METHOD AND APPARATUS FOR MONITORING A MILKING PROCESS
A method of monitoring a milking process by a milking apparatus with a teatcup with a pulsation space and a pulsation airline configured to deliver varying levels of pressure to the pulsation space, including measuring at least one property of a vibrational signal within the airline with a vibration sensor; comparing a value of the measured property with a reference value; and determining a condition of the milking process based on the comparison. The vibrational signal can be a sound signal from to the displacement of air into and out of the pulsation space. This sound in the airline correlates to the extent to which a teat has entered a teatcup, and is a good indication of the connection of the teatcup to that teat. The sound is furthermore a cleaner signal than a sound signal in a milkline. Also provided is a robotic automatic milking implement incorporating the method.
1 . A method of monitoring a milking process, the milking process performed by a milking apparatus including at least one teatcup with a pulsation space and at least one pulsation airline configured to deliver varying levels of pressure to the pulsation space, the method comprising the steps of:
measuring at least one property of a vibrational signal within the airline with a vibration sensor;
comparing a value of the measured property with a reference value; and
determining a condition of the milking process based on the comparison.
2 . The method of claim 1 , wherein determining the condition includes comparing an amplitude of the measured property with the reference value.
3 . The method of claim 1 , wherein determining the condition includes comparing deviation of the value of the measured property over time with the reference value.
4 . The method of claim 1 , wherein determining the condition includes comparing the rate of change of the measured property over time with the reference value.
5 . The method of claim 1 , wherein the method includes the step of:
determining a phase of one of the milking process or a pulsation phase.
6 . The method of claim 5 , wherein the property is measured during at least one selected phase.
7 . The method of claim 6 , wherein the property is measured during a phase in which the airline is exposed to atmosphere.
8 . The method of claim 5 , wherein the phase in which the property is measured is used to determine the reference value to be used in the comparison.
9 . The method of claim 5 , wherein the phase is determined by comparing the value of the measured property with a predetermined threshold.
10 . The method of claim 1 , wherein the property of the vibrations is measured using at least one of a piezoelectric transducer and a microphone.
11 . The method of claim 10 , wherein the property of the vibrational signal is an average sound pressure level or a peak sound pressure level.
12 . The method of claim 11 , wherein an average sound pressure level or a peak sound pressure level is measured at least during one of a resting phase and a milking phase of a pulsation cycle of the milking process.
13 . The method of claim 1 , wherein the condition is one of the teatcup being disconnected from a teat of the milking animal or the teatcup being incorrectly fitted to a teat of a milking animal.
14 . The method of claim 1 , including adjusting positioning of the teatcup in response to the determined condition.
15 . A control device for monitoring a milking process, the milking process performed by a milking apparatus including at least one teatcup with a pulsation space and at least one pulsation airline configured to deliver varying levels of pressure to the pulsation space, the device including:
a vibration sensor configured to measure at least one property of vibrations within the airline; and
at least one processor configured to:
compare a value of the measured property with a reference value; and
determine a condition of the milking process based on the comparison.
16 . A robotic automatic milking implement configured to perform a milking process, the implement including:
at least one teatcup configured to receive a teat of a milking animal, wherein the teatcup includes a pulsation space;
at least one airline configured to deliver varying levels of pressure to the pulsation space of the teatcup;
a robot arm configured to connect the teatcup to the teat; and
a vibration sensor configured to measure at least one property of vibrations within the airline; and
at least one processor configured to:
compare a value of the measured property with a reference value; and
determine a condition of the milking process based on the comparison.