Teat position determining arrangement for use in milking system, includes image processor to determine position of teat of milking animal relative to robot arm, when fixing teat cup to teat

摘要

A pair of cameras (23) record images of the teats of the milking animal. An image processor detects teats of the milking animal and to determine absolute position of the teat based on recorded images. The position of the teat relative to a robot arm (15) is determined, when fixing a teat cup to the teat using the robot arm such that position of the teat is set more than the absolute position. An independent claim is also included for determination method of positions of teats of milking animal.