Detector system and dairy animal treatment device comprising the same

Sensor system, sensor device therewith, and dairy animal treatment device therewith

The present invention relates to a sensor system, with a sensor device comprising a flow-through cell with a liquid supply opening and a liquid discharge opening, which flow-through cell is arranged for flowing a liquid through it, a detector device adapted to measure a property of the liquid in the cell and for generating an associated detector signal, and a sensor controller adapted to analyze the detector signal.

Such sensor systems are generally known per se. For example, they are used in milk extraction to determine the characteristics of the milk obtained, so as to obtain a quality measurement. For this purpose, reference is made, for example, to DE 27 59 126, which teaches how to separate milk when a deviating color is detected, and to pass it back to the main tank when the milk flow has the right color again. EP1000535 discloses a method to monitor the quality of milk by shining through it with different colors of light, and evaluating the relative transmission.

A disadvantage of the above systems is that they do not guarantee a correct evaluation of the liquid under all circumstances.

It is an object of the present invention to improve the system of the type mentioned in the preamble, in particular to provide an additional or alternative system that can detect changes in the liquid with high reliability in more, or at least other, conditions.

The above object is achieved with a sensor system according to claim 1, characterized in that the sensor control is adapted to detect a fluid transition between two different liquids in the flow-through cell when a change per unit time of the detector signal and / or a change of the detector signal is greater then a predetermined change threshold or resp. then a predetermined threshold value, wherein the sensor control is adapted to generate an alarm signal if the sensor control detects such a fluid transition.

The invention is based on the insight that if there is a change in the liquid, a transition between them can always be detected. Such a fluid transition is generally where that property may or may not change permanently, such as a color, conductivity, etc. Note that the known systems generally compare a parameter value with an absolute value. As a result, gradual changes, which still lead to changes in the measured parameter value with one and the same liquid, can lead to false-positive alarm signals. The present invention limits these false positive signals by looking at the extent and / or rate of change of that parameter value.

By generating an alarm signal upon detection of a fluid transition, a controller or operator is able to take action if desired, for example if such a transition should not be present according to the actions already carried out. As an example, which will be explained in detail later, mention can already be made here of supplying a liquid for a specific treatment, in particular of a live animal, during which an alarm is detected if a liquid transition is detected. After all, there is then the possibility that an incorrect liquid is supplied by accident, which can have undesirable, health-threatening consequences. Of course, risks of damage or incorrect handling of machines and other products can thus also be limited.

The invention also relates to a sensor device as such, and suitable for use in the sensor system according to the invention, as described in claim 24.

Particular embodiments of the sensor system and the sensor device are the subject of dependent claims. In principle, all special features mentioned for the sensor device here apply equally to the sensor system, and vice versa, to the extent that the text does not expressly indicate the contrary.

In particular, the sensor device comprises a liquid presence detection mechanism which is adapted to give a liquid presence signal if there is liquid in the cell. With such a liquid presence detection mechanism, it is prevented that a signal measured by the detector on transition to the absence of a liquid is mistaken for a liquid transition signal. After all, in many cases an alarm signal would be incorrectly generated. A liquid detection mechanism is for example based on measurement of an electrical conductivity in the flow-through cell. In general, liquids have a much higher conductivity than air. As soon as there is no longer any liquid present, the measured conductivity will drop sharply, below a broadly selectable threshold. A precise determination is therefore not necessary. Another possibility is for example a weight sensor in the cell or an optical detector of a liquid level or the like. For alternatives known per se, reference is made to the state of the art.

It is noted that in some cases it may indeed be useful to regard the absence of liquid as alarm generating, for example when there must always be liquid present. Think, for example, of engine oil in an engine. In particular, however, the sensor control is adapted to ignore the detector signal in the absence of the liquid presence signal. Thus, liquids are actually compared with each other.

In embodiments, the change includes at least one peak or trough in the detector signal, the peak or trough having at least a predetermined magnitude. A peak is, as usual, characterized by an increase followed by a decrease, and a peak by a decrease followed by an increase. When the smallest of a decrease and a corresponding increase has at least the predetermined size, the corresponding trough or peak has at least that predetermined size. In cases where only the decrease or increase reaches that size, it is more a matter of a step than of a peak or trough. The predetermined size can, for example, be chosen on the basis of practical tests, and in almost all cases depends on the parameter actually to be measured . For example, a noisy parameter will lead to a larger predetermined size for a meaningful peak / trough. Otherwise, a meaningless noise ripple would lead to a false positive liquid transition detection. On the other hand, if the value is too large, a small peak / trough in an otherwise not or very slowly varying parameter could be incorrectly overlooked (false-negative). Those skilled in the art can easily determine such suitable sizes in practice, after choosing the parameter (s). This choice is somewhat dependent on the desire not to have too many false-positive (too sensitive) or rather not too many false-negative (too insensitive) detections.

When such a peak or trough is detected, there is a high probability of an interface between two liquids, and thus a transition from one liquid to the other. After all, such a transition is often not only characterized by a change in stable values ​​of a quantity, such as color, conductivity, which depend on the intrinsic properties of the liquids in question, but also on the possible consequences of reactions and the like at the interface between two liquids. This interface, better: border region, can then differ from both the first and the second liquid.

In particular, the peak and / or the valley has at most a predetermined length. This measure serves to prevent large but very slow changes, such as caused by a gradual heating and cooling of the liquid, such as in the daily temperature change, from being mistaken for a liquid transition. The predetermined length (or duration in many cases) can be selected based on the design of the sensor device. It can, for example, lie between a few tenths of a second to a second or five. Some quantities that can be taken into account are:

- the average expected flow rate. At a higher speed, the boundary or liquid transition area will also pass faster. The length / duration can be smaller.

- the distance from a fluid source to the sensor. At a greater distance, more mixing of the border area with the respective liquids may occur, and the possible peak / trough will widen. The length / duration must be longer.

- the speed of the detector device, which must, after all, be able to measure a passing liquid transition quickly enough.

- the thickness of the liquid line / flow-through cell. The thinner the pipe or cell, the more difficult mixing will occur. The length / duration can be smaller.

Note that the detection of a peak or trough, or a temporary, relatively large and rapid change, in a parameter may well indicate a boundary region or fluid transition. This is often clearer than a more gradual change. After all, if only consideration is given to whether or not a threshold value is exceeded in an absolute sense, this gradual change in value can be caused in the intrinsic liquid, for example by mechanisms such as heating or aging. Even in such cases there will often or almost always be a certain border area in which a parameter value shows a peak or trough. Therefore, in a more general sense, it is advantageous if the sensor device is adapted to detect a fluid transition when a change per unit time of the detector signal is greater than a predetermined change threshold value. Moreover, if the value of the parameter itself changes by more than a threshold value, this is even more clearly an indication of a liquid transition. Therefore, it offers even more advantages if the sensor device is adapted to detect a liquid transition when, moreover, a change in the detector signal is greater than a predetermined threshold value. In addition, exceeding an absolute value of the parameter can lead to even more accurate detection. Therefore, it offers even more advantages if the sensor device is adapted to detect a liquid transition when, moreover, the detector signal exceeds a predetermined absolute value.

In particular, the change threshold value and / or the threshold value is / are a function of the detector signal for a predetermined period of time. Thus, the (change) threshold value can, if desired, be dynamically adjusted to the value of the detector signal, in order, for example, to be able to take account of a drift or the like which is meaningless for detection. More specifically, the change threshold value and / or the threshold value is / are a function of the variance in and / or the standard deviation or maximum change of the detector signal during that time period.

In embodiments, the property comprises an optical property of the fluid. An advantage of choosing an optical property is that in many cases it can be determined very quickly and accurately, and moreover usually usually non-invasively, i.e. with very little to no influence on the liquid.

In embodiments, the sensor device, or sensor device, comprises a light source adapted to direct optical radiation through the cell, the detector comprising an optical detector adapted to receive and detect transmitted optical radiation that has passed through the liquid. By thus working with light, the aforementioned advantages of utilizing an optical property with accurate and rapid measurement can be realized. The light source is preferably adapted to emit the optical radiation in a beam. This not only facilitates manipulation of the optical radiation, but also limits the area that interacts with the liquid. Another important advantage is that the area of ​​interaction can be chosen, for example at the bottom of the flow-through cell, where liquid will most often be present. Advantageously, the detector comprises a plurality of optical detectors, more advantageously a ccd or cmos device, and even more advantageously an RGB chip. A relatively very inexpensive detector is thus provided, which can receive several signals simultaneously. This not only concerns different wavelengths, namely red, green and blue, but also, if desired, from different angles, certainly if the chip has a certain extent.

In particular, the property is at least one of absorption of the optical radiation, refraction of the optical radiation, scattering of the optical radiation and reflection of the optical radiation. All these quantities, and in particular also a combination thereof, can form useful parameters for detecting a liquid transition. For example, the absorption of one liquid can be much greater or smaller than that of the other, which leads to a large change in the signal at the liquid transition. It is also possible that, in the case of mutually reactive liquids, a chemical reaction even occurs which leads to turbidity or precipitation by reaction products. In that case, even with intrinsically clear liquids, a peak signal may occur in the absorption, which may also apply to the scattering. Precipitation may also be present because, for example, sediment or the like is sucked in from the bottom of the vessel. But whether it is sediment or a chemical precipitate, in both cases an alarm signal is in place. It is also possible, even with intrinsically clear liquids, that the refractive index differs, which is relatively easy to determine with a bundle of optical radiation. Other options or combinations can easily be derived by those skilled in the art based on the above. Furthermore, equivalent or complementary quantities, such as transmission upon absorption, are considered to fall within the scope of protection.

In embodiments, the light source comprises a plurality of partial light sources that emit optical radiation of different wavelengths. It is thus possible, alternatively or additionally, to measure one or, advantageously, more parameter values ​​for different wavelengths, so that more information about the liquid and transitions therein can be obtained. Herein, in particular, it is meant that the wavelength ranges within FWHM do not overlap. Advantageously, at least a part of the light sources is monochromatic, in particular with a wavelength range of at most 50 nm, such as LEDs, or lasers. With overlapping wavelength ranges, alternate driving can prevent unwanted signal overlap.

In particular, the light source and / or at least one partial light source and / or at least one optical detector is arranged in the cell. This avoids influencing the optical radiation through the wall of the cell, for example by scratching or discoloration.

Alternatively or additionally, the light source and / or at least one partial light source and / or at least one optical detector is arranged around the cell, the cell being transparent or transparent at least at the location of said light source or partial light source. Thus, the (partial) light source cannot be influenced by the liquid, which is a great advantage in the case of aggressive liquids, for example. Moreover, it is easier to replace, repair or the like (partial) light source. If desired, the translucent or transparent part of the cell at the location of the (partial) light source or optical detector can be formed by a window, which can be made of suitable material, which is compatible, for example, with the liquid. The cell as a whole can also be made of such a material, such as a tube of light-transmitting material, such as polysulfone or polycarbonate, or preferably of a glass, such as borosilicate glass, for high scratch and chemical resistance.

Advantageously, if the flow-through cell is cylindrical and is made of light-transmitting material and the (partial) light source is located outside the flow-through cell, the optical detector is placed in the path of the emitted light beam and the beam angle of the beam from the light source is the refractive index of the light-transmitting material of the flow-through cell and the cross-section of the flow-through cell matched to each other in such a way that, when the flow-through cell is filled with a desired liquid, the emitted beam ends up at least half, and preferably substantially entirely, on the optical detector, while in the absence of liquid in the flow-through cell, the bundle is less than half, preferably reaches a maximum of 0.2 part rounded on the optical detector. The numbers mentioned here apply to the non-absorbed and non-scattered part of the bundle. Said measure provides the advantage that the presence of liquid, and in particular that of the desired liquid, is very easily possible. The fluid in the cell then acts as a convex lens that directs the beam at the opposite detector. The bundle continues to spread without liquid. This causes a (very) large difference in brightness between cell with liquid and cell without liquid. Even with absorbent, but not extremely absorbent liquids, the signal with liquid can still be stronger than without liquid. Therefore, such an arrangement can also act as a liquid presence detector.

In one embodiment, the light source or at least one partial light source is adapted to emit a light beam, and the detector is arranged and adapted to detect the emitted beam passed through the flow-through cell. If the radiation is emitted in the form of a beam, it is possible, as indicated above for the light source in general, to manipulate the optical radiation, but also to limit the area that interacts with the liquid, if desired different for each partial light source . Another important advantage is that the area of ​​interaction can be chosen, for example at the bottom of the flow-through cell, where liquid will most often be present. Advantageously, there are several, for example two, three or four, partial light sources, each of which emits a light beam, and there are several detectors, such as two, three or four, for detecting the plurality of light beams. The partial light sources may comprise light of a limited wavelength range (monochromatic or narrow-band light). They can also, and even advantageously, emit white light or broadband light, including (near) infrared if desired. The detectors may be correspondingly monochromatic, narrowband or broadband sensitive, such as the sub-sensors of an RGB sensor. Thus, because of the luminous intensity that can often be achieved, in particular for white light, which is also available for many different properties and sensors, different effects such as transmission, reflection and absorption can be detected and measured for different conditions, such as for different angles , distance through the liquid, different wavelength, etc., and in particular also for combinations of these properties. It is this latter characteristic, the ability to measure multiple properties simultaneously, which is a major advantage of the present sensor system. Namely, a liquid transition can thus be determined more reliably. A fluid transition, in particular that from a desired and known fluid to any other, undesired fluid, will always be able to be detected upon knowing in advance which property changes. But that is just unpredictable. Therefore, with the present system, a multitude of properties can be measured, so that a clear change in one property, and more preferably a significant and simultaneous change in at least two properties, can reliably signal a transition to another, undesired liquid.

For example, in one embodiment the sensor system comprises a conductivity or impedance meter for measuring the conductivity or impedance of the fluid in the cell. Conductivity is a valuable parameter for characterizing liquids. The flow-through cell advantageously comprises a hose bar at each of its ends. These are for connecting the cell to a supply and a discharge line. The hose pillars are advantageously arranged here as electrodes for the conductivity or impedance meter. This has the great advantage that no separate conductive electrodes are needed in the flow-through cell itself, so that no leaks have to occur. Moreover, it is much easier to manufacture. In addition, a larger electrode area is available, so that the measurement is much less sensitive to air bubbles, contamination and the like. The electrodes also do not protrude into the path of the liquid, so that the flow thereof is affected as little as possible. All this requires that there is electrical insulation between the hose pillars. This can be provided by insulating material between the hose pillars and the flow-through cell and / or a flow-through cell that itself is made of insulating material, such as plastic or, preferably, a glass.

Advantageously, the sensor control is adapted to detect a fluid transition if the detector signal changes more than a predetermined threshold change within a predetermined period of time. As previously indicated, with a high probability and in any case sufficient for an alarm signal, there is a fluid transition at a sufficiently large change, in particular per unit time, of one or more measured quantities.

Embodiments may include a speed indicator that is adapted to provide a sensor speed signal to the sensor controller that indicates a speed of the fluid in the flow-through cell, the predetermined duration being fluid speed dependent. The sensor device can thus effectively take into account the speed at which the liquid flows through the cell. After all, if the liquid flows very slowly, for example, even a gradual change in the signal may already be a reason for an alarm, while in the case of a very fast flowing liquid a short peak in the signal can mean more than just a random noise ripple. Discounting the liquid flow rate helps to correctly value the measured values ​​and changes.

In an alternative or additional measure, the light source is adapted to emit a light beam through the flow-through cell, the device comprising an optical sensor adapted to detect a detection position of the light beam passed through the flow-through cell on the optical sensor. The property advantageously comprises the detection position, in particular a change of that detection position. Alternatively or additionally, the property comprises the size or change in size of a beam on the detector, which of course can again be thought to be composed of position changes of the extremes of the beam. These embodiments make use of the insight that with a constant liquid, the position that such a light beam passing through the liquid takes on the detector will also remain the same. If the fluid changes, it will, for example, express itself in a different refractive index, and thus a different position on the sensor. Note that this will in particular apply to a beam entering obliquely through the liquid, in which case the angle of refraction will change. If a very oblique angle of incidence is chosen, advantageously 60 ° or more relative to the normal on the liquid body, or the flow cell at the location of the light entrance, even a small change in the refractive index will cause a relatively large position change. Likewise, a very oblique, preferably substantially ironing, incident on the optical sensor will cause a small change in refractive index to cause a large change in position. Here, in this application, a very oblique incidence is an incidence below less than 30 ° with the sensor surface, and essentially ironing incidence is an incidence below a maximum of 10 ° with the sensor surface, but other angles are certainly not excluded. Note that such an optical sensor can also act as a liquid presence detector, since the position of the beam due to refraction in air will be very different from refraction of any liquid in the cell. Furthermore, the sensor system or the corresponding sensor device can serve as an accurate absolute determiner of the refractive index.

In particular, a transition is characterized by (mixing) swirls and / or a local temperature rise. The above-mentioned position change relates in particular to a more or less stable bundle position before and after passing a liquid transition. As already indicated above, a reaction can also take place at the interface of two different liquids, whereby other substances are formed, which of course can only cause a different refractive index locally. So even if two different liquids have the same refractive index, it may still be the case that it is no longer the case in their border region. A temporary change in the detection position is then still a reliable indicator of a liquid transition. Therefore, a time-related change threshold can also be important for the position change: if this is exceeded, a liquid transition is most likely detected. The sensor control can then be arranged accordingly for detecting it.

Another reason that a temporary change in the detection position on the optical sensor is also important is that the beam can be reflected at the interface between two liquids, again due to differences in refractive index. In theory, and in the simplest approach, that interface with non-mixing and non-reacting liquids is a lead surface on the wall of the flow-through cell. Note that it is advantageous here to have a light beam which, although obliquely incident on the liquid, then rather at a large angle with the normal, ie at a small angle, and preferably ironing, with respect to that interface. After all, even a small refractive index difference will cause a large reflection. In practice, however, the interface will often consist of swirls. In that case, a free wild position signal will be detected on the optical sensor in each beam direction. Preferably, the sensor control is therefore designed to detect the time change from the detected position on the optical sensor, advantageously to detect a liquid transition if that time change exceeds a predetermined threshold. Note that the time change in this case is preferably seen as a cumulative sum of the absolute changes, in other words, a change back and forth counts as ABS (change back) + ABS (change again). Nevertheless, the maximum change in position, such as, for example, an amplitude of a period change, could also be detected as a fluid transition.

Particular embodiments of the sensor system or the sensor device are characterized in that it comprises an image sensor, such as a video camera, which is adapted to receive an image of the liquid in the flow-through cell, and wherein the sensor control comprises image processing software for processing the image and is adapted to detecting a fluid transition if the image shows a predetermined minimum change in time. The image recorded by the image sensor, such as a ccd or cmos camera, which must of course be a dynamic image or at least a repeatedly recorded image, is herein analyzed by the image processing software. This compares the images with each other, either consecutive images or each new image with a certain standard such as a running average of the past x images, and determines the amount of change therein. The latter includes, for example, the change in image information per pixel summed over the pixels of the image. In theory, with a completely homogeneous liquid, no change will occur, while when an interface flows past, a very large amount of change will occur in the image. Note that it is precisely the beam visible in the image, and the brightness, position and color thereof, that will determine a large part of the image information. Refraction, color change, local turbidity due to reaction products, swirls, etc., will all have an effect on that image information. Optical techniques in particular will be able to provide great sensitivity and reliability.

The device advantageously comprises a gas bubble suppression device which is arranged in the flow direction prior to the flow-through cell. This gas bubble suppression device serves to prevent as many false-positive detections as a result of gas bubbles. After all, a liquid-gas bubble transition is a transition that produces a clear signal, but that does not indicate a fluid transition. For example, the refractive index of gas is always lower than that of liquid, and so it is always possible to reflect on the gas bubble.

The gas bubble suppression device is not particularly limited, and may, for example, comprise a bubble capture device such as hairs or a mesh. Advantageously, the flow-through cell comprises a portion that has a larger cross-section than the liquid supply opening. The liquid can thus settle somewhat in that wider, thicker part, so that any gas bubbles can rise to the top or even to the surface. The whole is then advantageously a kind of air-liquid separator. In particular, that portion protrudes below the liquid opening. There it can do its work as early as possible in the flow of liquid.

In advantageous embodiments, the detector comprises a temperature sensor which is adapted to measure the temperature of the liquid in the flow-through cell. This may, for example, be favorable to be able to carry out any temperature correction on the measured values. For example, almost any quantity could be somewhat temperature dependent, such as refractive index (and thereby also beam detection position on an optical sensor), absorption and so on. By then being able to correct for temperature, a false-positive liquid transition detection can possibly be prevented. For example, if the outside temperature rises, the temperature of the liquid could also rise, which, however, need not have any relevant significance for the liquid.

In embodiments, the property comprises the temperature of the liquid. After all, it could occur that instead of a liquid with a desired temperature, such as in particular at or slightly below body temperature, a much colder or hotter liquid is supplied. This could lead to discomfort or even danger for animals to be treated and the like. As the temperature difference between the first and second liquid will be maintained in the case of not too long supply lines, except for a transition in the boundary region, an alarm signal will be correctly generated when increasing or decreasing by more than one change threshold, in particular if the change with more than a change threshold occurs within a predetermined period of time, more particularly within a fluid velocity dependent period of time. Thus, the length, and any insulation, of the supply line and the supply speed of the liquid can be taken into account.

In embodiments, the sensor system comprises a flow disturbance element which, viewed in flow direction, is placed in front of the detector. The flow-disturbing element, which protrudes, for example, into the flow-through cell or a liquid-supplying conduit, will generate swirls in flowing liquid. With a homogeneous liquid, these will not be detectable or will not be detectable. However, if a fluid transition is present, these vortices will cause the transition to extend over a larger volume, and therefore longer and / or more visible to the detector (s). A flow-disturbing element can for instance be a special pin provided for this purpose, or for example also an electrode or sensor for conductivity / impedance or temperature or the like, which nevertheless protruded into the liquid path.

In particularly effective embodiments, the sensor control is adapted to generate an alarm signal if the temperature within a predetermined period of time, more particularly within a liquid velocity-dependent period of time, has a peak of at least a predetermined magnitude. These important embodiments are based on the insight that as a result of a reaction at a liquid transition, in the boundary region between the two liquids, a local temperature rise can often occur. The reaction heat can come from a chemical reaction, but also, for example, from mixing or dissolving one liquid in the other.

Even if the first and second liquid have the same temperature, such a peak between them can occur, which is indicative of a liquid transition. In practice, the first and second liquid will not always have the same (basic) temperature. Nevertheless, peak is meant in particular that, and the sensor control is adapted to generate an alarm signal if the temperature shows a rise with at least a predetermined rise threshold, followed by a fall with at least a predetermined fall threshold. The rise and fall threshold need not be the same. Nevertheless, it is clear that the border area is warmer than both the first and the second liquid. This is a clear indication of a reaction between the two liquids, which is almost always undesirable, and in any case indicates that there is a liquid transition. The rise and fall threshold can, for example, each have a value between 1 and 5 ° C. The possible predetermined period of time may have a value of, for example, between 1 and 5 seconds. This means, for example, that a temperature rise of at least 3 ° C within 5 seconds, followed by a fall of at least 2 ° C within 5 seconds, reliably and reliably indicates a non-noise-related temperature peak, which indicates a liquid transition.

It will be clear that, as already mentioned above, a combination of a temperature measurement and / or an optical measurement and / or a conductivity / impedance measurement provides an even greater reliability in liquid transition detection.

As already indicated above, the invention also relates to a sensor device per se, as described in claims 24 - 26. Such a sensor device, as well as corresponding sensor systems, are also eminently suitable for characterizing substances by combining several properties in combination. such as transmission / absorption (and possibly from this. color), scattering, reflection, refractive index, everything if desired for different wavelengths, and possibly supplemented with temperature, conductivity / impedance, and so on. This property to be able to give a kind of passport or signature of properties to substances, is useful in recognizing those substances. This is even suitable for recognizing air bubbles in liquid. After all, there is always a transition from the liquid to air, with a characteristic transition in refractive index, reflection and so on. Upon recognition of such an air bubble, for example, the sensor system might decide to ignore such a detected transition as meaningless. Alternatively, detection of an air bubble, and in particular a detection frequency higher than a threshold frequency, could indicate a leak or a disrupted liquid supply. An alarm signal could then also be generated.

It is further noted that providing multiple light sources and multiple detectors, preferably around a circular cross-sectional space such as a cylindrical flow-through cell, provides the advantage that many related properties, such as scattering and reflection, at different angles and / or in different positions be measured. This offers possibilities to calculate the basic parameters based on the plurality of detector signals. Where a single detector cannot distinguish from the constituent parts of a signal, which is, after all, composed of transmission, refraction and one or more reflection and / or scattering signals, these can be derived from the plurality of detection signals by deconvolving and the like.

The invention also relates to a dairy animal treatment device, comprising a teat detection device for detecting the teats of a dairy animal, a teat treatment device for performing a teat-related operation on the teat, a robot arm with a control device adapted to operate at least one with the aid of the teat detection device from the teats of the teat treatment device, wherein the dairy animal treatment device comprises at least one liquid line, and a sensor device according to any one of the preceding claims, wherein at least the flow-through cell can be brought into fluid communication with the liquid line, wherein in particular the flow-through cell can be connected to the liquid line. Such a dairy animal treatment device often performs a teat-related operation several times a day on each dairy animal from the herd. Moreover, a teat is a very sensitive part of the dairy animal. It is therefore very important that such a treatment is carried out very reliably, with the least possible chance of discomfort or even danger due to the use of the wrong liquid. Therefore, the use of a sensor device according to the invention with such a dairy animal treatment device is of great advantage. The specific advantages as mentioned in the embodiments of the sensor device apply in full to the dairy animal treatment device, and therefore do not have to be repeated. Nevertheless, a few special embodiments of the dairy animal treatment device will be discussed below.

Advantageously, the liquid line comprises a teat treatment liquid supply line and the dairy animal treatment device is adapted to add teat treatment liquid for the teat treatment via the teat treatment liquid supply line, in particular via the teat treatment device. A liquid is often used for teat treatment, and it is very important to prevent the use of incorrect liquids. If a fluid transition is detected, there is a chance that the second fluid is undesirable. The generated alarm signal will be a reason for the receiver, often the foreman or operator, to take corrective measures, and to limit or prevent damage to the dairy animal in particular.

In embodiments, the device comprises a teat treatment fluid supply container, which is closably connected to the fluid line with a controllable valve, the control device being adapted to cause the controllable valve to close the connection between supply container and fluid line based on the generated alarm signal. It will be clear that closing off the liquid supply when a liquid transition is detected can prevent a great deal of damage, in particular if the valve is sufficiently far in front of a possible outlet opening. All this will depend on the liquid speed and the speed with which the control device can detect a liquid transition, but can be easily adjusted in practice.

In particular, the teat treatment device comprises a teat cleaning device and / or a teat after-treatment device. This is a very direct way of carrying out a teat-related treatment that either directly or more particularly directly brings liquid onto the teat. Examples of such treatments are spraying or brushing of the teat, or brush cleaning of the teats with a liquid-moistened brush. The liquid comprises in particular teat cleaning, teat disinfecting or care product. It will be clear that there is a great danger for the dairy animal if a teat were sprayed with, for example, an aggressive cleaning agent, such as a lye or acid or other milk line cleaning agent, instead of a teat disinfectant.

In a very advantageous embodiment the teat treatment device comprises a teat cup which can be mounted on a teat, as well as a liquid supply to the interior of the teat cup, in particular for teat cleaning or other teat treatment. The sensor device can then determine whether there is a liquid transition in the liquid that is supplied to the teat cup. This can be for a liquid for teat treatment, if the teat cup is on the teat. After all, there is a great danger if, for example, a cleaning agent is supplied by accident. Conversely, a fluid transfer can also be detected if the teat cup is (automatically) cleaned. After all, a liquid transfer can here also indicate an incorrect liquid, such as a teat treatment means instead of a teat cup cleaning means. This would not only entail waste of resources and risk of insufficient cleaning, but could also indicate a change of resources, with potentially nasty consequences for a dairy animal. This could be prevented by applying the sensor device according to the invention.

The sensor and / or teat treatment device according to the invention preferably forms part of a milking device. Such a milking device can, for example, be an automatic milking device, wherein a robot arm is arranged for mounting teat cups on teats of a dairy animal. Such a device offers the per se known advantages of milking without supervision. In such a case it is favorable if the reliability and animal safety are increased, such as with the sensor and / or teat treatment device according to the invention. However, the devices can also be used in a milking device for manually connecting teat cups, wherein a teat treatment is applied. An example of such a device is, for example, the RotaryMATE from Green Source Automation, which in a milking carousel with a manual cup connection has a robot arm that automatically sprayes the teats with a teat-treating agent. Thus, although there is always an operating person in the vicinity for milking and the other operations, this work is often performed by non-specially trained people, and in particular the monitoring of the spraying process will benefit from the present invention.

The invention will be further elucidated in the form of a few non-limiting examples, and with reference to the drawing, in which:

Figure 1 shows a schematic cross-sectional view of a sensor device according to the invention;

Figure 2 shows a schematic box view of another sensor device according to the invention;

Figure 3 shows a schematic cross-sectional view of yet another sensor device according to the invention;

Figure 4 is a diagram with a possible measurement signal as a function of time;

Figure 5 is a diagram with another possible measurement signal as a function of time; and

Figure 6 is a schematic view of a teat treatment device according to the invention.

Figure 1 shows a schematic cross-sectional view of a sensor device 1 according to the invention. 2 forms a flow-through cell with a liquid supply opening 3 and a liquid discharge opening 4, and therein a first liquid 5-1 and a second liquid 5-2 with an interface 8.

6 denotes a detector device generally, with a sensor control 7. 9 denotes an optional liquid presence detector, while 10 denotes a light source emitting a light beam 11 to optical detector 12. Denoted 14 is an optional conductivity meter.

The flow-through cell 2 is shown here as a part of a pipe, not separately indicated, through which liquid flows, inwards through opening 3 and of course through opening 4 out again. The presence of liquid can be detected here with the (optional) liquid presence detector 9, here consisting of two electrodes with a conductivity or resistance meter in between. If liquid is present between the electrodes, the conductivity will be much higher than when it is not. Furthermore, in particular the upstream electrode (s) serves as a liquid flow disrupting means, or vortex generating means, to make vortices at an interface 8 more clearly visible. Incidentally, the detector 9 can also be placed on the top of the conduit, in order to ensure that not only a presence signal is generated with a thin layer of liquid near the bottom. Note that fluid presence can also often be concluded from values ​​of a fluid property measured by the sensor device 1 itself.

Figure 1 shows the presence of liquid, namely a first liquid 5-1 and a second liquid 5-2, with an interface between them. In this case the liquids are immiscible, such as for example water and oil. In practice, the interface 8 will rather be a border or transition area in which mixing and / or even a reaction can occur.

It can also be seen that the flow-through cell at the bottom comprises a lowered and widened portion, whereby any gas bubbles in the liquid will disappear from the liquid at least at the bottom. A light source 10 is also provided there which emits a light beam 11 which, after passing through the liquid, is collected by the optical detector 12. The light source 10 is, for example, a small incandescent lamp or, preferably, an LED or laser. The light used is, for example, visible or (near) infrared light, although medium or far infrared and UV light are not excluded. The light is broad or narrow band, even substantially monochromatic. Preferably, the wavelength or wavelength range is adapted to the correct liquid to be used. This is also possible, and advantageously, with a white light source, such as a white light LED, in combination with optical sensors with filters or the like, which thus have a limited detection range. An embodiment is characterized in that the type of light used has a main wavelength that is adapted to the color of the correct liquid to be used. This makes use of the insight that all, at least the vast majority of, teat care fluids have a (visible) color, while all, at least the vast majority of, cleaning agents for milk lines and teat treatment devices used in practice are optically colorless. Therefore, when using, for example, light of the same color as the liquid to be used, which will therefore give relatively much absorption, a much lower absorption will be measured at a transition to a colorless liquid. This signal will indicate very clearly that at least the correct liquid is no longer in the pipe.

It is noted that the bundle 11 is drawn as a fairly narrow bundle. Alternatively, a broad beam can also be emitted, or even unbundled light. This offers the possibility of an optical detector 12 with a larger surface area, or several detectors 12 with a larger covered area together. The signal will thus be more averaging and less susceptible to interference by, for example, air bubbles.

The detector 12 can, incidentally, be any suitable optical detector, such as photodiodes, light-sensitive resistors and so on. A special optical detector is a CCD camera with image processing software. Such a sensor can then be arranged to capture an image of the emitted radiation and to analyze that image. If an interface passes through the image, that image will be distorted. This occurs in particular with liquids of different color, clarity, refractive index or the like. The image of the optical radiation or beam will then undergo a relatively large change, which can be reliably detected by the sensor control with the image processing software. Alternatively, such a ccd or cmos chip can also be used to detect the light, in the three colors, and possibly also as clear, ie without a color filter, only the overall brightness of the signal.

The conductivity meter 14, also shown, with two electrodes shown, can additionally serve for liquid property detection, because it can detect whether a change in conductivity occurs. For example, this is measured between the electrodes, but preferably each of the two electrodes is arranged to determine the conductivity itself and locally. There is then a double conductivity measurement, which is slightly shifted over time. This can serve for a more reliable measurement, but also for determining the liquid velocity. After all, any variation that is seen by the upstream electrode or other meter will be seen some time later by the second electrode or other meter. By dividing the distance between the electrodes (or meters) by the time difference, the liquid flow rate can be determined, and the whole thus forms a liquid flow speed meter. A dedicated liquid flow rate meter can of course also be provided, which only measures that speed. In practice, liquid velocities often turn out to be in the range of a few cm to tens of centimeters per second. The sensor device and the sensor control must be adapted to such a speed.

Figure 2 shows a schematic box view of another sensor device according to the invention. This comprises LEDs 13-1, 13-2 and 13-4 located on the wall of the flow-through cell, as well as another LED 13-3 and two optical detectors 12-1 and 12-2 outside the wall behind transparent windows 19. The LEDs emit respective beams 11-1 ... 11-4.

The shown partial light sources 13-1 to 13-4 can, for example, emit different kinds of light, such as white light, red light, green light and blue light. Overlapping wavelength ranges are not a problem if the LEDs are energized alternately. The emitted bundles are affected by the liquid present in the flow-through cell, and undergo, for example, absorption, indicated by the straight line in bundle 11-1, or scattering, indicated by the kinked line in bundle 11-1 and the dotted line in bundle 11-4 . The respective associated rays are captured in this example by optical detectors 12-1 and 12-2, respectively. Of course, more LEDs (partial light sources) and (optical) detectors may be provided. It is important that in this embodiment all kinds of optical properties of the liquid can be detected for several kinds of light, and thus also changes therein. This greatly increases reliability, partly because properties can be determined for several light paths.

For LED 13-3 it applies that it emits a beam 11-3. This is broken by the material of the wall of the cell 2 and the liquid in the cell into a converging bundle 11-3 'which is directed to and meets at detector 12-2 and leads to a high signal. In the absence of liquid, the bundle would be wide and lead to a much lower signal.

The windows 19 shown are preferably transparent, at least for the radiation emitted by the associated source / LED or for the radiation to be collected by the detectors 12-1, 12-2. Alternatively, the entire flow cell or even conduit is transparent to that radiation, such as a flow cell made of borosilicate or other glass. The use of windows 19 is favorable if the (partial) light source (s) or optical detector (s) are sensitive to the liquid, or, for example, to exchange or repair it more easily.

Figure 3 shows a schematic cross-sectional view of yet another sensor device according to the invention. A light source 10-5 is provided in the flow-through cell 2, which beam emits a beam 11-5, which is detected by a location-sensitive optical detector 15. Reference numeral 17 denotes a thermometer. Furthermore, 40 denotes two hose pillars, and 41 and 42 denote a supply and discharge tube respectively. a drain pipe.

The source 10-5 is shown with a bundle 11-5 that passes obliquely through the liquid. Depending on the refractive index, and any interfacial effects, the beam will impinge on the sensor 15 at a certain location and generate a signal there. If the fluid is homogeneous and unchangeable, that location will not change. If another liquid flows in, with an interface or area with the first liquid, then refraction and / or scattering will occur at that interface or area, and the position on the sensor 15 will change. Such a change can be an indication of a fluid transition. Only an x ​​dependence is indicated in the figure. Of course, it will also be possible to detect a dependence perpendicular to it. The liquid transition dependence of the position will be large if the bundle 11-5 passes (very) obliquely through the liquid. Nevertheless, an (almost) straight passage through the liquid is also an option, which is then extremely sensitive to effects, in particular scattering, at the interface, but again not at all to refractive index changes. A change in the surface area of ​​a light beam detected on the sensor 15 is also an indication of a refractive index or change therein.

The cell is here made of a transparent material, such as a plastic, preferably a glass. This also serves as an insulator between two electrodes, here embodied as hose pillars 40, of the conductivity or also impedance meter

14. Of course, the hose pillars, which may be molded, for example, also serve to attach to the cell a supply line 41 and a discharge line 42, optionally with the aid of means such as hose clamps, not shown here.

The thermometer 17 shown serves to measure the temperature of the liquid and, like all other sensors shown, is connected to the sensor control. If the thermometer measures an absolute temperature that is too high or too low, which can for instance cause a physical hazard to an animal, the sensor control can generate an alarm signal, using a signal generator not shown here, such as a text message, an e-mail message, or an audible and / or visible signal. According to the invention, an important possibility is that the thermometer detects a temporary peak in the temperature. This almost always indicates a reaction between two liquids at an interface between them. On the basis of this, a very reliable liquid transition indication can also be determined, with an alarm if required. Note that a certain step in the temperature itself does not have to indicate that a wrong liquid is being supplied. After all, for example, new stock can be provided from a coolly stored vessel. However, if there is a peak where the temperature is higher than both the first and second liquid temperatures, there must be a cause for this, which often, if not always, lies in a reaction between the liquids.

The light beam 11-5 is coupled into the flow-through cell relatively obliquely, because then a refractive index change in the liquid present, or even the absence of liquid, can cause a change in direction already on coupling, and thus a large position change and / or beam surface change on the optical sensor 15 .

Figure 4 shows a diagram with a possible measurement signal T as a function of time. The measurement signal relates, for example, to the turbidity, which can be determined from a transmission measurement, or a temperature measurement. The measurement signal has a peak 16 during a time At, as well as a noise ripple 18 of the size AT. The value of the signal drops from a stable value T_fi to a stable value Tf2. However, there is a peak 16 to a value T between them_p.

In practice, the value of T will not be perfectly stable, but will always contain some noise lines 18. However, statistical research will in most cases be able to make a clear distinction between noise lines 18 and a real, causal peak 16, based on the magnitude of the signal change. In this case the increase (T_p - T_fi) and, because it is even larger, certainly the decrease (T_p

Tf2) greater than a rise threshold or fall threshold, which for this case is 2ΔΤ. This does not apply to the noise ripple 18. Therefore, no alarm has to be given for the noise ripple, but for the peak 16 it is. Note that it is not necessary that both the rise and fall rise above a threshold. For example, if there is a significant difference in temperature between two liquids, the temperature rise due to a reaction may be masked by the temperature step in combination with pure heat transfer and mixing. If, nevertheless, an increase occurs between the two stable levels, a reaction will almost certainly have taken place here too, and not only the temperature, but also the composition of the liquid has changed, which may be a reason for an alarm.

Another important criterion is the length of time during which a peak occurs. If that is a very broad, ie long-term, peak, it can also be an accidental overall temperature variation, for example under the influence of solar radiation. Therefore, the duration of time At is preferably also taken into account. If it is smaller than a certain value to be determined in practice, then a liquid transfer is decided upon, and otherwise not. The duration of time can depend on the measured liquid flow rate, but also, for example, on the distance to liquid supply, such as the supply or main line or the like. After all, more mixing can occur at a great distance, and a peak will already be spread out more.

Figure 5 shows a diagram with another possible measurement signal as a function of time. This is an example of the x position of the bundle 11-5 according to Figure 3. It can be seen that that position is first stable around X 0, then varies greatly, and becomes stable again around X 0. This is an indication of a swirling interface that wildly disturbs the position of the light beam on the sensor 15, while the liquids themselves have substantially the same refractive index. Note that there will then be a border area with a reaction product that will itself have a different refractive index. Alternatively, the bundle goes perpendicularly through the liquid, and there is refraction / reflection at a swirling interface, in particular if there is no mixing.

Figure 6 shows a schematic view of a dairy animal treatment device 20 according to the invention. Herein 21 is a dairy animal with teats 22. Furthermore, a robot is provided with a robot arm 23 and a teat detection system 25 and a robot controller 26, as well as a teat cup 24, a liquid line 27, a valve 28, an alarm signal generator 29, a supply container 30 with teat treatment liquid 32, and a pump 31, a spray head 33 for a spray mist 33, as well as a sensor device 1 according to the invention.

The robot serves to connect the teat cup 24, as an example of a teat treatment device, in a manner known per se with a robot arm 23 known per se and teat detection device 25, under the control of the robot control 26, which may otherwise be connected to the sensor control, not shown here separately.

If the sensor device 1 determines that the liquid 32 in the flow-through cell, and therefore in the storage container 30, gives cause for an alarm, it will cause the alarm transmitter 29 to give a signal and close valve 28 in line 27. Here, valve 28 is a three-way valve in which the sensor controller can choose to allow fluid to pass to the teat cup 24, the spray head 32 for applying a teat treatment means with a spray mist 33, or, of course, non-passage of fluid. Thus, danger for the dairy animal 21 is reduced. In addition, the sensor device 1 can directly control the robot controller 26, or via the alarm signal via the robot controller 26, to disconnect the teat cup 24.

The shown is only an example of the application of the sensor device according to the invention. Equivalent changes will be easy for those skilled in the art. The scope of protection is determined by the appended claims.