Milk extraction system and computer implementation method

Abstract

A milk extraction system (100) and computer-implemented method (400) for adjusting individual vacuum pressures in each teat cup (120a, 120b, 120c, 120d) of individual teats (210a, 210b, 210c, 210d) of an animal (110) during milk extraction, wherein the vacuum pressures are set to an input vacuum pressure level (E). The method (400) includes, during milk extraction, determining (403) a nipple-specific milk flow value for each individual nipple (210a, 210b, 210c, 210d) based on individual measurements received from the milk flow meters (160a, 160b, 160c, 160d), comparing (404) each determined (403) nipple-specific milk flow value with a first threshold limit (301), detecting (405) that all of the nipple-specific milk flow values ​​exceed the first threshold limit (301), and adjusting (406) the vacuum pressure in each nipple cup (120a, 120b, 120c, 120d) to a high flow vacuum pressure level (H) when all of the nipple-specific milk flow values ​​exceed the first threshold limit (301).

Description

Technical Field

[0001] This document discloses a milk extraction system and a computer-implemented method. More specifically, it describes a milk extraction system and a computer-implemented method for adjusting the individual vacuum pressure in each teat cup of an individual teat of an animal during milk extraction in a milk extraction system, wherein the individual vacuum pressure is set to an input vacuum pressure level and one teat cup is applied to each teat of the animal.

Background Art

[0002] On dairy farms, milk is typically extracted from animals by wearing a teat cup with a liner on each teat of the animal and applying a milking vacuum under the tip of the teat in addition to a pulsating vacuum. This mimics the rhythmic suckling of a calf, and the milking vacuum is interrupted by the opening and closing, which is the rhythmic movement of the liner caused by the pulsating vacuum. As a result, the teat is massaged to stimulate the release of oxytocin in the animal, which then activates the milk ejection reflex nerve. Also, congestion at the teat tip is prevented by the applied massage.

[0003] It is desirable to extract milk from animals as soon as possible (in order to use the milking equipment efficiently and milk the maximum number of animals) while avoiding damage to the teats due to excessive milking vacuum.

[0004] A recently developed milking method is called boost. Boost means that the milking vacuum is applied to the teat at the input vacuum pressure level to start milk extraction, and when the milk flow rate in the udder increases beyond a threshold limit, the milking vacuum is increased to a high flow vacuum pressure level. When the milk flow rate in the udder decreases below the threshold limit, the milking vacuum is decreased to a separation vacuum pressure level and the teat cup is released from the udder (a process facilitated by an extremely weak separation vacuum).

[0005] However, milk flow from animal nipples is typically not evenly distributed among them. In extreme cases, the entire milk flow from a single nipple may originate, at least during the moment of boost. When a common high-flow vacuum pressure level is applied, one or more nipples with low milk flow may be damaged.

[0006] Not only is the milk flow rate unevenly distributed, but the rate of increase in milk flow rate also differs when stimulating individual nipples.

[0007] While it may be observed that the size and / or shape of the nipples can vary within a single animal's mammary gland, typically the same nipple cup / liner size applies to all nipples, regardless of their actual size. Therefore, some nipples may have a size and shape that fits well with the nipple cup liner, thus being stimulated more effectively by the rhythmic movement of the pulsating vacuum and taking longer to reach high alveolar milk flow than nipples with a completely mismatched size and / or shape.

[0008] These aforementioned characteristics can occur simultaneously and may even reinforce each other, which exacerbates the problem.

[0009] Through further research and development, it is desirable to develop a concept that allows for efficient milk extraction from animals while avoiding the application of boosts in a way that damages one, some, or all of the teats. [Overview of the project]

[0010] Therefore, the object of the present invention is to solve at least some of the above problems and to improve animal milking.

[0011] According to a first aspect of the present invention, this objective is achieved by a milk extraction system. The milk extraction system comprises a plurality of nipple cups configured to fit individual nipples of an animal during milk extraction. The milk extraction system also comprises a plurality of milk suction tubes, each milk suction tube connected to an individual nipple cup. The milk extraction system further comprises a vacuum pump configured to generate vacuum pressure. Furthermore, the milk extraction system further comprises a milk tank connected to each of the nipple cups via the individual milk suction tubes and also connected to the vacuum pump. The milk extraction system also comprises a plurality of valve devices, each valve device configured to adjust the vacuum pressure in the nipple cups. Furthermore, the milk extraction system comprises a plurality of milk flow meters, each milk flow meter configured to measure the milk flow rate of one individual nipple of an animal. Furthermore, the milk extraction system comprises a processing node communicatively connected to each of the milk flow meters. The processing node is configured to determine the individual nipple milk flow value of each individual nipple of an animal during milk extraction of the nipples, based on the milk flow rate measurements of each individual milk flow meter. The processing node is also configured to compare each determined individual nipple milk flow rate with a first threshold limit and to detect if all of the determined individual nipple milk flow rates exceed the first threshold limit. When the processing node detects that all of the determined individual nipple milk flow rates exceed the first threshold limit, it is further configured to generate a command to the vacuum regulator to adjust the individual vacuum pressure in each nipple cup from the input vacuum pressure level to the high flow vacuum pressure level. The milk extraction system further comprises a vacuum regulator configured to perform the adjustment of the individual vacuum pressure in each nipple cup via its respective valve device based on the command received from the processing node.

[0012] By applying high-flow vacuum pressure only when the milk flow rate from each individual teat of the animal exceeds a threshold limit, the high-flow vacuum pressure is not applied to teats with low or no flow rate, thus avoiding potential harm to the animals. The safely applied high-flow vacuum pressure reduces the milking time for each animal served at the milking station / milking robot (compared to conventional non-boosted milking), allowing the milking system to serve more animals per unit of time. This gently implements boosting and fundamentally improves milk extraction by adapting the milking process to the milk flow rate of each individual teat.

[0013] In the implementation of the milk extraction system according to the first embodiment, the processing node may also be configured to detect when one of the determined nipple-specific milk flow rate values ​​is lower than a second threshold limit when the respective vacuum pressure is adjusted to a high-flow vacuum pressure level, and to generate a command to the vacuum regulator to adjust the individual vacuum pressure in each nipple cup from the high-flow vacuum pressure level to the input vacuum pressure level when it detects that one of the determined nipple-specific milk flow rate values ​​is lower than the second threshold limit.

[0014] This prevents the application of high-flow vacuum pressure, which could damage nipples with low or no milk flow, when the milk flow rate of individual nipples is below the threshold limit.

[0015] In a further implementation of the milk extraction system according to the first embodiment, the processing node may be further configured to detect that one of the determined individual nipple milk flow rates is lower than a third threshold limit, and to generate a command to a vacuum regulator to adjust the individual vacuum pressure in each of the nipple cups to a separation vacuum pressure level when it is detected that one of the determined individual nipple milk flow rates is lower than a third threshold limit.

[0016] The provided solution avoids the application of high flow vacuum pressure that could damage nipples with low or no milk flow when the milk flow rate of individual nipples is below the threshold limit. When the pressure level of the nipple cup is set to the separation vacuum pressure level, the nipple cup is released from the nipple, increasing the pass-through rate of the milking station.

[0017] In another implementation of the milk extraction system according to the first embodiment, the processing node may be configured to detect when all nipple cups have been removed from the animal's nipples. The processing node may also be configured to generate a command to a vacuum regulator to adjust the individual vacuum pressure in each nipple cup to either the input vacuum pressure level or the high-flow vacuum pressure level for a limited time when it detects that all nipple cups have been removed from the nipples.

[0018] Once each breast cup is released from the nipple, the solution provided allows the milk to be drawn into the milk duct, thereby preventing the milk from being spilled onto the floor.

[0019] In yet another implementation of the milk extraction system according to the first embodiment, the first threshold limit is greater than or equal to the second threshold limit, and the second threshold limit is greater than or equal to the third threshold limit.

[0020] A milk extraction system according to the first embodiment may include a sensor configured to detect the position of each teat of an animal. The milk extraction system may also include a nipple cup placement device, which is communicably connected to the sensor and configured to sequentially place each of the nipple cups on the individual teats of the animal, based on the sensor detection performed by the sensor. A processing node may further be configured to determine which teat of the animal is expected to take the longest time to increase the milk flow rate to a first threshold limit when starting the milking process. The processing node may also be configured to generate commands to the nipple cup placement device to begin placing a first nipple cup on the determined teat and then sequentially apply the other nipple cups to the remaining teats.

[0021] According to a second aspect of the present invention, this objective is achieved by a computer-implemented method for adjusting the individual vacuum pressure in each nipple cup of an animal's individual nipples during milking in a milk extraction system. Each vacuum pressure is set to an input vacuum pressure level and one nipple cup is applied over each nipple of the animal. The method includes the step of determining the individual nipple milk flow value for each individual nipple of the animal during milk extraction from the nipples, based on individual measurements received by milk flow meters, each configured to measure the milk flow rate of one individual nipple of the animal. Furthermore, the method includes comparing each determined individual nipple milk flow value to a first threshold limit. The method also includes detecting that all of the determined individual nipple milk flow values ​​exceed the first threshold limit. Furthermore, the method further includes the step of adjusting the individual vacuum pressure in each nipple cup from the input vacuum pressure level to a high-flow vacuum pressure level when it is detected that all of the determined individual nipple milk flow values ​​exceed the first threshold limit.

[0022] By applying high-flow vacuum pressure only when the milk flow rate of all teats exceeds a threshold limit, the high-flow vacuum pressure is avoided from being applied to teats with low or no flow rate, thereby preventing potential harm to the animals. This safely applied high-flow vacuum pressure allows for shorter milking times for each animal served at the milking station / milking robot, enabling more animals to be served per unit of time. This, in turn, provides a gentle boost by adapting the milking process to the milk flow rate of each individual teat, fundamentally improving milk extraction.

[0023] In the implementation of the method according to the second embodiment, the individual vacuum pressure in each nipple cup is adjusted to a high-flow vacuum pressure level. The method includes detecting when one of the determined nipple-specific milk flow rates is lower than a second threshold limit. The individual vacuum pressure in each nipple cup may be adjusted from a high-flow vacuum pressure level to an input vacuum pressure level when detection is performed if the determined nipple-specific milk flow rate is lower than the second threshold limit.

[0024] This avoids the application of a high flow vacuum pressure that could damage nipples with low or no milk flow when the milk flow rate of an individual nipple is below a threshold limit.

[0025] In a further implementation of the method according to the second aspect, the method includes detecting that one of the determined milk flow rate values per nipple is below a third threshold limit. The individual vacuum pressure in each nipple cup may be adjusted to a separate vacuum pressure level when performing the detection when the determined milk flow rate value per nipple is below the third threshold limit. The method also includes removing all nipple cups from the animal's nipples.

[0026] The provided solution avoids the application of a high flow vacuum pressure that could damage nipples with low or no milk flow when the milk flow rate of an individual nipple is below a threshold limit. When the pressure level of the nipple cup is set to the separate vacuum pressure level, the nipple cup is released from the nipple and the pass-through rate of the milking station is increased.

[0027] In another embodiment of the method according to the second aspect, the method also includes adjusting the individual vacuum pressure in each nipple cup to either an input vacuum pressure level or a high flow vacuum pressure level for a limited time when the nipple cup is removed from the nipple.

[0028] When an individual milk cup is released from the nipple, the provided solution enables milk to be suctioned into the milking tube, thereby avoiding the milk being discarded on the floor.

[0029] In an implementation of the method according to the second aspect, the first threshold limit is greater than or equal to the second threshold limit, and the second threshold limit is greater than or equal to the third threshold limit.

[0030] In a further implementation of the method according to the second aspect, the sensor is configured to detect the position of each teat of the animal, and a teat cup placement device communicatively connected to the sensor is configured to sequentially place each of the teat cups on the individual teats of the animal based on the sensor detection performed by the sensor. The method also includes determining which of the animal's teats are expected to require the longest time to increase the milk flow rate to a first threshold limit when starting the milking process. The method also includes applying the first teat cup to the determined teat and then sequentially applying the other teat cups to the remaining teats.

[0031] According to another aspect of the present invention, this object is achieved by a computer program. The computer program includes instructions that cause a computer to execute the steps of the method according to the second aspect when the computer program is executed by the computer.

[0032] According to a further aspect of the present invention, this object is achieved by a computer-readable storage medium. The computer-readable storage medium includes instructions that cause a computer to execute the steps of the method according to the second aspect when executed by the computer.

[0033] Thereby, time-efficient and teat-friendly milk extraction is provided.

[0034] Other advantages and further novel features will become apparent from the following detailed description. Next, embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

Brief Description of the Drawings

[0035] [Figure 1A] Shows a milk extraction system according to an embodiment in a scenario where milk is extracted from an animal. [Figure 1B] Shows details of the milk extraction system according to an embodiment. [Figure 2]Details of the milk extraction system according to the embodiment are shown. [Figure 3A] This figure shows examples of milk flow rates per unit of time per nipple during milk extraction, based on several examples. [Figure 3B] This figure shows an example of the milk flow rate per unit time per nipple during milk extraction. [Figure 3C] This figure shows an example of the milk flow rate per unit time per nipple during milk extraction. [Figure 3D] This figure shows an example of the milk flow rate per unit time per nipple during milk extraction. [Figure 4A] This is the first part of a flowchart that outlines the method steps of the method according to the embodiment. [Figure 4B] This is the second part of a flowchart that outlines the method steps of the method according to the embodiment. [Modes for carrying out the invention]

[0036] The embodiments of the present invention described herein are defined as milk extraction systems and computer implementation methods and can be implemented in the embodiments described below. However, these embodiments may be illustrated and implemented in many different forms and are not limited to the examples described herein. Rather, these exemplary examples of embodiments are provided so as to make this disclosure thorough and complete.

[0037] Further purposes and features may become apparent from the following detailed description, which is taken into consideration in conjunction with the accompanying drawings. However, it should be understood that the drawings are designed for illustrative purposes only and are not designed as definitions of the limitations of the embodiments described herein by reference to the accompanying claims. Furthermore, the drawings are not necessarily drawn to a specific scale and, unless otherwise indicated, are merely intended to conceptually illustrate the structures and procedures described herein.

[0038] Figure 1A shows a milk extraction system 100 in a scenario in which milk is extracted from an animal 110. The animal 110 may be part of a herd of dairy animals on a farm. The milk extraction system 100 may, though not essential, be advantageously implemented in an automated milking facility positioned for the spontaneous milking of freely roaming animals 110, and the animals 110 can visit the milking facility / milk extraction system 100 to be milked when desired.

[0039] "Animals" can be any type of domesticated female mammal, such as cows, goats, sheep, camels, horses, dairy cows, buffalo, donkeys, and yaks. Animal 110 may have four nipples, such as a cow, or two nipples, such as a goat and / or sheep. Other animals 110 may have a different number of nipples.

[0040] The milk extraction system 100 comprises a plurality of nipple cups 120a, 120b, 120c, and 120d. The number of nipple cups 120a, 120b, 120c, and 120d is typically the same as the number of nipples of the animal 110 being milked within the milk extraction system 100. Each nipple cup 120a, 120b, 120c, and 120d is configured to fit the individual nipples of the animal 110 during milk extraction. Liners may be applied to each nipple cup 120a, 120b, 120c, and 120d to ensure a good fit between the nipple and the nipple cup 120a, 120b, 120c, and 120d.

[0041] Each nipple cup 120a, 120b, 120c, and 120d is connected to its respective milk suction tube 150a, 150b, 150c, and 150d, which guides the expressed milk to the connected milk tank 140. The milk tank 140 is then connected to a vacuum pump 130 which generates and / or continuously generates vacuum pressure or milking vacuum within the milk tank 140. The vacuum pressure in the milk tank 140 can thereby be maintained at a substantially constant level.

[0042] In this context, the terms "vacuum pressure" and / or "milking vacuum" refer to the vacuum used to extract milk from the nipple, or a low pressure compared to ambient atmospheric pressure.

[0043] As nipple cups 120a, 120b, 120c, and 120d are about to be attached to their respective nipples, an input vacuum pressure is applied so that the nipple cups 120a, 120b, 120c, and 120d adhere to the nipple, allowing the milking to begin. Throughout the entire milking process, the same vacuum level is applied to all nipples through nipple cups 120a, 120b, 120c, and 120d.

[0044] When the nipple cups 120a, 120b, 120c, and 120d are attached to the animal's nipples, a pulsating vacuum pressure may be applied. The pulsating pressure level applied to the pulsating chamber via short pulse tubes within the nipple cups 120a, 120b, 120c, and 120d may, in some embodiments, vary between pressures higher than the milking vacuum, such as atmospheric pressure, during rest period D, while in other embodiments, the pressure level during milking period B may vary between pressures equal to or higher than the milking vacuum (i.e., not so low). Configurations for applying pulsating vacuum are not shown.

[0045] Therefore, suction is interrupted by the opening and closing, which is the rhythmic movement of the liner within the nipple cups 120a, 120b, 120c, and 120d. The force exerted by the compressed liner massages the nipple. As a result, the nipple is massaged, preventing stagnation (e.g., of blood) at the nipple end, and oxytocin release and milk ejection are stimulated by the rhythmic movement of the liner's compression and opening, in combination with the milking vacuum applied to mimic calf suckling.

[0046] It is desirable to efficiently extract milk from animals 110 in the shortest possible time (so that more animals can be served per unit time by the milk extraction system 100) without damaging or injuring the teats. The methodology developed to meet these requirements is called "boost" and is a type of controlled milk flow milking.

[0047] Therefore, milk extraction can be made more efficient when the milk flow rate exceeds a certain threshold limit, i.e., the so-called boost vacuum or high-flow vacuum pressure, and the vacuum level of the milking vacuum is introduced. In this case, the auxiliary pressure is increased relative to the standard milking vacuum level, or relative to the input vacuum pressure, i.e., relative to the input vacuum pressure which may be referred to as a level even lower than atmospheric pressure. When the milking session is about to end, a separation vacuum pressure may be applied to allow the nipple cup to be smoothly removed.

[0048] Therefore, in addition to the atmospheric pressure level that is present on the nipple when not being milked, several different vacuum levels can be added.

[0049] According to the provided solution, the vacuum pressure in each nipple cup 120a, 120b, 120c, and 120d is increased from the input vacuum pressure level to the high-flow vacuum pressure level when the milk flow rate from all nipples of the animal 110 exceeds the first threshold limit. In this way, a boost vacuum is applied to the nipples during the highest flow rate period during milking. The input vacuum pressure can be set to approximately 38-48 kPa, for example, 45 kPa. The high-flow vacuum pressure level can be set to approximately 50-60 kPa, for example, 55 kPa, and the first threshold limit can be set to approximately 350-600 g / min, for example, 500 g / min for each nipple.

[0050] This prevents the teat from being exposed to high-flow vacuum pressure / boost vacuum before the milk flow rate exceeds the first threshold limit. The high milk flow rate of the teat is the reason why the milking vacuum can be increased without damaging the teat. This ensures a gentle treatment of the animal's teat and further allows for the application of boost vacuum / high-flow vacuum pressure, which improves and streamlines the milking session, thereby allowing milking in a shorter time than if input vacuum pressure were applied throughout the entire milking process.

[0051] The vacuum pressure in each nipple cup 120a, 120b, 120c, and 120d can be adjusted throughout the milking process by individual valve devices 190a, 190b, 190c, and 190d acting on individual attached milk suction tubes 150a, 150b, 150c, and 150d that extend between the nipple cups 120a, 120b, 120c, and 120d and the milk vat 140. The valve devices 190a, 190b, 190c, and 190d may, for example, include individual shut-off valves that control milk extraction. Thus, the vacuum pressure in each nipple can be adjusted individually, but substantially simultaneously.

[0052] The milk extraction system 100 also includes a plurality of milk flow meters 160a, 160b, 160c, and 160d, each configured to measure the milk flow rate from one individual teat of the animal 110. Each milk flow meter 160a, 160b, 160c, and 160d may be applied to several segments of the corresponding milk suction tubes 150a, 150b, 150c, and 150d, thereby allowing the amount of milk sucked from each individual teat to be measured per unit of time.

[0053] The milk extraction system 100 includes a processing node 170 such as a computer. The processing node 170 is communicably connected to each of the milk flow meters 160a, 160b, 160c, and 160d, for example, via wireless connections based on wireless or optical technology, or via wired connections implemented by electrical cables or optical fibers. Thereafter, the processing node 170 can determine the milk flow rate of each nipple of the animal 110 to which the nipple cups 120a, 120b, 120c, and 120d are applied, by obtaining milk flow rate measurements through milk suction tubes 150a, 150b, 150c, and 150d connected to the nipple cups 120a, 120b, 120c, and 120d, which are made by the milk flow meters 160a, 160b, 160c, and 160d, either continuously or at repeated moments. The processing node 170 can also determine, for example, the total amount of milk sucked from each teat during a milking session, and / or the time required for each teat from the start of the milking process to its limit and / or until alveolar milk is reduced.

[0054] The processing node 170 is configured to compare the determined individual milk flow rate values ​​for each nipple with a first threshold limit. The processing node 170 is also configured to detect when all of the determined individual milk flow rate values ​​for all nipples of the animal 110 have exceeded the first threshold limit. When this happens, it means that alveolar milk is flowing from all nipples and that increased vacuum pressure (i.e., decreased pressure) can be applied to the nipples to stimulate and accelerate the milk flow.

[0055] The processing node 170 is configured to generate a command to a vacuum regulator 180 included in the milk extraction system 100, as described in detail in Figure 1B, to adjust the individual vacuum pressure in each of the nipple cups 120a, 120b, 120c, and 120d from the input vacuum pressure level to the high flow vacuum pressure level when it detects that all determined individual nipple milk flow rates exceed a first threshold limit.

[0056] The processing node 170 is generally advantageously configured to perform the above-described procedure automatically by executing a computer program. Accordingly, according to some embodiments, the processing node 170 may include a memory unit, i.e., a non-volatile data carrier, for storing the computer program, and the computer program may then include software that causes a processing circuit in the form of at least one processor within the processing node 170 to perform the above-described operation when the computer program is executed on the processing circuit.

[0057] The vacuum regulator 180 is configured to perform individual vacuum pressure adjustments in each of the nipple cups 120a, 120b, 120c, and 120d via individual valve devices 190a, 190b, 190c, and 190d, based on commands received from the processing node 170.

[0058] Accordingly, the adjustment of the vacuum pressure applied to the nipple is determined by a computer implementation method performed at the processing node 170, based on continuous monitoring of milk flow rate measurements taken from each nipple by individual milk flow meters 160a, 160b, 160c, and 160d, and comparison with threshold limits.

[0059] The vacuum pump 130 generates a vacuum pressure equal to the boost vacuum, or a high-flow vacuum pressure H, for example, about 55 kPa, which is supplied and continuously maintained in the reservoir 140 via the first part 180a of the vacuum regulator 180 through the first pneumatic pipe 181.

[0060] Individual selectors 186a, 186b, 186c, and 186d within the second section 184 of the vacuum regulator 180 may be set to one of the following: a first pneumatic tube 181 providing a high-flow vacuum pressure H, a second pneumatic tube 182 providing a separation vacuum pressure L, or a third pneumatic tube 183 providing an input vacuum pressure E. The processing node 170 may be communicatively connected to each of the selectors 186a, 186b, 186c, and 186d, for example, via a wireless connection based on wireless or optical technology, or a wired connection implemented by electrical cables or optical fibers. Based on the selection signal provided by the processing node 170, the individual valve devices 190a, 190b, 190c, and 190d are supplied with either a high-flow vacuum pressure H, an input vacuum pressure E, or a separation vacuum pressure L, which are then supplied to the nipple cups 120a, 120b, 120c, and 120d via their respective breast suction tubes 150a, 150b, 150c, and 150d.

[0061] The valve device 188a of the first part 180a of the vacuum regulator 180 can adjust the output vacuum pressure supplied to the second pneumatic pipe 182 to a separate vacuum L by maintaining the valve 188a in an intermediate position and mixing the high flow vacuum pressure H with atmospheric pressure.

[0062] The vacuum regulator 180 can adjust the output vacuum pressure provided through the third pneumatic pipe 183 to the input vacuum pressure E by maintaining valve 188b in an intermediate position and mixing the high-flow vacuum pressure H with atmospheric pressure.

[0063] The first part 180a of the vacuum regulator 180 may include an optional shut-off valve 185 to interrupt the high-flow vacuum pressure H supplied to individual valve devices 190a, 190b, 190c, 190d via the first air pressure pipe 181 and individual intermediate air pipes 195a, 195b, 195c, 195d.

[0064] Valve devices 190a, 190b, 190c, 190d, also referred to as shut-off valves, provide either a high-flow vacuum pressure H, an input vacuum pressure E, or a separation vacuum pressure L via individual intermediate air tubes 195a, 195b, 195c, 195d, based on how the individual selectors 186a, 186b, 186c, 186d of the second section 184 of the vacuum regulator 180 are set by the processing node 170. The generated vacuum is then supplied to the corresponding nipple cups 120a, 120b, 120c, 120d via their respective breast suction tubes 150a, 150b, 150c, 150d.

[0065] This is merely one example of a method by which different vacuum levels H, E, and L can be selected and provided. In other embodiments, many other implementations and / or different amounts of vacuum levels may be used.

[0066] The processing node 170 may be configured to detect when the individual vacuum pressures in each of the nipple cups 120a, 120b, 120c, and 120d are adjusted to a high-flow vacuum pressure level H, and when one of the determined nipple-specific milk flow rates is lower than a second threshold limit.

[0067] The second threshold limit may be set to approximately 300-600 g / min per nipple, for example, 500 g / min per nipple. The second threshold limit may be set to the same level as the first threshold limit, or alternatively, to a lower milk flow rate per unit time.

[0068] The processing node 170 may also be configured to generate a command to the vacuum regulator 180 to adjust the individual vacuum pressure in each of the nipple cups 120a, 120b, 120c, and 120d from a high-flow vacuum pressure level to an input vacuum pressure level E when it detects that the individual milk flow rate value for a single nipple is lower than a second threshold limit.

[0069] The advantage of reducing the vacuum pressure in each of the nipple cups 120a, 120b, 120c, and 120d from a high-flow vacuum pressure H to an input vacuum pressure E when the milk flow rate per unit time from one nipple is lower than the second threshold limit is that any nipple of the animal 110 is prevented from being damaged due to the high vacuum pressure H when the milk flow rate is low, while still allowing milking based on the applied input vacuum pressure E. This achieves reasonable and rapid milking without damaging the nipples of the animal 110.

[0070] In some embodiments, the processing node 170 may be configured to detect if one of the determined individual nipple milk flow rates for one individual nipple is lower than a third threshold limit. The processing node 170 may also be configured to generate commands to the vacuum regulator 180 to adjust the individual vacuum pressures in each of the nipple cups 120a, 120b, 120c, and 120d to a separate vacuum pressure level L.

[0071] The separation vacuum pressure level L can be set to approximately 10-20 kPa, for example, approximately 15 kPa. In some embodiments, the third threshold limit may be the same as the first and / or second threshold limits, i.e., approximately 300-600 g / min per nipple, for example, 500 g / min for each nipple. Alternatively, the third threshold limit may be set to a lower milk flow rate per unit time than the first threshold limit, for example, approximately 200-300 g / min, for example, 240 g / min.

[0072] By detecting when the milk flow rate per unit time from a single teat is below the third threshold limit, and then setting the vacuum pressure to the separation vacuum pressure, damage to the teats is avoided, providing more rational and time-efficient milking, and ensuring that a large number of animals are served per unit time by the milk extraction system 100.

[0073] After the milking session is completed, the processing node 170 may also be configured in some embodiments to detect that all nipple cups 120a, 120b, 120c, and 120d have been removed from the animal's 110. The removal of the nipple cups 120a, 120b, 120c, and 120d may be detected / confirmed by a sensor, such as a camera, and / or by detecting the absence of milk flow through milk flow meters 160a, 160b, 160c, and 160d. Furthermore, when the processing node 170 detects that all nipple cups 120a, 120b, 120c, and 120d have been removed from the nipples 210a, 210b, 210c, and 210d, it may be configured to generate a command to the vacuum regulator 180 to adjust the individual vacuum pressure in each of the nipple cups 120a, 120b, 120c, and 120d to either input vacuum pressure level E or high flow vacuum pressure level H for a limited time, such as 5 to 10 seconds.

[0074] As a result, any milk that may remain in the milk suction tubes 150a, 150b, 150c, and 150d is drawn into the milk tank 140 without being discarded on the floor.

[0075] Figure 2 shows a milk extraction system 100, a nipple cup placement device 220 such as a milking robot, which is communicatively connected to sensors 230 such as cameras, video cameras, LiDARs, radars, and infrared cameras. Sensors 230 are configured to detect the position of each nipple 210a, 210b, 210c, and 210d of the animal 110.

[0076] In the illustrated non-limiting embodiments, the nipple cup placement device 220 is embodied as a milking robot, which may be part of an Automatic Milking System (AMS) and may also be referred to as a Voluntary Milking System (VMS).

[0077] The nipple cup placement device 220 may be communicatively connected to the sensor 230 via a wired or wireless connection to obtain information regarding the individual positions of the animal's nipples 210a, 210b, 210c, and 210d. The nipple cup placement device 220 may be configured to sequentially attach nipple cups 120a, 120b, 120c, and 120d to each of the individual nipples 210a, 210b, 210c, and 210d of the animal 110, based on sensor detection performed by the sensor 230. The nipple cups 120a, 120b, 120c, and 120d may be held in a storage magazine or similar storage zone, and the nipple cup placement device 220 can pick up one nipple cup at a time and place it on one of the nipples 210a, 210b, 210c, and 210d, and repeat this until all nipple cups 120a, 120b, 120c, and 120d are attached.

[0078] In some embodiments, the processing node 170 may be configured to determine which of the animal 110's teats 210a, 210b, 210c, and 210d is expected to take the longest time to increase the milk flow rate to a first threshold limit when the milking process begins.

[0079] Such information regarding the milk extraction curves of each teat 210a, 210b, 210c, and 210d of each individual animal 110 on the farm may be stored, for example, in a digital memory or database that is communicably connected to or contained within the processing node 170 and retrieved thereafter.

[0080] The digital memory may store historical milk extraction data for at least one teat 210a, 210b, 210c, 210d of at least one animal 110 on the farm, associated with an identification reference of a specific animal 110. The stored milk extraction data may include, for example, a time estimate for each teat 210a, 210b, 210c, 210d, from the arrangement of the teat cups 120a, 120b, 120c, 120d to reach a milk flow rate per unit of time corresponding to a first threshold limit. In other embodiments, the stored milk extraction data may include an identification reference of the teat 210a, 210b, 210c, 210d that is historically slowest to reach a milk flow rate per unit of time corresponding to a first threshold limit.

[0081] In some embodiments, the animal 110 may be identified by an animal identification device that can be attached to the animal 110, such as a necklace around the animal 110's neck, under the animal 110's skin, as an ear tag, around the animal 110's tail, and / or around any, some, or all of the animal 110's legs.

[0082] In some embodiments, the animal identification device may include a transponder, such as a radio frequency identification (RFID) device. The transponder may contain electronically stored information for uniquely identifying the animal 110 (at least uniquely within the farm). Such a transponder may be active or passive. Other known identification methods and / or devices may be applied to different embodiments.

[0083] Next, the reader can provide the identification information of the animal 110 obtained from the identification device to the processing node 170 via a wired or wireless communication interface.

[0084] The processing node 170 may also be configured to generate commands to the nipple cup placement device 220 to begin placing the first nipple cups 120a, 120b, 120c, and 120d onto the determined nipples 210a, 210b, 210c, and 210d, and then sequentially apply the other nipple cups 120a, 120b, 120c, and 120d to the remaining nipples 210a, 210b, 210c, and 210d.

[0085] By attaching the first nipple cups 120a, 120b, 120c, and 120d to the nipples 210a, 210b, 210c, and 210d that are estimated to take the longest time for milk ejection to reach the milk flow rate per unit time corresponding to the first threshold limit within the nipple cups 120a, 120b, 120c, and 120d, the period during which a boost can be applied is reached more quickly than with the other nipples 210a, 210b, 210c, and 210d, resulting in a more efficient and shorter milking process, without the risk of damaging the nipples 210a, 210b, 210c, and 210d due to excessive vacuum pressure.

[0086] In some alternative embodiments, the processing node 170 may be configured to sequentially place nipple cups 120a, 120b, 120c, and 120d on nipples 210a, 210b, 210c, and 210d in order of the time difference it takes for each individual nipple 210a, 210b, 210c, and 210d to reach the milk flow rate per unit of time corresponding to the first threshold limit. Thus, the nipples 210a, 210b, 210c, and 210d that are slowest to reach the first threshold limit may be placed first by the nipple cup placement device 220. Subsequently, the second slowest, third slowest, and so on may be placed.

[0087] This further streamlines and improves the milking sessions of the animals 110, allows for extended milking periods at high-flow vacuum level H, and eliminates the risk of damage to the teats 210a, 210b, 210c, and 210d due to excessive vacuum pressure.

[0088] Figure 3A schematically shows the milk flow rate per unit time per nipple of animal 110. In this case, animal 110 has four nipples 210a, 210b, 210c, and 210d. The four nipple cups 120a, 120b, 120c, and 120d are attached sequentially one at a time to nipples 210a, 210b, 210c, and 210d in the order indicated by a to d, relating to each individual nipple-specific milk curve in Figure 3A. An input vacuum E may be applied when attaching the nipple cups 120a, 120b, 120c, and 120d. The first nipple cup 120a is applied to any first nipple a at the origin of the figure.

[0089] The milk flow from the first nipple a rises rapidly and steadily, passing the first threshold limit 301 and reaching a flat region, after which the milk flow begins to decrease. Between the peaks or flat regions of the graph, the milk flow rate per nipple of the first nipple a may be, for example, approximately 0.75 to 1.5 kg of milk per minute.

[0090] However, since the milk flow from the second nipple b is clearly slow, the milk flow rate will not exceed the first threshold limit 301 until the respective milk flow rates of both the third nipple c and the fourth nipple d reach the first threshold limit 301.

[0091] Therefore, the second nipple b is the last nipple to reach the first threshold limit 301. To avoid damaging the second nipple b, the boost is not triggered until all four nipples 210a, 210b, 210c, and 210d reach a milk flow rate exceeding the first threshold limit 301. Next, the vacuum pressure is adjusted to the high-flow vacuum pressure level H, thereby enabling milk extraction by the boost.

[0092] According to the embodiment shown in Figure 3A, the vacuum pressure may be reduced from a boost vacuum (high flow rate vacuum pressure level H) to a separation vacuum pressure level L when the milk flow rate of the first nipple a decreases to less than the first threshold limit 301.

[0093] Figure 3B shows an embodiment in which a third threshold limit 303 is introduced. The third threshold limit 303 may be set, for example, to approximately 240 g / min per nipple.

[0094] The boost is activated when the milk flow rate of the second nipple b exceeds the first threshold limit 301. The high-flow vacuum pressure H may then be maintained until the milk flow rate of the first nipple a falls below the third threshold limit 303. After that, when the milk flow rate of the first nipple a decreases to below the third threshold limit 303, the vacuum pressure can be reduced from the boost vacuum (high-flow vacuum pressure level H) to the separation vacuum pressure level L.

[0095] Compared to the embodiment shown in Figure 3A, the advantage of the embodiment shown in Figure 3B is that milk extraction can be performed using boosts over a longer period of time, thereby reducing the overall milking time for each animal 110 served and allowing for more efficient milking of the animals 110.

[0096] Figure 3C shows an embodiment in which a second threshold limit 302 is introduced. The second threshold limit 302 may be set to, for example, approximately 350 g / min per nipple (any non-limiting example) compared to the embodiment in Figure 3B.

[0097] In the illustrated embodiments, similar to the embodiments described above in Figures 3A and 3B, the boost is activated when the milk flow rate of the second nipple b exceeds the first threshold limit 301. The high-flow vacuum pressure H can then be maintained until the milk flow rate of the first nipple a falls below the second threshold limit 302. The vacuum pressure can then be reduced from the boost vacuum (high-flow vacuum pressure level H) to the input vacuum level E. If the milk flow rate of the first nipple a continues to decrease below the third threshold limit 303, the vacuum pressure can then be reduced from the input vacuum level E to the separation vacuum pressure level L.

[0098] Figure 3D shows an alternative embodiment in which the nipples 210a, 210b, 210c, and 210d (in this case, the second nipple b) of the animal 110 that is slowest / takes the longest to reach the first threshold limit 301 are identified, and the nipple cup placement device 220 begins by placing the first nipple cups 120a, 120b, 120c, and 120d on the identified nipples 210a, 210b, 210c, and 210d, and then sequentially applies the other nipple cups 120a, 120b, 120c, and 120d to the remaining nipples 210a, 210b, 210c, and 210d.

[0099] This allows the time at which the boost can be applied to the other nipples 210a, 210b, 210c, and 210d to be reached sooner. Since the time at which the boost can be applied is extended compared to the embodiment shown in Figure 3A, the milking process becomes more efficient.

[0100] Figures 4A to 4B schematically show an example of a computer implementation method 400 according to an embodiment. The flowcharts in Figures 4A to 4B show the method 400 performed at the processing node 170, thereby enabling the individual adjustment of the vacuum pressure in each of the individual nipple cups 120a, 120b, 120c, and 120d of the animal 110 during milk extraction in the milk extraction system 100.

[0101] The individual vacuum pressure is set to input vacuum pressure level E, and one nipple cup 120a, 120b, 120c, 120d is applied to each nipple 210a, 210b, 210c, 210d of the animal 110.

[0102] To precisely adjust individual vacuum pressures, Method 400 may include several steps 401–410. However, some of these steps 401–410 may be performed only in some alternative embodiments, such as steps 401, 402, 407, 408, 409 and / or step 410. Furthermore, the described steps 401–410 may be performed in a time sequence somewhat different from that suggested by the numbering. Method 400 may include the following subsequence steps:

[0103] Step 401, which may be performed in only some embodiments, includes determining which of the animal's teats 210a, 210b, 210c, and 210d is expected to take the longest time to increase the milk flow rate to a first threshold limit 301 when the milking process is initiated.

[0104] These nipples 210a, 210b, 210c, and 210d may be determined based on historical milk flow statistics of the nipples 210a, 210b, 210c, and 210d of the animal 110, which may be extracted from a database in some embodiments.

[0105] Step 401 may be carried out in an embodiment in which the milk extraction system 100 comprises a sensor 230 such as a camera, video camera, lidar, or radar, which can be configured to detect the position of each of the nipples 210a, 210b, 210c, and 210d of the animal 110, and a nipple cup placement device 220 or milking robot communicatively connected to the sensor 230, which can be configured to sequentially attach nipple cups 120a, 120b, 120c, and 120d to each of the nipples 210a, 210b, 210c, and 210d of the animal 110 based on the sensor detection performed by the sensor 230.

[0106] Step 402, which may be performed only in some embodiments in which step 401 is performed, includes applying the first nipple cups 120a, 120b, 120c, 120d to the determined 401 nipples 210a, 210b, 210c, 210d, and then sequentially applying the other nipple cups 120a, 120b, 120c, 120d to the remaining nipples 210a, 210b, 210c, 210d.

[0107] Step 403 includes determining the intrinsic milk flow values ​​for each individual nipple 210a, 210b, 210c, 210d of animal 110 based on individual measurements received from milk flowmeters 160a, 160b, 160c, 160d, respectively, which are configured to measure the milk flow rate of one individual nipple 210a, 210b, 210c, 210d of animal 110, during milk extraction from the nipples 210a, 210b, 210c, 210d of animal 110.

[0108] Step 404 includes comparing the determined (403) individual nipple milk flow rate values ​​with the first threshold limit 301.

[0109] Step 405 includes detecting that, based on the comparison (404) performed, all determined (403) individual nipple milk flow values ​​exceed the first threshold limit 301.

[0110] Step 406 includes adjusting the individual vacuum pressure in each nipple cup 120a, 120b, 120c, and 120d from input vacuum pressure level E to high flow vacuum pressure level H when it is detected (405) that all determined (403) individual nipple milk flow values ​​exceed the first threshold limit 301.

[0111] Step 407, which may be performed only in some embodiments in which step 406 is performed, includes detecting that the individual milk flow rate values ​​for one of the nipples 210a, 210b, 210c, and 210d of the animal 110 are lower than a first threshold limit 301.

[0112] In some embodiments where the individual vacuum pressures in each nipple cup 120a, 120b, 120c, and 120d are adjusted to a high-flow vacuum pressure level H, it may include detecting that one of the determined nipple-specific milk flow rates is lower than a second threshold limit 302.

[0113] The first threshold limit 301 may be greater than or equal to the second threshold limit 302. Therefore, both the first threshold limit 301 and the second threshold limit 302 may be set to substantially the same value, for example, 500 g / min, in some embodiments. In other embodiments, the second threshold limit 302 may be somewhat lower than the first threshold limit 301, for example, about 10-20% lower. If the first threshold limit 301 is set to 500 g / min per nipple, the second threshold limit 302 may be set to 450 g / min per nipple in an unspecified example.

[0114] Step 407 may also, or alternatively, include detecting, based on the comparison (404) performed, that one of the determined nipple-specific milk flow values ​​is lower than the third threshold limit 303.

[0115] Step 408, which may be performed only in some embodiments in which step 407 is performed, includes adjusting the individual vacuum pressure in each nipple cup 120a, 120b, 120c, 120d from a high-flow vacuum pressure level H to a separation vacuum pressure level L when it is detected (405) that the determined individual nipple flow rate value for one of the nipples 210a, 210b, 210c, 210d of the animal 110 is lower than a first threshold limit 301.

[0116] Step 408 may include adjusting the individual vacuum pressure in each nipple cup 120a, 120b, 120c, 120d from the high-flow vacuum pressure level H to the input vacuum pressure level E when detecting (407) that one of the determined nipple-specific milk flow values ​​is lower than the second threshold limit 302, in some embodiments where the individual vacuum pressure in each nipple cup 120a, 120b, 120c, 120d is adjusted to the high-flow vacuum pressure level H.

[0117] Step 408 may, in some embodiments, include adjusting the individual vacuum pressures in each nipple cup 120a, 120b, 120c, and 120d to a separate vacuum pressure level L when detecting (407) that one of the determined nipple-specific milk flow values ​​is lower than a third threshold limit 303.

[0118] The second threshold limit 302 may, in some embodiments, be greater than or equal to the third threshold limit 303. Thus, both the second and third threshold limits 302 and 303 can, at their discretion, be set to substantially the same value in some embodiments, such as 500 g / min, similar to the first threshold limit 301. In other embodiments, the third threshold limit 303 may be somewhat lower than the second threshold limit 302, such as about 20-60% lower. If the second threshold limit 302 is set to 500 g / min, then in non-limiting examples, the second threshold limit 302 may be set to 240 g / min.

[0119] Step 409, which may be performed only in some embodiments, includes separating all nipple cups 120a, 120b, 120c, 120d from the nipples 210a, 210b, 210c, 210d of the animal 110.

[0120] Step 410 may be performed only in certain embodiments in which Step 409 has been performed, and in certain embodiments in which the individual vacuum pressures in each nipple cup 120a, 120b, 120c, 120d have been adjusted to a separate vacuum pressure level L (408), includes adjusting the individual vacuum pressures in each nipple cup 120a, 120b, 120c, 120d to either an input vacuum pressure level E or a high-flow vacuum pressure level H for a limited time when the nipple cups 120a, 120b, 120c, 120d have been removed from the nipples 210a, 210b, 210c, 210d (409).

[0121] The provided method 400 allows for the dynamic adjustment of the milking vacuum of each teat 210a, 210b, 210c, and 210d of the animal 110 according to the current milk flow rate per unit time. Therefore, when the milk flow rate per unit time of any of the teats 210a, 210b, 210c, and 210d is lower than the first threshold limit 301, boost milking is not performed, and when the milk flow rate per unit time of all teats 210a, 210b, 210c, and 210d exceeds the first threshold limit 301, the milking vacuum is adjusted to a high-flow vacuum pressure level H. This improves milking efficiency and eliminates, or at least reduces, damage to the teats due to excessive vacuum pressure. This is presumed to improve the condition of the animal 110's teats, but the milking time per animal 110 is shortened, allowing the milk extraction system 100 to milk more animals per unit time.

[0122] The method steps 401 to 410 described above, which are performed in the processing node 170, may be implemented via one or more processing circuits within the processing node 170, along with a computer program that performs at least some of the functions of method steps 401 to 410. Thus, the computer program includes instructions that cause the processing node 170 to perform method 400 relating to at least some of steps 401 to 410 when the computer program is executed by the processing node 170 in the milk extraction system 100.

[0123] The computer program described above may be provided, for example, in the form of a data carrier that carries computer program code to execute at least some of steps 401 to 410 according to some embodiments when loaded onto a computer-readable medium, i.e., one or more processing circuits of the processing node 170. The data carrier may be any other suitable medium, such as a hard disk, CD-ROM disk, memory stick, optical memory device, magnetic memory device, or disk or tape capable of non-temporarily holding machine-readable data. The computer program may also be provided as computer program code on a server and downloaded remotely to the processing node 170, for example, via the Internet or an intranet connection.

[0124] The terminology used in the description of the embodiments shown in the accompanying drawings is not limited to the computer implementation method 400, milk extraction system 100, processing node 170, computer program, and / or computer-readable storage medium described. Various changes, substitutions, and / or modifications can be made without departing from the embodiments of the present invention as defined by the accompanying claims. Various exemplary embodiments depicted in Figures 1 to 4B and / or discussed in the corresponding individual sections of this specification can be advantageously combined with one another, for example, by mixing and aggregating some or all of the features of the described embodiments, thereby achieving additional advantages.

[0125] As used herein, the term “and / or” includes any combination of one or more of the enumerated items relating to the claim, and all combinations thereof. As used herein, the term “or” should be interpreted as a mathematical OR, i.e., an inclusive OR, and not as a mathematical exclusive OR (XOR), unless otherwise specified. In addition, the singular forms “a,” “an,” and “the” should be interpreted as “at least one,” and therefore, unless otherwise specified, may include multiple entities of the same kind. It will be further understood that the terms “includes,” “comprises,” “including,” and / or “comprising” specify the presence of the described features, actions, integers, steps, behaviors, elements, and / or components, but do not exclude the presence or addition of one or more other features, actions, integers, steps, behaviors, elements, components, and / or groups thereof. For example, a single unit such as a processor may perform the functions of several of the items enumerated in the claims. The mere fact that certain means or features are described in different dependent claims, shown in different drawings, or discussed in relation to different embodiments does not imply that combinations of these means or features cannot be used more effectively.

Claims

1. Multiple nipple cups (120a, 120b, 120c, 120d) configured to fit individual nipples (210a, 210b, 210c, 210d) of an animal (110) during milk extraction, Each of the breast suction tubes (150a, 150b, 150c, 150d) is connected to an individual nipple cup (120a, 120b, 120c, 120d), and there are multiple breast suction tubes (150a, 150b, 150c, 150d), A vacuum pump (130) configured to generate vacuum pressure, A breast tank (140) is connected to each of the nipple cups (120a, 120b, 120c, 120d) via individual breast suction tubes (150a, 150b, 150c, 150d), and is also connected to the vacuum pump (130), Multiple valve devices (190a, 190b, 190c, 190d), each configured to adjust the vacuum pressure in the nipple cups (120a, 120b, 120c, 120d), A plurality of milk flow meters (160a, 160b, 160c, 160d) each configured to measure the milk flow rate of one individual nipple (210a, 210b, 210c, 210d) of the animal (110), A processing node (170) is connected to each of the milk flow meters (160a, 160b, 160c, 160d) in a communication manner, Based on the milk flow rate measurements of each milk flow meter (160a, 160b, 160c, 160d), the individual milk flow rate values ​​for each nipple (210a, 210b, 210c, 210d) are determined during milk extraction from the nipples (210a, 210b, 210c, 210d) of the animal (110). The determined milk flow rate values ​​for each nipple are compared with the first threshold limit (301). It is detected that all of the determined nipple-specific milk flow values ​​exceed the first threshold limit (301), When it is detected that all determined individual nipple milk flow rates exceed the first threshold limit (301), the system is configured to generate a command to a vacuum regulator (180) to adjust the individual vacuum pressure in each of the nipple cups (120a, 120b, 120c, 120d) from an input vacuum pressure level (E) to a high-flow vacuum pressure level (H), wherein the input vacuum pressure level (E) and the high-flow vacuum pressure level (H) are milking vacuum pressure levels that are lower than ambient atmospheric pressure and used to extract milk from the nipples, and the high-flow vacuum pressure level (H) is a higher vacuum level than the input vacuum pressure level (E) at a processing node (170). A vacuum regulator (180) is configured to perform individual vacuum pressure adjustments in each of the nipple cups (120a, 120b, 120c, 120d) via valve devices (190a, 190b, 190c, 190d) based on commands obtained from the processing node (170), A milk extraction system (100) is provided with the following features.

2. When the processing node (170) adjusts the individual vacuum pressure to the high-flow vacuum pressure level (H), One of the determined nipple-specific milk flow values ​​was detected to be lower than the second threshold limit (302), The milk extraction system (100) according to claim 1, configured to generate a command to the vacuum regulator (180) to adjust the individual vacuum pressure in each of the nipple cups (120a, 120b, 120c, 120d) from the high-flow vacuum pressure level (H) to the input vacuum pressure level (E) when it is detected that one of the determined nipple-specific milk flow rates is lower than the second threshold limit (302).

3. The processing node (170) is One of the determined nipple-specific milk flow values ​​was detected to be lower than the third threshold limit (303), The milk extraction system (100) according to claim 2, configured to generate a command to the vacuum regulator (180) to adjust the individual vacuum pressure in each of the nipple cups (120a, 120b, 120c, 120d) to a separation vacuum pressure level (L) when it is detected that one of the determined nipple-specific milk flow rates is lower than the third threshold limit (303).

4. The processing node (170) is It is detected that all nipple cups (120a, 120b, 120c, 120d) have been removed from the nipples (210a, 210b, 210c, 210d) of the animal (110). Milk extraction system (100) according to any one of claims 1 to 3, configured to generate a command to the vacuum regulator (180) to adjust the individual vacuum pressure in each of the nipple cups (120a, 120b, 120c, 120d) to either the input vacuum pressure level (E) or the high flow vacuum pressure level (H) for a limited time when it is detected that all of the nipple cups (120a, 120b, 120c, 210d) have been removed from the nipple (210a, 210b, 210c, 210d).

5. The milk extraction system (100) according to claim 3, wherein the first threshold limit (301) is greater than or equal to the second threshold limit (302), and the second threshold limit (302) is greater than or equal to the third threshold limit (303).

6. A sensor (230) configured to detect the position of each nipple (210a, 210b, 210c, 210d) of the animal (110), The system comprises a nipple cup placement device (220) which is communicatively connected to the sensor (230) and configured to sequentially attach each of the nipple cups (120a, 120b, 120c, 120d) to the individual nipples (210a, 210b, 210c, 210d) of the animal (110) based on sensor detection performed by the sensor (230), The processing node (170) is Determine which of the animal (110)'s nipples (210a, 210b, 210c, 210d) is expected to take the longest time to increase the milk flow rate to the first threshold limit (301) when the milking process begins. A milk extraction system according to any one of claims 1 to 5, configured to generate commands to the nipple cup placement device (220) to start placing the first nipple cups (120a, 120b, 120c, 120d) on the nipple (210a, 210b, 210c, 210d) which is determined to require the longest time, and then sequentially apply the other nipple cups (120a, 120b, 120c, 120d) to the remaining nipples (210a, 210b, 210c, 210d).

7. A computer-driven method (400) in a milk extraction system (100) for adjusting the individual vacuum pressure in each nipple cup (120a, 120b, 120c, 120d) of individual nipples (210a, 210b, 210c, 210d) of an animal (110) during milk extraction, wherein the individual vacuum pressure is set to an input vacuum pressure level (E), and one nipple cup (120a, 120b, 120c, 120d) is applied to each nipple (210a, 210b, 210c, 210d) of the animal (110), and the method (400) is, Step (403) of determining the intrinsic milk flow value of each individual nipple (210a, 210b, 210c, 210d) of the animal (210) based on individual measurements received by milk flow meters (160a, 160b, 160c, 160d), each configured to measure the milk flow rate of one individual nipple (210a, 210b, 210c, 210d) of the animal (110) during milk extraction from the nipples (210a, 210b, 210c, 210d), The steps include comparing the determined (403) nipple-specific milk flow values ​​with the first threshold limit (301) (404), Step (405) of detecting that all of the determined (403) nipple-specific milk flow values ​​exceed the first threshold limit (301), The process includes the step (406) of adjusting the individual vacuum pressure in each nipple cup (120a, 120b, 120c, 120d) from the input vacuum pressure level (E) to the high flow vacuum pressure level (H) when it is detected (405) that all determined (403) individual nipple milk flow values ​​exceed the first threshold limit (301), The input vacuum pressure level (E) and the high-flow vacuum pressure level (H) are milking vacuum pressure levels that are lower than ambient atmospheric pressure and used to extract milk from the nipple, wherein the high-flow vacuum pressure level (H) is a higher vacuum than the input vacuum pressure level (E), a method (400) performed by a computer.

8. The individual vacuum pressures in each nipple cup (120a, 120b, 120c, 120d) are adjusted to the high-flow vacuum pressure level (H) (406), This includes detecting (407) that one of the milk flow rate values ​​for each nipple is lower than the second threshold limit (302), The method according to claim 7 (400), wherein the individual vacuum pressure in each nipple cup (120a, 120b, 120c, 120d) is adjusted from the high-flow vacuum pressure level (H) to the input vacuum pressure level (E) when it is detected (407) that one of the individual nipple milk flow rates is lower than the second threshold limit (302) (408).

9. Detecting that one of the milk flow rate values ​​for each nipple is lower than the third threshold limit (303) (407), The individual vacuum pressures in each nipple cup (120a, 120b, 120c, 120d) are adjusted to a separation vacuum pressure level (L) (408) when it is detected (407) that one of the individual nipple milk flow rates is lower than the third threshold limit (303), (409) Remove all nipple cups (120a, 120b, 120c, 120d) from the nipples (210a, 210b, 210c, 210d) of the animal (110), The method according to claim 8 (400), including the method according to claim 8.

10. When the nipple cups (120a, 120b, 120c, 120d) are removed from the nipples (210a, 210b, 210c, 210d), the individual vacuum pressure in each nipple cup (120a, 120b, 120c, 120d) is adjusted for a limited time to either the input vacuum pressure level (E) or the high-flow vacuum pressure level (H) (410). The method according to claim 9 (400), including the method according to claim 9.

11. The method according to claim 9 (400), wherein the first threshold limit (301) is greater than or equal to the second threshold limit (302), and the second threshold limit (302) is greater than or equal to the third threshold limit (303).

12. The sensor (230) is configured to detect the position of each of the nipples (210a, 210b, 210c, 210d) of the animal (110). The nipple cup placement device (220), which is communicatively connected to the sensor (230), is configured to sequentially attach the nipple cups (120a, 120b, 120c, 120d) to each of the individual nipples (210a, 210b, 210c, 210d) of the animal (110) based on sensor detection performed by the sensor (230). The above method (400) is, To determine which of the animal (110) (210a, 210b, 210c, 210d) is expected to take the longest time to increase the milk flow rate to the first threshold limit when starting the milk extraction process (401), The method according to any one of claims 7 to 11 (400), comprising applying the first nipple cups (120a, 120b, 120c, 120d) to the determined (401) nipples (210a, 210b, 210c, 210d), and then sequentially applying the other nipple cups (120a, 120b, 120c, 120d) to the remaining nipples (210a, 210b, 210c, 210d) (402).

13. A computer program including instructions, wherein when the computer program is executed by a computer, the instructions cause the computer to perform a step of the method (400) according to any one of claims 7 to 12, if the computer program is being executed on the computer.

14. A computer-readable storage medium containing instructions, wherein, when executed by a computer, the instructions cause the computer to perform the steps of the method (400) according to any one of claims 7 to 12.

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