U.S. patent application number 12/592157 was filed with the patent office on 2010-06-17 for method for operating a milking facility, in addition to corresponding milking facility.
Invention is credited to Frank Holscher, Peter Kaever, Karsten Schonrock.
Application Number | 20100147221 12/592157 |
Document ID | / |
Family ID | 7714173 |
Filed Date | 2010-06-17 |
United States Patent
Application |
20100147221 |
Kind Code |
A1 |
Holscher; Frank ; et
al. |
June 17, 2010 |
Method for operating a milking facility, in addition to
corresponding milking facility
Abstract
The invention relates to apparatus and methods for operating a
carousel milking facility comprising a plurality of milking
stations, which are arranged on a movable platform. Movement of the
platform is determined in relation to a reference point and the
position of at least one milking station can be calculated with a
position detection device.
Inventors: |
Holscher; Frank;
(Rheda-Wiedenbruck, DE) ; Schonrock; Karsten;
(Hagen, DE) ; Kaever; Peter; (Minden, DE) |
Correspondence
Address: |
SMITH LAW OFFICE
8000 EXCELSIOR DRIVE, SUITE 301
MADISON
WI
53717
US
|
Family ID: |
7714173 |
Appl. No.: |
12/592157 |
Filed: |
November 19, 2009 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10508204 |
Mar 29, 2005 |
7640888 |
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PCT/EP03/02936 |
Mar 20, 2003 |
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12592157 |
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Current U.S.
Class: |
119/14.02 ;
119/14.04; 119/14.08 |
Current CPC
Class: |
A01K 1/126 20130101 |
Class at
Publication: |
119/14.02 ;
119/14.08; 119/14.04 |
International
Class: |
A01J 5/007 20060101
A01J005/007; A01J 5/003 20060101 A01J005/003 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 22, 2002 |
DE |
102 12 676.3 |
Claims
1. A method for operating a milking facility with at least two
milking stations arranged on a movable platform, the method
comprising the steps of: moving the movable platform relative to a
reference point; and determining a change in the position of the
movable platform with the aid of an angle sensor.
2. The method according to claim 1, and further comprising the step
of: determining a position of at least one of the milking stations
with the angle sensor.
3. The method for operating a milking facility according to claim
1, and further comprising the step of: determining a velocity of
the movable platform.
4. The method for operating a milking facility according to claim
3, and further comprising the step of: altering the velocity of the
movable platform based on an operational situation in at least one
milking station.
5. A method for operating a milking facility with at least two
milking stations arranged on a movable platform, the method
comprising the steps of: moving the movable platform relative to a
reference point; and determining an angular change of position of
the movable platform with a position detection unit.
6. The method for operating a milking facility according to claim
5, wherein the position detection unit is of a type taken from a
group of sensors consisting essentially of: an angle sensor, an
absolute angle encoder, an incremental angle encoder, an angle
encoder, and a multi-turn shaft encoder.
7. The method for operating a milking facility according to claim
1, and further comprising the step of: transmitting data from the
angle sensor to a control unit.
8. The method for operating a milking facility according to claim
1, and further comprising the step of: determining whether an
animal is in a milking station.
9. The method for operating a milking facility according to claim
1, and further comprising the step of: identifying an animal in a
milking station.
10. The method for operating a milking facility according to claim
9, wherein the step of identifying an animal in a milking station
comprises the step of: identifying the animal in an access path
leading to the milking station.
11. A milking facility comprising: a plurality of milking stations,
arranged on a movable platform; and a position detection device for
detecting movement of the movable platform.
12. The milking facility according to claim 14, wherein the
position detection device is a central position detection
device.
13. The milking facility according to claim 14, wherein the
position detection device comprises: an angular sensor.
Description
FIELD AND BACKGROUND OF THE INVENTION
[0001] This application is a continuation of U.S. application Ser.
No. 10/508,204 filed Mar. 29, 2005, the disclosure of which is
incorporated by reference herein.
[0002] Although, the invention is described below with reference to
use in carousel milking facilities, it is pointed out that a
milking facility according to the invention can also be equipped
with other movable transport devices. The method according to the
invention can also be used in other milking facilities, for
example, in milking facilities in which the animals to be milked
are arranged on conveyor belts, for example, to be moved from the
entry to the exit.
[0003] Furthermore, the invention is suitable not only for use in
milking facilities for the milking of cows, but also for the
milking of other milk-producing animals, for example, mares,
donkeys, goats, sheep, camels, dromedaries, yaks, elk and
similar.
[0004] Carousel milking facilities are known for the milking of
animals, especially for the milking of cows. Such carousel milking
facilities can have a great variety of design. For example, a
carousel milking facility is known from DE 26 50 741 A1, which has
several milking stations arranged on a platform. This milking
facility is the so-called side-by-side carousel milking facility.
The animals are led radially inward to the milking stations. For
this purpose, a gate, which makes entry into the milking station
possible, is pulled up. After the cow enters the milking station,
the gate is lowered again. The platform with the individual milking
stations is moved further.
[0005] From DE 41 01 530 A1, another embodiment of the carousel
milking facility is known. This has a rotatable platform on which
several milking stations are arranged. In order to drive the
platform, which has a segmented design, a drive is provided which
is formed from one or several hydraulic motors and a hydraulic pump
driven by an electric motor.
[0006] In the course of automation of milking, as well as
monitoring the animals regarding their milk output and health, it
has become known that the animals can be provided with an animal
recognition unit. The animal recognition unit can contain a
multiplicity of information about the animals.
[0007] For safe assignment of the data obtained during a milking
process to a particular animal, it is necessary to note the milking
station on which the animal is located. The position recognition
can, for example, be realized by position responders. The position
responders are arranged on the milking stations of the
installation. A pass-by antenna locates the position responder when
it moves past it. The responder code of the position is transmitted
to a computer and assigned to the particular position.
[0008] Regarding the fact that the resolution is relatively low,
additional sensors were incorporated for detection at certain
critical points, for example, the sensors can be light sensors.
[0009] Such an arrangement of sensors at critical points is known
from EP 0 717 590 B1. These sensors form a part of a control and
drive device for a carousel milking facility. According to EP 0717
590 B1, a first control point is provided for monitoring the
position of the teat cup cluster. Looking at it in the direction of
rotation, a second control point is arranged after the first
control point. The speed of the platform is adjusted with the
control and guide device in such a way that, at the first control
point, the majority of teat cup clusters has not been pulled down
yet and that at the second control point, the majority of teat cup
clusters has been pulled down.
[0010] A problem in the known carousel milking facilities is that
the position determination of the individual milking stations can
be done only insufficiently during the operation of a carousel
milking facility or it can be done with a very high technical
expenditure.
SUMMARY OF THE INVENTION
[0011] With this starting point, the present invention is based on
the goal to provide a method for the operation of a milking
facility as well as to provide a milking facility, through which or
a (relatively accurate) determination of the position of the
platform during the operation of the milking facility becomes
possible. Preferably the expenditure for technical aspects and
apparatuses for the determination of the position of a milking
parlor should be reduced.
[0012] The method for the operation of a milking facility with at
least one, preferably with at least two or even with a multiplicity
of milking stations, which are arranged on a movable (for example,
rotatable) platform, is characterized by the fact that a change of
the position of the platform relative to a reference point is
determined by a position detection unit.
[0013] The invention has many advantages.
[0014] In a preferred further development, the position detection
unit is designed as a central position detection unit.
[0015] In a preferred further development, a change in an angle is
determined by the (central) position detection unit.
[0016] In a preferred further development, the method is used for
the operation of a carousel milking facility.
[0017] Among others, the invention provides the advantage that, at
any time, even after (a long) shutdown or complete shutdown of the
milking facility, the accurate position of the facility is known
without any expensive recalibration being necessary. In such a
recalibration, in conventional installations, first a "zero point"
is searched, in order to derive the actual position or angle of the
facility using a time and velocity measurement.
[0018] In a preferred further development of the invention or in
one of the previously described further developments, the position
of at least one milking station is determined. This creates the
possibility of identifying at least one milking station by
determining its position. Since the milking stations are arranged
on the platform in a predetermined geometric arrangement with
respect to one another, the position of individual other or all
milking stations can be determined relative to the reference point.
Knowledge of the position of at least one milking station relative
to a reference point alai has the advantage that it can be
determined reliably as to what extent the platform should be turned
further after interruption of the rotational movement in order to
make it possible for an animal to enter or leave a milking
station.
[0019] In a further preferred embodiment of the invention or in one
of the further developments described before, an angle change is
determined. Here it is preferable, to determine the change of angle
or alteration of the angle in order to change the position.
Additional determination or detection of an angle change is also
possible.
[0020] With the use of the central position detection unit,
increased safety is achieved with regard to the determination of
the position change or angle change, since it is not necessary to
use a multiplicity of devices for the determination of the position
change or angle change. As a result of this, the expenditure for
the apparatus for carrying out the method is reduced.
[0021] According to an advantageous further development, it is
proposed that the velocity of position change or angular velocity
of the platform be determined. This further development of the
method also has the advantage that very accurate control of setting
of the (angular) velocity of the platform can be achieved.
[0022] Especially, according to another advantageous embodiment of
the method, it is proposed that the (angular) velocity of the
platform be changeable as a function of the operational situation
in at least one milking station. Operational situation is defined
and any state within the milking carousel. The operational
situation can be described, for example, by the number of occupied
milking stations, by the number of still to be performed or already
completed milking processes during a resolution of the platform.
Here, we can deal with a reduction or with an increase of the
angular velocity. A reduction of the angular velocity of the
platform can be expedient when the milking time necessary for the
cows located at the milking stations is greater than the possible
residence time of individual cows on the platform. An increase of
the angular velocity may be necessary when the milking time, which
is required for milking the animals located on the platform, is
smaller than the residence time of the animal, calculated from the
actual angular velocity during a process section between the entry
and exit.
[0023] In order to determine the angular change, according to a
still other advantageous embodiment of the method, it is proposed
that at least one central unit or an angle sensor be provided,
whereby the data of the angle sensor are transmitted to a control
device. The control device can serve for control and/or regulation,
that is, it has to be designed as a control and/or regulating
unit.
[0024] The angle sensor is preferably a shaft encoder. Here,
absolute shaft encoders, but also incremental encoders, can be
used. Multi-turn shaft encoders can also be used.
[0025] Preferably, the angle change is determined with at least
angle encoder, especially with an absolute angle encoder. The angle
encoder can also be an incremental angle encoder.
[0026] The angle output can be analog or digital. Angle encoders
are advantageous, while in the analog method, time changes of the
signal are possible.
[0027] For example, an optical sensor can also be considered for
position determination. For example, on the outer periphery of a
carousel, a periodic, for example, sinusoidal or sawtooth thin line
can be present, where the local height of the line and angle on the
carousel can be assigned unequivocally. By determination of the
height of the line with the aid of an optical, magnetic or other
sensor, in such a case, an essentially unequivocal assignment of
the angle from a measuring signal can be performed.
[0028] In the invention or in its preferred further development,
the position of the installation is known, even after shutdown, for
example, caused by power failure, without having to start from a
zero point, reference point or similar. Directly after turning on
the installation, the actual position or a measure for it can be
obtained from the sensor. This does not have to be calculated with
expenditure with the aid of stored data, but it is directly
available after reading the sensor. In conventional installations,
in which position recognition is provided with the aid of a
responder, after shutdown, first a reference point has to be
established.
[0029] In order to verify the occupation of the milking station by
an animal, it is proposed to have an identification of the animal
located at the milking station. The identification of the animal
can be done at the milking station itself. In order to reduce the
technical expenditure, it is proposed that the identification of
the animal be made in the access path.
[0030] According to another inventive idea, a carousel milking
facility with a number of milking stations arranged on a movable or
rotatable platform is proposed. The milking facility can be, for
example, a carousel milking facility, which has a position
detection unit, or also a central device which determines the
position or angular change of the platform relative to a reference
point.
[0031] Preferably, the position of at least one milking station is
determined. The position detection unit or the central device, too,
preferably has at least one position sensor or also an angle
sensor. The use of several (angle) sensors has the advantage that a
redundancy is achieved. As a result of this, increased safety
regarding the determination of the position of the milking station
is attained.
[0032] According to an advantageous embodiment of the method, the
reference point can be defined as storing the position information
in a reference position of the carousel or as a physical marking
which can be detected with a sensor. According to the invention,
such a device should have to be started up only during the first
start-up for calibration.
[0033] Calibration can be carried out, for example, on a pass-by
antenna, which can also serve for position recognition of the
animals. Such a pass-by antenna can be provided, for example, at a
certain angle after entry, for example, of a milk carousel, so that
the assignment of the animal and position is ensured. While such an
antenna is normally used for animal recognition, it can be used
additionally for checking the calibration or also for plausibility
control.
[0034] According to an advantageous further development of the
carousel milking facility, it is proposed that the device be
connected to the platform directly or indirectly. The connection
can be a mechanical one. However, this is not absolutely necessary.
The connection can also be electrical and/or optical.
[0035] According to still another advantageous embodiment of the
(carousel) milking facility, it is proposed that the device be
connected to a unit that can be rotated around the axis of rotation
of the platform, or to a position detection unit. The advantage of
this embodiment of the carousel milking facility can be regarded in
the fact that the device is arranged on a component in the center,
which rotates with the platform, and thus angle determination of
the milking stations is achieved.
[0036] At least one drive unit is provided in the drive of
(carousel) milking facility. The device through which a position or
angle change of the platform relative to a reference point is
determined, can be connected alternatively or additionally to a
drive unit.
[0037] In order to increase the accuracy of the angle
determination, the device preferably has a gear system. The gear
system can be a reducing gear system or an increasing gear system.
With the gear system of the device, an improvement in the ability
of the system to provide information about the (angular) velocity
of the platform is achieved.
[0038] According to a still other advantageous embodiment of the
(carousel) milking facility, it is proposed that the device be
connected to a control and/or regulating device. As a result of
this, actual data and the positions of the milking stations
resulting from it are transmitted to the control and/or regulating
unit, as a result of which the control and/or regulating unit can
trigger different actions. Hereby, we are concerned, for example,
by stopping of the carousel, descending of the teat cup cluster or
also pulling up the teat cup cluster. Furthermore, there is a
possibility to vary the speed of the platform as a function of the
occupation of the milking stations.
[0039] According to still another advantageous embodiment of the
(carousel) milking facility, it is proposed that the identification
means be provided for the identification of the animals located in
the milking station. These identification means are arranged so
that they identify the cow at the milking station. In order to
reduce the technical expenditure and expenditure for the apparatus,
the arrangement of the identification means is placed in the access
path.
[0040] In order to determine the angle and/or (angular) velocity,
the device preferably has at least one computer, especially a
microcomputer. The evaluation of the position detection occurs in
this. Using a computer, the possibility can also be created to
provide information to the operating personnel about the actual
(angular) velocity. In addition, data can be stored from previous
milking processes, operating situations and operational
information, which can be recalled.
[0041] The control and/or regulating device preferably has a
computer. As a result of this, precise position start and control
of the carousel is made possible. The information regarding the
position of the milking stations can also be used for making
decisions during an automated process or to provide aid for a
decision, where manual access is possible, for progress in the
milking carousel as well as for display of status information.
[0042] As a result of the fact that the device and/or the control
and/or regulating device has a computer, with a suitable method,
correction values can be used as compensation for mechanical
irregularities. Here, corresponding correction tables can be taken
into consideration for position correction. Thus, the position at
the periphery of the milking parlor or of the carousel or of other
selected points can be determined accurately, even when
manufacturing tolerances or inaccuracies in the construction of the
(carousel) milking facility would lead to errors in central
position or angle determination. In order to provide the
compensation, again special marks can be used where the detection
of these supports the automatic adjustment of the compensation.
[0043] In a preferred further development, the actual power uptake
of the drive is recorded. Preferably, the actual power uptake is
set with reference to the characteristic power uptakes. A
characteristic power uptake describes a power uptake which is
characteristic for the actual operational state. Different
informational data and measured values can be used for the
determination of the characteristic operational state.
[0044] In a single case, for example, the actual rotational speed
as well as any accelerations or decelerations are taken into
consideration. The consideration of the number of animals on the
platform is also possible.
[0045] From such data, based on a comparison of the actual power
uptake with the derived characteristic power uptake, a measure can
be obtained to determine whether or not the actual power uptake
corresponds to the actual operational state. Preferably, the speed
is rechecked, that is, the actual power uptake is adjusted so that
a desired velocity is obtained.
[0046] When deviations of the actual power uptake from the
characteristic power uptake occur, which exceed a permissible
degree (for example, 20 or even 50%) a warning signal can be
issued. Such an excessive value can indicate, for example,
contamination of the drive system or even leakage. Thus, with this
further development of the invention, recognition of
operation-related influences on the rotating velocity is
possible.
[0047] Other details and advantages of the method according to the
invention or of the milking facility according to the invention are
explained with the aid of the preferred practical example of a
carousel milking facility, shown in the drawing.
BRIEF DESCRIPTION OF THE DRAWINGS
[0048] FIG. 1 is a carousel milking facility in a top view,
[0049] FIG. 2 is a schematic illustration of a central unit of a
carousel milking facility,
[0050] FIG. 3 is a schematic and cross-sectional illustration of a
carousel milking facility with a drive unit, and
[0051] FIG. 4 is a schematic block diagram.
DETAILED DESCRIPTION OF THE INVENTION
[0052] FIG. 1 shows a carousel milking facility 1. The carousel
milking facility has a circular platform 2. A multiplicity of
milking stations 3 are formed on platform 2. The milking stations 3
are built separately from one another.
[0053] An identification means 6 is arranged in an access path 4,
through which the identification of a cow is made possible when
this cow enters the carousel milking facility 1.
[0054] At an exit 5, a monitoring device 7 is arranged. Among
others, with the aid of this monitoring device 7, it is determined,
if an animal, especially a cow, leaves the carousel milking
facility 1.
[0055] A central position detection unit 8, 15 is arranged at the
center of the carousel milking station 1, this unit can be rotated
around a rotational axis of platform 2. The unit 8 as well as the
platform 2 is coupled with one another so that they are rotated
synchronously to one another. The direction of rotation of platform
2 as well as of unit 8 is represented by the arrow in FIG. 1.
[0056] In order to operate the carousel milking facility 1, a
control station 9 is arranged in a central region and this can be
operated by an operator. The control station 9 may also contain
display equipment and instruments from which the actual milking
situation at the individual milking stations can be recalled.
Furthermore, the actual status of the milking facility can be
checked at the control station 9. FIG. 2 shows a practical example
of unit 8. Unit 8 has a stand 10 which has a fixed position. The
stand 10 has a radial bearing 11, which serves for supporting a
supply unit 14. The supply unit 14 is essentially designed in a
tubular shape, which is arranged coaxially to the axis of rotation
of the carousel milking facility. The lead-in lines and lead-out
lines necessary for the operation of the carousel milking facility
are arranged within the supply unit 14. Reference number 14 also
designates a rotary vacuum coupling. A slip ring translator 13 is
arranged below the radial bearing 11.
[0057] In order to determine an angular change of the platform 2
relative to a reference point, a device 15 is provided which is
connected to supply unit 14. The device 15 includes at least one
angle sensor, so that the angular change of platform 2 and thus the
position of at least one milking station 3 are determined.
[0058] Alternatively, or additionally, the device 15 can be
arranged on a drive unit 16, as can be seen from FIG. 3. In the
practical example according to FIG. 3, the drive unit 16 is an
electric motor which has a drive shaft 17. A frictional wheel is
connected to drive shaft 17. The frictional wheel attaches at the
bottom side 19 of platform 2. In order to reduce slip between
frictional wheel 18 and the bottom side 19 of platform 2, the
bottom side 19 can be provided with a coating that has a high
frictional coefficient. The drive unit 6, shown in FIG. 3, is an
example of the design of a drive unit for a carousel milking
facility. However, it is also possible to drive platform 2 with
hydraulic motors. These hydraulic motors are supplied by a
hydraulic pump driven by an electric motor.
[0059] The carousel milking facility according to the invention
provides the advantage that the disadvantages in the state of the
art are overcome. When using frictional wheels in the state of the
art, the position of a carousel is not known accurately due to the
slip between the driving means and the carousel. Also, a different
air pressure in the driving frictional wheels leads to inaccurate
knowledge about the position. The invention provides significant
advantages in this regard.
[0060] A block diagram is shown schematically in FIG. 4. The device
15 has two angle sensors 20. The angle sensors 20 are connected to
a control and/or regulating device 21 through signal lines. The
identification means 6 and the monitoring device 7 are also
connected to the control and/or regulating unit 21.
[0061] The control and/or regulating unit 21 is connected to drive
unit 16 for controlling the angular velocity of platform 2.
* * * * *