| 摘要 |
<p>A method of monitoring a milking process by a milking apparatus (1) with a teatcup (2, 3, 4, 5) with a pulsation space (33) and a pulsation airline (7) configured to deliver varying levels of pressure to the pulsation space. The method comprises: . measuring at least one property of a vibrational signal within the airline with a vibration sensor (11); . 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.</p> |
