Milking System

Abstract

A milking system (100) comprising a milk line (110), a vacuum device (161), a milking unit (130), a pulsator (150) configured to adjust a pulsation ratio and a pulsation rate of a fluid pressure at two different levels, a receiver (160) connected to the milk line (110) and also connected to the vacuum device (161), a milk meter (170), and a processing device (190) communicatively connected to the milk meter (170) and the pulsator (150), the processing device (190) being adapted to repeatedly during a milking session obtain milk flow measurements and determine a low milk flow limit (MF L ) and whether the milk flow measurement is within said limits (MF L ), applying a low pulsation rate and a first pulsation ratio in which the D phase is longer than the B phase, or otherwise applying a high pulsation rate and a second pulsation ratio in which the B phase is longer than the D phase.

Description

[Technical field]

[0001] The invention relates to a milking system according to claim 1.

[0002] In dairy farms, milk may be extracted from animals while they stand on a rotating platform. The animal is allowed to enter the rotating platform at an entrance where the teats are washed and teat cups are attached to the teats. Milking is performed during one revolution of the rotating platform. The teat cups are then removed and the animal is allowed to exit the platform.

[0003] The nipple cups are often installed manually by farmers after cleaning the nipples, a process that must be performed in a few seconds. It is known that after the first stimulation of the nipples (if the animal is a dairy cow), the release of the alveolar milk occurs in about 40-90 seconds (with large individual variations between animals, plus depending on various other parameters such as the level of pre-stimulation, the timing, the feeding program, etc.). This means that the animal rotates with the platform and is exposed to the milking vacuum under the nipples for about 40-90 seconds before the alveolar milk is released from the nipples, which can cause tissue damage to the nipples by exposure to excessive milking vacuum.

[0004] Alternatively, the farmer must wait approximately 40-90 seconds after the initial teat stimulation / cleaning before attaching the teat cups, or must manually pre-stimulate the teats for this period of time, both of which are quite inconvenient.

[0005] The problem that arises is that the time it takes for the rotating platform to complete one revolution may not be sufficient to complete the drainage of milk from the animal, due to the long time it takes for the alveolar milk to be released as a result of insufficient pre-stimulation of the teats. Slowing down the rotation speed of the platform may solve this problem to some extent, but it will reduce the total milk production of the farm.

[0006] The object of the present invention is to develop a concept for improved milk drainage in terms of time and efficiency, particularly in relation to a rotating platform, whilst ensuring and / or improving satisfactory teat integrity.

[0007] This object is achieved by a milking system according to claim 1. The milking system of the invention aims to adjust the pulsation ratio and the pulsation speed of the fluid pressure at at least two different levels depending on the milk flow of the animal.

[0008] The milking system comprises various components such as a milk line and a vacuum device, followed by a vacuum pump. The milking system also comprises a milking unit having a number of (four if the animal is a dairy cow) teat cups, each adapted to fit a respective teat of the animal during milk extraction in a milking session, the milking unit being connected to the milk line via a milk conduit. Each teat cup comprises a respective liner and shell, forming a pulsation space between the liner and the shell.

[0009] The milking system also comprises an electronically controlled pulsator configured to adjust the pulsation ratio and pulsation speed of the fluid pressure alternatively provided to each pulsation space of each teat cup of the milking unit at two different levels, whereby the pulsator causes each liner to alternate between a B-phase, in which the liner is open and milk can be extracted from the teat during the milking session, and a D-phase, in which the liner is collapsed and acts compressively against the teat.

[0010] In addition, the milking system includes a receiver, through which the system vacuum prevails, connected to the milk line and also connected to a vacuum device.

[0011] The milking system also comprises a milk meter disposed in the milk conduit between the milking unit and the milk line, the milk meter configured to measure the milk flow per unit time of milk discharged from the animal through the milking unit during a milking session.

[0012] The milking system further comprises a processing device communicatively connected to the milk meter and the electronically controlled pulsator, the processing device configured to repeatedly during a milking session obtain milk flow measurements from the milk meter and compare the obtained milk flow measurements to a low milk flow limit, which in some embodiments may be within an interval of about 250-500 g / min, preferably about 400 g / min.

[0013] The processing device is configured to generate commands to the pulsator of the system to apply a low pulsation rate and a first pulsation ratio in which the D-phase (i.e., when the nipple cup liner is collapsed and acting compressively against the nipple) is longer than the B-phase (when the nipple cup liner is open and milk can be extracted from the nipple) if the milk flow measurement is below the low milk flow limit. The processing device is also configured to generate commands to the pulsator to apply a high pulsation rate and a second pulsation ratio in which the B-phase is longer than the D-phase and the second pulsation rate is greater than the first pulsation rate if the milk flow measurement exceeds the low milk flow limit.

[0014] The low pulsation rate, in some embodiments, may be within the interval of 40 to 59 pulsations per minute, preferably about 50 pulsations per minute, and the first pulsation ratio between the B phase / D phase may be within the interval of about 25 / 75 to 45 / 55, preferably about 30 / 70.

[0015] The high pulsation rate, in some embodiments, may be within the interval of 55 to 90 pulsations per minute, preferably about 60 pulsations per minute, and the second pulsation ratio between the B phase / D phase may be within the interval of about 55 / 45 to 64 / 36, preferably about 60 / 40.

[0016] By applying a pulsation ratio with a longer D phase than the B phase at a slow pulsation rate, immediately after mounting the nipple cup over the nipple, before the mammary gland milk is released, the nipple is massaged by the rhythmic movement of the liner, which is opened and closed by a pulsating vacuum at a slow pulsation rate.

[0017] This stimulates early mammary milk release in the animal whilst maintaining nipple integrity.

[0018] If the animal's milk flow exceeds the low milk flow limit, a high pulsation rate and a longer B-phase ratio can be safely applied to the teats. If the milking system is equipped with such a rotating platform, it can be ensured that the animal's udder is completely emptied during the rotation of the rotating platform. In some cases, the rotation speed can be increased, thereby increasing the animal throughput, leading to increased milk production on the farm.

[0019] In an embodiment of the milking system, the process controller may be configured to apply a wait time before making any changes to the pulsation ratio and / or pulsation rate of the pulsator if the milk flow measurements exceed the low milk flow limit, thereby ensuring that substantially all milk flow measurements taken during the wait time exceed the low milk flow limit before applying the high pulsation rate and generating a command to the pulsator to apply the second pulsation ratio.

[0020] By applying a waiting period, for example of about 10-20 seconds, a sudden surge in milk flow, or several single / isolated milk flow measurements, will not trigger an increased pulsation rate and pulsation ratio unless a consistently increased milk flow above the low milk flow limit is performed, thereby further improving nipple integrity.

[0021] The milking system may also, in some embodiments, comprise a controllable valve disposed in the milk conduit and connected to the milking unit and to the milk line via the milk conduit, the controllable valve comprising an adjustable passageway, whereby fluid pressure in the milk line is provided to the milk conduit via the adjustable passageway, and adjustment of the adjustable passageway results in adjustment of the fluid pressure in the milk conduit upstream of the controllable valve.

[0022] The term "upstream" in this context refers to the direction of flow of milk from the teat cups, through the milk ducts to the milk line and receiver during milking in a milking session.

[0023] Convenient, yet reliable and robust regulation of the vacuum pressure applied to the milk duct, and thereby also to the nipple in the nipple cup.

[0024] The milking system may include a vacuum pressure sensor positioned to measure the pressure level in the milk conduit upstream of the controllable valve.

[0025] Thus, the vacuum pressure upstream of the controllable valve in the milk duct can be measured by a vacuum pressure sensor, for example to provide control over whether a desired vacuum pressure in the milk duct has been achieved.

[0026] A processing device of the milking system may be communicatively connected to the controllable valve. The processing device may also be configured to compare the acquired milk flow measurements with a high milk flow limit. The high milk flow limit may be within an interval of about 1000-3000 g / min, preferably about 1500 g / min. The processing device may also be configured to generate and provide a control signal to the controllable valve for adjusting the adjustable passageway to provide a low vacuum level of fluid pressure to the milk conduit when the acquired milk flow measurements are lower than the high milk flow limit. The processing device may further be configured to alternatively adjust the adjustable passageway to provide a high vacuum level of fluid pressure to the milk conduit when the acquired milk flow measurements exceed the high milk flow limit.

[0027] By applying high vacuum levels when milk flow is high, i.e., above a threshold limit, more milk is extracted per unit time resulting in shorter parlor occupancy times. Moreover, teat integrity is ensured because high vacuum is applied upstream of the controllable valve only when milk flow exceeds the high milk flow limit.

[0028] The vacuum device included in the milking system may include a high vacuum line where a high vacuum level prevails and a low vacuum line where a low vacuum level prevails. The vacuum device may be connected to a controllable valve. Furthermore, the processing device may be configured to generate and provide a control signal to the regulator for supplying a low vacuum level fluid pressure from the low vacuum line to the dry side of the controllable valve. Thereby, the control signal acts on the flexible membrane when the obtained milk flow measurement is lower than the high milk flow limit, which then adjusts the adjustable passage of the controllable valve such that a low vacuum level fluid pressure is provided to the milk conduit upstream of the controllable valve.

[0029] The processing device may also alternatively be configured to generate and provide a control signal to the regulator for supplying a high vacuum level fluid pressure from the high vacuum line to the dry side of the controllable valve, whereby the control signal acts on the flexible membrane when the acquired milk flow measurement exceeds the high milk flow limit, which in turn adjusts the adjustable passage of the controllable valve such that a high vacuum level fluid pressure is provided to the milk conduit upstream of the controllable valve.

[0030] In some embodiments, the high vacuum level may be in the interval of 45-55 kPa, preferably about 49 kPa, and the low vacuum level may be in the interval of 34-44 kPa, preferably about 40 kPa.

[0031] By adjusting the milk duct vacuum pressure provided by the receiver by providing high / low vacuum level fluid pressure from separate respective vacuum lines, a robust and reliable solution for adjusting the milk duct vacuum pressure is achieved.

[0032] In some embodiments of the milking system, the processing device may be configured to generate a command to the pulsator to apply a third pulsation ratio instead of the second pulsation ratio when the milk flow measurement exceeds a high milk flow limit, the B phase of the third pulsation ratio being longer than the B phase of the second pulsation ratio.

[0033] The third pulsation ratio between the B phase / D phase may be within the interval of about 65 / 35 to 70 / 30, preferably about 65 / 35.

[0034] If the animal's milk flow is high and above the high flow limit, by again extending the B phase, more milk is extracted per unit time, reducing the milking time and resulting in shorter parlor occupancy times.

[0035] A processing device of the milking system, in some embodiments, may be communicatively connected to the vacuum pressure sensor. The processing device may be configured to obtain a series of pressure level measurements from the vacuum pressure sensor during a predefined time period. The processing device may also be configured to compare each pressure level measurement during the predefined time period to a pressure threshold limit. The processing device may additionally be configured to generate a command to output an alert associated with the milking unit on an output device if all pressure level measurements during the predefined time period exceed the pressure threshold limit.

[0036] It is thereby ensured that high pressure levels are not applied for longer than a predefined time. This makes it possible to detect if there is any anomaly in the vacuum regulation and ensures that high vacuum levels are not supplied upstream of the controllable valve during the entire milking session. The reason for the alarm could be that the valve or vacuum regulation block or similar is not working properly, resulting in a failure of the vacuum regulation.

[0037] Producing an alarm when high pressure levels are provided for longer than a predetermined time is a safety measure that protects the animal nipple from excessive and harmful vacuum.

[0038] The predefined period of time may correspond to the estimated maximum period during which the animal may produce milk flow above the high milk flow limit.

[0039] By setting the default period to approximately the maximum period during which an animal may be expected to have a very high milk flow that exceeds the high milk flow limit, it is ensured that an alarm is generated as soon as possible after a potential system failure in which a high vacuum level is provided to the milking conduit, while still avoiding the generation of unnecessary alarms.

[0040] The milking system may also, in some embodiments, include a rotating platform that may include a plurality of milking units, each of which may be attached to a milk line.

[0041] The rotating platform efficiently extracts milk from large herds of animals. The solution provided is particularly advantageous in milking systems equipped with a rotating platform.

[0042] However, the present invention may be implemented in any milking parlor configuration, such as a traditional fixed milking parlor or a pillar milking parlor, but also in a robotic milking system.

[0043] This provides a time efficient yet nipple friendly milk extraction.

[0044] Other advantages and further novel features will become apparent from the following detailed description. [Brief description of the drawings]

[0045] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings. [Figure 1] 1 illustrates a milking system according to one embodiment. [Diagram 2] 1 conceptually illustrates the teat cups and liners, as well as other parts of the milking system, in phases B and D, respectively. [Diagram 3]1 is a conceptual illustrative diagram depicting the principle of a milking system with a rotating platform according to one embodiment; [Figure 4] FIG. 2 illustrates an example of milk flow rate and vacuum pressure levels during milk extraction in a milking session. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0046] The embodiments of the invention described herein are defined as milking systems and may be implemented in the embodiments described below, however, these embodiments may be embodied and embodied in many different forms and are not limited to the examples set forth herein, rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.

[0047] Still other objects and features may become apparent from the following detailed description considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed for illustrative purposes only and are not designed as a definition of the limits of the embodiments disclosed herein to which the appended claims should be referred. Moreover, the drawings are not necessarily drawn to scale, and unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.

[0048] 1 illustrates a milking system 100 configured to extract milk from animals during a milking session. The animals may be included in a herd of livestock for dairy farming on a farm. The milking system 100 may advantageously, but not necessarily, be implemented in an agricultural environment comprising one or several rotating platforms.

[0049] An "animal" may be any type of domesticated female mammal, such as, for example, a dairy cow, a goat, a sheep, a camel, a horse, a dairy buffalo, a donkey, a yak, etc. (a non-exhaustive list of animals). An animal may have four nipples, such as, for example, a dairy cow, or two nipples, such as, for example, a goat and / or a sheep. Other animals may have other numbers of nipples.

[0050] The milking system 100 comprises a plurality of milking units 130, each comprising a number of teat cups 131a, 131b, 131c, 131d. The number of teat cups 131a, 131b, 131c, 131d is typically equal to the number of teats of the animal to be milked in the milking system 100. Each teat cup 131a, 131b, 131c, 131d is adapted to fit a respective teat of the animal and to be attached to the teat during milk extraction in a milking session.

[0051] Each teat cup 131a, 131b, 131c, 131d includes a respective liner and shell defining a pulsation space between the liner and the shell.

[0052] The milking units 130 are connected to a milk line 110 and direct the extracted milk from the respective breasts via a milk duct 140 and the milk line 110 to a receiver 160. The receiver 160 is then connected to a vacuum device 161 comprising one or several vacuum pumps 162. The several vacuum pumps 162 are connected to a system vacuum pressure P s The present invention relates to a method for producing and / or continuously producing a

[0053] System vacuum pressure P s The system vacuum pressure P can be, for example, in the range of about 45 to 55 kPa, such as, for example, about 49 kPa (any non-limiting examples). s may be maintained substantially constant over time within the receiver 160 for the majority of a milking session.

[0054] The expressions "vacuum pressure" and / or "milking vacuum" and / or "system vacuum" refer to a pressure that is insufficient / lower compared to the ambient atmospheric pressure. Thus, a vacuum pressure level of 10 kPa means a vacuum pressure level that is 10 kPa lower than the ambient atmospheric pressure.

[0055] The receiver 160 may collect milk extracted during a milking session and the collected milk may be transferred via a pumping device 164, tubing and possibly an optional filter 165 to a connected cooling tank 163 where the milk can be collected and kept cool until the milk truck arrives at the farm and is emptied.

[0056] The milking system 100 also comprises an electronically controlled pulsator 150 configured to adjust the pulsation ratio and pulsation speed of the fluid pressure alternatively supplied to each pulsation space of each teat cup 131a, 131b, 131c, 131d of the milking unit 130 at two different levels, thereby causing each liner to alternate between a B phase, in which the liner is open and milk can be extracted from the teat during the milking session, and a D phase, in which the liner is collapsed and acts compressively against the animal teat.

[0057] In addition, the milking system 100 comprises a milk meter 170. The milk meter 170 may be realized as a flow indicator for estimating the milk flow, i.e. a device that indicates roughly but not very precisely. The milk meter 170 may be placed in the milk conduit 140 between the milking unit 130 and the milk line 110, or in another suitable location. The milk meter 170 is configured to measure the milk flow per unit time of milk discharged from the animal through the milking unit 130 during a milking session. The measurement may be performed repeatedly / continuously at predefined time intervals in order to monitor the milk flow of the animal. Alternatively, the milk meter 170 may perform the milk flow measurement upon receiving a command from the processing device 190 of the milking system 100.

[0058] The processing device 190 is communicatively connected to the milk meter 170 and the electronically controlled pulsator 150 via, for example, a wireless connection based on radio or optical technology, or a wired connection implemented by electrical cables or optical fibers.

[0059] The processing device 190 is configured to repeatedly obtain milk flow measurements from the milk meter 170 during a milking session. The obtained milk flow measurements may be repeatedly compared to a predefined low milk flow limit. The low milk flow limit may be set to a value within the interval of about 250-500 g / min, for example about 400 g / min (breast milking).

[0060] If the milk flow measurement compares lower than the low milk flow limit, the processing device 190 is configured to generate a command to the pulsator 150 to apply a low pulsation rate. The low pulsation rate may be set, for example, to a value within the interval of about 40 to 59 pulsations per minute, such as about, preferably, about 50 pulsations per minute.

[0061] The processing device 190 is also configured to generate commands to the pulsator 150 to apply a first pulsation rate in which the D phase is longer than the B phase. The first pulsation ratio between the B phase / D phase may be set to about 30 / 70, or within an interval of about 25 / 75 to 45 / 55, respectively.

[0062] The processing device 190 is also configured to generate a command to the pulsator 150 to apply a high pulsation rate if the milk flow measurement exceeds a low milk flow limit. The high pulsation rate may be set to a value within the interval of about 55 to 90 pulsations per minute, such as, for example, about 60 pulsations per minute.

[0063] The processing device 190 is also configured to generate commands to the pulsator 150 to apply a second pulsation ratio in which the B phase is longer than the D phase. The second pulsation ratio between the B phase and the D phase may be set to about 60 / 40 in some embodiments, or within an interval of about 55 / 45 to 64 / 36, respectively.

[0064] The processing device 190 may additionally be configured to apply a wait time if the milk flow measurement exceeds the low milk flow limit, ensuring that all milk flow measurements obtained during the wait time exceed the low milk flow limit before generating a command to the pulsator 150 to apply the high pulsation rate and to apply the second pulsation ratio.

[0065] The wait time may be set to a predetermined value in the interval of about 5 to 40 seconds, such as, for example, 10 to 20 seconds. In some embodiments, the wait time may be set to, for example, about 15 seconds.

[0066] Milking system 100 may also include a valve device 120, i.e., a controllable valve, and a regulator 121, which may be communicatively connected to processing device 190. Vacuum regulator 121 may, in some embodiments, operate in conjunction with controllable valve 120, as illustrated diagrammatically in FIG.

[0067] The valve device 120 provides an inlet vacuum pressure level P to the milk conduit 140 and thereby to the nipple cups 131a, 131b, 131c, 131d. L , P H The controllable valve 120 may include an adjustable passageway 122, or a section that may also be referred to as a wet section. The controllable valve 120 may also include a dry section 124 separated from the adjustable passageway 122 by a flexible membrane 123.

[0068] By adjusting the adjustable passageway 122 in a controlled manner, the vacuum pressure level supplied to the milk conduit 140 upstream of the controllable valve 120 is correspondingly adjusted.

[0069] The controllable valve 120 may form part of the transport of milk from the milk conduit 140 to the milk line 110, which then transfers the extracted milk to a receiver 160, as illustrated diagrammatically in FIG.

[0070] Thus, the vacuum pressure level provided to the milk conduit 140 upstream of the controllable valve 120 can be adjusted via the adjustable passage 122. L When a controlled vacuum in is provided to the dryer section 124 of the controllable valve 120, the controlled vacuum level provided to the dryer section 124 can adjust the size of the adjustable passage 122 by acting on the flexible membrane 123, which in turn adjusts the passage 122, thereby causing a controllable pressure drop.

[0071] The control vacuum level or pressure provided to the dryer section 124 of the controllable valve 120 may sometimes be referred to as the pilot vacuum level.

[0072] The pilot vacuum level provided to the controllable valve 120 may, in some embodiments, be monitored during a milking session, i.e. the vacuum level in the dryer section 124 of the controllable valve 120 may be monitored / repeatedly measured during a milking session.

[0073] It should be noted that the level of the pilot vacuum corresponds substantially to the vacuum level prevailing upstream of the controllable valve in the milk conduit 140 of the milking unit 130. This condition prevails when the system vacuum prevails in the receiver. This makes it possible to detect if there are any anomalies in the vacuum regulation, for example an alarm is activated if a high vacuum level prevails throughout the entire milking session. The reason for the alarm could be that the controllable valve 120 or the vacuum regulation is not functioning properly.

[0074] The controllable valve 120 with the flexible membrane 123 may, for example, but is not necessarily, referred to as a shut-off valve.

[0075] In other alternative embodiments, the controllable valve 120 and the adjustable passage 122 contained therein may be adjustable by an electrical control signal provided by the processing device 190 .

[0076] The processing device 190 may be configured to compare the obtained milk flow measurements with a high milk flow limit, which may be predefined and set to a value within the interval of about 1000-3000 g / min, preferably about 1500 g / min (breast milking).

[0077] The processing device 190 also detects whether the obtained milk flow measurements fall within the upper milk flow limit MF H If the low vacuum level P upstream of the controllable valve 120 is lower than L The processing device 190 may also be configured to generate and provide a control signal to the controllable valve 120 to adjust the adjustable passage 122 to provide a fluid pressure of 0.1 to the milk conduit 140. The processing device 190 may also be configured to alternatively determine whether the obtained milk flow measurements are within a high milk flow limit MF H If the high vacuum level P H The adjustable passageway 122 may be configured to adjust to provide a fluid pressure of about 100 to the milk duct 140 .

[0078] High vacuum level P H can be in the interval 45-55 kPa, for example about 49 kPa if the animal is a dairy cow. L may be in the interval 34-44 kPa, for example about 40 kPa, for dairy cows.

[0079] In some embodiments, the processing device 190 may additionally be configured to generate a command to the pulsator 150 to apply a third pulsation ratio instead of the second pulsation ratio when the milk flow measurement exceeds the high milk flow limit, the B phase of the third pulsation ratio being longer than the B phase of the second pulsation ratio.

[0080] The third pulsation ratio between the B phase and the D phase may be set to about 65 / 35, 70 / 30.

[0081] The aforementioned vacuum device 161, in some embodiments, is a high vacuum level P H The high vacuum line 111, where the vacuum level is predominant, and the low vacuum level P L and a low vacuum line 112 where the pressure in the vacuum chamber predominates.

[0082] A processing device 190, which may be communicatively connected to the regulator 121, controls the low vacuum level P L The control valve 120 may be configured to generate and provide a control signal to the regulator 121 for supplying a fluid pressure of from the low vacuum line 112 to the dry side 124 of the controllable valve 120. Thereby, the fluid pressure of the control signal acts on the flexible membrane 123 when the acquired milk flow measurement is lower than the high milk flow limit, and then the flexible membrane 123 is adjusted to a low vacuum level P L The fluid pressure is at low vacuum level P L The adjustable passage 122 of the controllable valve 120 is adjusted so that the milk is provided to the milk conduit 140 upstream of the controllable valve 120 .

[0083] However, in the opposite case, if the obtained milk flow measurement exceeds the high milk flow limit, the processing device 190 may select a high vacuum level P H from the high vacuum line 111 to the dry side 124 of the controllable valve 120, thereby providing a high vacuum level P H to the milk conduit 140 upstream of the controllable valve 120.

[0084] In addition, milking system 100 may include a vacuum pressure sensor 180 communicatively connected to processing device 190. Vacuum pressure sensor 180 may be associated with milk conduit 140 of milking unit 130 and positioned to measure a pressure level within milk conduit 140 upstream of controllable valve 120. However, in some alternative embodiments, vacuum pressure sensor 180 may be positioned on / in, for example, dry side 124 of controllable valve 120 or milking unit 130.

[0085] The vacuum pressure measured by the vacuum sensor 180 is a measurement indicative of, or at least indicative of, the vacuum pressure level prevailing within the teat cups 131a, 131b, 131c, 131d beneath the animal's teat.

[0086] The vacuum pressure within the milk duct 140 may be repeatedly measured during a milking session by a vacuum pressure sensor 180 and provided to a processing device 190 .

[0087] The processing device 190 may be configured to obtain a series of pressure level measurements from the vacuum pressure sensor 180 during a predefined period of time.

[0088] The predefined period may be set to an approximate time value period corresponding to the estimated maximum period during which the animal may produce milk flow above the high milk flow limit, for example, about 1-5 minutes.

[0089] In addition, the processing device 190 may be configured to compare each pressure level measurement during a predefined period of time with a predefined pressure threshold limit. The predefined pressure threshold limit is equal to or greater than the high vacuum level P H / System vacuum level P S may be identical to

[0090] The processing device 190 may also be configured to generate a command to output an alert associated with the milking unit 130 on an output device when all pressure level measurements performed during a predefined period exceed a pressure threshold limit.

[0091] Milking system 100, in some embodiments, may further comprise a database 195 communicatively connected to processing device 190. Optional database 195 may store, for example, a low milk flow limit, a high milk flow limit, a high vacuum level P H , low vacuum level P L The device may be configured to store data associated with various vacuum pressure levels, such as, for example, a pre-defined pressure threshold limit, a pre-defined time period, an estimated maximum period during which an animal may produce milk flow above the high milk flow limit, a first / second / third pulsation ratio between B phase / D phase, a wait time length, and / or high / low pulsation rates.

[0092] An animal's milking session may be considered to begin when a pre-treatment is performed on the animal's first teat that initiates stimulation of the animal's oxytocin release. Pre-treatment may include, for example, cleaning the teat by rinsing it with water, treating the teat with a brush / rag, or teasing / stimulating the teat in other ways.

[0093] Alternatively, a milking session may be considered to begin when the first nipple cup 131a, 131b, 131c, 131d is attached to the first nipple.

[0094] FIG. 2 illustrates diagrammatically animal teats 210a, 210b of an animal 200 and a milking unit 130 comprising a number of teat cups 131a, 131b, 131c, 131d, for example four teat cups 131a, 131b, 131c, 131d if the animal 200 is a dairy cow.

[0095] Each of the nipple cups 131a, 131b, 131c, 131d includes a shell 230a, 230b, a flexible liner 220a, 220b, a short pulse tube 240, and a short milk tube 250. The liner 220a, 220b and shell 230a, 230b of each nipple cup 131a, 131b, 131c, 131d respectively form a pulsation space 225 between the liner 220a, 220b and the shell 230a, 230b.

[0096] The milking unit 130 may also include a claw 260 , a milk conduit 140 , and a long pulse tube connected to a pulsator 150 .

[0097] The liners 220a, 220b are made of rubber, silicone, thermoplastic elastomer (TPE), or other similar flexible material and include a head with a mouthpiece that allows the nipples 210a, 210b to enter the nipple cups 131a, 131b, 131c, 131d at the start of a milking session. The liners 220a, 220b are the only parts of the milk extraction unit 130 that are in direct contact with the nipples 210a, 210b. The liners 220a, 220b are designed to fit the nipples 210a, 210b to minimize liner slippage and cluster drop-off.

[0098] The nipple cup shells 230a, 230b may be made from a rigid / inelastic material such as stainless steel or another metal, or possibly a plastic polymer.

[0099] When constant suction is applied to the nipples 210a, 210b, blood and lymphatic fluid accumulates in the nipples 210a, 210b. Therefore, the milking system 100 comprises an electronically controlled pulsator 150 for enabling the liners 220a, 220b to open and close so that the suction is interrupted by a rhythmic movement. As a result, the nipples 210a, 210b are subjected to a massage and congestion at the nipple end is prevented.

[0100] 2, in the left nipple cup 131a, the liner 220a is open, i.e. in phase B, and in the right nipple cup 131b, the liner 220b is collapsed under the nipple 210b, i.e. in phase D. This is merely illustrative of the general principle.

[0101] The pulsation cycle can be divided into four different phases A, B, C, and D. During phase A, the opening phase, the liners 220a, 220b start to open, thereby allowing / enabling milk to flow from the nipples 210a, 210b. During phase B, the pumping phase, milk is allowed to flow continuously. In the next phase C, the nipple cup liners 220a, 220b start to close, preventing milk from flowing from the nipples 210a, 220b. In the last phase D, the massage or rest phase, the liners 220a, 220b are closed and a force is applied on the nipples by the liners 220a, 220b which collapse in the D phase.

[0102] By applying a pulsation ratio in which the D phase is longer than the B phase, the nipples 210a, 210b are gently massaged and stimulated by the liners 220a, 220b when the milk flow is low, i.e. below the low milk flow limit, which may affect udder health while eliminating or at least reducing the risk of exposing the nipples 210a, 210b to excessive vacuum pressure when the milk flow is low at the start of a milking session.

[0103] Once milk begins to flow from the nipples 210a, 210b, i.e., the milk flow exceeds the low milk flow limit, a shift in the pulsation ratio occurs and a second pulsation ratio between the B phase / D phase, in which the B phase is longer than the D phase, is applied to the nipples 210a, 210b.

[0104] A longer D phase at the start of a milking session provides full nipple stimulation ensuring good release of oxytocin, promoting efficient milk extraction by the animal 200, thereby reducing the time it takes to complete the milking session of the animal 200.

[0105] FIG. 3 illustrates a scenario in which the solution of the present invention is implemented, comprising a rotating platform 310 .

[0106] The animal 200 is directed to the rotating platform 310 via an inlet path 320 that leads the animal 200 onto the rotating platform 310. The platform rotation may move the animal 200 to the operator's position. The operator may then perform cleaning of the nipples 210a, 210b and attach the milking unit 130 to the animal's udder. After milking, the animal 200 exits the rotating platform 310 via an outlet path 330, directing the animal 200 away from the rotating platform 310. The animal 200 may continually enter and exit the rotating platform 310 via the respective inlet / exit paths 320, 330. This continuous flow of animals is the main factor for high efficiency in terms of animal throughput. In most cases, the rotating platform 310 rotates at a constant speed.

[0107] Rotary parlours are labour efficient and provide high cow throughput per hour.

[0108] The size of the rotating platform 310 may vary in different implementations, but may have, for example, about 30-150 stalls, allowing the same number of animals 200 to be milked simultaneously on the rotating platform 310. The rotation speed of the rotating platform 310 may be adapted to the estimated time it takes for an animal 200 to complete a milking session. This estimated time may vary for different individual animals 200. The estimated time to complete milking may also vary based on the animal breed, time of year, lactation of the animal, feeding plan, etc.

[0109] However, the time-efficient milk discharge according to the present invention allows for an increase in the rotational speed of the rotating platform 310, thereby also allowing for an increase in the throughput of dairy cows per unit time, relative to previously known methods.

[0110] In some embodiments, a malfunction of a component of the milking system 100 that results in the animal nipples 210a, 210b being exposed to excessive vacuum pressure may be detected.

[0111] The vacuum pressure sensor 180 is positioned to measure the pressure level in the milk conduit 140 upstream of the controllable valve 120. A processing device 190, which may be communicatively connected to the vacuum pressure sensor 180, may be configured to obtain a series of pressure level measurements from the vacuum pressure sensor 180 during a predefined period of time. The processing device 190 may also be configured to compare each pressure level measurement during the predefined period to a pressure threshold limit and generate a command to output an alert associated with the milking unit 130 on the output device 340 if all pressure level measurements during the predefined period exceed the pressure threshold limit.

[0112] Thereby, an operator or farmer is informed about the malfunction and can check the functionality of the milking system 100.

[0113] FIG. 4 illustrates the milk flow of the animal 200 at the top of the diagram and the vacuum pressure applied to the nipples 210a, 210b at the bottom of the diagram.

[0114] Milk flow from a milk curve can have very different shapes / sizes for both different nipples 210a, 210b and different animals 200, and the illustrated milk curve is simply an arbitrary example of milk flow from an animal 200 at udder level, i.e. the combined milk flow from all four nipples.

[0115] A milking session may begin with oligo-cisternal milk being extracted from the animal 200 immediately after the nipple cups 131a, 131b, 131c, 131d are attached to the nipples 210a, 210b.

[0116] Milk flow is at the low milk flow limit MF L , the processing device 190 controls the pulsator 150 to apply a low pulsation rate and a first pulsation ratio in which the D phase is longer than the B phase. This may be referred to as the stimulation phase.

[0117] When milk flow increases, it reaches the low milk flow limit MF LThe processing device 190 may then control the pulsator 150 to apply a high pulsation rate and a second pulsation ratio in which the B phase is longer than the D phase. This may be referred to as the start phase.

[0118] At time t2, the milk flow reaches the high milk flow limit MF H It exceeds the high vacuum level P H A vacuum pressure of 1000 psi can be applied to the milk ducts 140, thereby further improving time-efficient milk drainage when milk flow is high. This can be referred to as the main phase, where it is actually the alveolar milk that is extracted.

[0119] After some time, at time t3, the milk flow reaches the high milk flow limit MF H The vacuum pressure then begins to decrease to below the low vacuum level P L This may be referred to as the decrease phase.

[0120] Finally, low milk flow and low milk flow limit MF L If the applied vacuum pressure is approaching or below this, the applied vacuum pressure may be further reduced during the disengagement phase when the teat cups 131a, 131b, 131c, 131d of the milking unit 130 are detached from the teats 210a, 210b and the animal 200 is allowed to leave the parlour / rotating platform 310.

[0121] It is desirable to efficiently extract milk from the animal 200 in the shortest possible time (to allow more animals per unit time to be served by the milking system 100) without damaging or injuring the nipples by applying excessive vacuum levels under the nipples 210a, 210b.

[0122] According to the disclosed concepts, a methodology for efficient nipple stimulation has been developed that saves labor, promotes efficient milking, and also protects nipple integrity, thus making milk extraction more efficient than according to previously known methods.

[0123] The terms used in the description of the embodiments illustrated in the accompanying drawings are not intended to limit the described milking system 100, processing device 190 and / or computer program. Various changes, substitutions and / or alterations may be made without departing from the embodiments of the invention as defined by the appended claims.

[0124] The various illustrated embodiments depicted in FIGS. 1-4 and / or discussed in corresponding respective sections of this specification can be advantageously combined with one another, for example, by mixing and matching some or all of the features of the described embodiments, thereby achieving additional advantages.

[0125] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. The term "or" as used herein, unless expressly stated otherwise, should be interpreted as a mathematical OR, i.e., an inclusive disjunction, and not as a mathematical exclusive OR (XOR). In addition, the singular forms "a", "an", and "the" should be interpreted as "at least one", unless expressly stated otherwise, and therefore also include multiple entities of the same kind, as the case may be. It will be further understood that the terms "includes", "comprises", "including", and / or "comprising" specify the presence of stated features, actions, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and / or groups thereof. For example, a single unit, such as a processor, may perform the functions of several items recited in the claims. The mere fact that certain measures or features are recited in mutually different dependent claims, illustrated in different figures, or discussed in connection with different embodiments does not indicate that a combination of these measures or features cannot be used to advantage.

Claims

1. A milking system (100) comprising: Breast line (110) and a vacuum device (161) comprising a vacuum pump (162); a milking unit (130) comprising a plurality of teat cups (131 a, 131 b, 131 c, 131 d), each configured to fit a respective teat (210 a, 210 b) of an animal (200) during milk extraction in a milking session, said milking unit (130) being connected to said milk line (110) via a milk conduit (140), each teat cup (131 a, 131 b, 131 c, 131 d) comprising a respective liner (220 a, 220 b) and shell (230 a, 230 b) forming a pulsation space (225) between said liner (220 a, 220 b) and said shell (230 a, 230 b); The pulsation ratio and pulsation speed of the fluid pressure alternately provided to the respective pulsation spaces (225) of each teat cup (131a, 131b, 131c, 131d) of the milking unit (130) are adjusted at two different levels, thereby providing the respective liners (220a, 220b): a B-phase in which the liners (220a, 220b) are open and milk can be extracted from the teats (210a, 210b) during the milking session; a D phase in which the liners (220a, 220b) are collapsed and acting compressively on the nipples (210a, 210b); and A receiver (160) in which the system vacuum (P ｓ a receiver (160) in which a milk supply line (110) is dominant and which is connected to the milk line (110) and which is also connected to the vacuum device (161); a milk meter (170) arranged in the milk conduit (140) between the milking unit (130) and the milk line (110), the milk meter (170) being configured to measure the milk flow per unit time of milk discharged from the animal (200) through the milking unit (130) during the milking session; a processing device (190) communicatively connected to the milk meter (170) and the electronically controlled pulsator (150), the processing device (190) repeatedly during the milking session: obtaining milk flow measurements from said milk meter (170); The obtained milk flow measurement value is defined as the low milk flow limit (MF Ｌ ), and the milk flow measurement is compared to the lower milk flow limit (MF Ｌ ), generating a command to the pulsator (150) to apply a low pulsation rate; and generating a command to the pulsator (150) to apply a first pulsation ratio in which the D-phase is longer than the B-phase, or Ｌ ) generating a command to the pulsator (150) to apply a high pulsation rate; and and generating a command to the pulsator (150) to apply a second pulsation ratio in which the B phase is longer than the D phase.

2. The processing device (190) determines whether the milk flow measurements are greater than the lower milk flow limit (MF Ｌ ), and applying a wait time if all milk flow measurements taken during the wait time exceed the low milk flow limit (MF) before applying the high pulsation rate and generating the command to the pulsator (150) to apply the second pulsation ratio. Ｌ 2. The milking system (100) of claim 1, wherein the milking system (100) ensures that the temperature exceeds the specified range.

3. The milking system (100) of claim 2, wherein the waiting time is about 10 to 20 seconds.

4. 2. A milking system (100) according to claim 1, wherein the low pulsation rate is between 40 and 59 pulsations per minute, preferably at intervals of about 50 pulsations per minute, and wherein the first pulsation ratio between the B-phase and the D-phase is between about 25 / 75 and 45 / 55, preferably about 30 / 70.

5. 2. A milking system (100) according to claim 1, wherein the high pulsation rate is between 55 and 90 pulsations per minute, preferably at intervals of about 60 pulsations per minute, and the second pulsation ratio between the B-phase and the D-phase is between about 55 / 45 and 64 / 36, preferably 60 / 40.

6. 2. The milking system of claim 1, further comprising a controllable valve disposed in the milk conduit and connected to the milking unit and the milk line via the milk conduit, the controllable valve having an adjustable passageway through which fluid pressure in the milk line is provided to the milk conduit, and adjustment of the adjustable passageway results in adjustment of the fluid pressure upstream of the controllable valve.

7. 7. The milking system (100) of claim 6, comprising a vacuum pressure sensor (180) arranged to measure a pressure level in the milk conduit (140) upstream of the controllable valve (120).

8. The processing device (190) is communicatively connected to the controllable valve (120), the processing device (190) comprising: The obtained milk flow measurement value is defined as the high milk flow limit (MF Ｈ ) and compare it with The obtained milk flow measurement is the high milk flow limit (MF Ｈ ), the low vacuum level (P Ｌ adjusting the adjustable passageway (122) to provide a fluid pressure of 0.1 psi to the milk duct (140); or alternatively, The obtained milk flow measurement is the high milk flow limit (MF Ｈ ), the high vacuum level (P) upstream of the controllable valve (120) is exceeded. Ｈ 7. The milking system (100) of claim 6, configured to generate and provide a control signal to the controllable valve (120) for adjusting the adjustable passage (122) to provide a fluid pressure of 0.1 psi to the milk conduit (140).

9. The vacuum device (161) The high vacuum level (P Ｈ ) predominates in the high vacuum line (111); The low vacuum level (P Ｌ a low vacuum line (112) in which the pressure is predominant, the vacuum device (161) is connected to the controllable valve (120); The processing device (190) The obtained milk flow measurement is the high milk flow limit (MF Ｈ ), the low vacuum level (P) is supplied from the low vacuum level line (112) to the dry side (124) of the controllable valve (120). Ｌ ) to the regulator (121), thereby acting on the flexible membrane (123), which then adjusts the fluid pressure to the low vacuum level (P Ｌ adjusting the adjustable passage (122) of the controllable valve (120) so that a fluid pressure of 0.1 psi is provided to the milk conduit (140) upstream of the controllable valve (120); or alternatively, The obtained milk flow measurement is the high milk flow limit (MF Ｈ ), the high vacuum level (P) is supplied from the high vacuum line (111) to the dry side (124) of the controllable valve (120). Ｈ ) to the regulator (121), thereby acting on the flexible membrane (123), which then applies the high vacuum level fluid pressure (P Ｈ 9. The milking system (100) of claim 8, configured to: adjust the adjustable passage (122) of the controllable valve (120) so that a milk supply is provided to the milk conduit (140) upstream of the controllable valve (120).

10. The processing device (190) determines whether the milk flow measurements are greater than the upper milk flow limit (MF Ｈ ) 9. A milking system (100) as described in claim 8, configured to generate a command to the pulsator (150) to apply a third pulsation ratio instead of the second pulsation ratio, the B-phase of the third pulsation ratio being longer than the B-phase of the second pulsation ratio.

11. 11. The milking system (100) of claim 10, wherein the third pulsation ratio between the B-phase and the D-phase is between about 65 / 35 and 70 / 30.

12. the processing device (190) is communicatively connected to the vacuum pressure sensor (180), the processing device (190) obtaining a series of pressure level measurements from the vacuum pressure sensor (180) over a predetermined period of time; and comparing each pressure level measurement during said predetermined time period with a pressure threshold limit, and if all pressure level measurements during said predetermined time period exceed said pressure threshold limit; 8. A milking system (100) according to claim 7, configured to generate a command for outputting an alert related to the milking unit (130) on an output device (340).

13. The predetermined period of time is the time during which the animal (200) reaches the high milk flow limit (MF Ｈ 13. The milking system (100) of claim 12, wherein the milking system (100) corresponds to an estimated maximum period during which the milking system (100) can produce a milk flow exceeding the ...

14. 2. A milking system (100) according to claim 1, comprising a rotating platform (310) with a plurality of milking units (130), each mounted to the milk line (110).

15. The high vacuum level (P Ｈ ) is within the interval of 45 to 55 kPa, preferably about 49 kPa, and said low vacuum level (P Ｌ 9. A milking system (100) according to claim 8, wherein the pressure (kPa) is in the interval 34-44 kPa, preferably about 40 kPa.

16. The low milk flow limit (MF Ｌ 2. A milking system (100) according to claim 1, wherein the milking rate is in the interval of about 250-500 g / min, preferably 400 g / min.

17. The high milk flow limit (MF Ｈ 9. A milking system (100) according to claim 8, wherein the flow rate is within the interval of about 1000-3000 g / min, preferably 1500 g / min.

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