TEAT TREATMENT METHOD AND APPARATUS

摘要

Automatic teat treatment method and apparatus for treatment operations on teats of an animal using a robot apparatus. The method includes initiating automatic detection of spatial teat positions and registering the spatial positions of the detected teats; and deriving a dedicated treating action effective to move the treating device through a dedicated path defined by the registered spatial teat positions and carrying out treatment by moving the treating device through the dedicated path. When not all of the spatial positions are detected, then the method registers the spatial position of each detected teat and derives an adapted treating action effective to move the treating device through an adapted path defined by the registered spatial teat positions and by approximated spatial locations. When no teat spatial positions have been detected, the method derives a default treating action effective to move the treating device through a default treating path.