Milk extracting system

Abstract

A milk extracting system (100) designed to measure the total milk flow rate from all teats during milking (302) by a milk flow meter (160). A controller (180) compares the measured total milk flow rate with a trigger level (401). When the trigger level (401) is exceeded, the controller (180) instructs the pulsator device (210) to supply a predetermined first pulsation setting to a first channel (221) connected to a first pair of teat cups (131, 132); and to supply a predetermined second pulsation setting to a second channel (221) connected to a second pair of teat cups (133, 134); wherein the predetermined first pulsation setting comprises a pulsation cycle ratio having the B-phase shorter in time during at least one pulsation cycle than the B-phase of the pulsation cycle ratio of the predetermined second pulsation setting.

Description

[0001] MILK EXTRACTING SYSTEM

[0002] TECHNICAL FIELD

[0003] This document discloses a milk extracting system in an agricultural environment. More particularly, a milk extracting system is described, for determining pulsation settings of a pulsator device of a milking cluster, comprised in the milk extracting system.

[0004] BACKGROUND

[0005] On a dairy farm, milk is typically extracted from the animals by putting a teat cup with a liner on a respective teat of the animal and apply milking vacuum under the tip of the teat, and a pulsation vacuum. Hereby, the rhythmical suckling of a calf is imitated so that sucking by the milking vacuum is interrupted by rhythmical motions, opening and closing of the liner caused by the pulsation vacuum. Consequently, the teats are exposed to massage which stimulates oxytocin release of the animal, which in turn activates the milk ejection reflex. Also, congestion in the teat end is prevented by the applied massage.

[0006] However, different teats of an animal may produce different amounts of milk. In case the same pulsation settings, for example pulsation ratio or alternating fluid pressure levels, are applied on all the teat cups, the milk flow often ceases earlier in a forward pair of udder quarters than in a rear pair of udder quarters, resulting in overmilking of the forward udder quarters, which may harm the associated teats.

[0007] The variation in milk production across different udder quarters / teats, typically forward / rear udder quarters / teats of an animal may pose several challenges for the dairy farmer.

[0008] The variations in milk production between udder quarters / teats may result in imbalances in udder health. The teat or teats may be harmed by continuous overmilking, which in turn may trigger mastitis.

[0009] The opposite problem may alternatively emerge, resulting in inefficient / suboptimal milking. In case the forward udder quarters / teats produce significantly less milk than the rear udder quarters / teats, it can lead to inefficient milking processes. The animal may need to spend more time at the milking point, milking the rear udder quarters / teats to ensure complete extraction of milk from these udder quarters / teats, which reduces the number of animals per time unit that could be served by the milking point, which reduces the milk yield. The amount of milk produced on different udder quarters / teats is often individual for the particular animal and may possibly also change over time.

[0010] The variability in milk production across different udder quarters / teats, in particular between forward and rear pairs of teats, presents a management challenge for dairy farmers striving to maximize milk yield, reduce or minimise milking time per animal, maintain udder health, and ensure efficient milking practices.

[0011] It appears that further investigations and development is required for improving milk evacuation of animals having deviating milk production in different udder quarters / teats.

[0012] It is desired to develop a solution for increasing the milking performance while reducing overmilking on teats without increased impact on teat tissue.

[0013] SUMMARY

[0014] It is therefore an object of this invention to solve at least some of the above problems and improve milking of an animal.

[0015] According to a first aspect of the invention, this objective is achieved by a milk extracting system. The milk extracting system comprises a milking cluster, a pulsator device, a milk flow meter and a controller. The milking cluster comprises a first pair of teat cups, which are dedicated for attachment to a forward pair of teats of an animal to be milked in a milking session. The milking cluster also comprises a second pair of teat cups which are dedicated for attachment to a rear pair of teats of the animal to be milked in the milking session.

[0016] Each teat cup comprises a respective liner and a shell, forming a pulsation space between the liner and the shell. Each teat cup is also connected to a respective short milk tube, in which under pressure is prevailing and in which milk is evacuated from the animal teat during the milking session, to which the teat cup is attached.

[0017] The pulsator device comprises a first channel connected to the respective pulsation space of the first pair of teat cups and a second channel connected to the respective pulsation space of the second pair of teat cups.

[0018] The milk meter is arranged to measure a total milk flow rate of milk extracted from the animal during the milking session. The controller is configured to instruct the pulsator device to supply a predetermined attachment pulsation setting to the first channel and to the second channel, during commencement of the milking session. The pulsator device thereby causes the respective liner to alternate between a B-phase wherein the liner is opened, and milk may be extracted from the teat during the milking session, and a D-phase wherein the liner is collapsed and is acting compressively against the teat in each pulsation cycle.

[0019] The controller is also configured to obtain the total milk flow rate of all teats of the animal during the milking session from the milk flow meter.

[0020] The controller is in addition configured to instruct the pulsator device to supply, when the total milk flow rate exceeds a trigger level, a predetermined first pulsation setting to the first channel and a predetermined second pulsation setting to the second channel. The predetermined first pulsation setting is different from the predetermined second pulsation setting during at least a part of the milking session. The predetermined first pulsation setting comprises a pulsation cycle ratio having the B-phase shorter in time during said part of the milking session than the B-phase of the pulsation cycle ratio of the predetermined second pulsation setting.

[0021] Thereby, by adapting the pulsation settings during the milking session to a predicted assumption that the milk production of the rear udder quarters will be larger than the milk production of the forward udder quarters, at least during a part of the milking session when the total milk flow rate from the udder exceeds the trigger level, the milking session could be optimised for milking out the rear udder quarters and the forward udder quarters substantially at the same time. Thereby, both overmilking and undermilking of teats is avoided. The time duration of the milking session is minimised yet maintaining udder integrity and avoiding exposure of excessive underpressure on milked out teats. The minimised time duration of the milking session increases the number of animals that could be served by the milk extracting system per time unit, leading to increased milk yield. By gentle handling of milked out teats, mastitis and other problems affecting the milk yield and animal health in general is avoided.

[0022] Optionally, the predetermined attachment pulsation setting is the same for both the first channel and the second channel.

[0023] During the commencement of the milking session the teat cups are attached to the teats and the teats are gently stimulated by the attachment pulsation of the teat cup liners, thereby causing the respective animal quarters to release milk. The stimulation required for the rear and forward teats respectively before triggering milk release are predicted to be substantially equal in terms of stimulation intensity during the attachment phase, why application of the same or substantially similar attachment pulsation setting for both the first channel and the rear channel is appropriate for stimulating the animal to start releasing milk in as short time as possible.

[0024] Optionally, the milk extracting system may also comprise an animal identification device, and a memory device, both communicatively connected to the controller, respectively. The controller may be configured to identify the animal which is milked in the milking session, via the animal identification device.

[0025] The controller may also be configured to generate data representative of the obtained total milk flow rate during the milking session of the identified animal, and to detect a deviation from a predetermined criterion related to the total milk flow rate and the time elapsed from commencement of milking to a decline phase of the total milk flow rate.

[0026] Also, the controller may be configured to adjust the B-phase setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or the B-phase setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device, based on evaluation of the detected deviation. In addition, the controller may be configured to provide the adjusted first pulsation setting and / or the adjusted second pulsation setting to the memory device, for storage therein, associated with a reference of the milking session and an identification reference of the identified animal, to be applied during a subsequent milking session of the identified animal.

[0027] Individual animals of a herd may have different constitution concerning milk production in the rear and forward udder quarters. By identifying the animal which is milked and comparing the total milk flow rate of the animal during the milking session with a predetermined criterion, it could be estimated whether the used pulsation settings are appropriate or not. In case there is no deviation, or a deviation smaller than a threshold limit, the same pulsation settings are applied also during the next milk session for that animal. Otherwise, it means that the udder quarters are not milked out at the same time, i.e., at least one udder is milked out before the others, why it is appropriate to adjust the first pulsation setting and / or second pulsation setting, to be used for that animal during the next milking session. Thereby, the pulsation settings could be optimised for each individual animal in the herd, thereby reenforcing the advantages in terms of reducing milking time, increasing throughput of animals at the milk extracting system, reducing risks of overmilking and undermilking and reducing risks of causing mastitis on the teats.

[0028] Optionally, the predetermined criterion may comprise a deviation threshold limit from a predetermined rate of change in the decline phase.

[0029] By detecting a deviation in rate of change of the total milk flow rate during the milking session from the predetermined rate of change, it is possible to detect that one or more udder quarters are not milked out at the same time (within a threshold limit). Thereby, it could be determined that the first pulsation setting and / or second pulsation setting, to be used for that animal during the next milking session is / are to be adjusted.

[0030] Optionally, the predetermined criterion may comprise a deviation time limit, from commencement of milking to a decline phase of the total milk flow rate, wherein the total milk flow rate falls below a threshold limit.

[0031] In case the change of the total milk flow rate during the decline phase is shallow rather than very steep, i.e. , the time duration from commencement of milking until the total milk flow rate falls below the threshold limit exceeds the deviation time limit, it indicates that one or more udder quarters are not milked out at substantially the same time (within a threshold limit). Thereby, it could be determined that the first pulsation setting and / or second pulsation setting, to be used for that animal during the next milking session is / are to be adjusted.

[0032] Optionally, the controller may be configured to identify the animal to be milked in the milking session via the animal identification device. The controller may also be configured to retrieve the stored adjusted first pulsation setting and the adjusted second pulsation setting for the identified animal from the memory device associated with the identification reference of the identified animal. The controller may be configured to provide the adjusted first pulsation setting and the adjusted second pulsation setting to the pulsator device for the individual animal, to be supplied during the milking session.

[0033] By identifying the animal to be milked and retrieving previously adjusted and stored pulsation settings, an individual adaptation of pulsation settings is enabled. An individual optimisation of the pulsation settings is thereby enabled, taking individual variations in milk production capacity of different udder quarters into account. Optionally, the controller may be configured to provide the size and direction of the adjustment made to the adjusted first pulsation setting and / or the adjusted second pulsation setting, in relation to the predetermined pulsation setting or a previously stored pulsation setting, to the memory device, for storage therein, associated with the reference of the milking session and an identification reference of the identified animal.

[0034] By keeping track of the made adjustments of the pulsation settings for the animal, it becomes possible to, at a later point in time, analyse and evaluate the outcome of any future milking session during which the adjusted pulsation settings have been applied. In case the previously discussed criterion is not fulfilled by the total milk flow rate, the made adjustments of the pulsation settings were not correctly made. Thus, size and / or direction of the adjustments of the pulsation settings could be made in a new approach to fulfil the criterion, based on analysis of the stored previously made adjustments of the pulsation settings.

[0035] Optionally, the controller may be configured to, upon detection of the deviation from the predetermined criterion, retrieve the size and direction of the adjustment made to the adjusted first pulsation setting and / or the adjusted second pulsation setting, in relation to the predetermined pulsation setting or a previously stored pulsation setting, from the memory device.

[0036] The controller may also be configured to adjust the B-phase setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or B-phase setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device, based on evaluation of the retrieved size and direction of previously made adjustments of the pulsation settings for the previous milking session of the identified animal.

[0037] The reason why this trial-and-error- approach may be required for optimising the pulsation settings and thereby also achieve a total milk flow rate wherein all udder quarters are milked out substantially simultaneously, is that only the total milk flow rate is measured. It is for this reason only possible to detect that one or some udder quarters is / are milked out before one or some other / s. It is not possible to identify which udder quarters that are milked out prematurely.

[0038] According to the invention, it is only possible to adjust the respective pulsation settings for the teat cups in pair, i.e. the teat cups acting on the two forward teats and the two rear teats, respectively. The reason is that the pulsator device only comprises two channels; one first channel connected to the respective pulsation space of the first / forward pair of teat cups, and a second channel connected to the respective pulsation space of the second / rear pair of teat cups.

[0039] In case the difference in milk production between the udder quarters in the respective forward and / or rear pairs is very large, it may not be possible to achieve the criterion at all. But thanks to the disclosed solution, it is possible to at least minimize the milking time and reduce any possible over / under milking to a minimum.

[0040] Optionally, the predetermined attachment pulsation setting, the predetermined first pulsation setting of the first channel and the predetermined second pulsation setting of the second channel may comprise: fluid pressures at two distinct levels alternatingly supplied to the respective channel of the pulsation device; and / or pulsation cycle ratios of the alternating fluid pressure levels supplied to the first channel and the second channel, respectively, of the pulsation device; and / or rates of the alternating fluid pressure levels supplied to the first channel and the second channel, respectively, of the pulsation device.

[0041] Optionally, the predetermined attachment pulsation setting of the first channel and the second channel, during commencement of the milking session may comprise a B-phase setting of the pulsation cycle ratio of about 30 and a rate of about 50Hz.

[0042] A pulsation cycle ratio of 30 / 70 means that the liner will collapse under the teat and gently squeeze the teat for 70% of the time in each pulsation cycle, which will stimulate milk release of the animal. A gentle and respectful yet effective stimulation of the teats is assured, leading to an efficient milk release.

[0043] Optionally, the predetermined first pulsation setting of the first channel may comprise a B- phase setting of the pulsation cycle ratio of about 65 and a rate of about 60Hz; and the predetermined second pulsation setting of the second channel may comprise a B-phase setting of the pulsation cycle ratio exceeding 65 and a rate of about 60Hz.

[0044] Optionally, the part of the milking session during which the predetermined first pulsation setting is different from the predetermined second pulsation setting may be defined either by a fixed time duration, as determined from commencement of milking; or a period of the milking session, during which the total milk flow rate exceeds the threshold limit.

[0045] Other advantages and additional novel features will become apparent from the subsequent detailed description. FIGURES

[0046] Embodiments of the invention will now be described in further detail with reference to the accompanying figures, in which:

[0047] Figure 1 illustrates a milk extracting system according to an embodiment, in a scenario wherein milk is extracted from an animal.

[0048] Figure 2 schematically illustrates a milking cluster and therein comprised components, during milk extraction of the animal.

[0049] Figure 3 schematically illustrates milking sessions of the animal.

[0050] Figure 4A is a diagram that illustrates examples of milk flow per time unit during milk extraction during a milking session according to an example.

[0051] Figure 4B is a diagram that illustrates examples of milk flow per time unit during milk extraction during a milking session according to an example.

[0052] DETAILED DESCRIPTION

[0053] Embodiments of the invention described herein are defined as a milk extracting system, which may be put into practice in the embodiments described below. These embodiments may, however, be exemplified and realised in many different forms and are not to be limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.

[0054] Still other objects and features may become apparent from the following detailed description, considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the herein disclosed embodiments, for which reference is to be made to the appended claims. Further, the drawings are not necessarily drawn to scale and, unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.

[0055] Figure 1 illustrates a milk extracting system 100 in a scenario wherein milk is extracted from an animal 101. The animal 101 may be comprised in a herd of animals for dairy farming at a farm.

[0056] “Animal” may be any arbitrary type of domesticated female mammal having four teats, such as e.g., cow. The term “milk extracting system” here has a general meaning and may comprise one or several milking points, each arranged for milking one animal at the time.

[0057] The milk of the animal 101 may be extracted by a milking cluster 130 comprised in a rotary milking parlour, in an automated robotic milking system, bucket milking arrangement, stationary conventional milking system, just to mention some few arbitrary examples of structures for milk extraction.

[0058] The milking cluster 130 comprises four teat cups 131 , 132, 133, 134, each configured to fit on a respective teat 111 , 112 of the animal 101 during milk extraction. A first pair of teat cups 131 , 132 are dedicated for attachment to a forward pair of teats 111 of the animal 101 and a second pair of teat cups 133, 134 are dedicated for attachment to the two rear pair of teats 112 of the animal 101.

[0059] As has been observed and recognised by the inventors, dairy animals produce mostly more milk in rear than in front udder quarters. Thus, at conventional machine milking the milk flow ceases earlier in front than in rear udder quarters, resulting in overmilking on front udder quarters. This is potentially harmful for the overmilked teats. The time it takes to complete the milking also becomes unnecessarily extended, as the pulsation settings in prior art are set as a compromise.

[0060] Milk extraction is made during a milking session of the animal 101. Each teat cup 131 , 132, 133, 134 comprises a respective liner 220a, 220b and a shell 230a, 230b, forming a pulsation space 225 between the liner 220a, 220b and the shell 230a, 230b as illustrated in Figure 2.

[0061] Figure 2 schematically illustrates one forward teat 111 and one rear teat 112, and the respective teat cups 131 , 133 attached thereto.

[0062] The milking cluster 130 also comprises a pulsator device 210. The pulsator device 210 comprises two independent channels 221 , 222. The first channel 221 is connected to the respective pulsation space 225 of the first pair of teat cups 131 , 132, for example via a manifold, wherein the first channel 221 is divided into two teat specific channels 221a, 221 b.

[0063] The second channel 222 is correspondingly connected to the respective pulsation space 225 of the second pair of teat cups 133, 134, for example via a manifold, wherein the second channel 222 is divided into two teat specific channels 222a, 222b. The pulsator device 210 is configured to supply a first pulsation setting to the first channel 221 and supply a second pulsation setting to the second channel 222. The pulsation settings concerns pulsation ratio, pulsation rate, and / or fluid pressure at two distinct levels, alternatively provided to the respective independent channel 221 , 222.

[0064] The two distinct pressure levels may typically be one under- pressure level during the B- phase and one atmospheric pressure level during D-phase, but may alternatively be two distinct under- pressure levels, or even overpressure during D-phase and underpressure during the B- phase.

[0065] The pulsator device 210 thereby cause the respective liner 220a, 220b of the teat cups 131 , 132, 133, 134 to alternate between a B-phase wherein the liner 220a, 220b is opened under the tip of the teat 111 , 112, and milk thus may be extracted from the teat 111 , 112 during the milking session, and a D-phase wherein the liner 220a, 220b is collapsed and is acting compressively against the teat 111 , 112.

[0066] In the short milk tube 231 , 232, an under-pressure or milking vacuum is prevailing. When the liner 220a, 220b is open, i.e. , during the B-phase, milking vacuum act on the tip of the teat 111 , 112, extracting and evacuating milk therefrom. The milk is forwarded via the short milk tube 231 , 232 to a long milk hose 150 and a receiver 170.

[0067] “Milking vacuum” in the current context refers to the vacuum, or under-pressure, prevailing under the teats. The milking vacuum may for example be set to 30-40kPa (under atmospheric pressure). The milking vacuum may in some embodiments be variated during the milking session dependent on the current total milk flow rate. During attachment of the teat cups, the milking vacuum may be set to a relatively low value, for example 30kPa. When the total milk flow rate exceeds a threshold level, such as for example 0.5kg I minute the milking vacuum may be set to 35 kPa. When the total milk flow rate exceeds another threshold level, such as for example 2kg I minute the milking vacuum may be set to 48 kPa, etc.

[0068] Each teat cup 131 , 132, 133, 134 is connected to a claw 140 of the milking cluster 130 via the respective short milk tube 231 , 232. The milking cluster 130 also comprises the long milk hose 150 and the receiver 170 in which vacuum prevails. From the receiver 170, the milk may be pumped to a milk storage tank where milk is collected and stored possibly in chilled state.

[0069] The total amount of milk extracted from the animal 101 during the milking session may be measured by a milk flow meter 160. The milk flow meter 160 is arranged to measure a total milk flow rate of milk extracted from the animal 101 during the milking session. In the illustrated embodiments of figures 1-2, the milk flow meter 160 is arranged in the long milk hose 150.

[0070] Additionally, the milk extracting system 100 may comprise a controller 180. The controller 180 is configured to instruct the pulsator device 210 to supply a predetermined attachment pulsation setting to the first channel 221 and to the second channel 222, during commencement tO of the milking session. The controller 180 thereby cause the respective liner 220a, 220b to alternate between a B-phase wherein the liner 220a, 220b is opened, and milk may be extracted from the teat 111 , 112 during the milking session, and a D-phase wherein the liner 220a, 220b is collapsed and is acting compressively against the teat 111 , 112 in each pulsation cycle.

[0071] The controller 180 is also configured to obtain the total milk flow rate of all teats of the animal 101 during the milking session, from the milk flow meter 160. The controller 180 may obtain the total milk flow rate continuously during the milking session, for example at a regular or irregular time interval.

[0072] The controller 180 is in addition configured to instruct the pulsator device 210 to, when the total milk flow rate exceeds a trigger level, supply a predetermined first pulsation setting to the first channel 221 and a predetermined second pulsation setting to the second channel 222. The predetermined first pulsation setting is different from the predetermined second pulsation setting during at least a part of the milking session.

[0073] The predetermined first pulsation setting comprises a pulsation cycle ratio having the B- phase shorter in time during said part pf the milking session, than the B-phase of the pulsation cycle ratio of the predetermined second pulsation setting.

[0074] Thereby, the controller 180 may adjust the first pulsation setting and the second pulsation setting of the respective channel 221 , 222 of the pulsator device 210, independently of each other, via the instructions sent to the pulsator device 210.

[0075] The controller 180 is configured to adjust / set the first pulsation setting different from the second pulsation setting during at least a part of the milking session of the animal 101 , such as for example a main milking phase 420 wherein a main part of the milk is extracted, see Figure 4A. Said part of the milking session may be defined by a time period as determined from commencement to of milking. The time period may be fixed and predetermined in some embodiments. Alternatively, the time period may be configurable and adjustable individually for each separate animal.

[0076] The part of the milking session may be defined as a period of the milking session 302, during which the total milk flow rate exceeds the threshold limit 401.

[0077] The adjustment may be made by adjusting fluid pressures at two distinct levels alternatingly supplied to the respective channel 221 , 222 of the pulsation device 210; and / or ratios of the alternating fluid pressure levels supplied to the first channel 221 and the second channel 222, respectively, of the pulsation device 210; and / or rates of the alternating fluid pressure levels supplied to the first channel 221 and the second channel 222, respectively, of the pulsation device 210.

[0078] The controller 180 comprises processing circuitry and interfaces in order to enable the controller 180 to receive data and signals, perform various analyses of said data and signals, and generate output, for example in form of a control signal. More precisely, the controller 180 is configured to receive the parameter representing the measured total milk flow rate of milk being extracted from the udder of the animal 101 during the milking session and based on this parameter control / adjust / set the pulsation settings of the pulsation device 210 by means of the control signal sent to the pulsation device 210.

[0079] It has been observed that diary animals very often produce more milk in the rear pair of udder quarters than in the forward pair of udder quarters. In case the same pulsation settings are applied on all teats 111 , 112 of the animal 101 during the whole, or almost the whole milking session, the forward pair of teats 111 will often be overmilked and possibly harmed by excess exposure for vacuum pressure in the B-phase. This may cause mastitis, among other possible problems. Alternatively, the rear teats 112 may be undermilked.

[0080] The pulsation settings are for this reason set differently for the forward pair of teats 111 and the rear pair of teats 112, respectively, according to embodiments herein; wherein milk extraction is made more intensely at the rear pair of teats 112 than at the forward pair of teats 111 by adjustment of the respective ratio, rate, and / or fluid pressure levels.

[0081] The controller 180 is configured to supply the first pulsation setting and the second pulsation setting of the pulsator device 210 under assumption that the milk production of the rear teats 112 of the animal 101 is higher than the milk production of the front teats 111. Thus, the same pulsation settings may be applied for all animals in the herd of animals to be milked, in some embodiments.

[0082] The controller 180 is also configured to instruct the pulsator device 210 to supply an attachment pulsation setting during commencement of the milking session. The attachment pulsation setting may be the same for both the first channel 221 and the second channel 222, i.e. , for the front teats 111 and the rear teats 112. The attachment pulsation setting may be predetermined and not adjusted.

[0083] The controller 180 is configured to obtain the total milk flow rate of all teats of the animal 101 during the milking session from the milk flow meter 160.

[0084] In addition, the controller 180 is configured to instruct the pulsator device 210 to supply an attachment pulsation setting during commencement of the milking session.

[0085] The controller 180 is configured to also obtain the total milk flow rate from all teats of the animal 101 during the milking session of the animal 101 , repeatedly or continuously during the milking session and compare it, repeatedly, with a first trigger level. When the obtained total milk flow rate exceeds the first trigger level, the controller 180 is configured to instruct the pulsator device 210 to supply the determined first pulsation setting and the second pulsation setting.

[0086] The milk extracting system 100 may also comprise an animal identification device 120a, 120b, communicatively connected to the controller 180. The animal identification device 120a, 120b is configured to identify the animal 101 of the milking session.

[0087] There are several ways of embodying the animal identification device 120a, 120b. Ear tags may incorporate RFID (Radio Frequency Identification) technology, which may communicate with an RFID reader. By attaching an ear tag with a unique ID to an animal, that animal may be identified by reading the unique ID by the RFID reader.

[0088] The animal identification device 120a, 120b may alternatively comprise a camera in combination with image recognition software.

[0089] The memory device 190 operates by storing and retrieving data related to identity of the animal electronically. The controller 180 may interact with the memory device 190 to manage data storage, retrieval, and other operations for identifying the animal which is milked, for generating data representative of the obtained total milk flow rate during the milking session of the identified animal, and for detecting a deviation from a predetermined criterion related to the total milk flow rate and the time elapsed from commencement of milking during a decline phase of the total milk flow rate.

[0090] The memory device 190 may also store the first pulsation setting and / or the second pulsation, either as predetermined settings which may be applied to the animal herd of the farm, to a subset of the herd, and / or to the individual animal 101 . Alternatively, the memory device 190 may obtain and store an adjusted first pulsation setting and / or an adjusted second pulsation setting calculated and provided by the controller 180, based on evaluation of the detected deviation. The adjusted first pulsation setting and / or the adjusted second pulsation setting may comprise an adjusted B-phase setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or an adjusted B-phase setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device 210.

[0091] Figure 3 schematically illustrates an ongoing milking session 302 of an animal 101 , during which milk is extracted from the animal 101 by the milk extracting system 100.

[0092] Also, a passed time milking session 301 and a next / subsequent / future milking session 303 of the animal 101 is marked on the timeline.

[0093] The milking sessions 301 , 302, 303 refer to the process of extracting milk from an animal udder. This typically occurs at a milking point of the milk extracting system 100. During the milking session 302, the animal 101 is situated at the milking point, teat cups 131 , 132, 133, 134 are applied and application of an attachment pulsation setting is made, for example by supplying a pulsation rate of 50ppm, a 30 / 70 pulsation ratio and 32kpa milking vacuum (nonlimiting example).

[0094] The frequency of milking sessions 301 , 302, 303 may be differently set and be dependent upon several factors such as farm management practices, and milking system efficiency, milk production of the individual animal and / or the breed of animals. A typical interval may be two to three times per day; i.e., milking sessions occurring approximately every 8 to 12 hours. This schedule helps maintain animal comfort, udder health, and optimal milk production. A consistent milking schedule may ensure the well-being of the animals and maximize milk yield. Referring now to the diagrams in Figure 4A and Figure 4B respectively, the total milk flow rate of the udder / all the teats of the animal 101 during the milking session 302 is illustrated, and examples of a criterion for how the controller 180 is configured to determine the first pulsation setting and the second pulsation setting of the pulsator device 210 are discussed.

[0095] The horizontal axis of the diagram in Figure 4A represents time t, and the vertical axis represents the registered total milk flow rate f(t) as a function of time t, i.e. , the total milk flow rate of the udders / all the teats of the animal 101 during the milking session 302.

[0096] The milking session 302 may be divided into an increase phase 410, a main milking phase 420 and a decline phase 430.

[0097] During the increase phase 410, the teat cups 131 , 132, 133, 134 may be attached to the teats 111 , 112. The milking vacuum and the alternating pulsation pressure may be applied to the teat cups 131 , 132, 133 and 134 at the commencement to of the milking session 302, whereafter the teats 111 , 112 releases the alveoli milk.

[0098] The predetermined attachment pulsation setting may be applied to the first channel 221 and to the second channel 222 during the increase phase 410 of the milking session 302.

[0099] The attachment pulsation setting to be supplied to both the first channel 221 and the second channel 222 during commencement to of the milking session 302 may comprise a pulsation cycle ratio, or B / D ratio, of about 30 / 70.

[0100] The stimulation of the attachment pulsation setting may result in release of the alveoli milk. The stimulation may be initiated at a point in time to, which may be regarded as a starting point of the milking and a commencement of the milking session 302.

[0101] When the total milk flow rate exceeds a trigger level 401 , the controller 180 is configured to instruct the pulsator device 210 to supply the predetermined first pulsation setting to the first channel 221 and the predetermined second pulsation setting to the second channel 222 during at least a part of the milking session 302.

[0102] The predetermined first pulsation setting comprises a pulsation cycle ratio having the B- phase shorter in time during at least one pulsation cycle than the B-phase of the pulsation cycle ratio of the predetermined second pulsation setting. The trigger level 401 may for example be set to about 0.3 kg / min in some embodiments. However, in other embodiments, the trigger level 401 may be set to about 1 kg / min; 1.5 kg / min; 2 kg / min, etc., in different embodiments.

[0103] The first predetermined pulsation setting of the first channel 221 may comprise a pulsation cycle ratio, or B / D ratio, of about 65 / 35; and the second predetermined pulsation setting of the second channel 222 may comprise a B-phase exceeding 65, such as e.g., 70 / 30.

[0104] These predetermined pulsation settings may be applied for all milk producing animals at the farm, or possibly a predefined group of milk producing animals at the farm, and applied for each milking session, unless an adjusted first pulsation setting and / or adjusted second pulsation setting has been considered more appropriate for a particular animal.

[0105] During a decline phase 430 of the milking session 302, the total milk flow rate 400 starts to decline from the levels achieved during the main milking phase 420.

[0106] The depicted total milk flow rate 400 of Figure 4A illustrates a desired relationship between the total milk flow rate 400 and the time elapsed from commencement of milking to for the animal 101 , wherein the milk flow ceases substantially simultaneously for all udder quarters.

[0107] The total milk flow rate 400 thereby illustrates an expected / desired situation, wherein overmilking and / or undermilking of any animal teat 111 , 112 is avoided and the udder quarters are milked out substantially at the same time.

[0108] The simultaneous milking out of the udder quarters is indicated by the total milk flow rate 400 in at least two ways. Firstly, the total milk flow rate 400 has a rate of change a during the decline phase 430 within a deviation threshold limit p. Secondly, the total milk flow rate 400 falls below the threshold limit 401 during the decline phase 430 from commencement of milking t0within a deviation time limit y.

[0109] In case the total milk flow rate 400 fulfils the predetermined criterion, it is desired to supply the same pulsation settings during the next / other future milking sessions 303 of the same animal 101.

[0110] Figure 4B illustrates an example of a total milk flow rate 440 of the udder / all the teats of the animal 101 during the milking session 302. In this case, one or some udder quarters are milked out before at least one other udder quarter.

[0111] This situation is undesired as the milking process is extended in comparison with the “ideal” total milk flow rate 400 illustrated in Figure 4A and marked with a dashed line in Figure 4B.

[0112] The controller 180 is configured to generate data representative of the obtained total milk flow rate 440 during the milking session 302 of the identified animal 101. The controller 180 is also configured to detect a deviation from a predetermined criterion related to the total milk flow rate 440 and the time elapsed from commencement to of milking to a decline phase 430 of the total milk flow rate 440; i.e. that the total milk flow rate 400 has a rate of change during the decline phase 430 exceeding the deviation threshold limit p, and / or the total milk flow rate 400 does not fall below the threshold limit 401 during the decline phase 430 from commencement of milking t0within the deviation time limit y. In the illustrated example, the total milk flow rate 440 does not fall below the threshold limit 401 before the deviation time 5, which is exceeding the deviation time limit y.

[0113] The controller 180 is also configured to, upon detection of the deviation from the predetermined criterion, adjust the B-phase setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or the B-phase setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device 210, based on evaluation of the detected deviation. The controller 180 is configured to provide the adjusted first pulsation setting and / or the adjusted second pulsation setting to the memory device 190, for storage therein, associated with a reference of the milking session 302 and an identification reference of the identified animal 101 , to be supplied during a subsequent milking session 303 of the identified animal 101.

[0114] The next time the same animal 101 is identified by the controller 180 via the animal identification device 120a, 120b, in association with a milking session 302, the controller 180 is enabled to retrieve the stored adjusted first pulsation setting and the adjusted second pulsation setting for the identified animal 101 from the memory device 190 associated with the identification reference of the identified animal 101. The controller 180 is also configured to provide the adjusted first pulsation setting and the adjusted second pulsation setting to the pulsator device 210 for the individual animal 101 , to be supplied during the milking session 302.

[0115] In some alternative embodiments, the controller 180 is configured to provide the size and direction of the adjustment made to the adjusted first pulsation setting and / or the adjusted second pulsation setting, in relation to the predetermined pulsation setting or a previously stored pulsation setting, to the memory device 190, for storage therein, associated with the reference of the milking session 302 and an identification reference of the identified animal 101.

[0116] The controller 180 is thereby enabled to repeatedly adjust the first pulsation setting and / or the second pulsation setting, based on the outcome of the resulting total milk flow rate during the milking session 302, in combination with knowledge of previously made adjustments, as may be retrieved from the memory device 190.

[0117] Thus, the controller 180 is configured to, upon detection of the deviation from the predetermined criterion, retrieve the size and direction of the adjustment made to the adjusted first pulsation setting and / or the adjusted second pulsation setting, in relation to the predetermined pulsation setting or a previously stored pulsation setting, from the memory device 190. Also, the controller 180 is configured to adjust the B-phase setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or B-phase setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device 210, based on evaluation of the retrieved size and direction of previously made adjustments of the pulsation settings for the previous milking session 301 , 302 of the identified animal 101.

[0118] The predetermined attachment pulsation setting, the predetermined first pulsation setting of the first channel 221 and the predetermined second pulsation setting of the second channel 222 may comprise: fluid pressures at two distinct levels alternatingly supplied to the respective channel 221 , 222 of the pulsation device 210; and / or pulsation cycle ratios of the alternating fluid pressure levels supplied to the first channel 221 and the second channel 222, respectively, of the pulsation device 210; and / or rates of the alternating fluid pressure levels supplied to the first channel 221 and the second channel 222, respectively, of the pulsation device 210.

[0119] The terminology used in the description of the embodiments as illustrated in the accompanying drawings is not intended to be limiting of the described milk extracting system 100 and / or controller 180. Various changes, substitutions and / or alterations may be made, without departing from invention embodiments as defined by the appended claims. The various illustrated embodiments depicted in Figures 1-4, discussed in the corresponding respective section of the description may with advantage be combined with each other, for example by mixing and compiling features of some or all of the described embodiments, thereby achieving additional advantages. As used herein, the term “and / or” comprises any and all combinations of one or more of the associated listed items. The term “or” as used herein, is to be interpreted as a mathematical OR, i.e. , as an inclusive disjunction; not as a mathematical exclusive OR (XOR), unless ex- pressly stated otherwise. In addition, the singular forms “a”, “an” and “the” are to be interpreted as “at least one”, thus also possibly comprising a plurality of entities of the same kind, unless expressly stated otherwise. It will be further understood that the terms “includes”, “comprises”, “including” and / or “comprising”, specifies the presence of stated features, actions, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and / or groups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the claims. The mere fact that certain measures or features are recited in mutually different dependent claims, illustrated in different figures or discussed in conjunction with different embodiments does not indicate that a combination of these measures or features cannot be used to advantage.

Claims

PATENT CLAIMS1. A milk extracting system (100), comprising: a milking cluster (130) that comprises a first pair of teat cups (131 , 132), dedicated for attachment to a forward pair of teats (111) of an animal (101) to be milked in a milking session (302), and a second pair of teat cups (133, 134) dedicated for attachment to a rear pair of teats (112) of the animal (101) to be milked in the milking session (302); wherein each teat cup (131 , 132, 133, 134) comprises a respective liner (220a, 220b) and a shell (230a, 230b), forming a pulsation space (225) between the liner (220a, 220b) and the shell (230a, 230b); and wherein each teat cup (131 , 132, 133, 134) is connected to a respective short milk tube (231 , 232) in which under pressure is prevailing and in which milk is evacuated from the animal teats (111 , 112) during the milking session (302); a pulsator device (210) comprising a first channel (221) connected to the respective pulsation space (225) of the first pair of teat cups (131 , 132); and a second channel (222) connected to the respective pulsation space (225) of the second pair of teat cups (133, 134); a milk flow meter (160), arranged to measure a total milk flow rate of milk extracted from the animal (101) during the milking session (302); and a controller (180) configured to: instruct the pulsator device (210) to supply a predetermined attachment pulsation setting to the first channel (221) and to the second channel (222), during commencement (to) of the milking session (302), thereby causing the respective liner (220a, 220b) to alternate between a B-phase wherein the liner (220a, 220b) is opened, and milk may be extracted from the teat (111 , 112) during the milking session (302), and a D-phase wherein the liner (220a, 220b) is collapsed and is acting compressively against the teat (111 , 112) in each pulsation cycle; obtain the total milk flow rate (400, 440) of all teats of the animal (101) during the milking session (302) from the milk flow meter (160); and instruct the pulsator device (210) to, when the total milk flow rate (400, 440) exceeds a trigger level (401), supply a predetermined first pulsation setting to the first channel (221) and a predetermined second pulsation setting to the second channel (222); wherein the predetermined first pulsation setting is different from the predetermined second pulsation setting during at least a part of the milking session (302); and wherein the predetermined first pulsation setting comprises a pulsation cycle ratio having the B-phase shorter in time during said part of the milking session (302), than the B-phase of the pulsation cycle ratio ofthe predetermined second pulsation setting.

2. The milk extracting system (100) according to claim 1 , wherein the predetermined attachment pulsation setting is the same for both the first channel (221) and the second channel (222).

3. The milk extracting system (100) according to any one of the preceding claims, comprising an animal identification device (120a, 120b), communicatively connected to the controller (180), wherein the animal identification device (120a, 120b) is configured to identify the animal (101) of the milking session (302); and a memory device (190), communicatively connected to the controller (180); and wherein the controller (180) is configured to: identify the animal (101) which is milked in the milking session (302), via the animal identification device (120a, 120b); generate data representative of the obtained total milk flow rate (400, 440) during the milking session (302) of the identified animal (101); detect a deviation from a predetermined criterion related to the total milk flow rate (400, 440) and the time elapsed from commencement (to) of milking to a decline phase (430) of the total milk flow rate (400, 440); adjust the B-phase setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or the B-phase setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device (210), based on evaluation of the detected deviation; and provide the adjusted first pulsation setting and / or the adjusted second pulsation setting to the memory device (190), for storage therein, associated with a reference of the milking session (302) and an identification reference of the identified animal (101), to be applied during a subsequent milking session (303) of the identified animal (101).

4. The milk extracting system (100) according to claim 3, wherein the predetermined criterion comprises a deviation threshold limit (P) from a predetermined rate of change (a) in the decline phase (430).

5. The milk extracting system (100) according to claim 3, wherein the predetermined criterion comprises a deviation time limit (y), from commencement of milking (to) to a decline phase (430) of the total milk flow rate, wherein the total milk flow rate falls below a threshold limit (401).

6. The milk extracting system (100) according to any one of claims 3-5 wherein the controller (180) is configured to identify the animal (101) to be milked in the milking session (302) via the animal identification device (120a, 120b); retrieve the stored adjusted first pulsation setting and the adjusted second pulsation setting for the identified animal (101) from the memory device (190) associated with the identification reference of the identified animal (101); and provide the adjusted first pulsation setting and the adjusted second pulsation setting to the pulsator device (210) for the individual animal (101), to be supplied during the milking session (302).

7. The milk extracting system (100) according to any one of claims 3-6 wherein the controller (180) is configured to provide the size and direction of the adjustment made to the adjusted first pulsation setting and / or the adjusted second pulsation setting, in relation to the predetermined pulsation setting or a previously stored pulsation setting, to the memory device (190), for storage therein, associated with the reference of the milking session (302) and an identification reference of the identified animal (101).

8. The milk extracting system (100) according to claim 7, wherein the controller (180) is configured to, upon detection of the deviation from the predetermined criterion, retrieve the size and direction of the adjustment made to the adjusted first pulsation setting and / or the adjusted second pulsation setting, in relation to the predetermined pulsation setting or a previously stored pulsation setting, from the memory device (190); and adjust the B-phase setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or B-phase setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device (210), based on evaluation of the retrieved size and direction of previously made adjustments of the pulsation settings for the previous milking session (301 , 302) of the identified animal (101).

9. The milk extracting system (100) according to any one of the preceding claims wherein the predetermined attachment pulsation setting, the predetermined first pulsation setting of the first channel (221) and the predetermined second pulsation setting of the second channel (222) comprises: fluid pressures at two distinct levels alternatingly supplied to the respective channel (221 , 222) of the pulsation device (210); and / orpulsation cycle ratios of the alternating fluid pressure levels supplied to the first channel (221) and the second channel (222), respectively, of the pulsation device (210); and / or rates of the alternating fluid pressure levels supplied to the first channel (221) and the second channel (222), respectively, of the pulsation device (210).

10. The milk extracting system (100) according to any one of the preceding claims wherein the predetermined attachment pulsation setting to the first channel (221) and the second channel (222), during commencement (t0) of the milking session (302) comprises a B-phase setting of the pulsation cycle ratio of about 30 and a rate of about 50Hz.

11. The milk extracting system (100) according to any one of the preceding claims wherein the predetermined first pulsation setting of the first channel (221) comprises a B- phase setting of the pulsation cycle ratio of about 65 and a rate of about 60Hz; and the predetermined second pulsation setting of the second channel (222) comprises a B-phase setting of the pulsation cycle ratio exceeding 65 and a rate of about 60Hz.

12. The milk extracting system (100) according to any one of the preceding claims wherein the part of the milking session (302) during which the predetermined first pulsation setting is different from the predetermined second pulsation setting is defined either by a fixed time duration, as determined from commencement (to) of milking; or a period of the milking session (302), during which the total milk flow rate exceeds the threshold limit (401).