The present invention relates generally to automatic milking of dairy animals. More particularly the invention relates to a control unit for a milking system and method of controlling a milking system. The invention also relates to a computer program and a non-volatile data carrier.
As new and more advanced milking equipments are developed, the milking process has become almost completely automated. For efficiency and animal-health reasons, it is important that the milk extraction be optimally controlled throughout a milking session. Due to the wide variety in milk flow characteristics between different animals, and for a particular animal between different milking occasions, it is a far from trivial task to control the milking machine in adequate manner.
There are known solutions for controlling a milking machine based on the flow of extracted milk as a function of time. For example, DE 36 09 275 A1 describes a milk removal method, wherein the flow of milk is detected in at least one teat, and based thereon; a milk-flow profile is derived. The milk-flow profile indicates a temporal dependence of the quantity of milk obtained within individual pulsation cycles. This, in turn, serves as a basis for a vacuum application parameter for a following milking operation.
U.S. Pat. No. 5,090,359 shows a milking apparatus that includes a teatcup with a liner and means for subjecting the interior of the liner to a pressure, which is lower than atmospheric pressure. There are also means for subjecting the pulsation chamber formed between the teat cup and the liner to a pulsating pressure varying between a low pressure and a high pressure. The high pressure is higher than the pressure in the interior of the liner. Further, means are provided for controlling the respective pressures in the liner and the pulsation chamber. A flow-sensing member senses the flow of the milk, which during milking increases to a main flow, then amounts to the main flow, and diminishes from the main flow in a terminating phase of milking. The pressure control means is adapted to control the various pressures in response to the flow sensing member sensing during the terminating milking phase that the milk flow has diminished to a predetermined portion of the main flow, such that the low pressure in the pulsation chamber is higher than the pressure in the liner, at least during a part of the terminating milking phase.
It has been shown, however, that none of the known solutions provides a fully satisfying milking with respect to efficiency and responsiveness to the animals' milk generating process.
The object of the present invention is therefore to offer a solution for controlling a milking machine, which is both animal friendly and more efficient in terms of milk yield per unit time.
According to one aspect of the invention, the object is achieved by a control unit for controlling an automatic milking machine to extract milk from the teats of an animal during a milking session by applying a milking vacuum to a respective teat-receiving cavity each in which one of the teats is located. The milking session comprises a boost phase, and the milking session is concluded by an exit phase. The control unit is configured to cause the automatic milking machine to apply the milking vacuum at an elevated pressure level during the boost phase. During the exit phase, the control unit is configured to cause the automatic milking machine to apply the milking vacuum at one or more levels, which each is lower than the elevated pressure level.
The elevated pressure level during the boost phase is in the range of 48 to 55 kPa, preferably in the range of 50 to 52 kPa.
Specifically, the control unit is configured to cause the automatic milking machine to transition from the boost phase to the exit phase when a temporal criterion is fulfilled.
This control unit is advantageous because determining the extension of the boost phase based on a temporal criterion enables application of the milking vacuum at a higher pressure level than for example a real-time milk-flow based control does, say 48 to 55 kPa as opposed to 42 kPa. Typically, however, according to the invention, the elevated pressure level is applied for a shorter period of time than the extension of a typical main flow phase of the prior-art solutions; say for 50 to 100 seconds instead of around 250 seconds.
According to one embodiment of this aspect of the invention, the control unit has a processing unit that is configured to calculate a condition for fulfilling the temporal criterion based on one or more previous milking sessions. For example, the condition for fulfilling the temporal criterion may be derived from a set of milk flow profiles of a livestock to which the animal belongs. Alternatively or additionally, the temporal criterion may be based on one or more milk flow profiles for the specific animal that have been registered during previous milking sessions for the animal in question. In both cases, a highly suitable point in time can thereby be identified for transitioning to the exiting phase.
Consequently, according to one embodiment of this aspect of the invention, the control unit is configured to control registering of data reflecting at least one milk flow as a function of time during the milking session. The registered data represent either a respective individual milk flow profile of each of the animal's teats, or an overall milk flow profile of the animal's udder. The control unit is configured to store the registered data in a memory unit. Consequently, a solid base is built up for the control of future milking sessions.
Preferably, the control unit is communicatively connected to a memory unit. The processing unit is configured to retrieve, from the memory unit, data reflecting respective individual milk flow profiles of each of the animal's teats. The data have been registered during at least one previous milking session, and each of the individual milk flow profiles represents a respective milk flow as a function of time. The processing unit is further configured to calculate the condition for fulfilling the temporal criterion based on said individual milk flow profiles. This allows the transition time to be determined very accurately.
As an alternative, the processing unit is configured to retrieve, from the memory unit, data reflecting an overall milk flow profile from the animal's udder, which data have been registered during at least one previous milking session. The overall milk flow profile represents a combined milk flow from all the animal's teats as a function of time. The processing unit is further configured to calculate the condition for fulfilling the temporal criterion based on said overall milk flow profile. This renders the data collection relatively straightforward. The transition time may also be determined with good accuracy.
According to another embodiment of this aspect of the invention, the processing unit is configured to calculate the temporal criterion such that this criterion is fulfilled when a particular fraction, e.g. 50%, of an expected total milk yield has been extracted since the milking session was initiated. Hence, the criterion for transitioning to the exit phase becomes stable and reliable.
Alternatively, the processing unit is configured to calculate the temporal criterion such that this criterion is fulfilled when a period of time has elapsed since an estimated incline stage in the milk flow occurred. The estimated incline stage in the milk flow, in turn, is derived by the processing unit based on data registered during at least one previous milking session. The registered data describe at least one milk flow profile representing a milk flow as a function of time. Thus, another reliable temporal criterion for transitioning to the exit phase is obtained.
According to still another embodiment of this aspect of the invention, the control unit is configured to control the automatic milking machine to perform at least one action for stimulating the production of Oxytocin in the animal during initiating phase proceeding the boost phase. Preferably, said stimulation involves causing some kind of tactile stimuli by: applying the milking vacuum at an initial level while the teats are located in the teat receiving cavities, which initial level is lower than the elevated pressure level; subjecting the teats to a cleaning procedure and/or scrubbing the teats with at least one brush.
According to embodiments of this aspect of the invention, the control unit is configured to control the milking machine to either apply the milking vacuum at one fixed level throughout the entire exit phase, or adjust the level of the milking vacuum in response to at least one measured milk flow.
According to another embodiment of this aspect of the invention, the control unit is configured to control the automatic milking machine to stop the milking session in response to fulfillment of an end criterion during the exit phase.
According to another aspect of the invention, the object is achieved by a method implemented in a control unit for controlling an automatic milking machine to extract milk from the teats of an animal during a milking session by applying a milking vacuum to a respective teat receiving cavity in which each one of the teats is located. The milking session contains an initiating phase, which is followed by a boost phase and concluded by an exit phase. The method involves applying the milking vacuum at an elevated pressure level during the boost phase. Then, during the exit phase, the milking vacuum is applied at one or more levels, which each is lower than the elevated pressure level. The procedure transitions from the boost phase to the exit phase when a temporal criterion is fulfilled. The advantages of this method, as well as the preferred embodiments thereof, are apparent from the discussion above with reference to the control unit.
According to a further 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 includes software for executing the above method when the program is run on the processing unit.
According to another aspect of the invention, the object is achieved by a non-volatile data carrier containing the above computer program.
Further advantages, beneficial features and applications of the present invention will be apparent from the following description and the dependent claims.
The invention is now to be explained more closely by means of preferred embodiments, which are disclosed as examples, and with reference to the attached drawings.
According to one embodiment of the invention, the control unit 150 is configured to control registering of data D1, which reflect the milk flow F as a function of time t during a milking session TM.
According to the invention, the control unit 150 generally controls an automatic milking machine to extract milk from the teats of an animal during a milking session by applying a milking vacuum P to extract milk via the teat receiving cavities 111, 112, 113 and 114 respectively each in which one of the animal's teats is located. In
Referring now to
The control unit 150 is specifically configured to cause the automatic milking machine to apply the milking vacuum P at an elevated pressure level PB during the boost phase TBOOST. This is illustrated in
During the exit phase TEXIT, the control unit 150 is configured to apply the milking vacuum P at one or more levels, here exemplified by PX or PX1 and PX2 respectively, which each is lower than the elevated pressure level PB. The control unit 150 is specifically configured to cause the automatic milking machine to transition from the boost phase TBOOST to the exit phase TEXIT when a temporal criterion is fulfilled.
For illustration purposes, the example represented in
If the milking session TM includes the initiating phase TINIT, the operation of the milking machine preferably involves transitioning from the initiating phase TINIT to the boost phase TBOOST at the expiry of a time period TI since the milking session TM started, say 30 to 60 seconds later. Alternatively, the initiating phase TINIT may transition into the boost phase TBOOST at in response to registering a milk flow F above a threshold level FTH, i.e. an indicator of that the alveoli milk production is in progress.
The horizontal axis of the diagram in
Preferably, the control unit 150 contains a processing unit 155 in order to calculate a condition for fulfilling the temporal criterion. The condition is calculated based on one or more previous milking sessions TM.
To enable such calculations, according to one embodiment of the invention, the control unit 150 is communicatively connected to a memory unit 160. The processing unit 155 is further configured to retrieve data D1 from the memory unit 160, which data D1 reflect an overall milk flow profile from the animal's udder 105, and which data D1 have been registered during at least one previous milking session TM. The overall milk flow profile represents a combined milk flow F from all the animal's teats as a function of time t, i.e. milk-flow measurements that have registered in a setup illustrated in
Referring now to
Depending on whether the retrieved data D1 or D2 reflect an overall milk flow profile or respective individual milk flow profiles of each of the animal's teats, the processing unit 155 is configured to either calculate the condition for fulfilling the temporal criterion based on the overall milk flow profile or the individual milk flow profiles. In any case, in the light of the historic data provided by the at least one previously registered milk flow profile, the processing unit 155 sets a point in time t2 when the boost phase TBOOST shall transition into the exit phase TEXIT. For example, this may occur a time TB after a point in time t1 when the boost phase TBOOST began. Alternatively, the boost phase TBOOST may transition into the exit phase TEXIT a period of time TP has elapsed since t′1 an estimated incline stage in the milk flow F occurred. In other words, the temporal criterion is calculated such that the temporal criterion is fulfilled when the period of time TP has elapsed since the point in time t′1. The processing unit 155 is configured to derive the estimated incline stage in the milk flow F based on data D1 or D2 respectively registered during at least one previous milking session TM.
As yet another alternative, the processing unit 150 may be configured to calculate the temporal criterion such that the temporal criterion is fulfilled when a particular fraction of an expected total milk yield has been extracted since the milking session TM was initiated t0. In this case, the expected total milk yield is also estimated based on one or more milk flow profiles registered during at least one previous milking session. At a point in time t2 when 50% of the expected total milk yield have been extracted may be appropriate to end the boost phase TBOOST. However, according to the invention, any other fraction is equally well conceivable as a set point for the temporal criterion.
Irrespective of on which basis the temporal criterion is set, the boost phase TBOOST, according to embodiments of the invention, the boost phase TBOOST ideally has an extension in time TB of around 50 to 100 seconds.
As mentioned above, and as is apparent from
Oxytocin is a peptide hormone and neuropeptide, which is released into the bloodstream in response to inter alia tactile stimulation of the teats. Among other things Oxytocin assists in instigating the lactation process. Therefore, the control unit 150 is preferably configured to control the automatic milking machine to apply the milking vacuum P at an initial pressure level Pi while the teats are located in the teat receiving cavities 111, 112, 113 and 114 respectively. Namely, this results in tactile stimulation of the teats. The initial pressure level Pi is relatively low, and clearly lower than the elevated pressure level PB.
Alternatively, or additionally, the control unit 150 is configured to control the automatic milking machine to subject the teats to a cleaning procedure. Preferably, the cleaning procedure is effected by supplying cleaning and rinsing fluids to the teat receiving cavities 111, 112, 113 and 114. However, according to one embodiment of the invention, the control unit 150 is configured to control the cleaning procedure such that at least one dedicated cleaning cup is used which is different from the teat receiving cavities 111, 112, 113 and 114 used for extracting milk from the teats.
Alternatively, or additionally, the control unit 150 is configured to control the automatic milking machine to scrub the animal's teats with one or more brushes to accomplish the desired tactile stimulation.
The control unit 150 is preferably configured to control the milking machine throughout the entire milking session TM. According to one embodiment of the invention, this means that, during the exit phase TEXIT, the control unit 150 controls the milking machine to apply the milking vacuum P at one fixed level PX throughout the exit phase TEXIT. Alternatively, the control unit 150 controls the milking machine to adjust the level of the milking vacuum P during the exit phase TEXIT in response to at least one measured milk flow, for example F and Fa, Fb, Fc, and Fd respectively in
Preferably, the control unit 150 is further configured to control the automatic milking machine throughout the exit phase TEXIT, and thus cause the milking session TM to stop in response to fulfillment of an end criterion.
It is generally advantageous if the above-described control unit 150 is configured to effect the above-mentioned procedure in an automatic manner by executing a computer program 157. Therefore, the control unit 150 may include a memory unit, i.e. nonvolatile data carrier 153, storing the computer program 157, which, in turn, contains software for making processing circuitry in the form of at least one processor in the control unit 150 execute the above-described actions when the computer program 157 is run on the at least one processor.
In order to sum up, and with reference to the flow diagram in
In a first step 610, it is checked if the milk flow profile from at least one previous milking session is available; and if so, a step 620 follows. Otherwise, the procedure loops back and stays in step 610.
In step 620 a temporal criterion is calculated, which temporal criterion determines when the operation of the milking machine shall transition from the boost phase to the exit phase. Thereafter, the milking session starts, either in a step 630, which is optional; or in a step 640. Step 630 involves executing an initiating phase to stimulate the production of Oxytocin in the animal to be milked.
The boost phase follows in a step 640, either directly after step 620, or after step 630. Here, the milking vacuum is applied at an elevated pressure level.
Subsequently, a step 650 checks if the temporal criterion is fulfilled. If so, a step 660 follows; and otherwise, the procedure loops back to step 640 for continued execution of the boost phase. In step 660, the exit phase is executed, and thereafter the procedure ends. During the exit phase, the milking vacuum is applied at one or more levels, which each is lower than the elevated pressure level.
All of the process steps, as well as any sub-sequence of steps, described with reference to
The term “comprises/comprising” when used in this specification is taken to specify the presence of stated features, integers, steps or components. However, the term does not preclude the presence or addition of one or more additional features, integers, steps or components or groups thereof.
The invention is not restricted to the described embodiments in the figures, but may be varied freely within the scope of the claims.
Number | Date | Country | Kind |
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18193235.1 | Sep 2018 | EP | regional |
Filing Document | Filing Date | Country | Kind |
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PCT/EP2019/073479 | 9/3/2019 | WO | 00 |