METHOD AND DEVICE FOR AUTOMATICALLY PLACING MILKING CUPS ONTO THE TEATS OF A MILK-PRODUCING ANIMAL

摘要

The invention relates to a method for automatically placing milking cups (7) onto the teats of a milk-producing animal, more particularly a cow, comprising the following steps: - creating a two-dimensional image of the teats of the animal, wherein distance information is present for at least a plurality of image points on the two-dimensional image; - evaluating the two-dimensional image and the distance information and determining at least one position (P21) of at least one teat tip (21) of one of the teats (20) and determining an orientation of the teat (20) in a predefined coordinate system; - establishing whether the teat (20) has a skewed position; and - if no skewed position has been established, placing one of the milking cups (7) onto the position (P21) of the teat tip (21) or - if a skewed position has been established, placing the milking cup (7) at a placement position which is offset from the position (P21) by a skew value (DP) determined according to the skewed position. The invention also relates to a device for automatically placing milking cups (7) onto the teats (20) of a milk-producing animal, more particularly a cow, having a sequence control which is configured for carrying out a method of this type and which evaluates information from the sensor and controls the placement device.