| abstract |
A method of guiding a milking apparatus support towards at least one teat of a milk animal, characterized in that the method comprises the following steps: moving a support to a fixed start position within a stall; illuminating a region expected to contain at least one udder with a sheet of light from the support; capturing images by viewing the region with a video camera; analyzing the captured images to identify possible teat candidates and selecting one of these teat candidates as a target teat; determining the position of the target teat and homing in the support and any supported milking apparatus to the target teat. |