METHOD AND APPARATUS FOR DETECTION OF TEATS

摘要

The invention relates to a method for determining the position of at least one teat of an udder of an animal for milking, comprising of: illuminating points on the udder with at least one directed light source in a predetermined pattern detecting points illuminated with the light source in the pattern with recording means determining position data of illuminated points from a detection of the recording means on the basis of triangulation forming a three-dimensional representation of the udder from the position data and the pattern recognizing the teat in the three-­dimensional representation and determining the location of the teat on the basis of the recognition and with the position data.