| 摘要 |
Disclosed in a method of controlling a milking implement for automatically milking a dairy animal the milking implement comprises a camera (100) and a teat cup (28). The method comprises the following steps: · Attaching the teat cup (28) to a teat of the udder (47) · Producing by means of the camera an image of at least a part of the udder (47) and of at least a part of the teat cup (28) · Making an analysis of the image of the udder (47) with the teat cup (28) using a control system and, · Performing at least one control action by means of the milking implement based on the analysis. The step of making the analysis comprises analysing a manner in which the teat (46) is received in the teat cup (28). The analysis is made of a part of the teat (46) that is located between the teat cup (28) and the udder (47) using the control system.
|
