It seems that there's no connected devices or the device could not be detected.
Execute adb devices
to see the list of connected devices.
If no device appears make sure that your emulator is open, or your device is connected and usb debugging mode is enabled.
If that doesn't fix it, restart the adb server by running adb kill-server
and then adb start-server
(you may need to run it with sudo
if you're using linux or mac)
But if adb devices
shows unauthorized you just need to unlock your phone and give your computer access.