Milking System

Abstract

The milking system (100) includes teat cups (110a, 110b, 110c, 110d), each connected to a respective milk outlet line (120a, 120b, 120c, 120d), a vacuum pump (140), a milk storage tank (130), vacuum regulators (150a, 150b, 150c, 150d) configured to control a current vacuum pressure level in the teat cups (110a, 110b, 110c, 110d), and vacuum pressure sensors (160a, 160b, 160c, 160d), each configured to measure a current vacuum pressure level under one of the teats (210a, 210b, 210c, 210d). 1. A milking system (100) comprising: an animal identification sensor (250), a database (180), and a processing unit (170) configured to: determine an animal ID; extract data for each respective teat (210a, 210b, 210c, 210d) from the database (180); determine a teat specific vacuum pressure level for each teat (210a, 210b, 210c, 210d); and generate commands to each vacuum regulator (150a, 150b, 150c, 150d) to set the teat specific vacuum pressure level for each teat cup (110a, 110b, 110c, 110d).

Description

[Technical Field]

[0001] The present invention relates to a milking system, and more particularly to a milking system comprising a plurality of teat cups, a plurality of milk outlet lines, a vacuum pump, a milk storage tank, a plurality of vacuum regulators, a plurality of vacuum pressure sensors, an animal identification sensor, a database, and a processing unit for controlling teat-specific vacuum pressure levels applied to each teat of an animal during a milking session. [Background technology]

[0002] In dairy farms, milk is typically extracted from animals by attaching a teat cup with a liner to each teat of the animal and applying a milking vacuum under the teat tip in addition to a pulsating vacuum. This mimics the rhythmic suckling of a calf, as the suction from the milking vacuum is punctuated by the rhythmic opening and closing of the liner caused by the pulsating vacuum. The resulting massage of the teat stimulates the animal's release of oxytocin, which activates the milk ejection reflex and leads to the release of alveoli milk approximately 40 to 60 seconds after the first teat cup is attached to the first teat. Massage also prevents engorgement of the teat end.

[0003] It is desirable to remove milk from animals as quickly as possible while avoiding damaging the teats due to excessive milking vacuum (to ensure efficient use of the milking equipment and to allow the maximum number of animals to be milked).

[0004] However, the milk flow rate of an animal's teats is typically not distributed equally among the teats due to various reasons, such as genetic variation and / or teats having deviant sizes / shapes that are not well suited to the applied teatcups / liners (typically the same teatcup / liner size is applied to all teats regardless of the actual teat size).

[0005] Not only is the milk flow unevenly distributed, but the rate of increase in milk flow during stimulation of each teat is also different: the milk flow per unit time may be different for all teats of an animal during a milking session.

[0006] It has been observed that at least some animals do not release milk at higher milk flow rates even when the milking vacuum is rapidly increased, and for these animals, increasing the milking vacuum applied to the teats would expose the teats to high milking vacuum, which could injure the teats.

[0007] These features mentioned above may be implemented in concert with one another, exacerbating the problem.

[0008] Through further research and development it is hoped that concepts for improved milk evacuation in terms of time and efficiency will be developed, whilst ensuring and / or enhancing satisfactory teat integrity. Summary of the Invention

[0009] SUMMARY OF THE INVENTION It is therefore an object of the present invention to solve at least some of the above problems and to improve the milking of animals in a milking system.

[0010] According to a first aspect of the present invention, this object is achieved by a milking system comprising a plurality of teat cups, each teat cup configured to fit over a respective teat of the animal during milk extraction in a milking session. The milking system also comprises a plurality of milk outlet lines, each milk outlet line connected to a respective teat cup. The milking system further comprises a vacuum pump configured to generate a vacuum pressure, which may be referred to as a system vacuum. The milking system further comprises a milk storage tank connected to each of the teat cups via their respective connected milk outlet lines and also connected to the vacuum pump. The milking system also comprises a plurality of vacuum regulators, each vacuum regulator associated with one teat cup and configured to control the current vacuum pressure level in the associated teat cup under the teat. The milking system also comprises a plurality of vacuum pressure sensors, each vacuum pressure sensor associated with one teat cup and configured to measure the current vacuum pressure level in the associated teat cup under one of the teats during milk extraction in a milking session. The milking system also comprises an animal identification sensor configured to obtain animal-specific information of the animal. The milking system further comprises a database configured to store data relating to at least one previous milking session for each teat of the animal associated with an identification criterion for the animal. The milking system also comprises a processing unit communicatively connected to the vacuum regulator, the vacuum pressure sensor, the animal identification sensor, and the database. The processing unit is configured to determine the identification criterion for the animal to be milked based on the animal-specific information obtained from the animal identification sensor. The processing unit is also configured to retrieve data for each teat of the identified animal from the database based on the determined identification criterion. The processing unit is further configured to determine, based on the retrieved data, a teat-specific vacuum pressure level to be applied to each teat for a period of time from the start of the milking session when a teatcup is attached to the respective teat.The processor is further configured to generate a respective command to each vacuum regulator to set the determined teat-specific vacuum pressure level in each respective teat cup.

[0011] The processing unit can set the vacuum pressure level at each teat cup by measuring the respective vacuum pressure level under each teat and comparing it to previously stored teat-specific vacuum pressure levels applied to each teat, thereby generating a respective command to the corresponding vacuum regulator associated with the teat cup. Thus, the teat-specific vacuum pressure levels can be adjusted to a level that allows high vacuum pressure levels for teats with high milk flow rates while ensuring teat integrity.

[0012] Thereby, milk extraction is radically improved by adapting the teat-specific vacuum pressure level to the milk flow rate of each individual teat. The total milking time for each animal handled by the milking station / milking robot is reduced (compared to conventional solutions), which allows the milking system to handle more animals per unit of time. However, milking is carried out in a gentle manner, eliminating or at least reducing the inconvenience to the animals caused by excessive vacuum pressure under the teats. Excessive vacuum pressure can cause damage that can promote udder diseases such as mastitis, which can cause serious economic consequences for the farm in addition to the suffering of individual animals.

[0013] In one implementation of the milking system according to the first aspect, a milking session begins either when pre-treatment is performed on the first teat or when the first teat cup is applied to the first teat.

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

[0015] In yet another implementation of the milking system according to the first aspect, the processing unit is configured to determine a vacuum profile to be applied to each teat of each of the animals during a milking session based on the extracted data, and to generate respective commands to each vacuum regulator to control a current respective vacuum pressure level in each associated teat cup under the teat in accordance with the corresponding vacuum profile of the respective teat.

[0016] This allows the applied teat-specific vacuum pressure level to be adapted to the changing milk flow rate of the teat over time during a milking session, thereby applying a high vacuum pressure level that the teat milk flow rate can tolerate, thereby further reducing the total duration of the milking session without straining the teat with excessive vacuum.

[0017] In yet another implementation of the milking system according to the first aspect, the vacuum profile comprises a constant vacuum pressure level under the teat, which vacuum pressure level is maintained during the milking session.

[0018] In another implementation of the milking system according to the first aspect, the vacuum profile comprises a sub-teat vacuum pressure level that varies over time during a milking session.

[0019] In yet another implementation of the milking system according to the first aspect, the milking system comprises a communication device for communicating with a central processing unit of a service provider, the processing unit being configured to provide animal data and / or animal identification criteria to the central processing unit of the service provider via the communication device, the processing unit also being configured to obtain from the central processing unit a vacuum profile to be applied to each teat of the animal during a milking session.

[0020] By performing computation and / or data storage in a central device instead of maintaining processing power locally on the farm, several advantages are achieved: Farmers do not have to worry about program updates and computer security issues; program updates according to the service provider's latest developments and innovations can be implemented immediately in the central processing unit;

[0021] In yet another implementation of the milking system according to the first aspect, the processing unit is configured to continuously acquire a respective vacuum pressure level under each teat of the teats from a corresponding vacuum pressure sensor during a milking session. The processing unit is configured to compare each acquired vacuum pressure level with a respective vacuum profile. Furthermore, the processing unit is also configured to generate a respective command to each vacuum regulator to adjust the respective vacuum pressure level at each teat cup according to the corresponding vacuum profile for each teat, if the acquired vacuum pressure level differs from the vacuum pressure level of the vacuum profile.

[0022] In this way, continuous monitoring and adjustment of the vacuum pressure level applied to each teat is achieved, allowing uninterrupted monitoring and setting of teat-specific vacuum pressure levels.

[0023] In yet another implementation of the milking system according to the first aspect, the teat cup is provided with a liner that is repeatedly opened and closed under the teat during a milking session, and the vacuum pressure sensor is configured to measure the vacuum pressure level at least twice during the period when the liner is open.

[0024] By being able to measure the vacuum pressure level frequently, better control of the current / instantaneous vacuum pressure is achieved, at least when the liner is open and the teats are exposed to vacuum. It also makes it possible to detect the rate of change of the milk flow. In the case of either a rapid increase or decrease in milk flow, a large difference between the two measurements may trigger the vacuum pressure level to be changed in larger steps than when a small difference is detected. In this case, the applied vacuum pressure level can be adapted via a vacuum regulator associated with the teat cup. This makes it possible to provide each teat with the appropriate vacuum pressure level for time-efficient milking, while avoiding teat damage or irritation caused by the vacuum.

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

[0026] The more frequently the vacuum pressure level under each teat is measured, the more accurate fine adjustments can be made to the applied vacuum pressure level to maintain the determined teat-specific vacuum pressure level even when there is a deviation in the animal's milk flow compared to the previous milking session.

[0027] In yet another implementation of the milking system according to the first aspect, the processing unit is configured to calculate a rolling average of the current vacuum pressure level at each teat cup under each teat based on a predetermined number of most recent vacuum pressure levels obtained from each associated vacuum pressure sensor, and the comparison to the vacuum profile is made using the calculated rolling average of the vacuum pressure levels.

[0028] For example, calculating a rolling average of the last 5 or 10 measured vacuum pressure levels will even out any variations in the measurements, resulting in a more reliable and stable comparison of vacuum profiles / determined nipple-specific vacuum pressure levels.

[0029] In yet another implementation of the milking system according to the first aspect, the processing device is configured to repeatedly generate commands to the vacuum regulators associated with the teat cups applied to each teat to either increase the vacuum pressure level under the teat in a step when the latest vacuum pressure level under the teat obtained from the vacuum pressure sensor is lower than the previously obtained vacuum pressure level under the teat, or to decrease the vacuum pressure level under the teat in a step when the latest vacuum pressure level under the teat obtained from the vacuum pressure sensor exceeds the previously obtained vacuum pressure level under the teat.

[0030] This allows the vacuum pressure level to be adapted in real time. By comparing two subsequent measurements of the vacuum pressure level, a rate of change can be determined that indicates the direction and magnitude of the subsequent vacuum pressure level.

[0031] In yet another implementation of the milking system according to the first aspect, the step size is proportional to the difference between the most recently acquired vacuum pressure level and a previously acquired vacuum pressure level, such as the second-to-last acquired vacuum pressure level.

[0032] By commanding the vacuum regulator to vary the vacuum pressure in a step size that may be proportional to the detected difference between the measurements, it is avoided that an inappropriate vacuum pressure level is applied to the teat that does not match the milk flow rate at the time.

[0033] In yet another implementation of the milking system according to the first aspect, the processing unit is configured to detect that the vacuum pressure level under one of the teats has exceeded a maximum allowable vacuum pressure level based on vacuum pressure level measurements obtained from a vacuum pressure sensor associated with a teat cup attached to the teat, and to generate a command to a vacuum regulator associated with the teat cup attached to the teat to reduce the vacuum pressure level under that teat.

[0034] This avoids applying excessive vacuum pressure to the teats when the milk flow rate of the teats does not correspond to the applied vacuum pressure, thereby ensuring gentle handling of the animal's teats, yet allowing the application of an efficient vacuum pressure that is adapted to the teat capacity, thereby improving and streamlining the milking session by expelling the milk in a short time without compromising the integrity of the animal's teats.

[0035] In yet another implementation of the milking system according to the first aspect, the processing device provides data relating to the most recent milking session for each teat of the identified animal to a database and stores it in the database in association with the particular teat, animal identification criteria and time criteria.

[0036] The stored data may vary in different implementations and may include the milk production of each teat of the animal, the vacuum profile to be followed during the milking session, and / or teat-specific initial vacuum pressure levels to be applied at least at the start of the milking session. By continuously updating the stored data, changes in milk yield over the animal's lactation cycle can be corrected for and even predicted.

[0037] In yet another implementation of the milking system according to the first aspect, the processing unit is configured to detect a difference between previously stored data relating to at least one milking session of one teat of the animal and corresponding data relating to a most recent milking session of the teat that exceeds a threshold limit, and the processing unit is configured to generate an output alert when a difference is detected.

[0038] If the deviation in the results between two milking sessions, either in milk yield or applied vacuum pressure, is too large (i.e., exceeds a threshold limit), the reason may be that the animal is suffering from mastitis, infection, or some other disease and may require appropriate specialist treatment. By detecting the disease and starting treatment early, the animal is more likely to recover quickly and the period the animal is ill will be reduced.

[0039] In yet another implementation of the milking system according to the first aspect, the processing unit is configured to determine the time period between the animal's last milking session and the time at which the animal is to start its next milking session, and the processing unit is configured to determine a teat-specific vacuum pressure level to be applied to each teat also based on the determined time period.

[0040] Adjusting the determined teat-specific vacuum pressure level and / or vacuum profile based on time period provides a vacuum pressure level and / or vacuum profile that is more responsive to the animal's expected milk flow rate.

[0041] This provides a time-efficient yet teat-friendly milk extraction.

[0042] Other advantages and further novel features will become apparent from the following detailed description. [Brief explanation of the drawings]

[0043] Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

[0044] [Figure 1] 1 illustrates a milking system according to one embodiment. [Figure 2] 1 illustrates a milking system according to one embodiment. [Figure 3] 1 shows details of a milking system for a teat cup with a liner, according to one embodiment. [Figure 4A]FIG. 10 shows an example of the milk flow rate per unit time and vacuum profile of the first teat during milk extraction. [Figure 4B] FIG. 10 shows an example of the milk flow rate per unit time and vacuum profile of the second teat during milk extraction. [Figure 4C] FIG. 10 shows an example of the milk flow rate per unit time and vacuum profile of the third teat during milk extraction. [Figure 4D] FIG. 10 shows an example of the milk flow rate per unit time and vacuum profile of the fourth teat during milk extraction. [Figure 5] FIG. 1 shows an example of milk flow rate per unit time and vacuum profile of a teat during milk extraction. DETAILED DESCRIPTION OF THE INVENTION

[0045] The embodiments of the present invention described herein are defined as milking systems and may be embodied in the following embodiments. 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.

[0046] Still other objects and features will become apparent from the following detailed description considered in conjunction with the accompanying drawings. It should be understood, however, that the drawings are designed for illustrative purposes only and are not intended to define the limits of the embodiments disclosed herein, to which the appended claims refer. Moreover, the drawings are not necessarily drawn to scale, and unless otherwise specified, are intended merely to conceptually illustrate the structures and procedures described herein.

[0047] 1 shows 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 automated milking installation, e.g., a milking robot, configured to spontaneously milk free-roaming animals, which may visit the milking installation / milking system 100 to be milked when desired.

[0048] An "animal" may be any type of domesticated female mammal, such as, for example, a cow, goat, sheep, camel, horse, dairy buffalo, donkey, yak, etc. An animal may have, for example, four teats, such as a cow, or two teats, such as a goat and / or sheep (this is a non-exhaustive list). Other animals may have other numbers of teats.

[0049] The milking system 100 comprises a plurality of teat cups 110a, 110b, 110c, 110d. The number of teat cups 110a, 110b, 110c, 110d typically equals the number of teats of the animal to be milked in the milking system 100. Each teat cup 110a, 110b, 110c, 110d is configured to fit over a respective teat of the animal and to be attached to the teat during milk extraction in a milking session.

[0050] Each teat cup 110a, 110b, 110c, 110d is connected to a respective milk outlet pipe 120a, 120b, 120c, 120d that directs milk discharged from the respective teat to a connected milk storage tank 130. The milk storage tank 130 is connected to a vacuum pump 140 that generates and / or continuously generates a system vacuum pressure for the milk storage tank 130. The system vacuum pressure may be, for example, in the range of approximately 48-55 kPa.

[0051] The expressions "vacuum pressure" and / or "milking vacuum" and / or "system vacuum pressure" refer to a pressure that is below that of the surrounding atmospheric pressure.

[0052] The milk storage tank 130 can collect milk discharged during a milking session, and the collected milk can be transferred via a pumping device and tubing to a connected cooling tank where the milk can be collected and maintained at a cooled temperature.

[0053] Milking system 100 also includes a plurality of vacuum regulators 150a, 150b, 150c, 150d. A vacuum pump 140 is connected to each of vacuum regulators 150a, 150b, 150c, 150d to provide system vacuum to vacuum regulators 150a, 150b, 150c, 150d.

[0054] Each vacuum regulator 150a, 150b, 150c, 150d includes a solenoid whose valve position can be adjusted by adjusting the magnetic field surrounding the solenoid, for example, using a pulse width modulated (PWM) signal generated by a processing unit 170 communicatively connected to the vacuum regulators 150a, 150b, 150c, 150d, thereby varying the mix of system vacuum and atmospheric air in the vacuum pump 140 to create a controlled vacuum p.

[0055] The vacuum regulators 150a, 150b, 150c, 150d may include or be connected to respective valve devices 155a, 155b, 155c, 155d that are disposed in respective milk outlet pipes 120a, 120b, 120c, 120d associated with respective teat cups 110a, 110b, 110c, 110d.

[0056] The valve devices 155a, 155b, 155c, 155d have a wet section 156 and a dry section 158 separated by a membrane 157. The milk outlet conduits 120a, 120b, 120c, 120d pass through the wet sections 156 of the valve devices 155a, 155b, 155c, 155d.

[0057] The current vacuum pressure level in the teat cups 110a, 110b, 110c, 110d associated with the milk discharge pipes 120a, 120b, 120c, 120d upstream of the valve devices 155a, 155b, 155c, 155d is regulated by the vacuum regulators 150a, 150b, 150c, 150d to the same vacuum level as the controlled vacuum level p supplied to the drying section 158 of the valve devices 155a, 155b, 155c, 155d.

[0058] Thus, the current vacuum pressure level in the teatcups 110a, 110b, 110c, 110d under the teats can be individually adjusted.

[0059] The valve devices 155a, 155b, 155c, 155d may for example comprise shut-off valves known per se.

[0060] Additionally, the milking system 100 includes a plurality of vacuum pressure sensors 160a, 160b, 160c, 160d. Each vacuum pressure sensor 160a, 160b, 160c, 160d is associated with one teat cup 110a, 110b, 110c, 110d and is configured to measure the current vacuum pressure level in the associated teat cup 110a, 110b, 110c, 110d under one of the teats during milk extraction of a milking session. Thus, one vacuum pressure sensor 160a, 160b, 160c, 160d can be dedicated to measuring the current vacuum pressure level in one particular teat cup 110a, 110b, 110c, 110d under one of the teats.

[0061] The milking system 100 further comprises a database 180 configured to store data relating to at least one previous milking session for each teat of the animal, associated with an identification criterion of the animal and / or possibly also a time criterion. The stored data may include, for example, the milk extraction per unit time of each teat during the milking session and / or the vacuum level / vacuum profile to be maintained during the milking session.

[0062] A milking session can be considered to begin when a pre-treatment is administered to the animal's first teat, which initiates stimulation of the animal's oxytocin release. Pre-treatment can include cleaning the teat by rinsing it with water, brushing the teat, or otherwise teasing / stimulating the teat. The time required from the start of pre-treatment to the release of mammary alveolar milk can be approximately 40-60 seconds. However, this time can vary between different breeds, different individual animals, and even within the same animal under different circumstances, and can be considered merely a rough estimate.

[0063] However, pre-treatment is not performed on all farms. If pre-treatment is not performed, a milking session can be considered to start when the first teat cup 110a, 110b, 110c, 110d is attached to the first teat.

[0064] The vacuum profile may in some embodiments include a constant vacuum pressure level under the teats to be maintained during the milking session, or alternatively, in other embodiments, the vacuum profile may include multiple vacuum pressure levels under the animal's teats that vary over time during the milking session.

[0065] Furthermore, the milking system 100 also comprises a processing unit 170 which is communicatively connected to the vacuum regulators 150a, 150b, 150c, 150d, the vacuum pressure sensors 160a, 160b, 160c, 160d, the animal identification sensor, and the database 180, for example via a wireless connection based on radio or optical technology, or a wired connection implemented by electrical cable or optical fiber.

[0066] Vacuum pressure sensors 160a, 160b, 160c, 160d can be configured in some embodiments to measure vacuum pressure levels at substantially 10-1000 measurements per second, preferably 100-1000 measurements per second.

[0067] The vacuum pressure sensors 160a, 160b, 160c, 160d may also, in some embodiments, be configured to measure the vacuum pressure level at least twice during the period that the liner is open.

[0068] Processing unit 170 is configured to determine identification criteria for the animal to be milked based on the animal-specific information obtained from the animal identification sensor. Processing unit 170 is also configured to retrieve data for each teat of the identified animal from database 180 based on the determined identification criteria. Processing unit 170 is further configured to determine, based on the retrieved data, a teat-specific vacuum pressure level to be applied to each teat for a period of time from the start of the milking session when teat cup 110a, 110b, 110c, 110d is attached to the respective teat. Processing unit 170 is also configured to generate a respective command to each vacuum regulator 150a, 150b, 150c, 150d to set the determined teat-specific vacuum pressure level for each associated teat cup 110a, 110b, 110c, 110d, respectively.

[0069] In some embodiments, the processing unit 170 may also be configured to determine a vacuum profile to be applied to each respective teat of the animal during a milking session based on the extracted data, and to generate respective commands to each vacuum regulator 150a, 150b, 150c, 150d to control the current respective vacuum pressure level in each associated teat cup 110a, 110b, 110c, 110d under the teat according to the respective teat's corresponding vacuum profile.

[0070] Milking system 100 may also, in some embodiments, include a communications device 190 for communicating with a service provider's central processing unit 192. Central processing unit 192 may be connected to a central database 193 that may store various relevant data.

[0071] The on-farm processing unit 170 may be configured to provide animal data and / or animal identification criteria to the service provider's central processing unit 192 via the communication unit 190. The vacuum profile to be applied to each teat of the animal during a milking session may be obtained from the central processing unit 192.

[0072] In some embodiments, the processing unit 170 may further be configured to continuously acquire a respective vacuum pressure level under each teat from the corresponding vacuum pressure sensor 160a, 160b, 160c, 160d during a milking session. The processing unit 170 may also be configured to compare each acquired vacuum pressure level with a respective vacuum profile, enabling direct real-time (or near real-time) control of the vacuum pressure level under the teats. If the acquired vacuum pressure level differs from the vacuum pressure level in the vacuum profile, the processing unit 170 may generate a respective command to each vacuum regulator 150a, 150b, 150c, 150d to adjust the respective vacuum pressure level in each associated teat cup 110a, 110b, 110c, 110d in accordance with the corresponding vacuum profile for each teat.

[0073] In some embodiments, the processing unit 170 may be configured to calculate a rolling average of the current vacuum pressure level at each teat cup 110a, 110b, 110c, 110d under each teat 210a, 210b, 210c, 210d based on a predetermined number of the most recent vacuum pressure levels obtained from each associated vacuum pressure sensor 160a, 160b, 160c, 160d, e.g., the five most recent measurements, the ten most recent measurements, etc. The processing unit 170 may also be configured to perform a comparison to the vacuum profile based on the calculated rolling average of the vacuum pressure level for each teat 210a, 210b, 210c, 210d, thereby equalizing deviations in the measurement results due to any fluctuations in the measurement results and leading to a more reliable measurement of the vacuum pressure levels under the teats.

[0074] The processing unit 170 can be configured to repeatedly generate commands to the vacuum regulators 150a, 150b, 150c, 150d associated with the teat-attached teat cups 110a, 110b, 110c, 110d to adjust the under-teat vacuum pressure level. The adjustment can include increasing the under-teat vacuum pressure level in steps when the last acquired under-teat vacuum pressure level obtained from the vacuum pressure sensors 160a, 160b, 160c, 160d is lower than the previously acquired under-teat vacuum pressure level, i.e., when the under-teat vacuum pressure level is decreasing. The previously acquired vacuum pressure level can be, for example, the penultimate acquired vacuum pressure level or a previously taken measurement.

[0075] Additionally or alternatively, the adjustment may include decreasing the sub-nipple vacuum pressure level in steps when the last acquired sub-nipple vacuum pressure level acquired from the vacuum pressure sensors 160a, 160b, 160c, 160d exceeds a previously acquired sub-nipple vacuum pressure level.

[0076] In some embodiments, the step size may be proportional to the difference between the last acquired vacuum pressure level and the previously acquired vacuum pressure level.

[0077] Thus, detecting a large difference between two subsequent measurements of the vacuum pressure level under the nipple can trigger a large adjustment in the vacuum pressure level applied under the nipple via the vacuum regulator, and vice versa.

[0078] The processing unit 170, in some embodiments, can be configured to detect that the under-tap vacuum pressure level of one of the teats has exceeded a maximum allowable vacuum pressure level based on vacuum pressure level measurements obtained from the vacuum pressure sensors 160a, 160b, 160c, 160d associated with the teat cups 110a, 110b, 110c, 110d attached to that teat. The processing unit 170 can then be configured to generate a command to the vacuum regulators 150a, 150b, 150c, 150d associated with the teat cups 110a, 110b, 110c, 110d attached to the teat to reduce the under-tap vacuum pressure level.

[0079] The maximum allowable vacuum pressure level can be set to, for example, 38 kPa, 42 kPa, etc. The maximum allowable vacuum pressure level can be set to different levels for different teats, which ensures that the teats are not damaged by excessive vacuum pressure.

[0080] In some embodiments, the processing unit 170 may also be configured to provide data relating to the most recent milking session for each teat of the identified animal to the database for storage in the database 180 in association with the particular teat, animal identification criteria, and time criteria.

[0081] The processing unit 170, in some embodiments, can be configured to detect a difference between previously stored data relating to a milking session of one of the animal's teats and the milk flow data of the most recent milking session of the teat that exceeds a threshold limit, e.g., 10%, 20%, etc. The processing unit 170 can be configured to generate an output alert when a difference is detected.

[0082] The alerts may be output, for example, to the farmer's mobile phone, computer, and / or wearable electronic device (such as an intelligent watch and / or intelligent glasses or similar device). Additionally or alternatively, the alerts may be output to loudspeakers and / or displays located on the farm.

[0083] Processing device 170 is generally advantageously configured to automatically carry out the above-mentioned procedures by executing a computer program. Thus, according to some embodiments, processing device 170 may comprise a memory unit, i.e. a non-volatile data carrier, for storing a computer program, which in turn may contain software that causes processing circuitry in the form of at least one processor in processing device 170 to carry out the above-mentioned operations when the computer program is executed on the processing circuitry.

[0084] In some embodiments, the processing unit 170 is configured to determine the time period between the animal's last milking session and the current time when the animal is about to begin its next milking session. The time of the last milking session for a particular animal may be stored in the database 180 in association with the animal's identification criteria.

[0085] If the period is longer than expected, for example 20% longer, it can be predicted that the animal produced more milk than otherwise, which can affect the shape of the milking curve. This can also affect the amount / time of pre-stimulation required for each teat of the animal and / or the level of milk flow per unit time for the teat. Thus, for extended periods (compared to the average period), the teat-specific vacuum pressure level and / or vacuum profile applied to each teat can be increased, and vice versa. In some embodiments, adjustments to the teat-specific vacuum pressure level and / or vacuum profile can be made in relation to the magnitude of deviation between the determined period and the average period, resulting in a better correspondence between the vacuum pressure level applied to the teat and the milk flow rate of the teat.

[0086] 2 shows a milking system 100 comprising a teat cup placement device 220, such as a milking robot comprising a robotic arm 230 communicatively connected to sensors 240, such as cameras, video cameras, lidar, radar, infrared cameras, etc. The sensors 240 are configured to detect the position of each teat 210a, 210b, 210c, 210d of the animal 200 to be milked.

[0087] In the illustrated non-limiting embodiment, the teat cup placement device 220 is embodied as a milking robot, which may be part of an Automatic Milking System (AMS), sometimes called a Voluntary Milking System (VMS), or similar system. The methods and milking system 100 disclosed herein are not limited to use with milking robots, but may be utilized with any commonly known milking concept, such as restrained animals in a milking parlor and / or manual milking in a milking pit or rotary milking parlor.

[0088] The teat cup placement device 220 may be communicatively connected to the sensors 240 via a wired or wireless connection to obtain information regarding the location of each of the animal's teats 210a, 210b, 210c, 210d. The teat cup placement device 220 may be configured to sequentially place each of the teat cups 110a, 110b, 110c, 110d on a respective teat 210a, 210b, 210c, 210d of the animal 200 based on sensor detections made by the sensors 240. The teat cups 110a, 110b, 110c, 110d may be held in a storage magazine or similar storage zone, and the teat cup placement device 220 may grasp one teat cup at a time and attach it to one of the teats 210a, 210b, 210c, 210d, repeating until all teat cups 110a, 110b, 110c, 110d are attached. The teat cups 110a, 110b, 110c, 110d may be attached to the teats 210a, 210b, 210c, 210d in the same order for each milking session.

[0089] In many cases, the rear teats provide more milk than the front teats, and therefore the milk flow rate of the rear teats is greater than the milk flow rate of the front teats. In some embodiments, because milking the rear teats may take longer than milking the front teats, the teat cups 110a, 110b, 110c, 110d may be attached to the rear teats first before being attached to the front teats.

[0090] This reduces the total duration of a milking session, leading to a higher throughput of animals 200 handled by the milking system 100, i.e., more animals 200 can be handled by the milking system 100, thereby improving the profitability of the farm.

[0091] Data regarding the milk extraction curve and / or vacuum profile (or teat-specific vacuum pressure levels) for each teat 210a, 210b, 210c, 210d of each individual animal 200 on the farm may be stored and subsequently retrieved from, for example, a digital memory or database 180 communicatively connected to or included in the processing unit 170. Alternatively, or additionally, the data may be stored in a central database 193 and accessed by the central processing unit 192.

[0092] The databases 180, 193 may store historical milk extraction data, vacuum profiles, and / or vacuum pressure levels for the teats 210a, 210b, 210c, 210d of the animals 200 on the farm, associated with the identification criteria of the particular animal 200.

[0093] The processing unit 170 is connected to an animal identification device 250, such as a camera, which, in conjunction with an image recognition program, can identify the animal 200 based on the animal's unique skin pattern and / or visual markings on the animal 200, such as an animal-specific ID number on an ear tag, an ID number (or other animal-specific marking) on ​​the skin, a barcode containing an ID number, etc.

[0094] Alternatively, in another embodiment, the animal identification device 250 may be based on short-range wireless communication, where identification of the animal 200 may be performed by the animal identification device 250 in the form of a reader or transceiver that acquires a signal from a Radio-Frequency Identification (RFID) tag associated with the animal 200, for example, attached to the ear of the animal 200, held on a leash around the neck of the animal 200, or injected under the skin of the animal 200. Instead of RFID, the signaling may be based on Bluetooth, Wi-Fi, Near Field Communication (NFC), etc.

[0095] The signaling tag may contain electronically stored information to uniquely identify the animal 200 (at least uniquely within the farm).

[0096] The animal identification device 250 may then provide the identification criteria for the animal 200 obtained from the identification device to the processing unit 170 via a wired or wireless communication interface.

[0097] Once the animal 200 has been identified by the processing device 170 in conjunction with the animal identification device 250, the robotic arm 230 can begin attaching the teat cups 110a, 110b, 110c, 110d to each teat 210a, 210b, 210c, 210d, one at a time. The teat cups 110a, 110b, 110c, 110d can be attached in the same order as described above. However, in some alternative embodiments, the teat cups 110a, 110b, 110c, 110d can be attached in a different order, for example, in any order.

[0098] The processing unit 170 is communicatively connected to databases 180, 193. Based on the animal specific information, animal identification criteria, data / information is extracted for each particular teat 210a, 210b, 210c, 210d of the animal 200. The data may include the milk flow rate per unit time of each particular teat 210a, 210b, 210c, 210d for a period from the start of a milking session when a teat cup 110a, 110b, 110c, 110d is attached to the teat 210a, 210b, 210c, 210d, respectively, the vacuum profile applied to the particular teat 210a, 210b, 210c, 210d, and / or the teat specific vacuum pressure level applied to each teat 210a, 210b, 210c, 210d, respectively.

[0099] For example, the teat-specific vacuum pressure level applied may be 32 kPa, 35 kPa, 40 kPa, or thereabouts, as measured within the teat cups 110a, 110b, 110c, 110d under the teats 210a, 210b, 210c, 210d by the associated vacuum pressure sensors 160a, 160b, 160c, 160d.

[0100] Where the stored data may include the milk flow rate per unit time of each particular teat 210a, 210b, 210c, 210d, the processing unit 170 is configured to calculate, according to an algorithm, the corresponding vacuum pressure level to be maintained under the teat 210a, 210b, 210c, 210d.

[0101] In some embodiments, the processing unit 170 can maintain the current teat-specific vacuum pressure level under the teats 210a, 210b, 210c, 210d at a constant level throughout the milking session. As milk flows from the teats 210a, 210b, 210c, 210d at different flow rates, the vacuum pressure level under the teats 210a, 210b, 210c, 210d also changes. The applied vacuum pressure level can be adjusted to maintain the current constant vacuum pressure level under the teats 210a, 210b, 210c, 210d.

[0102] The processing unit 170 may continuously / repeatedly measure the vacuum pressure under the teats 210a, 210b, 210c, 210d using the associated vacuum pressure sensors 160a, 160b, 160c, 160d, respectively. In this case, the processing unit 170 may obtain the current / instantaneous (or near current / instantaneous with some slight time delay) vacuum pressure under the teats 210a, 210b, 210c, 210d measured by the associated vacuum pressure sensors 160a, 160b, 160c, 160d. The measured vacuum pressure level may be compared to a vacuum profile and / or teat-specific vacuum pressure level that should be maintained constant during a milking session. Based on the results of the comparison, the processing unit 170 generates commands to the vacuum regulators 150a, 150b, 150c, 150d associated with the teat cups 110a, 110b, 110c, 110d and teats 210a, 210b, 210c, 210d to adjust the vacuum pressure level under the teats 210a, 210b, 210c, 210d, thereby setting the vacuum pressure level under the teats 210a, 210b, 210c, 210d to either the vacuum pressure level of the vacuum profile and / or a teat-specific vacuum pressure level that should be maintained constant during the milking session.

[0103] Pulsating pressure is applied when the teat cups 110a, 110b, 110c, 110d are attached to the animal's teats 210a, 210b, 210c, 210d. The pulsating pressure level applied to the pulsating chambers in the teat cups 110a, 110b, 110c, 110d via pulse tubes may vary between atmospheric pressure in some embodiments during rest phase D and system vacuum pressure in some embodiments during milking phase B. The arrangement for applying the pulsating vacuum is not shown in the drawings.

[0104] Thus, suction is punctuated by the rhythmic, repetitive opening and closing of liners 310 within teat cups 110a, 110b, 110c, 110d, as shown in Figure 3. The force exerted by the closed liners results in a massage of teats 210a, 210b, 210c, 210d. As a result, teats 210a, 210b, 210c, 210d are massaged, preventing condensation (e.g., of blood) at the teat ends, while the rhythmic movement of opening and closing liners 310 in combination with the application of a milking vacuum, which mimics a calf's suckling, stimulates oxytocin release and milk ejection.

[0105] It is desirable to extract milk from the animal 200 efficiently in the shortest possible time (so that more animals can be handled per unit time by the milking system 100) without damaging or injuring the teats 210a, 210b, 210c, 210d by applying excessive vacuum levels under the teats 210a, 210b, 210c, 210d.

[0106] An advantage of the disclosed concept is that a methodology for teat-specific adaptation of milk flow-controlled milking has been developed that is efficient while also preserving teat integrity.

[0107] Therefore, the level of vacuum pressure applied under each teat 210a, 210b, 210c, 210d can be different, allowing for more efficient milk extraction, whereby the level of vacuum pressure applied under each teat 210a, 210b, 210c, 210d can be optimized for the capacity of each teat 210a, 210b, 210c, 210d, leading to an overall optimization of the milking session.

[0108] In some embodiments, when a milking session is about to end, a removal vacuum pressure can be applied to allow for smooth removal of the teat cup. The removal vacuum pressure level can be set at about 10-20 kPa, for example about 15 kPa.

[0109] 4A-4D show milk flow curves 401a, 401b, 401c, 401d for each teat 210a, 210b, 210c, 210d of an animal 200 during a milking session 400, and corresponding vacuum profiles 402a, 402b, 402c, 402d.

[0110] In the case of an animal 200 being milked in a milking robot 220, the teat cups 110a, 110b, 110c, 110d are conventionally attached to the teats 210a, 210b, 210c, 210d sequentially by the robotic arm 230, so that milk extraction may be at different stages at different teats 210a, 210b, 210c, 210d. For example, when the last teat cup 110a, 110b, 110c, 110d is attached to the last teat, alveolar milk may begin to be extracted at the first teat 210a, 210b, 210c, 210d.

[0111] In this case, the animal 200 has four teats 210a, 210b, 210c, 210d. The four teat cups 110a, 110b, 110c, 110d are sequentially mounted onto the teats 210a, 210b, 210c, 210d one at a time, for example by a robotic arm 230.

[0112] Initially, the first teat cup 110a is attached to the first teat 210a at time t0. If no pre-stimulation has been performed, this time t0 when the first teat cup 110a is attached to the first teat 210a is also the start of the milking session 400.

[0113] As shown schematically in Figure 4A, alveolar milk has not yet begun to flow from the first teat 210a. Instead, as cistern milk is extracted from teat 210a, when all the cistern milk has been extracted through teat cup 110a, the milk flow may decline until alveolar milk is extracted, as shown by milk flow curve 401a.

[0114] In this case, the vacuum profile 402a is calculated to correspond to the milk flow curve 401a and to reduce the vacuum pressure level under the teat 210a during the decline before the alveolar milk begins to flow.

[0115] 4B shows a milk flow curve 401b and corresponding vacuum profile 402b for a second teat 210b of animal 200. A second teat cup 110b may be attached to the second teat 210b at time t1. As shown in milk flow curve 401b, there may be a short pause in milk release between cisternal milk release and alveolar milk release for the second teat 210b, which is also reflected in the corresponding vacuum profile 402b.

[0116] 4C shows the milk flow curve 401c for the third teat 210c of the animal 200 and the corresponding vacuum profile 402c at time t2. The milk flow curve 401c shows no downward trend between cisternal milk ejection and alveolar milk release, with the milk flow from the third teat being fast and rising steadily up to the plateau of the milk flow curve 401c. Towards the end of the milking session, the milk flow decreases quite rapidly.

[0117] Figure 4D shows the milk flow curve 401d and corresponding vacuum profile 402d at time t3 for the fourth teat 210d of the animal 200. The milk flow for the fourth teat 210d rises rapidly to the plateau of the milk flow curve 401d.

[0118] An advantage of the provided solution is that it is possible to dynamically adjust the current vacuum pressure level under each teat 210a, 210b, 210c, 210d of the animal 200 depending on the current milk flow rate per unit time so that an appropriate vacuum pressure level is applied to each teat 210a, 210b, 210c, 210d. This improves milking efficiency while eliminating or at least reducing teat damage caused by excessive vacuum pressure. This presumably improves the condition of the teats of the animal 200, while reducing the milking time per animal, allowing more animals to be milked per unit time by the milking system 100.

[0119] 5 shows further example milk flow curves 401 for teats 210a, 210b, 210c, 210d of an animal 200. In the illustrated embodiment, the vacuum profile 402 applied to teats 210a, 210b, 210c, 210d comprises a constant vacuum pressure level below teats 210a, 210b, 210c, 210d that is maintained during a milking session.

[0120] The terms used in describing the embodiments illustrated in the accompanying drawings are not intended to limit the milking system 100, processing unit 170, and / or computer program described. Various changes, substitutions, and / or alterations can be made without departing from the embodiments of the invention as defined by the appended claims.

[0121] The various illustrated embodiments depicted in FIGS. 1-5 and / or described in their respective corresponding sections herein 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.

[0122] 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 should be interpreted as a mathematical disjunction, i.e., an inclusive disjunction, and not as a mathematical exclusive disjunction (XOR), unless expressly stated otherwise. Furthermore, the singular forms "a," "an," and "the" should be interpreted as "at least one" and, therefore, may also include multiple entities of the same type unless expressly stated otherwise. 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. A single unit, e.g., a processor, may fulfill the functions of several items recited in the claims. The mere fact that certain measures or features are recited in mutually different dependent claims, shown in different drawings, or described in connection with different embodiments does not indicate that a combination of these measures or features cannot be used to advantage.

Claims

1. a plurality of teat cups (110a, 110b, 110c, 110d), each configured to fit over a respective teat (210a, 210b, 210c, 210d) of the animal (200) during milk extraction in a milking session (400); a plurality of milk discharge tubes (120a, 120b, 120c, 120d), each milk discharge tube (120a, 120b, 120c, 120d) connected to a respective teat cup (110a, 110b, 110c, 110d); a vacuum pump (140) configured to generate a vacuum pressure; a milk storage tank (130) connected to each of the teat cups (110a, 110b, 110c, 110d) via the milk discharge pipes (120a, 120b, 120c, 120d) connected thereto, and also connected to the vacuum pump (140); a plurality of vacuum regulators (150a, 150b, 150c, 150d), each vacuum regulator (150a, 150b, 150c, 150d) associated with one teat cup (110a, 110b, 110c, 110d) and configured to control a current vacuum pressure level within the associated teat cup (110a, 110b, 110c, 110d) under the teat (210a, 210b, 210c, 210d); a plurality of vacuum pressure sensors (160a, 160b, 160c, 160d), each vacuum pressure sensor (160a, 160b, 160c, 160d) associated with one teat cup (110a, 110b, 110c, 110d) and configured to measure a current vacuum pressure level in the associated teat cup (110a, 110b, 110c, 110d) under one of the teats (210a, 210b, 210c, 210d) during milk extraction of the milking session (400); an animal identification sensor (250) configured to acquire animal-specific information of the animal (200); a database (180) configured to store data relating to at least one previous milking session (400) for each teat (210a, 210b, 210c, 210d) of said animal (200) associated with an identification criterion for said animal (200); a processing device (170) communicatively connected to the vacuum regulators (150a, 150b, 150c, 150d), the vacuum pressure sensors (160a, 160b, 160c, 160d), the animal identification sensors (250), and the database (180); A milking system comprising: determining the identification criteria for the animal (200) to be milked based on animal-specific information obtained from the animal identification sensor (250); extracting data for each teat (210a, 210b, 210c, 210d) of the identified animal (200) from the database (180) based on the determined identification criteria; determining, based on the extracted data, a teat-specific vacuum pressure level to be applied to each teat (210a, 210b, 210c, 210d) for a period of time from the start of the milking session (400) when the teat cup (110a, 110b, 110c, 110d) is attached to the respective teat (210a, 210b, 210c, 210d); generating a respective command to each vacuum regulator (150a, 150b, 150c, 150d) to set said determined teat-specific vacuum pressure level in each associated teat cup (110a, 110b, 110c, 110d), respectively; It is configured as follows: The processing device (170) determining a vacuum profile (402a, 402b, 402c, 402d) to be applied to each teat (210a, 210b, 210c, 210d) of said animal (200) during said milking session (400) based on said extracted data; generating respective commands to each vacuum regulator (150a, 150b, 150c, 150d) to control the respective current vacuum pressure level in each associated teat cup (110a, 110b, 110c, 110d) under the respective teat (210a, 210b, 210c, 210d) in accordance with the corresponding vacuum profile (402a, 402b, 402c, 402d) of the respective teat (210a, 210b, 210c, 210d); It is further configured as follows: the vacuum profile (402a, 402b, 402c, 402d) comprises a vacuum pressure level under the teats (210a, 210b, 210c, 210d) that varies over time during the milking session (400); A milking system (100).

2. 2. The milking system (100) of claim 1, wherein the milking session begins either when pre-treatment is performed on a first teat (210a, 210b, 210c, 210d) or when a first teat cup (110a, 110b, 110c, 110d) is attached to the first teat (210a, 210b, 210c, 210d).

3. 3. A milking system (100) according to claim 1 or 2, comprising a communication device (190) for communicating with a central processing unit (192) of a service provider, said processing device (170) being: providing data of the animal (200) and / or the identification criteria of the animal (200) to the central processing unit (192) of the service provider via the communication device (190); obtaining from the central processing unit (192) the vacuum profile (402a, 402b, 402c, 402d) to be applied to each teat (210a, 210b, 210c, 210d) of the animal (200) during the milking session (400); It is configured as follows: A milking system (100) according to any one of claims 1 or 2.

4. The processing device (170) continuously obtaining a respective vacuum pressure level under each of said teats (210a, 210b, 210c, 210d) from a corresponding said vacuum pressure sensor (160a, 160b, 160c, 160d) during said milking session (400); comparing each of the obtained vacuum pressure levels with each of the vacuum profiles (402a, 402b, 402c, 402d); If the acquired vacuum pressure level is different from the vacuum pressure level of the vacuum profile (402a, 402b, 402c, 402d), generating respective commands to each vacuum regulator (150a, 150b, 150c, 150d) to adjust the respective vacuum pressure level at each teat cup (110a, 110b, 110c, 110d) according to the corresponding vacuum profile (402a, 402b, 402c, 402d) of the respective teat (210a, 210b, 210c, 210d); It is configured as follows: A milking system (100) according to any one of claims 1 to 3.

5. 5. The milking system of claim 4, wherein the teat cups (110a, 110b, 110c, 110d) are provided with liners (310) that are repeatedly opened and closed under the teats (210a, 210b, 210c, 210d) during the milking session, and the vacuum pressure sensors (160a, 160b, 160c, 160d) are configured to measure the vacuum pressure level at least twice during the period when the liners (310) are open.

6. 6. A milking system (100) according to claim 4 or 5, wherein the vacuum pressure sensor (160a, 160b, 160c, 160d) is configured to measure the vacuum pressure level substantially at 10 to 1000 measurements per second, or 100 to 1000 measurements per second.

7. The processing device (170) calculating a rolling average of the current vacuum pressure level at each teat cup (110a, 110b, 110c, 110d) under each teat (210a, 210b, 210c, 210d) based on a predetermined number of most recent vacuum pressure levels obtained from each associated vacuum pressure sensor (160a, 160b, 160c, 160d); the comparison to the vacuum profile (402a, 402b, 402c, 402d) is performed using the calculated rolling average of vacuum pressure levels; A milking system (100) according to any one of claims 4 to 6.

8. The processing device (170) detecting that the vacuum pressure level under one of the teats (210a, 210b, 210c, 210d) has exceeded a maximum allowable vacuum pressure level based on the vacuum pressure level measurements obtained from the vacuum pressure sensors (160a, 160b, 160c, 160d) associated with the teat cups (110a, 110b, 110c, 110d) attached to the teats (210a, 210b, 210c, 210d); generating a command to the vacuum regulators (150a, 150b, 150c, 150d) associated with the teat cups (110a, 110b, 110c, 110d) attached to the teats (210a, 210b, 210c, 210d) to reduce the vacuum pressure level under the teats (210a, 210b, 210c, 210d); It is configured as follows: A milking system (100) according to any one of the preceding claims.

9. The processing device (170) providing data relating to the most recent milking session (400) for each teat (210a, 210b, 210c, 210d) of the identified animal (200) to the database (180) and storing the data in the database (180) in association with the identification criteria for the particular teat (210a, 210b, 210c, 210d), the animal (200), and time criteria; It is configured as follows: A milking system (100) according to any one of the preceding claims.

10. The processing device (170) detecting a difference exceeding a threshold limit between previously stored data relating to at least one milking session (400) of one teat (210a, 210b, 210c, 210d) of said animal (200) and corresponding data relating to a most recent milking session (400) of said teat (210a, 210b, 210c, 210d); generating an output alert when said difference is detected; It is configured as follows: A milking system (100) according to any one of the preceding claims.

11. The processing device (170) determining the period between the last milking session (400) of said animal (200) and the time at which said animal (200) is about to start its next milking session (400); determining a teat-specific vacuum pressure level to be applied to each teat (210a, 210b, 210c, 210d) based on the determined time period; It is configured as follows: A milking system (100) according to any one of claims 1 to 10.

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