Milk extraction system

Abstract

A milk extraction system (100) designed to measure a 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 to a trigger level (401). When the trigger level (401) is exceeded, the controller (180) instructs a pulsator device (210) to supply a predetermined first pulsation setting to a first channel (221) connected to a first pair of milking cups (131, 132); and to supply a predetermined second pulsation setting to a second channel (221) connected to a second pair of milking cups (133, 134); wherein the predetermined first pulsation setting comprises a pulsation cycle ratio whose B phase is shorter in time than the B phase of the pulsation cycle ratio of the predetermined second pulsation setting during at least one pulsation cycle.

Description

Technical Field

[0001] This document discloses a milk extraction system in an agricultural environment. More specifically, a milk extraction system is described for determining the pulsation settings of a pulsator device included in a milking cup assembly within the milk extraction system. Background Technology

[0002] In dairy farms, milk is typically extracted from animals by placing a padded milking cup on the corresponding teat and applying a milking vacuum and pulsating vacuum below the teat tip. This mimics the rhythmic sucking of a calf, where the milking vacuum is interrupted by the rhythmic movement (opening and closing) of the pad caused by the pulsating vacuum. This massage stimulates the release of oxytocin in the animal, which in turn activates the milk ejection reflex. Furthermore, the massage prevents congestion at the teat tip.

[0003] However, different teats in an animal may produce different amounts of milk. When the same pulsation settings (such as pulsation ratio or alternating fluid pressure levels) are applied to all milking cups, the milk flow typically stops earlier in a pair of anterior udder areas than in a pair of posterior udder areas, resulting in over-milking of the anterior udder areas, which can damage the associated teats.

[0004] Variations in milk production between different mammary regions / teeth (typically the front / rear mammary regions / teeth of an animal) can pose several challenges for dairy farmers.

[0005] Variations in milk production between different breast areas / nipples can lead to an imbalance in breast health. One or more nipples may be damaged due to continuous over-milking, which can in turn trigger mastitis.

[0006] Conversely, other problems may arise, leading to inefficient / suboptimal milking. In cases where significantly less milk is produced from the anterior udder / teeth than from the posterior udder / teeth, the milking process may become inefficient. Animals may need to spend more time at the milking point milking the posterior udder / teeth to ensure complete milk extraction from them, reducing the number of animals that can be served per unit of time at the milking point and thus lowering milk production.

[0007] The amount of milk produced in different mammary regions / nipple is usually individual for a particular animal and may also vary over time.

[0008] Fluctuations in milk production between different mammary regions / teeth (specifically between the anterior and posterior nipple pairs) present a management challenge for dairy farmers who strive to maximize milk production, reduce or minimize milking time per animal, maintain udder health, and ensure effective milking practices.

[0009] It appears that further research and development are needed to improve milk extraction from animals with varying milk production rates in different mammary regions / nipples.

[0010] The goal is to develop a solution that enhances milking performance while reducing over-milking of the nipples without increasing the impact on nipple tissue. Summary of the Invention

[0011] Therefore, one object of the present invention is to solve at least some of the above-mentioned problems and to improve the milking of animals.

[0012] According to a first aspect of the invention, this objective is achieved by a milk extraction system. The milk extraction system includes a milking cup assembly, a pulsator device, a milk flow meter, and a controller. The milking cup assembly includes a first pair of milking cups specifically designed for attachment to a pair of anterior teats of an animal to be milked during the milking period. The milking cup assembly also includes a second pair of milking cups specifically designed for attachment to a pair of posterior teats of an animal to be milked during the milking period.

[0013] Each milking cup includes a corresponding liner and a shell, thus creating a pulsating space between the liner and the shell. Each milking cup is also connected to a corresponding short milk tube, in which pressure is maintained and milk is expelled from the animal's teat to which the milking cup is attached during the milking period.

[0014] The pulsator device includes a first channel connected to the corresponding pulsation space of the first pair of milking cups and a second channel connected to the corresponding pulsation space of the second pair of milking cups.

[0015] The milk flow meter is configured to measure the total milk flow rate of milk extracted from the animal during the milking period.

[0016] The controller is configured to instruct the pulsator device to supply a predetermined attachment pulsation setting to the first and second channels during the start of a milking period. Therefore, the pulsator device causes the corresponding pad to alternate between phase B and phase D in each pulsation cycle. In phase B, the pad opens and milk can be extracted from the teat during the milking period; in phase D, the pad collapses and compresses against the teat.

[0017] The controller is also configured to obtain the total milk flow rate from all teats of the animal during the milking period from the milk flow meter.

[0018] The controller is also configured to instruct the pulsator device to supply a predetermined first pulsation setting to the first channel and a predetermined second pulsation setting to the second channel when the total milk flow rate exceeds a trigger level. During at least a portion of the milking period, the predetermined first pulsation setting differs from the predetermined second pulsation setting. The predetermined first pulsation setting includes a pulsation cycle ratio, the B phase of which is shorter in time than the B phase of the pulsation cycle ratio of the predetermined second pulsation setting during said portion of the milking period.

[0019] Therefore, by adapting the pulsation settings during the milking period to the predicted assumption that milk production from the posterior udder will be greater than that from the anterior udder, the milking period can be optimized to essentially empty both the posterior and anterior udders simultaneously, at least for a portion of the milking period when the total milk flow rate from the udder exceeds the trigger level. This avoids both over- and under-milking of the teats. The milking period is minimized while maintaining udder integrity and avoiding excessive negative pressure exposure on empty teats. The minimum duration of the milking period increases the number of animals that the milk extraction system can serve per unit time, resulting in increased milk production. By gently handling empty teats, mastitis and other problems that typically affect milk production and animal health are avoided.

[0020] Optionally, the pre-defined attachment pulse settings are the same for both the first and second channels.

[0021] During the initial milking period, the milking cup is attached to the teat, and the teat is gently stimulated by the attachment pulsation of the milking cup liner, thereby releasing milk from the corresponding animal area. The stimulation required for the posterior and anterior teats before triggering milk release is predicted to be substantially equal in intensity during the attachment phase. This is why applying the same or substantially similar attachment pulsation setup to both the first and posterior channels is appropriate for stimulating the animal to begin releasing milk in the shortest possible time.

[0022] Optionally, the milk extraction system may also include an animal identification device and a storage device, both communicatively connected to the controller. The controller may be configured to identify animals being milked during milking periods via the animal identification device.

[0023] The controller can also be configured to generate data representing the total milk flow rate obtained during the milking period of the identified animal, and to detect deviations from predetermined standards, which are related to the total milk flow rate and the time elapsed from the start of milking to the decline phase of the total milk flow rate.

[0024] Furthermore, the controller can be configured to adjust the B-stage setting of the pulse cycle ratio of a predetermined first pulse setting and / or the B-stage setting of the pulse cycle ratio of a predetermined second pulse setting of the pulsator device based on an assessment of the detected deviation. Additionally, the controller can be configured to provide the adjusted first pulse setting and / or the adjusted second pulse setting to a memory device associated with a reference for the milking period and an identification reference for the identified animal, for storage therein, to be applied during subsequent milking periods of the identified animal.

[0025] Individual animals in a herd may have different milk yields in the posterior and anterior mammary regions. The suitability of the pulsation setting can be estimated by identifying the milked animal and comparing the animal's total milk flow rate during milking to predetermined standards. If there is no deviation or the deviation is less than a threshold limit, the same pulsation setting is applied during the animal's next milking session. Otherwise, this means that the mammary regions are not emptied simultaneously—that is, at least one mammary is emptied before the others—which is why it is appropriate to adjust the first and / or second pulsation settings for that animal during the next milking session. Therefore, the pulsation setting can be optimized for each individual animal in the herd, thereby enhancing its advantages in reducing milking time, increasing animal throughput at the milk extraction system, reducing the risk of over- and under-milking, and reducing the risk of mastitis at the teats.

[0026] Optionally, the predetermined criteria may include a deviation threshold limit from a predetermined rate of change during the descent phase.

[0027] By detecting the deviation between the rate of change of total milk flow rate and a predetermined rate of change during a milking period, it can be determined whether one or more udder regions have been simultaneously (within a threshold limit) emptied. This allows for the determination of whether to adjust the first and / or second pulsation settings used for the animal during the next milking period.

[0028] Optionally, the predetermined criteria may include a deviation time limit from the start of milking to the decline phase of the total milk flow rate, where the total milk flow rate drops below a threshold limit.

[0029] If the change in total milk flow rate during the descent phase is gradual rather than drastic—that is, if the duration from the start of milking until the total milk flow rate drops below the threshold limit exceeds the deviation time limit—it indicates that one or more udder areas were not emptied within substantially the same time frame (within the threshold limit). Therefore, it can be determined whether to adjust the first and / or second pulsation settings used for the animal during the next milking session.

[0030] Optionally, the controller may be configured to identify animals to be milked during milking periods via an animal identification device. The controller may also be configured to retrieve stored adjusted first and adjusted second pulsation settings for the identified animal from a memory device associated with an identification reference for the identified animal. The controller may be configured to provide the adjusted first and adjusted second pulsation settings to a pulsator device for individual animals for supply during milking periods.

[0031] Individual adjustments to the pulsation settings can be made by identifying animals to be milked and retrieving previously adjusted and stored settings. This allows for individual optimization of the pulsation settings, taking into account individual differences in milk production across different udder regions.

[0032] Optionally, the controller may be configured to provide the magnitude and direction of the adjustments made to the adjusted first pulsation setting and / or the adjusted second pulsation setting relative to a predetermined pulsation setting or a previously stored pulsation setting to a memory device associated with a reference to the milking period and an identification reference of the identified animal, for storage therein.

[0033] By tracking adjustments made to the pulsation settings of the animals, the results of any future milking sessions in which the adjusted pulsation settings have been applied can be analyzed and evaluated at later time points. If the total milk flow rate does not meet the previously discussed criteria, the adjustments to the pulsation settings were not performed correctly. Therefore, based on the analysis of stored previous pulsation setting adjustments, the size and / or direction of the pulsation settings can be adjusted in the new method to meet the criteria.

[0034] Optionally, the controller may be configured to, upon detecting a deviation from a predetermined standard, retrieve from a memory device the magnitude and direction of adjustments made to the adjusted first pulsation setting and / or the adjusted second pulsation setting relative to a predetermined pulsation setting or a previously stored pulsation setting.

[0035] The controller can also be configured to adjust the B-stage setting of the pulsation cycle ratio of a predetermined first pulsation setting and / or the B-stage setting of the pulsation cycle ratio of a predetermined second pulsation setting based on an assessment of the magnitude and direction of previous adjustments to the pulsation setting for previous milking periods of the identified animal.

[0036] The reason this trial-and-error approach might be needed to optimize the pulsation settings and thus achieve a total milk flow rate where all udder areas are essentially emptied simultaneously is that only the total milk flow rate is measured. This is why it's possible to detect one or more udder areas being emptied before one or more other udder areas. It cannot identify which udder areas are emptied prematurely.

[0037] According to the present invention, the corresponding pulsation settings of the milking cups can only be adjusted in pairs, that is, milking cups acting on the two front teats and the two rear teats respectively. The reason is that the pulsator device includes only two channels; a first channel is connected to the corresponding pulsation space of the first pair / front pair of milking cups, and a second channel is connected to the corresponding pulsation space of the second pair / rear pair of milking cups.

[0038] In cases where there are significant differences in milk production between the corresponding anterior and / or posterior udder regions, it may be impossible to meet the standards at all. However, thanks to the disclosed solution, milking time can be minimized and any potential over- or under-milking can be reduced to a minimum.

[0039] 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 include: two different levels of fluid pressure alternately supplied to the respective channels of the pulsation device; and / or the pulsation cycle ratio of the alternating fluid pressure levels supplied to the first and second channels of the pulsation device; and / or the rate of the alternating fluid pressure levels supplied to the first and second channels of the pulsation device.

[0040] Optionally, during the start of the milking period, the predetermined attachment pulsation settings for the first and second channels may include a B-stage setting with a pulsation cycle ratio of about 30 and a rate of about 50 Hz.

[0041] A 30 / 70 pulsation cycle ratio means that the pad will collapse under the nipple and gently squeeze the nipple for 70% of the time in each pulsation cycle, which will stimulate milk release in the animal. This ensures gentle, reliable, and effective stimulation of the nipple, resulting in effective milk release.

[0042] Optionally, the predetermined first pulsation setting of the first channel may include a B-stage setting with a pulsation cycle ratio of about 65 and a rate of about 60 Hz; and the predetermined second pulsation setting of the second channel may include a B-stage setting with a pulsation cycle ratio of more than 65 and a rate of about 60 Hz.

[0043] Optionally, the portion of the milking period in which the predetermined first pulse setting differs from the predetermined second pulse setting can be defined by any of the following: such as a fixed duration determined from the start of milking; or the period in which the total milk flow rate exceeds a threshold limit.

[0044] Other advantages and additional novel features will become apparent in the following detailed description. Attached Figure Description

[0045] Embodiments of the present invention will now be described in further detail with reference to the accompanying drawings, in which:

[0046] Figure 1An example is given of a milk extraction system according to one implementation scheme in a scenario where milk is extracted from animals.

[0047] Figure 2 The diagram illustrates a milking cup assembly and its components during animal milk extraction.

[0048] Figure 3 The illustration shows the milking time of the animals.

[0049] Figure 4A This is a diagram illustrating, based on some examples, the milk flow rate per unit time during milk extraction during a milking period.

[0050] Figure 4B This is a diagram illustrating, based on some examples, the milk flow rate per unit time during milk extraction in a milking period. Detailed Implementation

[0051] The embodiments of the invention described herein are defined as milk extraction systems that can be implemented in the embodiments described below. However, these embodiments can be exemplified and implemented in many different forms and are not limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided to make this disclosure thorough and complete.

[0052] Other objects and features may 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 may be made to the appended claims. Furthermore, unless otherwise illustrated, the drawings are not necessarily drawn to scale and are merely conceptual illustrations of the structures and procedures described herein.

[0053] Figure 1 An example of a milk extraction system 100 is shown in a scenario where milk is extracted from animal 101. Animal 101 may belong to a herd of animals on a farm used for dairy production.

[0054] "Animal" can be any type of domesticated female mammal with four teats, such as, for example, a cow.

[0055] The term “milk extraction system” has a general meaning here and may include one or more milking points, each arranged for milking one animal at a time.

[0056] The milk of animal 101 can be extracted by milking cup assembly 130 included in a rotating milking chamber, an automated robotic milking system, a barrel milking device, or a static conventional milking system. Only a few arbitrary examples are given for structures used for milk extraction.

[0057] Milking cup assembly 130 includes four milking cups 131, 132, 133, and 134, each milking cup being configured to be attached to a corresponding teat 111, 112 of animal 101 during milk extraction. The first pair of milking cups 131, 132 are dedicated to attaching to a pair of anterior teats 111 of animal 101, and the second pair of milking cups 133, 134 are dedicated to attaching to a pair of posterior teats 112 of animal 101.

[0058] As the inventors have observed and recognized, dairy animals generally produce more milk in the posterior udder region than in the anterior udder region. Therefore, in conventional machine milking, the milk flow stops earlier in the anterior udder region than in the posterior udder region, resulting in over-milking of the anterior udder region. This is potentially harmful to over-milked teats. The time required to complete milking also becomes unnecessarily extended because the pulsation settings of existing technologies are set as a compromise.

[0059] Milk extraction is performed during the milking period of animal 101. Each milking cup 131, 132, 133, 134 includes corresponding liners 220a, 220b and shells 230a, 230b, thereby forming a pulsating space 225 between the liners 220a, 220b and the shells 230a, 230b, as... Figure 2 exemplified.

[0060] Figure 2 A front nipple 111 and a rear nipple 112 are schematically illustrated, along with corresponding milking cups 131 and 133 attached thereto.

[0061] The milking cup assembly 130 also includes a pulsator device 210. The pulsator device 210 includes two separate channels 221, 222. The first channel 221 is connected, for example via a manifold, to a corresponding pulsation space 225 of the first pair of milking cups 131, 132, wherein the first channel 221 is divided into two nipple-specific channels 221a, 221b.

[0062] The second channel 222 is connected, for example, via a manifold to the corresponding pulsating space 225 of the second pair of milking cups 133, 134, wherein the second channel 222 is divided into two nipple-specific channels 222a, 222b.

[0063] The pulsator device 210 is configured to supply a first pulsation setting to a first channel 221 and a second pulsation setting to a second channel 222. These pulsation settings relate to pulsation ratio, pulsation rate, and / or fluid pressure at two different levels alternately supplied to the respective independent channels 221, 222.

[0064] Two different pressure levels can typically be a negative pressure level during phase B and an atmospheric pressure level during phase D, but alternatively, they can be two different negative pressure levels, or even an overpressure during phase D and an underpressure during phase B.

[0065] Therefore, the pulsator device 210 causes the corresponding pads 220a, 220b of the milking cups 131, 132, 133, 134 to alternate between phase B and phase D. In phase B, the pads 220a, 220b open below the tips of the nipples 111, 112 and thus allow milk to be extracted from the nipples 111, 112 during the milking period. In phase D, the pads 220a, 220b collapse and compress the nipples 111, 112.

[0066] Negative pressure or milking vacuum exists in the short milk tubes 231 and 232. When the liners 220a and 220b are opened, i.e., during stage B, the milking vacuum acts on the tips of the teats 111 and 112, from which milk is extracted and discharged. The milk is then transferred via the short milk tubes 231 and 232 to the long milk tube 150 and the receiver 170.

[0067] In the current context, "milking vacuum" refers to a vacuum or negative pressure created below the teat. Milking vacuum can be set, for example, to 30 kPa to 40 kPa (at atmospheric pressure). In some embodiments, milking vacuum can vary during the milking period based on the current total milk flow rate. During the attachment of the milking cup, milking vacuum can be set to a relatively low value, such as 30 kPa. When the total milk flow rate exceeds a threshold level (such as, for example, 0.5 kg / min), milking vacuum can be set to 35 kPa. When the total milk flow rate exceeds another threshold level (such as, for example, 2 kg / min), milking vacuum can be set to 48 kPa, and so on.

[0068] Each milking cup 131, 132, 133, 134 is connected to the claw 140 of the milking cup assembly 130 via corresponding short milk tubes 231, 232. The milking cup assembly 130 also includes a long milk tube 150 and a receiver 170 in which a vacuum exists. Milk can be pumped from the receiver 170 to a milk storage tank, where it is collected and may be stored in a cooled state.

[0069] The total amount of milk extracted from animal 101 during the milking period can be measured by milk flow meter 160. Milk flow meter 160 is arranged to measure the total milk flow rate of milk extracted from animal 101 during the milking period. Figures 1 to 2 In the illustrated embodiment, the milk flow meter 160 is arranged in the long milk hose 150.

[0070] Additionally, the milk extraction system 100 may include 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 the second channel 222 during the start of a milking period t0. Thus, the controller 180 causes the corresponding pads 220a, 220b to alternate between phase B and phase D in each pulsation cycle. In phase B, the pads 220a, 220b are open and milk can be extracted from the teats 111, 112 during the milking period. In phase D, the pads 220a, 220b collapse and compress against the teats 111, 112.

[0071] The controller 180 is also configured to obtain the total milk flow rate from the milk flow meter 160 during the milking period of the animal 101. The controller 180 can obtain the total milk flow rate continuously during the milking period, for example at regular or irregular time intervals.

[0072] The controller 180 is also configured to instruct the pulsator device 210 to supply a predetermined first pulsation setting to the first channel 221 and a predetermined second pulsation setting to the second channel 222 when the total milk flow rate exceeds a trigger level. During at least a portion of the milking period, the predetermined first pulsation setting differs from the predetermined second pulsation setting.

[0073] The predetermined first pulsation setting includes a pulsation cycle ratio, wherein during the portion of the milking period, phase B of the pulsation cycle ratio is shorter in time than phase B of the pulsation cycle ratio in the predetermined second pulsation setting.

[0074] Thus, the controller 180 can independently adjust the first pulsation setting and the second pulsation setting of the corresponding channels 221, 222 of the pulsator device 210 via instructions transmitted to the pulsator device 210.

[0075] Controller 180 is configured to adjust / set a first pulse setting different from the second pulse setting during at least a portion of the milking period of animal 101, such as, for example, during the main milking phase 420 of the main portion of milk extraction, see [link to relevant documentation]. Figure 4A .

[0076] The aforementioned portion of the milking period can be defined by a time period, such as t0, determined from the start of milking. In some embodiments, this time period can be fixed and predetermined. Alternatively, for each individual animal, the time period can be individually configurable and adjustable.

[0077] This portion of the milking period can be defined as the time period in milking period 302 during which the total milk flow rate exceeds the threshold limit 401.

[0078] The adjustment can be made by adjusting the following: the fluid pressure at two different levels of the corresponding channels 221, 222 of the pulsating device 210 that are alternately supplied; and / or the ratio of the alternating fluid pressure levels supplied to the first channel 221 and the second channel 222 of the pulsating device 210, respectively; and / or the rate at which the alternating fluid pressure levels are supplied to the first channel 221 and the second channel 222 of the pulsating device 210, respectively.

[0079] The controller 180 includes processing circuitry and an interface to enable it to receive data and signals, perform various analyses on the data and signals, and generate outputs, such as control signals. More precisely, the controller 180 is configured to receive a parameter representing a measured milk flow rate of milk extracted from the udder of animal 101 during a milking period, and based on this parameter, to control / adjust / set the pulsation settings of the pulsation device 210 via a control signal transmitted to the pulsation device 210.

[0080] It has been observed that dairy animals typically produce more milk in the posterior udder region than in the anterior udder region. When the same pulsation setting is applied to all teats 111, 112 of animal 101 throughout or almost the entire milking period, the pair of anterior teats 111 will often be over-milked and may be damaged due to excessive exposure to negative pressure during stage B. This can cause mastitis and other potential problems. Alternatively, the posterior teats 112 may be under-milked.

[0081] According to the implementation scheme described herein, for this reason, pulsation settings are set differently for a pair of anterior nipples 111 and a pair of posterior nipples 112, respectively; wherein, by adjusting the corresponding ratio, rate and / or fluid pressure level, milk extraction is performed more strongly at a pair of posterior nipples 112 than at a pair of anterior nipples 111.

[0082] The controller 180 is configured to provide a first pulsation setting and a second pulsation setting of the pulsator device 210 under the assumption that the milk production of the rear teats 112 of animal 101 is higher than that of the anterior teats 111. Therefore, in some embodiments, the same pulsation setting can be applied to all animals in the herd to be milked.

[0083] The controller 180 is also configured to instruct the pulsator device 210 to provide an attachment pulsation setting during the start of a milking period. The attachment pulsation setting may be the same for both the first channel 221 and the second channel 222 (i.e., for the front nipple 111 and the rear nipple 112). The attachment pulsation setting may be predetermined and unadjusted.

[0084] The controller 180 is configured to obtain the total milk flow rate of all teats of the animal 101 during the milking period from the milk flow meter 160.

[0085] In addition, the controller 180 is configured to instruct the pulsator device 210 to provide an attached pulsation setting during the start of the milking period.

[0086] The controller 180 is configured to also repeatedly or continuously acquire the total milk flow rate from all teats of the animal 101 during the milking period of the animal 101, and repeatedly compare it with a first trigger level. When the acquired 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 second pulsation setting.

[0087] The milk extraction system 100 may also include animal identification devices 120a and 120b communicatively connected to the controller 180. The animal identification devices 120a and 120b are configured to identify the animal 101 at the milking period.

[0088] There are several specific ways to embody animal identification devices 120a and 120b. Ear tags can be combined with RFID (Radio Frequency Identification) technology, allowing them to communicate with RFID readers. By attaching an ear tag with a unique ID to an animal, the animal can be identified by reading that unique ID through an RFID reader.

[0089] Animal identification devices 120a and 120b may optionally include a camera integrated with image recognition software.

[0090] The memory device 190 operates by electronically storing and retrieving data related to the animal's identity. The controller 180 interacts with the memory device 190 to manage data storage, retrieval, and other operations, including identifying milked animals, generating data representing the total milk flow rate obtained during the milking period of the identified animal, and detecting deviations from predetermined standards related to the total milk flow rate and the time elapsed since milking during a decline in the total milk flow rate.

[0091] The memory device 190 may also store a first pulsation setting and / or a second pulsation, either as a predetermined setting applicable to a herd, a subset of a herd, and / or an individual animal 101 on a farm. 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 an assessment of detected deviations. The adjusted first pulsation setting and / or the adjusted second pulsation setting may include an adjusted B-stage setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or an adjusted B-stage setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulser device 210.

[0092] Figure 3The illustration schematically illustrates a milking period 302 in which milk is extracted from animal 101 via milk extraction system 100.

[0093] In addition, past milking periods 301 and the next / subsequent / future milking periods 303 of animal 101 were marked on the timeline.

[0094] Milking periods 301, 302, and 303 refer to the process of extracting milk from an animal's udder. This typically occurs at the milking point of the milk extraction system 100. During milking period 302, animal 101 is located at the milking point, milking cups 131, 132, 133, and 134 are used, and an attached pulsation setting is applied, for example, by providing a pulsation rate of 50 ppm, a pulsation ratio of 30 / 70, and a milking vacuum of 32 kPa (a non-limiting example).

[0095] The frequency of milking sessions 301, 302, and 303 can vary and depends on several factors, such as farm management practices, milking system efficiency, individual animal milk production, and / or animal breed. Typical intervals can be two to three times per day; that is, milking sessions occur approximately every 8 to 12 hours. This schedule helps maintain animal comfort, udder health, and optimal milk production. A consistent milking schedule ensures animal well-being and maximizes milk production.

[0096] Now refer to each Figure 4A and Figure 4B The diagram illustrates the total milk flow rate of the udder / all teats of animal 101 during milking period 302, and discusses a standard example of how controller 180 is configured to determine the first pulsation setting and the second pulsation setting of pulsator device 210.

[0097] Figure 4A The horizontal axis of the diagram represents time t, and the vertical axis represents the total milk flow rate f(t) as a function of time t, that is, the total milk flow rate of the udder / all teats of animal 101 during milking period 302.

[0098] Milking period 302 can be divided into an increasing phase 410, a main milking phase 420, and a decreasing phase 430.

[0099] During the increasing phase 410, milking cups 131, 132, 133, and 134 can be attached to nipples 111 and 112. Milking vacuum and alternating pulsating pressure can be applied to milking cups 131, 132, 133, and 134 at the beginning t0 of milking period 302, after which milk is released from the mammary glands of nipples 111 and 112.

[0100] During the extended phase 410 of milking period 302, a predetermined attachment pulsation setting can be applied to the first channel 221 and the second channel 222.

[0101] The attached pulsation settings to be supplied to both the first channel 221 and the second channel 222 during the beginning t0 of the milking period 302 may include a pulsation cycle ratio or B / D ratio of about 30 / 70.

[0102] The attached pulsation setting can induce the release of milk from the mammary glands. The stimulation can be initiated at time point t0, which can be regarded as the start of milking and the beginning of milking period 302.

[0103] When the total milk flow rate exceeds the trigger level 401, the controller 180 is configured to instruct the pulsator device 210 to supply a predetermined first pulsation setting to the first channel 221 and a predetermined second pulsation setting to the second channel 222 during at least a portion of the milking period 302.

[0104] The predetermined first pulsation setting includes a pulsation cycle ratio, wherein during at least one pulsation cycle, the B phase of the pulsation cycle ratio is shorter in time than the B phase of the pulsation cycle ratio of the predetermined second pulsation setting.

[0105] In some embodiments, the trigger level 401 may be set, for example, to about 0.3 kg / min. However, in other embodiments, the trigger level 401 may be set to about 1 kg / min; 1.5 kg / min; and in various embodiments, 2 kg / min, etc.

[0106] The first predetermined pulsation setting of the first channel 221 may include a pulsation cycle ratio or B / D ratio of about 65 / 35; and the second predetermined pulsation setting of the second channel 222 may include a B phase of more than 65, such as, for example, 70 / 30.

[0107] These predetermined pulsation settings may be applied to all dairy animals on the farm, or possibly to a predefined set of dairy animals on the farm, and to each milking period, unless the adjusted first pulsation setting and / or the adjusted second pulsation setting is deemed more suitable for the particular animal.

[0108] During the declining phase 430 of milking session 302, the total milk flow rate 400 begins to decline from the level reached during the main milking phase 420.

[0109] Figure 4A The depicted total milk flow rate 400 illustrates the expected relationship between the total milk flow rate 400 and the time elapsed from the start of milking for animal 101 to t0, where the milk flow stops substantially simultaneously for all mammary regions.

[0110] The total milk flow rate of 400 illustrates the expected / desired situation in which over-milking and / or under-milking of any animal teats 111, 112 is avoided and the mammary gland area is essentially emptied simultaneously.

[0111] Simultaneous emptying of the udder area is indicated by the total milk flow rate 400 in at least two ways. First, the total milk flow rate 400 has a rate of change α within a deviation threshold limit β during the descent phase 430. Second, the total milk flow rate 400 decreases below the threshold limit 401 within a deviation time limit γ from the start of milking t0 during the descent phase 430.

[0112] With the total milk flow rate of 400 meeting the predetermined standard, it is desirable to provide the same pulsation setting during the next / other future milking period 303 of the same animal 101.

[0113] Figure 4B An example is illustrated of the total milk flow rate 440 of the udder / all teats of animal 101 during milking period 302. In this case, one or more udder areas are emptied before at least one other udder area.

[0114] This situation is unfavorable because the milking time coincides with... Figure 4A The example of an "ideal" total milk flow rate of 400 is extended and... Figure 4B The text is marked with a dashed line.

[0115] Controller 180 is configured to generate data representing the total milk flow rate 440 obtained during milking period 302 of the identified animal 101. Controller 180 is also configured to detect deviations from predetermined criteria related to the total milk flow rate 440 and the time elapsed from milking start t0 to the decline phase 430 of the total milk flow rate 440; that is, the total milk flow rate 400 has a rate of change exceeding a deviation threshold limit β during the decline phase 430, and / or the total milk flow rate 400 does not fall below the threshold limit 401 within a deviation time limit γ from milking start t0 during the decline phase 430. In the illustrated example, the total milk flow rate 440 does not fall below the threshold limit 401 before a deviation time δ exceeding the deviation time limit γ.

[0116] The controller 180 is also configured to, upon detecting a deviation from a predetermined standard, adjust the B-stage setting of the pulse cycle ratio of a predetermined first pulse setting and / or the B-stage setting of the pulse cycle ratio of a predetermined second pulse setting of the pulsator device 210 based on an assessment of the detected deviation. The controller 180 is configured to provide the adjusted first pulse setting and / or the adjusted second pulse setting to a memory device 190 associated with a reference for milking period 302 and an identification reference for the identified animal 101, for storage therein, to be supplied during subsequent milking periods 303 of the identified animal 101.

[0117] The next time the controller 180 identifies the same animal 101 in association with milking period 302 via animal identification devices 120a, 120b, the controller 180 is able to retrieve the stored adjusted first pulsation setting and 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 adjusted second pulsation setting to the pulsator device 210 for individual animal 101 for supply during milking period 302.

[0118] In some alternative embodiments, the controller 180 is configured to provide the magnitude and direction of adjustments to the adjusted first pulsation setting and / or the adjusted second pulsation setting relative to a predetermined pulsation setting or a previously stored pulsation setting to a memory device 190 associated with a reference to milking period 302 and an identification reference of the identified animal 101 for storage therein.

[0119] The controller 180 is thus able to repeatedly adjust the first pulsation setting and / or the second pulsation setting based on the total milk flow rate obtained during milking period 302, combined with knowledge of previous adjustments (such as that which can be retrieved from the memory device 190).

[0120] Therefore, the controller 180 is configured to, upon detecting a deviation from a predetermined standard, retrieve from the memory device 190 the magnitude and direction of adjustments made to the adjusted first pulsation setting and / or the adjusted second pulsation setting relative to a predetermined pulsation setting or a previously stored pulsation setting. Furthermore, the controller 180 is configured to adjust the B-stage setting of the pulsation cycle ratio of the predetermined first pulsation setting and / or the B-stage setting of the pulsation cycle ratio of the predetermined second pulsation setting of the pulsator device 210 based on an evaluation of the magnitude and direction of previously made adjustments to the pulsation settings for previous milking periods 301, 302 of the identified animal 101.

[0121] 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 include: two different levels of fluid pressure alternately supplied to the corresponding channels 221, 222 of the pulsation device 210; and / or the pulsation cycle ratio of the alternating fluid pressure levels supplied to the first channel 221 and the second channel 222 of the pulsation device 210; and / or the rate of the alternating fluid pressure levels supplied to the first channel 221 and the second channel 222 of the pulsation device 210.

[0122] The terminology used in the description of the embodiments illustrated in the accompanying drawings is not intended to limit the milk extraction system 100 and / or controller 180 described. Various changes, substitutions, and / or modifications may be made without departing from the embodiments of the invention as defined in the appended claims. Figure 1 The various exemplary embodiments depicted in Figure 4 and discussed in the corresponding section 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.

[0123] As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. As used herein, the term “or” should be interpreted as mathematical OR, i.e., as inclusive disjunction, rather than as mathematical exclusive OR (XOR), unless otherwise expressly stated. Additionally, the singular forms “a,” “an,” and “the” should be interpreted as “at least one,” and thus may include multiple entities of the same kind, unless otherwise expressly stated. It will be further understood that the terms “comprising,” “including,” 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. For example, a single unit of a processor can perform the functions of several items recited in the claims. The fact that certain measures or features are recited in mutually different dependent claims, illustrated in different drawings, or discussed in conjunction with different embodiments does not mean that combinations of these measures or features cannot be advantageously used.

Claims

1. A milk extraction system (100), the milk extraction system comprising: Milking cup assembly (130), the milking cup assembly includes A first pair of milking cups (131, 132), specifically designed for attachment to a pair of anterior teats (111) of an animal (101) to be milked during milking period (302); and a second pair of milking cups (133, 134), specifically designed for attachment to a pair of posterior teats (112) of the animal (101) to be milked during milking period (302); wherein each milking cup (131, 132, 133, 134) includes a corresponding liner (220a, 220b) and a housing (230a, 230b), thereby forming a pulsating space (225) between the liner (220a, 220b) and the housing (230a, 230b); and wherein each milking cup (131, 132, 133, 134) is connected to a corresponding short milk tube (231, 232), pressure exists in the short milk tube and milk is discharged from the animal teats (111, 112) in the short milk tube during the milking period (302); Pulsator device (210), the pulsator device comprising A first channel (221) is connected to the corresponding pulsation space (225) of the first pair of milking cups (131, 132); and The second channel (222) is connected to the corresponding pulsation space (225) of the second pair of milking cups (133, 134). A milk flow meter (160) is arranged to measure the total milk flow rate of milk extracted from the animal (101) during the milking period (302); and Controller (180), the controller is configured to: During the beginning (t0) of the milking period (302), the pulsator device (210) is instructed to supply a predetermined attachment pulsation setting to the first channel (221) and the second channel (222), such that the corresponding pads (220a, 220b) alternate between the following phases in each pulsation cycle: In stage B, the pads (220a, 220b) are opened, and milk can be extracted from the teats (111, 112) during the milking period (302). In stage D, the pads (220a, 220b) collapse and compress onto the nipples (111, 112); The total milk flow rate (400, 440) of all teats of the animal (101) during the milking period (302) is obtained from the milk flow meter (160); and When the total milk flow rate (400, 440) exceeds the trigger level (401), the pulsator device (210) is instructed to 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 differs from the predetermined second pulsation setting during at least a portion of the milking period (302); and wherein the predetermined first pulsation setting includes a pulsation cycle ratio, wherein during the portion of the milking period (302), the B phase of the pulsation cycle ratio is shorter in time than the B phase of the pulsation cycle ratio of the predetermined second pulsation setting.

2. The milk extraction 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 extraction system (100) according to any one of the preceding claims, the milk extraction system comprising: Animal identification devices (120a, 120b), communicatively connected to the controller (180), wherein the animal identification devices (120a, 120b) are configured to identify the animal (101) during the milking period (302); and A memory device (190) communicatively connected to the controller (180); and wherein the controller (180) is configured to: The animal (101) being milked during the milking period (302) is identified by the animal identification device (120a, 120b). Generate data representing the total milk flow rate (400, 440) obtained during the milking period (302) of the identified animal (101); The deviation from the predetermined standard is detected, which is related to the total milk flow rate (400, 440) and the time elapsed from the start of milking (t0) to the decrease phase (430) of the total milk flow rate (400, 440); The B-stage setting of the pulse cycle ratio of the predetermined first pulse setting and / or the B-stage setting of the pulse cycle ratio of the predetermined second pulse setting of the pulser device (210) are adjusted based on the evaluation of the detected deviation. as well as The adjusted first pulsation setting and / or the adjusted second pulsation setting are provided to the memory device (190) associated with the reference of the milking period (302) and the identification reference of the identified animal (101) for storage therein, for application during subsequent milking periods (303) of the identified animal (101).

4. The milk extraction system (100) according to claim 3, wherein the predetermined standard includes a deviation threshold limit (β) from a predetermined rate of change (α) in the descent phase (430).

5. The milk extraction system (100) according to claim 3, wherein the predetermined standard includes a deviation time limit (γ) from the start of milking (t0) to the decreasing phase (430) of the total milk flow rate, wherein the total milk flow rate decreases below a threshold limit (401).

6. The milk extraction system (100) according to any one of claims 3 to 5, wherein the controller (180) is configured to The animal (101) to be milked during the milking period (302) is identified by the animal identification device (120a, 120b). Retrieve from the memory device (190) associated with the identification reference of the identified animal (101) the stored adjusted first pulsation setting and adjusted second pulsation setting for the identified animal (101); and The adjusted first pulsation setting and the adjusted second pulsation setting are provided to the pulsator device (210) of the individual animal (101) for supply during the milking period (302).

7. The milk extraction system (100) according to any one of claims 3 to 6, wherein the controller (180) is configured to The magnitude and direction of the adjustments made to the adjusted first pulsation setting and / or the adjusted second pulsation setting relative to the predetermined pulsation setting or the previously stored pulsation setting are provided to the memory device (190) associated with the reference of the milking period (302) and the identification reference of the identified animal (101) for storage therein.

8. The milk extraction system (100) according to claim 7, wherein the controller (180) is configured to, upon detecting a deviation from the predetermined standard, retrieve from the memory device (190) the magnitude and direction of the adjustment made to the adjusted first pulsation setting and / or the adjusted second pulsation setting relative to the predetermined pulsation setting or a previously stored pulsation setting; and The B-phase setting of the pulse cycle ratio of the predetermined first pulse setting and / or the B-phase setting of the pulse cycle ratio of the predetermined second pulse setting of the pulsator device (210) are adjusted based on an assessment of the magnitude and direction of previous adjustments to the pulse setting for the previous milking periods (301, 302) of the identified animal (101).

9. The milk extraction 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) comprise: Two different levels of fluid pressure are alternately supplied to the respective channels (221, 222) of the pulsating device (210); and / or The pulsation cycle ratio of the alternating fluid pressure levels supplied to the first channel (221) and the second channel (222) of the pulsation device (210); and / or The rate of the alternating fluid pressure levels supplied to the first channel (221) and the second channel (222) of the pulsating device (210), respectively.

10. The milk extraction system (100) according to any one of the preceding claims, wherein the predetermined attachment pulsation setting for the first channel (221) and the second channel (222) includes a B-stage setting during the beginning (t0) of the milking period (302) where the pulsation cycle ratio is about 30 and the rate is about 50 Hz.

11. The milk extraction system (100) according to any one of the preceding claims, wherein the predetermined first pulsation setting of the first channel (221) includes a B-stage setting with a pulsation cycle ratio of about 65 and a rate of about 60 Hz; and the predetermined second pulsation setting of the second channel (222) includes a B-stage setting with a pulsation cycle ratio of more than 65 and a rate of about 60 Hz.

12. The milk extraction system (100) according to any one of the preceding claims, wherein the portion of the milking period (302) in which the predetermined first pulse setting differs from the predetermined second pulse setting is defined by any one of the following. Such as a fixed duration determined from the start of milking (t0); or The milking period (302) is the time period during which the total milk flow rate exceeds the threshold limit (401).

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