programmable processor Figure 6 All process steps described, as well as any subsequence of steps. Furthermore, while the embodiments of the present invention described above with reference to the accompanying drawings include processors and processes executed in at least one processor, the present invention also extends to computer programs adapted to implement the present invention, particularly computer programs on or in a carrier. The program may be in the form of source code, object code, intermediate source code, and object code such as partially compiled form or any other form suitable for use in implementing the process according to the present invention. The program may be part of an operating system or a separate application. The carrier may be any entity or device capable of carrying the program. For example, the carrier may include a storage medium such as flash memory, a ROM (read-only memory) such as a DVD (digital video / versatile disk), a CD (compact disk) or semiconductor ROM, an EPROM (erasable programmable read-only memory), an EEPROM (electrically erasable programmable read-only memory), or a magnetic recording medium such as a floppy disk or hard disk. Furthermore, the carrier may be a transmissible carrier, such as an electrical or optical signal that can be transmitted via an electrical or optical cable, or by radio, or by other means. When the program is embodied as a signal that can be directly transmitted by a cable or other device or means, the carrier may be constituted by such a cable or device or means. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing the relevant process or for use in performing the relevant process.

[0056] The term "comprises / comprising" when used in this specification is considered to specify the presence of stated features, integers, steps or components. However, the term does not exclude the presence or addition of one or more additional features, integers, steps or components or groups thereof.

[0057] The invention is not limited to the embodiments described in the figures but may be varied freely within the scope of the claims.

Claims

1. A system for operating a rotary milking parlor arrangement, the rotary milking parlor arrangement comprising a rotating platform (130) with a plurality of compartments (S), each of the plurality of compartments being configured to house a respective animal during milking, the arrangement comprising at least one drive unit (241, 242, 243, 244, 245) configured to move the rotating platform (130) about a rotation axis (P) in at least a first rotational direction (RF, RB), the system comprising a control unit (220) configured to: obtaining a respective first state of a first operating parameter (p11, p21, p31, p41, p51) of each of the at least one drive unit (241, 242, 243, 244, 245) during operation of the rotating platform (130) in a first operating mode; obtaining a respective second state of the first operating parameter (p11, p21, p31, p41, p51) of each of the at least one drive unit (241, 242, 243, 244, 245) during operation of the rotating platform (130) in a second operating mode; for each of the at least one drive unit (241, 242, 243, 244, 245), comparing the first state and the second state of the first operating parameter (p11, p21, p31, p41, p51) with each other, and if, for one or more detected drive units of the at least one drive unit (241, 242, 243, 244, 245), the difference between the first state and the second state does not exceed a threshold level, A first alarm (A1) is generated for the one or more detected drive units (241, 242).

2. The system according to claim 1, wherein: Each of the at least one drive unit (241, 242, 243, 244, 245) comprises at least one drive motor (341; 541, 542), the at least one drive motor being arranged to engage a drive surface (230) of the rotating platform (130) and act on the drive surface via at least one drive wheel (350; 551; 552) so as to cause the rotating platform (130) to perform the movement, and the control unit (220) being further configured to prevent operation of the rotating platform or reduce a maximum steady-state speed of the rotating platform (130) and / or issue an inspection / maintenance alarm in response to the first alarm (A1).

3. The system according to claim 2, wherein: Each of the at least one drive unit (241, 242, 243, 244, 245) comprises a single drive motor (341) arranged to engage the drive surface of the rotating platform (130) in a non-detachable manner.

4. The system according to claim 2, wherein: Each of the at least one drive unit (241, 242, 243, 244, 245) comprises a first drive motor and a second drive motor, which are arranged to engage two of the drive surfaces in the form of drive tracks (230) of the rotating platform (130) and act on respective sides of the drive tracks (230) via respective drive wheels (551; 552) to cause the rotating platform (130) to perform the movement.

5. The system according to claim 4, wherein: In response to the first alarm (A1), the control unit (220) is further configured to: A first control signal (C2) is sent to the one or more detected drive units (242), the first control signal (C2) being configured to cause the one or more detected drive units (242) to disengage from the drive track (230).

6. The system according to any one of claims 1 to 5, wherein: The first operating mode involves operating the at least one drive unit (241, 242, 243, 244, 245) in an idle mode in which the drive motor of any one of the at least one drive unit (241, 242, 243, 244, 245) is not engaged to move the rotating platform (130) in the at least first rotational direction (RF, RB) about the rotational axis (P); and The second operating mode involves operating the at least one drive unit (241, 242, 243, 244, 245) in a steady-state mode in which the at least one drive unit (241, 242, 243, 244, 245) is engaged to move the rotating platform (130) about the rotation axis (P) in the at least first rotation direction (RF, RB) at a steady-state speed.

7. The system according to any one of claims 1 to 5, wherein: The first operating mode involves operating the at least one drive unit (241, 242, 243, 244, 245) in an unengaged ramp-up mode in which the drive motor of any one of the at least one drive unit (241, 242, 243, 244, 245) is not engaged to accelerate the rotating platform (130) about the rotation axis (P) in the at least first rotational direction (RF, RB) toward a steady-state speed; and The second operating mode involves operating the at least one drive unit (241, 242, 243, 244, 245) in an engaged ramp-up mode, in which the at least one drive unit (241, 242, 243, 244, 245) is engaged to accelerate the rotating platform (130) about the rotation axis (P) in the at least first rotation direction (RF, RB) towards the steady-state speed.

8. The system according to any one of claims 1 to 5, wherein the first operating parameter (p11, p21, p31, p41, p51) represents a respective magnitude of a current fed to each of the at least one drive unit (241, 242, 243, 244, 245) or a torque of each of the at least one drive unit (241, 242, 243, 244, 245) in the first state and the second state, respectively.

9. The system according to any one of claims 1 to 5, wherein the arrangement comprises at least three drive units (241, 242, 243, 244, 245), and wherein if the difference between the first state and the second state exceeds the threshold level for each of the at least three drive units (241, 242, 243, 244, 245), the control unit (220) is further configured to: During operation of the rotating platform (130) in the second operating mode, the first operating parameters (p11, p21, p31, p41, p51) of each of the at least three drive units (241, 242, 243, 244, 245) are obtained, and the first operating parameters (p11, p21, p31, p41, p51) of each of the at least three drive units (241, 242, 243, 244, 245) are compared in pairs with the first operating parameters of each of the other drive units of the at least three drive units (241, 242, 243, 244, 245). parameters (p11, p21, p31, p41, p51) to derive a corresponding first difference between each combination of the at least three drive units (241, 242, 243, 244, 245), and based on the first difference, determining whether the first operating parameter (p11, p21, p31, p41, p51) of a particular one of the drive units (242) deviates from the first operating parameters (p11, p21, p31, p41, p51) of the other drive units of the at least three drive units (241, 242, 243, 244, 245) by more than a first threshold difference, and if so, A second alarm (A2) is generated for the specific one drive unit (242).

10. The system according to claim 9, wherein the control unit (220) is further configured to: obtaining at least one second operating parameter (p12, p22, p32, p42, p52) of each of the at least three drive units (241, 242, 243, 244, 245) during operation of the rotating platform (130) in the second operating mode, The at least one second operating parameter (p12, p22, p32, p42, p52) of each of the at least three drive units (241, 242, 243, 244, 245) is compared in pairs with the at least one second operating parameter (p12, p22, p32, p42, p52) of each of the other drive units of the at least three drive units (241, 242, 243, 244, 245) to obtain 244, 245), and based on the second difference, determining whether the at least one second operating parameter (p12, p22, p32, p42, p52) of a particular one drive unit (243) deviates from the at least one second operating parameter (p12, p22, p32, p42, p52) of the other drive units of the at least three drive units (241, 242, 243, 244, 245) by more than a second threshold difference, and if so, A third alarm (A3) is generated for the specific one drive unit (243).

11. The system according to claim 10, wherein: The second operating parameter (p12, p22, p32, p42, p52) represents at least one of a respective amplitude and a respective value of a frequency of a voltage fed to each of the at least one drive unit (241, 242, 243, 244, 245).

12. A computer-implemented method of operating a rotary milking parlor arrangement, the rotary milking parlor arrangement comprising a rotating platform (130) with a plurality of stalls (S), each of the plurality of stalls being configured to house a respective animal during milking, the arrangement comprising at least one drive unit (241, 242, 243, 244, 245) configured to move the rotating platform (130) about a rotation axis (P) in at least a first rotational direction (RF, RB), the method comprising: obtaining a respective first state of a first operating parameter (p11, p21, p31, p41, p51) of each of the at least one drive unit (241, 242, 243, 244, 245) during operation of the rotating platform (130) in a first operating mode; obtaining a respective second state of the first operating parameter (p11, p21, p31, p41, p51) of each of the at least one drive unit (241, 242, 243, 244, 245) during operation of the rotating platform (130) in a second operating mode; for each of the at least one drive unit (241, 242, 243, 244, 245), comparing the first state and the second state of the first operating parameter (p11, p21, p31, p41, p51) with each other, and if, for one or more detected drive units of the at least one drive unit (241, 242, 243, 244, 245), the difference between the first state and the second state does not exceed a threshold level, A first alarm (A1) is generated for the one or more detected drive units (241, 242).

13. The method according to claim 12, wherein: Each of the at least one drive unit (241, 242, 243, 244, 245) comprises at least one drive motor (341; 541, 542), the at least one drive motor being arranged to engage a drive surface (230) of the rotating platform (130) and act on the drive surface via at least one drive wheel (350; 551; 552) so as to cause the rotating platform (130) to perform the movement, and the method further comprising at least one of the following: preventing operation of the rotating platform, reducing the maximum steady-state speed of the rotating platform (130), and In response to the first alarm (A1), an inspection / maintenance alarm is issued.

14. The method according to claim 13, wherein Each of the at least one drive unit (241, 242, 243, 244, 245) comprises a single drive motor (341) arranged to engage the drive surface of the rotating platform (130) in a non-detachable manner.

15. The method according to claim 13, wherein Each of the at least one drive unit (241, 242, 243, 244, 245) comprises a first drive motor and a second drive motor, the first drive motor and the second drive motor being arranged to engage two of the drive surfaces in the form of a drive track (230) of the rotating platform (130) and act on respective sides of the drive track (230) via respective drive wheels (551; 552) in order to cause the rotating platform (130) to perform the movement, and in response to the first alarm (A1), the method further comprises: A first control signal (C2) is sent to the one or more detected drive units (242), the first control signal (C2) being configured to cause the one or more detected drive units (242) to disengage from the drive track (230).

16. The method according to any one of claims 12 to 15, wherein: The first operating mode involves operating the at least one drive unit (241, 242, 243, 244, 245) in an idle mode in which the drive motor of any one of the at least one drive unit (241, 242, 243, 244, 245) is not engaged to move the rotating platform (130) in the at least first rotational direction (RF, RB) about the rotational axis (P); and The second operating mode involves operating the at least one drive unit (241, 242, 243, 244, 245) in a steady-state mode in which the at least one drive unit (241, 242, 243, 244, 245) is engaged to move the rotating platform (130) about the rotation axis (P) in the at least first rotation direction (RF, RB) at a steady-state speed.

17. The method according to any one of claims 12 to 15, wherein the first operating parameter (p11, p21, p31, p41, p51) represents a respective magnitude of a current fed to each of the at least one drive unit (241, 242, 243, 244, 245) or a respective torque of each of the at least one drive unit (241, 242, 243, 244, 245) in the first state and the second state, respectively.

18. The method according to any one of claims 12 to 15, wherein the arrangement comprises at least three drive units (241, 242, 243, 244, 245), and wherein if the difference between the first state and the second state exceeds the threshold level for each of the at least three drive units (241, 242, 243, 244, 245), the method further comprises: During operation of the rotating platform (130) in the second operating mode, the first operating parameters (p11, p21, p31, p41, p51) of each of the at least three drive units (241, 242, 243, 244, 245) are obtained, and the first operating parameters (p11, p21, p31, p41, p51) of each of the at least three drive units (241, 242, 243, 244, 245) are compared in pairs with the first operating parameters of each of the other drive units of the at least three drive units (241, 242, 243, 244, 245). parameters (p11, p21, p31, p41, p51) to derive a corresponding first difference between each combination of the at least three drive units (241, 242, 243, 244, 245), and based on the first difference, determining whether the first operating parameter (p11, p21, p31, p41, p51) of a particular one of the drive units (242) deviates from the first operating parameters (p11, p21, p31, p41, p51) of the other drive units of the at least three drive units (241, 242, 243, 244, 245) by more than a first threshold difference, and if so, A second alarm (A2) is generated for the specific one drive unit (242).

19. A computer program (227) loadable into a non-volatile data carrier (225) communicatively connected to a processing unit (223), said computer program (227) comprising software for performing the method according to any one of claims 12 to 18 when said computer program is run on said processing unit (223).

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