Patent ID: 8045763

Claim:
A method for recognizing and determining the position of at least one teat cup ( 40 1 , 40 2 , 40 3 , 40 4 ) of at least one teat cup magazine ( 42 ; 40 1 , 40 2 ), characterized in that said method comprises the steps: to emit waves ( 20 ) into a region (A) containing said at least one teat cup ( 40 1 , 40 2 , 40 3 , 40 4 ) so as to direct said waves ( 20 ) towards said at least on teat cup ( 40 1 , 40 2 , 40 3 , 40 4 ); to detect reflections of said waves ( 20 ); to evaluate said reflections so as to determine if said reflections originate from said at least one teat cup ( 40 1 , 40 2 , 40 3 , 40 4 ); and in the event that it is established that said reflections originate from said at least one teat cup ( 40 1 , 40 2 , 40 3 , 40 4 ), to determine the position of said at least one teat cup ( 40 1 , 40 2 , 40 3 , 40 4 ), wherein said method is performed in a milking parlour with a rotary parlour configuration, or a herringbone parlour configuration.