Milking arrangement comprising a cleaning arrangement

Abstract

A milking arrangement comprising a milk delivery line (1), a plurality of milking stations (2) connected to the milk delivery line (1), a receiver (3) connected to the milk delivery line (1) and configured to receive milk delivered via the milk delivery line (1) from the milking stations (2) to the receiver (3), and a vacuum system (4) configured to supply a vacuum in the milk delivery line (1) via the receiver (3), a source (9) of cleaning liquid connected to the milk delivery line (1), a controllable injector (10) configured to introduce an amount of gas into the milk delivery line (1) thereby creating a temporary pressure increase therein, which temporary pressure increase causes a slug of cleaning liquid from the source (9) of cleaning liquid to form and be transferred through the milk delivery line (1), and a control system (19) configured to control operation of the injector (10). A vibration sensor (27) is arranged on the receiver (3) and configured to measure motion of the receiver (3) caused by a slug entering the receiver (3), and the control system (19) is configured to determine a slug entering the receiver (3) based on measurements of the vibration sensor (27).

Description

TECHNICAL FIELD

[0001] The present invention relates to a milking arrangement comprising a milk transport line, a plurality of milk stations connected to the milk transport line, a receiver connected to the milk transport line and configured to receive milk transported via the milk transport line from the milk stations to the receiver, and a vacuum system configured to supply a vacuum in the milk transport line via the receiver, a cleaning liquid source connected to the milk transport line, a controllable injector configured to introduce an amount of gas into the milk transport line, thereby creating a temporary pressure increase therein, which pressure increase causes a slug of cleaning liquid from the cleaning liquid source to form and be transferred through the milk transport line, and a control system configured to control operation of the injector. BACKGROUND

[0002] The milking arrangement comprises a cleaning arrangement provided for the purpose of repeatedly cleaning the milk stations, the milk transport line and components provided along the milk transport line, such as filters and heat exchangers. The cleaning comprises different procedures, such as a pre-rinse and a main clean.

[0003] Milking arrangements equipped with a vacuum system for supplying system vacuum are well known. The vacuum system can be arranged to supply vacuum to the milk transport and to the cleaning liquid transport. The cleaning system can be equipped with a controllable injector configured to introduce an amount of gas, typically atmospheric air, into the milk transport line, thereby creating a temporary pressure increase therein, which pressure increase causes a slug of cleaning liquid from the cleaning liquid source to form and be transferred through the milk transport line. The slug is a column of liquid filling the cross section of the milk transport line while travelling at high speed through the milk transport line under the drive of the vacuum. The length of the slug is short compared to the length of the milk transport line. The slug ends in a so-called receiver, which is supplied with vacuum by the vacuum system. The receiver can be connected to a pump by means of which the liquid in the receiver is pumped back to the cleaning liquid source for generating a further slug.

[0004] However, during operation of the milking arrangement, conditions in the milk transport line affecting the characteristics of the slug can change. The conditions can be the amount of liquid present in the milk transport line and / or the level of vacuum in the milk transport line. Due to prevailing conditions in the milk transport line, the slug can lose or gain liquid during its travel, so that it can be too long or too short at the end of the milk transport line when it enters the receiver. The slug can even be eliminated before reaching the receiver. In particular, if the slug becomes too short or is eliminated, this will be detrimental to its cleaning effect.

[0005] OBJECT OF THE INVENTION

[0006] It is an object of the present invention to propose a milking arrangement which is at least able to register that a slug is expected to enter the receiver, or that no expected entry is present. SUMMARY

[0007] The object of the present invention is achieved by means of a milking arrangement comprising:

[0008] - a milk delivery line,

[0009] - a plurality of milk stations connected to the milk delivery line,

[0010] - a receiver connected to the milk delivery line and configured to receive milk delivered from the milk stations to the receiver via the milk delivery line,

[0011] - a vacuum system configured to supply a vacuum in the milk delivery line,

[0012] - a source of cleaning liquid connected to the milk delivery line,

[0013] - a controllable injector configured to introduce an amount of gas into the milk delivery line, thereby creating a temporary pressure increase therein, which causes a slug of cleaning liquid from the cleaning source to form and be transferred through the milk delivery line, and

[0014] - a control system configured to control the injector, wherein

[0015] The milking arrangement is characterized in that it comprises a vibration sensor arranged on the receiver and configured to measure a motion of the receiver caused by a slug entering the receiver, and the control system is configured to determine the entry of a slug into the receiver based on the measurements of the vibration sensor.

[0016] The vibration sensor is arranged on the receiver, and the vibration sensor can be arranged on the receiver directly, or indirectly via a component attached directly to the receiver.

[0017] If the vibration sensor is arranged indirectly to the receiver, it is configured to measure vibrations representative of vibrations caused by a slug entering the receiver.

[0018] The vibration sensor can be a piezoelectric sensor, an ultrasonic sensor or an accelerometer.

[0019] The inventors have realized that due to the energy of motion of a slug, it will create a motion of the receiver when it enters the receiver. Thus, recording such motion can be an advantageous way of identifying the entry of a slug.

[0020] According to one embodiment, the vibration sensor is an accelerometer, preferably a three-way accelerometer. An accelerometer has the advantage of being reliable. Thereby, an improved measurement of the motion of the receiver is achieved.

[0021] According to one embodiment, the vibration sensor is arranged on the outside of the receiver. Thereby, the vibration sensor is not in contact with milk or fluid inside the receiver, resulting in less wear and tear and negative effects on its functionality.

[0022] According to one embodiment, the control system is configured to determine the characteristics of the plug based on the measurements of the vibration sensor.

[0023] According to one embodiment, the control system comprises a readable memory having a look-up table with set values stored therein, each value representing a value of a characteristic of a plug, wherein the control system is configured to compare the measurements of the vibration sensor with the set values in the look-up table and determine that the characteristic of the plug corresponds to the pre-set value that is closest to the value measured by the vibration sensor. Based on the knowledge of the characteristics of the plug, measures can be taken to control the milking arrangement, preferably the controllable injector and / or the vacuum system, for the purpose of achieving a required characteristic of a subsequent plug.

[0024] According to one embodiment, the characteristics of the plug comprises the length of the plug and / or the speed of the plug.

[0025] According to one embodiment, the control system is configured to adjust the vacuum level supplied by the vacuum system and / or the amount of gas introduced via the controllable injector based on the measurements of the vibration sensor. Thereby, the characteristics of the plug are controlled based on measurements performed by the vibration sensor on one or more previous plugs.

[0026] According to one embodiment, the milking arrangement comprises a sensor arrangement arranged along the milk transport line, wherein the sensor arrangement comprises any of a pressure sensor, an ultrasonic sensor or an electromagnetic sensor, wherein the control system is configured to determine the characteristics of the plug based on the measurements of said sensor arrangement. Preferably, the sensor arrangement is arranged in the vicinity of the receiver, preferably within 10 meters from the receiver. Thereby, the processor can use information about the speed of the plug or the length of the plug close to the receiver as a complement to the measurements of the accelerometer for the purpose of determining the characteristics of the plug entering the receiver.

[0027] The sensor arrangement can comprise a pair of pressure sensors positioned at separate locations along the milk transport line. The passage of a plug causes a change in pressure, which can be measured by the respective sensors. Based on the known distance between the pressure sensors and the point in time when the respective sensor detects the passage of the plug, the control system is configured to determine the speed of the plug. The length of the plug can also be determined based on the measurements of the pressure sensors. The measurements and determination of the characteristics of the plug by means of the sensor arrangement can be used as a complement to the measurements and determination of the characteristics of the plug by means of the vibration sensor.

[0028] Further features and advantages of the present invention will appear from the following detailed description. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the milking arrangement according to the present invention. Detailed Implementation

[0030] Figure 1 A milking arrangement according to an embodiment of the present invention is shown. The milking arrangement includes a milk delivery line 1 and a plurality of milk stations 2 connected to the milk delivery line 1. Each milk station 2 includes milking equipment for milking animals. The milk delivery line 1 is 100 meters or longer in length.

[0031] The milking arrangement further includes a receiver 3, which is connected to the milk delivery line 1 and configured to receive milk delivered from the milk station 2 to the receiver 3 via the milk delivery line 1.

[0032] A vacuum system 4 is also provided, configured to supply a vacuum in the milk delivery line 1 via a receiver 3. The vacuum system 4 includes a vacuum pump 5 and a controllable valve 6 configured to introduce gas, preferably atmospheric air, into the line connecting the receiver 3 and the vacuum pump 5. The vacuum level supplied by the vacuum system can be controlled by controlling the operation of the vacuum pump 5 and / or the opening and closing of the controllable valve 6. The vacuum system 4 also includes a sanitary trap 7 and a buffer tank 8 arranged in series, via which the vacuum pump 5 is connected to the receiver 3. The vacuum system 4 is used to supply a vacuum to the milk delivery line during milking. However, as will be described later, the vacuum system 4 will also be used to control cleaning processes.

[0033] The cleaning fluid source 9 is connected to the milk delivery line 1. The cleaning fluid source 9 may include one or more containers containing cleaning fluid, preferably cleaning fluids with different properties, typically with different chemical compositions and / or different temperatures, for different cleaning processes.

[0034] A controllable injector 10 is also provided, configured to introduce a certain amount of gas, preferably atmospheric air, into the milk delivery line 1, thereby creating a temporary pressure increase therein, which causes slugging of the cleaning fluid from the cleaning fluid source 9 and its transfer through the milk delivery line 1. The fluid source 9 is connected to the milk delivery line near the injector 10 via a conduit 11 and a controllable valve 12. The equipment of the milking station 2 may also be connected to the fluid source 9 via the conduit 11 and the controllable valve 13 in a manner known per se. Flow meters 14, 15, 16, and 17 are provided connected to the injector 10 and to the milking station 2 for measuring the flow rate of the cleaning fluid entering and occupying at least a portion of the milk delivery line 1.

[0035] A pump 20 is provided via which cleaning liquid is pumped from the receiver 3 to the cleaning liquid source 16. In the specific embodiment shown, the pump 20 is also configured to pump milk from the receiver to a milk tank 21 during milking. In the embodiment shown, the cleaning liquid pumped by the pump 20 is pumped to the liquid source 9 via a filter 22 and a heat exchanger 23 arranged between the pump 20 and the milk tank 21. A controllable valve 25 is provided for the purpose of directing the pumped cleaning liquid towards the cleaning liquid source 9 and not towards the milk tank 21. During cleaning, the controllable valve 25 prevents cleaning liquid from flowing into the milk tank 21.

[0036] The milking arrangement further comprises a control system 19 configured to control the operation of the injector 10, the vacuum pump 5 of the vacuum system 4 and the controllable valve 6. The control system 19 is configured to control the vacuum level supplied by the vacuum system 4 by controlling at least one of the vacuum pump 5 and the controllable valve 6. Thereby, the control system is configured to control the rotational speed (rpm) of the vacuum pump 5 and the opening time of the controllable valve 6. A pressure sensor (not shown) can be provided in the line connecting the vacuum pump 5 with the receiver 3 and the control system 19 can be configured to control the vacuum system 4 based on input from the pressure sensor. The control system 19 is further configured to control the slug characteristics by controlling the amount of gas introduced per time unit via the controllable injector 10. The controllable injector 10 presents a passage with a controllably variable cross section and the control system 19 is configured to control the variable cross section of the passage for controlling the amount of gas introduced per time unit via the controllable injector 10. Thereby, the slug characteristics controlled by the control system 19 include the slug speed of the individual slugs and the length of the individual slugs.

[0037] The control system 19 is further configured to control the operation of the controllable valves 12, 13 via which cleaning liquid from the cleaning liquid source 9 is allowed to enter the milk delivery line 1 either via the injector 10 or via the milking equipment of the milking station 2. The control system 19 is further configured to control the operation of the pump 20 via which cleaning liquid is pumped from the receiver 3 to the cleaning liquid source 9.

[0038] The control system 19 is here exemplified by a control unit comprising a processor and a readable memory. Alternative embodiments are of course also conceivable, such as a cloud-based solution.

[0039] The control system 19 comprises a first control mode dedicated to the first cleaning procedure and a second control mode dedicated to the second cleaning procedure. In the first control mode, the characteristics of the slugs generated are different from the characteristics of the slugs generated in the second control mode.

[0040] In the embodiment presented, the first control mode uses a first cleaning liquid and the second control mode uses a second cleaning liquid.

[0041] The first cleaning procedure is a pre-rinse procedure and the second cleaning procedure is a main cleaning procedure. The average speed of the slug through the milk transport line 1 resulting from the first control mode is higher than the average speed of the slug resulting from the second control mode. The average length of the slug resulting from the second control mode is longer than the average length of the slug resulting from the first control mode. The vacuum level supplied by the vacuum system 4 is higher in the first control mode than in the second control mode. A higher vacuum level is referred to as a lower pressure level.

[0042] An indicator of the slug characteristics at the moment the slug enters the receiver 3 is measured by means of a 3D accelerometer 27 provided outside the receiver 3. The slug will generate a movement of the receiver, which movement corresponds to the velocity and length (mass) of the slug. This movement is recorded by the accelerometer 27. The control system 19 comprises a readable memory in which a look-up table with set values is stored, each value representing a value of a slug characteristic. The control system is configured to compare the measurement of the accelerometer 27 with the set values in the look-up table and to determine that the slug characteristics, velocity and / or length of the slug correspond to the preset value that is closest to the value measured by the accelerometer. For a predetermined combination of receiver design, accelerometer design and accelerometer position on the receiver, the correlation between the set values and the slug characteristics can have been determined in a laboratory environment.

[0043] Based on the knowledge of the slug characteristics, measures can be taken to control the milking arrangement, preferably the controllable injectors and / or the vacuum system, for the purpose of achieving the required slug characteristics of subsequent slugs. Thereby, the control system can be configured to perform an iterative process, typically a closed loop process, to obtain slug characteristics that correspond to the required slug characteristics of each respective cleaning procedure.

[0044] In the shown embodiment, the milking arrangement further comprises a sensor arrangement comprising a first pressure sensor 26a arranged at a first position in the milk transport line and a second pressure sensor 26b arranged at a second position at a predetermined distance from the first position. The passage of a slug causes a change in pressure, which change in pressure is measurable by the respective sensors 26a, 26b. Based on the known distance between the pressure sensors 26a, 26b and the point in time at which the respective sensors detect the passage of a slug, the control system 19 is configured to determine the velocity of the slug. The length of the slug can also be determined based on the measurements of the pressure sensors 26a, 26b, for example as described in WO2017 / 091126. Preferably, the pressure sensors 26a, 26b are arranged in the vicinity of the receiver, preferably within 10 meters from the receiver 3.

[0045] The pressure sensors 26a, 26b will give information about the bolus characteristics at predetermined positions in the milk delivery line 1, while the accelerometer 27 gives information about the bolus characteristics in the receiver 3. The control system 19 can be configured to combine the information in any suitable way in order to control the injector 10 or the vacuum system 4.

[0046] The control system 19 is further configured to control the vacuum level supplied by the vacuum system 4 and / or the amount of gas introduced via the controllable injector 10 based on the amount of cleaning liquid determined by the flow meters 14-17.

Claims

1. A milking arrangement comprising: - a milk transport line (1), - a plurality of milking stations (2) connected to the milk transport line (1), - a receiver (3) connected to the milk transport line (1) and configured to receive milk transported from the milking stations (2) to the receiver (3) via the milk transport line (1), - a vacuum system (4) configured to supply a vacuum in the milk transport line (1), - a source of cleaning liquid (9) connected to the milk transport line (1), - a controllable injector (10) configured to introduce an amount of gas into the milk transport line (1) thereby creating a temporary pressure increase therein, which temporary pressure increase causes a slug of cleaning liquid from the source of cleaning liquid to form and be transferred through the milk transport line (1), and - a control system (19) configured to control the controllable injector (10), wherein the milking arrangement is characterized in that it comprises a vibration sensor (27) arranged on the receiver (3) and configured to measure a motion of the receiver (3) caused by a slug entering the receiver (3), wherein the control system (19) is configured to determine, based on a measurement of the vibration sensor (27), a property of a slug, the property of the slug being a length of the slug and a velocity of the slug, and the control system (19) is configured to determine, based on the measurement of the vibration sensor (27), that a slug is expected to enter the receiver or that no slug is expected to enter the receiver.

2. Milking arrangement according to claim 1, characterized in that, The vibration sensor (27) is an accelerometer.

3. The milking arrangement according to claim 1, characterized in that, The vibration sensor (27) is positioned on an exterior of the receiver (3).

4. Milking arrangement according to claim 1, characterized in that, The control system (19) comprises a readable memory in which a look-up table with set values is stored, each value representing a value of a property of a slug, and the control system is configured to compare the measurement of the vibration sensor (27) with the set values in the look-up table and determine that the property of a slug corresponds to a preset value closest to the value measured by the vibration sensor.

5. The milking arrangement according to any one of claims 1 to 4, characterized in that, The control system (19) is configured to adjust a vacuum level supplied by the vacuum system (4) and / or an amount of gas introduced via the controllable injector (10) based on the measurement of the vibration sensor.

6. The milking arrangement according to any one of claims 1 to 4, characterized in that, The milking arrangement comprises a sensor arrangement (26a, 26b) arranged along the milk transport line (1), wherein the sensor arrangement (26a, 26b) comprises any of a pressure sensor, an ultrasonic sensor or an electromagnetic sensor, and the control system (19) is configured to determine a property of a slug based on a measurement of the sensor arrangement (26a, 26b).

7. The milking arrangement according to any one of claims 1 to 4, characterized in that, A vacuum pump is connected to the receiver (3) to supply a vacuum therein.

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