RU2311022C1 - Method for controlling of cow milking process - Google Patents

Abstract

FIELD: agricultural production, in particular, controlling of cow milking process.

SUBSTANCE: method involves milking and simultaneously measuring milk withdrawal intensity; changing drawing cycle time depending on milk withdrawal characteristics, with milk withdrawal intensity and rate of changing milk withdrawal intensity being used as drawing cycle time; after putting on milking unit, setting vacuum depth of 0.8 p_n; upon expiration of time interval of 4τ_av, increasing vacuum depth under teat in stepped manner by value of △_p and upon expiring of time interval of 4τ_av, calculating, on the basis of transition characteristic of milk withdrawal, time constant τ_bi of increase in milk withdrawal from given udder quadrant and rate of changing milk withdrawal during the given time interval; in case milk withdrawal rate has increased, newly increasing vacuum depth under teat by △p during time interval of 4τ_bi; in case milk withdrawal rate has reduced, leaving said value at former level; during milking, calculating in each time interval of 4τ_bi the rate of changing milk withdrawal intensity and, in case of increase, increasing vacuum depth under teat △p but not in the excess of 1.1 p_n; in case of reduction, feeding atmospheric air into space under teat for time interval of τ_bi, and upon expiring of said time interval, calculating time constant τ_ki of process during which milk withdrawal intensity is reduced, and establishing nominal vacuum depth p_n; alternatively feeding in each time interval of 4τ_ki into space under teat atmospheric air during time interval of τ_ki, then providing vacuum p_n; repeating said procedure until milk withdrawal intensity of udder quadrant is reduced to 3.3 g/s. Time interval τ_av is average time constant for process of increasing the milk withdrawal intensity for the given cow stock, p_n is nominal vacuum depth in space under teat for the given type of milking unit, and 0.01p_n≤△≤0.1p_n.

EFFECT: increased efficiency of cow milking process owing to providing milk release by each share of milk gland adequate to milk withdrawal, with physiological individual peculiarities of each animal's udder quadrant being taken into consideration, and provision for safe milking mode.

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Description

The invention relates to agricultural production, in particular to methods for controlling the process of milking cows.

There is a known method of machine milking, including a compression stroke, in which the vacuum supply to the interstitial chamber is reduced and exposure to the nipple is effected by micro-oscillations of vacuum in the suction cup and nipple rubber, and a suction stroke, in which the vacuum is applied to the nipple in the suction cup, the suction stroke is carried out in two phases, while in the first phase the vacuum in the sucker and interstitial chambers is increased, and in the second vacuum in the sucker chamber is reduced, and in the interstitial chamber in the initial period they continue to increase s to a nominal value, which remains constant until the end of stroke [1].

The disadvantage of this method is the lack of effectiveness of milking.

There is also a known method of controlling the milking process, including issuing with simultaneous measurement of the intensity of milk removal, measuring the pulsation frequency of the milking machine and changing, within the specified boundary limits, the pulsation frequency and duration of the sucking stroke depending on the milk removal parameter, which is used as a sum signal of the intensity value and the rate of change of intensity milk production, establish the level of milk production intensity corresponding to the end of the crushing phase at the beginning after milking and the beginning of the milking phase at the end of milking, the number of pulsations varies, depending on the milk production parameter, from the minimum to the maximum value with a constant duration of the sucking cycle, while the intensity of milk removal is less than the level of the milking and milking phases, the pulsation frequency is constant and the suction stroke duration is changed depending from the parameter of milk excretion in the range from the minimum to the maximum value [2].

The disadvantage of this invention is the lack of effectiveness of milking, since milking is not ensured in a safe mode, milk excretion in each lobe of the mammary gland, adequate milk yield is not provided, physiological individual characteristics of each lobe of the udder of the animal are not fully taken into account.

The objective of the invention is to increase the efficiency of issuing cows by ensuring milk removal for each lobe of the mammary gland, adequate milk yield, taking into account the physiological individual characteristics of each lobe of the udder separately, as well as milking in safe mode.

To solve it, a method is proposed that includes dispensing with simultaneous measurement of the intensity of milk removal and changing the duration of the sucking cycle depending on the characteristics of milk removal, which use the intensity and rate of change in the intensity of milk removal, after putting on the milking machine in the suction cup of the milking cups, set the vacuum depth to 0 , 8p _H, after a time period of 4τ _cp, the depth of the vacuum under the teat stepwise increased by a value Δp and the time period through 4τ _cp by transient response lactation intensity calculated value of the time constant of the process increase lactation this fraction udder τ _Bi and rate of change of lactation at a given time interval, if lactation intensity is increased, the degree of vacuum under the teat again raised to Δp for a time period 4τ _Bi if decreased then left at the same level, then during milking through each time interval equal to 4τ _Bi calculated rate of change of intensity of milk and its WHO Astanit increase the vacuum under the teat in depth Δp, but not more than a value equal 1,1p _H, with a decrease in the intensity of lactation podsoskovoe supplied to the space of atmospheric pressure air at the time interval τ _Bi is calculated at the end of which time constant intensity reduction process lactation τ _Ki and the nominal vacuum depth p _{H is} set under the nipple, then after each time interval 4τ _ki, atmospheric pressure air is fed alternately into the suction cup of the milking cup for a period τ _ki , then again and vacuum p _H , this continues until the intensity of milk removal by the fraction of the udder decreases to a value of 3.3 g / s, and the time period τ _cp is the average value of the time constant of the process of increasing the intensity of milk removal for a given breed of cows, p _H is the nominal vacuum depth in the suction cup for this type of milking machine, and 0.01p _H ≤Δp≤0.1p _H.

Figure 1 shows a block diagram of the control of the milking process, figure 2 is a transitional characteristic of the change in the intensity of milk removal q (t) and a graph of the change in vacuum under the nipple of the udder in time.

The control system for the process of milking cows includes milking cups 1, sensors 2 intensity of milk removal, regulators 3 suction cup and control device 4.

где q₁, q₂, q₃ - значения интенсивности молоковыведения соответственно в моменты времени t₁, t₂, t₃, например, равные τ_cp, 2τ_cp, 3τ_cp (фиг.2), а скорость изменения интенсивности молоковыведения - как

Причем Δt=τ_cp.The method of controlling the milking process is as follows. At the beginning of the milking cycle after putting on the milking machine in the suction cup space of the teat cups 1 set the vacuum depth equal to 0.8p _H. Then, after a period of time equal to 4τ _cp , the control device 4 generates a test pulse in the form of a stepwise increase in the vacuum under the nipple by the value Δp, which leads to a change in the intensity of milk excretion, which is monitored by the sensors 2 of the intensity of milk transfer by the shares of the udder. The signal x _{i of the} sensors 2, proportional to the intensity of milk removal, is amplified and fed to the control device 4, which calculates, according to the transient response of the change in the intensity of milk removal q (t) (Fig. 2), the value of the time constant τ _{bi of the} process of increasing milk removal for each fraction of the udder and the rate of change milk removal of each share in a given time interval. The control device 4 calculates the value of the time constant τ _in according to the formula

where q ₁ , q ₂ , q ₃ are the values of the intensity of milk excretion, respectively, at times t ₁ , t ₂ , t ₃ , for example, equal to τ _cp , 2τ _cp , 3τ _cp (Fig. 2), and the rate of change of the intensity of milk excretion is as

Moreover, Δt = τ _cp .

то есть интенсивность молоковыведения увеличилась, то управляющее устройство 4 вновь повышает глубину вакуума под соском на Δр на период времени 4τ_вi.If

that is, the intensity of lactation increased, the control device 4 again increases the depth of the vacuum under the teat in the Dp for a period 4τ _Bi.

то есть интенсивность молоковыведения уменьшилась, то значение глубины вакуума под соском остается на прежнем уровне.If

that is, the intensity of milk removal decreased, then the value of the depth of vacuum under the nipple remains at the same level.

Further, the milking process through each time interval equal to 4τ _Bi, i.e. equal to the transient time for a given proportion of the udder, the control device 4 calculates the rate of change of intensity of lactation. And as it increases, it increases the depth of the vacuum under the nipple by Δp, but not more than 1.1p _H.

где q₅, q₆ - интенсивность молоковыведения на спадающей части переходной характеристики (фиг.2). Затем управляющее устройство снова устанавливает под соском номинальную глубину вакуума p_н.With a decrease in the intensity of milk removal, the control device 4 supplies atmospheric pressure air to the suction cup for a period of time τ _bi , at the end of which it calculates the time constant of the process of reducing the intensity of milk removal τ _ki according to the formula

where q ₅ , q ₆ is the intensity of milk excretion on the declining part of the transient response (figure 2). Then the control device again sets the nominal vacuum depth p _n under the teat.

_Subsequently , nominal vacuum is _periodically applied for a period of _{4τ ki} and atmospheric pressure for a period of τ _ki . This continues until the intensity of milk removal by the fraction of the udder decreases to a value of 3.3 g / s, while according to the Rules of machine milking, the control device turns off the corresponding milking cup.

Information sources

1. A.S. USSR No. 1702985, BI No. 1, 1992.

2. A.S. USSR No. 1704718, BI No. 2, 1992 (prototype).

Claims (1)

A method of controlling the process of milking cows, including dispensing with simultaneous measurement of the intensity of milk removal and changing the duration of the sucking cycle depending on the characteristics of milk removal, which is used as the intensity and rate of change in the intensity of milk removal, characterized in that after putting on the milking machine in the suction cup of the milking cups, the depth is set vacuum 0,8r equal to _H, after a time period of 4τ _cf. vacuum under the teat depth increasing stepwise in zna ix Dp and in a time period of 4τ _cf. for transient response lactation intensity calculated value of the time constant of the process increase lactation this fraction udder τ _Bi and rate of change of lactation at a given time interval, if lactation intensity is increased, the degree of vacuum under the teat again raised to Dp for a period time 4τ _Bi if dropped - that is left at the same level, then in the process of milking at each sampling time equal 4τ _Bi compute Intense speed change vnosti of milk and increasing its depth increased vacuum under the teat Ap but not more than a value equal 1,1r _H, decreasing intensity lactation podsoskovoe supplied to the space of atmospheric pressure air at the time interval τ _Bi, the end of which time constant is calculated intensity reduction process t _Ki lactation and under vacuum nipple mounted nominal depth _H p, then each time interval 4τ _Ki podsoskovoe fed alternately in the space of the teat cup and ambient air Lenia the period τ _Ki, then again vacuum p _H, so it continues as long as the intensity of lactation udder lobe is reduced to a value equal to 3.3 g / s, the time period τ _cp - average intensity rise time constant of the process lactation for a given breed of cows, p _N is the nominal vacuum depth in the suction cup for this type of milking machine, and 0.01 p _N ≤Δ p≤0.1 p _N.

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