The Effect of the Milk Yield and Performance Analysis of Robot Milking System

로봇 착유시스템의 착유성능 및 착유량에 미치는 영향

  • Kim, W. (Bio-industry Mechanical Engineering, Kongju Univ.) ;
  • Lee, D.W. (Department of Bio-mechatronics Engineering SungKyunKwan University)
  • Published : 2009.04.30


The authors of this study have developed a robot milking system composed of a multi-articular manipulator, a teat-cup attachment system, and an image processing system. In order to verify the efficacy of this system, we have conducted a performance analysis and measurement experiment of milk yield, using dairy cattle. It was concluded that teat recognition using the image processing system, teat-cup attachment, and detachment system did not binder milking. The milking yield of the robot milking system was analyzed based on a lactation curve. As a result, it was determined that the use of a robot milking system had no significant effects on milking yields. The robot milking system described in this study is designed specifically with a focus on teat-cup attachment and detachment performance, as well as the effect of these factors on milking yield. In the future, in-depth studies regarding the washing of the teats prior to milking, teat massage, pre-treatment and post-treatment processes after milking, and disinfection processes shall be conducted, in order to render this system feasible for use in an actual milking parlor.

부족한 노동력 해소와 유질 및 유량의 향상을 위해서 5축 다관절 매니퓰레이터와 착유컵 착탈 시스템 및 영상처리 시스템을 이용한 로봇 착유시스템을 개발하였으며, 착유우 실험을 통해 시스템 성능분석 및 착유량에 미치는 영향을 알아보았다. 1. 착유컵 장착시간은 최소 17초, 최대 38초, 평균 27초가 소요되었으며, 이는 착유성능에 영향이 없을 것으로 판단되었다. 착유컵 탈락은 약 1초 내에 유두에서 탈락하는 것으로 나타나 착유작업에 지장을 주지 않을 것으로 판단되었다. 2. 로봇 착유시스템을 이용한 착유량은 평균 착유량은 7.5 kg으로 나타났으며, 주간 착유량의 표준편차는 0.7 kg으로 나타났다. 비유곡선을 이용한 착유량 분석도 로봇 착유시스템에 의한 착유 시 착유량에 큰 영향을 미치지 않은 것으로 판단되었다. 본 연구에서 개발된 로봇 착유시스템은 착유컵 착탈 성능과 착유량에 미치는 영향에 관한 것으로 착유실내의 모든 착유작업을 수행하기 위해서는 착유전 유두세척, 유두 마사지 및 전처리 공정과 착유우 후처리 및 소독 공정이 모두 필요한 사항이며, 앞으로 연구가 필요할 것으로 사료된다.



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