| 摘要 |
An implement for automatically milking a dairy animal, such as a cow, com prises a milking parlour (1), a sensor (100) for observing a teat (46), and a milking robot (3) for automatically attaching a teat cup (28) to the teat (46). The milking robot (3) comprises a robot control (120) that is connecte d to the sensor. The sensor comprises a radiation source (108) for emitting light, a receiver (110) for receiving electromagnetic radiation reflected fr om the dairy animal, a lens (106), and sensor control means. The sensor (100 ) comprises a matrix with a plurality of rows and a plurality of columns of receivers (110). The sensor control means are designed to determine for each of the receivers (110) a phase difference between the emitted and the refle cted electromagnetic radiation in order to calculate the distance from the s ensor (100) to a plurality of points on the part to be observed of the dairy animal. |
