MONITORING AND CONTROLLING MACHINE COW MILKING BY UDDER QUARTERS

Abstract

The paper considers some problems associated with the control and monitoring of automated machine milking by udder quarters: controlling a pulsating vacuum for each udder quarter; the need for a stimulating mode and its duration in each teat cup; choosing between the alternative pulsation mode and the main mode with a decrease in the milk flow rate for each udder quarter; determination of the lactation intensity in the quarter at which the teat cup should be disconnected from the vacuum. It was found that the transition to the main milking mode (pulsation frequency of 60 min^-1; a ratio of sucking / squeezing cycles of 70:30) is carried out at a minimum average stimulating milk flow rate equal to 0.2 kg/min. For cows with a low milk flow rate or with diseases of the sphincter and teats, or those previously suffering from mastitis, it is advisable to introduce a gentle milking mode before starting (60 min^-1; 50:50) and not to stimulate them. A control algorithm for quarter milking and control of this process is exemplified by milk flow curves and reference points of transition. The authors have developed models and obtained relationships that make it possible to determine the control parameters at the characteristic reference points of the udder-quarter milk yield curves in order to clarify the algorithms for controlling the milking processes of individual udder lobes in automated and robotic milking machines of a new generation.