MILKING SYSTEM WITH DETECTION SYSTEM

Abstract

A milking system includes a milking device with a milking control, a milk line, and a sampling/analysis device. The milking control controls the milking based on said analysis. The sampling/analysis device includes a reagent carrier, including a tape with a first side with a reagent pad that detects the presence of a substance in the milk sample and a second side, a dosing device to provide a droplet of said sample onto the reagent pad, a source for emitting source radiation onto the reagent pad, and a sensor to detect response radiation emitted by the reagent pad, and to analyse the detected response radiation to indicate the presence or concentration of said substance. The first side faces away from the sensor during analysing by the sensor. By viewing “from below”, the observed reaction in the reagent is cleaner, and suffers less from artefacts, and the camera will stay cleaner.

Claims

1. A milking system, comprising a milking device with a milking control device and arranged for milking milk from a dairy animal, a milk line in fluid connection with the milking device, and a sampling and analysis device arranged to take a sample of the milk from the milk line and to analyse milk from the sample, wherein the milking control device is arranged to control the milking based on a result of said analysis, wherein the sampling and analysis device comprises: a reagent carrier, comprising a base tape layer with a first side and an opposite second side, to which first side there is provided a reagent in the form of a reagent pad that is arranged to provide a detectable response in the presence of at least one substance in the milk from the sample; a dosing device arranged to provide a droplet of said milk from said sample onto the reagent pad; an optical radiation source for emitting optical source radiation onto the reagent pad; and an optical sensor device arranged to detect optical response radiation emitted by the reagent pad along an optical path to the optical sensor and in response to said emitted source radiation received by said reagent pad, and to analyse the detected optical response radiation to provide an indication of a presence or concentration of said at least one substance in said droplet, and wherein the base tape layer is transmissive to the optical radiation, and wherein the first side faces away from the optical path to the optical sensor device during analysing by the optical sensor device.

2. The milking system according to claim 1, wherein the base tape layer, during analysing by the optical sensor device, is provided substantially horizontally and wherein the reagent pad faces downward.

3. The milking system according to claim 1, wherein the reagent carrier comprises a tape reel with the base tape layer wound on said tape reel, wherein the reagent is provided on the base tape layer in the form of a series of separate reagent pads, further comprising a tape mover, arranged to move and unwind the tape from the tape reel.

4. The milking system according to claim 1, wherein the reagent pads are separated by one or more throughgoing laser ablation lines.

5. The milking system according to claim 1, wherein the dosing device is arranged to provide said droplet to the reagent pad from below the reagent pad.

6. The milking system according to claim 5, wherein the dosing device comprises a nozzle for supplying said droplet, and a cup surrounding the nozzle that is arranged to collect excess liquid from the nozzle during supplying of said droplet.

7. The milking system according to claim 1, wherein the optical sensor device has a first main direction of sensitivity, and wherein the optical radiation source is arranged to emit the optical source radiation in a second main direction onto the second side of the base tape layer, wherein the first direction makes a sharp angle with the second side.

8. The milking system according to claim 1, wherein the reagent pad comprises at least two stacked layers of different reagents.

9. The milking system according to claim 1, wherein said optical sensor device is arranged such that the optical sensor sees at least two consecutive reagent pads, as seen in a lengthwise direction along the tape.

10. The milking system according to claim 1, wherein the reagent carrier comprises a tape reel with the base tape layer wound on said tape reel, wherein the reagent is provided on the base tape layer in the form of a series of separate reagent pads, further comprising a tape mover, arranged to move and unwind the tape from the tape reel, the tape mover comprising a collector reel arranged to collect used tape.

11. The milking system according to claim 5, wherein the dosing device comprises a nozzle for supplying said droplet, and a cup surrounding the nozzle that is arranged to collect excess liquid from the nozzle during supplying of said droplet, the cup comprising a drain for surplus milk sample fluid.

12. The milking system according to claim 1, wherein the optical sensor device has a first main direction of sensitivity, and wherein the optical radiation source is arranged to emit the optical source radiation in a second main direction onto the second side of the base tape layer, wherein the first direction makes a sharp angle with the second side, the first direction being perpendicular to the second side of the base tape layer.

13. The milking system according to claim 2, wherein the reagent carrier comprises a tape reel with the base tape layer wound on said tape reel, wherein the reagent is provided on the base tape layer in the form of a series of separate reagent pads, further comprising a tape mover, arranged to move and unwind the tape from the tape reel.

14. The milking system according to claim 2, wherein the reagent pads are separated by one or more throughgoing laser ablation lines.

15. The milking system according to claim 3, wherein the reagent pads are separated by one or more throughgoing laser ablation lines.

16. The milking system according to claim 2, wherein the dosing device is arranged to provide said droplet to the reagent pad from below the reagent pad.

17. The milking system according to claim 3, wherein the dosing device is arranged to provide said droplet to the reagent pad from below the reagent pad.

18. The milking system according to claim 4, wherein the dosing device is arranged to provide said droplet to the reagent pad from below the reagent pad.

19. The milking system according to claim 2, wherein the optical sensor device has a first main direction of sensitivity, and wherein the optical radiation source is arranged to emit the optical source radiation in a second main direction onto the second side of the base tape layer, wherein the first direction makes a sharp angle with the second side.

20. The milking system according to claim 3, wherein the optical sensor device has a first main direction of sensitivity, and wherein the optical radiation source is arranged to emit the optical source radiation in a second main direction onto the second side of the base tape layer, wherein the first direction makes a sharp angle with the second side.

Description

[0022] The invention will now be elucidated by way of a number of exemplary embodiments and the drawings, in which

[0023] FIG. 1 shows a diagrammatic representation of a milking system according to the present invention; and

[0024] FIG. 2 diagrammatically shows a partly cross-sectional view through a part of an embodiment of the invention.

[0025] FIG. 1 shows a diagrammatic representation of a milking system 1 according to the present invention for milking teats 101 of an udder 100 of a dairy animal. The milking system 1 comprises teat cups 2, connected to short milk lines 3, debouching in a milk jar 4, that in turn is connected to a main milk line 5. A milk pump is denoted 6, and a three-way valve with 7 connects to a bulk tank line 8 connected to a bulk milk tank 9, and to a sewer line 10.

[0026] A milking robot 11 has a robot arm 12 and a robot control unit 13. A sampling unit is generally denoted 14, and a sampling line 15 with an optional sample valve 16. The sampling unit 14 comprises a supply reel 20 and a collecting reel 21 that is driven by a tape mover 22, for positioning a tape 23 with reagent pads 24. A nozzle device for sample droplets is denoted by 25, a light source 26 emits light 27, and a camera is denoted by 28.

[0027] In use of the milking system 1, the robot control unit 13 controls the milking robot 11 with the robot arm 12 to attach the teat cups 2 to the teats 101 of the udder 100 of a dairy animal such as a cow. The milk that is subsequently milked leaves the teat cups 2 under the influence of a vacuum, that is applied by a pump not depicted here, via the short milk lines 3, and is collected in a milk jar 4.

[0028] In order to comply with legal requirements, the first milk from each teat must be tested for physical changes, and if desired for other deviant properties. This can be done by means of a separate foremilk test device, or it can be done with the help of the sampling unit 14 as supplied according to the invention. Then use will be made of the alternative sample lines 15′. In case of a negative assessment, the milked milk collected in the milk jar 4 will then be pumped to the sewer line 10 by means of the milk pump 6, via the main milk line 5 and the three way valve 7. All these devices are under the control of the robot control unit 13. Contrarily, if the milk is assessed to be of good quality, it will be pumped to the bulk milk tank 9 via the bulk line 8.

[0029] It is also possible that the sampling unit 14 takes a sample from the milk jar 4, in particular a mixed sample from milk that was milked from all teats and during all of the milking. This helps to get a good assessment of the milk that (if not rejected based on the foremilk assessment or otherwise, such as being antibiotics milk) will be sent to the bulk tank 9, or possible to one of several bulk milk tanks. For example, the milk from different cows could be sent to different bulk tanks, based on their fat content, their protein content or otherwise, as determined by the sampling unit 14. In such embodiments, as the one shown in FIG. 1, the sample line 15 runs from the milk jar 4 to the sampling unit 14, and optionally has a sample valve 16. Note that the latter could also be a part internal to the sampling unit 14.

[0030] Most often, however, the sampling unit 14 is used to determine a property of the milk from a cow, either per teat quarter 101 or for the whole udder 100/animal, which property is subsequently used in animal management but not for immediate control of the milk destiny. Examples are the measurement of hormones such as progesterone, that play a role in the reproductive cycle of the animal, or of substances that relate to feeding or metabolic health of the animal. Based on the assessment by the sampling unit 14, the farmer or the control unit 13 may then adapt feeding, call a veterinary for a health check or for insemination, and so on. It is remarked that in robotic milking systems animal identification systems are present, so that animal ID during milking is known. Thereby, any measurement result will be coupled to the corresponding animal file in a database system.

[0031] Furthermore, a sampling unit 14 is very generally shown here, in that it contains a supply reel 20 and a collecting reel 21, between which a tape 23 is advanced by means of tape mover means 22, such as a cassette deck motor or stepper motor. The tape 23 carries reagent pads 24 that contain reagent that gives a detectable response in the presence of a defined substance, often the intensity of the response depending on the concentration of the substance brought into the reagent via the sample droplet. Such a sample droplet is delivered via the nozzle 25. A light source 26 then shines light 27 onto the reagent pad 24, and a camera 28 observes the response, if any, in the reagent pad. The light source 26 may be any suitable light source, such as one or more LEDs, and the emitted light 27 may be visible light, UV(A) radiation, (near) infrared, and so on, depending on the used reagent. Of course, the camera 28 should be adapted to detect radiation coming from the reagent pad 24. Often, this is reflected or scattered light, but it could be different radiation, such as fluorescence radiation. In any case, details of such radiation and detection may easily be implemented by the skilled person and do not form the present invention as such.

[0032] FIG. 2 diagrammatically shows a partly cross-sectional view through a part of an embodiment of the invention. Herein, similar parts are given the same reference numerals, sometimes with a prime (′).

[0033] Here, the tape 23′ is provided with a series of reagent pads 24′ that have a bottom layer 29 and a top layer 30. The nozzle 25′ is connected to the sample line 15″, provides a sample droplet 37, and is provided in, and surrounded by, an overflow cup 34, which has an overflow space 35 with a drain 36 and is connected to a nozzle mover arm 38 that is moveable in the direction of the double arrow A. A rinsing cup 39 is moveable by means of a connected rinsing cup moving arm 40 in the direction of the double arrow B, and comprises a bottom 41 and a bellows 42, and surrounds a rinsing space 43. The camera 28′ has a field-of-view 31 with a line of main direction 32. The light source 26′ comprises three LEDs 26′-1 and shines in an solid angle with a line of main direction 33, that makes an angle α with line 32.

[0034] In use of the system, first the nozzle 25′ can rinsed with fluid, to remove residues from previous sampling and/or to bring the nozzle to a desired temperature, by rinsing with correspondingly heated fluid. This may be done by supplying liquid through the sample line 15″, and collecting the liquid emerging from the nozzle 25′ in the overflow cup 34 by means of gravity. However, it is advantageous if the liquid for rinsing is supplied more vigorously. This can be achieved by moving the nozzle somewhat away from the tape 23′, and moving the rinsing cup 39 between the nozzle and the tape, followed by inserting the nozzle into the rinsing space 43. Preferably, the nozzle 25′ with the overflow cup 34 are sealed by the bellows 42 of the rinsing cup 39. Thereby, the overflow space 35 and the rinsing space 43 form one sealed off space. Now, rinsing fluid may be supplied to the nozzle 25′ with vigour, such as with 2 m/s. The liquid will then be ejected from the nozzle but remain within the overflow space/rinsing space 35/43. From there, the fluid will be drained by means of the drain 36. Finally, it will be ensured that the nozzle is completely filled with sample liquid, in particular milk, by pressing the nozzle 15″ against the bottom 41 of the rinsing cup 39 and eject more liquid. The bottom 41 is somewhat elastic, and this ensures that there will be a clearly defined meniscus of sample liquid in the now completely filled, and air bubble-less nozzle. The nozzle arm 38 will then move the nozzle downward, out of the rinsing cup 39, and the rinsing cup moving arm 40 will move the rinsing cup 39 to the side, to clear the way for the nozzle to reach the reagent pads.

[0035] Next, a dosing pump such as a peristaltic pump may dose a known amount of sample fluid, to form the sample droplet 37 of now known dimensions. This helps in preventing excess fluid that may drop off unexpectedly, and also ensures that it will be known when the droplet 37 will touch the reagent pad 24″. The nozzle mover 38 will then move upward again to bring the droplet 37 to a reagent pad 24′, where a reaction and response may be brought about.

[0036] This reaction can be observed by the camera 28′, that looks straight down through the tape, with a field-of-view 31 with a central line 32. This allows the camera 28′ to observe the reaction in the reagent pad 24′ from the opposite side with respect to the sample liquid supplied in the droplet 37. This prevents that already coloured reagent material blocks the observation of further response in fresh reagent material, or that not yet absorbed sample liquid blocks the view altogether. This is particularly helpful in double layer reagent pads such as shown in the figure. Sometimes it takes a two-step reaction, such as in the case of flow-through tests. Herein, the present set-up with the double layer may provide an alternative to these flow-through tests or also lateral flow tests. Since these take more time, it is then advantageous when more than one reagent pad 24′ is in the field-of-view 31, since the tape and thus each pad 24′ is advanced one pad length for every sampling, such as for every milking. Since the later may be as short as five minutes, it is advantageous to allow more pads in the view of the camera 28′ to allow more time for observing the response. It is remarked that even with single layer reagent pads 24′, having more pads in view of the camera is useful, since then the concentration of the reagent in the pad 24′ may be less than would be needed if the response would have to be assessed in those five minutes.

[0037] It is remarked that the camera 28′ need not itself be positioned (directly or not) above the tape 23′, as long as the optical path (the “view”) of the camera 28′ is on the other side of the tape 23′ as where the reagent pads 24′ are. In other words, the camera should look through the tape. The physical position of the camera 28′ may be changed e.g. by using mirrors or the like. These may e.g. be used to fold up the optical path, and make the analyser device more compact.

[0038] The light source 26′ used in the present embodiment comprises three LEDs 26′-1. These can be white light LEDs that together shine a homogeneous but bright light, in a main direction 33 that makes a sharp angle α with the line 32 of the camera's field-of-view, in order to prevent blurring or glaring of the camera image. The light source may also comprise other types, such as a combination of red, green and blue LEDs, halogen incandescent and so on. The light emitted may be visible light, near infrared, ultraviolet (UVA) or the like. The tape 23′ should of course be transparent for the light used.

[0039] The above described embodiments only serve to help explain the invention without limiting this in any way. The scope of the invention is rather determined by the appended claims.