Milk extracting system and controller therein

Abstract

Milk extracting system (100) comprising a quarter milking point (500) with four milk meter devices (561, 562, 563, 564) for measuring milk yield and / or time duration and / or milk flow rate from each teat (111, 112) of an animal (101) during a milking session (311a), and an udder milking point (130) with four teat cups (131, 132, 133, 134), each fitting on a teat and comprising a liner (220a, 220b) and a shell (230a, 230b) to create a pulsation space (225). The system includes a pulsator device (210) with independent channels (221, 222) connected to the pulsation spaces, controlled by a controller (180). It also comprises an animal identification device (120a, 120b) and a memory device (190) for storing and utilizing milk data of the quarter milking point (500) to adjust pulsation settings for optimized milking when the animal is milked on the udder milking point.

Description

[0001] MILK EXTRACTING SYSTEM AND CONTROLLER THEREIN

[0002] TECHNICAL FIELD

[0003] This document discloses a milk extracting system and a controller of an udder milking point comprised in the milk extracting system. More particularly, the milk extracting system and the controller are described, for determining pulsation settings of a pulsator device of the udder milking point, based on milk data measured by four milk meter devices of a quarter milking point, also comprised in the milk extracting system.

[0004] BACKGROUND

[0005] On a dairy farm, milk is typically extracted from the animals by putting a teat cup with a liner on a teat of the animal and apply milking vacuum under the tip of the teat, and a pulsation vacuum to a pulsation space between the liner and the teat cup shell. Hereby, the rhythmical suckling of a calf is imitated so that sucking by the milking vacuum is interrupted by rhythmical motions, opening and closing of the liner caused by the pulsation vacuum. Consequently, the teats are exposed to a massage which stimulates oxytocin release of the animal, which in turn activates the milk ejection reflex. Also, congestion in the teat end is prevented by the applied massage.

[0006] It is desired to evacuate the milk from the animal as fast and as complete as possible while reducing teat congestion and avoid injury on the teats (due to excess exposure of underpressure on the teat tip). It is also desired to milk out all the teats of each animal at substantially the same time. By shortening the milking time period of each animal, the milking point is enabled to serve more animals per time unit, which in turn increases the total milk yield at the farm.

[0007] For achieving these goals, an individual pulsation setting of each individual animal teat of each animal at the farm is required. This individual pulsation setting has to be based on a correct and precise measurements of milk yield and / or time duration and / or milk flow rate of each individual animal teat of each animal.

[0008] However, milk meter devices for measuring the milk yield and / or time duration and / or milk flow rate is expensive, and it is desired to reduce the total numbers of milk meter devices at the farm. It appears that further investigations and development is required for improving milk evacuation of animals at a farm.

[0009] SUMMARY

[0010] It is therefore an object of this invention to solve at least some of the above problems and improve milking of an animal.

[0011] According to a first aspect of the invention, this objective is achieved by a milk extracting system, comprising a plurality of milking points, of which at least one is a quarter milking point and at least one is an udder milking point.

[0012] The quarter milking point comprises four milk meter devices, each arranged to measure milk yield and / or time duration and / or milk flow rate of one individual animal teat during a milking session of an animal.

[0013] The udder milking point comprises four teat cups, each configured to fit on a respective teat of the animal during milk extraction in the milking session, wherein each teat cup comprises a respective liner and a shell, forming a pulsation space between the liner and the shell.

[0014] The at least one udder milking point comprises a pulsator device which comprises at least two independent channels, each connected to the respective pulsation space of at least one teat cup of the four teat cups. The udder milking point also comprises a controller of the pulsator device.

[0015] The milk extracting system comprises an animal identification device, configured to identify the animal to be milked at the quarter milking point or at the udder milking point. The milk extracting system also comprises a memory device, configured to store quarter milk data that is extracted from the milk yield and / or time duration and / or milk flow rate of each individual animal teat of the identified animal as measured when being milked in the quarter milking point.

[0016] The controller of the pulsator device of the udder milking point is configured to obtain an identity reference of the animal to be milked at the udder milking point, from the animal identification device before commencing the milking session. Also, the controller is configured to obtain quarter milk data of the identified animal from the memory device. The controller is also configured to determine pulsation settings of the pulsator device of the udder milking point, based on the obtained quarter milk data of the identified animal. In addition, the controller is also configured to provide the determined pulsation settings to the pulsator device, for application during the milking session of the identified animal.

[0017] The pulsator device is configured to obtain pulsation settings from the controller. Also, the pulsator device is configured to supply fluid pressure at two distinct levels, alternatively provided to the respective pulsation space of the four teat cups via the independent channels during the milking session, according to the obtained pulsation settings.

[0018] Thereby, by using measurements made by the four milk meter devices at a quarter milking point when the same animal is to be milked at the udder milking point, the controller is enabled to determine appropriate pulsation settings of the pulsator device of the udder milking point, although the udder milking point does not comprise four milk meter devices.

[0019] Thus, precise / optimised pulsation settings of the pulsator device at the udder milking point is enabled. The total number of milk meter devices may be reduced, in comparison with measuring milk yield and / or time duration and / or milk flow rate of one individual animal teat during a milking session of an animal.

[0020] Optionally, the controller may be configured to provide predetermined pulsation settings to the pulsator device of the udder milking point, in case no quarter milk data has been obtained for the identified animal.

[0021] By preparing and storing predetermined pulsation settings, it is assured that reasonable pulsation settings are enabled for the pulsator device of the udder milking point, also when there are no previously made / stored teat-specific measurements of the animal to be milked.

[0022] Optionally, the milk extracting system may comprise a rotating platform, comprising at least one quarter milking point and at least one udder milking point. The relationship between the number of quarter milking points and the number of udder milking points may be in an interval of 1 / 2 to 1 / 10. Thus, there may be 2-10 times more udder milking points than quarter milking points in the milk extracting system.

[0023] Optionally, the milk extracting system may comprise a plurality of stationary milking points, wherein at least one constitutes a quarter milking point and at least one constitutes an udder milking point, wherein the relationship between the number of quarter milking points and the number of udder milking points is in an interval of 1 / 2 to 1 / 10. Thus, there may be 2-10 times more udder milking points than quarter milking points in the milk extracting system.

[0024] Optionally, the milk extracting system may comprise at least one stationary milking point comprising a quarter milking point; and a rotating platform comprising only udder milking points.

[0025] Optionally, the pulsator device of the udder milking point may comprise two independent channels, i.e. , a first channel and a second channel. The first channel may be connected to the respective pulsation space of a first pair of teat cups. The second channel may be connected to the respective pulsation space of a second pair of teat cups.

[0026] Optionally, the pulsator device of the udder milking point may comprise four independent channels, each channel connected to the pulsation space of one respective teat cup.

[0027] Optionally, the determined pulsation settings may comprise any of pulsation ratio, pulsation rate and / or fluid pressure levels supplied to the independent channels.

[0028] Optionally, the pulsation settings may be determined by adjustment in milking intensity in order to achieve a simultaneous milk out of all four teats of the animal during the milking session.

[0029] Simultaneous milking out of all four teats reduces milking time, thereby maximizing efficiency in the milking process. More animals could be served at one / each milking point, i.e., throughput is increased. Thereby, the total milk yield at the farm is increased.

[0030] By milking out all four teats simultaneously, the time the animal spends in at the milking point is minimised, reducing stress on the animal. Reduced stress leads to improved milk production and overall animal welfare.

[0031] Optionally, the udder milking point may comprise only one milk meter device, arranged to measure milk yield and / or time duration and / or milk flow rate of all four animal teats during the milking session of the animal.

[0032] According to a second aspect of the invention, this objective is achieved by a controller of a pulsator device of an udder milking point comprised in the milk extracting system according to the first aspect. The controller is configured to obtain an identity reference of the animal to be milked at the udder milking point, from an animal identification device before commencing a milking session. Also, the controller is configured to obtain quarter milk data of the identified animal from a memory device. In addition, the controller is configured to determine pulsation settings of the pulsator device of the udder milking point, based on the obtained quarter milk data of the identified animal. The controller is also configured to provide the determined pulsation settings to the pulsator device, for application during the milking session of the identified animal, in order to supply fluid pressure at two distinct levels, alternatively provided to the respective pulsation space of the four teat cups via the independent channels.

[0033] Other advantages and additional novel features will become apparent from the subsequent detailed description.

[0034] FIGURES

[0035] Embodiments of the invention will now be described in further detail with reference to the accompanying figures, in which:

[0036] Figure 1 illustrates a milk extracting system comprising a plurality of milking points in a scenario wherein milk is extracted from the animal.

[0037] Figure 2 illustrates a timeline and milking sessions at two distinct points in time, one in a quarter milking point and one in an udder milking point.

[0038] Figure 3 illustrates a milk extracting system in form of a rotating platform comprising some quarter milking points and some udder milking points.

[0039] Figure 4 illustrates a milk extracting system in form of one milking robot comprising a quarter milking point, and one rotating platform comprising an udder milking point.

[0040] Figure 5 illustrates a milk extracting system in form of a plurality of milking robots in an embodiment, wherein one milking robot comprises a quarter milking point and some milking robot comprises udder milking points.

[0041] DETAILED DESCRIPTION

[0042] Embodiments of the invention described herein are defined as a milk extracting system, and a controller of a pulsator device of an udder milking point in the milk extracting system, which may be put into practice in the embodiments described below. These embodiments may, however, be exemplified and realised in many different forms and are not to be limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.

[0043] Still other objects and features may become apparent from the following detailed description, considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the herein disclosed embodiments, for which reference is to be made to the appended claims. Further, the drawings are not necessarily drawn to scale and, unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.

[0044] Figure 1 illustrates a milk extracting system 100 in a scenario wherein milk is extracted from an animal 110. The animal 110 is comprised in a herd of animals for dairy farming at a farm 105.

[0045] “Animal” may be any arbitrary type of domesticated female mammal having four teats such as a cow.

[0046] The term “milk extracting system” in the current context has a general meaning and comprises a plurality of milking points, i.e. , at least two milking points, each arranged for milking one animal at the time. The milk extracting system 100 comprises at least one quarter milking point 500 and at least one udder milking point 130.

[0047] The at least one quarter milking point 500 comprises four milk meter devices 561 , 562, 563, 564, each arranged to measure milk yield and / or time duration and / or milk flow rate of one individual animal teat 111 , 112 during a milking session of an animal 101.

[0048] The at least one udder milking point 130, comprises four teat cups 131 , 132, 133, 134, each configured to fit on a respective teat 111 , 112 of the animal 101 during milk extraction in the milking session. Each teat cup 131 , 132, 133, 134 comprises a respective liner 220a, 220b and a shell 230a, 230b, forming a pulsation space 225 between the liner 220a, 220b and the shell 230a, 230b.

[0049] The udder milking point 130 may comprise none, or only one milk meter device 160, arranged to measure milk yield and / or time duration and / or milk flow rate of all four animal teats 111 , 112 during the milking session 311a of the animal 101.

[0050] The at least one udder milking point 130 comprises a pulsator device 210 which comprises at least two independent channels 221 , 222, each connected to the respective pulsation space 225 of at least one teat cup 131 , 132, 133, 134 of the four teat cups 131 , 132, 133, 134 and a controller 180 of the pulsator device 210.

[0051] In some embodiments, the pulsator device 210 of the udder milking point 130 may comprise two independent channels 221 , 222, a first channel 221 connected to the respective pulsation space 225 of a first pair of teat cups 131 , 132, and a second channel 222 connected to the respective pulsation space 225 of a second pair of teat cups 133, 134.

[0052] In other embodiments, the pulsator device 210 of the udder milking point 130 may comprise four independent channels 221 , 222, each channel 221 , 222 connected to the pulsation space 225 of one respective teat cup 131 , 132, 133, 134.

[0053] The controller 180 comprises processing circuitry and interfaces in order to enable the controller 180 to receive data and signals, perform various analyses of said data and signals, and generate output, for example in form of a control signal. More precisely, the controller 180 is configured to receive the parameter representing the measured milk flow data of milk being extracted from the animal 101 during the milking session and based on this parameter control / adjust / set the pulsation settings of the pulsation device 210 by means of a control signal sent to the pulsation device 210.

[0054] The liners 220a, 220b are the only part of the teat cup 131 , 132, 133, 134 which is in direct contact with the teat 111 , 112. All the liners 220a, 220b may be of the same size, or of different sizes in different embodiments. The liners 220a, 220b may be made of an elastic material such as natural or synthetic rubber or silicone, latex, or TPE (Thermo Plastic Blastomere), or similar.

[0055] When pressure levels of the medium supplied to the pulsation space 225 is variated by the pulsator device 210, the teats 111 , 112 are alternatingly set into a B-phase wherein the liner 220a, 220b is opened, and milk may be extracted from the teat 111 , 112, and a D-phase wherein the liner 220a, 220b is collapsed and is acting compressively against the teat 111 , 112.

[0056] The milk extracting system 100 comprises an animal identification device 120a, 120b, configured to identify the animal 101 to be milked at the quarter milking point 500 or at the udder milking point 130. The animal 101 may be identified by a first element of the animal identifying device 120a which may be attached to the animal 101 in some embodiments, e.g., in a necklace around the neck of the animal 101 , under the hide of the animal 101 , as ear tag / -s, around the tail of the animal 101 and / or around any, some or all of the legs of the animal 101 , etc.

[0057] The first element of the animal identifying device 120a may comprise a transponder, such as a Radio-Frequency Identification (RFID) device in some embodiments. The transponder comprises electronically stored information for uniquely identifying the animal 101 . Such transponder may be active or passive. An active transponder comprises, or is attached to, a local power source such as a battery and may operate at hundreds of meters from a second element of the animal identifying device 120b, or reader. A passive transponder (i.e. , first element of the animal identifying device 120a) collect energy from a nearby reader’s (i.e., second element of the animal identifying device 120b) interrogating radio waves. Thereby, no local power source is required in a passive transponder.

[0058] The second element of the animal identifying device 120b, or reader, may then provide the identity of the animal 101 , as obtained from the first element of the animal identifying device 120a to a memory device 190 of the milk extracting system 100, over a wired or wireless communication interface.

[0059] In some alternative embodiments, the first element of the animal identifying device 120a may comprise an identification number associated with the animal 101 , which may be recognised by the second element of the animal identifying device 120b, when embodied as a sensor in cooperation with an image recognition program running on a computer. The identification number may be encoded in a graphic encoding such as e.g., barcode, European Article Number (EAN) code, data matrix, Quick Response (QR) code. The identification number may be marked on an ear tag of the animal 101 , painted or tattooed in the animal skin, etc. The animal 101 may alternatively be identified by the colour markings of the hide, analysed by an image recognition program of the system computer. Any other convenient method for identification may be utilised in some embodiments.

[0060] The milk extracting system 100 also comprises a memory device 190, configured to store quarter milk data that is extracted from the milk yield and / or time duration and / or milk flow rate of each individual animal teat 111 , 112 of the identified animal 101 as measured when being milked in the quarter milking point 500. The quarter milk data is thereby stored in the memory device 190, associated with an identity reference of the identified animal 101 and an identity reference of each respective animal teat 111 , 112; possibly also with a time reference.

[0061] The memory device 190 may also store predetermined pulsation settings, to be provided to the pulsator device 210 of the udder milking point 130 when no quarter milk data of the identified animal 101 has been stored. The predetermined pulsation settings may comprise a B-phase setting of the pulsation cycle ratio of the predetermined pulsation settings of the pulsator device 210. In a non-limiting example, the predetermined pulsation setting may comprise a pulsation cycle ratio, or B / D ratio, of about 65 / 35 in a non-limiting example.

[0062] The controller 180 of the pulsator device 210 of the udder milking point 130 is configured to obtain an identity reference of the animal 101 to be milked at the udder milking point 130, from the animal identification device 120a, 120b before commencing the milking session 311 b.

[0063] The controller 180 is also configured to obtain quarter milk data of the identified animal 101 from the memory device 190. For example, the latest stored quarter milk data of the identified animal 101 may be obtained, or an average value of a number of the latest stored quarter milk data may be obtained in different embodiments. The stored quarter milk data of the identified animal 101 may be specified for each respective teat 111 , 112 of the identified animal 101.

[0064] The controller 180 is in addition configured to determine pulsation settings of the pulsator device 210 of the udder milking point 130, based on the obtained quarter milk data of the identified animal 101.

[0065] The determined pulsation settings may comprise any of pulsation ratio, pulsation rate and / or fluid pressure levels supplied to the independent channels 221 , 222.

[0066] The two distinct fluid pressure levels may typically be one underpressure level during the B- phase and one atmospheric pressure level during D-phase, but may alternatively be two distinct underpressure levels, or even overpressure during D-phase and underpressure during the B- phase.

[0067] In some embodiments, the two distinct fluid pressure levels may vary between a pressure higher than the milking vacuum, such as e.g. atmospheric pressure, during the D-phase while the pressure level during the B- phase may be equal to, or higher (i.e. less under- pressure) than the milking vacuum in different embodiments.

[0068] An advantage by selecting a pulsating pressure level during the B- phase that is higher than the milking vacuum is that the liner 220a, 220b then is exercising a radial pressure on the animal teat 111 , 112 also during the B- phase, however not as large as during the D-phase when the liner 220a, 220b is allowed to collapse under the teat 111 , 112. The radial pressure on the teat 111 , 112 serves as a seal, eliminating or at least reducing non desired air slip.

[0069] In some embodiments, one of the pulsating pressure levels in the pulsation space 225 may be e.g. 60-80% of the milking vacuum. In case the milking vacuum is 45kPa, the pulsating pressure level may be 35kPa of underpressure and atmospheric pressure, respectively.

[0070] Thus, sucking is interrupted by rhythmical motions, opening and closing, of the liner 220a, 220b. The force exerted by the collapsed liner 220a, 220b causes a massage to the teat 111 , 112. Consequently, the teats 111 , 112 are exposed to massage. Thereby, congestion (e.g., of blood) in the teat end is prevented while oxytocin release and milk ejection is stimulated by the rhythmical movements of the collapsing and opening liner 220a, 220b in combination with the applied milking vacuum, mimicking calf suckling.

[0071] The controller 180 is also configured to provide the determined pulsation settings to the pul- sator device 210, for application during the milking session 311b of the identified animal 101.

[0072] The pulsator device 210 is configured to obtain pulsation settings from the controller 180. The pulsator device 210 is also configured to supply fluid pressure at two distinct levels, alternatively provided to the respective pulsation space 225 of the four teat cups 131 , 132, 133, 134 via the independent channels 221 , 222 during the milking session 311b, according to the obtained pulsation settings.

[0073] The pulsation settings may be determined by adjustment in milking intensity in order to achieve a simultaneous milk out of all four teats of the animal 101 during the milking session 311 b.

[0074] Thereby, the milking of the identified animal 101 could be made in the udder milking point 130, with pulsation settings which are determined based on quarter milk data measured for each animal teat 111 , 112 at the quarter milking point 500. Thereby, precise or optimised pulsation settings could be made at udder milking points 130 not having four milk meter devices 561 , 562, 563, 564, each arranged to measure milk yield and / or time duration and / or milk flow rate of one individual animal teat 111 , 112.

[0075] The controller 180 may be configured to provide predetermined pulsation settings to the pul- sator device 210 of the udder milking point 130, in case no quarter milk data has been obtained from the identified animal 101.

[0076] Each teat cup 131 , 132, 133, 134 may be connected to a claw 140 of the udder milking point 130 via a respective short milk tube. The udder milking point 130 also comprises a long milk hose 150 and the receiver 170 in which vacuum prevails. From the receiver 170, the milk may be pumped to a milk storage tank where milk is collected and stored possibly in chilled state.

[0077] “Milking vacuum” in the current context refers to the vacuum, or under-pressure, prevailing under the teats. The milking vacuum may for example be set to 30-40kPa (under atmospheric pressure). The milking vacuum may in some embodiments be variated during the milking session dependent on the current total milk flow rate. During attachment of the teat cups, the milking vacuum may be set to a relatively low value, for example 30kPa. When the total milk flow rate exceeds a threshold level, such as for example 0.5kg I minute the milking vacuum may be set to 35 kPa. When the total milk flow rate exceeds another threshold level, such as for example 2kg I minute the milking vacuum may be set to 48 kPa, etc.

[0078] In the short milk tube, an underpressure or milking vacuum is prevailing. When the liner 220a, 220b is open, i.e., during the B-phase, milking vacuum act on the tip of the teat 111 , 112, extracting and evacuating milk therefrom. The milk is forwarded via the short milk tube to the long milk hose 150 and the receiver 170.

[0079] Figure 2 schematically illustrates a timeline. Milk is extracted from the animal 101 at a milking point 130, 500, during various milking sessions 311a, 311 b; for example once in the morning and once in the evening; about every 8-10 hours; every 6 hours, etc., depending on the policy of the farm.

[0080] A typical interval may be two to three times per day; i.e., milking sessions occurring approximately every 8 to 12 hours. This schedule helps maintain animal comfort, udder health, and optimal milk production. A consistent milking schedule may ensure the well-being of the animals and maximize milk yield.

[0081] The milk extracting system 100 comprises at least one quarter milking point 500 and at least one udder milking point 130.

[0082] In voluntary milking systems, or forced milking systems, the animal 101 may move around freely and select any available milking point 130, 500. Thus, it will sometimes be milked in a quarter milking point 500, and sometimes in an udder milking point 130.

[0083] In the illustrated example, the animal 101 has been milked in a first milking session 311a at the quarter milking point 500 and will soon be milked in a second milking session 311b at the udder milking point 130.

[0084] Figure 3 illustrates an embodiment of a milk extracting system 100 comprising a rotating platform 610, comprising at least one quarter milking point 500 and at least one udder milking point 130. The relationship between the number of quarter milking points 500 and the number of udder milking points 130 may be in an interval of 1 / 2 to 1 / 10, i.e. , there may be 2-10 times more udder milking points 130 in the rotating platform 610, than quarter milking points 500.

[0085] The animal 101 enters the rotating platform 610 via an entrance 620. Identity of the entering animal 101 is checked by the animal identification device 120a, 120b. Possibly, only animals 101 having a valid milking permission are allowed to enter the rotating platform 610.

[0086] Some milking point positions may be quarter milking points 500 and some milking point positions may be udder milking points 130. The animal 101 may thus be randomly milked in anyone of the quarter milking point 500 and the udder milking point 500. Depending on the density of quarter milking points 500 in the milk extracting system 100, the average time / number of milking sessions 311a, 311b before the animal 101 will vary between every second milking session 311a, 311b (when the relationship between the number of quarter milking points 500 and the number of udder milking points 130 is 1 / 2) and every ten milking session 311a, 311 b (when the relationship between the number of quarter milking points 500 and the number of udder milking points 130 is 1 / 10).

[0087] When the animal 101 has been milked, she may leave the rotating platform 610 via an exit 630, directing the animal 101 away from the rotating platform 610.

[0088] Figure 4 illustrates an embodiment of a milk extracting system 100 comprising a plurality of stationary milking points, wherein at least one constitutes a stationary milking point in form of a milking robot 640, comprising a quarter milking point 500 and at least one constitutes rotating platform 610 comprising only udder milking points 130. The relationship between the number of quarter milking points 500 and the number of udder milking points 130 may be in an interval of 1 / 2 to 1 / 10.

[0089] Figure 5 illustrates yet an embodiment of a milk extracting system 100 comprising a plurality of stationary milking points, such as for example milking robots 640. At least one stationary milking point / milking robot 640 comprises a quarter milking point 500 and at least one stationary milking point / milking robot 640 comprises an udder milking point 130.

[0090] The milk extracting system 100 may in other embodiments comprise other combinations of stationary milking points and rotating platforms 610, and distributions of quarter milking points 500, and udder milking points 130.

[0091] The terminology used in the description of the embodiments as illustrated in the accompanying drawings is not intended to be limiting of the described milk extracting system 100, and / or controller 180. Various changes, substitutions and / or alterations may be made, without departing from invention embodiments as defined by the appended claims. The various illustrated embodiments depicted in Figures 1-5, discussed in the corresponding respective section of the description may with advantage be combined with each other, for example by mixing and compiling features of some or all of the described embodiments, thereby achieving additional advantages.

[0092] As used herein, the term “and / or” comprises any and all combinations of one or more of the associated listed items. The term “or” as used herein, is to be interpreted as a mathematical OR, i.e. , as an inclusive disjunction; not as a mathematical exclusive OR (XOR), unless expressly stated otherwise. In addition, the singular forms “a”, “an” and “the” are to be interpreted as “at least one”, thus also possibly comprising a plurality of entities of the same kind, unless expressly stated otherwise. It will be further understood that the terms “includes”, “comprises”, “including” and / or “comprising”, specifies 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 such as e.g. a processor may fulfil the functions of several items recited in the claims. The mere fact that certain measures or features are recited in mutually different dependent claims, illustrated in different figures or discussed in conjunction with different embodiments does not indicate that a combination of these measures or features cannot be used to advantage.

Claims

PATENT CLAIMS1. A milk extracting system (100), comprising a plurality of milking points (130, 500), of which at least one is a quarter milking point (500) comprising four milk meter devices (561 , 562, 563, 564), each arranged to measure milk yield and / or time duration and / or milk flow rate of one individual animal teat (111 , 112) during a milking session (311a) of an animal (101), and at least one is an udder milking point (130), comprising four teat cups (131 , 132, 133, 134), each configured to fit on a respective teat (111 , 112) of the animal (101) during milk extraction in the milking session (311a, 311b), wherein each teat cup (131 , 132, 133, 134) comprises a respective liner (220a, 220b) and a shell (230a, 230b), forming a pulsation space (225) between the liner (220a, 220b) and the shell (230a, 230b); wherein the at least one udder milking point (130) comprises a pulsator device (210) which comprises at least two independent channels (221 , 222), each connected to the respective pulsation space (225) of at least one teat cup (131 , 132, 133, 134) of the four teat cups (131 , 132, 133, 134) and a controller (180) of the pulsator device (210); and wherein the milk extracting system (100) comprises an animal identification device (120a, 120b), configured to identify the animal (101) to be milked at the quarter milking point (500) or at the udder milking point (130); and a memory device (190), configured to store quarter milk data that is extracted from the milk yield and / or time duration and / or milk flow rate of each individual animal teat (111 , 112) of the identified animal (101) as measured when being milked in the quarter milking point (500); and wherein the controller (180) of the pulsator device (210) of the udder milking point (130) is configured to: obtain an identity reference of the animal (101) to be milked at the udder milking point (130), from the animal identification device (120a, 120b) before commencing the milking session (311b); obtain quarter milk data of the identified animal (101) from the memory device (190); determine pulsation settings of the pulsator device (210) of the udder milking point (130), based on the obtained quarter milk data of the identified animal (101); and provide the determined pulsation settings to the pulsator device (210), for application during the milking session (311b) of the identified animal (101); and wherein the pulsator device (210) is configured to obtain pulsation settings from the controller (180); andsupply fluid pressure at two distinct levels, alternatively provided to the respective pulsation space (225) of the four teat cups (131 , 132, 133, 134) via the independent channels (221 , 222) during the milking session (311b), according to the obtained pulsation settings.

2. The milk extracting system (100) according to claim 1 , wherein the controller (180) is configured to provide predetermined pulsation settings to the pulsator device (210) of the udder milking point (130), in case no quarter milk data has been obtained for the identified animal (101).

3. The milk extracting system (100) according to any one of claims 1-2, wherein the milk extracting system (100) comprises a rotating platform (610), comprising at least one quarter milking point (500) and at least one udder milking point (130), wherein the relationship between the number of quarter milking points (500) and the number of udder milking points (130) is in an interval of 1 / 2 to 1 / 10.

4. The milk extracting system (100) according to any one of claims 1-3, wherein the milk extracting system (100) comprises a plurality of stationary milking points, wherein at least one constitutes a quarter milking point (500) and at least one constitutes an udder milking point (130), wherein the relationship between the number of quarter milking points (500) and the number of udder milking points (130) is in an interval of 1 / 2 to 1 / 10.

5. The milk extracting system (100) according to any one of claims 1-4, wherein the milk extracting system (100) comprises at least one stationary milking point comprising a quarter milking point (500); and a rotating platform (610) comprising only udder milking points (130).

6. The milk extracting system (100) according to any one of claims 1-5, wherein the pulsator device (210) of the udder milking point (130) comprises two independent channels (221 , 222), a first channel (221) connected to the respective pulsation space (225) of a first pair of teat cups (131 , 132), and a second channel (222) connected to the respective pulsation space (225) of a second pair of teat cups (133, 134).

7. The milk extracting system (100) according to any one of claims 1-5, wherein the pulsator device (210) of the udder milking point (130) comprises four independent channels (221 , 222), each channel (221 , 222) connected to the pulsation space (225) of one respectiveteat cup (131 , 132, 133, 134).

8. The milk extracting system (100) according to any one of claims 1-7, wherein the determined pulsation settings comprise any of pulsation ratio, pulsation rate and / or fluid pressure levels supplied to the independent channels (221 , 222).

9. The milk extracting system (100) according to any one of claims 1-8, wherein the pulsation settings are determined by adjustment in milking intensity in order to achieve a simultaneous milk out of all four teats of the animal (101) during the milking session (311b).

10. The milk extracting system (100) according to any one of claims 1-9, wherein the udder milking point (130) comprises only one milk meter device (160), arranged to measure milk yield and / or time duration and / or milk flow rate of all four animal teats (111 , 112) during the milking session (311a) of the animal (101).

11. A controller (180) of a pulsator device (210) of an udder milking point (130) comprised in the milk extracting system (100) according to any one of claims 1-10, wherein the controller (180) is configured to: obtain an identity reference of the animal (101) to be milked at the udder milking point (130), from an animal identification device (120a, 120b) before commencing a milking session (311 b); obtain quarter milk data of the identified animal (101) from a memory device (190); determine pulsation settings of the pulsator device (210) of the udder milking point (130), based on the obtained quarter milk data of the identified animal (101); and provide the determined pulsation settings to the pulsator device (210), for application during the milking session (311b) of the identified animal (101), in order to supply fluid pressure at two distinct levels, alternatively provided to the respective pulsation space (225) of the four teat cups (131 , 132, 133, 134) via the independent channels (221 , 222).