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] The present disclosure relates to a milk extracting system, and more particularly to a milk extracting system, and a controller therein are described, for adaptively controlling milking settings applied during udder milking, based on individual animal teat data extracted during quarter milking.

[0004] BACKGROUND

[0005] Milk extracting systems are widely used in the dairy industry to efficiently milk large herds of animals. These systems typically comprise milking points where animals are milked.

[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). 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] However, milk yield, milk flow rate, milking intervals and other data related to milk production is individual and may be different for different animals. In case the same milking settings are applied for all animals at a farm, some animals may be over-milked while others are undermilked, potentially leading to inefficient milk extraction, increased milking times, and risks to udder health.

[0008] So, for achieving a shorter milking time for each animal without causing harm to the teats of the animals, an individual setting of milking parameters for each individual animal at the farm is desired.

[0009] This individual setting of milking parameters 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.

[0010] Quarter milking points allow for separate measurements of milk extraction per teat, while udder milking points enables measurements of milk extraction from all teats of the animal udder. Quarter milking points are thereby able to provide detailed information about milk yield, milking duration, and milk flow rates for individual teats of the milked animal, unlike the udder milking points. Based on the extracted detailed information of the quarter milking points, it becomes possible to optimize milking parameters at the quarter milking points.

[0011] However, milk meter devices for measuring the milk yield and / or time duration and / or milk flow rate are expensive, and it is desired to reduce the total numbers of milk meter devices at the farm.

[0012] Thus, determining appropriate milking settings for individual animals at udder milking points is challenging. Milking parameters such as vacuum levels, pulsation rates, and milking durations are not optimized for each specific animal's udder characteristics and milk production patterns. This is likely to result in suboptimal milking performance and increased stress on the animals.

[0013] Furthermore, manual adjustment of milking settings for each animal at the udder milking point is time-consuming and impractical in large-scale dairy operations. Operators may rely on general settings or occasional manual adjustments, which may not capture the dynamic nature of milk production in individual animals over time.

[0014] It has been appreciated that a milk extracting system is needed that overcomes one or more of these problems.

[0015] SUMMARY

[0016] It would be advantageous to achieve a convenient solution overcoming, or at least alleviating, at least some of the above-mentioned drawbacks and to improve animal milking. In particular, it would be desirable to improve a milk extracting system comprising a plurality of milking points for extracting milk from an animal, involving both a quarter milking point and an udder milking point. To better address this concern, a method and a controller having the features defined in the independent claims are provided.

[0017] According to a first aspect, this solution is achieved by a milk extracting system, comprising a plurality of milking points for extracting milk from an animal. At least one of the plurality of milking points is a quarter milking point comprising four milk meter devices, each arranged to measure milk yield and / or time duration and / or milk flow rate per individual animal teat during a quarter milking session of the animal. Also, at least one of the plurality of milking points is an udder milking point. The udder milking point comprises a cluster, in turn comprising four teat cups, and a milking claw. The four teat cups are connected to the milking claw via a respective short milk hose. The udder milking point also comprises a long milk hose connected to the milking claw, for evacuating milk extracted from the four teat cups from the udder milking point via the milking claw. The udder milking point also comprises a controller of the udder milking point.

[0018] The milk extracting system also comprises an animal identification device, configured to identify the animal to be milked at the quarter milking point and / or at the udder milking point. Furthermore, the milk extracting system comprises a database, configured to store milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session of the animal as measured by the milk meter devices when the animal is milked at the quarter milking point.

[0019] The controller 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 an udder milking session. Also, the controller is configured to obtain the measured milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session of the identified animal from the database. The controller is also configured to determine milking settings to be applied during the udder milking session of the identified animal at the udder milking point based on the obtained milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session of the identified animal.

[0020] This milk extracting system provides the advantage of utilizing data collected from quarter milking in the quarter milking point to optimize or at least improve the milking process in the udder milking system. By transferring individual teat data from the quarter milking point to the database, the controller of the udder milking point is enabled to obtain the individual teat data of the animal to be milked in the udder milking point and adapt milking settings for each specific animal during milking in the udder milking point, thereby improving milking efficiency while consolidating animal comfort and teat integrity.

[0021] Optionally, the udder milking point may comprise an udder milk meter, arranged in direct connection with the long milk hose, to measure milk yield and / or time duration and / or milk flow rate of milk evacuated via the long milk hose during the udder milking session of the identified animal at the udder milking point. The inclusion of an udder milk meter allows for real-time monitoring of milk production during the udder milking session, which enables further refinement of milking settings and ensure optimal milk extraction.

[0022] Optionally, the udder milking point may comprise a control valve arranged in the long milk hose, for controlling pressure level in the four teat cups.

[0023] The control valve provides the ability to adjust vacuum pressure during milking, which improves milking efficiency and reduces the risk of teat damage or discomfort for the animal.

[0024] Optionally, the pressure level applied during the udder milking session at the udder milking point may be based on the milk flow rate per quarter during the quarter milking session at the quarter milking point.

[0025] By basing the pressure level on individual quarter milk flow rates, the system can optimize vacuum levels for each animal, thereby improving milk extraction while minimizing the risk of overmilking or udder health issues.

[0026] Optionally, the determined milking settings may comprise removal of the cluster. The udder milking point may comprise a cluster removing device, arranged to remove the cluster with the four teat cups from the animal teats when the udder milking session is terminated. Also, the controller of the udder milking point is configured to generate and provide a signal to the cluster removing device to remove the cluster with the four teat cups when the udder milking session is terminated.

[0027] Automated cluster removal based on data-driven milking settings helps preventing overmilking and ensure consistent end-of-milking procedures across all animals. Manual work of the human operator is saved.

[0028] Optionally, the determined milking settings may comprise termination / termination time of the udder milking session. The controller of the udder milking point may be configured to generate and provide a signal to the control valve, to discontinue provision of underpressure in the long milk hose to the four teat cups when the udder milking session is terminated, before providing the signal to the cluster removing device to remove the cluster with the four teat cups. This sequential termination process (first stopping vacuum, then removing the cluster) improves animal comfort and reduces the risk of teat damage during cluster removal. The risk of teat external dirt / dust / impurities entering the teat cup and thereby also the milk receiver is eliminated or at least reduced.

[0029] Optionally, the controller may be configured to determine milking settings in form of milking session length of the udder milking session of the identified animal at the udder milking point and / or termination of the udder milking session and / or removal of the cluster, based on the obtained milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session of the identified animal at the quarter milking point.

[0030] Determining milking settings based on individual quarter data allows for more precise control of the milking process, potentially improving efficiency while at the same time reducing the risk of overmilking, which could harm the teats and cause pain to the animal.

[0031] Optionally, the controller may be configured to determine the time duration of the quarter milking session for the individual animal teat of the identified animal at the quarter milking point which is milked out firstly, based on the obtained milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session. The controller may also be configured to generate and provide the signal to the cluster removing device to remove the four teat cups when the milking session length of the udder milking session of the identified animal at the udder milking point is equal to or smaller than the determined time duration of the individual animal teat during the quarter milking session of the identified animal at the quarter milking point which is milked out firstly.

[0032] This feature helps prevent overmilking of individual quarters by basing cluster removal on the milking duration of the fastest-milking quarter, improving udder health and milking efficiency.

[0033] Optionally, the controller may be configured to determine the milk flow rate take-off level at udder level of the identified animal, based on the obtained milk yield and / or time duration and / or milk flow rate of at least one individual animal teat during the quarter milking session of the identified animal at the quarter milking point.

[0034] Determining a milk flow rate take-off level based on individual quarter data allows for more accurate end-of-milking detection, thereby improving milking efficiency and reducing the risk of overmilking. Optionally, the controller may be configured to determine the milk flow rate take-off level at udder level of the identified animal by obtaining the milk flow rate per individual animal teat during the quarter milking session of the identified animal from the database; determining the obtained milk flow rate of the teat of the animal which is terminated firstly; and subtracting the determined milk flow rate of the teat of the animal which is terminated firstly from an initial milk flow rate at udder level of the identified animal.

[0035] This concept of calculating the milk flow rate take-off level accounts for individual quarter variations, leads to more precise end-of-milking detection and improved milking efficiency.

[0036] Optionally, the controller may be configured to determine the milk flow rate at udder level of the identified animal. The controller may also be configured to compare the determined milk flow rate at udder level with the determined milk flow rate take-off level. Also, the controller may be configured to generate and provide the signal to the cluster removing device to remove the cluster with the four teat cups when the determined milk flow rate at udder level is equal to or lower than the determined milk flow rate take-off level.

[0037] This feature ensures that cluster removal occurs at the optimal time based on milk flow rates of the udder, thereby furthermore improving milking efficiency and animal comfort.

[0038] Optionally, the controller of the udder milking point may be configured to generate and provide a signal to the control valve to close the control valve, thereby discontinuing vacuum pressure in the four teat cups before removing the cluster with the cluster removing device.

[0039] Discontinuing vacuum pressure before cluster removal improves animal comfort and reduces the risk of teat damage during the removal process. The risk of teat external dirt / dust / impurities entering the teat cup and thereby also the milk receiver is eliminated or at least reduced.

[0040] Optionally, the controller may be configured to apply predetermined milking settings during the udder milking session of the identified animal, in case no milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session of the identified animal is available in the database.

[0041] This feature ensures that milking can still occur efficiently even if quarter milking data is not available for a particular animal, maintaining system functionality and milk production. Optionally, the controller may be configured to apply predetermined milking settings in form of the milking session length and / or milk flow rate take-off level at udder level of the identified animal and / or termination of the udder milking session and / or removal of the cluster, in case no quarter milk data and / or milking settings has been obtained for the identified animal.

[0042] Applying predetermined settings when individual animal data is not available ensures consistent milking procedures and maintains system efficiency.

[0043] Optionally, the controller may be configured to terminate the udder milking session by generating and providing a signal to the cluster removing device to remove the cluster when the milk flow rate as measured by the udder milk meter is equal to or lower than the predetermined milk flow rate take-off level at udder level of the identified animal.

[0044] This feature allows for appropriate termination of milking even when using predetermined settings, helping to prevent overmilking and maintain milking efficiency.

[0045] Optionally, the milk extracting system may comprise a rotating platform, comprising at least one quarter milking point and at least one udder milking point at the rotating platform.

[0046] A rotating platform with both quarter milking points and udder milking points increases milking efficiency and ensures easy transfer of milking data determined at the quarter milking points, to be used at the udder milking points.

[0047] Optionally, the milk extracting system may comprise a plurality of stationary milking points, wherein at least one may constitute a quarter milking point and at least one may constitute an udder milking point.

[0048] This configuration allows for flexibility in milking system design and can accommodate different farm layouts or management preferences.

[0049] 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.

[0050] This arrangement optimizes milking efficiency by using stationary quarter milking points for data collection and rotating udder milking points for efficient, high-throughput milking. Optionally, the milk extracting system may comprise a plurality of udder milking points.

[0051] Multiple udder milking points increases overall milking capacity and efficiency of the system.

[0052] Optionally, the milk extracting system may comprise a receiver; a vacuum source, connected to the receiver and arranged to create an underpressure in the receiver; and a common milk pipe, connected to the receiver. The long milk hose may be connected to the common milk pipe, thereby allowing milk extracted from the animal by the four teat cups of the udder milking point to be evacuated via the cluster, the long milk hose, and the common milk pipe to the receiver, by the underpressure of the receiver.

[0053] This configuration provides an efficient milk collection and transport system, ensuring proper milk flow and maintaining milk quality throughout the milking process.

[0054] The present disclosure further discloses a controller of an udder milking point comprised in the milk extracting system. The controller 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 an udder milking session. Also, the controller is configured to obtain the measured milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session of the identified animal from the database. The controller is also configured to determine milking settings to be applied during the udder milking session of the identified animal at the udder milking point based on the obtained milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session of the identified animal. The controller, additionally, is configured to apply the determined milking settings during the udder milking session of the identified animal at the udder milking point.

[0055] This controller provides the advantage of integrating data from quarter milking sessions into the udder milking process, allowing for individualized and optimized milking settings for each animal. This improves milking efficiency, animal comfort, and overall milk production.

[0056] Other advantages and additional novel features will become apparent from the subsequent detailed description.

[0057] FIGURES

[0058] Embodiments of the invention will now be described in further detail with reference to the accompanying Figures, in which: Figure 1A illustrates a schematic diagram of a milk extracting system comprising a plurality of milking points, according to an embodiment.

[0059] Figure 1 B depicts a detailed lateral view of a milking cluster from the system of Figure 1A, according to an embodiment.

[0060] 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, according to an embodiment.

[0061] Figure 3 schematically illustrates a top view of a rotary milking parlour comprising some quarter milking points and some udder milking points according to an embodiment.

[0062] Figure 4 depicts another configuration of a milk extracting system comprising both a rotary milking parlour comprising udder milking points, and a milking robot forming a quarter milking point, according to an embodiment.

[0063] Figure 5 depicts yet a configuration of a milk extracting system comprising a plurality of milking robots of which at least one forms a quarter milking point and at least one forms an udder milking point.

[0064] DETAILED DESCRIPTION

[0065] Embodiments of the invention described herein are defined as a milk extracting system and a controller of an udder milking point comprised 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.

[0066] 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. Technical features illustrated in an embodiment in one drawing may with advantage be combined with another technical feature illustrated in another drawing in alternative embodiments, unless explicitly stated otherwise. 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.

[0067] Figure 1A illustrates a milk extracting system 100 according to various embodiments.

[0068] The milk extracting system 100 comprises a plurality of milking points for extracting milk from an animal 101. The milk extracting system 100 comprises at least one quarter milking point 500 and at least one udder milking point 130.

[0069] The animal 101 may be comprised in a herd of animals for dairy farming at a farm.

[0070] “Animal” may be any arbitrary type of domesticated female mammal having teats such as a cow. 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 101 at the time.

[0071] The udder milking point 130 comprises a cluster 200 with four teat cups 131 , 132, 133, 134. The four teat cups 131 , 132, 133, 134 are connected to a milking claw 140 via a respective short milk hose. A long milk hose 150 is connected to the milking claw 140 for evacuating milk extracted from the four teat cups 131 , 132, 133, 134 from the udder milking point 130 via the milking claw 140.

[0072] The quarter milking point 500 comprises four milk meter devices 561 , 562, 563, 564. Each milk meter device 561 , 562, 563, 564 is arranged to measure milk yield and / or milking session time duration and / or milk flow rate per individual animal teat during a quarter milking session of the animal 101.

[0073] The milk extracting system 100 comprises an animal identification device 120a, 120b1, 120b2. The animal identification device 120a, 120b1 , 120b2 is configured to identify the animal 101 to be milked at the quarter milking point 500 and / or at the udder milking point 130. The milk extracting system 100 may utilize various types of animal identification devices 120a, 120b1 , 120b2 in different embodiments.

[0074] 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.

[0075] 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 / battery is required in a passive transponder.

[0076] 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 database 190 of the milk extracting system 100, over a wired or wireless communication interface.

[0077] In some alternative embodiments, the first element of the animal identifying device 120a may comprise an identification reference (ID) 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 reference may be encoded in a graphic encoding such as e.g., barcode, European Article Number (EAN) code, data matrix, Quick Response (QR) code, etc. The identification reference may be marked on an ear tag of the animal 101 , painted or tattooed in the animal skin, etc.

[0078] The animal 101 may alternatively be identified by the colour markings of the hide and / or unique physical characteristics, as captured by an optical camera and analysed by an image recognition program of a system computer. A parsing may then be made against colour markings of the hide and / or unique physical characteristics stored in an identification database, associated with the relevant animal ID.

[0079] Any other convenient method for identification may alternatively be utilised in some embodiments, for example based on biometric scanners, i.e. devices that may recognize animals 101 based on unique biological traits such as retinal patterns and / or muzzle prints. In other embodiments, ultrasonic transponders may be applied. The ultrasonic transponders may emit ultrasonic signals for animal identification when activated by a reader.

[0080] These identification concepts may be used individually or in combination to ensure accurate and reliable animal identification within the milk extracting system 100.

[0081] The briefly mentioned database 190 comprised in the milk extracting system 100 is configured to store milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session of the animal 101 as measured by the milk meter devices 561 , 562, 563, 564 when the animal 101 is milked at the quarter milking point 500.

[0082] The database 190 may also store predetermined milking settings, and / or pulsation settings to be provided to the controller 180 of the udder milking point 130 when no quarter milk data of the identified animal 101 has been stored. The predetermined milking settings, and / or pulsation settings may comprise e.g. length of milking session; a pulsation cycle ratio between a B-phase wherein the liner in the respective teat cup 131 , 132, 133, 134 is opened, and milk may be extracted from the teat, and a D-phase wherein the liner is collapsed and is acting compressively against the teat; a pulsator pressure level related to the vacuum pressure level prevailing in a pulsator chamber between the liner and a teat cup shell of the respective teat cup 131 , 132, 133, 134; a pulsation rate of alternating pulsator pressure levels; and / or a milking pressure level related to vacuum pressure level prevailing in the respective teat cup 131 , 132, 133, 134 under the teat; and / or a relation between the pulsator pressure lever and the milking pressure level. The predetermined milking setting may comprise a pulsation cycle ratio, or B / D ratio, of about 65 / 35 in a non-limiting example.

[0083] The database 190 is an organized collection of structured information or milking data related to individual animals that is stored electronically in a permanent electronic memory. The database 190 is configured to efficiently store, retrieve, and manage large amounts of data relating to milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session 311a of the animal 101. The database 190 may be physically situated at the farm, or remotely positioned, accessible via a wired or wireless network connection in different embodiments.

[0084] The milk extracting system 100 further comprises a controller 180 of the udder milking point 130. The controller 180 may be configured to obtain the identity reference of the animal 101 to be milked at the udder milking point 130 from the animal identification device 120a, 120b1 , 120b2 before commencing an udder milking session. The controller 180 may comprise 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 obtain the measured milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session 311 a of the identified animal 101 from the database 190.

[0085] The data related to milking of the animal 101 obtained by the controller 180, i.e. measured milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session 311a of the identified animal 101 from the database 190, may be the latest stored quarter milk data of the identified animal 101 in some embodiments. Alternatively, 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.

[0086] The milk extracting system 100 may comprise a receiver 170, a vacuum source 175, and a common milk pipe 155 for milk evacuation from the udder milking points 130. The vacuum source 175 may be connected to the receiver 170 and arranged to create an underpressure in the receiver 170. Thereby, milk extracted from the animal 101 during the milking session at any milking point 130, 500 may be evacuated to and collected in the receiver 170, or milk tank, which advantageously may be cooled for maintaining milk quality.

[0087] The milk extracting system 100 may utilize various types of vacuum sources 175 to create the necessary underpressure for milk extraction in different embodiments. The vacuum source 175 may be a rotary vane pump, which can provide consistent and reliable vacuum pressure. Rotary vane pumps are advantageous due to their compact size, relatively low maintenance requirements and high reliability.

[0088] In other embodiments, the vacuum source 175 may be a liquid ring pump, a lobe pump, and / or a diaphragm vacuum pump, for example.

[0089] In some embodiments, the milk extracting system 100 may incorporate multiple vacuum sources 175 working in tandem. This configuration may allow for redundancy, ensuring continuous operation even if one vacuum source 175 requires maintenance or experiences a malfunction. The selection of the vacuum source 175 in the system 100 may depend on factors such as the size of the farm, energy efficiency requirements, noise considerations, and the specific vacuum pressure needs of the milk extracting system 100. The controller 180 may be configured to monitor and adjust the operation of the chosen vacuum source 175 to maintain optimal vacuum levels throughout the milking process.

[0090] The common milk pipe 155 may be connected to the receiver 170. The long milk hose 150 may be connected to the common milk pipe 155, thereby allowing milk extracted from the animal 101 by the four teat cups 131 , 132, 133, 134 of the udder milking point 130 to be evacuated via the cluster 200, the long milk hose 150, and common milk pipe 155 to the receiver 170, under influence of the underpressure prevailing in the receiver 170, caused by the vacuum source 175. An example of a vacuum level created in the receiver 170 by the vacuum source 175 may be about e.g. 30-50 kPa below atmospheric pressure.

[0091] It is thereby possible to set the milking vacuum to about for example 30-40kPa below atmospheric pressure. “Milking vacuum” in the current context refers to the vacuum, or underpressure, prevailing in the teat cups 131 , 132, 133, 134, under the teats. 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 131 , 132, 133, 134, 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.

[0092] An udder milk meter 160 may be arranged in direct connection with the long milk hose 150 of the udder milking point 130 to measure milk yield and / or time duration and / or milk flow rate of milk evacuated via the long milk hose 150 during the udder milking session of the animal 101 at the udder milking point 130.

[0093] A control valve 165 may be arranged in the long milk hose 150 for controlling pressure level in the four teat cups 131 , 132, 133, 134.

[0094] The milk extracting system 100 may comprise one or several pulsator lines 221 , 222. The pulsator line / s 221 , 222 may be connected to four short pulsator tubes 221a, 221 b, 222a, 222b. The pulsator line 221 , 222 and short pulsator tubes 221a, 221 b, 222a, 222b may be used to control the pulsation of the teat cups 131 , 132, 133, 134 during milking, as illustrated in Figure 1 B. Figure 1 B illustrates a milking cluster 200 comprised in the milk extracting system 100 depicted in Figure 1A according to various embodiments.

[0095] The milking cluster 200 comprises four teat cups 131 , 132, 133, 134. However, in the illustrated lateral cross section view, only two teat cups 131 , 132 are depicted. The teat cups 131 , 132, 133, 134 are connected to the milking claw 140 via a respective short milk tube 261 , 262, in which milk extracted from the animal 101 is forwarded to the long milk hose 150 via the claw 140.

[0096] Each teat cup 131 , 132, 133, 134 may comprise a teat cup shell 241 , 242 and a liner 251 , 252. The liner 251 , 252 is arranged inside the teat cup shell 241 , 242, creating a pulsator chamber 270 between the liner 251 , 252 and the teat cup shell 241 , 242.

[0097] A pulsator chamber 270 may be created in a space formed between the teat cup shell 241 , 242 and the liner 251 , 252 of each respective teat cup 131 , 132, 133, 134. The pulsator chamber 270 is connected to the pulsator line and the pulsator via the respective short pulsator tubes 221a, 221 b. The short pulsator tubes 221a, 221 b allow for alternating pressure to be applied to the pulsator chamber 270, causing the liner 251 , 252 to expand and contract. Thereby, pressure levels of the medium supplied to the pulsation space 270 is variated by the pulsator device, the teats are alternatingly set into a B-phase wherein the liner 251 , 252 is opened, and milk may be extracted from the teats, and a D-phase wherein the liner 251 , 252 is collapsed and is acting compressively against the teat. This pulsating action massages the teats of the animal 101 during milking, promoting milk flow and maintaining teat health.

[0098] The liners 251 , 252 are the only part of the teat cup 131 , 132, 133, 134 which is in direct contact with the respective animal teat. All the liners 251 , 252 may be of the same size, or of different sizes in different embodiments. The liners 251 , 252 may be made of an elastic material such as natural or synthetic rubber or silicone, latex, or TPE (Thermo Plastic Elastomer), or similar material.

[0099] In the illustrated embodiment, the teat cups 131 , 132, 133, 134 are illustrated in different states, in order to illustrate the liner 251 in expanded state (on the left side of the illustration) and the liner 252 in contracted state (on the right side thereof).

[0100] The milk flows from the teat cups 131 , 132, 133, 134 through the short milk tubes 261 , 262 and the milking claw 140 during milk extraction, and is then transported through the long milk hose 150 to the common milk pipe 155. Ultimately, the extracted milk reaches the receiver 170 under the influence of the vacuum source 175.

[0101] The udder milking point 130 may comprise an udder milk meter 160 arranged in direct connection with the long milk hose 150. The udder milk meter 160 may measure milk yield, time duration, and / or milk flow rate during the udder milking session of the animal 101 .

[0102] A control valve 165 may be arranged in the long milk hose 150 for controlling pressure level in the teat cups 131 , 132, i.e. vacuum pressure level prevailing in the respective teat cup 131 , 132, 133, 134 under the teat of the animal 101. The pressure level applied during the udder milking session may be based on the milk flow rate per quarter during the quarter milking session as measured by the milk meter devices 561 , 562, 563, 564 at the quarter milking point 500.

[0103] The udder milking point 130 may comprise a cluster removing device 280 for removing the milking cluster 200 when the udder milking session is terminated. The cluster removing device 280 may alternatively be referred to as an "automatic cluster remover" (ACR) or "automatic take-off' (ATO) in the dairy industry. The cluster removing device 280 may comprise a pneumatic or electric actuator mechanism to remove the cluster 200. The cluster removing device 280 may be configured to automatically detach the milking cluster 200 comprising the assembly of teat cups 131 , 132, 133, 134 from the animal's udder when milk flow drops below a certain threshold, indicating the milking is complete.

[0104] The control device 180 may obtain milk flow data from the udder milk meter 160. The obtained milk flow data may comprise milk yield, time duration, and / or milk flow rate during the udder milking session of the animal 101. When the milk flow data at udder level falls below a threshold limit, the control device 180 may generate and send a command to the cluster removing device 280, to close the control valve 165 to discontinue vacuum pressure before removing the milking cluster 200, e.g. by sending a command to the cluster removing device 280 for gently removing the milking cluster 200. This sequence helps ensure a smooth and comfortable detachment process for the animal 101 .

[0105] This technology helps prevent overmilking (which can lead to teat damage and / or mastitis), improves milking efficiency, and allows a single operator to manage more milking units / animals simultaneously. Figure 2 illustrates a timeline of milking sessions 311a, 311b for an animal 101 according to various embodiments. Milk is extracted from the animal 101 at a milking point 130, 500, during various milking sessions 311a, 311b; 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.

[0106] 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.

[0107] The milk extracting system 100 may perform two types of milking sessions for the animal 101 , as previously discussed: quarter milking session 311a and udder milking session 311 b.

[0108] 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.

[0109] The quarter milking session 311a is performed at a quarter milking point 500. During the quarter milking session 311a, various quarter milking data such as e.g. milk yield, time duration, and / or milk flow rate may be measured individually for each teat of the animal 101 using the milk meter devices 561 , 562, 563, 564. This data, or some of this data, may be stored in the database 190, associated with the identity reference of the animal 101.

[0110] The udder milking session 311 b may be performed at an udder milking point 130. The controller 180 of the udder milking point 130 may obtain an identity reference of the animal 101 from the animal identification device 120a, 120b before commencing the udder milking session 311 b. The controller 180 may then retrieve the quarter milking data, such as milk yield, time duration, and / or milk flow rate as measured individually for each teat of the animal 101 at the quarter milking point 500, for the identified animal 101 from the database 190.

[0111] In the illustrated example, the animal 101 has been milked in the first milking session 311a at the quarter milking point 500 and will soon be milked in a second milking session 311 b at the udder milking point 130.

[0112] Based on the retrieved quarter milking data from the database 190, the controller 180 may determine milking settings to be applied during the udder milking session 311 b, based on the retrieved quarter milking data. These settings may comprise e.g. milking session length, termination criteria, and / or cluster removal timing.

[0113] The controller 180 may calculate a milk flow rate take-off level at the udder level by subtracting the flow rate of the first terminated quarter from the initial udder-level flow rate. During the udder milking session 311 b, the controller 180 may compare the current udder-level milk flow rate, as measured by the udder milk meter 160, to this calculated take-off level to determine when to remove the milking cluster 200.

[0114] The controller 180 may also determine the cluster removal time based on the quarter with the shortest milking duration from the quarter milking session 311a. When the udder milking session 311b reaches this duration, the controller 180 may signal for the removal of the milking cluster 200.

[0115] By utilizing data from the quarter milking session 311a to optimize the udder milking session 311 b, the milk extracting system 100 may achieve more efficient and tailored milking for each animal 101. This approach may help prevent overmilking of individual quarters while ensuring complete milking of the udder.

[0116] Figure 3 illustrates a milk extracting system 100 comprising a rotary milking parlour configuration according to various embodiments.

[0117] The milk extracting system 100 comprises a rotating platform 610. The rotating platform 610 comprises multiple milking points. In the illustrated embodiment, the rotating platform 610 comprises at least one quarter milking point 500 and at least one udder milking point 130. There may be about at least 20 milking points in a small rotating platform 610, to more than about 120 milking points in a large rotating platform 610. Irrelevantly of platform size, 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 in some examples.

[0118] 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. The animal identification device 120b may be a camera system that uses computer vision to identify the animals 101 , or any one of the other identification device concepts as previously discussed. Possibly, only animals 101 having a valid milking permission are allowed to enter the rotating platform 610. As the rotating platform 610 turns, the animals 101 move through the milking process. The animal 101 may thus be randomly milked in anyone of the quarter milking point 500 and the udder milking point 500, as some milking point positions may be quarter milking points 500 and some milking point positions may be udder milking points 130. 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, 311 b (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), in some non-limiting examples.

[0119] After having made some few milking sessions 311a, 311b, the involved animals, or at least most of the animals will have been milked at a quarter milking point 500 in the rotating platform 610. Thereby, over time, quarter milking data such as e.g. milk yield, time duration, and / or milk flow rate for all or at least most of the animals being milked / having milking permission at the rotating platform 610 will be available in the database 190.

[0120] An advantage therewith is that quarter milking data such as e.g. milk yield, time duration, and / or milk flow rate may be measured individually for each teat of the animal 101 when being milked in one of the quarter milking points 500, could be applied when milking that animal 101 in the udder milking point 130.

[0121] After milking is complete, the animals 101 exit the rotating platform 610 via an exit path 630.

[0122] The controller 180 of the milk extracting system 100 may use data from the quarter milking point 500 stored in the database 190, to determine which animals 101 should be milked at the udder milking point 130 versus the quarter milking point 500 in some embodiments. For example, the controller 180 may analyse udder fill rate data to optimize milking frequency between the quarter milking points 500 and udder milking points 130. For example, some animals 101 may be milked more frequently, at least during a period, in the quarter milking point 500.

[0123] The controller 180 may also use mastitis detection data from the quarter milking point 500 to assign animals 101 to a treatment area at the udder milking point 130 if necessary. This allows for prompt attention to potential health issues. Furthermore, the controller 180 may analyse data on animal 101 adaptability to robotic milking to determine which milking point to use for each animal 101 . Animals 101 that adapt well to robotic milking may be preferentially assigned to robotic / automated milking points, while those requiring more assistance may be directed to manually operated milking points.

[0124] In some embodiments, the milk extracting system 100 may comprise multiple stationary milking points, comprising at least one quarter milking point 500 and at least one udder milking point 130, in addition to or instead of the rotating platform 610. This configuration provides further flexibility in managing the milking process for a herd of animals 101.

[0125] The rotary milking parlour configuration of the milk extracting system 100 allows for efficient milking of multiple animals 101 simultaneously.

[0126] Figure 4 illustrates a milk extracting system 100 comprising a rotary milking parlour configuration with a separate milking robot 640 according to an embodiment.

[0127] The milk extracting system 100 thus comprises a rotating platform 610 with multiple udder milking points 130. The rotating platform 610 may have a similar configuration to that described in relation to Figure 3, with an entrance path 620 and an exit path 630 for animals 101 to access and leave the rotating platform 610; however with only or mainly udder milking points 130 at the rotary milking parlour.

[0128] A milking robot 640 may be positioned separately from the rotating platform 610. The milking robot 640 may serve as a quarter milking point 500, equipped with milk meter devices 561 , 562, 563, 564 to measure milk yield, time duration, and / or milk flow rate for each individual teat of the animal 101 during a quarter milking session 311a.

[0129] The milk extracting system 100 may comprise an animal identification device 120b near the entrance path 620 of the rotating platform 610 and another animal identification device 120b near the milking robot 640. These animal identification devices 120b may identify each animal 101 before milking, allowing the controller 180 to retrieve and / or possibly also store relevant milking data in the database 190.

[0130] The controller 180 may obtain an identity reference of the animal 101 to be milked from the animal identification device 120b before starting an udder milking session 311 b at one or the udder milking points 130 on the rotating platform 610. The controller 180 may then obtain measured milk yield, time duration, and / or milk flow rate per individual animal teat during the quarter milking session 311a of the identified animal 101 from the database 190.

[0131] Based on the obtained data, the controller 180 may determine milking settings to be applied during the udder milking session 311 b. These settings may comprise session length, flow rate take-off level, termination criteria, and / or cluster removal timing. The controller 180 may then apply these determined milking settings during the udder milking session 311 b of the identified animal 101 at the udder milking point 130.

[0132] In cases where no quarter milking data is available for a particular identified animal 101 , the controller 180 may apply predetermined milking settings, retrieved from the database 190. These predetermined settings may comprise default values for session length, flow rate takeoff level, termination criteria, and / or cluster removal timing, for example.

[0133] During the udder milking session 311b, the controller 180 may monitor the milk flow rate measured by the udder milk meter 160. When the milk flow rate reaches the predetermined or calculated take-off level, the controller 180 may initiate the termination of the milking session 311 b.

[0134] To ensure a smooth and comfortable detachment process for the animal 101 , the controller 180 may generate signals to discontinue underpressure in the long milk hose 150 before signalling a cluster removing device to remove the milking cluster 200. This sequence may help prevent discomfort or injury to the animal 101 during teat cup removal.

[0135] The hybrid configuration of the milk extracting system 100, combining a rotary milking parlour 610 with udder milking points 130 and a separate milking robot 640 as a quarter milking point 500, offers several advantages. This setup allows for efficient high throughput milking on the rotating platform 610 while still collecting detailed quarter milking data from the quarter milking point 500 of the milking robot 640. The integration of data between the two milking concepts enables precise and tailored milking for each animal 101 , thereby improving milk yield and animal comfort; yet assuring a high throughput of animals while preserving or enhancing teat integrity.

[0136] The milking robot 640 may be used strategically to collect quarter milking data on specific animals 101 or on a rotational basis or possibly based on voluntary choice by animals 101 in the herd. This data may then be used to optimize the milking process for those animals 101 when they are milked at the udder milking points 130 on the rotating platform 610. The flexibility of this methodology may allow farm managers to balance the need for detailed milk production data with the efficiency of a high-capacity rotary milking concept.

[0137] 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.

[0138] 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.

[0139] 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 the controller 180 of the udder milking point 130. Various changes, substitutions and / or alterations may be made, without departing from invention embodiments as defined by the appended claims.

[0140] 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 controller or database may fulfil the functions of several items recited in the claims. The mere fact that certain measures or technical features are recited in mutually different dependent claims does not indicate that a combination of these measures / technical features cannot be used to advantage. A computer program may be stored / distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware but may also be distributed in other forms such as via Internet or other wired or wireless communication system.

Claims

PATENT CLAIMS1. A milk extracting system (100), comprising a plurality of milking points (130, 500) for extracting milk from an animal (101), wherein at least one of the plurality of milking points (130, 500) 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 per individual animal teat during a quarter milking session (311a) of the animal (101); and wherein at least one of the plurality of milking points (130, 500) is an udder milking point (130), comprising a cluster (200), comprising four teat cups (131 , 132, 133, 134), and a milking claw (140), wherein the four teat cups (131 , 132, 133, 134) are connected to the milking claw (140) via a respective short milk hose (261 , 262), and a long milk hose (150) connected to the milking claw (140), for evacuating milk extracted from the four teat cups (131 , 132, 133, 134) from the udder milking point (130) via the milking claw (140); and a controller (180) of the udder milking point (130); 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) and / or at the udder milking point (130); and a database (190), configured to store milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session (311a) of the animal (101) as measured by the milk meter devices (561 , 562, 563, 564) when the animal (101) is milked at the quarter milking point (500); and wherein the controller (180) 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 an udder milking session (311b); obtain the measured milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session (311a) of the identified animal (101) from the database (190); and determine milking settings to be applied during the udder milking session (311 b) of the identified animal (101) at the udder milking point (130) based on the obtained milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session (311a) of the identified animal (101).

2. The milk extracting system (100) according to claim 1 , wherein the udder milking point (130) comprises an udder milk meter (160), arranged in direct connection with the long milk hose (150), to measure milk yield and / or time duration and / or milk flow rate of milk evacuated via the long milk hose (150) during the udder milking session (311b) of the identified animal (101) at the udder milking point (130).

3. The milk extracting system (100) according to any one of the preceding claims, wherein the udder milking point (130) comprises a control valve (165) arranged in the long milk hose (150), for controlling pressure level in the four teat cups (131 , 132, 133, 134).

4. The milk extracting system (100) according to claim 3, wherein the pressure level applied during the udder milking session (311b) at the udder milking point (130) is based on the milk flow rate per quarter during the quarter milking session (311a) at the quarter milking point (500).

5. The milk extracting system (100) according to any one of the preceding claims, wherein the determined milking settings comprises removal of the cluster (200); and wherein the udder milking point (130), comprises a cluster removing device (280), arranged to remove the cluster (200) with the four teat cups (131 , 132, 133, 134) from the animal teats when the udder milking session (311 b) is terminated; and wherein the controller (180) of the udder milking point (130) is configured to generate and provide a signal to the cluster removing device (280) to remove the cluster (200) with the four teat cups (131 , 132, 133, 134) when the udder milking session (311 b) is terminated.

6. The milk extracting system (100) according to claim 5 when being dependent on any one of claims 3-4, wherein the determined milking settings comprises termination of the udder milking session (311 b), wherein the controller (180) of the udder milking point (130) is configured to generate and provide a signal to the control valve (165), to discontinue provision of underpressure in the long milk hose (150) to the four teat cups (131 , 132, 133, 134) when the udder milking session (311 b) is terminated, before providing the signal to the cluster removing device (280) to remove the cluster (200) with the four teat cups (131 , 132, 133, 134).

7. The milk extracting system (100) according to any one of the preceding claims, wherein the controller (180) is configured todetermine milking settings in form of milking session length of the udder milking session (311 b) of the identified animal (101) at the udder milking point (130) and / or termination of the udder milking session (311b) and / or removal of the cluster (200), based on the obtained milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session (311a) of the identified animal (101) at the quarter milking point (500).

8. The milk extracting system (100) according to claim 7, wherein the controller (180) is configured to determine the time duration of the quarter milking session (311a) for the individual animal teat of the identified animal (101) at the quarter milking point (500) which is milked out firstly, based on the obtained milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session (311a); and generate and provide the signal to the cluster removing device (280) to remove the four teat cups (131 , 132, 133, 134) when the milking session length of the udder milking session (311b) of the identified animal (101) at the udder milking point (130) is equal to or smaller than the determined time duration of the individual animal teat during the quarter milking session (311a) of the identified animal (101) at the quarter milking point (500) which is milked out firstly.

9. The milk extracting system (100) according to any one of the preceding claims, wherein the controller (180) is configured to determine the milk flow rate take-off level at udder level of the identified animal (101), based on the obtained milk yield and / or time duration and / or milk flow rate of at least one individual animal teat during the quarter milking session (311a) of the identified animal (101) at the quarter milking point (500).

10. The milk extracting system (100) according to claim 9, wherein the controller (180) is configured to determine the milk flow rate take-off level at udder level of the identified animal (101) by: obtaining the milk flow rate per individual animal teat during the quarter milking session (311a) of the identified animal (101) from the database (190); determining the obtained milk flow rate of the teat of the animal (101) which is terminated firstly; subtracting the determined milk flow rate of the teat of the animal (101) which is terminated firstly from an initial milk flow rate at udder level of the identified animal (101).

11. The milk extracting system (100) according to claim 10, wherein the controller (180) is configured to determine the milk flow rate at udder level of the identified animal (101); compare the determined milk flow rate at udder level with the determined milk flow rate take-off level; and generate and provide the signal to the cluster removing device (280) to remove the cluster (200) with the four teat cups (131 , 132, 133, 134) when the determined milk flow rate at udder level is equal to or lower than the determined milk flow rate take-off level.

12. The milk extracting system (100) according to any one of claims 5-11 when dependent on claim 3, wherein the controller (180) of the udder milking point (130) is configured to generate and provide a signal to the control valve (165) to close the control valve (165), thereby discontinuing vacuum pressure in the four teat cups (131 , 132, 133, 134) before removing the cluster (200) with the cluster removing device (280).

13. The milk extracting system (100) according to any one of the preceding claims, wherein the controller (180) is configured to apply predetermined milking settings during the udder milking session (311b) of the identified animal (101), in case no milk yield and / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session (311a) of the identified animal (101) is available in the database (190).

14. The milk extracting system (100) according to claim 13, wherein the controller (180) is configured to apply predetermined milking settings in form of the milking session length and / or milk flow rate take-off level at udder level of the identified animal (101) and / or termination of the udder milking session (311 b) and / or removal of the cluster (200), in case no quarter milk data and / or milking settings has been obtained for the identified animal (101).

15. The milk extracting system (100) according to claims 13-14 when dependent on claim 2, wherein the controller (180) is configured to terminate the udder milking session (311b) by generating and providing a signal to the cluster removing device (280) to remove the cluster (200) when the milk flow rate as measured by the udder milk meter (160) is equal to or lower than the predetermined milk flow rate take-off level at udder level of the identified animal (101).

16. The milk extracting system (100) according to any one of the preceding claims, 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).

17. The milk extracting system (100) according to any one of the preceding claims, 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).

18. The milk extracting system (100) according to any one of the preceding claims, 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).

19. The milk extracting system (100) according to any one of the preceding claims, wherein the milk extracting system (100) comprises a plurality of udder milking points (130).

20. The milk extracting system (100) according to any one of the preceding claims, wherein the milk extracting system (100) comprises a receiver (170); a vacuum source (175), connected to the receiver (170) and arranged to create an underpressure in the receiver (170); and a common milk pipe (155), connected to the receiver (170) ; and wherein the long milk hose (150) is connected to the common milk pipe (155), thereby allowing milk extracted from the animal by the four teat cups (131 , 132, 133, 134) of the udder milking point (130) to be evacuated via the cluster (140), the long milk hose (150), and the common milk pipe (155) to the receiver (170), by the under pressure of the receiver (170).

21. A controller (180) of an udder milking point (130) comprised in the milk extracting system (100) according to any one of claims 1-20, 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 the animal identification device (120a, 120b) before commencing an udder milking session (311b); obtain the measured milk yield and / or time duration and / or milk flow rate per individual animal teat during the quarter milking session (311a) of the identified animal (101) from the database (190); determine milking settings to be applied during the udder milking session (311b) of the identified animal (101) at the udder milking point (130) based on the obtained milk yieldand / or time duration and / or milk flow rate of one individual animal teat during the quarter milking session (311a) of the identified animal (101); and apply the determined milking settings during the udder milking session (311b) of the identified animal (101) at the udder milking point (130).

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