Milking system

Abstract

A milking system (100) is provided, comprising: milking cups (110a, 110b, 110c, 110d), each milking cup connected to a corresponding milk discharge tube (120a, 120b, 120c, 120d); a vacuum pump (140); a milk tank (130); a vacuum regulator (150a, 150b, 150c, 150d) configured to control the vacuum pressure level in the milking cups (110a, 110b, 110c, 110d); and vacuum pressure sensors (160a, 160b, 160c, 160d), each vacuum pressure sensor configured to measure the pressure at the nipples (210a, 210b, 210d). Vacuum pressure level below one of the teats (10c, 210d); animal identification sensor (250); database (180); processing device (170) configured to: determine animal ID; extract data for each corresponding teat (210a, 210b, 210c, 210d) from the database (180); determine teat-specific vacuum pressure level for each teat (210a, 210b, 210c, 210d); generate commands to each vacuum regulator (150a, 150b, 150c, 150d) to set a teat-specific vacuum pressure level at each milking cup (110a, 110b, 110c, 110d).

Description

Technical Field

[0001] This invention relates to milking systems. More specifically, a milking system is described, comprising a plurality of milking cups, a plurality of milk discharge tubes, a vacuum pump, a milk tank, a plurality of vacuum regulators, a plurality of vacuum pressure sensors, an animal identification sensor, a database, and a processing device for controlling a teat-specific vacuum pressure level to be applied at each corresponding teat of the animal during the milking process. Background Technology

[0002] In dairy farms, milk is typically extracted from animals by attaching padded milking cups to each teat and applying a milking vacuum below the tip of the teat in addition to a pulsating vacuum. This mimics the rhythmic sucking of a calf, where the sucking vacuum is interrupted by the rhythmic movement (opening and closing) of the pads caused by the pulsating vacuum. This massage of the teats stimulates the animal to release oxytocin, which in turn activates the ejection reflex, resulting in the release of milk follicles for approximately 40-60 seconds after the first milking cup is attached to the first teat. Furthermore, the massage helps prevent congestion at the teat tip.

[0003] The goal is to expel milk from animals as quickly as possible (in order to use milking equipment efficiently and allow the maximum number of animals to be milked), while avoiding damage to the teats due to excessive milking vacuum.

[0004] However, milk flow from animal nipples is not usually evenly distributed between them. Due to various reasons, such as genetic variations and / or variations in nipple size / shape, the nipples may not fit the milking cups / pads used (regardless of the actual size of the nipple, milking cups / pads of the same size are usually used on all nipples).

[0005] Not only is the milk flow distribution uneven, but the rate of increase in milk flow also differs during stimulation of the corresponding teats. During milking, the milk flow rate per unit time may vary for all teats of the animal.

[0006] It has been observed that at least some animals do not release milk at a higher flow rate even when the milking vacuum is drastically increased. This is why for these animals, increasing the milking vacuum applied to the teats only results in the teats being exposed to a high milking vacuum, which can potentially damage the teats.

[0007] These aforementioned characteristics can occur simultaneously and reinforce each other, thereby exacerbating the problem.

[0008] The aim is to develop a concept through further research and development that improves milk drainage in terms of time and efficiency, while ensuring and / or enhancing satisfactory nipple integrity. Summary of the Invention

[0009] Therefore, one object of the present invention is to solve at least some of the problems mentioned above and to improve the milking of animals in the milking system.

[0010] According to a first aspect of the invention, this objective is achieved by a milking system. The milking system includes a plurality of milking cups, each configured to be fitted to a corresponding teat of an animal during milk extraction in the milking process. The milking system also includes a plurality of milk discharge tubes, each connected to a corresponding milking cup. Furthermore, the milking system includes a vacuum pump configured to generate a vacuum pressure, which may be referred to as system vacuum. The milking system also includes a milk tank connected to each milking cup via a corresponding connected milk discharge tube and also connected to the vacuum pump. Additionally, the milking system includes a plurality of vacuum regulators, each associated with a milking cup and configured to control the vacuum pressure level in the associated milking cup below the teat. The milking system includes a plurality of vacuum pressure sensors, each associated with a milking cup and configured to measure the vacuum pressure level in the associated milking cup below one of the teats during milk extraction in the milking process. Furthermore, the milking system includes an animal identification sensor configured to capture animal-specific information. The milking system also includes a database configured to store data associated with at least one previous milking process for each corresponding teat of the animal, linked to an animal identification reference. The milking system also includes a processing device communicatively connected to a vacuum regulator, a vacuum pressure sensor, an animal identification sensor, and the database. The processing device is configured to determine the identification reference of the animal to be milked based on animal-specific information obtained from the animal identification sensor. The processing device is also configured to extract data for each corresponding teat of the identified animal from the database based on the determined identification reference. Furthermore, the processing device is configured to determine, based on the extracted data, a teat-specific vacuum pressure level to be applied at each corresponding teat during a time period from the start of the milking process when the milking cup is attached to the corresponding teat. The processing device is also additionally configured to generate a corresponding command to each vacuum regulator to set the determined teat-specific vacuum pressure level at each corresponding milking cup.

[0011] By measuring the corresponding vacuum pressure level beneath each teat and comparing it to a previously stored teat-specific vacuum pressure level applied to each teat, the processing device can set the vacuum pressure level at each milking cup by generating a corresponding command to the corresponding vacuum regulator associated with the milking cup. Therefore, the teat-specific vacuum pressure level can be adjusted to a level that ensures teat integrity while allowing teats with high milk flow rates to have a high vacuum pressure level.

[0012] Thus, milk extraction is fundamentally improved by adapting the specific vacuum pressure level of each teat to the milk flow rate of each teat. This reduces the total milking time per animal in the milking station / milking robot (compared to conventional solutions), allowing the milking system to serve more animals per unit of time. However, milking is performed gently, eliminating or at least reducing discomfort in animals caused by excessive vacuum pressure under the teats. Excessive vacuum pressure can cause damage, which in turn can lead to mammary gland diseases such as mastitis, potentially causing severe economic consequences for the farm in addition to the suffering of the individual animal.

[0013] In an embodiment of the milking system according to the first aspect, the milking process begins when pretreatment is performed on the first teat or when the first milking cup is used on the first teat.

[0014] By defining a specific moment when the milking process begins, a clear and unambiguous fixed point is established, which facilitates the calculation and control of the processing equipment.

[0015] In another embodiment of the milking system according to the first aspect, the processing device is configured to determine, based on the extracted data, a vacuum profile to be applied to each corresponding teat of the animal during the milking process. The processing device is also configured to generate a corresponding command to each vacuum regulator to control the corresponding vacuum pressure level in each associated milking cup below the teat according to the corresponding vacuum profile of the corresponding teat.

[0016] Therefore, the specific vacuum pressure level applied to the teat can be adapted to the teat milk flow rate that varies over time during the milking process, resulting in the highest possible vacuum pressure level that the teat milk flow rate can tolerate. This can further reduce the total milking time without damaging the teat due to excessive vacuum.

[0017] In another embodiment of the milking system according to the first aspect, the vacuum profile includes a constant vacuum pressure level below the nipple, which is maintained during the milking process.

[0018] In another embodiment of the milking system according to the first aspect, the vacuum profile includes a vacuum pressure level below the nipple that varies over time during the milking process.

[0019] In another embodiment of the milking system according to the first aspect, the milking system includes a communication device for communicating with a central processing unit of a service provider. The processing unit is configured to provide animal data and / or animal identification references to the service provider's central processing unit via the communication device. The processing unit is also configured to obtain from the central processing unit a vacuum profile to be applied to each corresponding teat of the animal during the milking process.

[0020] Several advantages are achieved by performing computations and / or data storage on a central unit, rather than maintaining processing power locally on the farm. Farmers do not need to worry about program updates and computer security issues. Program updates resulting from the latest developments and innovations by service providers can be implemented immediately on the central processing unit.

[0021] In another embodiment of the milking system according to the first aspect, the processing device is configured to continuously obtain the corresponding vacuum pressure level below each teat from the corresponding vacuum pressure sensor during the milking process. The processing device is configured to compare the obtained corresponding vacuum pressure level with a corresponding vacuum curve. Furthermore, the processing device is also configured to generate a corresponding command to each vacuum regulator if the obtained vacuum pressure level differs from the vacuum pressure level of the vacuum curve, to adjust the corresponding vacuum pressure level of each milking cup according to the corresponding vacuum curve of the corresponding teat.

[0022] Therefore, continuous monitoring and adjustment of the vacuum pressure level applied at each nipple is achieved, enabling uninterrupted monitoring and setting of specific vacuum pressure levels at each nipple.

[0023] In another embodiment of the milking system according to the first aspect, the milking cup includes a liner that repeatedly opens and closes below the nipple during the milking process; and wherein a vacuum pressure sensor is configured to measure the vacuum pressure level at least twice during the period when the liner is open.

[0024] By enabling frequent measurement of vacuum pressure levels, at least when the liner is open and the teat is exposed to vacuum, better control over the current / instantaneous vacuum pressure is achieved. The rate of change in milk flow can also be detected. If the milk flow increases / decreases rapidly, a large difference between two measurements can trigger a change in the vacuum pressure level, the magnitude of which can be larger than when a smaller difference is detected. The applied vacuum pressure level can then be adjusted via a vacuum regulator associated with the milking cup. Therefore, an appropriate vacuum pressure level can be provided for each teat for efficient milking while avoiding damage or irritation to the teats caused by vacuum.

[0025] In another embodiment of the milking system according to the first aspect, the vacuum pressure sensor is configured to measure the vacuum pressure level at approximately 10-1000 measurements per second, preferably 100-1000 measurements per second.

[0026] The more frequently the vacuum pressure level is measured under each teat, the more precisely the applied vacuum pressure level can be fine-tuned to maintain the determined teat-specific vacuum pressure level even when there are deviations in the animal's milk flow compared to previous milking processes.

[0027] In another embodiment of the milking system according to the first aspect, the processing device is configured to calculate a rolling average of the vacuum pressure level in each milking cup below the corresponding teat, based on a predetermined number of recent vacuum pressure levels obtained from corresponding associated vacuum pressure sensors. The calculated rolling average of the vacuum pressure level is compared with a vacuum curve.

[0028] The calculated (e.g., the most recent 5 or 10) rolling average of the measured vacuum pressure levels eliminates arbitrary fluctuations in the measurement results, making the comparison with the vacuum curve / the determined nipple-specific vacuum pressure level more reliable and stable.

[0029] In another embodiment of the milking system according to the first aspect, the processing device is configured to: repeatedly generate a command to a vacuum regulator associated with the milking cup for the corresponding teat when the most recently obtained vacuum pressure level under the teat, obtained from the vacuum pressure sensor, is lower than the previously obtained vacuum pressure level under the teat, to increase the vacuum pressure level under the teat by one level. Alternatively, when the most recently obtained vacuum pressure level under the teat, obtained from the vacuum pressure sensor, exceeds the previously obtained vacuum pressure level under the teat, decrease the vacuum pressure level under the teat by one level.

[0030] Therefore, the vacuum pressure level can be adjusted in real time. By comparing two subsequent measurements of the vacuum pressure level, the rate of change can be determined, which indicates the direction and magnitude of the subsequent vacuum pressure level.

[0031] In another embodiment of the milking system according to the first aspect, the size of the stage is proportional to the difference between the most recently obtained vacuum pressure level and the previously obtained vacuum pressure level (e.g., the penultimate vacuum pressure level).

[0032] By instructing the vacuum regulator to change the vacuum pressure in stages, this avoids applying an inappropriate vacuum pressure level to the nipple that is not matched to the current milk flow rate. The size of the stage can be proportional to the difference between the detected measurements.

[0033] In another embodiment of the milking system according to the first aspect, the processing device is configured to detect that the vacuum pressure level below one of the teats exceeds the maximum permissible vacuum pressure level based on a measurement of the vacuum pressure level obtained from a vacuum pressure sensor associated with a milking cup attached to the teat. The processing device is also configured to generate a command to a vacuum regulator associated with the milking cup attached to the teat to reduce the vacuum pressure level below the teat.

[0034] This avoids exposing the teat to excessive vacuum pressure when the milk flow rate does not match the applied vacuum pressure. Therefore, it ensures gentle handling of the animal's teats while allowing for the application of an effective vacuum pressure appropriate to the teat's capacity. This improves and streamlines the milking process, as milk is emptied quickly without damaging the integrity of the animal's teats.

[0035] In another embodiment of the milking system according to the first aspect, the processing device is configured to provide the database with data related to the most recent milking process of each corresponding teat of the identified animal, to store the data in the database, which is associated with a specific teat, an animal identification reference, and a time reference.

[0036] The stored data may vary in different implementations and includes milk production per teat of the animal, the vacuum curve to be followed during milking, and / or at least the initial teat-specific vacuum pressure level to be applied at the start of milking. By continuously updating the stored data, the development of milk production during lactation can be compensated for and even predicted.

[0037] In another embodiment of the milking system according to the first aspect, the processing device is configured to detect a difference between previously stored data associated with at least one milking process of an animal's teat and corresponding data associated with the most recent milking process of that teat, the difference exceeding a threshold limit. Furthermore, the processing device is also configured to generate an alarm to be output when the difference is detected.

[0038] If the discrepancy between the results of two milking sessions (whether in milk yield or the applied vacuum pressure) is too large (i.e., exceeding the threshold limit), it may be due to mastitis, infection, or some other disease in the animal, and appropriate professional treatment may be required. By detecting the disease early and initiating treatment, the animal may recover sooner, reducing the duration of its illness.

[0039] In another embodiment of the milking system according to the first aspect, the processing device is configured to determine a time period between the animal's last milking process and the current moment when the animal is about to begin a subsequent milking process. The processing device is also configured to determine a teat-specific vacuum pressure level to be applied at each corresponding teat based on the determined time period.

[0040] By adjusting the determined nipple-specific vacuum pressure level and / or vacuum profile based on time periods, a vacuum pressure level and / or vacuum profile that better matches the animal's expected milk flow rate is provided.

[0041] Therefore, a time-efficient and nipple-friendly milk extraction method has been provided.

[0042] Other advantages and additional novel features will become apparent from the following detailed description. Attached Figure Description

[0043] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings, in which:

[0044] Figure 1 A milking system according to one embodiment is shown.

[0045] Figure 2 A milking system according to one embodiment is shown.

[0046] Figure 3 Details of a milking system with a padded milking cup, according to one embodiment, are shown.

[0047] Figure 4A It is a graph that shows an example of the milk flow rate and vacuum curve per unit of time at the first teat during milk extraction.

[0048] Figure 4B It is a graph that shows an example of the milk flow rate and vacuum curve per unit of time for the second nipple during milk extraction.

[0049] Figure 4C It is a graph that shows an example of the milk flow rate and vacuum curve per unit of time at the third nipple during milk extraction.

[0050] Figure 4D It is a graph that shows an example of the milk flow rate and vacuum curve per unit of time at the fourth teat during milk extraction.

[0051] Figure 5 It is a graph that shows an example of the milk flow rate and vacuum curve per unit of time at the nipple during milk extraction. Detailed Implementation

[0052] The embodiments of the invention described herein are defined as milking systems, which can be put into practice in the embodiments described below. However, these embodiments can be illustrated and implemented in many different forms and are not limited to the examples described herein; rather, these illustrative examples of embodiments are provided to make this disclosure comprehensive and complete.

[0053] Other objects and features will become apparent from the following detailed description, taken in conjunction with the accompanying drawings. However, it should be understood that the drawings are for illustrative purposes only and are not intended to limit the embodiments disclosed herein, for which reference will be made to the appended claims. Furthermore, the drawings are not necessarily drawn to scale, and unless otherwise specified, they are intended only to conceptually illustrate the structures and processes described herein.

[0054] Figure 1 A milking system 100 is shown, configured to extract milk from an animal during the milking process. The animal may be included in a herd of animals used for dairy farming on a farm. The milking system 100 can advantageously (though not necessarily) be implemented in an automated milking facility (e.g., a milking robot) set up for voluntary milking of freely moving livestock, wherein the animal has access to the milking facility / system 100 for milking when needed.

[0055] "Animal" can be any type of domesticated female mammal, such as cow, goat, sheep, camel, horse, buffalo, donkey, yak, etc. The animal may have four teats, such as a cow, or two teats, such as a goat and / or sheep (not an exhaustive list). Other animals may have other numbers of teats.

[0056] Milking system 100 includes multiple milking cups 110a, 110b, 110c, and 110d. The number of milking cups 110a, 110b, 110c, and 110d is typically the same as the number of teats of the animal to be milked in milking system 100. Each milking cup 110a, 110b, 110c, and 110d is configured to fit and attach to the corresponding teat of the animal during milk extraction in the milking process.

[0057] Each milking cup 110a, 110b, 110c, 110d is connected to a corresponding milk discharge tube 120a, 120b, 120c, 120d, guiding the discharged milk from the corresponding teat to the connected milk tank 130. The milk tank 130 is then connected to a vacuum pump 140, which generates and / or continuously generates a system vacuum pressure for the milk tank 130. The system vacuum pressure can be, for example, between approximately 48 kPa and 55 kPa.

[0058] "Vacuum pressure" and / or "milking vacuum" and / or "system vacuum pressure" refer to negative pressure compared to ambient atmospheric pressure.

[0059] Milk tank 130 can collect milk discharged during the milking process. The milk can be transferred via a pump and pipe to a connected cooling tank, where it can be collected and maintained at a refrigerated temperature.

[0060] The milking system 100 also includes multiple vacuum regulators 150a, 150b, 150c, and 150d. A vacuum pump 140 is connected to each vacuum regulator 150a, 150b, 150c, and 150d to provide system vacuum to the vacuum regulators 150a, 150b, 150c, and 150d.

[0061] Each vacuum regulator 150a, 150b, 150c, 150d includes a solenoid whose valve position can be adjusted by (for example, using a pulse width modulation (PWM) signal generated by a processing device 170 communicatively connected to the vacuum regulators 150a, 150b, 150c, 150d) adjusting the magnetic field around the solenoid, thereby changing the system vacuum and atmospheric pressure air mixture of the vacuum pump 140 to generate a control vacuum p.

[0062] Vacuum regulators 150a, 150b, 150c, and 150d may include or be connected to corresponding valve devices 155a, 155b, 155c, and 155d. Valve devices 155a, 155b, 155c, and 155d are disposed in corresponding milk discharge pipes 120a, 120b, 120c, and 120d associated with corresponding milking cups 110a, 110b, 110c, and 110d.

[0063] Valve devices 155a, 155b, 155c, and 155d include a wet section 156 and a dry section 158, which are separated by a membrane 157. Milk discharge pipes 120a, 120b, 120c, and 120d pass through the wet section 156 of valve devices 155a, 155b, 155c, and 155d.

[0064] The vacuum pressure level in the milking cups 110a, 110b, 110c, 110d associated with the milk discharge pipes 120a, 120b, 120c, 120d located upstream of the valve devices 155a, 155b, 155c, 155d is adjusted to the same vacuum level as the control vacuum level p, which is provided to the dry section 158 of the valve devices 155a, 155b, 155c, 155d by the vacuum regulators 150a, 150b, 150c, 150d.

[0065] Therefore, the vacuum pressure level in the milking cups 110a, 110b, 110c, and 110d below the nipple can be adjusted individually.

[0066] Valve devices 155a, 155b, 155c, and 155d may include, for example, gate valves that are known in themselves.

[0067] Furthermore, the milking system 100 includes multiple vacuum pressure sensors 160a, 160b, 160c, and 160d. Each vacuum pressure sensor 160a, 160b, 160c, and 160d is associated with a milking cup 110a, 110b, 110c, and 110d and is configured to measure the vacuum pressure level in the associated milking cup 110a, 110b, 110c, and 110d below one of the teats during milk extraction in the milking process. Therefore, a single vacuum pressure sensor 160a, 160b, 160c, and 160d can be dedicated to measuring the vacuum pressure level in a specific milking cup 110a, 110b, 110c, and 110d below one of the teats.

[0068] The milking system 100 also includes a database 180 configured to store data associated with at least one previous milking process for each corresponding teat of the animal, the data being linked to an animal identification reference and / or possibly also to a time reference. The stored data may include, for example, the amount of milk extracted per unit of time for each teat during the milking process and / or the vacuum level / vacuum profile to be maintained during the milking process.

[0069] Milking can be considered to begin when the animal's first teat is pretreated to stimulate oxytocin release. This pretreatment may include cleaning the teat by rinsing it with water, brushing it, or otherwise gently stroking / stimulating it. The time required from the start of pretreatment to the release of milk from the mammary glands can be approximately 40-60 seconds; however, this time may vary for different breeds, individual animals, and even for the same animal under different conditions, and should be considered only a rough estimate.

[0070] However, not all farms perform pretreatment. Without pretreatment, milking can be considered to have begun when the first milking cups 110a, 110b, 110c, and 110d are attached to the first teat.

[0071] In some embodiments, the vacuum profile may include a constant vacuum pressure level below the teats to be maintained during the milking process. Alternatively, in other embodiments, the vacuum profile may include multiple vacuum pressure levels below the animal's teats that vary over time during the milking process.

[0072] In addition, the milking system 100 also includes a processing device 170, which is communicatively connected, for example, via a wireless connection based on radio or optical technology or a wired connection via cable or fiber optics to vacuum regulators 150a, 150b, 150c, 150d, vacuum pressure sensors 160a, 160b, 160c, 160d, animal identification sensors, and a database 180.

[0073] In some implementations, vacuum pressure sensors 160a, 160b, 160c, and 160d can be configured to measure vacuum pressure levels at a generally 10-1000 measurements per second, preferably 100-1000 measurements per second.

[0074] In some other implementations, vacuum pressure sensors 160a, 160b, 160c, and 160d may also be configured to measure the vacuum pressure level at least twice during the period when the gasket is open.

[0075] Processing device 170 is configured to determine an identity reference of the animal to be milked based on animal-specific information obtained from the animal identification sensor. Processing device 170 is also configured to extract data for each corresponding teat of the identified animal from database 180 based on the determined identity reference. Furthermore, processing device 170 is configured to determine, based on the extracted data, a teat-specific vacuum pressure level to be applied at each corresponding teat during a time period from the start of the milking process when milking cups 110a, 110b, 110c, 110d are attached to the corresponding teat. Processing device 170 is also configured to generate corresponding commands to each vacuum regulator 150a, 150b, 150c, 150d to set the determined teat-specific vacuum pressure level at each corresponding associated milking cup 110a, 110b, 110c, 110d.

[0076] In some embodiments, the processing device 170 may also be configured to determine, based on the extracted data, a vacuum profile to be applied to each corresponding teat of the animal during the milking process. Furthermore, the processing device 170 may be configured to generate corresponding commands to each vacuum regulator 150a, 150b, 150c, 150d to control the corresponding vacuum pressure level in each associated milking cup 110a, 110b, 110c, 110d below the teat according to the corresponding vacuum profile of the corresponding teat.

[0077] In some implementations, the milking system 100 may also include a communication device 190 for communicating with a central processing unit 192 of a service provider. The central processing unit 192 may in turn be connected to a central database 193, in which various relevant data may be stored.

[0078] The farm's processing equipment 170 can be configured to provide animal data and / or animal identification references to a service provider's central processing unit 192 via communication equipment 190. The vacuum profile to be applied to each corresponding teat of the animal during the milking process can be obtained from the central processing unit 192.

[0079] In some further embodiments, the processing device 170 can be configured to continuously acquire the corresponding vacuum pressure level below each teat from the corresponding vacuum pressure sensors 160a, 160b, 160c, 160d during the milking process. Furthermore, the processing device 170 can also be configured to compare the acquired corresponding vacuum pressure level with a corresponding vacuum curve. This enables direct, real-time (or near-real-time) control of the vacuum pressure level below the teat. If the acquired vacuum pressure level differs from the vacuum pressure level of the vacuum curve, the processing device 170 can generate a corresponding command to each vacuum regulator 150a, 150b, 150c, 150d to adjust the corresponding vacuum pressure level of each associated milking cup 110a, 110b, 110c, 110d according to the corresponding vacuum curve of the corresponding teat.

[0080] In some embodiments, the processing device 170 may be configured to calculate a rolling average of the vacuum pressure levels in each milking cup 110a, 110b, 110c, 110d below the nipples 210a, 210b, 210c, 210d based on a predetermined number of recent vacuum pressure levels (such as five recent measurements, ten recent measurements, etc.) obtained from the corresponding associated vacuum pressure sensors 160a, 160b, 160c, 160d. Furthermore, the processing device 170 may also be configured to perform a comparison with a vacuum curve based on the calculated rolling average of the vacuum pressure levels for each corresponding nipple 210a, 210b, 210c, 210d. Therefore, deviations in the measurement results due to arbitrary fluctuations in the measurement results are eliminated, thereby making the measurement of the vacuum pressure level below the nipple more reliable.

[0081] The processing device 170 can be configured to repeatedly generate commands to vacuum regulators 150a, 150b, 150c, 150d associated with milking cups 110a, 110b, 110c, 110d attached to the nipple, to adjust the vacuum pressure level below the nipple. This adjustment may include increasing the vacuum pressure level below the nipple by one level when the most recently obtained vacuum pressure level below the nipple, obtained from vacuum pressure sensors 160a, 160b, 160c, 160d, is lower than the previously obtained vacuum pressure level below the nipple (i.e., the vacuum pressure level below the nipple is decreasing). The previously obtained vacuum pressure level may be, for example, the penultimate vacuum pressure level, or an earlier measurement.

[0082] As a supplement or alternative, the adjustment may include reducing the sub-nipple vacuum pressure level by one level when the most recently obtained sub-nipple vacuum pressure level obtained from vacuum pressure sensors 160a, 160b, 160c, 160d exceeds the previously obtained sub-nipple vacuum pressure level.

[0083] In some implementations, the size of this stage can be proportional to the difference between the most recently obtained vacuum pressure level and the previously obtained vacuum pressure level.

[0084] Therefore, a large difference between two subsequent measurements of the vacuum pressure level under the nipple can trigger a large adjustment of the vacuum pressure level applied under the nipple via a vacuum regulator, and vice versa.

[0085] In some embodiments, the processing device 170 may be configured to detect, based on measurements of vacuum pressure levels obtained from vacuum pressure sensors 160a, 160b, 160c, 160d associated with milking cups 110a, 110b, 110c, 110d attached to the nipple, that the vacuum pressure level below one of the nipples exceeds the maximum permissible vacuum pressure level. The processing device 170 may then be configured to generate a command to vacuum regulators 150a, 150b, 150c, 150d associated with the milking cups 110a, 110b, 110c, 110d attached to the nipple, to reduce the vacuum pressure level below the nipple.

[0086] The maximum permissible vacuum pressure level can be set to, for example, 38 kPa, 42 kPa, etc. Different maximum permissible vacuum pressure levels can be set for different nipples, thus ensuring that the nipples will not be damaged due to excessive vacuum pressure.

[0087] In some implementations, the processing device 170 may also be configured to provide data to the database 180 related to the most recent milking process for each corresponding teat of the identified animal, to store the data in the database, which is associated with a specific teat, an animal identification reference, and a time reference.

[0088] In some implementations, the processing device 170 may be configured to detect a difference between previously stored data related to a milking process of an animal's teat and milk flow data from the most recent milking process of that teat, where the difference exceeds a threshold limit (such as 10%, 20%, etc.). The processing device 170 may then be configured to generate an alarm to be output when the difference is detected.

[0089] The alarm can be output from, for example, a farmer's mobile phone, computer, and / or wearable electronic device (such as a smartwatch and / or smart glasses or similar device). Alternatively, the alarm can be output from speakers and / or displays located on the farm.

[0090] Processing device 170 is generally advantageously configured to automatically perform the above-described processes by executing a computer program. Therefore, according to some embodiments, processing device 170 may include a memory unit (i.e., a non-volatile data carrier) storing a computer program, which may in turn include software for causing the processing circuitry to perform the above-described actions when the computer program is run on at least one processor-type processing circuitry in processing device 170.

[0091] In some implementations, processing device 170 is configured to determine the time period between the animal's last milking and the current moment when the animal is about to begin a subsequent milking. The time of the last milking of a particular animal may be stored in database 180, associated with an identification reference for that animal.

[0092] If the milking period is longer than expected, for example, 20% longer, the animal can be expected to produce more milk than under other conditions, which may affect the shape of the milking profile. It may also affect the amount / time of pre-stimulation required for each teat and / or the milk flow rate per unit time at each teat. Therefore, a longer milking period (compared to the average period) may result in an increase in the teat-specific vacuum pressure level and / or vacuum profile to be applied at each corresponding teat, and vice versa. In some embodiments, the teat-specific vacuum pressure level and / or vacuum profile can be adjusted with respect to the magnitude of the deviation between the determined milking period and the average period, so that the vacuum pressure level applied at the teat better corresponds to the milk flow rate at the teat.

[0093] Figure 2 A milking system 100 is shown, which includes a milking cup placement device 220, such as a milking robot including a robotic arm 230, which is communicatively connected to sensors 240, such as cameras, video cameras, lidar, radar, infrared cameras, etc. The sensors 240 are configured to detect the position of each teat 210a, 210b, 210c, 210d of the animal 200 to be milked.

[0094] In the illustrated non-limiting embodiment, the milking cup placement device 220 is embodied as a milking robot, which may be part of an automated milking system (AMS) (sometimes also referred to as a autonomous milking system (VMS)) or a similar system. The methods and milking system 100 disclosed herein are not limited to the use of a milking robot, but can be used with any known milking concept, such as manual milking of animals restrained in a milking parlor and / or in a milking pit or rotating milking parlor.

[0095] The milking cup placement device 220 can be communicatively connected to the sensor 240 via a wired or wireless connection to obtain information about the corresponding positions of the animal teats 210a, 210b, 210c, and 210d. The milking cup placement device 220 can be configured to sequentially attach each of the milking cups 110a, 110b, 110c, and 110d to the corresponding teats 210a, 210b, 210c, and 210d of the animal 200 based on sensor detection performed by the sensor 240. Milking cups 110a, 110b, 110c, and 110d can be stored in a storage box or similar storage area. The milking cup placement device 220 can pick up one milking cup at a time and attach it to one of the teats 210a, 210b, 210c, and 210d, repeating this operation until all milking cups 110a, 110b, 110c, and 110d are attached. During each milking cycle, milking cups 110a, 110b, 110c, and 110d can be attached to teats 210a, 210b, 210c, and 210d in the same order.

[0096] The posterior nipple typically provides more milk than the anterior nipple. Therefore, the milk flow rate from the posterior nipple can be higher than that from the anterior nipple. In some implementations, milking cups 110a, 110b, 110c, and 110d may be attached to the posterior nipple before they are attached to the anterior nipple, because milking from the posterior nipple may take longer than milking from the anterior nipple.

[0097] Therefore, the total time of the milking process is reduced, resulting in a higher number of animals 200 served by the milking system 100; that is, the milking system 100 can serve more animals 200, which improves the farm's profitability.

[0098] Data on milk extraction curves and / or vacuum curves (or nipple-specific vacuum pressure levels) for each teat 210a, 210b, 210c, 210d of each individual animal 200 on the farm can be stored in, for example, a digital memory or database 180, communicatively connected to or contained within the processing device 170. Alternatively, this data can be stored in a central database 193, accessible by the central processing device 192.

[0099] Databases 180 and 193 may store historical milk extraction data and / or vacuum curves and / or vacuum pressure levels of teats 210a, 210b, 210c, and 210d of animals 200 on a farm, which are associated with an identity reference of a specific animal 200.

[0100] Processing device 170 is connected to animal identification device 250, such as a camera, which, in conjunction with an image recognition program, can identify animal 200 based on animal-specific skin patterns and / or visual markings made on animal 200 (such as an animal-specific ID number on an ear tag, an ID number on a hide (or other animal-specific markings), or a barcode including an ID number).

[0101] Alternatively, in other implementations, the animal identification device 250 may be based on short-range radio wave communication. The identification of the animal 200 can then be performed by the animal identification device 250 in the form of a reader or transceiver, obtaining signals from a radio frequency identification (RFID) tag associated with the animal 200, such as an RFID tag attached to the animal 200's ear, worn in a collar around the animal 200's neck, or injected under the animal 200's skin. Instead of RFID, signaling can be based on Bluetooth, Wi-Fi, Near Field Communication (NFC), etc.

[0102] The signal transmitting tag may include electronically stored information that is used to uniquely (at least uniquely within the farm) identify animal 200.

[0103] Then, the animal identification device 250 can provide the processing device 170 with the identity reference of the animal 200 obtained from the identification device via a wired or wireless communication interface.

[0104] Once the animal 200 has been identified by the processing device 170 in conjunction with the animal identification device 250, the robotic arm 230 can begin attaching milking cups 110a, 110b, 110c, 110d one by one to the corresponding teats 210a, 210b, 210c, 210d. The milking cups 110a, 110b, 110c, 110d can be attached in the same order as described above. However, in some alternative embodiments, the milking cups 110a, 110b, 110c, 110d can be attached in a different order (e.g., any order).

[0105] Processing device 170 is communicatively connected to databases 180 and 193. Based on animal-specific information, animal identification references and data / information are extracted for each specific teat 210a, 210b, 210c, and 210d of animal 200. This data may include the milk flow rate per unit time of each specific teat 210a, 210b, 210c, and 210d when milking cups 110a, 110b, 110c, and 110d are attached to the corresponding teats 210a, 210b, 210c, and 210d, and / or the vacuum curve to be applied to the specific teats 210a, 210b, 210c, and 210d, and / or the teat-specific vacuum pressure level to be applied to each corresponding teat 210a, 210b, 210c, and 210d during the time period from the start of the milking process.

[0106] For example, the applied nipple-specific vacuum pressure level may be approximately 32 kPa, 35 kPa, or 40 kPa, as measured by associated vacuum pressure sensors 160a, 160b, 160c, 160d in milking cups 110a, 110b, 110c, 110d below nipples 210a, 210b, 210c, 210d.

[0107] If the stored data may include the milk flow rate per unit time for each specific nipple 210a, 210b, 210c, 210d, then the processing device 170 is configured to calculate, according to an algorithm, the corresponding vacuum pressure level to be maintained below the nipples 210a, 210b, 210c, 210d.

[0108] In some implementations, the processing equipment 170 can maintain a constant level of specific vacuum pressure below teats 210a, 210b, 210c, and 210d throughout the milking process. The vacuum pressure levels below teats 210a, 210b, 210c, and 210d will vary as milk flows from teats 210a, 210b, 210c, and 210d at different flow rates. To maintain a constant vacuum pressure level below teats 210a, 210b, 210c, and 210d, the applied vacuum pressure level can be adjusted.

[0109] Processing equipment 170 can continuously / repeatedly measure the vacuum pressure below teats 210a, 210b, 210c, and 210d using corresponding associated vacuum pressure sensors 160a, 160b, 160c, and 160d. Processing equipment 170 can then obtain the current / instantaneous (almost current / instantaneous, with some insignificant time delay) vacuum pressure below teats 210a, 210b, 210c, and 210d as measured by the associated vacuum pressure sensors 160a, 160b, 160c, and 160d. The measured vacuum pressure level can be compared with a vacuum curve and / or a teat-specific vacuum pressure level to maintain constancy during milking. Based on the comparison results, the processing device 170 can generate commands to the vacuum regulators 150a, 150b, 150c, 150d associated with the milking cups 110a, 110b, 110c, 110d and the teats 210a, 210b, 210c, 210d to adjust the vacuum pressure level below the teats 210a, 210b, 210c, 210d, thereby setting the vacuum pressure level below the teats 210a, 210b, 210c, 210d to the vacuum pressure level of the vacuum curve and / or the teat-specific vacuum pressure level, so as to maintain a constant vacuum pressure level during milking.

[0110] Pulsating pressure is applied when milking cups 110a, 110b, 110c, and 110d are attached to animal teats 210a, 210b, 210c, and 210d. In some embodiments, the level of pulsating pressure applied to the pulsating chamber via the pulsating tubes in milking cups 110a, 110b, 110c, and 110d can vary between atmospheric pressure during rest phase D and system vacuum pressure during milking phase B in some embodiments. The apparatus for applying the pulsating vacuum is not shown in the accompanying drawings.

[0111] Therefore, as Figure 3 As shown, sucking is interrupted by the rhythmic, repetitive movements (opening and closing) of the pads 310 in the milking cups 110a, 110b, 110c, and 110d. The force exerted by the contracting pads massages the teats 210a, 210b, 210c, and 210d. Thus, the teats 210a, 210b, 210c, and 210d are massaged, preventing teat tip blockage (e.g., engorgement), while the rhythmic movements of the contracting and opening pads 310, combined with the applied milking vacuum, stimulate oxytocin release and milk ejection, mimicking the sucking of a calf.

[0112] The goal is to efficiently extract milk from animals 200 in the shortest possible time (so that milking system 100 can serve more animals per unit of time), rather than by damaging or harming teats 210a, 210b, 210c, 210d by applying excessively high vacuum levels below them.

[0113] Based on the disclosed concepts, a method has been developed for specific adaptations of the teat in milk flow-controlled milking, which is effective and maintains the integrity of the teat.

[0114] Therefore, since the vacuum pressure level applied under each teat 210a, 210b, 210c, and 210d can be different, milk extraction can be performed more efficiently. Consequently, the vacuum pressure level applied under each teat 210a, 210b, 210c, and 210d can be optimized relative to the capacity of each corresponding teat 210a, 210b, 210c, and 210d, resulting in overall optimization of the milking process.

[0115] In some implementations, a devacuum pressure can be applied when the milking process is about to end, allowing the milking cup to be easily removed. The devacuum pressure level can be set to approximately 10 kPa-20 kPa, for example, approximately 15 kPa.

[0116] Figures 4A to 4DThe milk flow curves 401a, 401b, 401c, and 401d of the corresponding teats 210a, 210b, 210c, and 210d of the animal 200 during the milking process 400, and the corresponding vacuum curves 402a, 402b, 402c, and 402d, are shown.

[0117] For an animal 200 being milked in a milking robot 220, milking cups 110a, 110b, 110c, and 110d are typically attached sequentially to teats 210a, 210b, 210c, and 210d by a robotic arm 230. This results in milking occurring at different stages for different teats 210a, 210b, 210c, and 210d. For example, when the last milking cup 110a, 110b, 110c, and 110d is attached to the last teat, milk extraction from the mammary glands of the first teats 210a, 210b, 210c, and 210d may have already begun.

[0118] In this case, animal 200 has four nipples 210a, 210b, 210c, and 210d. Four milking cups 110a, 110b, 110c, and 110d have been attached sequentially to the nipples 210a, 210b, 210c, and 210d, for example, by a robotic arm 230.

[0119] First, the first milking cup 110a is attached to the first nipple 210a at time t0. Without pre-stimulation, the time t0 when the first milking cup 110a is attached to the first nipple 210a is also the start of the milking process 400.

[0120] like Figure 4A As illustrated schematically, milk from the mammary pool has not yet begun to flow from the first nipple 210a. Instead, milk is extracted from the mammary pool from nipple 210a, and the milk flow rate may decrease as shown in milk flow curve 401a, once all the milk from the mammary pool has been extracted from the milking cup 110a, until milk from the mammary pool is extracted.

[0121] In this case, a vacuum curve 402a has been calculated to correspond to a milk flow curve 401a, and the vacuum pressure level below the nipple 210a is reduced during the descent before milk begins to flow from the mammary gland.

[0122] Figure 4B The milk flow curve 401b and the corresponding vacuum curve 402b of the second teat 210b of animal 200 are shown. A second milking cup 110b can be attached to the second teat 210b at time point t1. As shown in the milk flow curve 401b, there may be a brief pause in milk release between milk discharge from the mammary pool and milk release from the mammary vesicles of the second teat 210b, which is also reflected in the corresponding vacuum curve 402b.

[0123] Figure 4C The milk flow rate curve 401c for the third teat 210c of animal 200 and the corresponding vacuum curve 402c at time point t2 are shown. Milk flow rate curve 401c shows no decreasing trend between milk discharge from the mammary pool and milk release from the mammary follicles, which explains why the milk flow rate at the third teat rises rapidly and steadily to the plateau segment of milk flow rate curve 401c. Near the end of the milking process, the milk flow rate decreases quite rapidly.

[0124] Figure 4D The milk flow curve 401d at the fourth teat of animal 200 at 210d and the corresponding vacuum curve 402d at time point t3 are shown. The milk flow at the fourth teat at 210d rises rapidly to the plateau segment of the milk flow curve 401d.

[0125] The provided solution dynamically adjusts the vacuum pressure level below each corresponding teat 210a, 210b, 210c, 210d of animal 200 based on the current milk flow rate per unit of time, thereby applying an appropriate vacuum pressure level to each teat 210a, 210b, 210c, 210d. This improves milking efficiency while eliminating or at least reducing teat damage caused by excessive vacuum pressure. Therefore, it is estimated that the teat condition of animal 200 is improved, although the milking system 100 can milk more animals per unit time due to the reduced milking time per animal.

[0126] Figure 5 Another example is shown of milk flow curves 401 for the teats 210a, 210b, 210c, and 210d of animal 200. In the illustrated embodiment, the vacuum curve 402 to be applied to the teats 210a, 210b, 210c, and 210d includes a constant vacuum pressure level to be maintained below the teats 210a, 210b, 210c, and 210d during the milking process.

[0127] The terminology used in the description of the embodiments shown in the accompanying drawings is not intended to limit the milking system 100, processing equipment 170, and / or computer program described. Various changes, substitutions, and / or modifications may be made without departing from the embodiments of the invention as defined by the appended claims.

[0128] exist Figures 1 to 5 The various illustrated embodiments depicted and / or discussed in the respective sections of the specification can be advantageously combined with each other, for example by mixing and compiling features of some or all of the described embodiments, thereby achieving additional advantages.

[0129] As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. The term “or / or” as used herein shall be construed as mathematical OR, i.e., including disjunction; and not as mathematical XOR unless otherwise expressly stated. Furthermore, the singular forms “a,” “an,” and “the” shall be construed as “at least one,” and may therefore include multiple entities of the same kind, unless otherwise expressly stated. It will be further understood that the terms “comprising,” “including,” “including,” and / or “comprising” specify the presence of the stated features, actions, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and / or combinations thereof. A single unit, such as a processor, can perform the functions of several items listed in the claims. The fact that certain measures or features are recited in mutually different dependent claims, shown in different drawings, or discussed in conjunction with different embodiments does not mean that combinations of such measures or features cannot be used advantageously.

Claims

1. A milking system (100), the milking system comprising: Multiple milking cups (110a, 110b, 110c, 110d), each milking cup being configured to be fitted onto the corresponding teat (210a, 210b, 210c, 210d) of an animal (200) during milk extraction in the milking process (400); Multiple milk discharge tubes (120a, 120b, 120c, 120d), wherein each milk discharge tube (120a, 120b, 120c, 120d) is connected to a corresponding milking cup (110a, 110b, 110c, 110d). A vacuum pump (140) configured to generate vacuum pressure; Milk tank (130), which is connected to each of the milking cups (110a, 110b, 110c, 110d) via corresponding connected milk discharge tubes (120a, 120b, 120c, 120d) and is also connected to the vacuum pump (140). Multiple vacuum regulators (150a, 150b, 150c, 150d), wherein each vacuum regulator (150a, 150b, 150c, 150d) is associated with a milking cup (110a, 110b, 110c, 110d) and is configured to control the vacuum pressure level in the associated milking cup (110a, 110b, 110c, 110d) below the nipple (210a, 210b, 210c, 210d); Multiple vacuum pressure sensors (160a, 160b, 160c, 160d), wherein each vacuum pressure sensor (160a, 160b, 160c, 160d) is associated with a milking cup (110a, 110b, 110c, 110d) and is configured to measure the vacuum pressure level in the associated milking cup (110a, 110b, 110c, 110d) below one of the teats (210a, 210b, 210c, 210d) during milk extraction in the milking process (400); An animal identification sensor (250) is configured to capture animal-specific information of the animal (200); A database (180) configured to store data relating to at least one previous milking process (400) of each corresponding teat (210a, 210b, 210c, 210d) of the animal (200), the data being associated with an identity reference of the animal (200); A processing device (170) communicatively connected to the vacuum regulators (150a, 150b, 150c, 150d), the vacuum pressure sensors (160a, 160b, 160c, 160d), the animal identification sensor (250), and the database (180), the processing device (170) is configured to: The identity reference of the animal to be milked (200) is determined based on the animal-specific information obtained from the animal identification sensor (250); Data for each corresponding nipple (210a, 210b, 210c, 210d) of the identified animal (200) is extracted from the database (180) based on the determined identity reference; When the milking cups (110a, 110b, 110c, 110d) are attached to the corresponding teats (210a, 210b, 210c, 210d), based on the extracted data, a specific teat vacuum pressure level to be applied at each corresponding teat (210a, 210b, 210c, 210d) is determined at the time period from the start of the milking process (400). as well as Generate corresponding commands to each vacuum regulator (150a, 150b, 150c, 150d) to set the determined nipple-specific vacuum pressure level at each corresponding associated milking cup (110a, 110b, 110c, 110d); The processing device (170) is configured as follows: Based on the extracted data, determine the vacuum curves (402a, 402b, 402c, 402d) to be applied to each corresponding teat (210a, 210b, 210c, 210d) of the animal (200) during the milking process (400); and Based on the corresponding vacuum curves (402a, 402b, 402c, 402d) of the respective nipples (210a, 210b, 210c, 210d), corresponding commands are generated to each vacuum regulator (150a, 150b, 150c, 150d) to control the corresponding vacuum pressure level in each associated milking cup (110a, 110b, 110c, 110d) below the nipples (210a, 210b, 210c, 210d); The vacuum curves (402a, 402b, 402c, 402d) include the vacuum pressure levels below the teats (210a, 210b, 210c, 210d) as they change over time during the milking process (400).

2. The milking system (100) according to claim 1, wherein, The milking process begins when pretreatment is performed on the first teat (210a, 210b, 210c, 210d) or when the first milking cup (110a, 110b, 110c, 110d) is attached to the first teat (210a, 210b, 210c, 210d).

3. The milking system (100) according to claim 1, wherein the milking system includes a communication device (190) for communicating with a central processing unit (192) of a service provider; and the processing unit (170) is configured to: The communication device (190) provides data on the animal (200) and / or an identification reference of the animal (200) to the central processing unit (192) of the service provider; and The vacuum curves (402a, 402b, 402c, 402d) of each corresponding teat (210a, 210b, 210c, 210d) of the animal (200) are obtained from the central processing unit (192).

4. The milking system (100) according to claim 1, wherein the processing device (170) is configured as follows: During the milking process (400), the corresponding vacuum pressure level below each of the teats (210a, 210b, 210c, 210d) is continuously obtained from the corresponding vacuum pressure sensors (160a, 160b, 160c, 160d); The obtained corresponding vacuum pressure levels were compared with the corresponding vacuum curves (402a, 402b, 402c, 402d); and If the obtained vacuum pressure level differs from the vacuum pressure level of the vacuum curves (402a, 402b, 402c, 402d): A corresponding command is generated for each vacuum regulator (150a, 150b, 150c, 150d) to adjust the corresponding vacuum pressure level of each milking cup (110a, 110b, 110c, 110d) according to the corresponding vacuum curve (402a, 402b, 402c, 402d) of the corresponding nipple (210a, 210b, 210c, 210d).

5. The milking system (100) according to claim 4, wherein, The milking cups (110a, 110b, 110c, 110d) include a liner (310) which repeatedly opens and closes below the nipples (210a, 210b, 210c, 210d) during the milking process; and wherein the vacuum pressure sensors (160a, 160b, 160c, 160d) are configured to measure the vacuum pressure level at least twice during the time period when the liner (310) is open.

6. The milking system (100) according to claim 5, wherein the vacuum pressure sensors (160a, 160b, 160c, 160d) are configured to measure the vacuum pressure level at 10-1000 measurements per second.

7. The milking system (100) according to claim 4, wherein the processing device (170) is configured to: Based on a predetermined number of recent vacuum pressure levels obtained from the corresponding associated vacuum pressure sensors (160a, 160b, 160c, 160d), a rolling average of the vacuum pressure levels in each milking cup (110a, 110b, 110c, 110d) below the corresponding nipple (210a, 210b, 210c, 210d) is calculated; and wherein The calculated rolling average of the vacuum pressure level was compared with the vacuum curves (402a, 402b, 402c, 402d).

8. The milking system (100) according to claim 1, wherein the processing device (170) is configured to repeatedly: Commands are generated to the vacuum regulators (150a, 150b, 150c, 150d) associated with each milking cup (110a, 110b, 110c, 110d) attached to the respective nipples (210a, 210b, 210c, 210d) to perform any of the following operations: When the most recently obtained vacuum pressure level below the nipple (210a, 210b, 210c, 210d) obtained from the vacuum pressure sensors (160a, 160b, 160c, 160d) is lower than the previously obtained vacuum pressure level below the nipple (210a, 210b, 210c, 210d), the vacuum pressure level below the nipple (210a, 210b, 210c, 210d) is increased by one level; or When the most recently obtained vacuum pressure level under the nipple (210a, 210b, 210c, 210d) obtained from the vacuum pressure sensors (160a, 160b, 160c, 160d) exceeds the previously obtained vacuum pressure level under the nipple (210a, 210b, 210c, 210d), the vacuum pressure level under the nipple (210a, 210b, 210c, 210d) is reduced by one level.

9. The milking system (100) of claim 8, wherein the size of the stage is proportional to the difference between the most recently obtained vacuum pressure level and the previously obtained vacuum pressure level.

10. The milking system (100) according to any one of claims 1 to 9, wherein the processing device (170) is configured to: Based on measurements of the vacuum pressure level obtained from the vacuum pressure sensors (160a, 160b, 160c, 160d) associated with the milking cups (110a, 110b, 110c, 110d) attached to the nipples (210a, 210b, 210c, 210d), it was detected that the vacuum pressure level below one of the nipples (210a, 210b, 210c, 210d) exceeded the maximum permissible vacuum pressure level; and A command is generated to the vacuum regulator (150a, 150b, 150c, 150d) associated with the milking cup (110a, 110b, 110c, 110d) attached to the nipples (210a, 210b, 210c, 210d) to reduce the vacuum pressure level below the nipples (210a, 210b, 210c, 210d).

11. The milking system (100) according to any one of claims 1 to 9, wherein the processing device (170) is configured to: Provide the database (180) with data related to the most recent milking process (400) of each corresponding teat (210a, 210b, 210c, 210d) of the identified animal (200) to store the data in the database, the data being associated with a specific teat (210a, 210b, 210c, 210d), an identity reference of the animal (200), and a time reference.

12. The milking system (100) according to any one of claims 1 to 9, wherein the processing device (170) is configured to: Detect the difference between previously stored data associated with at least one milking process (400) of one teat (210a, 210b, 210c, 210d) of the animal (200) and corresponding data associated with the most recent milking process (400) of the teat (210a, 210b, 210c, 210d), where the difference exceeds a threshold limit; and When the difference is detected, an alarm is generated to be output.

13. The milking system (100) according to any one of claims 1 to 9, wherein the processing device (170) is configured to: Determine the time period between the last milking process (400) of the animal (200) and the current moment when the animal (200) is about to begin a subsequent milking process (400); and Based on the determined time period, determine the specific vacuum pressure level to be applied to each corresponding nipple (210a, 210b, 210c, 210d).

14. The milking system (100) according to claim 6, wherein, The vacuum pressure sensors (160a, 160b, 160c, 160d) are configured to measure the vacuum pressure level at 100-1000 measurements per second.

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