Abstract
The milking of animals in automatic milking systems requires the development of sensor-based feedback control. This paper proposes the use of milk flow as a method of monitoring the correct performance of the milking machine and examines the repeatability of this measure through lactation. The milk flow was defined by the let down time (the time from attachment of teat cups until a steady flow of milk begins), the peak flow rate and the stripping time. Peak flow rate was the rate at which the first 75% of milk was extracted. Stripping time was the time to extract the last 25% of milk removed. The milk flow profile of four goats was recorded at morning and evening milking once each week for 30 weeks. The mean let down time was constant throughout lactation at 12·1 s (S.D. 0·45 s), while the mean stripping time was 25·7 s (S.D. 7·76 s) indicating the variability of milk flow towards the end of milking. Peak milk flow for individual animals varied little throughout lactation. A method of deriving peak flow rate automatically was developed and this can be used to check that milking is progressing correctly.
Published Version
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