| 摘要 |
<p>Milking arrangement (1) comprising: . - a milking parlour (2) with teat cups (8), . - a robot arm (7) for connecting the teat cups to the teats (5) of a milking animal (3) . - a control means (6, 9) for controlling the robot arm, and comprising: . - a coherent light source (12) emit a coherent beam (13) of optical radiation, . - a speckle pattern generator (14) for forming a speckled beam (16) . - a camera (9) for imaging a reflected part of said beam, and . - a control unit (6) arranged to form a three-dimensional image from said image by comparing said image with a reference image of said beam, and statistically cross- correlating said speckle pattern with the speckle pattern in said reference image, to identify said teats and said teat cups and to detect the location thereof with respect to the camera, on the basis of said three-dimensional image.</p> |
