公开(公告)号：EP2341767A2

公开(公告)日：2011-07-13

申请号：EP09780839.8

申请日：2009-07-20

申请人： GEA Farm Technologies GmbH

发明人： NIESWAND, Elmar ,  SPRINGER, Andreas ,  KREBS, Timm ,  KNOCHE, Reinhold

IPC分类号： A01J5/017

CPC分类号： A01J5/0175

摘要： A method for positioning one or more milking cups on a teat (11) or on a plurality of teats (11) of a milk-yielding animal has the following steps: a) a perspective 3D direct recording is made of the at least one or more milking cups (5) and the one or more teats (11) of the milk-yielding animal; b) the relative distance between the milking cup(s) (5) and the teat(s) (11) is then determined from the 3D direct recording using an image processing device, c) a control device (10) uses the distance determination from step b) to calculate a drive movement for one or more actuators (6, 8) for moving the milking cup(s) (5), which movement must be respectively carried out by the milking cup(s) (5) and is used to reduce the relative distance determined between the milking cup(s) (5) and the teats (11), d) the drive movement is carried out and completed provided that an error does not occur, and/or e) one or more of the 3D direct recordings made is/are evaluated using diagnosis and/or is/are stored for diagnosis and/or is/are output.