fig1 illustrates the preferred embodiment of the invention . a sensor housing 10 is mounted on robot arm 12 for sensing the location and attitude of teats 14 on an udder 16 . the output of the sensor is used to control the application of the automated milking apparatus 18 that includes milking cups 20 that are also mounted on robot arm 12 . the milking apparatus is adapted to receive instructions characterizing the location of the teats , to move the robot arm to such location so as to engage the milking cups onto the teats . sensor housing 10 includes a modulated light source 22 for radiating throughout the field of view that encompasses the udder 16 , the teats 14 and the hind legs 24 of the animal . referring to fig2 , sensor housing 10 includes a camera 26 , control , image capture and readout electronics 28 and suitable optics 30 . as illustrated schematically in fig3 , camera 26 consists of a two - dimensional array 32 of pixels 34 , each of which can report time of flight data synchronized to the light source 22 , as well as intensity . while relatively new , such cameras are available and are known to those skilled in the art of machine vision . the image of a plurality of teats is captured on the two dimensional array 32 and rendered as a set of three dimensional data ( using the time of flight information to determine range ). the resulting data is processed to accurately represent the location of the teats in three dimensions , once angular offset is factored in . this location information is then used to instruct the milking apparatus to move robot arm 12 such that milking cups 20 engage at least one teat 14 . the invention allows the sensor to image the milking cups and the teats in one field of view , without regard to their distances from the camera and without the need to scan the field of view . this simplifies robot guidance . moreover , provided they are unobstructed , the hind legs can be imaged in the same field of view thereby allowing the movement of the animal to be tracked , and enabling more accurate application of the suction cups to the teats . the calibration needed for the system of the invention is also reduced in comparison to triangulation systems . as the camera can image the milking cup openings and the teats in the same image , the location of the teats becomes a relative measurement in relation to the camera , further simplifying the attachment process , as no absolute position data necessarily need be exchanged between the sensor and the robot controller . sensor housing 10 may be very compact as the optical set up has a much smaller footprint than in triangulation systems . the housing may be for example , 135 × 45 × 32 mm , also making it easy to manipulate robot arm 12 as necessary to obtain an unobstructed view of the teats . within the limited space available between the belly of the animal and the tip of the milking cups , this provides an advantage over triangulation - based systems . time of flight sensing overcomes the depth of field problem associated with triangulation - based teat detection systems as it is no longer necessary for the teats to be scanned in order to achieve reliable location of the teats . as a result , less manipulation of the robot arm 12 is required and the location of multiple teats and of the hind legs at various distances and depths can reliably be achieved . it will be appreciated that the preferred embodiment has been described for the purpose of illustrating the principles of the invention and variations to the preferred embodiment may be practised without departing from those principles as reflected herein and in the claims .
a teat location system for automated milking systems comprises a light projection source and a camera having a two dimensional array of pixels , each of which is capable of returning time of flight information as well as intensity . depth of field limitations and the problem of overlapping teat images are thereby overcome or minimized .