• 한국축산시설환경학회지
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• 제15권1호
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• pp.29-36
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• 2009

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.

• 한국축산시설환경학회지
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• 제6권2호
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• pp.113-119
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• 2000

A Robotic milking cluster system with the manipulator for an automatic milking system was designed and built for farmer to work easily and comfortably during milking processing. The cluster system was composed of screws, cams and links for power transmission, DC motors, the Quick Basic one-chip microprocessor, the vision system for image processing, and tea-cups. Software, written in Visual C+ and Quick Basic, combined the function of image capture, image processing, milking cluster control, and control into one control. The unit was made to transfer from four fixed points to four teats with four teat-cups. Performance tests of the cluster unit, the fully integrated system, were conducted to attach and detach the teat-cup on the teat of a artificial cow. The transfer programming provided for a teat-cup milking loop during the system starts and comes back the original fixed point at the manipulator of it for milking. It transferred the teat-cup with a success rate of more than 70%. The average time it took ot perform the milking loop was about 20 seconds.

• 한국축산시설환경학회지
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• 제7권2호
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• pp.63-76
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• 2001

A survey was conducted for dairy farmer to manage efficiently of a milking machine and equipment. Labor hours, operation costs, and milking cares for each dairy farmer to estimate the expected numbers of machine and equipment on the basis of the desired dairy farm scale. Based on the results of this research the following conclusions were made: Those who possessed a herringborn system and a tandem parlour system were relatively small portion 2% and 25% respectively of the whole dairy farmer. To improve dairy farmer\`s life, or to reduce his hard labor hours. it was necessary for most of dairy farmers to possess a herringborn system and a tandem parlour system. However, it was difficult for most of farmers to purchase a herringborn system and a tadem parlour system, because these system were very expensive. Only 20% farmers of the whole farmers repaired their milking system, which needed to be repaired quickly enough so that it might was used everyday. Among the parts of milking system, pulsator was found to have the highest breakdown ratio 59%, and vacuum pump was the breakdown ratio 27%. It took more than 2 hours to be milked twice a cow per one day. It means that milking spend so much time. Therefore, the auto milking system should be supplied to decrease hard labor hour.

• 한국축산시설환경학회지
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• 제7권2호
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• pp.77-82
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• 2001

This research was carried out to investigate the daily amount and characteristics of wastewater produced from bucket milkers, pipeline, tandem ad herringbone milking system for washing operations after milking included 28 dairy farms. The average amount of wastewater produced from milking system was 9.8l/head/day. The amount of wastewater varied from a low of 8.2 litters/head/day(pipeline milking system) to 13.4 litter/head/day(herringbone milking system). The moisture content, Biochemical Oxygen Demand($BOD_5$), Chemical Oxygen Demand($COD_{Mn}$), Suspended Solids(SS), Total Nitrogen(T-N) and Total Phosphorus(T-P) concentration of wastewater were 99.9%, 394mg/l, 417.3mg/l, 1,201.3mg/l, 3.78mg/l, 0.51mg/l.

• 한국축산시설환경학회지
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• 제3권2호
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• pp.87-95
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• 1997

This study was peformed to compare work routine time and performance of milking systems by measuring motion and time in milking procedure. Data were collected from thirteen dairy farms among which milking was done by bucket in two farms, by pipelines in three, by tandem parlors in four including one remodeled side-opening, by herringborn parlors in three and by a parallel milking parlor. Recording time and motion for milking parlor. Recording time and motion for milking procedure was performed by stopwatch and notebook computer. Work routine elements were recorded and calculated into cows milked per-man-hour(CMPH). The results are as follows : Average milking time per cow(MTPC) in bucket and pipeline milking systems usually installed in cow stall were 442.7 and 395.8 seconds, respectively. And average CMPH of bucket and pipeline milking system were 144.5, 303.3, 272.5 and 380.3 seconds, respectively. And CMPH of tandem, herringbone, parallel and modified side-opening systems were 24.9, 11.9, 13.2 and 9.5 heads, respectively. CMPH was the highest in the tandem milking system and the lowest in the bucket milking facilities. CMPH, when milked in a parlor resulted in high value compared with bucket or pipeline milking systems installed in cow stable. They showed considerably low CMPH compared with the results of other countries. The reason why so low CMPH could be derived from type and mechanization of facilities and equipment, operator's ability, number of operator, idle time and milking procedure.

• 한국축산시설환경학회지
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• 제21권2호
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• pp.65-70
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• 2015

Total three hundred and fourteen dairy cows were used in this study to analysis of correlation between milking levels and automatic milking system (AMS). Cows were divided into five groups according to their milking levels (over 50 kg/day, 49~40 kg/day, 39~30 kg/day, 29~20 kg/day, 19~10 kg/day). All groups were compared with daily milking number, rejected number by AMS, residence time at AMS, milking time, flow rate of milk. Daily milking number and milking time were higher in the group of over 50 kg and 49~40 kg than that of other groups (p<0.05). There are no correlation on rejected number by AMS, residence time at AMS and flow rate of milk between milking levels and AMS. In addition, we found that the milk yield affected to feed intake and rumination of dairy cows. In conclusion, present results indicated that installation of AMS on dairy farms with high milk producing cows might be affected positively.

• Asian-Australasian Journal of Animal Sciences
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• 제30권8호
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• pp.1093-1098
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• 2017

Objective: The aim of the current study was to describe the relationship between milk yield and lactation number, stage, length and milking frequency in Korean Holstein dairy cows using an automatic milking system (AMS). Methods: The original data set consisted of observations from April to October 2016 of 780 Holstein cows, with a total of 10,751 milkings. Each time a cow was milked by an AMS during the 24 h, the AMS management system recorded identification numbers of the AMS unit, the cow being milking, date and time of the milking, and milk yield (kg) as measured by the milk meters installed on each AMS unit, date and time of the lactation, lactation stage, milking frequency (NoM). Lactation stage is defined as the number of days milking per cows per lactation. Milk yield was calculated per udder quarter in the AMS and was added to 1 record per cow and trait for each milking. Milking frequency was measured the number of milkings per cow per 24 hour. Results: From the study results, a significant relationship was found between the milk yield and lactation number (p<0.001), with the maximum milk yield occurring in the third lactation cows. We recorded the highest milk yield, in a greater lactation length period of early stage (55 to 90 days) at a $4{\times}$ milking frequency/d, and the lowest milk yield was observed in the later stage (>201 days) of cows. Also, milking frequency had a significant influence on milk yield (p<0.001) in Korean Holstein cows using AMS. Conclusion: Detailed knowledge of these factors such as lactation number, stage, length, and milking frequency associated with increasing milk yield using AMS will help guide future recommendations to producers for maximizing milk yield in Korean Dairy industries.

• Asian-Australasian Journal of Animal Sciences
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• 제27권4호
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• pp.587-591
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• 2014

Automatic milking systems (AMS) rely upon voluntary cow traffic (the voluntary movement of cattle around a farm) for milk harvesting and feed consumption. Previous research on conventional milking systems has shown differences between dairy cow breeds for intake and milk production, however, the ability to manipulate voluntary cow traffic and milking frequency on AMS farms through breed selection is unknown. This study investigated the effect of breed (Holstein Friesian versus Illawarra) on voluntary cow traffic as determined by gate passes at the Camden AMS research farm dairy facility. Daily data on days in milk, milk yield, gate passes and milking frequency for 158 Holstein Friesian cows and 24 Illawarra cows were collated by month for the 2007 and 2008 years. Illawarra cows had 9% more gate passes/day than Holstein cows over the duration of the study; however, the milking frequency and milk yield of both breeds were similar. Gate passes were greatest for both breeds in early lactation and in the winter (June to August) and summer (December to February) seasons. These findings highlight an opportunity to translate increased voluntary cow movement associated with breed selection into increased milking frequencies, milk production and overall pasture-based AMS performance.

• Journal of Dairy Science and Biotechnology
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• 제32권2호
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• pp.63-70
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• 2014

Automatic milking systems (AMS) have been increasingly introduced to Korean dairy farms. However, in comparison with conventional milking systems (CMS), some negative changes in milk quality are being observed. The use of AMS leads to an increase in milking frequency, which in turn might result in higher physical stress on the milk, possibly causing changes in the milk fat globule (MFG) membrane. Therefore, the purpose of this study was to examine the effect of the different milking systems on the milk quality, with a focus on milk fat properties. At the same time, we studied the effect of feeding the dairy cows with protected fat. Raw milk samples were taken monthly from individual cows as well as from bulk tanks at four AMS and four CMS dairy farms. We measured quality-related parameters such as MFG size distribution, free fatty acid content and composition, and acid values. Although most results showed no significant differences with regard to the milking system, we found a relatively high positive correlation between MFG size and milk fat content. Moreover, larger MFG size was observed in the milk when cows had been fed protected fat. The significantly higher (P< 0.05) free fatty acid content of milk observed under this experimental condition could be attributed to higher milking frequency as a result of using AMS.

• 한국축산시설환경학회지
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• 제14권3호
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• pp.149-158
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• 2008

본 시험은 젖소농가에서 보유하고 있는 여러가지 형태의 착유시스템에 대하여 계절별 세척수의 발생량과 이화학적 특성을 알아보고자 바켓식, 파이프라인식, 텐덤식, 헤링본식 등 착유시스템 유형별로 각각 3농가를 선정하여 계절별로 조사를 실시하였으며, 그 결과는 다음과 같다. 1. 착유시스템 유형별 세척수 발생량은 텐덤식과 헤링본식에서 많았으며 바켓식이 적었다 (P<0.05). 2. 착유작업별 세척수 발생량은 착유기 세척에 가장 많은 량의 세척수를 사용하였으며 여름철의 경우 텐덤식 $398.8{\ell}$, 헤링본식 $407.7{\ell}$가 다른 착유시스템보다 많은 세척수를 사용하였다 (p<0.05). 3. 착유과정에서 발생하는 세척수 발생량을 조사한 결과, 평균 $15.4{\ell}$/두였으며, 계절별로는 여름이 $16.4{\ell}$로 가장 많은 세척수가 발생되었다. 4. 착유과정에서 발생하는 세척수의 $BOD_5$는 착유실 세척시 발생하는 세척수가 $906.4mg/\ell$로 가장 높았으며, 유두 세척시 가장 낮은 $212.4mg/\ell$로 나타났다. COD, SS 등도 착유실 바닥세척시 가장 높은 경향을 보였다. 5. 세척수의 이화학적 특성은 pH는 $7.3{\sim}8.2$의 범위로 착유작업 단계에 따라 차이를 나타내었으며, 착유작업 후 착유실 외부로 흘러나오는 배출수의 $BOD_5$, COD, SS, T-N, T-P는 각각 731.2, 479.0, 751.6, 79.1, $14.7mg/\ell$였다. 이상의 시험결과를 종합해 보면 착유시스템 유형별 세척수 발생량은 바켓식, 파이프 라인식, 텐덤식 및 헤링본식이 각각 143.9, 487.9, 914.0, $856.7{\ell}$로 조사되었으며, 착유과정에서 발생하는 세척수량은 착유우 두당 $15.4{\ell}$로 착유시스템 유형 및 착유우 사육두수에 따라 낙농가도 농가실정에 맞는 세척수 처리시설 및 용량을 확보해야 할 것으로 판단된다.