| 摘要 |
<p>The invention relates to a method for automatically milking livestock, comprising of determining at least the location of teats on an udder with imaging; arranging teat cups on the teats at the determined location with a robot arm; and milking the livestock with a control of the teat cups, wherein the imaging comprises of: obtaining at least two substantially independent images having therein at least one common reference element; sending the images to an image-processing device; obtaining a three-dimensional udder pattern from the images by means of image-processing on the basis of the reference element; and driving the robot arm to the teats on the basis of the udder pattern.</p> |
