Milking system

Abstract

A milking system (100) is provided, comprising: milking cups (110a, 110b, 110c, 110d), each connected to a respective teat canal (120a, 120b, 120c, 120d); a vacuum pump (140); a milk tank (130); vacuum regulating devices (150a, 150b, 150c, 150d) configured to regulate an inlet vacuum pressure level (P1) provided to a respective associated milking cup (110a, 110b, 110c, 110d); vacuum pressure sensors (160a, 160b, 160c, 160d), each configured to measure a vacuum pressure under each teat (210a, 210b, 210c, 210d); a processing device (170) configured to: set an inlet vacuum pressure level (P1); obtain a measurement of a resulting vacuum pressure level (P2) of the associated milking cup (110a, 110b, 110c, 110d) ; compare the measurement of the resulting vacuum pressure level with a desired milking vacuum pressure level (P m ); calculate a regulated inlet vacuum pressure level to achieve the desired milking vacuum pressure level (P m ); and cause regulation in accordance with the respective calculated regulation, irrespective of the animal identity.

Description

Technical Field

[0001] This invention relates to milking systems. More specifically, a milking system is described, comprising a plurality of milking cups, a plurality of milk discharge tubes, a vacuum pump, a milk tank, a plurality of vacuum regulating devices, a plurality of vacuum pressure sensors, and a processing device. The processing device is communicatively connected to the vacuum regulating devices and the vacuum pressure sensors. The processing device is configured to continuously regulate the inlet vacuum pressure level provided by the respective vacuum regulating devices to the respective associated milking cups, so as to achieve a desired milking vacuum pressure level at each milking cup during the milking process, regardless of the animal's identity. Background Technology

[0002] In dairy farms, milk is typically extracted from animals by attaching padded milking cups to each teat and applying a milking vacuum below the tip of the teat in addition to a pulsating vacuum. This mimics the rhythmic sucking of a calf, where the sucking vacuum is interrupted by the rhythmic movement (opening and closing) of the pads caused by the pulsating vacuum. This massage of the teats stimulates the animal to release oxytocin, which in turn activates the ejection reflex, resulting in the release of milk follicles for approximately 40-60 seconds after the first milking cup is attached to the first teat. Furthermore, the massage helps prevent congestion at the teat tip.

[0003] The goal is to extract milk from animals as quickly as possible in order to make efficient use of milking equipment and allow the maximum number of animals to be milked, while avoiding damage to the teats due to excessive milking vacuum.

[0004] However, milk flow from animal nipples is not usually evenly distributed between them. Due to various reasons, such as genetic variations and / or variations in nipple size / shape, the nipples may not fit the milking cups / pads used (regardless of the actual size of the nipple, milking cups / pads of the same size are usually used on all nipples).

[0005] Not only is the milk flow distribution uneven, but the rate of increase in milk flow also differs during stimulation of the corresponding teats. During milking, the milk flow rate per unit time may vary for all teats of the animal.

[0006] It has been observed that at least some animals do not release milk at a higher flow rate even when the milking vacuum is increased dramatically. This is why for these animals, increasing the milking vacuum applied to the teats only results in the teats being exposed to a high milking vacuum, which may damage the teats.

[0007] These aforementioned characteristics can occur simultaneously and reinforce each other, thereby exacerbating the problem.

[0008] The aim is to develop a concept through further research and development that improves milk drainage in terms of time and efficiency, while ensuring and / or enhancing satisfactory nipple integrity. Summary of the Invention

[0009] Therefore, one object of the present invention is to solve at least some of the problems mentioned above and to improve the milking of animals in the milking system.

[0010] According to a first aspect of the invention, this objective is achieved by a milking system. The milking system includes a plurality of milking cups, each configured to be fitted to a corresponding teat of an animal during milk extraction in the milking process. The milking system also includes a plurality of milk discharge tubes, each connected to a corresponding milking cup. Additionally, the milking system includes a vacuum pump configured to generate a system vacuum pressure at a system vacuum pressure level, which may be referred to as system vacuum. Furthermore, the milking system includes a milk tank connected to each milking cup via a corresponding connected milk discharge tube and also connected to the vacuum pump. Furthermore, the milking system includes a plurality of vacuum regulating devices, each associated with a milking cup and configured to regulate the inlet vacuum pressure level provided to the corresponding milking cup. Additionally, the milking system includes a plurality of vacuum pressure sensors, each associated with a milking cup and configured to measure the dominant vacuum pressure level in the associated milking cup below one of the teats during the milking process.

[0011] The milking system includes processing equipment. The processing equipment is communicatively connected to a vacuum regulator and a vacuum pressure sensor.

[0012] The processing equipment is configured to generate a corresponding command to each vacuum regulator to set the inlet vacuum pressure level to the inlet milking vacuum pressure level and to provide the inlet vacuum pressure level to the associated milking cup attached to it. Furthermore, the processing equipment is configured to repeatedly obtain measurements of the dominant vacuum pressure level in the associated milking cup below one of the teats from the vacuum pressure sensor of the associated milking cup during the milking process. Additionally, the processing equipment is configured to repeatedly compare the corresponding measurements of the obtained vacuum pressure level with the desired milking vacuum pressure level during the milking process. Based on the comparisons made, the processing equipment is configured to repeatedly calculate, during the milking process, the adjustment amount of the inlet vacuum pressure level to be provided to the associated milking cup by each corresponding vacuum regulator in order to achieve the desired milking vacuum pressure level in the associated milking cup.

[0013] The processing equipment is further configured to repeatedly generate corresponding commands to each vacuum regulator during the milking process to adjust the inlet vacuum pressure level according to a separately calculated adjustment amount, thereby achieving a desired milking vacuum pressure level at each corresponding associated milking cup, which is measured by a corresponding vacuum pressure sensor below each teat in the teat, regardless of the animal's identity.

[0014] By continuously measuring the corresponding vacuum pressure level in the milking cup beneath each animal's teat, comparing this vacuum pressure level to the desired milking vacuum pressure level, and adjusting the inlet vacuum pressure level provided by the vacuum regulator based on this comparison, the corresponding vacuum pressure level in each milking cup is maintained at the desired milking vacuum pressure level, independent of any vacuum pressure leakage between the vacuum regulator and the corresponding milking cup; and / or any changes in milk flow rate of the corresponding teat. Therefore, teat integrity is ensured while achieving the desired / high vacuum pressure level in the milking cup, even for teats with high milk flow rates.

[0015] Thus, by adapting the corresponding inlet vacuum pressure level to variations in the vacuum pressure level beneath each milking cup, milk extraction is fundamentally improved. The total milking time per animal in the milking station / milking robot is reduced (compared to conventional solutions), allowing the milking system to serve more animals per unit of time. However, milking is performed gently, eliminating or at least reducing discomfort to animals caused by excessive vacuum pressure acting on the teats. Excessive vacuum pressure can cause damage, which in turn can lead to mammary gland diseases such as mastitis, potentially causing severe economic consequences for the farm in addition to the suffering of the individual animal.

[0016] In a specific implementation of the milking system according to the first aspect, the processing equipment is configured to repeatedly generate commands to adjust the inlet vacuum pressure level during the milking process so as to maintain a desired milking vacuum pressure level substantially constant at each corresponding associated milking cup, the desired milking vacuum pressure level being measured by a corresponding vacuum pressure sensor below each teat for at least the majority of the time during the milking process.

[0017] In another specific embodiment of the milking system according to the first aspect, the processing device is configured to estimate the difference between a corresponding highest and lowest measurement of the vacuum pressure level in one of the milking cups, as measured by a corresponding vacuum pressure sensor, during a certain time period. The processing device is further configured to temporarily set the desired milking vacuum pressure level to a high-flow-rate milking vacuum pressure level for that milking cup if the estimated difference is less than a threshold limit.

[0018] When the vacuum pressure level in the milking cup remains relatively constant over a given time period (i.e., below the threshold limit), as measured by a vacuum pressure sensor at least at two different times within that period, this is interpreted as the milk flow rate at the animal's teats having reached a plateau at or near the peak of maximum milk flow. Therefore, the desired vacuum pressure level in the milking cup can be increased to the high-flow-rate milking vacuum pressure level without exposing the animal's teats to excessive vacuum pressure.

[0019] The advantage of increasing the vacuum pressure level in the milking cup when milk flow from the teats is very high or near the maximum milk flow level is that the milking process can be terminated earlier than with previously known solutions or when kept constant. This is why the same milking equipment can serve more animals per unit of time. Farmers can recruit more animals to the farm without investing in new milking equipment, thereby increasing the farm's total milk production.

[0020] In a specific implementation of the milking system according to the first aspect, the processing equipment is configured to repeatedly generate corresponding commands to the vacuum regulating device associated with each milking cup attached to the corresponding teat during the milking process, in order to increase or decrease the inlet vacuum pressure level to be provided to the milking cup.

[0021] The vacuum regulating device is therefore configured to: increase the inlet vacuum pressure level to be supplied to the milking cup when the most recently obtained vacuum pressure level in the milking cup below the nipple, obtained from the vacuum pressure sensor, is lower than the desired milking vacuum pressure level in the milking cup below the nipple; or decrease the inlet vacuum pressure level to be supplied to the milking cup when the most recently obtained vacuum pressure level in the milking cup below the nipple, obtained from the vacuum pressure sensor, exceeds the desired milking vacuum pressure level in the milking cup below the nipple.

[0022] By enabling frequent measurement of the vacuum pressure level of each milking cup, better control of the current / instantaneous vacuum pressure can be achieved. The applied inlet vacuum pressure level can then be continuously adjusted via a vacuum regulator associated with the milking cup. Therefore, an appropriate inlet vacuum pressure level can be provided for each milking cup, thereby creating the desired vacuum level within the milking cup for efficient milking while avoiding damage or irritation to the teats caused by the vacuum.

[0023] In another embodiment of the milking system according to the first embodiment of the first aspect, the magnitude of the adjustment amount can be proportional to the difference between the most recently obtained vacuum pressure level and the previously obtained vacuum pressure level, as measured and obtained by the corresponding vacuum pressure sensor.

[0024] By instructing the vacuum regulator to change the inlet vacuum pressure level in steps proportional to the difference between the detected measurements, an inappropriate vacuum pressure level is avoided from being applied to the milking cups by maintaining a substantially constant vacuum pressure level in the milking cups below each corresponding nipple.

[0025] In another specific embodiment of the milking system according to the first aspect, or any specific embodiment thereof, the processing equipment is configured to generate a corresponding command to at least one vacuum regulating device to reduce the inlet vacuum pressure level at the corresponding milking cup when the milking process is estimated to be nearing its end.

[0026] By reducing the inlet vacuum pressure level near the end of the milking process, the vacuum pressure level in the milking cup below the nipple decreases, which facilitates the removal of the milking cup.

[0027] In another specific embodiment of the milking system according to the first aspect, or any specific embodiment thereof, the vacuum conditioning device includes a corresponding vacuum regulator and valve device.

[0028] In another specific embodiment of the milking system according to the first aspect, or any specific embodiment thereof, the vacuum regulating device includes an operable valve having a channel, wherein the valve is arranged in a milk discharge pipe and the milk extracted during the milking process passes through the channel.

[0029] Therefore, a specific implementation scheme for the vacuum regulating device is described, in which the operable valve can be regulated by a solenoid based on an electrical control signal.

[0030] In another embodiment of the milking system according to the first aspect, or any embodiment thereof, the processing equipment is configured to detect that a milking cup will be attached to the animal's teat. Furthermore, the processing equipment is configured to generate a corresponding command to each vacuum regulating device to set the inlet vacuum pressure level to the inlet attachment vacuum pressure level and to provide the inlet vacuum pressure level to the associated milking cup associated with the milking cup attachment, wherein the inlet attachment vacuum pressure level represents a negative pressure lower than the inlet milking vacuum pressure level.

[0031] The attachment of milking cups is facilitated by providing a dedicated inlet attachment vacuum pressure that is lower than the milking vacuum pressure level (i.e., involves a smaller negative pressure) when attaching the milking cups.

[0032] In another specific embodiment of the milking system according to the first aspect, or any specific embodiment thereof, the maximum permissible vacuum pressure level, as measured by a vacuum pressure sensor, that allows dominance in any milking cup below any of the teats is in the range of 35 kPa to 55 kPa, preferably in the range of 44 kPa to 49 kPa.

[0033] This avoids any teat being exposed to excessive vacuum pressure when the milk flow rate at the teat does not match the applied vacuum pressure. Therefore, it ensures gentle handling of the animal's teats while allowing for the application of an effective vacuum pressure appropriate to the teat's capacity. This improves and streamlines the milking process, as milk is thus extracted in a short time without damaging the integrity of the animal's teats.

[0034] In another embodiment of the milking system according to the first aspect, or any embodiment thereof, the vacuum pressure sensor is configured to measure the dominant vacuum pressure level at each milking cup below the respective nipple at substantially 10-1000 measurements per second, preferably 100-1000 measurements per second.

[0035] The more frequently the vacuum pressure level in the milking cup is measured, the more precisely the applied vacuum pressure level can be fine-tuned to achieve the desired vacuum pressure level compared to earlier milking processes and / or when there are deviations in milk flow rates between different teats and / or animals.

[0036] In another embodiment of the milking system according to the first aspect, or any embodiment thereof, the processing equipment is configured to calculate a rolling average of the dominant vacuum pressure level at each milking cup below the respective teat, based on a predetermined number of recent vacuum pressure levels obtained from the corresponding associated vacuum pressure sensors. Furthermore, the comparison with the desired milking vacuum pressure level is performed using the calculated rolling average of the vacuum pressure levels.

[0037] The calculated (e.g., the most recent 5 or 10) rolling average of the measured vacuum pressure levels eliminates arbitrary fluctuations in the measurement results, making the comparison with the expected vacuum pressure level more reliable and stable.

[0038] In another specific embodiment of the milking system according to the first aspect, or any specific embodiment thereof, the system vacuum pressure generated by the vacuum pump and predominant in the milk tank is maintained as substantially constant for most of the milking process.

[0039] Therefore, a time-efficient and nipple-friendly milk extraction method has been provided.

[0040] Other advantages and additional novel features will become apparent in the following detailed description. Attached Figure Description

[0041] Embodiments of the present invention will now be described in further detail with reference to the accompanying drawings, in which:

[0042] Figure 1 A milking system according to one embodiment is shown.

[0043] Figure 2 A milking system according to one embodiment is shown.

[0044] Figure 3A It is a conceptual diagram depicting the principle of a milking system based on one implementation scheme.

[0045] Figure 3B It is a conceptual diagram depicting the principle of a milking system based on one implementation scheme.

[0046] Figure 4A This is a diagram illustrating an example of milk flow rate and vacuum pressure level during milk extraction in the milking process.

[0047] Figure 4B This is a diagram illustrating an example of milk flow rate and vacuum pressure level during milk extraction in the milking process.

[0048] Figure 5 This is a conceptual illustration of a combination flowchart and signal transmission scheme for vacuum pressure regulation based on an implementation plan. Detailed Implementation

[0049] The embodiments of the invention described herein are defined as milking systems, which can be put into practice in the embodiments described below. However, these embodiments can be illustrated and implemented in many different forms and are not limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided to make this disclosure thorough and complete.

[0050] Other objects and features may become apparent from the following detailed description taken in conjunction with the accompanying drawings. However, it should be understood that the drawings are for illustrative purposes only and are not intended to limit the embodiments disclosed herein, for which reference may be made to the appended claims. Furthermore, unless otherwise stated, the drawings are not necessarily drawn to scale and are merely for conceptual illustration of the structures and procedures described herein.

[0051] Figure 1 A milking system 100 is shown, configured to extract milk from an animal during the milking process. The animal may be included in a herd of animals used for dairy farming on a farm. The milking system 100 can advantageously (though not necessarily) be implemented in an automated milking facility (e.g., a milking robot), which can be arranged, for example, for voluntary milking of freely moving livestock, wherein the animal has access to the milking facility / system 100 for milking when needed.

[0052] "Animal" can be any type of domesticated female mammal, such as cow, goat, sheep, camel, horse, dairy cow, donkey, yak, etc. (a non-exhaustive list of animals). An animal may have four teats, such as a cow, or two teats, such as a goat and / or sheep. Other animals may have other numbers of teats.

[0053] Milking system 100 includes multiple milking cups 110a, 110b, 110c, and 110d. The number of milking cups 110a, 110b, 110c, and 110d is typically the same as the number of teats of the animal to be milked in milking system 100. Each milking cup 110a, 110b, 110c, and 110d is configured to fit and attach to the corresponding teat of the animal during milk extraction in the milking process.

[0054] Each milking cup 110a, 110b, 110c, 110d is connected to a corresponding milk discharge tube 120a, 120b, 120c, 120d, guiding milk extracted from the corresponding teat through a second section 121a, 121b, 121c, 121d of the milk discharge tube to the connected milk tank 130. The milk tank 130 is then connected to a vacuum pump 140, which generates and / or continuously generates a system vacuum pressure P supplied to the milk tank 130. s System vacuum pressure P s It can be, for example, between approximately 48 kPa and 55 kPa (any non-limiting example). During most of the milking process, the system vacuum pressure P... s It can remain essentially constant over time in milk tank 130.

[0055] The terms "vacuum pressure" and / or "milking vacuum" and / or "system vacuum pressure" refer to negative pressure / lower pressure compared to ambient atmospheric pressure, respectively. Therefore, a vacuum pressure level of 10 kPa means a vacuum pressure level that is 10 kPa lower than ambient atmospheric pressure.

[0056] Milk tank 130 can collect milk extracted during the milking process. The milk can be transferred via pumps and pipes to a connected cooling tank, where it can be collected and kept at a refrigerated temperature until it is emptied when the milk truck arrives at the farm.

[0057] The milking system 100 also includes multiple vacuum regulating devices 150a, 150b, 150c, and 150d, each vacuum regulating device being connected to the inlet vacuum pressure level P supplied to the corresponding milking cups 110a, 110b, 110c, and 110d. 1a P 1b P 1c P 1d The regulation is related.

[0058] Vacuum pump 140 and / or milk tank 130 can be connected to each vacuum regulator 150a, 150b, 150c, 150d to provide system vacuum Ps to the vacuum regulators 150a, 150b, 150c, 150d. By controlling the milk passage of the valve in a controlled manner, the vacuum regulators 150a, 150b, 150c, 150d can adjust the system vacuum level P. s Adjust the inlet vacuum pressure P to the level provided to the corresponding milking cups 110a, 110b, 110c, and 110d. 1a P 1b P 1c P 1d middle.

[0059] In some embodiments, vacuum regulating devices 150a, 150b, 150c, 150d may include vacuum regulators 153a, 153b, 153c, 153d, which operate in conjunction with corresponding valve devices 155a, 155b, 155c, 155d, such as... Figure 1 As illustrated in the diagram.

[0060] In some embodiments, each vacuum regulator 153a, 153b, 153c, 153d of the vacuum regulating devices 150a, 150b, 150c, 150d may include a solenoid, wherein the position of the valve of the solenoid can be adjusted by adjusting the magnetic field around the solenoid, for example using a pulse width modulation (PWM) signal generated by a processing device 170 communicatively connected to the vacuum regulators 153a, 153b, 153c, 153d, thereby changing the system vacuum P of the vacuum pump 140. s It mixes with atmospheric pressure air to create a controlled vacuum.

[0061] Vacuum regulators 153a, 153b, 153c, 153d may include or be connected to corresponding valve devices 155a, 155b, 155c, 155d. Valve devices 155a, 155b, 155c, 155d may be arranged in or associated with corresponding milk discharge pipes 120a, 120b, 120c, 120d of corresponding milking cups 110a, 110b, 110c, 110d.

[0062] According to some implementation schemes, valve devices 155a, 155b, 155c, and 155d include a wet section 156 and a dry section 158, which are separated by a membrane 157. The first milk tube sections 120a, 120b, 120c, and 120d and the second milk tube sections 121a, 121b, 121c, and 121d pass through the wet section 156 of valve devices 155a, 155b, 155c, and 155d.

[0063] In some implementations, the dominant vacuum pressure level in the milking cups 110a, 110b, 110c, 110d associated with the milk discharge pipes 120a, 120b, 120c, 120d located upstream of valve devices 155a, 155b, 155c, 155d can be adjusted to match the control vacuum level P. ca P cb P cc P cd The same vacuum level is maintained, and this controlled vacuum level is supplied to the dry section 158 of valve devices 155a, 155b, 153c, and 153d by vacuum regulators 153a, 153b, 153c, and 153d. The controlled vacuum level P... ca P cb P cc P cd It can sometimes be referred to as the pilot vacuum level.

[0064] Therefore, the dominant vacuum pressure level in the milking cups 110a, 110b, 110c, and 110d below the nipple can be adjusted individually to achieve the target / desired vacuum pressure level.

[0065] In some implementations, valve devices 155a, 155b, 155c, 155d may include, for example, shut-off valves known per se.

[0066] In some alternative embodiments, vacuum regulating devices 150a, 150b, 150c, 150d may include an operable valve having a channel adjustable by an electrical control signal provided by the processing device 170, such as... Figure 3A It is illustrated schematically and discussed in the corresponding section of the specification.

[0067] In some other alternative embodiments, vacuum regulating devices 150a, 150b, 150c, 150d may include an operable valve that can be mechanically regulated, for example, by an actuator that operates in conjunction with a spring or other similar elastic device capable of storing potential energy.

[0068] In addition, the milking system 100 includes multiple vacuum pressure sensors 160a, 160b, 160c, and 160d. Each vacuum pressure sensor 160a, 160b, 160c, and 160d is associated with a milking cup 110a, 110b, 110c, and 110d, and is configured to measure the dominant vacuum pressure level P in the associated milking cup 110a, 110b, 110c, and 110d below one of the teats during milk extraction in the milking process. 2a P 2b P 2c P 2dTherefore, a vacuum pressure sensor 160a, 160b, 160c, 160d can be specifically used to measure the dominant vacuum pressure level P in a particular milking cup 110a, 110b, 110c, 110d below one of the nipples. 2a P 2b P 2c P 2d .

[0069] In some embodiments, the milking system 100 may also include a database 180 configured to store data, for example, related to various vacuum pressure levels, such as the inlet milking vacuum pressure level P. im Expected milking vacuum pressure level P m Inlet attached vacuum pressure level P ia , Remove vacuum pressure level P d Maximum permissible vacuum pressure level P max And other similar data.

[0070] Milking can be considered to begin when the animal's first teat is pretreated to stimulate oxytocin release. This pretreatment may include cleaning the teat by rinsing it with water, brushing it, or otherwise gently stroking / stimulating it. The time required from the start of pretreatment to the release of milk from the mammary glands can be approximately 40-60 seconds; however, this time may vary for different breeds, individual animals, and even for the same animal under different conditions, and should be considered only a rough estimate.

[0071] However, not all farms perform pretreatment. Without pretreatment, milking can be considered to have begun when the first milking cups 110a, 110b, 110c, and 110d are attached to the first teat.

[0072] In addition, the milking system 100 also includes a processing device 170, which is communicatively connected, for example, via a wireless connection based on radio or optical technology or via a wired connection realized by cable or fiber optic, to vacuum conditioning devices 150a, 150b, 150c, 150d, vacuum pressure sensors 160a, 160b, 160c, 160d, and possibly optional databases 180, 193.

[0073] The objective of processing equipment 170 is to achieve the desired milking vacuum pressure level P below each teat in the teat. m In some implementations, the desired milking vacuum pressure level P m Then it can remain substantially constant for at least a portion of the milking process.

[0074] In some embodiments, vacuum pressure sensors 160a, 160b, 160c, 160d can be configured to measure the vacuum pressure level P in the corresponding milking cups 110a, 110b, 110c, 110d below the nipple at substantially 10 to 1000 measurements per second, preferably 100 to 1000 measurements per second. 2a P 2b P 2c P 2d .

[0075] In some further embodiments, vacuum pressure sensors 160a, 160b, 160c, 160d may also be configured to measure the vacuum pressure level P in the corresponding milking cups 110a, 110b, 110c, 110d below the nipple at least twice during the period when the liner of the corresponding milking cup 110a, 110b, 110c, 110d is open. 2a P 2b P 2c P 2d .

[0076] The processing device 170 is configured to generate corresponding commands to each vacuum regulating device 150a, 150b, 150c, 150d to adjust the inlet vacuum pressure level P. 1a P 1b P 1c P 1d Set the inlet milking vacuum pressure level P im And the inlet vacuum pressure level P 1a P 1b P 1c P 1d Provided with associated milking cups 110a, 110b, 110c, and 110d that are attached to the milking cup.

[0077] Furthermore, the processing device 170 is configured to repeatedly obtain, during the milking process, the dominant vacuum pressure level P in the associated milking cups 110a, 110b, 110c, 110d below one of the teats from the vacuum pressure sensors 160a, 160b, 160c, 160d of the associated milking cups 110a, 110b, 110c, 110d. 2a P 2b P 2c P 2d The measurement results.

[0078] The processing equipment 170 is also configured to repeatedly apply the obtained vacuum pressure level P during the milking process. 2a P 2b P 2c P 2dThe corresponding measurement results and the expected milking vacuum pressure level P m A comparison is made. In some implementations, the desired milking vacuum pressure level P is... m The pressure can be, for example, within the range of 35 kPa to 55 kPa; preferably within the range of 44 kPa to 49 kPa. The desired milking vacuum pressure level P m It can be predetermined and applied to all the teats of all the animals on the farm, and can remain substantially constant during at least a portion of the milking process.

[0079] At least in some regulations, when the animal is a cow, the maximum permissible vacuum pressure level P, measured by vacuum pressure sensors 160a, 160b, 160c, 160d and permitted by processing equipment 170, is the dominant vacuum pressure level in any milking cup 110a, 110b, 110c, 110d below any teat. max Within the range of 35 kPa to 55 kPa. When the animal is a sheep or a goat, the maximum permissible vacuum pressure level can be set within the range of 28 kPa to 38 kPa, etc.

[0080] In some implementation schemes, the inlet milking vacuum pressure level P im and / or the desired milking vacuum pressure level P m and / or maximum permissible vacuum pressure level P max It can be stored in database 180 and / or retrieved from database by processing device 170.

[0081] In addition, the processing equipment 170 is configured to repeatedly calculate, during the milking process, the inlet vacuum pressure level P to be supplied by each corresponding vacuum regulating device 150a, 150b, 150c, 150d to the associated milking cups 110a, 110b, 110c, 110d. 1a P 1b P 1c P 1d The adjustment amount ΔP is based on the dominant vacuum pressure level P in the associated milking cups 110a, 110b, 110c, and 110d. 2a P 2b P 2c P 2d With the expected milking vacuum pressure level P m The comparison was conducted between the relevant milking cups 110a, 110b, 110c, and 110d to achieve the desired milking vacuum pressure level P. m .

[0082] The processing equipment 170 is also configured to repeatedly generate corresponding commands to each vacuum regulator 150a, 150b, 150c, 150d during the milking process to adjust the inlet vacuum pressure level P according to the separately calculated adjustment amount ΔP. 1a P 1b P 1c P 1d This achieves the desired milking vacuum pressure level P at each of the corresponding associated milking cups 110a, 110b, 110c, and 110d. m The desired milking vacuum pressure level is measured by the corresponding vacuum pressure sensors 160a, 160b, 160c, 160d below each teat during at least a portion of the milking process, such as most of the milking process, regardless of the animal's identity, i.e., the animal's identity is unknown.

[0083] Therefore, the same desired milking vacuum pressure level P m It can target all nipples of all animals of the same species on a farm. It achieves a vacuum pressure level P below each corresponding nipple. 2a P 2b P 2c P 2d Direct, real-time (or near real-time) control.

[0084] The processing device 170 can then obtain, as measured by the associated vacuum pressure level P in the associated milking cups 110a, 110b, 110c, 110d below one of the nipples, as measured by the associated vacuum pressure sensors 160a, 160b, 160c, 160d. 2a P 2b P 2c P 2d The current / instantaneous (or nearly current / instantaneous, with some insignificant time delay) measurement results.

[0085] Based on the expected milking vacuum pressure level P m Based on the comparison results, the processing device 170 can generate commands to the vacuum regulating devices 150a, 150b, 150c, and 150d associated with the milking cups 110a, 110b, 110c, 110d and the nipple to adjust the inlet vacuum pressure level P. 1a P 1b P 1c P 1d In order to increase the vacuum pressure level P below the nipple 2a P 2b P 2c P 2d Maintain the desired milking vacuum pressure level P m.

[0086] The goal is to extract milk from animals efficiently in the shortest possible time (so that the milking system can serve more animals per 100 units of time), rather than damaging or harming the teats by applying excessively high vacuum levels below them.

[0087] Based on the disclosed concept, the inlet vacuum pressure level P provided to milking cups 110a, 110b, 110c, and 110d has been specified. 1a P 1b P 1c P 1d A method has been developed for specific nipple regulation to promote efficient milking while maintaining nipple integrity.

[0088] Therefore, milk extraction can be performed more efficiently than according to previously known methods.

[0089] In some implementations, the control algorithm of the processing device 170 may include a proportional-integral-derivative (PID) regulator with a feedforward model, or be based on or inspired by the PID regulator.

[0090] Vacuum pressure level P in each of milking cups 110a, 110b, 110c, and 110d 2a P 2b P 2c P 2d The control function can thus be achieved by repeatedly adjusting the inlet vacuum pressure level P. 1a P 1b P 1c P 1d Accurate and responsive corrections are applied.

[0091] In some implementations, the control loop can operate at approximately 1 Hz. Therefore, the inlet vacuum pressure level P provided by the vacuum regulating devices 150a, 150b, 150c, and 150d is achieved. 1a P 1b P 1c P 1d Frequent updates have led to changes in the stable vacuum pressure level P in milking cups 110a, 110b, 110c, and 110d. 2a P 2b P 2c P 2d This stable vacuum pressure level is related to the desired milking vacuum pressure level P. m Same or similar.

[0092] The processing device 170 can be configured to repeatedly generate corresponding commands during the milking process to the vacuum regulating devices 150a, 150b, 150c, 150d associated with each milking cup 110a, 110b, 110c, 110d attached to the corresponding teat, to obtain the most recently acquired vacuum pressure level P below the teat obtained from the vacuum pressure sensors 160a, 160b, 160c, 160d. 2a P 2b P 2c P 2d Milking vacuum pressure level P below the nipple m At the same time, the adjustment amount ΔP is used to increase the inlet vacuum pressure level P to be provided to milking cups 110a, 110b, 110c, and 110d. 1a P 1b P 1c P 1d .

[0093] Alternatively, the processing device 170 can be configured to process the most recently obtained vacuum pressure level P below the nipple obtained from vacuum pressure sensors 160a, 160b, 160c, 160d. 2a P 2b P 2c P 2d Exceeding the expected milking vacuum pressure level P below the nipple m At the same time, the adjustment amount ΔP is used to reduce the inlet vacuum pressure level P to be provided to milking cups 110a, 110b, 110c, and 110d. 1a P 1b P 1c P 1d .

[0094] In some embodiments, the processing device 170 may be configured to adjust (i.e., increase or decrease) the inlet vacuum pressure level P to be provided to the milking cups 110a, 110b, 110c, 110d. 1a P 1b P 1c P 1d The magnitude of the adjustment amount ΔP is related to the most recently obtained vacuum pressure level P, as measured by and obtained from the corresponding vacuum pressure sensors 160a, 160b, 160c, and 160d. 2a P 2b P 2c P 2d Compared with the previously obtained vacuum pressure level P 2a P 2b P 2c P 2d The difference between them is proportional.

[0095] Therefore, in some implementations, the vacuum pressure level P below the nipple can be determined by the magnitude of the deviation between vacuum pressure levels obtained at different times. 2a P 2b P 2c P 2d This adjustment leads to a better correlation between the level of insertion vacuum pressure applied at the nipple and the milk flow rate at the nipple, because the measured vacuum pressure level P is estimated based on its current rate of change. 2a P 2b P 2c P 2d With the expected milking vacuum pressure level P m The future trend of the deviation between them. Therefore, the inlet vacuum pressure level P can be anticipated by applying a control effect resulting from the rate of change of deviation, as measured in milking cups 110a, 110b, 110c, and 110d. 1a P 1b P 1c P 1d The adjustment amount ΔP is increased, thereby improving control.

[0096] The processing device 170 can be configured to generate corresponding commands to at least one vacuum regulating device 150a, 150b, 150c, 150d to reduce the inlet vacuum pressure level P at the corresponding milking cups 110a, 110b, 110c, 110d when the milking process is estimated to be nearing its end. 1a P 1b P 1c P 1d The process is in Figure 4A It is shown schematically in the middle.

[0097] In some implementations, a vacuum release pressure P can be applied when the milking process is about to end. d This allows the milking cup to be easily removed. It removes the vacuum pressure level P. d It can be set to approximately 10 kPa to 20 kPa, such as, for example, approximately 15 kPa.

[0098] The detachment of milking cups 110a, 110b, 110c, and 110d is thus simplified, resulting in a smoother and gentler milking process.

[0099] In some implementations, the processing device 170 may be configured to detect that milking cups 110a, 110b, 110c, and 110d will be attached to the animal's teats.

[0100] Additionally, the processing device 170 can be configured to generate corresponding commands to each vacuum regulating device 150a, 150b, 150c, 150d to adjust the inlet vacuum pressure level P. 1a P 1b P 1c P 1d Set the inlet attachment vacuum pressure level P ia Also known as soft start, and it sets the inlet vacuum pressure level P 1a P 1b P 1c P 1d Provided to associated milking cups 110a, 110b, 110c, 110d associated with milking cup attachment, wherein the inlet attachment vacuum pressure level P ia This indicates the level of vacuum pressure P compared to the milking inlet. im Smaller negative pressure.

[0101] Inlet attached vacuum pressure level P ia It can be, for example, 20 kPa to 35 kPa (any non-limiting example).

[0102] In some other embodiments, the processing device 170 may be configured to process based on a predetermined number of recent vacuum pressure levels P obtained from corresponding associated vacuum pressure sensors 160a, 160b, 160c, 160d. 2a P 2b P 2c P 2d Calculate the dominant vacuum pressure level P at each milking cup 110a, 110b, 110c, 110d below the corresponding nipple. 2a P 2b P 2c P 2d The rolling average value is used. Therefore, it eliminates the bias in the measurement results caused by arbitrary fluctuations in the measurement results, thus ensuring accurate measurement of the vacuum pressure level P below the nipple. 2a P 2b P 2c P 2d The measurements are more reliable.

[0103] The processing device 170 can also be configured to apply the desired milking vacuum pressure level P m The result is compared with the rolling average of the calculated vacuum pressure level. Therefore, minor fluctuations in the measurement are eliminated, resulting in more stable vacuum pressure regulation.

[0104] In some implementations, the milking system 100 may also include a communication device 190 for communicating with a central processing unit 192 of a service provider. The central processing unit 192 may in turn be connected to a central database 193, which may store various relevant data, such as, for example, the maximum permissible vacuum pressure level P due to limitations imposed by SS-ISO 5707:2007 or other similar standards. max Expected milking vacuum pressure level P m Inlet milking vacuum pressure level P im wait.

[0105] The processing equipment 170 at the farm can be configured, for example, to obtain various data such as those specified above from the central database 193; or to download software updates.

[0106] In some implementations, the processing device 170 may be configured to upload, for example, vacuum pressure measurement data of animals on a farm, detection of deviations from vacuum pressure levels (which can indicate air leaks in the system), etc.

[0107] Processing device 170 may generally be advantageously configured to automatically perform the above-described processes by executing a computer program. Thus, according to some embodiments, processing device 170 may include a memory unit (i.e., a non-volatile data carrier) storing a computer program, which may in turn include software for causing the processing circuitry to perform the above-described actions when the computer program is run on at least one processor-type processing circuitry in processing device 170.

[0108] Figure 2 A milking system 100 is shown, which includes a milking cup placement device 220, such as a milking robot including a robotic arm 230, which is communicatively connected to sensors 240, such as cameras, video cameras, lidar, radar, infrared cameras, etc. The sensors 240 are configured to detect the position of each teat 210a, 210b, 210c, 210d of the animal 200 to be milked.

[0109] In the illustrated non-limiting embodiment, the milking cup placement device 220 is embodied as a milking robot, which may be part of an automated milking system (AMS) (sometimes also referred to as a autonomous milking system (VMS)) or a similar system. The methods and milking system 100 disclosed herein are not limited to the use of a milking robot, but can be used with any known milking concept, such as manual milking of animals restrained in a milking parlor and / or in a milking pit or rotating milking parlor.

[0110] Pulsating pressure can be applied when milking cups 110a, 110b, 110c, and 110d are attached to animal teats 210a, 210b, 210c, and 210d. In some embodiments, the level of pulsating pressure applied to the pulsating chamber via the pulsating tube in milking cups 110a, 110b, 110c, and 110d can vary between atmospheric pressure during rest phase D and vacuum pressure during milking phase B in some embodiments. The apparatus for applying the pulsating vacuum is not shown in the accompanying drawings.

[0111] Therefore, sucking is interrupted by the rhythmic, repetitive movements, opening and closing of the linings in milking cups 110a, 110b, 110c, and 110d. The force exerted by the contracting linings causes a massage to the teats. Thus, teats 210a, 210b, 210c, and 210d are massaged, preventing teat tip blockage (e.g., engorgement), while the rhythmic movements of the contracting and opening of the linings, combined with the applied milking vacuum, stimulate oxytocin release and milk ejection, mimicking the sucking of a calf.

[0112] The milking cup placement device 220 can be communicatively connected to the sensor 240 via a wired or wireless connection to obtain information about the corresponding positions of the animal teats 210a, 210b, 210c, and 210d. The milking cup placement device 220 can be configured to sequentially attach each of the milking cups 110a, 110b, 110c, and 110d to the corresponding teats 210a, 210b, 210c, and 210d of the animal 200 based on sensor detection performed by the sensor 240. Milking cups 110a, 110b, 110c, and 110d can be stored in a storage box or similar storage area. The milking cup placement device 220 can pick up one milking cup at a time and attach it to one of the nipples 210a, 210b, 210c, and 210d, and repeat this operation until all milking cups 110a, 110b, 110c, and 110d have been attached.

[0113] Regarding the inlet milking vacuum pressure level P im Expected milking vacuum pressure level P m Inlet attached vacuum pressure level P ia and / or maximum permissible vacuum pressure level P max Data such as this can be stored, for example, in a digital memory or database 180 communicatively connected to or included in the processing device 170, and retrieved later from that digital memory or database. Alternatively, the data can be stored in a central database 193, which can be accessed by the central processing device 192.

[0114] The processing device 170 can be operated in conjunction with the milking cup placement device 220 to control the robotic arm 230 to begin attaching the milking cups 110a, 110b, 110c, 110d individually or possibly in clusters to the corresponding nipples 210a, 210b, 210c, 210d.

[0115] The processing device 170 can be communicatively connected to databases 180, 193, and / or optionally also connected to multiple milk flow meters 250a, 250b, 250c, 250d. The milk flow meters 250a, 250b, 250c, 250d can be configured to measure milk flow per unit time, for example, the milk flow rate of each milk discharge tube 120a, 120b, 120c, 120d and / or milking cup 110a, 110b, 110c, 110d; and / or the total amount of milk extracted from the animal 200 during the milking process.

[0116] It can be noted that when implementing the provided solution, milk meters 250a, 250b, 250c, and 250d can be omitted; that is, the provided solution can be implemented without the need for milk meters 250a, 250b, 250c, and 250d at the farm. Therefore, the advantage is that milk can be extracted efficiently without requiring or relying on milk meters 250a, 250b, 250c, and 250d; or storing individual animal data on the farm, thus saving resources.

[0117] In some implementations, the amount of milk extracted from the animal 200 during the milking process can be estimated based on the measurement of the difference in the storage volume of milk in the milk tank 130 before and after the milking process, for example by applying and studying the movement of floats in the milk tank 130.

[0118] In some implementations, the processing device 170 can establish and maintain a desired milking vacuum pressure level P that dominates below the teats 210a, 210b, 210c, 210d during at least a portion of the milking process. m This is independent of the amount of milk flow from each of the corresponding nipples 210a, 210b, 210c, and 210d.

[0119] In some implementations, during the milking process, the vacuum pressure level P is measured below the corresponding teats 210a, 210b, 210c, and 210d. 2a P 2b P 2c P 2d It can be achieved and maintained at a relatively constant milking vacuum pressure level P m To achieve this, the vacuum pressure level P below nipples 210a, 210b, 210c, and 210d is used. 2a P2b P 2c P 2d Repeated measurements allow for continuous adjustment of the inlet vacuum pressure level P. 1a P 1b P 1c P 1d .

[0120] In other embodiments, the vacuum pressure level P measured by the corresponding vacuum pressure sensors 160a, 160b, 160c, 160d below one of the nipples 210a, 210b, 210c, 210d during a certain time period... 2a P 2b P 2c P 2d The estimated difference between the highest and lowest measurement results, and the dominant vacuum pressure level P below nipples 210a, 210b, 210c, and 210d. 2a P 2b P 2c P 2d It can be temporarily increased to the high-flow milking vacuum pressure level P HF This time period can be predetermined or configurable; for example, 5 to 60 seconds, preferably 15 to 30 seconds. Therefore, measurements obtained most recently, for example, within a period of 5 to 60 seconds, can be compared, and the maximum difference between two extreme measurements (highest / lowest) during this time period can be estimated.

[0121] When the estimated difference is less than the threshold limit, the expected milking vacuum pressure level P m It can be temporarily set to the high-flow milking vacuum pressure level P for milking cups 110a, 110b, 110c, and 110d. HF .

[0122] The threshold limit can be configurable or predetermined, and is, for example, the milking vacuum pressure level P. m 1%.

[0123] Desired milking vacuum pressure level P m For example, it could be 44 kPa, while the high-flow milking vacuum pressure level P HF For example, it could be 49 kPa (non-limiting example).

[0124] Processing device 170 can continuously / repeatedly obtain the vacuum pressure level P below nipples 210a, 210b, 210c, 210d using corresponding associated vacuum pressure sensors 160a, 160b, 160c, 160d. 2a P 2b P 2cP 2d The measurement results.

[0125] Figure 3A and Figure 3B A simplified / functional overview of a milking system 100 according to two different embodiments is shown, in which details are omitted, such as showing only a milking cup 110, so as not to obscure the solution presented.

[0126] Vacuum pump 140 can generate a vacuum, that is, a negative pressure below atmospheric pressure, which is called the system vacuum pressure P. s The system vacuum pressure is supplied to milk tank 130. The system vacuum pressure P, generated by vacuum pump 140, dominates in milk tank 130. s It can remain essentially constant for most of the milking process.

[0127] exist Figure 3A In this device, the vacuum regulating unit 150 includes an operable valve 310 having a channel adjustable by an electrical control signal provided by the processing equipment 170. The operable valve 310 can be adjusted by an actuator 320 (e.g., a solenoid or similar device). The valve 310 can be arranged in the milk discharge pipe 120 such that milk extracted during the milking process passes through the channel.

[0128] By adjusting the passage of the operable valve 310, an inlet vacuum pressure level P1 is generated, which may be provided to the milking cup 110 via an optional milk meter 250 arranged on the milking tube 120. When inserted into the milking cup 110, the animal nipple 210 is exposed to a vacuum pressure level P2 below the nipple 210, which is measured by the vacuum pressure sensor 160 and repeatedly provided to the processing equipment 170.

[0129] The vacuum pressure sensor 160 can be positioned at the lower end of the milking cup 110, or at a section of the milking tube 120 relatively close to the milking cup 110, for example, a few centimeters, a decimeter, or a few decimeters from the milking cup 110. When inserted into the milking cup 110, the vacuum pressure sensor 160 can measure the dominant vacuum pressure level P2 in the milking cup 110 below one of the nipples 210.

[0130] The processing device 170 can then repeatedly compare the obtained vacuum pressure level P2 below the nipple 210 with the desired milking vacuum pressure level P. m The comparison is made, and based on the comparison result, a command is generated to the actuator 320 to open or close the passage of the operable valve 310, thereby increasing / decreasing the inlet vacuum pressure P1, which in turn changes the vacuum pressure level P2 below the nipple 210.

[0131] Figure 3BThe vacuum regulating device 150 includes a vacuum regulator 153 and a valve device 155, such as... Figures 1 to 2 As shown in the diagram and discussed previously in the corresponding sections of the specification, valve device 155 may include, for example, shut-off valves known per se.

[0132] Vacuum pump 140 is connected to vacuum regulator 150, thereby providing system vacuum P to vacuum regulator 150. s By adjusting the milk passage of the shut-off valve in a controlled manner, the vacuum regulating device 150 can adjust the inlet vacuum pressure level P1 supplied to the milking cup 110.

[0133] The vacuum regulator 153 of the vacuum regulator 150 may include a solenoid, wherein the position of the valve of the solenoid can be adjusted by adjusting the magnetic field around the solenoid. This magnetic field can be pulse-width modulated, for example, using a pulse-width modulated (PWM) signal generated by a processing device 170 communicatively connected to the vacuum regulator 153, thereby changing the system vacuum P of the vacuum pump 140. s Mixing with atmospheric pressure air to create a controlled vacuum P c .

[0134] The vacuum regulator 153 may include or be connected to a valve device 155. The valve device 155 may be arranged in or associated with the milk discharge tube 120 of the milking cup 110.

[0135] Valve device 155 may include a wet section and a dry section separated by a membrane. Milk discharge tube 120 can pass through the wet section of valve device 155.

[0136] The dominant vacuum pressure level in the milk cup 110 of the milk discharge pipe 120 located upstream of the valve device 155 can be adjusted to match the control vacuum level P supplied to the dry section of the valve device 155 by the vacuum regulator 153. c Basically the same vacuum level.

[0137] Therefore, for each teat 210 of animal 200, the dominant vacuum pressure level P2 in the milking cup 110 below the teat 210 can be individually adjusted to achieve the target / desired vacuum pressure level P in the milking cup 110 below the teat 210. m .

[0138] When inserted into the milking cup 110, the animal nipple 210 is exposed to a vacuum pressure level P2 below the nipple 210, which is measured by a vacuum pressure sensor 160 and repeatedly provided to the processing device 170.

[0139] The processing device 170 can then repeatedly obtain the measurement results of the vacuum pressure level P2 in the milking cup 110, and compare the obtained measurement results with the desired milking vacuum pressure level P.m A comparison is made. Based on the comparison results, the processing device 170 can calculate the adjustment amount of the inlet vacuum pressure level P1 so as to adjust the vacuum pressure level P2 below the nipple 210 to the desired milking vacuum pressure level P. m Then, the processing device 170 can generate a command to the vacuum regulator 153 of the vacuum regulating device 150 to adjust the control vacuum P supplied to the valve device 155. c This, in turn, adjusts the inlet vacuum pressure level P1 supplied to the milking cup 110, thereby adjusting the vacuum pressure level P2 below the nipple 210. This process can then be repeated during the milking process.

[0140] Figure 4A The diagram illustrates the milk flow rate during milking process 400 according to one embodiment, and the dominant vacuum pressure level P in the associated milking cups 110a, 110b, 110c, 110d below one of the teats 210a, 210b, 210c, 210d from the teats 210a, 210b, 210c, 210d of the animal 200, as indicated by vacuum pressure sensors 160a, 160b, 160c, 160d. 2a P 2b P 2c P 2d The measurement results.

[0141] Figure 4A The upper paragraph shows the milk flow rate of nipples 210a, 210b, 210c, and 210d in an example, while the lower paragraph shows the vacuum pressure level P2 in milking cups 110a, 110b, 110c, and 110d.

[0142] The milk flow rate based on the milk curve can have very different shapes / sizes for different teats and different animals 200, and the milk curve shown is merely an arbitrary example.

[0143] In some implementations, the desired vacuum pressure level of milking cups 110a, 110b, 110c, and 110d can be set as the vacuum release pressure P in milking cups 110a, 110b, 110c, and 110d. d The vacuum pressure can be set, for example, to 10 kPa to 20 kPa, such as about 15 kPa, near the end of the milking process 400. This ensures rapid removal of the milking cup.

[0144] The end stage of the milking process 400 can be detected, for example, by measuring the time from when the first (or possibly last) milking cup 110a, 110b, 110c, 110d is attached and comparing that time with a time limit tl.

[0145] Figure 4B The diagram illustrates the milk flow rate during milking process 400 according to one embodiment, and the dominant vacuum pressure level P in the associated milking cups 110a, 110b, 110c, 110d below one of the teats 210a, 210b, 210c, 210d from the teats 210a, 210b, 210c, 210d of the animal 200, as indicated by vacuum pressure sensors 160a, 160b, 160c, 160d. 2a P 2b P 2c P 2d The measurement results.

[0146] Figure 4B The upper paragraph shows the milk flow rate of one of the nipples 210a, 210b, 210c, 210d in an example, while the lower paragraph shows the vacuum pressure level P2 in the corresponding milking cups 110a, 110b, 110c, 110d.

[0147] In some implementations, the desired vacuum pressure level of milking cups 110a, 110b, 110c, and 110d can be set to the high-flow milking vacuum pressure level P. HF High-flow milking vacuum pressure level P HF It can be set to approximately, for example, 45 kPa to 55 kPa, such as 49 kPa (non-limiting example). High-flow milking vacuum pressure level P HF This indicates the level of milking vacuum pressure, P. m A lower negative pressure, for example, 44 kPa.

[0148] The vacuum pressure level P measured by vacuum pressure sensors 160a, 160b, 160c, and 160d below one of the nipples 210a, 210b, 210c, and 210d over a certain period of time. 2a P 2b P 2c P 2d When the estimated difference between the highest and lowest measurement results is less than the threshold limit, the high-flow milking vacuum pressure level P HF The desired target value for the vacuum pressure level of milking cups 110a, 110b, 110c, and 110d can be set at least temporarily.

[0149] In other implementations, the high-flow milking vacuum pressure level P HF It can be set from the first nipple stimulation or after trigger time tl1 has elapsed since the start of the milking process 400.

[0150] In some other implementation schemes, these two schemes can be combined, namely, high-flow milking vacuum pressure level P HF It can be set, for example, before the trigger time tl1 has passed and the estimated vacuum pressure difference below nipples 210a, 210b, 210c, and 210d is less than the threshold limit during that time period.

[0151] Correspondingly, when the milk flow rate of teats 210a, 210b, 210c, and 210d decreases, the desired vacuum pressure level of milking cups 110a, 110b, 110c, and 110d can be set at the high-flow milking vacuum pressure level P. HF The vacuum pressure level was then reduced to the normal flow milking level P. m .

[0152] This can be measured during this time period by the vacuum pressure level P measured by the vacuum pressure sensors 160a, 160b, 160c, and 160d located below nipples 210a, 210b, 210c, and 210d. 2a P 2b P 2c P 2d The test is performed when the estimated difference between the highest and lowest measurement results exceeds the threshold limit. This can be interpreted as the milk flow rate of animals / teeth 210a, 210b, 210c, and 210d being reduced and the milk flow rate having passed through the peak plateau phase.

[0153] In some other implementations, when the desired vacuum pressure level is set to the high-flow milking vacuum pressure level P... HF When the second trigger time tl2 has elapsed, the vacuum pressure level P of milking cups 110a, 110b, 110c, and 110d is... 2a P 2b P 2c P 2d It can be reduced to the normal milking vacuum pressure level P m In other implementations, the second trigger time can be set from the start of the milking process 400, for example, from the first nipple stimulation.

[0154] Figure 5 The diagram schematically illustrates the dominant vacuum pressure level P in each corresponding milking cup 110a, 110b, 110c, 110d below each corresponding teat 210a, 210b, 210c, 210d of animal 200. 2a P 2b P 2c P 2d The regulatory process.

[0155] The processing device 170 can detect the start of the milking process 400 of the animal 200 when the milking cups 110a, 110b, 110c, and 110d are attached to the teats 210a, 210b, 210c, and 210d.

[0156] Processing equipment 170 can adjust the inlet vacuum pressure level P of vacuum regulating devices 150a, 150b, 150c, and 150d. 1a P 1b P 1c P 1d Set the inlet milking vacuum pressure level P im Inlet milking vacuum pressure level P im This can be predetermined and retrieved from memory devices or databases 180, 193. In some arbitrary examples, the inlet milking vacuum pressure level P im It can be set to a value in the range of 35 kPa to 45 kPa, for example.

[0157] In some other examples, the inlet milking vacuum pressure level P im It can be set to the inlet attachment vacuum pressure level P ia For example, it is set to 20 kPa to 35 kPa or about 20 kPa to 35 kPa, and the inlet attachment vacuum pressure level is lower than the vacuum pressure level applied during milk extraction.

[0158] Processing equipment 170 sends commands to vacuum regulating devices 150a, 150b, 150c, and 150d to adjust the inlet vacuum pressure level P. 1a P 1b P 1c P 1d Set the inlet milking vacuum pressure level P im This vacuum pressure is then supplied to milking cups 110a, 110b, 110c, and 110d. The inlet milking vacuum pressure level P... im Therefore, they can be provided together to all milking cups 110a, 110b, 110c, and 110d.

[0159] Then, the vacuum pressure sensors 160a, 160b, 160c, 160d at each of the milking cups 210a, 210b, 210c, 210d can measure the dominant vacuum pressure level P in each of the corresponding milking cups 110a, 110b, 110c, 110d below each corresponding teat 110a, 110b, 110c, 110d of the animal 200. 2a P 2b P 2c P 2d Then these pressure measurement results P 2a P2b P 2c P 2d Provided to processing equipment 170. Corresponding pressure measurement results P for milking cups 110a, 110b, 110c, and 110d. 2a P 2b P 2c P 2d They can be different because the milk flow rates of the corresponding nipples 210a, 210b, 210c, and 210d can be different.

[0160] Processing device 170 can retrieve the desired milking vacuum pressure level P to be achieved and maintained in milking cups 110a, 110b, 110c, and 110d from memory devices or databases 180 and 193. m Then the pressure measurement results P can be obtained. 2a P 2b P 2c P 2d Each of these is related to the desired milking vacuum pressure level P. m A comparison between them.

[0161] The pressure measurement results P in milking cups 110a, 110b, 110c, and 110d 2a P 2b P 2c P 2d Equal to the expected milking vacuum pressure level P m (Or within its tolerance, for example, within 1% to 5%), the inlet vacuum pressure level P supplied to milking cups 110a, 110b, 110c, and 110d can remain unchanged. 1a P 1b P 1c P 1d .

[0162] Otherwise, that is, when the pressure measurement result P 2a P 2b P 2c P 2d Deviation from the expected milking vacuum pressure level P m (Or outside its tolerance), in different implementations, the inlet vacuum pressure level P 1a P 1b P 1c P 1d The corresponding adjustment amount ΔP can be calculated according to the algorithm or extracted from the tables in memory / database 180, 193. For example: the measured pressure result P in milking cups 110a, 110b, 110c, 110d. 2a P 2b P 2cP 2d One of them exceeds the expected milking vacuum pressure level P m (Desired milking vacuum pressure level P) m In some embodiments (any non-limiting example), in cases where 10% of the time is spent, the inlet vacuum pressure level P provided by vacuum regulating devices 150a, 150b, 150c, 150d to the relevant milking cups 110a, 110b, 110c, 110d is... 1a P 1b P 1c P 1d It can reduce it by 10%.

[0163] Regarding the new corresponding inlet vacuum pressure level P 1a P 1b P 1c P 1d The instructions can thus be calculated and provided to vacuum regulating devices 150a, 150b, 150c, and 150d. Then, vacuum regulating devices 150a, 150b, 150c, and 150d, upon receiving the new, recalculated inlet vacuum pressure level P... 1a P 1b P 1c P 1d The inlet vacuum pressure can be adjusted and supplied to the corresponding milking cups 110a, 110b, 110c, and 110d.

[0164] The inlet vacuum pressure level P that has already been adjusted. 1a P 1b P 1c P 1d Subsequently, the vacuum pressure sensors 160a, 160b, 160c, and 160d at each of the milking cups 110a, 110b, 110c, and 110d can then measure the vacuum pressure level P again. 2a P 2b P 2c P 2d And the most recent pressure measurement results P 2a P 2b P 2c P 2d Report to processing equipment 170.

[0165] Then the process α, which includes the following operations, can be repeated until the milking process 400 is completed: measuring the vacuum pressure level P in milking cups 110a, 110b, 110c, and 110d. 2a P 2b P 2c P 2dThe obtained pressure measurement result P 2a P 2b P 2c P 2d With the expected milking vacuum pressure level P m Compare and recalculate the inlet vacuum pressure level P. 1a P 1b P 1c P 1d And adjust the inlet vacuum pressure level P 1a P 1b P 1c P 1d Milking cups 110a, 110b, 110c, and 110d are provided.

[0166] The provided solution allows for dynamic adjustment of the vacuum pressure level P in the dominant milking cups 110a, 110b, 110c, 110d below each corresponding teat 210a, 210b, 210c, 210d of animal 200. 2a P 2b P 2c P 2d The inlet vacuum pressure level P applied to each milking cup 110a, 110b, 110c, 110d is... 1a P 1b P 1c P 1d Therefore, it varies depending on the milk flow rate of the nipples 210a, 210b, 210c, and 210d discussed.

[0167] This improves milking efficiency while eliminating or at least reducing teat damage caused by excessive vacuum pressure exceeding the maximum permissible vacuum pressure level. It is estimated that the teat condition of animals 200 has also improved. Furthermore, due to the reduced milking time per animal, milking system 100 can milk more animals per unit time.

[0168] The terminology used in the description of the embodiments shown in the accompanying drawings is not intended to limit the milking system 100, processing equipment 170, and / or computer program described. Various changes, substitutions, and / or modifications may be made without departing from the embodiments of the invention as defined in the appended claims.

[0169] exist Figures 1 to 5 The various illustrated embodiments depicted and / or discussed in the respective sections of the specification can be advantageously combined with each other, for example by mixing and compiling features of some or all of the described embodiments, thereby achieving additional advantages.

[0170] 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 term “or” should be interpreted as mathematical OR, i.e., as inclusive disjunction; rather than as mathematical exclusive OR (XOR), unless otherwise expressly stated. Additionally, the singular forms “a,” “an,” and “the” should be interpreted as “at least one,” and thus may also include multiple entities of the same kind, unless otherwise expressly stated. It will be further understood that the terms “comprising,” “including,” specify the presence of the stated features, actions, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and / or combinations thereof. A single unit, such as, for example, a processor, can perform the functions of several items recited in the claims. The fact that certain measures or features are recited in mutually different dependent claims, shown in different drawings, or discussed in conjunction with different embodiments does not mean that combinations of these measures or features cannot be advantageously used.

Claims

1. A milking system (100), the milking system comprising: Multiple milking cups (110a, 110b, 110c, 110d), each milking cup being configured to be fitted onto the corresponding teat (210a, 210b, 210c, 210d) of an animal (200) during milk extraction in the milking process (400); Multiple milk discharge tubes (120a, 120b, 120c, 120d), wherein each milk discharge tube (120a, 120b, 120c, 120d) is connected to a corresponding milking cup (110a, 110b, 110c, 110d). Vacuum pump (140), the vacuum pump being configured to generate system vacuum pressure (P) s ); A milk tank (130) is connected to each of the milking cups (110a, 110b, 110c, 110d) via corresponding connected milk discharge pipes (120a, 120b, 120c, 120d), and is also connected to the vacuum pump (140), wherein the system vacuum pressure (P) generated by the vacuum pump (140) dominates in the milk tank (130). s The milking process (400) remains substantially constant for most of the time. Multiple vacuum regulating devices (150a, 150b, 150c, 150d), each associated with a corresponding milking cup (110a, 110b, 110c, 110d), are configured to regulate the inlet vacuum pressure level (P) supplied to the respective milking cup (110a, 110b, 110c, 110d). 1a , P 1b , P 1c , P 1d ); Multiple vacuum pressure sensors (160a, 160b, 160c, 160d), each associated with a milking cup (110a, 110b, 110c, 110d), are configured to measure the dominant vacuum pressure level (P0) in the associated milking cup (110a, 110b, 110c, 110d) below one of the teats (210a, 210b, 210c, 210d) during the milking process (400). 2a , P 2b , P 2c , P 2d ); A processing device (170) communicatively connected to the vacuum regulating devices (150a, 150b, 150c, 150d) and the vacuum pressure sensors (160a, 160b, 160c, 160d), wherein the processing device (170) is configured to: A corresponding command is generated for each vacuum regulating device (150a, 150b, 150c, 150d) to adjust the inlet vacuum pressure level (P). 1a , P 1b , P 1c , P 1d Set the inlet milking vacuum pressure level (P) im ), and the inlet vacuum pressure level (P) 1a , P 1b , P 1c , P 1d ) is provided to the associated milking cups (110a, 110b, 110c, 110d). During the milking process (400), the dominant vacuum pressure level (P) in the associated milking cup (110a, 110b, 110c, 110d) below one of the teats (210a, 210b, 210c, 210d) is repeatedly obtained from the vacuum pressure sensor (160a, 160b, 160c, 160d) of the associated milking cup (110a, 110b, 110c, 110d) during the milking process (400). 2a , P 2b , P 2c , P 2d The measurement results; The obtained vacuum pressure level (P) is repeatedly applied during the milking process (400). 2a , P 2b , P 2c , P 2d The corresponding measurement results and the expected milking vacuum pressure level (P) m ) for comparison; Based on the comparisons made, the inlet vacuum pressure level (P) provided by each corresponding vacuum regulating device (150a, 150b, 150c, 150d) to the associated milking cup (110a, 110b, 110c, 110d) was repeatedly calculated during the milking process (400) to the associated milking cup (110a, 110b, 110c, 110d). 1a , P 1b , P 1c , P 1d The adjustment amount (ΔP) is adjusted to achieve the desired milking vacuum pressure level (P) in the associated milking cups (110a, 110b, 110c, 110d). m ); as well as During the milking process (400), corresponding commands are repeatedly generated to each vacuum regulating device (150a, 150b, 150c, 150d) to adjust the inlet vacuum pressure level (P) according to the calculated adjustment amount (ΔP). 1a , P 1b ,P 1c , P 1d This achieves the desired milking vacuum pressure level (P) at each corresponding associated milking cup (110a, 110b, 110c, 110d). m The desired milking vacuum pressure level is measured during the milking process (400) by the corresponding vacuum pressure sensor (160a, 160b, 160c, 160d) below each of the teats (210a, 210b, 210c, 210d), regardless of the identity of the animal (200). The vacuum regulating device (150a, 150b, 150c, 150d) includes a corresponding vacuum regulator (153a, 153b, 153c, 153d) and valve device (155a, 155b, 155c, 155d) in each of the milk discharge tubes (120a, 120b, 120c, 120d). The valve devices (155a, 155b, 155c, 155d) include a wet section (156) and a dry section (158) separated by a membrane (157). The first and second milk discharge pipe sections of the milk discharge pipes (120a, 120b, 120c, 120d) pass through the wet section (156) of the valve device (155a, 155b, 155c, 155d). The dominant vacuum pressure level in the milking cups (110a, 110b, 110c, 110d) associated with the milk discharge pipes (120a, 120b, 120c, 120d) located upstream of the valve devices (155a, 155b, 155c, 155d) can be adjusted to match the control vacuum level (P). ca P cb P cc P cd The same vacuum level is provided to the dry section of the valve devices (155a, 155b, 155c, 155d) by the vacuum regulators (153a, 153b, 153c, 153d).

2. The milking system (100) according to claim 1, wherein the processing device (170) is configured as follows: During the milking process (400), the inlet vacuum pressure level (P) is repeatedly generated and adjusted. 1a , P 1b , P 1c ,P 1d The command is to achieve a substantially constant desired milking vacuum pressure level (P) at each corresponding associated milking cup (110a, 110b, 110c, 110d). m The desired milking vacuum pressure level is measured by the corresponding vacuum pressure sensor (160a, 160b, 160c, 160d) below each of the teats (210a, 210b, 210c, 210d) for at least most of the time during the milking process (400).

3. The milking system (100) according to claim 1, wherein the processing device (170) is configured as follows: Estimate the vacuum pressure level (P) in one of the milking cups (110a, 110b, 110c, 110d) measured by the vacuum pressure sensors (160a, 160b, 160c, 160d) during a certain time period. 2a , P 2b ,P 2c , P 2d The difference between the highest and lowest measurement results; and If the estimated difference is less than the threshold limit: The desired milking vacuum pressure level (P) m The temporary setting is configured for the high-flow milking vacuum pressure level (P) of the milking cups (110a, 110b, 110c, 110d). HF ).

4. The milking system (100) according to any one of claims 1 to 3, wherein the processing device (170) is configured to repeatedly: A corresponding command is generated for the vacuum regulating device (150a, 150b, 150c, 150d) associated with each milking cup (110a, 110b, 110c, 110d) attached to the corresponding nipple (210a, 210b, 210c, 210d) to perform any of the following operations: The most recently obtained vacuum pressure level (P) below the nipple (210a, 210b, 210c, 210d) obtained from the vacuum pressure sensors (160a, 160b, 160c, 160d) is... 2a , P 2b , P 2c , P 2d The desired milking vacuum pressure level (P) below the nipples (210a, 210b, 210c, 210d) is... m When this is done, the adjustment amount (ΔP) is used to increase the inlet vacuum pressure level (P) to be supplied to the milking cups (110a, 110b, 110c, 110d). 1a , P 1b ,P 1c , P 1d );or The most recently obtained vacuum pressure level (P) below the nipple (210a, 210b, 210c, 210d) obtained from the vacuum pressure sensors (160a, 160b, 160c, 160d) is... 2a , P 2b , P 2c , P 2d The desired milking vacuum pressure level (P) below the nipples (210a, 210b, 210c, 210d) m When this occurs, the adjustment amount (ΔP) is used to reduce the inlet vacuum pressure level (P) to be supplied to the milking cups (110a, 110b, 110c, 110d). 1a , P 1b , P 1c , P 1d ).

5. The milking system (100) according to claim 4, wherein the magnitude of the adjustment amount (ΔP) is proportional to the difference between the most recently obtained vacuum pressure level and the previously obtained vacuum pressure level, as measured by and obtained from the respective vacuum pressure sensors (160a, 160b, 160c, 160d).

6. The milking system (100) according to any one of claims 1 to 3, wherein the processing device (170) is configured to: A corresponding command is generated to at least one vacuum regulating device (150a, 150b, 150c, 150d) to reduce the inlet vacuum pressure level (P) at the corresponding milking cup (110a, 110b, 110c, 110d) when the milking process (400) is estimated to be nearing its end. 1a , P 1b , P 1c , P 1d ).

7. The milking system (100) according to any one of claims 1 to 3, wherein the processing device (170) is configured to: The milking cups (110a, 110b, 110c, 110d) are to be attached to the nipples (210a, 210b, 210c, 210d) of the animal (200); A corresponding command is generated for each vacuum regulating device (150a, 150b, 150c, 150d) to adjust the inlet vacuum pressure level (P). 1a , P 1b , P 1c , P 1d ) is set to the inlet attachment vacuum pressure level (P) ia ), and the inlet vacuum pressure level (P) 1a , P 1b , P 1c , P 1d ) is provided to the associated milking cups (110a, 110b, 110c, 110d) associated with the milking cup attachment, wherein the inlet attachment vacuum pressure level (P ia ) indicates the level of the milking vacuum pressure at the inlet (P). im Smaller negative pressure.

8. The milking system (100) according to any one of claims 1 to 3, wherein the maximum permissible vacuum pressure level (P) allowed to dominate in any one of the milking cups (110a, 110b, 110c, 110d) below any one of the teats (210a, 210b, 210c, 210d), as measured by the vacuum pressure sensors (160a, 160b, 160c, 160d), is... max (The range is from 35 kPa to 55 kPa.) 9. The milking system (100) according to any one of claims 1 to 3, wherein the maximum permissible vacuum pressure level (P) allowed to dominate in any one of the milking cups (110a, 110b, 110c, 110d) below any one of the teats (210a, 210b, 210c, 210d), as measured by the vacuum pressure sensors (160a, 160b, 160c, 160d), is... max The range is between 44 kPa and 49 kPa.

10. The milking system (100) according to any one of claims 1 to 3, wherein the vacuum pressure sensors (160a, 160b, 160c, 160d) are configured to measure, at 10 to 1000 measurements per second, the dominant vacuum pressure level (P) at each milking cup (110a, 110b, 110c, 110d) below the respective teats (210a, 210b, 210c, 210d). 2a , P 2b , P 2c , P 2d ).

11. The milking system (100) according to any one of claims 1 to 3, wherein the vacuum pressure sensors (160a, 160b, 160c, 160d) are configured to measure, at 100 to 1000 measurements per second, the dominant vacuum pressure level (P) at each milking cup (110a, 110b, 110c, 110d) below the respective teats (210a, 210b, 210c, 210d). 2a , P 2b , P 2c , P 2d ).

12. The milking system (100) according to any one of claims 1 to 3, wherein the processing device (170) is configured to: Based on a predetermined number of recent vacuum pressure levels (P) obtained from the corresponding associated vacuum pressure sensors (160a, 160b, 160c, 160d) 2a , P 2b , P 2c , P 2d To calculate the dominant vacuum pressure level (P) at each milking cup (110a, 110b, 110c, 110d) below the corresponding nipple (210a, 210b, 210c, 210d). 2a , P 2b ,P 2c , P 2d The rolling average of ); and where With the desired milking vacuum pressure level (P) m The comparison is made using the rolling average of the calculated vacuum pressure levels.

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