Control unit, computer-based method for controlling milk flow, computer program, and non-volatile data carrier

Abstract

The present invention relates to a control unit (110) arranged to control the milk flow (F) from a balancing tank (120) through a cooling system (170) to a storage tank (130). The balancing tank (120) receives an input (M) in the form of milk from multiple milking points (MP1, MP2, MPn). IN The control unit (110) receives a first level indication signal (s(L)) reflecting the milk level (L) in the balance tank (120). The control unit (110) also receives estimated future milk input (Mn) from the plurality of milking points (MP1, MP2, MPn). IN The prediction parameters (M) IN est). Based on the first liquid level indication signal and the prediction parameters (s(L),M) IN The control unit (110) generates a first control signal (C1) to the milk pump (150) in the cooling system (170). The milk pump (150) is arranged to cause the milk flow (F) to be pumped from the balance tank (120) at a flow rate determined by the first control signal (C1).

Description

Technical Field

[0001] This invention generally relates to milk flow and cooling regulation. Specifically, it relates to a control unit and a corresponding computer-implemented method, the control unit being arranged to control the milk flow from a balancing tank through a cooling system to a storage tank. The invention also relates to a computer program and a non-volatile data carrier storing such a computer program. Background Technology

[0002] For quality and hygiene reasons, it is important that the temperature of milk extracted from dairy animals be kept sufficiently low throughout the extraction and storage process. Due to the fact that different animals produce varying amounts of milk per unit time, the rate at which the incoming milk stream enters the system is often unknown, at least to some extent. The number of animals from which milk is extracted during milking may also vary. Therefore, controlling the cooling of milk between the input balancing tank and the storage tank, where it is stored until transported to a dairy plant or similar facility, is challenging.

[0003] WO 97 / 16962 discloses an apparatus for cooling a product, comprising a first evaporator and a second evaporator separate from the first evaporator, a first heat exchanger integrated with the first evaporator, and a second heat exchanger integrated with the second evaporator. In operation, the product or intermediate heat transfer medium is cooled in at least two first stages. During the first stage, heat is removed from the product or medium by the first evaporator, which cools the product or medium to an intermediate temperature. During the second stage, heat is removed from the product or medium by the second evaporator, which further cools the product or medium to a desired temperature. Because the product or medium is partially cooled by an evaporator operating at an evaporation temperature higher than that required to achieve the desired temperature, an improvement in energy efficiency is achieved.

[0004] WO 2018 / 111184 discloses a method for cooling milk in a milking arrangement. The milk cooling device of the milking arrangement includes a coolant circuit for heat exchange between milk and a coolant, and a refrigerant circuit for heat exchange between a refrigerant and a coolant. The method involves: controlling the refrigerant circuit to maintain a predefined temperature range; receiving a first signal from the milking system of the milking arrangement related to the start or increase of milk flow; initiating or increasing the circulation of coolant in the coolant circuit; and guiding the milk flow through the milk cooling device.

[0005] WO 2019 / 004818 describes a milking system comprising milking equipment for milking dairy animals during a milking process, and including a control unit for the milking system, a milking cup, a first milk tank for receiving milk, a first pumping device for pumping milk from the first milk tank to a first milk pipe, a second milk tank in flow communication with the first milk pipe for receiving milk from the first milk tank via the first milk pipe, and a second pumping device for pumping milk from the second milk tank to a second milk pipe. The first pumping device is configured to pump milk at a first flow rate, and the second pumping device is configured to pump milk at a second flow rate lower than the first flow rate. The milking system also includes a heat exchange system in flow communication with the second milk pipe for receiving milk pumped in the second milk pipe and for bringing the received milk to a desired temperature. While milking system capacity can be maintained by pumping milk directly after milking, milk quality can be maintained more reliably by collecting the milk in a second milk tank and pumping it out relatively slowly and steadily. Furthermore, the downstream heat exchanger can be made smaller. Also, it is easier to change the desired temperature this way.

[0006] Therefore, a design is known that allows for the pumping and cooling of products (such as extracted milk) with the capacity to accommodate varying product intake volumes. This helps ensure temperature stability and maintain high product quality. However, the known solution is not optimal in terms of overall cooling efficiency and energy consumption within the pumping and cooling system. Summary of the Invention

[0007] Therefore, the object of the present invention is to provide a solution to the above-mentioned problems by providing efficient cooling and saving of energy resources used for pumping and cooling the extracted milk before storing the extracted milk in a storage tank.

[0008] According to one aspect of the invention, the objective is achieved by a control unit arranged to control the flow of milk from a balancing tank through a cooling system to a storage tank. The balancing tank receives an input in the form of milk from a plurality of milking points. The control unit is configured to receive a first level indication signal reflecting the milk level in the balancing tank. Based on the first level indication signal, the control unit is configured to generate a first control signal to a milk pump in the cooling system. The milk pump is then arranged to cause the milk flow to be pumped from the balancing tank at a flow rate determined by the first control signal. The control unit is also configured to receive predictive parameters indicating estimated future milk input from the plurality of milking points, and further generate the first control signal based on the predictive parameters.

[0009] This control unit is advantageous because active control of the milk flow rate avoids unnecessary temporary increases or decreases in pumping and cooling capacity by maintaining a relatively stable milk flow through the cooling system.

[0010] According to one embodiment of this aspect of the invention, the prediction parameter is based on a second level indication signal reflecting the milk level in the receiving tank, where milk from at least one, and preferably several, of the plurality of milking points is collected before being fed into the balancing tank. The second level indication signal thus provides advance information about the expected milk level in the balancing tank, and therefore allows for direct consideration of future changes in the milk level.

[0011] According to another embodiment of this aspect of the invention, the prediction parameter is based on: the opening and / or closing of the entrance gates into the enclosed area where the plurality of milking points are located; the opening and / or closing of the exit gates from the enclosed area where the plurality of milking points are located; information about the plurality of milking animals currently connected to the plurality of milking points; information about the plurality of milking animals currently separating from the plurality of milking points; information about the milk flow rate or milk yield from the milking animal currently delivering milk via the plurality of milking points; and / or information about the previous milk yield or milk flow rate curve of the milking animal currently delivering milk via the plurality of milking points. Thus, a more sophisticated estimate of the expected future milk level in the balancing tank can be made, and therefore the milk pump can be controlled in a more accurate and intelligent manner relative to overall energy consumption.

[0012] According to another embodiment of this aspect of the invention, the prediction parameter is based on: identity information relating to which milking animals are present in the enclosed area where the plurality of milking points are located; and / or time data indicating the extension of the time period during which milking animals have been present in the enclosed area where the plurality of milking points are located. Similarly, this enables sophisticated estimations of the expected future milk level in the balancing tank, and thus enables intelligent control of the milk pump.

[0013] According to another embodiment of this aspect of the invention, the control unit is configured to generate the first control signal based on the first liquid level indication signal, such that the indicated milk level in the balance tank is higher than a specific one of at least two predefined threshold liquid levels, causing the milk pump to pump the milk flow from the balance tank at a rate corresponding to each of the at least two predefined threshold liquid levels.

[0014] Preferably, the control unit is configured to generate the first control signal based on the prediction parameter, such that the prediction parameter overshoots the first level indication signal, causing the milk pump to pump milk from the balance tank at a rate lower than the rate corresponding to a specific predefined threshold level among the at least two predefined threshold levels: the first level indication signal indicates that the milk level in the balance tank is above the specific predefined threshold level among the at least two predefined threshold levels, and the prediction parameter indicates that the estimated future milk input from the plurality of milking points is decreasing. This avoids unnecessary temporary increases in pumping operation by the milk pump. In other words, even if the first level indication signal indicates that the milk pump should switch to an increased flow rate pumping operation, the overshoot prediction parameter maintains the milk flow rate. Thus, the milk flow rate through the cooling system is stabilized by the overshoot prediction parameter, providing more efficient cooling and a stable temperature for the milk. This also avoids full-speed or emergency operation of the milk pump, which is designed to prevent overflow of the balance tank when the milk level exceeds a high threshold level.

[0015] Similarly, more preferably, the control unit is configured to generate the first control signal based on the predictive parameter, such that the predictive parameter overshoots the first level indication signal, causing the milk pump to pump the milk flow from the balancing tank at a rate higher than the rate corresponding to a specific predefined threshold level among the at least two predefined threshold levels: the first level indication signal indicates that the milk level in the balancing tank is below the specific predefined threshold level among the at least two predefined threshold levels, and the predictive parameter indicates that the estimated future milk input from the plurality of milking points is increasing. This avoids unnecessary temporary reductions in pumping operations by the milk pump. Therefore, even if the first level indication signal indicates that the milk pump should switch to a reduced flow rate or pumping operation, the overshoot predictive parameter maintains the flow rate from the milk pump. Thus, the milk flow rate through the cooling system is stabilized by the overshoot predictive parameter, thereby providing more efficient cooling and a stable temperature for the milk. Unnecessary stop / idle and start-up operations of the milk pump are also avoided when the milk level temporarily drops below the low threshold level in the balancing tank.

[0016] According to another embodiment of this aspect of the invention, the control unit is further configured to: receive a temperature indication signal from a temperature sensor that measures the temperature of the milk flow before it enters the storage tank; and further generate the first control signal based on the temperature indication signal, such that if the temperature indication signal reflects that the milk temperature is higher than a set temperature, the cooling capacity of the cooling system increases. Therefore, cooling requirements can be adequately balanced in the control loop.

[0017] According to another embodiment of this aspect of the invention, the control unit is configured to generate the first control signal based on the temperature indication signal, such that when the temperature indication signal reflects that the milk temperature is lower than the set temperature, the cooling capacity of the cooling system is reduced. Therefore, energy savings can be further achieved.

[0018] Preferably, the cooling system includes a heat exchanger configured to transfer heat from the milk stream to coolant circulating in the cooler by means of a coolant pump that operates in response to a second control signal. The control unit is further configured to generate the second control signal based on the first level indication signal, such that: if the prediction parameters indicate that the estimated future milk input from the plurality of milking points will increase during a predefined future interval and any one of the at least two predefined threshold levels will cause the milk pump to pump the milk stream from the balance tank at a higher flow rate, the flow rate of the coolant and / or the cooling capacity of the cooler increases; and if the prediction parameters indicate that the estimated future milk input from the plurality of milking points will decrease during the predefined future interval and any one of the at least two predefined threshold levels will cause the milk pump to pump the milk stream from the balance tank at a lower flow rate, the flow rate of the coolant and / or the cooling capacity of the cooler decreases. This active control of the cooling system capacity, or its adaptation to changes in the milk pump flow rate, provides more efficient cooling and a stable temperature for the milk. This further improves the overall energy efficiency of the cooling system.

[0019] According to another aspect of the invention, the objective is achieved by a computer-implemented method for controlling the flow of milk from a balancing tank through a cooling system to a storage tank. The balancing tank receives input in the form of milk from multiple milking points. The method includes receiving a first level indication signal reflecting the milk level in the balancing tank. Based on the first level indication signal, a first control signal is generated to a milk pump in the cooling system, the pump being arranged to cause the milk flow to be pumped from the balancing tank at a rate determined by the first control signal. The method also involves receiving predictive parameters indicating estimated future milk input from the multiple milking points, and further generating the first control signal based on the predictive parameters. The advantages of this method and its preferred embodiments are apparent from the discussion of the control unit proposed above with reference to the invention.

[0020] According to another aspect of the invention, this objective is achieved by a computer program that can be loaded into a non-volatile data carrier communicatively connected to a processing unit. The computer program includes software for executing the described method when the program is run on the processing unit.

[0021] According to another aspect of the invention, this objective is achieved by a non-volatile data carrier containing the aforementioned computer program.

[0022] Other advantages, beneficial features and applications of the invention will become apparent from the following description and dependent claims. Attached Figure Description

[0023] The invention will now be explained in more detail by way of preferred embodiments disclosed as examples and with reference to the accompanying drawings.

[0024] Figure 1 A milk processing system including a control unit according to one embodiment of the present invention is illustrated schematically;

[0025] Figure 2 A graph illustrating the relationship between milk flow rate and a predefined threshold level in a balancing tank, according to one embodiment of the invention, is shown.

[0026] Figure 3 A block diagram of the control unit according to the present invention is shown; and

[0027] Figure 4 A method according to a preferred embodiment of the present invention is illustrated by means of a flowchart. Detailed Implementation

[0028] Figure 1 A schematic diagram of a milk processing system including a control unit 110 according to one embodiment of the present invention is shown.

[0029] Control unit 110 is arranged to control the milk flow F from balancing tank 120 through cooling system 170 to storage tank 130. Storage tank 130 is adapted to accumulate milk collected over a relatively long period of time, i.e., between consecutive milk extractions, for further transport to a dairy plant or similar facility, which is typically performed every 24 or 48 hours. Therefore, storage tank 130 has a relatively large capacity. On the other hand, balancing tank 120 has a relatively low capacity. That is, here, the milk is only briefly buffered before being transported through cooling system 170. Balancing tank 120 is adapted to receive an input M in the form of milk extracted from milking animals at multiple milking points MP1, MP2, ..., MPn. INThe multiple milking points are located, for example, in a milking parlor or on a rotary milking parlor. Milking points MP1, MP2, ..., MPn can feed milk directly to the balancing tank 120, or via one or more so-called end units / receiving tanks RT. Each receiving tank RT has a relatively small storage capacity, ranging from 50 liters to 200 liters. The storage capacity of each of the balancing tank 120 and the storage tank 130 is significantly larger than that of the receiving tank RT, and their size generally depends on the number of milking points MP1, MP2, ..., MPn. At least one receiving pump 107 may be arranged to pump milk collected in the receiving tank RT to the balancing tank 120. The receiving pump 107 is generally controlled in response to a Boolean variable (i.e., whether the receiving pump 107 is on or off).

[0030] Control unit 110 is configured to receive a first liquid level indication signal s(L) and prediction parameter M. IN The first liquid level indication signal s(L) reflects the milk level L in the balance tank 120. Prediction parameter M IN est indicates the estimated future milk input M from multiple milking points MP1, MP2, ..., MPn. IN .

[0031] Based on the first liquid level indication signal s(L) and prediction parameter M IN The control unit 110 is configured to generate a first control signal C1 to the milk pump 150 in the cooling system 170. In response to the first control signal C1, the milk pump 150 is arranged to cause the milk flow F to be pumped from the balance tank 120 at a flow rate determined by the first control signal C1.

[0032] Prediction parameter M IN est can be based, for example, on a second level indication signal s(L) reflecting the milk level in the receiving tank RT. RT Milk from at least one, and preferably several or all, of milking points MP1, MP2, ..., MPn is collected in the receiving tank before being fed into the balancing tank 120. Therefore, the control unit 110 obtains information about the expected future input M to the balancing tank 120. IN Direct and reliable advance information.

[0033] According to one embodiment of the present invention, the prediction parameter M IN The control unit 110 obtains information about the time point when a milking animal enters the milking parlor and initiates a new milking process, based on the opening and / or closing of the entrance door G1 of the enclosed area (typically a herringbone or parallel milking parlor) where milking points MP1, MP2, ..., MPn are located.

[0034] Additional or alternative sites, prediction parameter M IN The control unit 110 can obtain information about the time point at which the milking process has ended based on the opening and / or closing of the exit gate or neck rail G2 from the enclosed area (such as one or more neck rails in the milking parlor) where the milking points MP1, MP2, ..., MPn are located.

[0035] Of course, knowledge about the start and / or end of the milking process is important for estimating the future milk input M entering the balance tank 120. IN It is important.

[0036] Additional or alternative sites, prediction parameter M IN The est can be based on information about multiple milking animals currently connected to milking points MP1, MP2, ..., MPn. This information can be obtained directly from the identity reader and / or milking point controller at the corresponding milking point MP1, MP2, ..., MPn, or via the central unit in the milking equipment. Similarly, additionally or alternatively, the prediction parameter M... IN The system can be based on information about multiple milking animals currently separated from the milking unit at milking points MP1, MP2, ..., MPn. Knowledge about the connection and / or separation of each milking unit and animal allows for a relatively accurate estimation of the future milk input M entering the balance tank 120. IN .

[0037] Based on information about milk flow or milk yield from milking animals currently delivering milk via multiple milking points MP1, MP2, ..., MPn, even better estimates can be made. Therefore, it is preferable that the prediction parameter M... IN est is based on information that serves as a substitute or supplement to the information mentioned above. Furthermore, the prediction parameter M... IN The milk flow rate can be estimated based on information about the previous milk yield or flow rate curve for each milking animal currently delivering milk via milking points MP1, MP2, ..., MPn. That is, this makes it possible to estimate the current milk flow rate from the animal at each point in time during the milking process. Information about the previous milk yield and / or previous milk flow rate curve is preferably received from a central unit in the milking equipment, which is communicatively connected to a database containing this information.

[0038] According to other embodiments of the present invention, the prediction parameter M INThe data is based on: identity information relating to which milking animals are present in the enclosed areas containing milking points MP1, MP2, ..., MPn; and / or time data indicating the extension of the time period during which milking animals have been present in the enclosed areas containing milking points MP1, MP2, ..., MPn. This may not provide the exact same accuracy as current or previous milk yields or previous milk flow curves. However, the identity information and time data can provide a basis for estimating future milk input M entering balance tank 120. IN It provides a relatively reliable foundation upon which the milk pump 150 can be actively controlled.

[0039] Advantageously, the control unit 110 is configured to receive a temperature indication signal T from the temperature sensor 140, which measures the temperature before the milk enters the storage tank 130, i.e., at the output milk flow M. OUT The temperature of the milk flow F leaving the cooling system 170 in the form of a temperature indicator signal T. The control unit 110 is also configured to further generate a first control signal C1 based on the temperature indicator signal T, such that when the temperature indicator signal T reflects a milk temperature higher than a set temperature, the cooling capacity of the cooling system 170 increases. Similarly, the control unit 110 is preferably also configured to generate the first control signal C1 based on the temperature indicator signal T, such that when the temperature indicator signal T reflects a milk temperature lower than a set temperature, the cooling capacity of the cooling system 170 decreases. Therefore, the output milk flow M can be ensured. OUT It has a suitable temperature (e.g., about 3.5 degrees Celsius) while saving energy.

[0040] According to one embodiment of the invention, the cooling system 170 includes a heat exchanger 160 configured to transfer heat energy from the milk stream F to the coolant C circulating in the cooler 167 by means of a coolant pump 165 operating in response to a second control signal C2. In this embodiment, the control unit 110 is further configured to generate the second control signal C2 based on a first liquid level indication signal s(L). Specifically, the control unit 110 is configured to generate the second control signal C2 such that, in the predicted parameter M... IN est indicates the estimated future milk input M from milking points MP1, MP2, ..., MPn. IN The liquid level L will be increased by at least two predefined threshold levels during a predefined future interval (i.e., 30 to 90 seconds). min L mid L max If any predefined threshold liquid level causes the milk pump 150 to pump milk flow F from the balance tank 120 at higher flow rates F1, F2, F3, the flow rate of coolant C and / or the cooling capacity of cooler 167 will increase. Similarly, control unit 110 is configured to generate a second control signal C2, such that, in the case of predicted parameter MIN est indicates the estimated future milk input M from multiple points MP1, MP2, ..., MPn. IN The level will decrease by at least two predefined threshold levels L during a predefined future interval. min L mid L max If any predefined threshold liquid level will cause the milk pump 150 to pump milk flow F from the balance tank 120 at a lower flow rate F1, F2, F3, the flow rate of coolant C and / or the cooling capacity of cooler 167 will be reduced.

[0041] The cooling capacity of heat exchanger 160 can be controlled by adjusting the temperature of coolant C, adjusting the speed of coolant pump 165, or both.

[0042] The heat exchanger 160 may include a plate heat exchanger (PHE), and the coolant C preferably includes water and ethylene glycol.

[0043] Figure 2 A graph is shown illustrating the relationship between the milk flow rate F according to one embodiment of the invention and predefined threshold liquid levels in the balancing tank 120. Here, the horizontal axis indicates three threshold liquid levels L corresponding to the milk level L measured in the balancing tank 120. min L mid and L max Furthermore, the vertical axis F specifies the corresponding milk flow rates F1, F2, and F3, at which the control unit 110 typically controls the milk pump 150 via a first control signal C1 based on the milk level L measured in the balance tank 120. For example, the first threshold level L... min The second threshold level L can represent a liquid level below 10% of the storage capacity of the balance tank 120. mid It can represent a liquid level between 10% and 90% of the storage capacity of the balance tank 120, and a third threshold liquid level L. max It can indicate a liquid level that is 90% higher than the storage capacity of the balance tank 120.

[0044] According to one embodiment of the present invention, the control unit 110 is configured to generate a first control signal C1 based on a first liquid level indication signal s(L), such that the indicated milk level L in the balance tank 120 is higher than at least two predefined threshold liquid levels L. min L mid or L max A specific predefined threshold liquid level in the liquid level causes the milk pump 150 to operate at a level corresponding to at least two predefined threshold liquid levels L. min L mid and L max The corresponding rate F1, F2, or F3 for each predefined threshold level in the system pumps milk flow F from the balance tank 120. Figure 2 As can be clearly seen in the diagram, L mid Higher than L min And L max Higher than L mid .from Figure 2 As can be clearly seen in the graph, F2 represents a higher flow rate than F1, and F3 represents a higher flow rate than F2.

[0045] Preferably, the control unit 110 is configured to base its prediction on the prediction parameter M. IN est generates the first control signal C1, such that the prediction parameter M is determined under the following conditions. IN The first liquid level indicator signal s(L) is controlled by the est, causing the milk pump 150 to operate at a level corresponding to at least two predefined threshold liquid levels L. mid or L max A lower rate, i.e., pumping milk flow F from balance tank 120 at a specific predefined threshold level, i.e., at F1 or F2: a first level indication signal s(L) indicates that the milk level L in balance tank 120 is higher than at least two predefined threshold levels L. mid or L max A specific predefined threshold liquid level, and prediction parameter M IN est indicates the estimated future milk input M from milking points MP1, MP2, ..., MPn. IN It is decreasing. This means, for example, during a period of 30 to 90 seconds, a temporary increase in milk level L (i.e., above L) is received in the balancing tank 120. mid or L max Because control unit 110 "knows" that due to milk input M IN As milk flow decreases, the milk level L will decrease rapidly regardless. Therefore, the milk flow rate is stabilized by avoiding unnecessary and temporary increases in the pumping operation of the milk pump 150.

[0046] Similarly, the control unit 110 is configured to base its prediction on the predicted parameter M. IN est generates the first control signal C1, such that the prediction parameter M is determined under the following conditions. IN The first liquid level indicator signal s(L) is controlled by the est, causing the milk pump 150 to operate at a level corresponding to at least two predefined threshold liquid levels, i.e., L. min or L mid A higher rate than a specific predefined threshold level, i.e., pumping milk flow F from balance tank 120 at F2 or F3: A first level indication signal s(L) indicates that the milk level L in balance tank 120 is below at least two predefined threshold levels L. min or L mid A specific predefined threshold liquid level; and prediction parameter M INest indicates the estimated future milk input M from milking points MP1, MP2, ..., MPn. IN It is increasing. This means that the milk pump 150 operates at a higher rate, for example, during a period of 30 to 90 seconds, because the control unit 110 "knows" that the milk input M is increasing. IN As the flow rate increases, the milk level L will increase rapidly. Therefore, the milk flow rate is stabilized by avoiding unnecessary and temporary reductions in the pumping operation of the milk pump 150.

[0047] Preferably, a back pressure sensor (not shown) is also included in the storage tank 130 or the piping system between the storage tank 130 and the heat exchanger 160. This back pressure sensor is configured to compensate for changes in hydrostatic pressure caused by varying milk levels in the storage tank 130. In other words, a higher milk level in the storage tank 130 results in a higher back pressure, which is compensated by operating the milk pump 150 at a relatively higher pump speed, and vice versa.

[0048] The aforementioned pump speed compensation for the back pressure of the milk level in storage tank 130 is intended to maintain a defined milk flow rate F through cooling system 170. Thus, if storage tank 130 is nearly empty, a defined milk flow rate F can be achieved by operating milk pump 150 at a relatively slow speed, while a nearly full storage tank 130 requires milk pump to operate at a relatively high speed to push milk into the storage tank at a defined flow rate.

[0049] Figure 3 A block diagram of a control unit 110 according to the invention is shown. It is generally advantageous that the controller 110 is configured to automatically perform the above-described processes by executing a computer program 317. Therefore, the controller 110 may include a memory unit 316 (i.e., a non-volatile data carrier) storing the computer program 317, which in turn includes software for causing processing circuitry in the controller 110, in the form of at least one processor 315, to perform the actions mentioned in this disclosure when the computer program 317 is executed on at least one processor 315.

[0050] In conclusion, and with reference Figure 4 The flowchart in the diagram will now describe a computer-implemented method according to an embodiment of the invention for controlling the milk flow F from the balancing tank 120 through the cooling system 170 to the storage tank 130, wherein the balancing tank 120 receives an input M in the form of milk extracted from milking points MP1, MP2, ..., MPn. IN .

[0051] In the first step 410, a first liquid level indication signal s(L) is received, which reflects the milk level L in the balance tank 120.

[0052] In a second step 420, which is performed in parallel with step 410, the prediction parameter M is received. IN est, the prediction parameter M IN est indicates the estimated future milk input M from multiple milking points MP1, MP2, ..., MPn. IN .

[0053] In step 430, following steps 410 and 420, a first control signal C1 is generated and sent to the milk pump 150 in the cooling system 170. The milk pump 150 is arranged to cause milk flow F to be pumped from the balance tank 120 at a flow rate determined by the first control signal C1.

[0054] The process then loops back to steps 410 and 420.

[0055] refer to Figure 4 The described processing steps can be controlled by means of a programmed processor. Furthermore, although the embodiments of the invention described above with reference to the accompanying drawings include a processor and processing executed in at least one processor, the invention is therefore extended to computer programs suitable for practicing the invention, particularly computer programs on or within a carrier. The program can be in the form of source code, object code, intermediate source code, and object code such as partially compiled form, or any other form suitable for use in the implementation of the process according to the invention. The program can be part of an operating system or a separate application. The carrier can be any entity or device capable of carrying the program. For example, the carrier can include storage media such as flash memory, ROM (read-only memory), such as DVD (Digital Video / Universal Disc), CD (compressed disc), or semiconductor ROM, EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), or magnetic recording media such as floppy disks or hard disks. Furthermore, the carrier can be a transmissible carrier, such as electrical or optical signals, which can be transmitted via cables or optical fibers, or via radio or other means. When the program is embodied in a signal, the signal can be transmitted directly via a cable or other device or apparatus, and the carrier can be constituted by such a cable or device or apparatus. Alternatively, the carrier may be an integrated circuit in which a program is embedded, which is adapted to perform related processing or to perform related processing.

[0056] By studying the accompanying drawings, the disclosure, and the appended claims, those skilled in the art can understand and implement variations of the disclosed embodiments when practicing the claimed invention.

[0057] When used in this specification, the term "comprises" is used to specify the presence of the stated feature, integer, step, or component. This term does not exclude the presence or addition of one or more additional elements, features, integers, steps, or components, or groups thereof. The indefinite articles "a" or "an" do not exclude a plurality. In the claims, the word "or" should not be interpreted as an exclusive OR (sometimes referred to as "XOR"). Rather, expressions such as "A or B" cover all cases of "A and not B", "B and not A", and "A and B", unless otherwise stated. The fact that certain measures are recited in mutually different dependent claims does not imply that combinations of these measures cannot be advantageously used. Any reference numerals in the claims should not be interpreted as limiting the scope.

[0058] It should also be noted that the features from the various implementation schemes described herein can be freely combined unless it is explicitly stated that such a combination would be unsuitable.

[0059] The present invention is not limited to the embodiments described in the accompanying drawings, but can be freely varied within the scope of the claims.

Claims

1. A control unit (110) arranged to control the milk flow (F) from a balancing tank (120) through a cooling system (170) to a storage tank (130), the balancing tank (120) receiving an input (M) in the form of milk from a plurality of milking points (MP1, MP2, MPn). IN The control unit (110) is configured to: Receive a first liquid level indication signal (s(L)) reflecting the milk level (L) in the balance tank (120), and based on the first liquid level indication signal A first control signal (C1) is generated to the milk pump (150) in the cooling system (170), the milk pump (150) being arranged to cause the milk flow (F) to be pumped from the balance tank (120) at a flow rate determined by the first control signal (C1), characterized in that, The control unit (110) is configured to: Receive indications of estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN The prediction parameters (M) IN est), and Further based on the prediction parameters (M) IN est) generates the first control signal (C1). The control unit is configured to generate the first control signal (C1) based on the first liquid level indication signal (s(L)), such that the indicated milk level (L) in the balance tank (120) is higher than at least two predefined threshold liquid levels (L). min ,L mid , L max One of the predefined threshold liquid levels causes the milk pump (150) to operate at a level corresponding to the at least two predefined threshold liquid levels (L). min , L mid , L max The corresponding flow rate (F1, F2, F3) at each predefined threshold level in the balance tank (120) pumps the milk flow (F) out of the balance tank (120). The control unit is configured to base its prediction on the predicted parameters (M). IN est) generates the first control signal (C1), such that the prediction parameter (M) is such that, under the following conditions, IN est) controls the first liquid level indication signal (s(L)) so that the milk pump (150) operates at a level corresponding to the at least two predefined threshold liquid levels (L). min , L mid , L max A lower flow rate (F1, F2) at a predefined threshold level will pump the milk flow (F) from the balance tank (120): The first liquid level indication signal (s(L)) indicates that the milk level (L) in the balance tank (120) is higher than at least two predefined threshold liquid levels (L). mid , L max The predefined threshold level in ) and The prediction parameters (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN () is decreasing.

2. The control unit (110) according to claim 1, wherein the prediction parameter (M) IN est) is based on a second level indication signal (s(L)) that reflects the milk level in the receiving tank (RT). RT The milk from at least one of the plurality of milking points (MP1, MP2, MPn) is collected in the receiving tank before being fed into the balancing tank (120).

3. The control unit (110) according to claim 1 or 2, wherein the prediction parameter (M) IN est) is based on at least one of the following: The opening and / or closing of the entrance gate (G1) into the enclosed area where the multiple milking points (MP1, MP2, MPn) are located. The opening and / or closing of the exit gate (G2) from the enclosed area where the plurality of milking points (MP1, MP2, MPn) are located. Information regarding the multiple milking animals currently connected to the aforementioned multiple milking points (MP1, MP2, MPn). Information regarding the multiple milking animals currently being separated from the aforementioned milking points (MP1, MP2, MPn). Information regarding milk flow or milk production from the milking animals currently delivering milk via the multiple milking points (MP1, MP2, MPn), and Information regarding the previous milk yield or milk flow curves of the milking animals currently delivering milk via the multiple milking points (MP1, MP2, MPn).

4. The control unit (110) according to claim 3, wherein the prediction parameter (M) IN est) is based on at least one of the following: Identification information, which is related to which milking animals are present in the enclosed area where the multiple milking points (MP1, MP2, MPn) are located, and Time data, which indicates the extension of the time period during which the milking animals have appeared in the enclosed area where the plurality of milking points (MP1, MP2, MPn) are located.

5. The control unit (110) according to claim 1, wherein the control unit is configured to base its prediction on the predicted parameter (M). IN est) generates the first control signal (C1), such that the prediction parameter (M) is such that, under the following conditions, IN est) controls the first liquid level indication signal (s(L)) so that the milk pump (150) operates at a level corresponding to the at least two predefined threshold liquid levels (L). min , L mid , L max A higher flow rate (F2, F3) at a predefined threshold level will pump the milk flow (F) from the balance tank (120): The first liquid level indication signal (s(L)) indicates that the milk level (L) in the balance tank (120) is below at least two predefined threshold liquid levels (L). min , L mid The predefined threshold level in ) and The prediction parameters (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN (It is increasing.) 6. The control unit (110) according to claim 1 or 2, wherein the control unit is further configured to: A temperature indication signal (T) is received from a temperature sensor (140), which measures the temperature of the milk flow (F) before it enters the storage tank (130); and The first control signal (C1) is further generated based on the temperature indication signal (T), such that when the temperature indication signal (T) reflects that the milk temperature is higher than the set temperature, the cooling capacity of the cooling system (170) is increased.

7. The control unit (110) according to claim 6, wherein the control unit is configured to generate the first control signal (C1) based on the temperature indication signal (T), such that when the temperature indication signal (T) reflects that the milk temperature is lower than the set temperature, the cooling capacity of the cooling system (170) is reduced.

8. The control unit (110) according to claim 6, wherein the cooling system (170) includes a heat exchanger (160) configured to transfer heat energy from the milk stream (F) to coolant (C) circulating in a cooler (167) by means of a coolant pump (165) operating in response to a second control signal (C2), and the control unit (110) is further configured to generate the second control signal (C2) based on the first liquid level indication signal (s(L)), such that: In the prediction parameter (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN ) will increase during predefined future intervals and the at least two predefined threshold levels (L) min , L mid ,L max If any predefined threshold liquid level in the liquid level causes the milk pump (150) to pump the milk flow (F) from the balance tank (120) at a higher flow rate (F1, F2, F3), the flow rate of the coolant (C) and / or the cooling capacity of the cooler (167) will increase, and In the prediction parameter (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN The level will decrease during the predefined future interval and the at least two predefined threshold levels (L) min ,L mid , L max If any predefined threshold liquid level in the liquid level causes the milk pump (150) to pump the milk flow (F) from the balance tank (120) at a lower flow rate (F1, F2, F3), the flow rate of the coolant (C) and / or the cooling capacity of the cooler (167) will be reduced.

9. A computer-implemented method for controlling the flow (F) of milk from a balancing tank (120) through a cooling system (170) to a storage tank (130), the balancing tank (120) receiving input (M) in the form of milk from multiple milking points (MP1, MP2, MPn). IN The method includes: Receive a first liquid level indication signal (s(L)) reflecting the milk level (L) in the balance tank (120), and based on the first liquid level indication signal A first control signal (C1) is generated to the milk pump (150) in the cooling system (170), the milk pump (150) being arranged to cause the milk flow (F) to be pumped from the balance tank (120) at a flow rate determined by the first control signal (C1). Its features are: Receive indications of estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN The prediction parameters (M) IN est), and Further based on the prediction parameters (M) IN est) generates the first control signal (C1). The first control signal (C1) is generated based on the first liquid level indication signal (s(L)), such that the indicated milk level (L) in the balance tank (120) is higher than at least two predefined threshold liquid levels (L). min , L mid , L max One of the predefined threshold liquid levels causes the milk pump (150) to operate at a level corresponding to the at least two predefined threshold liquid levels (L). min , L mid , L max The corresponding flow rate (F1, F2, F3) at each predefined threshold level in the balance tank (120) pumps the milk flow (F) out of the balance tank (120). Based on the prediction parameter (M) IN est) generates the first control signal (C1), such that the prediction parameter (M) is such that, under the following conditions, IN est) controls the first liquid level indication signal (s(L)) so that the milk pump (150) operates at a level corresponding to the at least two predefined threshold liquid levels (L). min , L mid , L max A lower flow rate (F1, F2) at a predefined threshold level will pump the milk flow (F) from the balance tank (120): The first liquid level indication signal (s(L)) indicates that the milk level (L) in the balance tank (120) is higher than at least two predefined threshold liquid levels (L). mid , L max The predefined threshold level in ) and The prediction parameters (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN () is decreasing.

10. The method of claim 9, wherein the prediction parameter (M) IN est) is based on a second level indication signal (s(L)) that reflects the milk level in the receiving tank (RT). RT The milk from at least one of the plurality of milking points (MP1, MP2, MPn) is collected in the receiving tank before being fed into the balancing tank (120).

11. The method according to claim 9 or 10, wherein the prediction parameter (M) IN est) is based on at least one of the following: The opening and / or closing of the entrance gate (G1) into the enclosed area where the multiple milking points (MP1, MP2, MPn) are located, and The opening and / or closing of the exit gate (G2) from the enclosed area where the plurality of milking points (MP1, MP2, MPn) are located. Information regarding the multiple milking animals currently connected to the aforementioned multiple milking points (MP1, MP2, MPn). Information regarding the multiple milking animals currently being separated from the aforementioned milking points (MP1, MP2, MPn). Information regarding milk flow or milk production from the milking animals currently delivering milk via the multiple milking points (MP1, MP2, MPn), and Information regarding the previous milk yield or milk flow curves of the milking animals currently delivering milk via the multiple milking points (MP1, MP2, MPn).

12. The method of claim 11, wherein the prediction parameter (M) IN est) is based on at least one of the following: Identification information, which is related to which milking animals are present in the enclosed area where the multiple milking points (MP1, MP2, MPn) are located, and Time data, which indicates the extension of the time period during which the milking animals have appeared in the enclosed area where the plurality of milking points (MP1, MP2, MPn) are located.

13. The method according to claim 9, wherein the method comprises: Based on the prediction parameter (M) IN est) generates the first control signal (C1), such that the prediction parameter (M) is such that, under the following conditions, IN est) controls the first liquid level indication signal (s(L)) so that the milk pump (150) operates at a level corresponding to the at least two predefined threshold liquid levels (L). min , L mid , L max A higher flow rate (F2, F3) at a predefined threshold level will pump the milk flow (F) from the balance tank (120): The first liquid level indication signal (s(L)) indicates that the milk level (L) in the balance tank (120) is below at least two predefined threshold liquid levels (L). min , L mid The predefined threshold level in ) and The prediction parameters (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN (It is increasing.) 14. The method according to claim 9 or 10, further comprising: Receives a temperature indication signal (T) from a temperature sensor (140), which measures the temperature of the milk flow (F) before it enters the storage tank (130); and The first control signal (C1) is further generated based on the temperature indication signal (T), such that when the temperature indication signal (T) reflects that the milk temperature is higher than the set temperature, the cooling capacity of the cooling system (170) is increased.

15. The method of claim 14, wherein the method comprises: The first control signal (C1) is generated based on the temperature indication signal (T), such that when the temperature indication signal (T) reflects that the milk temperature is lower than the set temperature, the cooling capacity of the cooling system (170) is reduced.

16. The method of claim 14, wherein the cooling system (170) includes a heat exchanger (160) configured to transfer heat energy from the milk stream (F) to coolant (C) circulating in a cooler (167) by means of a coolant pump (165) operating in response to a second control signal (C2), and the method further includes generating the second control signal (C2) based on the first liquid level indication signal (s(L)) such that: In the prediction parameter (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN ) will increase during predefined future intervals and the at least two predefined threshold levels (L) min , L mid ,L max If any predefined threshold liquid level in the liquid level causes the milk pump (150) to pump the milk flow (F) from the balance tank (120) at a higher flow rate (F1, F2, F3), the flow rate of the coolant (C) and / or the cooling capacity of the cooler (167) will increase, and In the prediction parameter (M) IN est) indicates the estimated future milk input (M) from the plurality of milking points (MP1, MP2, MPn). IN The level will decrease during the predefined future interval and the at least two predefined threshold levels (L) min ,L mid , L max If any predefined threshold liquid level in the liquid level causes the milk pump (150) to pump the milk flow (F) from the balance tank (120) at a lower flow rate (F1, F2, F3), the flow rate of the coolant (C) and / or the cooling capacity of the cooler (167) will be reduced.

17. A computer program (317) capable of being loaded into a non-volatile data carrier (316) communicatively connected to a processing unit (315), the computer program (317) comprising software for performing the method according to any one of claims 9 to 16 when the computer program (317) is run on the processing unit (315).

18. A non-volatile data carrier (316) comprising the computer program (317) according to claim 17.

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