Milking method, and milking device and system for carrying out the method

Abstract

A method for milking by means of a milking device (1) comprises receiving and identifying a first dairy animal at a milking station (2), milking said dairy animal, receiving the milked milk in a milking glass (7), and pumping away the milk out of the milking glass in an emptying action until there is still a first residual quantity of milk in the milking glass. It subsequently comprises determining the identity of the next dairy animal to be milked, and if this dairy animal to be milked meets a predetermined condition, prior to milking of this next dairy animal, carrying out an additional pumping action on the milking glass by means of the milk pump (9). The additional emptying of the milking glass under certain conditions makes it possible for the subsequent milk yield to be received in a much purer form. And because it happens only in this circumstance, the milk pump will not always be drawing in too much air. The invention also provides a milking device and a milking system configured to carry out the method.

Description

[0001] Milking method, and milking device and system for carrying out the method

[0002] The present invention relates to a method for milking dairy animals, by means of a milking device, in particular a robotic milking device.

[0003] The milking device in this case comprises a milking station for receiving a dairy animal, with an identification device for identifying the dairy animal at the milking station, and milking means for milking the dairy animal, a milking glass, connected to the milking means via a milking hose, for receiving the milk of the dairy animal, a milk measuring device for determining the quantity of milk in the milking glass, a milk tank, connected to the milking glass via a milking line, for receiving the milked milk therefrom and storing it, a milk pump device which is configured to pump away the milk from the milking glass via the milking line to the milk tank, and a control device for controlling the milking device. The method comprises receiving and identifying a first dairy animal at the milking station, if the dairy animal has to be milked, milking said dairy animal by means of the milking means, receiving the milked milk in the milking glass and determining the quantity thereof by means of the milk measuring device, pumping away the milk out of the milking glass via the milking line to the milk tank in an emptying action by means of the milk pump device until there is still a first residual quantity of milk in the milking glass.

[0004] Such a method is generally known in the case specifically, but not exclusively, of robotic milking devices. Robotic milking devices, such as Astronaut® from Lely Industries, receive the milked milk yield in a milking glass, or a container for temporary storage of the milk from one milking operation. After completion of the milking operation, the milking glass is emptied to a first residual quantity of milk. However, this same principle can also be applied in conventional milking devices, in which the milking cups are manually attached to the teats.

[0005] In practice, the quality of determined milking operations does not appear to be optimal, in the sense that the properties as measured on the milk pumped out of the milking glass do not correspond to the actual values of the milk of the dairy animal.

[0006] It is an object of the present invention to improve the method in such a way that the properties of the milk from the milking glass better correspond to the actual properties of the milk of the dairy animal.

[0007] The invention achieves this object by means of a method according to claim 1 , in particular a method for milking dairy animals, by means of a milking device, in particular a robotic milking device, which comprises a milking station for receiving a dairy animal, and provided with an identification device for identifying the dairy animal at the milking station, milking means for milking the dairy animal, a milking glass, connected to the milking means via a milking hose, for receiving the milk of the dairy animal, a milk tank, connected to the milking glass via a milking line, for receiving the milked milk therefrom and storing it, a milk pump device which is configured to pump away the milk from the milking glass via the milking line to the milk tank, and a control device for controlling the milking device. The method comprises receiving and identifying a first dairy animal at the milking station, if the dairy animal has to be milked, milking said dairy animal by means of the milking means, receiving the milked milk in the milking glass, pumping away the milk out of the milking glass via the milking line to the milk tank in an emptying action by means of the milk pump device until there is still a first residual quantity of milk in the milking glass, and also the steps of determining the identity of the next dairy animal to be milked, and, if, and preferably only if, said next dairy animal to be milked meets a predetermined condition, after the emptying action and prior to milking of said next dairy animal to be milked, carrying out an additional pumping action on the milking glass by means of the milk pump.

[0008] The invention is based on the following idea. Pumping milk out of the milking glass down to the first residual quantity is intended to keep the path to the milk pump / milking line closed, and to prevent the milking glass from becoming "dry". Not only does such a dry state often result in the milk pump drawing in extra air in a subsequent pumping action, which can undesirably degrade the milk quality and also lengthen the pumping-away time, but accumulation or acidification of left-behind milk residues in the milking glass can also occur sooner. For these reasons, a residual quantity of for example 1 to 1 .5 litres or kilograms of milk preferably remain after the emptying action. However, this causes a carryover effect between the milk of successive milking operations, the new milk being mixed with the first residual quantity of milk from the previous dairy animal. In the case of successive milking operations for drinking milk, this makes no difference, but carryover is not always desired. After all, measurements performed on the milk of a dairy animal can thus be distorted by the milk of the previous dairy animal. It is of course possible to make the first residual quantity smaller and smaller, as a result of which the carryover effect also decreases, but this leads, as mentioned, to problems with pumping, resulting in a decrease in the capacity of the milking device, and problems with acidification and the like of milk residues. The invention now provides for additional pumping to nevertheless be carried out and thus these problems to be accepted for the cases where it is necessary, in other words those cases where the predetermined condition is met. Since some problems can thus arise in the case of additional pumping, it is preferable for additional pumping to be carried out only if the predetermined condition is met. These problems are thus minimized.

[0009] In the present invention, the milk tank is a container for storing drinking milk. This container may be a stationary cooling tank for storing the milk from many milking operations, having a content of for example 5000 litres. It may also be a tank on a tanker, such as in the case of companies which are so large that they actually continuously fill a tank of a tanker instead of a stationary tank. Additionally, there may also be more containers which function as a tank, such as collection vessels for milk which is not suitable for human consumption. Examples are milk containing antibiotic residues, milk affected by mastitis, and specifically also beestings. Even a small sample bottle can, with some degree of leniency, be considered a small milk tank.

[0010] Particular embodiments of the invention are described in the dependent claims and in the following part of the description introduction. Herein, reference is often made, by way of example, to the cow as dairy animal, to the calf as offspring and to beestings for the colostrum. However, in all cases the generalization "dairy animal", "offspring of the dairy animal" and "colostrum" should be understood to be included.

[0011] In embodiments, the condition comprises that said next dairy animal to be milked produces beestings. Beestings is the first milk from a dairy animal after calving, and is rich in antibodies (immunoglobulins) of the mother and other bioactive substances, which can be absorbed for a short time by the calf. The content of bioactive substances correlates well with the Brix value of the milk, and is thus easy to measure with, for example, a refractometer, as is known per se. It is important for this beestings to be received in as undiluted a form as possible. After all, a calf can only drink a limited amount, thus if a portion of the drunk milk does not contain the desired antibodies, that is a loss. In addition, the yield of beestings, which is always produced at the start of lactation, is extremely limited, and this can sometimes amount to only a few litres per milking operation. Dilution with the first residual quantity is then highly undesirable. It is noted that, after such milking of colostrum, it may be advantageous for the milked colostrum to be pumped away after milking by means of an emptying action and also a (preferably subsequent) additional pumping action, in order to be able to collect as much colostrum as possible.

[0012] Alternatively or additionally, the condition comprises that the milk of said next dairy animal to be milked has to be sampled. It will be clear that dilution of the milk to be sampled with the first residual quantity of milk from a preceding milking operation is undesirable for obtaining reliable results from the sampling. For example, the control means takes data relating to said determined identity of the dairy animal as a basis to decide whether to carry out the additional pumping action. Such data are, for example, "number of days in lactation < 2 days" (or a different number) or even specifically "beestings yes / no", or comparable information. If the dairy animal meets the criteria, the control means will cause the additional pumping action to be carried out. The data may also comprise a status "sampling yes / no". If the milk of a cow has to be sampled, the additional pumping action will in that case be carried out prior to the milking operation. It is noted that the invention differs from the situation in which, in successive milking operations, each dairy animal is sampled. In this case, a setting of the milking device can be changed, such that pumping away is also carried out in each milking operation. Such a situation is manually initiated by the operator, and ended after all the animals have been sampled. However, this is separate from sampling an individual dairy animal, for example in order to monitor the ovulation cycle or clinical picture. After all, in this case, sampling has to be performed on a fairly randomly appearing dairy animal as the only one, at least probably different from the dairy animals directly before and after that dairy animal. Specifically, in the case of voluntary (robotic) milking devices, there is rarely or never a person who then switches the setting. This will then have to be determined by the control means, and not by an operator.

[0013] In embodiments, the additional pumping action comprises pumping away at least a portion of said first residual quantity of milk. In particular, it comprises pumping away for a predetermined extra pumping time, such as "5 seconds more". Alternatively, it comprises additional pumping away until there is still only a smaller second residual quantity of milk in the milking class. This second residual quantity is for example 0.5 kg / litre, or 0.2 litre / kg, or any other value. It is true here that a lower value will lead to better, more valuable results, but probably also to more air inclusion and the like. Those skilled in the art will strike the right balance in practice.

[0014] In examples, the milking device comprises a measuring device for measuring a quantity of milk in the milking glass, and the method comprises determining the quantity of milk in the milking glass by means of the milk measuring device. By means of the measurement data from the milk measuring device, the control means can then actuate the milk pump, both in order to stop if there is still only the first residual quantity of milk in the milking glass, and to control the additional pumping action. Such a measuring device is in itself customary, but is not necessary for the invention. For example, a float switch may be used which provides a signal when the first residual quantity is reached, and possibly a second float switch when the second residual quantity is reached.

[0015] The timing of the additional pumping action is not subjected to any particular limitation. For example, the additional pumping action uninterruptedly follows said emptying action. This may for example be the case if the next dairy animal is identified as "to be milked" and "meets the predetermined condition", while the emptying action for the milk from the preceding milking operation has not yet been completed. In such a case, the control means, by providing the instruction to carry out the additional pumping action, can ensure that this seamlessly follows this emptying action. It is also possible for the additional pumping action to start after the emptying action has already ended. After all, all that is necessary is to restart the milk pump.

[0016] If the milking device is part of a larger system, comprising one or more other milking devices which pump their milk to the milk tank via the same milking line, the additional pumping action may not always be directly correctly carried out. After all, it may be that at the moment that the additional pumping action is desired, the milk pump of another milking device is already carrying out the associated emptying action, and then provides too much resistance in the milking line. In that case, it is a possibility that the milk pump waits a while before carrying out the additional pumping action. This can of course be only a limited time, such as at most 5 or 10 seconds, because otherwise the pretreatment and / or the milking of the new dairy animal does not take place correctly. Moreover, it is also possible that two, or sometimes even more, milk pumps can pump away their milk at the same time. Immediate starting is then of course hardly ever a problem.

[0017] As an alternative, in the additional pumping action, the portion to be pumped away of the first residual quantity may be pumped to a collection vessel other than the milk tank, or to a sewer system. This is always possible, but can generate a loss of usable milk. Advantageously, the method comprises, in the case that the milking device is part of a milking system comprising at least one similar additional milking device, whereby the milk is pumped away by an associated additional milk pump also via said milking line to the milk tank, pausing the pumping-away operation by the additional milk pump, carrying out the additional pumping action by means of said milk pump, and restarting the pumping-away operation by the additional milk pump. In other words, the other milk pump(s) is (are) then paused in order to allow the first-mentioned milk pump to carry out the additional pumping action. Since, however, this will last only a short time, at least in most cases, it does not form a major hindrance for the emptying actions by this (these) additional other milk pump(s). In another aspect, the invention relates to a milking device according to claim 7, in particular a milking device, more particularly a robotic milking device, which comprises a milking station for receiving a dairy animal, and provided with an identification device for identifying the dairy animal at the milking station, milking means for milking the dairy animal, a milking glass, connected to the milking means via a milking hose, for receiving the milk of the dairy animal, a milk measuring device for determining the quantity of milk in the milking glass, a milk tank, connected to the milking glass via a milking line, for receiving the milked milk therefrom and storing it, a milk pump device which is configured to pump away the milk from the milking glass via the milking line to the milk tank, a control device for controlling the milking device, wherein the milking device is configured to carry out the method according to the invention. Such a milking device which is configured to carry out the method according to the present invention will generally have the same advantages as those of the associated method, which advantages will therefore not be repeated unnecessarily here. In particular, however, it is noted here that the milking device advantageously comprises a measuring device which is configured to determine the quantity of milk in the milking glass, and that the control means is configured to control the milk pump on the basis of the measured quantity of milk. Such a milk meter is nevertheless often already present in order to be able to determine the milk yield per dairy animal. The milk meter may then also be used to determine the first and possibly second residual quantity of milk in the milking glass. The milk meter may be a weight meter for the milking glass, but also a separate flow meter in the milking line, etc.

[0018] In yet another aspect, the invention relates to a milking system comprising at least one milking device according to the invention, and at least one similar additional milking device, with an associated additional milk pump which is configured to pump away the milk, that is to say the milk milked by this additional milking device, also via said milking line to the milk tank, which milking system is configured to carry out the method according to the invention. This is the system equivalent of the last above-described embodiment of the method, and the milking system therefore has the same details and examples.

[0019] The invention will be explained in more detail below on the basis of some non-limiting exemplary embodiments and the drawing. In the drawing:

[0020] Figure 1 shows a schematic view of a milking device according to the invention;

[0021] Figure 2 shows a schematic view of a milking system according to the invention; and

[0022] Figure 3 shows a schematic flow diagram of the method according to the invention.

[0023] Figure 1 shows a schematic view of a milking device 1 according to the invention. The milking device 1 comprises a milking station 2, a milking robot 3 with a robot arm 4, and a milking cup 5 with a milking hose 6 leading to a milking glass 7. From there, a first part 8 of the milking line runs via a milk pump 9 and a second part 10 of the milking line to a milk tank 11 . A milk meter is denoted by 12. A three-way valve 13 has a branch 14 to a collection vessel 15. A control means is denoted by 16 and an identification device by 17. A first dairy animal 20-1 has teats 21 , and wears a collar 22 with an ID tag 23-1 . Furthermore, 20-2 is a second dairy animal with an ID tag 23-2.

[0024] The entire milking device 1 is under the control of the control means 16. This is also operatively connected to the identification device 17. This is configured to identify the dairy animal 20-1 at the milking station 2. To this end, the identification device 17 comprises, for example, a tag reader for reading an ID tag 23-1 which cow 20-1 bears on a collar 22. Of course, other identification devices are also possible, such as by means of camera recognition.

[0025] The shown milking device 1 in this case comprises a milking robot 3 for automatically connecting the milking cup 5 to a teat 21 of the dairy animal 20-1 . It is not necessary for the milking device to comprise a milking robot, but in the present invention the milked milk must not be discharged directly into a milking line, but must first be received in a milking glass 7.

[0026] The shown milking robot 3 is illustrated only in a rudimentary form, in this case with a robot arm 4 with a gripper. Alternatively, the milking robot may also comprise a robot arm to which all the milking cups 5 are detachably attached. Other details such as a teat recognition device and vacuum pump are not important for the invention and are therefore not shown in any more detail here. Those skilled in the art can supplement these details without problems.

[0027] In this case, only one milking cup 5 is shown. In practice, the number of milking cups 5 per milking device 1 will be equal to the normal number of teats 21 of the dairy animals 20 to be milked. These dairy animals are, for example, cows with four teats, or goats with two teats. However, other dairy animals such as buffaloes are not ruled out. The milking station 2 is generally illustrated as a stationary milking stall, but may also be a station in a rotary parlour.

[0028] After the milking robot 3, or in the case of a conventional milking device a person, has attached the milking cup 5 to a teat 21 , the milking device 1 will extract milk from the teat, which milk is discharged via the milking hose 6 to the milking glass 7. The milking glass 7 is any container for the temporary storage, during the milking operation, of the milked milk yield. After completion of the milking operation, the milk yield can be pumped out of the milking glass 7 by the milk pump 9, via the first part 8 and the second part 10 of the milking line, to the milk tank 1 1 in order to be stored cooled therein until it is collected by the milk processor. Alternatively, the milk is processed at the livestock farm itself, and therefore does not have to be cooled directly, or the milk is pumped directly to a tanker of the milk processor, these tankers being able to be considered the milk tank 11.

[0029] It is moreover also possible that the milked milk is not intended for human consumption, for example beestings, milk containing antibiotic residues or milk from sick animals. This can, as is known per se, be discharged via the three-way valve 13, alternatively a multi-way valve, and via the branch 14 to a collection vessel 15, or even to a sewer system (not shown here). The collection vessel 15 can then be considered an additional tank.

[0030] As outlined above, after completion of the operation for milking the dairy animal 20-1 , the milk pump 9 pumps away the milked milk out of the milking glass 7, at least down to a first residual quantity of for example 1 to 1 .5 litres. This residual quantity is, for example, determined by means of the milk meter 12, which measures the weight of the milking glass 7 with the milk present therein. Such a first residual quantity serves, for example, to prevent the milk pump 9 from drawing in (too much) air, which would be unfavourable for both the milk quality and the efficiency of the milk pump. The milk pump is in this case advantageously a rotodynamic pump, such as a centrifugal pump.

[0031] In some cases, it is unfavourable for a not insignificant first residual quantity of milk to remain in the milking glass 7. This is because it will be mixed with the milk from the subsequent milking operation. For example, if the subsequent milking operation yields beestings, mixing is unfavourable because what is known as the Brix value of the milk received as "beestings" will then decrease. After all, the total beestings yield is still small at the start of lactation, and the first residual quantity will thus be relatively large with respect to the yield of actual beestings. If the milk of the next animal to be milked has to be sampled, it is also unfavourable if this milk is mixed with a relatively large first residual quantity. Yet other conditions are not ruled out.

[0032] In order to counteract this undesired mixing, the milk in the milking glass 7 according to the invention is also pumped out in a subsequent pumping action, but only if this is favourable for the next milking operation. This is, for example, determined by the control means 16 on the basis of the identification of the next dairy animal 20-2 that enters the milking station 2, here again by means of the identification device 17 and now the ID tag 23-2. It is noted that in this case any dairy animals that are not to be milked, which should exit the milking station 2 again unmilked, are ignored. If the next dairy animal 20- 2 to be milked meets a predetermined condition according to information in the control means 16, such as being a beestings-producing cow or a cow to be sampled, the control means will command the additional pumping action. In this case, the milk pump 9 pumps out the milk in the milking glass 7 down to a lower level than the first residual quantity, for example down to a lower second residual quantity, or for an additional period of time, etc. All this will be explained in more detail with Figures 2 and 3.

[0033] Figure 2 schematically shows a milking system 30 according to the invention. The milking system 30 comprises a plurality of milking devices 1 '-1 , 1 '-2, 1 '-3. In this case, three are depicted, but this can be any other number. In the depicted case, each milking device T has a milking station 2' and its own associated milk pump 9'. All the milking devices T depicted discharge the milk via a common milking line 10' to the milk tank 1 T. It is noted that not all of the milking devices T have to be identical. For example, it is possible for only one milking device or another subset of milking devices to milk dairy animals which meet one or more predetermined conditions. In that case, only the one milking device, or each milking device in this subset, has to be embodied according to the invention.

[0034] Regardless of the embodiment of the milking devices T, these all have a milk pump 9'. For example, the second milking device 1'-2 has completed a milking operation, the milk in the milking glass has already been pumped out down to the first residual quantity, and the control means (not shown in any more detail here) determines that the next dairy animal to be milked meets the predetermined condition. The associated milk pump 9'-2 then has to carry out the additional pumping action. This can always be to a sewer system, but that is of course undesirable in the case of good milk. Preferably, in the additional pumping action, the good milk is also pumped to the milk tank. However, this is not always favourable or even possible. For example, if at that moment another milk pump 9' (or possibly a plurality thereof) is performing pumping, the milk pump 9'-2 could experience a lot of (too much) counterpressure, with the result that if the additional pumping action were to already be effected, it would take a relatively long time.

[0035] In order to overcome this problem, according to one embodiment, the pumping of this (these) other milk pump(s) is interrupted, and the additional pumping action of milk pump 9'-2 is then carried out. After the additional pumping action has been completed, the pumping away by the other milk pump(s) can then be restarted again. Not only does this have the advantage of pumping away without counterpressure, but the intrinsically good (residual) milk can also be pumped to the milk tank instead of to the sewer system or the like. Moreover, the additional pumping action usually lasts only for a short time, because after all it concerns only a small quantity of milk, such that the interruption does not lead to major problems in the other milking devices. The additional pumping action also means no excessive waiting time in the case of a dairy animal to be milked instantaneously. In addition, it does not often happen, except in the case of the very large milking systems, that an additional pumping action has to be carried out and at that moment another milk pump is pumping away milk.

[0036] Moreover, it is not necessary to pump the milk to the milk tank 1 T in the additional pumping action. Alternatively, this milk may, as mentioned, also be pumped to the sewer system, for a maximum total capacity of the milking system 30. It is also possible to pump the milk to a collection vessel such as collection vessel 15 in Figure 1 .

[0037] Figure 3 schematically shows a flow diagram of the method according to the invention. Here, step 100 is a step of milking a dairy animal and receiving the milk in the milking glass. Step 110 is the pumping of milk out of the milking glass down to a first residual quantity. Step 120 is the identifying of a next dairy animal as a dairy animal to be milked. It is noted that any intermediate instances of identifying dairy animals that are not to be milked are ignored / not displayed.

[0038] In step 130, the control means checks whether the next dairy animal to be milked meets a predetermined condition. If it does not, the method returns to step 100, thus milking of that next dairy animal. If it does, the method proceeds in step 140 with carrying out an additional pumping action, after which the method can also return to step 100, with milking of the next dairy animal.

[0039] The examples given above are not intended to be limiting, but rather merely given for clarification of the invention. The scope of protection of the invention is defined by the attached claims.

Claims

CLAIMS1 . Method for milking dairy animals, by means of a milking device, in particular a robotic milking device, which comprises a milking station for receiving a dairy animal, and provided with an identification device for identifying the dairy animal at the milking station, milking means for milking the dairy animal, a milking glass, connected to the milking means via a milking hose, for receiving the milk of the dairy animal, a milk tank, connected to the milking glass via a milking line, for receiving the milked milk therefrom and storing it, a milk pump device which is configured to pump away the milk from the milking glass via the milking line to the milk tank, a control device for controlling the milking device, wherein the method comprises receiving and identifying a first dairy animal at the milking station, if the dairy animal has to be milked, milking said dairy animal by means of the milking means, receiving the milked milk in the milking glass, pumping away the milk out of the milking glass via the milking line to the milk tank in an emptying action by means of the milk pump device until there is still a first residual quantity of milk in the milking glass, characterized in that the method further comprises the steps of determining the identity of the next dairy animal to be milked, if, and preferably only if, said next dairy animal to be milked meets a predetermined condition, after the emptying action and prior to milking of said next dairy animal to be milked, carrying out an additional pumping action on the milking glass by means of the milk pump.

2. Method according to claim 1 , wherein the condition comprises that said next dairy animal to be milked produces beestings.

3. Method according to one of the preceding claims, wherein the condition comprises that the milk of said next dairy animal to be milked has to be sampled.

4. Method according to one of the preceding claims, wherein the additional pumping action comprises pumping away at least a portion of said first residual quantity of milk, in particular for a predetermined extra pumping time or until there is still only asmaller second residual quantity of milk in the milking glass.

5. Method according to one of the preceding claims, wherein the additional pumping action uninterruptedly follows said emptying action.

6. Method according to one of the preceding claims, wherein the milking device is part of a milking system comprising at least one similar additional milking device, whereby the milk is pumped away by an associated additional milk pump also via said milking line to the milk tank, wherein the method comprises pausing the pumping-away operation by the additional milk pump, carrying out the additional pumping action by means of said milk pump, and restarting the pumping-away operation by the additional milk pump.

7. Milking device, in particular a robotic milking device, which comprises a milking station for receiving a dairy animal, and provided with an identification device for identifying the dairy animal at the milking station, milking means for milking the dairy animal, a milking glass, connected to the milking means via a milking hose, for receiving the milk of the dairy animal, a milk tank, connected to the milking glass via a milking line, for receiving the milked milk therefrom and storing it, a milk pump device which is configured to pump away the milk from the milking glass via the milking line to the milk tank, a control device for controlling the milking device, wherein the milking device is configured to carry out the method according to one of claims 1 -5.

8. Milking system comprising at least one milking device according to claim 7, and at least one similar additional milking device, with an associated additional milk pump which is configured to pump away the milk also via said milking line to the milk tank, which milking system is configured to carry out the method according to claim 6.

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