| 摘要 |
The present invention relates to a device and a method for automatically attaching a teatcup (8) onto a teat (19) of an animal, comprising a robot arm (4), a control means for controlling the movement of the robot arm (4), a source of structured light associated with said control means and being adapted to transmit said structured light towards said teat, an image capturing device associated with said control means and being adapted to capture images of at least one first light line (16') projected on said teat, a teatcup holding means (12) associated with said control means and being adapted to disengageably connect said teatcup thereto. According to the invention, said light source is adapted to transmit at least one second light line (18') towards said teatcup (8), said image capturing device being adapted to capture images of the second light line (18') projected on said teatcup. |
