Milking equipment with cleaning device

Abstract

1. A milking apparatus comprising: a milk transport line (1); a plurality of milk stations (2) connected to the milk transport line (1); a receiver (3) connected to the milk transport line (1), the receiver (3) configured to receive milk transported from the milk stations (2) to the receiver (3) via the milk transport line (1); a vacuum system (4) configured to apply a vacuum in the milk transport line (1) via the receiver (3); a cleaning liquid source (9) connected to the milk transport line (1); a controllable injector (10) configured to introduce an amount of gas into the milk transport line (1), thus generating a temporary pressure increase in the milk transport line (1), whereby a slug of cleaning liquid from the cleaning liquid source (9) is formed and transferred through the milk transport line (1); and a control system (19) configured to control the operation of the injector (10). During the cleaning sequence, the control system (19) is configured to control the slag characteristics by controlling the vacuum level provided by the vacuum system (4) and / or the amount of gas introduced via the controllable injector (10).

Description

[Technical Field]

[0001] The present invention relates to a milking apparatus comprising a milk transport line, a plurality of milk stations connected to the milk transport line, a receiver connected to the milk transport line and configured to receive milk transported from the milk stations to the receiver via the milk transport line, a vacuum system configured to provide a vacuum in the milk transport line via the receiver, a cleaning liquid source connected to the milk transport line, a controllable injector configured to introduce an amount of gas into the milk transport line, thus generating a temporary pressure increase in the milk transport line, whereby a slug of cleaning liquid from the cleaning liquid source is formed and transferred through the milk transport line, and a control system configured to control the operation of the injector. [Background technology]

[0002] The milking equipment comprises a cleaning device provided for the purpose of repeatedly cleaning the milk station, the milk transport line and components such as filters and heat exchangers provided along the milk transport line, the cleaning including various sequences such as pre-wash and main wash.

[0003] Milking implements equipped with a vacuum system for supplying a vacuum to the system are well known. The vacuum system may be configured to supply a vacuum for milk transport and cleaning liquid transport. The cleaning system may be equipped with a controllable injector configured to introduce a quantity of gas, usually atmospheric air, into the milk transport line, thus generating a temporary pressure increase in the milk transport line, which causes a slug of cleaning liquid from the cleaning liquid source to be formed and transferred through the milk transport line. The slug is a liquid column that fills the cross section of the milk transport line while being driven by the vacuum and moving at high speed through the milk transport line. Each slug has a short length compared to the length of the milk transport line. The slug ends up in a so-called receiver, to which vacuum is supplied by the vacuum system. The receiver may be connected to a pump, whereby the liquid in the receiver is pumped back to the cleaning liquid source to generate a further slug. From the receiver, the milk transport line continues via a milk pump, a filter, and a heat exchanger to the milk tank. The pump for pumping the cleaning liquid back to the source of cleaning liquid may be a milk pump, so that the cleaning liquid may be pumped through a filter and heat exchanger in that portion of the milk transport line.

[0004] According to the prior art, the injector opening time, which affects slug characteristics such as the initial length and velocity of the slug, is set in connection with the calibration of the milking implement and then remains unchanged.

[0005] However, during operation of the milk machine conditions in the milk transport line may change which affect the properties of the slug. The conditions may be the amount of liquid present in the milk transport line and / or the vacuum level in the milk transport line. Summary of the Invention [Problem to be solved by the invention]

[0006] The inventors have also recognized the importance of being able to control the slag characteristics during a cleaning sequence, as well as the importance and advantages of using different slag characteristics for different cleaning sequences.

[0007] It is an object of the present invention to provide a milking implement in which the slug characteristics can be controlled. [Means for solving the problem]

[0008] The object of the invention is a milking apparatus comprising: - a milk transport line; a plurality of milk stations connected to a milk transport line; a receiver connected to a milk transport line, the receiver being configured to receive milk transported from the milk station to the receiver via the milk transport line; a vacuum system configured to apply a vacuum in the milk transport line via a receiver; a source of cleaning fluid connected to the milk transport line; - a controllable injector configured to introduce a quantity of gas into the milk transport line, thus generating a temporary pressure increase in the milk transport line, whereby a slug of cleaning liquid from the cleaning liquid source is formed and transferred through the milk transport line; - a control system configured to control the operation of the injector, characterized in that during the cleaning sequence the control system is configured to control the slug characteristics by controlling the vacuum level supplied by the vacuum system and / or the amount of gas introduced via the controllable injector.

[0009] According to one embodiment, the vacuum system comprises a vacuum pump and a controllable valve configured to introduce gas into a line connecting the receiver with the vacuum pump, and the control system is configured to control the vacuum level provided by the vacuum system by controlling at least one of the vacuum pump and the controllable valve.

[0010] According to one embodiment, the control system is configured to control the slag characteristics by controlling the amount of gas per time unit introduced via the controllable injector.

[0011] According to one embodiment, the controllable injector presents a channel with a controllably variable cross-section, and the control system is configured to control the variable cross-section of the channel to control the amount of gas per time unit introduced through the controllable injector. The cross-section is variable in multiple incremental steps between a fully open position and a fully closed position. The control system can also be configured to control the time the injector is open to introduce air into the milk transport line.

[0012] According to one embodiment, the slug characteristics controlled by the control system include at least one of the slug velocity and the length of each individual slug. A slug may be defined as a fluid column that fills the entire cross section of the milk transport line conduit. Each slug has a length that is only a small fraction of the length of the milk transport line.

[0013] According to one embodiment, the control system has a first control mode dedicated to a first cleaning sequence and a second control mode dedicated to a second cleaning sequence, wherein the characteristics of the slag generated in the first control mode are different from the characteristics of the slag generated in the second control mode, and the control system is thus configured to adapt and optimize the slag characteristics with respect to the requirements of the different cleaning sequences.

[0014] According to one embodiment, the first control mode uses a first cleaning fluid, and the second control mode uses a second cleaning fluid. Typically, the chemical composition of the cleaning fluid may vary between different cleaning sequences. The temperature of the cleaning fluid may also be controlled by the control system and may be controlled differently for different cleaning sequences.

[0015] According to one embodiment, the first cleaning sequence is a pre-wash sequence and the second cleaning sequence is a main cleaning sequence, and the slugs generated by the first control mode have a higher average velocity through the milk transport line than the average velocity of the slugs generated by the second control mode. Typically, the purpose of the pre-wash is to flush the milk transport line and remove residue, and the main cleaning sequence relies on the contact time between the cleaning liquid and the milk transport line. Therefore, a higher velocity of the slugs generated by the first mode is preferable.

[0016] According to one embodiment, the first cleaning sequence is a pre-wash sequence and the second cleaning sequence is a main cleaning sequence, and the slugs produced by the second control mode have a longer average length than the average length of the slugs produced by the first control mode. Thus, a longer contact time between the cleaning liquid and the wall of the milk transport line is achieved in the second mode, which is preferable to the main cleaning sequence.

[0017] According to one embodiment, the vacuum level provided by the vacuum system is higher in the first control mode than in the second control mode. Thus, a higher slug velocity is achieved in the first control mode.

[0018] According to one embodiment, the milk transport line has a length of 100 meters or more and the injector is arranged in connection with the end of the milk transport line opposite the end at which the milk receiver is provided.

[0019] According to one embodiment, a vacuum pump is connected to the reservoir to provide a vacuum therein.

[0020] According to one embodiment, the injector is configured to introduce air at atmospheric pressure into the milk transport line.

[0021] According to one embodiment, the milking implement comprises a sensor device configured to measure at least one parameter related to slug characteristics, and the control system is configured to receive the at least one parameter measured by the sensor device, generate an indicator of slug characteristics based thereon, and control the vacuum level provided by the vacuum system and / or the amount of gas introduced via the controllable injector based on the indicator. Information from the sensor device is thus utilized to control slug characteristics. According to one embodiment, the sensor device comprises a first sensor located in the milk transport line near a location where the slug is generated, preferably within 10 meters of that location, while a second sensor is located near a receiver, preferably within 10 meters of the receiver. The first and second sensors may thus be configured to measure the average velocity of the slug between the first and second sensors based on the transit time of the slug detected by each sensor and based on the distance between the first and second sensors.

[0022] According to one embodiment, the sensor device comprises any one of a pressure sensor, an ultrasonic sensor, an electromagnetic sensor, an optical sensor, or an accelerometer.

[0023] According to one embodiment, the milking implement comprises at least one flow meter configured to determine the amount of cleaning liquid present in the milk transport line, and the control system is configured to control the vacuum level provided by the vacuum system and / or the amount of gas introduced via the controllable injector based on the amount of cleaning liquid determined by the at least one flow meter. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a schematic view of a milking apparatus according to the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0025] Figure 1 shows a milking apparatus according to one embodiment of the invention. The milking apparatus comprises a milk transport line 1 and a plurality of milk stations 2 connected to the milk transport line 1. Each milk station 2 is equipped with milking equipment for milking an animal. The milk transport line 1 has a length of 100 meters or more.

[0026] The milking apparatus further comprises a receptacle 3 connected to the milk transport line 1 and configured to receive milk transported from the milk station 2 to the receptacle 3 via the milk transport line 1.

[0027] A vacuum system 4 is also provided, configured to apply a vacuum in the milk transport line 1 via the receiver 3. The vacuum system 4 comprises a vacuum pump 5 and a controllable valve 6 configured to introduce a gas, preferably atmospheric air, into the line connecting the receiver 3 with the vacuum pump 5. The vacuum applied by the vacuum system can be controlled by controlling the effect of the vacuum pump 5 and / or the opening and closing of the controllable valve 6. The vacuum system 4 also comprises a sanitary trap 7 and a buffer tank 8 arranged in series, via which the vacuum pump 5 is connected to the receiver 3. The vacuum system 4 is used to apply a vacuum in the milk transport line during milking. However, as will be explained below, the vacuum system 4 is also used to control the cleaning sequence.

[0028] A cleaning liquid source 9 is connected to the milk transport line 1. The cleaning liquid source 9 may comprise one or more containers containing cleaning liquids, preferably cleaning liquids with different properties, typically having different chemical compositions and / or different temperatures, for different cleaning sequences.

[0029] A controllable injector 10 is also provided, configured to introduce a quantity of gas, preferably atmospheric air, into the milk transport line 1, thus generating a temporary pressure increase in the milk transport line 1, whereby a slug of cleaning liquid from a cleaning liquid source 9 is formed and transferred through the milk transport line 1. The liquid source 9 is connected to the milk transport line in the vicinity of the injector 10 via tubing 11 and a controllable valve 12. The equipment of the milking station 2 is also connectable to the liquid source 9 via tubing 11 and a controllable valve 13, in a manner known per se. Flow meters 14, 15, 16, 17 connected to the injector 10 and to the milk station 2 are provided for measuring the flow of cleaning liquid entering the milk transport line 1 and occupying at least a part of the milk transport line 1.

[0030] A pump 20 is provided, via which cleaning liquid is pumped from the receiver 3 to the cleaning liquid source 16. In the particular embodiment shown, the pump 20 is also configured to pump milk from the receiver into the milk tank 21 during milking. In the embodiment shown, the cleaning liquid pumped by the pump 20 is pumped to the liquid source 9 via a filter 22 and a heat exchanger 23 arranged between the pump 20 and the milk tank 21. A controllable valve 25 is provided to direct the pumped cleaning liquid towards the cleaning liquid source 9 and not towards the milk tank 21. During cleaning, the controllable valve 25 prevents cleaning liquid from flowing into the milk tank 21.

[0031] The milking apparatus further comprises a control system 19 configured to control the operation of the injector 10, the vacuum pump 5 and the controllable valve 6 of the vacuum system 4. The control system 19 is configured to control the vacuum level provided by the vacuum system 4 by controlling at least one of the vacuum pump 5 and the controllable valve 6. The control system is thereby configured to control the speed of the vacuum pump 5 and the open time of the controllable valve 6. A pressure sensor (not shown) may be provided in the line connecting the vacuum pump 5 with the receiver 3, and the control system 19 may be configured to control the vacuum system 4 based on input from the pressure sensor. The control system 19 is also configured to control the slug characteristics by controlling the amount of gas introduced per time unit via the controllable injector 10. The controllable injector 10 presents a channel with a controllable, variable cross-section, and the control system 19 is configured to control the variable cross-section of the channel to control the amount of gas introduced per time unit via the controllable injector 10. The slug properties controlled by the control system 19 thereby include the slug velocity of the individual slugs and the length of the individual slugs.

[0032] The control system 19 is also configured to control the operation of the controllable valves 12, 13, via which cleaning liquid from the cleaning liquid source 9 can enter the milk transport line 1, either via the injector 10 or via the milking implements of the milk station 2. The control system 19 is also configured to control the operation of the pump 20, via which cleaning liquid is pumped from the receiver 3 to the cleaning liquid source 9.

[0033] The control system 19 is exemplified here by a control unit comprising a processor and a readable memory. Of course, alternative embodiments such as cloud-based solutions are also conceivable.

[0034] The control system 19 has a first control mode dedicated to the first cleaning sequence and a second control mode dedicated to the second cleaning sequence, wherein the characteristics of the slag produced in the first control mode are different from the characteristics of the slag produced in the second control mode.

[0035] In the embodiment presented, the first control mode uses a first cleaning fluid and the second control mode uses a second cleaning fluid.

[0036] The first cleaning sequence is a pre-wash sequence, and the second cleaning sequence is a main cleaning sequence. The slugs generated by the first control mode have a higher average velocity through the milk transport line 1 than the average velocity of the slugs generated by the second control mode. The slugs generated by the second control mode have a longer average length than the average length of the slugs generated by the first control mode. The vacuum level supplied by the vacuum system 4 is higher in the first control mode than in the second control mode. The higher vacuum level is referred to as a lower pressure level.

[0037] As the slug enters the receiver 3, an indication of the slug's properties is measured by a 3D accelerometer 27 mounted on the outside of the receiver 3. The slug generates a motion of the receiver corresponding to the velocity and length (mass) of the slug. This motion is recorded by the accelerometer 27. The control system 19 includes a readable memory having stored therein a look-up table having set values, each value representing a value of a slug property. The control system is configured to compare the measurements of the accelerometer 27 with the set values ​​in the look-up table and determine that the slug property, velocity, and / or length of the slug corresponds to the preset value that is closest to the value measured by the accelerometer. The correlation between the set values ​​and the slug property may have been determined in a laboratory environment for a given combination of receiver design, accelerometer design, and accelerometer location on the receiver.

[0038] With a view to achieving the required slug characteristics, measures may be taken to control the milking equipment, preferably a controllable injector and / or vacuum system, based on knowledge of the slug characteristics, whereby the control system may be configured to perform an iterative process, typically a closed-loop process, to achieve a slug characteristic corresponding to the required slug characteristic for each cleaning sequence.

[0039] In the illustrated embodiment, the milking equipment comprises a sensor device including a first pressure sensor 26a arranged at a first position in the milk transport line and a second pressure sensor 26b arranged at a second position a predetermined distance from the first position. The passage of a slug results in a change in pressure, which can be measured by the respective sensors 26a, 26b. Based on the known distance between the pressure sensors 26a, 26b and the time at which the passage of the slug is detected by the respective sensors, the control system 19 is configured to determine the average velocity of the slug. The average length of the slug can also be determined based on the measurements of the pressure sensors 26a, 26b, as described, for example, in WO 2017 / 091126. The first pressure sensor 26a is arranged near the location where the slug is generated in the milk transport line, preferably within 10 meters of that location, while the second pressure sensor 26b is arranged near the receiver 3, preferably 10 meters from the receiver 3. Thus, the first and second pressure sensors 26a, 26b may be configured to measure the average velocity of the slug between the first and second sensors based on the transit time of the slug detected by each sensor and based on the distance between the first and second sensors.

[0040] The pressure sensors 26a, 26b provide information about the slug characteristics at a given position in the milk transport line 1, while the accelerometer 27 provides information about the slug characteristics in the receiver 3. The control system 19 may be configured to combine the information in any suitable way to control the injector 10 or the vacuum system 4.

[0041] The control system 19 is also configured to control the vacuum level supplied by the vacuum system 4 and / or the amount of gas introduced via the controllable injector 10 based on the amount of cleaning liquid determined by the flow meters 14-17.

Claims

1. 1. A milking apparatus comprising: - a milk transport line (1), - a number of milk stations (2) connected to said milk transport line (1); a receiver (3) connected to the milk transport line (1) and adapted to receive milk transported from the milk station (2) to the receiver (3) via the milk transport line (1); a vacuum system (4) configured to apply a vacuum in the milk transport line (1) via the receiver (3); a source of cleaning liquid (9) connected to said milk transport line (1); - a controllable injector (10) configured to introduce a quantity of gas into the milk transport line (1), thus generating a temporary pressure increase in the milk transport line (1), which causes a slug of cleaning liquid from said cleaning liquid source (9) to be formed and transferred through the milk transport line (1); a control system (19) configured to control the operation of the vacuum system (4) and the injector (10), wherein during a cleaning sequence, the control system (19) is configured to control the slag characteristics by controlling the vacuum level provided by the vacuum system (4) and / or the amount of gas introduced via the controllable injector (10); and Equipped with the slug characteristics controlled by the control system (19) include at least one of slug velocity and length of individual slugs; The control system (19) comprises a first control mode dedicated to a first cleaning sequence and a second control mode dedicated to a second cleaning sequence, wherein in the first control mode the characteristics of the slug formed are different from the characteristics of the slug formed in the second control mode.

2. 2. Milking equipment according to claim 1, characterized in that the vacuum system (4) comprises a vacuum pump (5) and a controllable valve (6) configured to introduce gas into a line connecting the receiver (3) with the vacuum pump (5), and the control system (19) is configured to control the vacuum level provided by the vacuum system by controlling at least one of the vacuum pump (5) and the controllable valve (6).

3. 3. Milking equipment according to claim 1 or 2, characterized in that the control system (19) is configured to control the slug characteristics by controlling the amount of gas per time unit introduced via the controllable injector (10).

4. A milking device as described in claim 3, characterized in that the control system (19) is configured to control the controllable injector (10) in order to control the amount of gas introduced via the controllable injector (10) per time unit.

5. Milking implement according to any one of claims 1 to 4, characterized in that the first control mode uses a first cleaning liquid and the second control mode uses a second cleaning liquid.

6. 6. A milking apparatus according to any one of claims 1 to 5, characterized in that the first cleaning sequence is a pre-wash sequence, and the second cleaning sequence is a main cleaning sequence, and the slugs formed by the first control mode have a higher average velocity through the milk transport line (1) than the average velocity of the slugs formed by the second control mode.

7. 7. A milking implement as claimed in any one of claims 1 to 6, characterized in that the slugs formed by the second control mode have an average length that is longer than the average length of the slugs formed by the first control mode.

8. Milking implement according to any one of the preceding claims, characterised in that the vacuum level provided by the vacuum system (4) is higher in the first control mode than in the second control mode.

9. 9. A milking apparatus according to any one of claims 1 to 8, characterized in that the milk transport line (1) has a length of at least 100 metres and the injector (10) is arranged connected to an end of the milk transport line (1) opposite to the end at which the receiver (3) is provided.

10. Milking implement according to claim 2, characterized in that the vacuum pump (5) is connected to the receiver (3) to provide a vacuum therein.

11. Milking equipment according to any one of the preceding claims, characterized in that the injector (10) is adapted to introduce air at atmospheric pressure into the milk transport line (1).

12. 11. Milking implement according to any one of claims 1 to 10, characterized in that it comprises a sensor device (26, 27) configured to measure at least one parameter related to the slag characteristics, and the control system (19) is configured to receive the at least one parameter measured by the sensor device (26, 27) and, based on the parameter, to generate an indication of the slag characteristics, and to control the vacuum level supplied by the vacuum system (4) and / or the amount of gas introduced via the controllable injector (10) based on the indication.

13. Milking equipment according to claim 12, characterized in that the sensor device (26, 27) comprises any one of a pressure sensor, an ultrasonic sensor, an electromagnetic sensor, an optical sensor or an accelerometer.

14. Milking equipment according to any one of claims 1 to 10, characterized in that it comprises at least one flow meter (14-17) configured to determine the amount of cleaning liquid present in the milk transport line (1), and the control system (19) is configured to control the vacuum level provided by the vacuum system (4) and / or the amount of gas introduced via the controllable injector (10) based on the amount of cleaning liquid determined by the at least one flow meter (14-17).

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