Abstract:
A compact milking system for conventional milking parlors. The system supports individual milking of each of the milk glands. The system possesses a compact form and weight providing conventional milking parlors with capabilities currently supported only by costly robotic milking systems. The system comprises at least two teat cups attachable to an animal&#39;s udder; at least one Multi-Conduit Tube (MCT) having at least two milk conduits; at least one Separate Streams Claw wherein each milk stream communicates with only one teat cup and one MCT milk conduit; and one Sensing and Diverting Unit communicating with the MCT and operative to separately receive and analyze milk from each MCT milk conduit.

Description:
TECHNICAL FIELD 
     The current system relates to apparatuses and processes for extracting milk from animals with milk glands and more specifically to quarter milking animals with milk glands. 
     BACKGROUND 
     Milk generally consists of water, fat, protein, and lactose. Dairy cows, provide the vast majority of milk for human consumption. However, milk from goats, sheep, water buffalo and reindeer is consumed in many countries. 
     Milking parlors are used worldwide for milking animals, typically animals with two milk glands (e.g., goats and sheep) or four milk glands (e.g. cows and buffaloes). The parlors may generally be divided into two types: conventional or “semi-automatic” milking parlors and robotic milking parlors. These two types of milking parlors could differ significantly in regards to architecture, operating procedures, labor intensity, automation, capital investment, degree of analysis of the milk and the ability to separate the milk according to the analyzed properties. 
     In conventional or “semi-automatic” milking parlors, a milking cluster includes two or four teat cups connected to a milk claw via two or four short tubes and is manually attached to each individual animal. From an ergonomic standpoint the claw weight and dimensions are adapted for manual handling. U.S. Pat. No. 4,537,152 discloses a configuration in which a milking cluster is configured so that each teat cup in the cluster is attached to a corresponding teat of the animal. The milk obtained from the teats attached to a specific cluster flows to a single common milk collecting chamber which is an integral part of the milk claw. The milk accumulated in and which eventually exits from the chamber is referred to as “composite milk” because milk from all teats of the animal is mixed together in the chamber. Typically, the composite milk flows out of the milk claw through a single tube to a sensor unit. The sensor unit is able to identify various parameters of milk, such as milk quantity, fat content, protein content, presence of red blood cells, phagocytes, hemoglobin and many others. Commonly, the conventional or “semi-automatic” milking parlor includes one milk sensor unit per stall fed from a single milk line leading from the milking claw common milk collecting chamber. If the sensor does not detect any abnormalities in the milk the composite milk flows to a main milk line which carries milk from a plurality of sensor units (i.e., stalls) to a desired milk collection facility. 
     However, in many situations milk from various glands of the same animal, differ in quality (fat and protein content) and/or sometimes one or more glands are infected. In such situations it is advantageous to sense each gland separately and if necessary divert the milk obtained from a problematic teat to one or more different milk lines. 
     Robotic milking parlors, may or may not include a milk claw, however the milk claw usually serves in these parlors as part of the robotic teat cup attaching system as described in U.S. Pat. No. 8,171,883. Commonly, and as described in U.S. Pat. Nos. 6,425,345 and 6,948,449 teat cups are attached to animals by a robot and each gland is milked separately. In the robotic system, in cases where milk from different glands differs in the quantity of measured components—for example, protein and/or fat, the obtained milk could be diverted as desired so that two or more milk parameters may be either combined or kept separate. 
     The costs of robotic milking parlors are higher than conventional parlors, require more space and different architecture, and usually are different in design from conventional parlors. Installation of robotic systems in existing conventional parlors is not straightforward and requires major changes in infrastructure, parlor design and milking routines as well as investment of capital. 
     To date, conventional milking, which is the most common way of milking in the world, does not include quarter milking. A milking system for quarter milking in conventional milking parlors requires an operator to handle each teat cup separately which is more time intensive and labor intensive. The cost of current sensor/diverting systems is high and the amount of tubes required to transport the quarter milk from each animal make this option not cost effective. Consequently, quarter milking in conventional milking parlors is very expensive, unfriendly to operator and complicated. The solutions currently available on the market that attempt to provide the benefits of quarter milking in conventional milking parlors, while avoiding the costly investment in robots and without changing parlor design and architecture are insufficient. 
     SUMMARY 
     A compact milking system for conventional milking parlors supporting individual milking of each of the milk glands. The milk obtained from each gland could be weighed separately, analyzed separately, and kept separate from milk obtained from other glands. The current milking system could also manage the flow in each of the channels by diverting a channel providing poor quality milk and combining channels of supplying milk of adequate quality. This prevents contaminated milk obtained from one of an animal&#39;s teats from contaminating milk obtained from the animal&#39;s other teats. The Sensing and Diverting Unit of the present system is 5 to 10 times lighter and 5 to 10 times smaller than the sensing and diverting element of the robotic milking system. The system incorporates one or more compact milk quality sensors and provides individual vacuum control of each separate milking channel supporting full utilization of a single teat milking potential. Milk obtained from one teat does not come in contact with milk obtained from another teat thus cross-contamination between glands is avoided. 
     The system supports quarter milking in a compact form and weight providing conventional milking parlors with capabilities currently supported only by costly robotic milking systems. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present invention will be understood and appreciated more fully from the following detailed description, taken in conjunction with the drawings in which: 
         FIG. 1  is a simplified block diagram of a quarter milking system  100  designed for a conventional milking parlor in accordance with an example; 
         FIG. 2  is a simplified cross-section view illustrations of a conventional or semi-automatic milking system (prior art); 
         FIGS. 3A and 3B  are simplified cross-section view illustrations of robotic milking systems (prior art); 
         FIG. 4  is a cross-section view simplified illustration of a milking cluster in accordance with an example; 
         FIGS. 5A, 5B, 5C, and 5D  are oblique and cross-section views of a Separate Stream Claw (SSC) in accordance with an example; 
         FIG. 6  is an oblique-view simplified illustration of an arrangement of conduits inside SSC in accordance with an example; 
         FIGS. 7A, 7B, 7C and 7D  are cross-section view simplified illustrations of a Multi-Conduit Tube (MCT) in accordance with several examples; 
         FIG. 8  is a simplified milk flow diagram through a Sensing and Diverting Unit (SDU) in accordance with an example; and 
         FIGS. 9A, 9B and 9C  are cross-section view simplified illustrations of a changeover valve in accordance with an example. 
     
    
    
     DETAILED DESCRIPTION 
     In the present application the various examples, drawings, apparatuses, systems and processes referring to the extraction of milk from mammals having four teats are brought forth for illustrative purposes only and should be understood as applicable to any mammal having two or more teats. 
     Referring now to  FIG. 1 , which is a simplified block diagram of a quarter milking system  100  designed for a conventional milking parlor in accordance with an example. Four teat cups  102  of a milking cluster  104  are attached to four corresponding teats  140  of an udder  160  of a milking animal. The milk obtained from each individual teat flows via a corresponding short tube  106  into a chamberless (i.e., does not include a milk chamber) Separate Streams Claw (SSC)  108  where two or more milk streams  124  are maintained separate from each other and do not come in contact with one another. 
     The milk streams exit SSC  108  separately via corresponding long tubes  110  and flow into a Sensing and Diverting Unit (SDU)  112  via distinct nipples  128  ( FIG. 8 ). Each of the milk streams is individually analyzed by a dedicated plurality of sensors  114  in SDU  112  and selectively diverted by a changeover valve  116  via a determined collecting line such as a grade A milk line  118 , grade B milk line  120  and scrap milk line  122  into a corresponding collection vat  118 ′,  120 ′ and  122 ′. In the example of quarter milking system  100  illustrated in  FIG. 1 , the milk streams obtained from teats  140  are maintained separate throughout the course of their flow from teats  140  to changeover valves  116 . 
     Reference is now made to  FIGS. 2, 3A and 3B , which are simplified cross-section view illustrations of a conventional or semi-automatic ( FIG. 2 ) and a robotic ( FIGS. 3A and 3B ) milking systems. As shown in  FIG. 2 , a conventional or semi-automatic milking system  200  milking cluster  104 . Milking cluster  250  includes a milk claw  204 , two or four teat cups  102  connected to two or four short tubes  206  and pulsating vacuum tubes  212 . Short tubes  206  could be connected to a milk collecting chamber  208 . Milk cluster  104  teat cups  102  are manually attached to each corresponding teat  140 . Milk obtained from teats  140  flows via short tubes  206  to single common milk collecting chamber  208  which is commonly an integral part of milk claw  204 . The composite milk accumulated in chamber  208  exits via a single long composite milk tube  210 . 
     Cluster  104  pulsating vacuum tubes  212 , fed from one or more common pulsating vacuum tubes  214  (depicted in  FIGS. 2, 3A, 3B and 4  as broken lines) apply pulsating pressure to each corresponding teat cup  102  to initiate the milking process. The pulsating pressure to the teats is controlled (i.e., on/off command) to all teats collectively and does not to provide individual teat milking control. 
       FIGS. 3A and 3B  illustrate robotic milking systems. The robotic system is a quarter milking system in which each teat cup  102  is attached to a corresponding teat  140  and connected to a quarter milk long tube  310 . Commonly, and as shown in  FIG. 3A , robotic systems do not include milking claws such as milking claw  204  and each quarter milking long tube  310  carries the milk within directly to a collection vat or a diverting unit. Each teat cup  102  is individually supplied by a corresponding pulsating vacuum tube  314 . The pulsating pressure to teat  140  is individually controlled. 
     Another robotic system such as the system depicted in  FIG. 3B , could be a semi-quarter milking system having a milk claw including, for example, four separate milk collecting chambers  208 . This is could be considered a semi-quarter milking system as compared to a quarter milking system in that the milk in the milking claw flows into a common collecting basin  316  and exits the milking claw via a single outlet and into a single long composite milk tube  210 , whereas in quarter milking the milk steams remain separate from the teat cup to the milk collection vat. 
     Referring now to  FIG. 4 , which is a cross-section view simplified illustration of a milking cluster in accordance with an example. A quarter milking system  100  cluster  450  includes two or more teat cups  102  each attached to a corresponding teat  140 , and sealingly connected to a corresponding short tube  106 . Tubes  106  could be sealingly connected to a Separate Streams Claw (SSC)  108 . SSC  108  could include two or more distinct milk conduits  402  in which milk received from each individual teat  140  via short tubes  106  is maintained separate from milk obtained from the other teats or quarters. Conduits  402  are sealingly connected to a Multi- 
     Conduit Tube (MCT)  404  including corresponding two or more milk conduits  406 . 
     The milk obtained from each gland could be weighed separately, analyzed separately, and kept separate from milk obtained from other glands. In milking of animals with four milk glands, a milking system in which each gland is milked independently could be referred to as “a quarter milking system”. One advantage of a quarter milking system is in that contaminated milk obtained from one of an animal&#39;s teats could be prevented from contaminating milk obtained from the animal&#39;s other teats. Another advantage is that milk obtained from one teat does not come in contact with milk obtained from another teat thus cross-contamination between glands is avoided. 
     To date, conventional milking, which is the most common way of milking in the world, does not include quarter milking. A milking system for quarter milking in conventional milking parlors requires an operator to handle each teat cup separately which is more time intensive and labor intensive. The cost of current sensor/diverting systems is high and the amount of tubes required to transport the quarter milk from each animal make this option not cost effective. Consequently, quarter milking in conventional milking parlors is very expensive, unfriendly to operator and complicated. The solutions currently available on the market that attempt to provide the benefits of quarter milking in conventional milking parlors, while avoiding the costly investment in robots and without changing parlor design and architecture are insufficient. 
     In a quarter milking system, such as system  100 , could provide a low-cost quarter milking chamberless system to a conventional milking parlor in that the number of milk stream entering SSC  108  is identical to the number of milk streams streaming out of SSC  108 . The separate streams streaming out of SSC  108  could be drained by MCT  404  thus remaining separate until reaching SDU  112 . 
     SSC  108  could also include vacuum supply conduits or channels  408  (represented by a broken line) which could be connected at one end thereof to a corresponding cluster  104  pulsating vacuum tube  212  supplying each individual teat cup  102  and at the other end to a corresponding pulsating vacuum tube  314 . One or more vacuum tubes  314  could be an integral part of MCT  404  as will be described in greater detail below. The pulsating pressure to each teat  140  could be individually controlled. Unlike in the conventional milk cluster, the vacuum applied to each teat, i.e. quarter, could be controlled individually by a dedicated vacuum supply line including a vacuum tube  314 , SSC  108  vacuum supply conduit  408  and cluster  104  pulsating vacuum tube  212  so that a single quarter could be turned on or off independently of the other quarters. 
     Reference is now made to  FIGS. 5A, 5B, 5C, and 5D , which are oblique and cross-section views of a Separate Stream Claw (SSC)  108  in accordance with an example.  FIG. 5B  is a cross-section view of SSC  108  of  FIG. 5A  taken along axis W-W.  FIGS. 5C and 5D  are cross-section views of SSC  108  of  FIG. 5A  taken along axis Q-Q. SSC  108  could have 2, 4, or any other number of individual milk stream inlet nipples or tubes  502  (In  FIG. 5A , nipples  502 - 1 ,  502 - 2 ,  502 - 3  and  502 - 4 ), individual milk stream conduits  402 , and individual milk stream outlet nipples or tubes  504 . Each inlet nipple or tube  502  could be sealingly connected to a single channel or conduit  402  and each channel or conduit  402  could be sealingly connected to a single outlet nipple or tube  504  to provide each milk stream a dedicated sealed pathway and prevent contact between milk streams inside SSC  108 . 
     SSC  108  could be handled similarly to conventional claw  204  from an operator&#39;s standpoint. 
     Once milking cluster  104  is attached to an animal, SSC  108  could provide a plurality of individual distinct milk streams, one from each teat or quarter of the animal udder. Each inlet nipple or tube  502  could be sealingly connected to a different teat cup so that milk from a teat or quarter of an animal could flow through each short tube  106  into inlet nipple or tube  502 . Additionally, SSC  108  negates the use of a milk collecting chamber  208  (i.e., it is chamberless) making cluster  104  much lighter in weight and shorter in length (measured from the teat cup to the bottom of the milking claw). 
     The configuration of SSC  108  conduits  402  ( FIG. 5B ) could be in a form of a tube protected by a molded capsule  510  ( FIG. 5C ) or a lumen, which is part of a multi-luminal potted enclosure  540  ( FIG. 5D ) enclosing several conduits  402  as will be explained in greater detail below. Conduits  402  could be comprised of or lined with metal, plastic, rubber, glass, composite or a combination thereof. Nipples  502 / 504  are configured for ease of sealed connection with teat cups  102  ( FIG. 1 ) short tubes  106  and with long tubes or MCT  404  downstream SSC  108 . 
     SSC  108  could also include two or more pulsating vacuum conduits  408 . Each of pulsating vacuum conduits  408  could also be sealingly connected at a vacuum outlet nipple  506  at one end hereof to a corresponding teat cup  102  via a pulsating vacuum tube  212 , so that each teat cup  102  is sealingly attached to one milk short tube  106  and one vacuum tube  212 , and at an vacuum inlet nipple  508  located at the other end of pulsating vacuum conduits  408  to a dedicated vacuum source (not shown) via vacuum tube  314  ( FIG. 3A ). 
     Pulsating vacuum conduits  408  and pulsating vacuum tubes  212 , as well as nipples  506 / 508  could have a diameter different in size than the diameter of milk stream inlet nipples or tubes  502 , milk stream conduits  402 , milk stream outlet nipples or tubes  504  and/or milk short tubes  106 . Commonly, the diameter of vacuum conduits is smaller than that of milk channels, conduits or tubes. 
     Referring now to  FIGS. 5C and 5D , which are cross-section views of SSC  108  of  FIG. 5A  taken along axis Q-Q at an imaginary level of convergence of conduits  402 / 408  with corresponding milk stream outlet nipples or tubes  504  and vacuum inlet nipples  508 .  FIG. 5C  depicts a capsule  510  housing conduits  402 / 408 . A void  560  could be defined between capsule  510  and conduits  402 / 408  and may be filled with a suitable material, air or vacuum as will be explained in greater detail below. Alternatively, capsule  510  could tightly envelope conduits  402 / 408  in a spaceless manner, i.e., without void  560 . As shown in  FIG. 5D , conduits  402 / 408  could be formed by a multi-luminal potted enclosure  540 . Conduits  402 / 408  could be made of a same as or a different material than enclosure  540 . In an example, conduits  402 / 408  and enclosure  540  could be produced in the same mold as a unitary structure. Alternatively and optionally, conduits  402 / 408  formed by multi-luminal potted enclosure  540  could be coated with a material different than that of enclosure  540 . 
     As shown in  FIG. 6 , which is an oblique-view simplified illustration of an arrangement of conduits  402 / 408  inside SSC  108  in accordance with an example, conduits  402  and  408  could be arranged and stacked inside SSC  108  in a manifold configuration  602  prior to encapsulation or formed in a manifold configuration by a potting process. This configuration could improve rigidity and durability as well as good control of conduits  402  and  408  geometry and position. 
     Molded capsule  510  and/or enclosure  540  could comprise a polymer such as a thermosetting or thermoplastic polymer. In one example, the thermosetting polymer could be polyurethane, epoxy, unsaturated polyester, vinyl ester polymer, amino resin, phenol resin or silicone-containing polymer. The polymer could be filled with filler or fibers. In another example, molded capsule  510  and/or enclosure  540  could be made of thermoplastic polymer such as acetal, polyurethane, polyamide, polyolefine, polyester, polycarbonate, poly vinyl chloride, acrylic, styrenic and thermoplastic elastomer. In yet another example the capsule could be manufactured by forming, machining and molding of polymer, metal, wood, ceramic or glass, forming or assembled or bonded on conduits  402 / 408 . 
     Molded capsule  510  and/or enclosure  540  molding material may be solid or foamed. Inner voids or spaces such as void  560  could be left in the capsule to achieve a desired capsule weight. 
     Nipples  502 / 504 / 506 / 508  could be made of the same material as, or different materials than, conduits  402 / 408 . 
     SSC  108  could have a weight of 100-1000 grams. This weight could include internal conduits  402 / 408  and capsule  510  or potting  540 . The weight of cluster  140  according the current example, which includes SSC  108 , short tubes  106  and teat cups  102  could vary between 0.5 to 5 kilograms. 
     The dimensions and weight of SSC  108  could be optimized to be ergonomically suitable for a comfortable grip by the human hand, providing comfort handling for both small size and large size hands. The weight is also optimized to provide a counterbalance to the pulsation stroke. 
     As described above, quarter milking system  100  could also include SDU  112 , which is a mechanism for analyzing and separating milk streams  124  ( FIG. 1 ) based upon characteristics of the milk in each of the streams. Typical characteristics could be fat and protein content, electrical conductivity, turbidity, density, flow rate, accumulated volume, presence of blood or blood cells in milk and other similar data. 
     SDU  112  could be compact and configured to be mounted in a conventional milking parlor space without need to change the parlor architecture and design. A plurality of independent milk streams  124  flow downstream from SSC  108  to SDU  112  via long tubes  110  or MCT  404 . 
     Reference is now made to  FIGS. 7A, 7B, 7C and 7D , which are cross section view simplified illustrations of Multi-Conduit Tube (MCT)  404  in accordance with several examples. 
     In example shown in  FIGS. 7A-7D , MCT  404  relatively large diameter conduits  406  commonly convey milk whereas relatively smaller diameter conduits  704  commonly supply vacuum to pulsating tubes  212  via SSC  108 . Multi-conduit tube  404  could be a molded flexible block  706  or an extruded flexible block  708  containing two or more milk conduits  406 . MCT  404  may include two or more blocks  706 / 708  as shown in  FIGS. 7A and 7B , or alternatively and optionally, form a single block as shown in  FIGS. 7C and 7D . Blocks  706 / 708  could be made of a polymeric material, such as an elastomeric material for example, rubber, thermoplastic elastomer or plastomer. In an example, MCT  404  could be made of silicone rubber. 
     The average diameter of conduits  406  may be from about 6 to about 20 mm. When the cross-section of the conduits has a geometrical shape other than a circle, the “diameter” refers to the maximum measurement that could be taken across the cross-section of the conduit. MCT  404 , as shown in  FIGS. 7A-D , could also include conduits  710  in addition to milk conduits  406  and vacuum conduits  704 . Conduits  710  could carry, for example, system washing cleaning fluid. 
     MCT  404  could also be made of a stack of molded or extruded tubes which are welded, bonded, or mechanically interwoven or joined by means of a mechanical connector. Joined MCT  404  could provide flexibility for easy maintenance and installation while avoiding issues associated with using a plurality of separate individual conduits. 
     Reference is now made to  FIG. 8 , which is a simplified milk flow diagram through SDU  112  in accordance with an example. SDU  112  is capable of detecting various attributes of the milk and milk flow of each milk stream  124  separately and provide data to a computerized system that could, based on a pre-defined protocol, activate changeover valves to separate the milk into different output streams  126  based on pre-defined criteria as will be explained in greater detail below. For example, separation of milk from an infected and/or sick quarter from other healthy quarters, separation of fat rich milk from fat thin milk and separating protein rich milk from low protein milk. Additionally or alternatively, SDU  112  could detect flow rate and total milk volume from each quarter providing important data regarding animal health and productivity. 
     Alternatively and optionally, SDU  112  could only sense each quarter milk separately and provide alerts to the user without automatically diverting the milk. This configuration is lower in cost than SDU  112  with diverting valves, and provides the dairyman or user warning of potential infection in specific quarters. For some users, the separate milking of each quarter, followed by separate sensing and the provision of an alert when necessary could be sufficient. 
     Referring back to  FIG. 1 , SDU  112  sensors  114  could be of or include, but not be limited to, the type of sensor described in U.S. Pat. Nos. 5,116,119 and 5,581,086. Sensors  114  could be positioned in separate channels, each sensor  114  dedicated to a corresponding milk stream  124  so different streams  124  do not come in contact within SDU  112 . 
     SDU  112  could also be configured to provide a hermetic seal against leaks and the penetration of dirt and/or other contaminants while being easy to service and disassemble. SDU  112  could include a single-piece, two-piece or multi-piece shell made of plastic, glass, ceramic, composite, metal or combinations thereof and sealed by a seal or gasket and be manufactured by injection molding or compression molding or thermoforming of a thermoplastic material such as a polyamide, polysulfone, polyester, an acetal polymer, a polycarbonate, a polypropylene, styrenic, polyvinyl chloride and the like. In one example, SDU  112  could have a height of 280 mm, a width of 200 mm, and a depth of 200 mm. 
     Typically, each stream of milk  124  flows through a distinct nipple  128  sealingly attached to MCT  404  and into SDU  112 . Each milk sensor  114  collects data specific to a corresponding distinct milk stream  124  obtained from a specific teat or quarter. The data from each sensor  114  could be then processed and optionally stored by a microprocessor or computer  802  in SDU  112 . Alternatively, the data from each sensor  114  could be transferred to a central computer (not shown) where data is processed and further registered, analyzed, and stored. The data is useful for diverting the different milk streams  124  according to a pre-defined protocol, as well as to provide indication of the specific animal health and status. 
     The analysis of the milk could be used to determine to where the milk from each gland is to be diverted. In particular, SDU  112  could include changeover valves  116 , which are configured to allow each milk stream  124  to independently flow to one of a plurality of pathways while restricting each stream from flowing to a pathway other than the determined pathway. Changeover valves  116  could be controlled and manipulated pneumatically, automatically or manually, usually with compressed air or a vacuum, electrically or magnetically or by any known method in the art. In the current example depicted in  FIG. 8 , changeover valves  116  could be two-way, three-way or four-way valves. The pathways commonly include a high quality grade A milk line  118 , for example high protein or high fat content milk, a lower quality grade B milk line  120  and a scrap milk line (not shown), for example milk contaminated by bacteria, blood or inflammatory by-products. Milk lines  118 ,  120  and  122  could be sealingly connected to SDA  112  via a plurality of outlet nipples  130 . 
     Additionally to diverting the milk, the information of each milk stream of a specific animal and/or animal udder quarter obtained by sensors  114  could be recorded on a computerized data system and be statistically analyzed. Analyzed parameters could include for example, fat content, protein content, blood present in milk, flow, volume, turbidity, density etc. The analyzed data is a useful indicator for animal health, fertility, estrus, feeding deficits and potential disease. 
     Processing and analysis may be performed inside SDU  112  by a microprocessor or computer  802  ( FIG. 8 ) or by a remote computer  804 . Remote computer  804  may be wired to SDU  112  or be connected through a wireless interface. Computer or microprocessor  802  could produce commands to changeover valves  116  to divert milk streams  124  as will be explained in greater detail below. 
     Referring now to  FIGS. 9A, 9B and 9C , which are cross-section view simplified illustrations of changeover valve  116  in accordance with an example. Changeover valve  116  could be a three-way, single membrane, binary controlled valve and include a housing  902 , having a milk inlet  904 , a milk outlet  906  and a scrap milk outlet  908 . Housing  902  could be made of any rigid material such as metal, plastic or a composite material, and could be made as a mold or of molded parts. Milk outlet  906  and a scrap milk outlet  908  could communicate with milk inlet  904  via corresponding milk conveying channels  910  inside housing  902 . Milk conveying channels  910  converge at changeover junction  950  (encircled in  FIG. 9A  by a broken line), the milk flow therethrough controlled by a resilient plunger head  912  having a milk side  930  and a dry side  940  as will be described in greater detail below. 
     Changeover valve  116  could also include resilient sealing membrane  950  having a resilient plunger head  912 , a resilient hollow stem  914  and a resilient base  916 . Resilient plunger head  912  could be integrally or adhesively attached to a resilient hollow stem  914  and resilient base  916  together forming a single resilient sealing membrane  950 . A rigid or semi-rigid shaft  918  could be accommodated inside and in parallel to longitudinal axis X of hollow stem  914 , abut or be integrally or adhesively attached at one end thereof to dry side  940  of plunger head  912 . The other end of shaft  918  could be adhesively or integrally attached to a bias retention ring  920  slidingly movable against bias  922  within a piston-like portion  924  of an atmospheric pressure air cavity  926 . Housing  902  atmospheric pressure air cavity  926  is maintained isolated from milk inlet  904 , milk outlet  906  and scrap milk outlet  908  by resilient sealing membrane  950  and communicates with atmospheric air via air inlet  960 . 
       FIGS. 9B and 9C  illustrate the mode of operation of changeover valve  116 . Changeover valve  116  located inside SDU  112  could receive milk through milk inlet  904  streaming from an individual quarter or teat cup  102 , via short tube  106 , SSC  108 , MCT  404  conduit  406  and SDU  112  sensors  114 . Depending on a signal received from SDU  112 , changeover valve  116  could alternate a selected path of flow of a received milk stream  928  via changeover junction  950  to milk outlet  906  or scrap milk outlet  908 . 
     Under normal operating conditions, milk paths  910  are under sub-atmospheric pressure induced by one or more vacuum pumps (not shown) operating via milk outlet  906  or scrap milk outlet  908 . At this point in time, atmospheric air inlet  960  is maintained closed by a single binary (on/off type) valve  970 . Pressure on resilient plunger head  912  milk side  930  exerted by milk being suctioned via milk conveying channel  910 - 1  ( FIG. 9B ) and milk outlet  906  to one end of shaft  918  assisted by pressure exerted by bias  922  on the other end of shaft  918  bring about stem  914  of membrane  950  to slide in a direction indicated by arrow  980  opening a passageway  952  in junction  950  allowing the milk stream to flow towards milk outlet  906 . 
     Under conditions in which milk is determined by SDU  112  to be scrap milk, SDU  112  opens valve  970  allowing atmospheric air to enter in a direction indicated by arrow  985  into atmospheric pressure air cavity  926 . The sub-atmospheric pressure in milk conveying channel  910 - 1  applies negative pressure to plunger head  912  milk side  930  pulling plunger head  912  as well as shaft  918  in a direction indicated by arrow  990  against bias  922  thereby spring-loading bias  922 . 
     The movement of Plunger head  912  milk side  930  brings about the sealing of passageway  952  and the opening of passageway  954  in junction  950  allowing the milk stream to flow towards milk outlet  908  as indicated by a broken line and into milk conveying channel  910 - 2  ( FIG. 9C ). 
     It will be appreciated by persons skilled in the art that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the invention includes both combinations and sub-combinations of various features described hereinabove as well as modifications and variations thereof which would occur to a person skilled in the art upon reading the foregoing description and which are not in the prior art.