Milking system, computer-implemented method, computer program and non-volatile data carrier

Abstract

In a milking system, a pressure sensor (121, 122, 123, 124) records a pressure value (PT) representative of a pressure level in a connector air inlet (C1, C2, C3, C4) that provides a known flow of air into a milk conduit (11, 12, 13, 14) during milking. During a non-milking period, the following steps are performed: controlling a valve (158, 191, 192, 193, 194) to connect the connection air inlet (C1, C2, C3, C4) with a reference pressure source (170) providing a system pressure level (PR); when the connection air inlets (C1, C2, C3, C4) are connected to a reference pressure source (170), a test measure (PC; P1, P2, P3, P4) is recorded, the test measure being indicative of a pressure level in the connection air inlets (C1, C2, C3, C4); determining a respective difference between the standard value (PS) and the test measure (P1, P2, P3, P4); and based thereon, dispensing a pressure offset (POS) reflecting a respective estimated deviation from the system pressure level (PR) in the milk conduit (11, 12, 13, 14) during milking.

Description

TECHNICAL FIELD

[0001] The present invention relates generally to solutions for humanely handling dairy animals. In particular, the present invention relates to a milking system according to the preamble of claim 1. The present invention also relates to a computer-implemented method, a computer program and a non-transitory data carrier storing such a computer program in connection with the proposed milking system. BACKGROUND

[0002] In order to avoid injuring the dairy animals during milking, it is crucial to carefully monitor the pressure levels in the milking system. The prior art contains various examples of solutions relating to this purpose.

[0003] WO 2022 / 146 221 describes a milking system comprising: teat cups, each teat cup being connected to a respective milk let-off tube; a vacuum pump; a milk tank; a vacuum regulator configured to control a prevailing vacuum pressure level in the teat cups; a vacuum pressure sensor, each vacuum pressure sensor being configured to measure a prevailing vacuum pressure level under one of the teats; an animal identification sensor; a database; a processing device configured to: determine an animal ID; extract data for each respective teat from the database; determine a teat-specific vacuum pressure level at each teat; and generate a command to each vacuum regulator to set the teat-specific vacuum pressure level at each teat cup.

[0004] EP 1 668 980 discloses a method of milking an animal by means of a milking apparatus having at least one teat cup with a pulsation space and a teat space, the teat space being connected to a vacuum source via a milk tube, the teat space and the milk tube forming a milking space. The method comprises in succession a connection step, a milk extraction step, a disconnection preparation step and a disconnection step, during the milk extraction step a pulsating vacuum is present in the pulsation space and a milking vacuum is present in the teat space, in the disconnection preparation step the milking vacuum is reduced. The disconnection step is performed once the vacuum level in the milking space is below a threshold value in the disconnection preparation step, said threshold value being adjustable per animal or per group of animals. A milking apparatus provided with a robot for automatically connecting at least one teat cup to the teats of an animal, the teat cup having a teat space for accommodating a teat and a pulsation space for exerting a milking movement by means of a pulsating pulsation vacuum, the teat space being connected to a vacuum source for generating a milking vacuum via a milk tube, the teat space and the milk tube forming a milking space, the milking apparatus being provided with a detachment device for detaching the teat cup from the animal; with a vacuum reduction device for reducing the milking vacuum in the teat space; with a computer for activating the detachment device after the milking vacuum has been reduced, the milking space comprising a vacuum sensor for measuring the vacuum level and emitting a vacuum signal to the computer representative of the vacuum level. The detachment device can be activated by the computer when the vacuum level in the milking space is below a threshold value, said milking apparatus comprising an automatic animal identification device for emitting an animal identification signal, and wherein the threshold value is adjustable based on the animal identification signal.

[0005] In a milking system, the extracted milk is transported from the milking point to one or more milk collection containers using a pressure below atmospheric pressure. To achieve this, ambient air has to be admitted into each milk transport conduit via a respective air inlet which is arranged to provide a known flow of ambient air through a small-sized opening. Typically, the air inlets are in turn connected to the milk transport conduit via an air conduit and a connection air inlet into the milk transport conduit. During operation, milk particles can accumulate in and / or around the connection air inlet such that a smaller amount of air than intended is admitted into the milk transport conduit. As a result, the pressure below atmospheric pressure in the milk transport conduit will deviate from the intended pressure level therein. Typically, in such a case, the pressure below atmospheric pressure reaches an excessive amplitude. This in turn can result in injury to the teats of the animal due to the excessive pressure level prevailing in the teat cup. SUMMARY

[0006] It is an object of the present invention to solve the above-mentioned problems and to provide a solution to avoid harmful pressure levels in the milk transport conduit of a milking system.

[0007] According to an aspect of the present invention, the object is achieved by a milking system comprising at least one teat cup, at least one pressure sensor and a controller. During milking, the at least one teat cup is arranged to extract milk from an animal via at least one milk conduit to a milk collection vessel. The at least one pressure sensor is configured to record a pressure value indicative of a pressure level in at least one connection piece air inlet arranged to provide a known air flow in the at least one milk conduit during extraction of milk from the animal. During milk extraction, the controller is configured to obtain the pressure value recorded by the at least one pressure sensor. Furthermore, during a non-milking period in which no animal is connected to the at least one teat cup, the controller is configured to perform the following steps:

[0008] [a] control the at least one valve such that the at least one connection piece air inlet is placed in fluid connection with a reference pressure source providing a system pressure level in the milking system;

[0009] [b] cause the at least one pressure sensor to record at least one test measure indicative of the pressure level in the at least one connection piece air inlet while the at least one connection piece air inlet is in fluid connection with the reference pressure source;

[0010] [c] obtain the at least one test measure from the at least one pressure sensor;

[0011] [d] obtain a standard value of the system pressure level provided by the reference pressure source;

[0012] [e] determine at least one difference value between the standard value and the at least one test measure; and based on the at least one difference value

[0013] [f] assign at least one pressure offset reflecting an estimated deviation from the system pressure level in the at least one milk conduit during extraction of milk from the animal.

[0014] The milking system is advantageous in that it enables monitoring of a pressure level which in turn is indicative of an actual pressure level prevailing at the teat tip of the animal during milking. Thus, it can be ensured that the milking system does not expose the animal to any harmful pressure levels.

[0015] According to an embodiment of this aspect of the present invention, the milking system comprises a master pressure sensor arranged to record the standard value of the system pressure level provided by the reference pressure source. Alternatively, the standard value of the system pressure level can be retrieved from a non-volatile data carrier and / or entered manually, for example. In either case, the controller obtains a reference for the at least one pressure offset.

[0016] According to a further embodiment of this aspect of the present invention, the reference pressure source is arranged in fluid connection with the milk collection container. Thereby, it is simple to place the at least one connection piece air inlet in fluid connection with the reference pressure source.

[0017] According to yet another embodiment of this aspect of the present invention, when the at least one connection piece air inlet is in fluid connection with the reference pressure source and the at least one test measure is recorded, the at least one teat cup is arranged to prevent air from entering the at least one milk conduit via any opening in the at least one teat cup. At the same time, the at least one milk conduit is arranged to receive air via at least one passive air inlet in fluid connection with the at least one connection piece air inlet. Thereby, air can be sucked into the milk conduit from the at least one passive air inlet when the at least one test measure is recorded.

[0018] According to still another embodiment of this aspect of the present invention, when the at least one test measure is recorded, the reference pressure source is instead arranged in fluid connection with the liquid pressure diverter. In this case, air can be sucked into the milk conduit from the at least one teat cup when the at least one test measure is recorded, such that air passes the at least one connection piece air inlet in a direction opposite to the direction in the above-mentioned embodiment.

[0019] It is further preferred that, when the at least one connection piece air inlet is in fluid connection with the reference pressure source and the at least one test measure is recorded, the at least one teat cup is arranged to allow air to enter the at least one milk conduit via at least one opening in the at least one teat cup. At the same time, at least one valve in the at least one milk conduit is closed to prevent an air flow in the at least one milk conduit from being transmitted into the milk collection container. Thereby, it is ensured that the air flow is only directed to the liquid pressure diverter. In addition, when the at least one connection piece air inlet is in fluid connection with the reference pressure source and the at least one test measure is recorded, the at least one valve is opened to allow the air flow to be transmitted through the at least one milk conduit.

[0020] According to another embodiment of this aspect of the present invention, the milking system comprises a respective milk conduit configured to transmit extracted milk from each of the at least one teat cup to the milk collection container. A respective pressure sensor is further arranged to record a pressure value indicative of a pressure level in each of the at least one connection piece air inlet in each of said respective milk conduit. Thereby, a specific pressure offset can be determined for each of the milk conduits of the milking point. Naturally, this provides an enhanced overall reliability in the pressure anomaly detection.

[0021] According to a further embodiment of this aspect of the invention, the milking system comprises a claw configured to collect milk extracted via the at least one teat cup. The claw is further in fluid connection with a milk conduit comprising the at least one connection piece air inlet therein. Here, the single pressure sensor is configured to record a pressure value indicative of a pressure level in the connection piece air inlet to the milk conduit, which is common for milk extracted from all teats of the animal. Hence, any pressure anomalies can be detected in a non-complex and robust manner.

[0022] According to yet another embodiment of this aspect of the invention, during milking, the controller is configured to monitor the at least one pressure value recorded by the at least one pressure sensor; and based thereon, estimate the at least one pressure level in the at least one milk conduit using the at least one pressure offset. Hence, throughout the milk extraction process, it can be ensured that any detrimental pressure levels will be detected and appropriate measures can be taken to avoid injury to the animal.

[0023] According to still another embodiment of this aspect of the invention, the controller is configured to cyclically repeat the execution of the above steps [a] to [f] during at least one subsequent non-milking period. Thereby, the milking system can remain calibrated with respect to any changes in the pressure level in the milk conduit, such that these remain within a tolerance range.

[0024] According to a further embodiment of this aspect of the invention, the controller is configured to adjust the timing of a predetermined cleaning procedure for the at least one connection piece air inlet in response to the pressure offset. This means that the planned cleaning can be brought forward or postponed depending on the value of the pressure offset. In other words, cleaning can be performed when needed and only when needed.

[0025] According to another embodiment of this aspect of the invention, the controller is configured to generate an alarm in case the pressure offset exceeds a threshold level. Hence, the operator can be notified of any significant pressure deviation in the milk conduit.

[0026] According to another aspect of the invention, the object is achieved by a computer-implemented method for controlling a milking system having at least one milking point arranged to extract milk from an animal via at least one teat cup through at least one milk conduit to a milk collection vessel. It is further assumed that the milking system comprises at least one pressure sensor configured to record a pressure value indicative of a pressure level in at least one connection piece air inlet arranged to provide a known air flow in the at least one milk conduit during extraction of milk from the animal. The method is executed in at least one processor during a non-milking period in which no animal is connected to the at least one teat cup. The method involves the following steps:

[0027] [a] controlling at least one valve such that the at least one connection piece air inlet is placed in fluid connection with a reference pressure source providing a system pressure level in the milking system;

[0028] [b] causing at least one pressure sensor to record at least one test measure indicative of the pressure level in the at least one connection piece air inlet when the at least one connection piece air inlet is in fluid connection with the reference pressure source;

[0029] [c] obtaining the at least one test measure from the at least one pressure sensor;

[0030] [d] obtaining a standard value of the system pressure level (PR) provided by the reference pressure source;

[0031] [e] determining at least one difference between the standard value and the at least one test measure; and based on the difference

[0032] [f] assigning at least one pressure offset reflecting an estimated deviation from the system pressure level in the at least one milk conduit during extraction of milk from the animal.

[0033] The advantages of the method as well as its preferred embodiments are apparent from the above discussion with reference to the proposed milking system.

[0034] According to another aspect of the invention, the object is achieved by a computer program loadable into a non-volatile data carrier communicatively connected to a processing unit. The computer program comprises software for performing the above-mentioned method when the program is run on the processing unit.

[0035] According to another aspect of the invention, the object is achieved by a non-volatile data carrier containing the above-mentioned computer program.

[0036] Further advantages, beneficial features and applications of the invention will appear from the following description and the dependent claims. BRIEF DESCRIPTION OF DRAWINGS

[0037] The invention will now be explained in more detail by preferred embodiments disclosed as examples and with reference to the appended drawings.

[0038] Figure 1a A milking system according to a first embodiment of the invention is shown, the milking system being arranged to record test measures by a first method;

[0039] Figure 1b A milking system according to a first embodiment of the invention is shown, the milking system being arranged to record test measures by a second method;

[0040] Figure 2aA milking system according to the second embodiment of the application is shown, which is arranged to record test measures by the first method;

[0041] Figure 2b A milking system according to the second embodiment of the application is shown, which is arranged to record test measures by the second method;

[0042] Figure 3 A graph illustrating one example of how the pressure offset can be determined cyclically during a number of non-milking periods is shown; and

[0043] Figure 4 A general method according to the application is illustrated by means of a flow chart. DETAILED DESCRIPTION

[0044] In Figure 1a we see a milking system according to the first embodiment of the application. The milking system comprises a milking point MP and a pressure sensor 120 associated with the milking point MP.

[0045] The milking point MP is arranged to extract milk from an animal via at least one teat cup, typically four T1, T2, T3 and T4, respectively. In the embodiment of Fig. 1, the teat cups T1, T2, T3 and T4 are connected to a cluster 135, which is configured to collect milk that has been extracted via the teat cups T1, T2, T3 and T4.

[0046] The cluster 135 in turn is in further fluid connection with a milk conduit 10, which for example can lead to a milk collection vessel 180, in which milk is temporarily stored before being fed to a milk tank (not shown). Preferably, a valve 195 is arranged on the milk conduit 10 to allow selective control of the milk transport from the cluster 135 to the milk collection vessel 180.

[0047] As initially mentioned, it must be allowed for ambient air to enter the milk conduit 10 in order to enable milk to progress through the milk conduit 10, preferably in the form of so-called milk slugs. Here, the milking system comprises a passive air inlet 150, which is arranged to receive ambient air Atm via a small-sized opening, which provides a known air flow into an air conduit 20.

[0048] The air conduit 20 in turn is in fluid connection with a connection air inlet C comprised in the milk conduit 10. Thus, the connection air inlet C constitutes an interface between a first fluid space in the air conduit 20, which only contains air, and a second fluid space in the milk conduit 10, which contains milk and air at a pressure below atmospheric pressure. The connection air inlet C is arranged to push the known air flow of the passive air inlet 150 into the milk conduit 10.

[0049] During operation of the milking system, milk particles from the milk conduit 10 can accumulate in and / or around the connection air inlet C, such that the air flow into the milk conduit 10 is reduced. As a result, the pressure drop over the connection air inlet C will be higher than in case the connection air inlet C is completely clean.

[0050] The pressure sensor 120 is configured to record a pressure value PT representing the pressure level in the connection air inlet C. To this end, the pressure sensor 120 is arranged on the air conduit 20, for example close to the passive air inlet 150. The controller 100 of the milking system is configured to obtain the pressure value recorded by the pressure sensor 120 during said extraction of milk, for example to monitor the pressure level in the milk conduit 10 in the vicinity of the connection air inlet C. For example, if the pressure level in the milk conduit 10 is 42 kPa, and the pressure drop over the connection air inlet C is 4 kPa, assuming it is not clogged / just cleaned, the pressure sensor 120 should record a pressure value PT equal to 38 kPa.

[0051] According to Figure 1a In the first embodiment of the application shown, during a non-milking period, i.e. when no animals are connected to the teat cups T1, T2, T3 and T4, the teat cups T1, T2, T3 and T4 are arranged to prevent air from entering the milk conduit 10 via any opening in at least one of the teat cups T1, T2, T3 and T4, for example because the teat cups T1, T2, T3 and T4 are arranged in the cleaning table 130, the controller 100 is configured to perform the following steps.

[0052] First, the controller 100 is configured to control the valves 155, 179 and 195, which are arranged on the cleaning fluid conduit 30 between the air conduit 20 and the liquid pressure diverter 160, on the connection conduit 177 between the milk container 180 and the liquid pressure diverter 160, and on the milk conduit 10 between the connection air inlet C and the milk container 180, such that the valve 155 is closed, and the valves 179 and 195 are open. This means that air can flow from the passive air inlet 150, through the air conduit 20, the connection air inlet C, the milk conduit 10, the milk tank 180, the connection conduit 177 and the liquid pressure diverter 160, in response to a system pressure level PR below atmospheric pressure provided by a reference pressure source 170 (for example, a vacuum pump) connected to the liquid pressure diverter 160.

[0053] Then, while the connection air inlet C is fluidly connected to the reference pressure source 170 as described above, the controller 100 is configured to cause the at least one pressure sensor 120 to record a test measure P C .

[0054] The controller 100 is then configured to obtain a test measurement P from the pressure sensor 120. C The controller 100 is further configured to obtain a standard value P of the system pressure level PR provided by the reference pressure source 170. S , which is obtained either via a data connection from a pressure sensor 175 configured to record the system pressure level PR, or in the form of a set value or a value stored in a non-volatile memory accessible to the controller 100. Figure 1a exemplified.

[0055] Furthermore, the controller 100 is configured to determine a standard value P S With the test metric P C The difference effectively represents the sum of all pressure drops from the passive air inlet 150, through the air conduit 20, the connector air inlet C, the milk conduit 10, the milk tank 180, the connecting conduit 177, and to the liquid pressure diverter 160. Here, it can be assumed that the pressure drop across each component is substantially constant, except across the connector air inlet C, where the pressure drop may increase due to potential accumulation of milk as described above.

[0056] In other words, the standard value P S With the test metric P C The change in the difference between φ and φ constitutes a measure of the extent to which the connection air inlet C has become blocked.

[0057] Therefore, the controller is configured to assign at least one pressure offset P based on the difference. OS . Pressure offset P OS reflects the estimated deviation from the system pressure level PR in the milk conduit 10 during the extraction of milk from the animal.

[0058] According to one embodiment of the present invention, the controller 100 is configured to monitor at least one pressure value P C , and based on this use at least one pressure offset P OS To estimate the pressure level in the milk conduit 10 .

[0059] Figure 1b Again, a milking system according to a first embodiment of the invention is shown. However, reference will be made below to Figure 1b Describes the method used to determine the pressure offset P OS The second implementation scheme of FIG. Figure 1b Also appears in Figure 1a All reference numerals in the drawings represent the same Figure 1a The same units, components and variables as Figure 1a On the contrary, Figure 1bIn particular, the teat cups T1, T2, T3 and T4 are arranged to allow air to be sucked into one of the milk conduits 10 via at least one opening in the teat cup T1, T2, T3 and T4, e.g. via the respective liner in which a teat is positioned during milking. Thus, the teat cups T1, T2, T3 and T4 can be freely suspended.

[0060] Here, during a non-milking period in which no animal is connected to the teat cups T1, T2, T3 and T4, the controller 100 is configured to perform the following steps.

[0061] First, the controller 100 is configured to control the valves 155, 179 and 195 such that the valve 155 is open and the valves 179 and 195 are closed. Thus, the connector air inlet C is placed in fluid connection with the reference pressure source 170 via the air conduit 20, the cleaning fluid conduit 30 and the liquid pressure diverter 160, and air flow F in the milk conduit 10 is prevented from being conveyed into the milk collection container 180. Thus, in particular, in addition to the passive air inlet 150, ambient air Atm can be sucked into the reference pressure source 170 through the teat cups T1, T2, T3 and T4, via the cluster 135, the connector air inlet C, the air conduit 20, the cleaning fluid conduit 30 and the liquid pressure diverter 160. In other words, air flow F can pass through the connector air inlet C in a direction opposite to the direction in Figure 1a However, of course, conclusions about the degree of clogging of the connector air inlet C can be similar to the above.

[0062] In particular, when the connector air inlet C is in fluid connection with the reference pressure source 170 according to the above, the controller 100 is configured to cause the pressure sensor 120 to record a test measure P C .

[0063] Furthermore, similar to the embodiments described with reference to Figure 1a the controller 100 is configured to obtain at least one test measure P C from the at least one pressure sensor 120, to obtain a standard value P S of the system pressure level PR provided by the reference pressure source 170, and to determine a difference between the standard value P S and the test measure P C .

[0064] Based on the difference, the controller 100 is in turn configured to assign a pressure offset P OS which reflects an estimated deviation of the system pressure level PR in the milk conduit 10 during extraction of milk from the animal after the non-milking period.

[0065] For example, according to one embodiment of the present invention, if it is found that the pressure offset POS exceeds a threshold level P th The controller 100 is then configured to generate an alarm A, as explained below with reference to Figure 3 .

[0066] Figure 2a A milking system according to a second embodiment of the application is shown. Figure 2a all reference signs appearing in Figure 1a and / or Figure 1b denote the same units, components and variables as explained above with reference to Figure 1a and / or Figure 1b . In short, Figure 2a illustrates how the pressure offset P OS is determined according to the first embodiment, i.e. similar to Figure 1a . However, in Figure 2a each of the teat cups T1, T2, T3 and T4 is directly connected to the milk container 180 by a separate milk conduit 11, 12, 13 and 14, respectively, thereby realizing a so-called quarter milking.

[0067] Hence, in Figure 2a the valves 191, 192, 193 and 194 are equivalent to the valve 195 in Figure 1a ; the air conduits 21, 22, 23 and 24 are equivalent to the air conduit 20 in Figure 1a ; the parallel valve 158 is equivalent to the valve 150 in Figure 1a ; the passive air inlets 151, 152, 153 and 154 are equivalent to the passive air inlet 150 in Figure 1a ; the pressure sensors 121, 122, 123 and 124 are equivalent to the pressure sensor 120 in Figure 1a ; and the connection air inlets C1, C2, C3, C4 are equivalent to the connection air inlet C in Figure 1a .

[0068] Here, during a non-milking period in which no animal is connected to at least one of the teat cups T1, T2, T3 and T4, the controller 100 is configured to control the parallel valve 158 to be closed, and the valve 179 as well as the valves 191, 192, 193 and 194 to be open. Hence, each of the connection air inlets C1, C2, C3 and C4 is placed in fluid connection with the reference pressure source 170, which provides the system pressure level PR in the milking system, i.e. via the milk conduits 11, 12, 13 and 14, the milk container 180, the connection conduit 177 and the liquid pressure diverter 160.

[0069] Then, when the connection air inlets C1, C2, C3 and C4 are fluidly connected with the reference pressure source 170, the controller 100 is configured to cause the pressure sensors 121, 122, 123 and 124 to record respective test measures P1, P2, P3 and P4 representing the pressure levels in the connection air inlets C1, C2, C3 and C4, respectively.

[0070] Similarly as above, the controller 100 is configured to obtain the test measures P1, P2, P3 and P4 from the pressure sensors 121, 122, 123 and 124; and to obtain a standard value P S .

[0071] Further similarly as above, the controller 100 is configured to determine a respective difference between the standard value P S and each of the test measures P1, P2, P3 and P4, and based thereon, to assign a respective pressure offset P OS reflecting an estimated deviation of the system pressure level PR in each of the milk conduits 1 1, 12, 13 and 14 during extraction of milk from an animal milked by the milking system in a later milking session.

[0072] Figure 2b A milking system according to a second embodiment of the application is shown, which is arranged to record test measures by a second method. Figure 2b All reference signs appearing in Figure 1a , Figure 1b and / or Figure 2a also appear in Figure 1a , Figure 1b and / or Figure 2a with the same meaning. In short, Figure 2b it is exemplified how the pressure offset P OS is determined according to the second method, i.e. similarly as Figure 1b , however, as shown in Figure 2a , the individual milk conduits 1 1, 12, 13 and 14 are directly connected to the milk container 180, enabling a quarter milking to be performed.

[0073] Here, during a non-milking period in which no animal is connected to the teat cups T1, T2, T3 and T4, the controller 100 is configured to perform the following steps.

[0074] First, the controller 100 is configured to control the parallel valve 158 and the valves 191, 192, 193, 194 and 179 such that the parallel valve 158 is open and the valves 191, 192, 193, 194 and 179 are closed. Thus, the cluster air inlets CI, C2, C3 and C4 are placed in fluid connection with the reference pressure source 170, which provides a system pressure level PR in the milking system via the air conduits 21, 22, 23 and 24, the cleaning fluid conduit 30 and the liquid pressure diverter 160.

[0075] Then, while the cluster air inlets CI, C2, C3 and C4 are in fluid connection with the reference pressure source 170, the controller 100 is configured to cause each of the pressure sensors 121, 122, 123 and 124 to register a respective test measure PI, P2, P3 and P4 representing the pressure level in the cluster air inlet CI, C2, C3 and C4, respectively.

[0076] The controller 100 is further configured to obtain the test measures PI, P2, P3 and P4 from the pressure sensors 121, 122, 123, 124 and to obtain a standard value P S of the system pressure level PR provided by the reference pressure source 170, e.g. via a data connection from the pressure sensor 175, as Figure 2b illustrated, or in the form of a set value or a value stored in a non-volatile memory accessible to the controller 100.

[0077] Subsequently, the controller 100 is configured to determine respective difference values between the standard value P S and each of the test measures PI, P2, P3 and P4. Based on these difference values, the controller 100 is in turn configured to assign respective pressure offsets P OS reflecting an estimated deviation of the system pressure level PR in each of the milk conduits 11, 12, 13 and 14 during extraction of milk from the animal, i.e. in a later milking session.

[0078] Figure 3 A graph illustrating one example of how a series of pressure offsets P OS may be cyclically determined during a plurality of non-milking periods is shown. In Figure 3 the vertical axis reflects the magnitude of the pressure offset P OS and the horizontal axis designates different instances of time at which the pressure offset P OS is determined according to any of the above-described embodiments.

[0079] In particular, assume that a first pressure offset P OSThereafter, during a non-milking period in which no animals are connected to teat cups T1, T2, T3 and T4, pressure offsets P OS are also determined at time points t2, t3, t4, t5, t6, t7 and t8 OS . Preferably, the first pressure offset P OS determined as a reference value which specifies a condition in which none of the connection air inlets C, C1, C2, C3 or C4 contains any milk residues which can impair the air flow therethrough.

[0080] The values of the subsequently determined pressure offsets P OS at t2, t3, t4, t5, t6, t7 and t8 can be based on measurements taken at any time instance during the non-milking period, i.e. whenever it is appropriate for the operation of the given milking system. Thus, the time instances t2, t3, t4, t5, t6, t7 and t8 can be equidistant or can not be equidistant.

[0081] According to one embodiment of the present application, the controller 100 is configured to generate an alarm in case the pressure offset P th exceeds a threshold level P OS . I.e. this can indicate that the connection air inlet associated with the pressure offset P OS value in question is clogged, or at least has an excessively restricted opening for receiving incoming air.

[0082] Generally, there is a pre-established schedule which specifies when the milking system should undergo cleaning procedures. In order to avoid the risk of cleaning the milking system too little, it is common practice that the schedule prescribes cleaning occasions quite frequently. Thus, many cleaning procedures are performed too early, i.e. before actual cleaning is needed. As a result, cleaning fluid and water are wasted, and the milking system is subject to unnecessary downtime.

[0083] Accordingly, according to one embodiment of the present application, the controller 100 is configured to adjust at least one occasion of a predetermined cleaning procedure for one of the plurality of connection air inlets C, C1, C2, C3 or C4 in response to the pressure offset P OS . Thus, for example, if the schedule prescribes cleaning at t4, and the value of the pressure offset P OS at t3 shows a sufficiently low magnitude, the controller 100 can adjust the schedule so that the next cleaning is changed to be scheduled to occur at a later time point, i.e. after t4. Of course, the controller 100 can equally well adjust the schedule so that the originally scheduled cleaning is arranged at an earlier time point. This can be the result of generating an alarm A, for example.

[0084] The controller 100 preferably comprises processing circuitry in the form of at least one processor 113 and a memory unit 115 (i.e. a non-transitory data carrier) storing a computer program 117, which in turn contains software for causing the at least one processor 113 to perform the actions mentioned in this disclosure when the computer program 117 is run on the at least one processor 113.

[0085] To summarize, and with reference to the flowchart in Figure 4 we will now describe a computer-implemented method according to the present invention, which is performed in the at least one processor during a non-milking period when no animals are connected to the teat cups T1, T2, T3 and T4.

[0086] In step 410, at least one valve is controlled such that the at least one connection piece air inlet of the milking system is placed in fluid connection with a reference pressure source providing a system pressure level in the milking system.

[0087] Then, in step 420, at least one pressure sensor is caused to record at least one test measure indicative of a pressure level in the at least one connection piece air inlet when the at least one connection piece air inlet is in fluid connection with the reference pressure source. In step 430, which can be performed before, in parallel with, or after step 420, a standard value of the system pressure level provided by the reference pressure source is obtained.

[0088] Thereafter, in step 440, at least one difference between the standard value and the at least one test measure is determined.

[0089] Finally, in step 450, at least one pressure offset is assigned based on the at least one pressure offset reflecting an estimated deviation of the system pressure level in the at least one milk conduit during extraction of milk from the animal.

[0090] With reference to Figure 4The described processing steps can be controlled by means of a programmed processor. Furthermore, while the embodiments of the present invention described above with reference to the accompanying drawings include processors and processes executed in at least one processor, the present invention also extends to computer programs suitable for putting the present invention into practice, in particular computer programs on or in a carrier. The program may be in the form of source code, object code, a code intermediate source and object code such as partially compiled form, or any other form suitable for use in the specific implementation of the process according to the present invention. The program may be part of an operating system or a standalone application. The carrier may be any entity or device capable of carrying the program. For example, the carrier may include a storage medium such as flash memory, ROM (read-only memory) such as a DVD (digital video / versatile disk), CD (compact disk) or semiconductor ROM, EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), or magnetic recording media such as a floppy disk or hard disk. Furthermore, the carrier may be a transmissible medium such as an electrical or optical signal, which may be transmitted via electrical or optical cable, by radio, or by other means. When the program is embodied in a signal, the signal may be transmitted directly via a cable or other device or means, and the carrier may consist of such a cable or device or means. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being suitable for executing the relevant process or for the execution of the relevant process.

[0091] Variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims.

[0092] When used in this specification, the term "comprising" is used to specify the presence of stated features, integers, steps or components. The term does not exclude the presence or addition of one or more additional elements, features, integers, steps or components or groups thereof. The indefinite article "a" or "an" does not exclude a plurality. In the claims, the word "or" is not to be interpreted as an exclusive OR (sometimes called "XOR"). On the contrary, expressions such as "A or B" cover all cases "A and not B", "B and not A" and "A and B" unless otherwise indicated. The fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

[0093] It should also be noted that features from the various embodiments described herein may be freely combined, unless it is explicitly stated that this combination would be inappropriate. The invention is not limited to the embodiments described in the drawings, but may be varied freely within the scope of the claims.

Claims

1. A milking system, comprising: at least one milking point (MP) arranged to extract milk from the animal via at least one teat cup (T1, T2, T3, T4) through at least one milk duct (10; 11, 12, 13, 14) to a milk collecting container (180), at least one pressure sensor (120; 121, 122, 123, 124) configured to record a pressure value (PT) representing a pressure level in at least one connector air inlet (C, C1, C2, C3, C4), said at least one connector air inlet being arranged to provide a known air flow in said at least one milk duct (10; 11, 12, 13, 14) during extraction of milk from said animal, and A controller (100) configured to obtain pressure values ​​recorded by the at least one pressure sensor (120; 121, 122, 123, 124) during the extraction of milk, characterized in that during a non-milking period when no animal is connected to the at least one teat cup (T1, T2, T3, T4), the controller (100) is configured to perform the following steps: [a] controlling at least one valve (155, 158, 191, 192, 193, 194, 195) such that the at least one connector air inlet (C, C1, C2, C3, C4) is placed in fluid connection with a reference pressure source (170) providing a system pressure level (PR) in the milking system, [b] causing the at least one pressure sensor (120; 121, 122, 123, 124) to record at least one test measurement (P) when the at least one connector air inlet (C, C1, C2, C3, C4) is fluidly connected to the reference pressure source (170); C P1, P2, P3, P4), said at least one test measurement represents said at least one connector air inlet (C, C1, C2, C3, C4) in said pressure level, [c] obtaining the at least one test measurement (P) from the at least one pressure sensor (120; 121, 122, 123, 124) C ; P1, P2, P3, P4), [d] Obtaining a standard value (P) of the system pressure level (PR) provided by the reference pressure source (170) S ), [e] Determine the standard value (P S ) with the at least one test metric (P C P1, P2, P3, P4) between at least one difference, and based on the at least one difference [f] Assign at least one pressure offset (P OS ), said at least one pressure excursion reflects an estimated deviation from said system pressure level (PR) in said at least one milk duct (10; 11, 12, 13, 14) during extraction of milk from said animal.

2. The milking system according to claim 1, comprising a main pressure sensor (175) arranged to record the standard value (P S ).

3. The milking system according to claim 2, wherein the reference pressure source (170) is arranged in fluid connection with the milk collecting container (180).

4. A milking system according to any one of the preceding claims, wherein: When the at least one connector air inlet (C, C1, C2, C3, C4) is fluidly connected to the reference pressure source (170) and the at least one test measurement (P C ; P1, P2, P3, P4) are recorded: The at least one teat cup (T1, T2, T3, T4) is arranged to prevent air from entering the at least one milk duct (10; 11, 12, 13, 14) via any opening in the at least one teat cup (T1, T2, T3, T4), and The at least one milk conduit (10; 11, 12, 13, 14) is arranged to receive air via at least one passive air inlet (150; 151, 152, 153, 154) fluidly connected to the at least one connector air inlet (C, C1, C2, C3, C4).

5. The milking system according to any one of claims 2 or 3, wherein the reference pressure source (170) is arranged in fluid connection with a liquid pressure diverter (160).

6. The milking system according to claim 5, wherein: When the at least one connector air inlet (C, C1, C2, C3, C4) is fluidly connected to the reference pressure source (170) and the at least one test measurement (P C ; P1, P2, P3, P4) are recorded: The at least one teat cup (T1, T2, T3, T4) is arranged to allow air to enter the at least one milk duct (10; 11, 12, 13, 14) via at least one opening in the at least one teat cup (T1, T2, T3, T4), and At least one valve (191, 192, 193, 194, 195) in the at least one milk duct (10; 11, 12, 13, 14) is closed to prevent the air flow (F) in the at least one milk duct (10; 11, 12, 13, 14) from being conveyed into the milk collecting container (180).

7. The milking system according to claim 6, wherein: When the at least one connector air inlet (C, C1, C2, C3, C4) is fluidly connected to the reference pressure source (170) and the at least one test measurement (P C ; P1, P2, P3, P4) is recorded, at least one valve (155, 158) is opened to allow air flow (F) to be transmitted through the at least one milk duct (10; 11, 12, 13, 14).

8. A milking system according to any one of the preceding claims, comprising: a respective milk conduit (11, 12, 13, 14) configured to transfer extracted milk from each of the at least one teat cup (T1, T2, T3, T4) to the milk collection container (180), and The at least one pressure sensor comprises a respective pressure sensor (121, 122, 123, 124), each pressure sensor being configured to record the pressure value (PT) representing the pressure level in a respective one of the at least one connector air inlet (C1, C2, C3, C4) in each of the respective milk ducts (11, 12, 13, 14).

9. The milking system according to any one of claims 1 to 7, comprising: a milk collector (135) configured to collect milk extracted via the at least one teat cup (T1, T2, T3, T4), the milk collector (135) being further fluidically connected to a milk duct (10) comprising at least one connector air inlet (C) in the milk duct, and The at least one pressure sensor comprises a pressure sensor (120) configured to record the pressure value (PT) representing the pressure level in the at least one connector air inlet (C).

10. A milking system according to any one of the preceding claims, wherein: During milking, the controller (100) is configured to: monitoring the at least one pressure value (P) recorded by the at least one pressure sensor (120; 121, 122, 123, 124) C ; P1, P2, P3, P4), and based on this Using the at least one pressure offset (P OS ) estimating at least one pressure level in said at least one milk duct (10; 11, 12, 13, 14).

11. The milking system according to any one of the preceding claims, wherein the controller (100) is configured to cyclically repeat (t2, t3, t4, t5, t6, t7, t8) performing steps [a] to [f] during at least one subsequent non-milking period.

12. The milking system according to any one of the preceding claims, wherein the controller (100) is configured to respond to the pressure offset (P OS ) to adjust the timing of a predetermined cleaning procedure for the at least one connector air inlet.

13. The milking system according to any one of the preceding claims, wherein the controller (100) is configured to OS ) exceeds the threshold level (P th ) generates an alert (A).

14. A computer-implemented method for controlling a milking system, the milking system comprising: At least one milking point (MP) arranged to extract milk from an animal via at least one teat cup (T1, T2, T3, T4) through at least one milk duct (10; 11, 12, 13, 14) to a milk collecting container (180); and at least one pressure sensor (120; 121, 122, 123, 124) configured to record a pressure value (PT) representing a pressure level in at least one connector air inlet (C, C1, C2, C3, C4), the at least one connector air inlet being arranged to provide a known air flow in the at least one milk duct (10; 11, 12, 13, 14) during milk extraction from the animal, the method being executed in at least one processor (113) and comprising the following steps during a non-milking period when no animal is connected to the at least one teat cup (T1, T2, T3, T4): [a] controlling at least one valve (155, 158, 191, 192, 193, 194, 195) such that the at least one connector air inlet (C, C1, C2, C3, C4) is placed in fluid connection with a reference pressure source (170) providing a system pressure level (PR) in the milking system, [b] causing the at least one pressure sensor (120; 121, 122, 123, 124) to record at least one test measurement (P) when the at least one connector air inlet (C, C1, C2, C3, C4) is fluidly connected to the reference pressure source (170); C P1, P2, P3, P4), said at least one test measurement represents said at least one connector air inlet (C, C1, C2, C3, C4) in said pressure level, [c] obtaining the at least one test measurement (P) from the at least one pressure sensor (120; 121, 122, 123, 124) C ; P1, P2, P3, P4), [d] Obtaining a standard value (P) of the system pressure level (PR) provided by the reference pressure source (170) S ), [e] Determine the standard value (P S ) with the at least one test metric (P C ; At least one difference between P1, P2, P3, P4), and based on the difference [f] Assign at least one pressure offset (P OS ), said at least one pressure excursion reflects an estimated deviation from said system pressure level (PR) in said at least one milk duct (10; 11, 12, 13, 14) during extraction of milk from said animal.

15. A computer program (117) loadable into a non-volatile data carrier (115) communicatively connected to a processing unit (113), the computer program (117) comprising software for performing the method according to claim 14 when the computer program (117) is run on the processing unit (113).

16. A non-volatile data carrier (115) containing a computer program (117) according to claim 15.

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