| 摘要 |
The method involves the suction (8) part and attachment (7) using a robot arm is assisted by at least one marking (6) provided at the udder of the animal being milked. The exact position of the teats is obtained from the position of the marking using a stereo camera (5) and light source (4). The marking is provided at the teat of the udder (2) in the form of a tattoo. A fluorescent colour material can be used for the marking of the teats (3). The marking is radiated by the light source, possibly an ultraviolet light source. The first milking operation is stored in the computer which controls the robot arm (9). |
