Abstract: Milking cups are attached to the teats of the female animal by positioning the milking cups relative to at least one teat by means of a control system responsive to a first sensor. The relative position of the teats in a substantially horizontal plane is determined by a second sensor and the milking cups are attached one after another while the at least one teat is continually sensed by the first sensor.

Abstract: An automatic milking device employs a robot arm, a sensor and a control system for searching for, finding and following the teats on the cow's udder. The control system employs a model to provide corrected position information for comparison with sensed position information so that a selection may be made based upon stored criteria.

Abstract: A pair of horizontally spaced support surfaces support the rear hooves of an animal. A forwardly inclined surface extends upwardly from each support surface toward the front end of the device, and a sidewardly inclined surface extends upwardly from each of the support surfaces toward the center of the device. The sidewardly extending surfaces intersect one another along a line extending parallel with the sides. A plurality of horizontally spaced bars are disposed rearwardly of and at an elevation above the support surfaces. The rearmost bar has a central portion disposed at a higher elevation than the adjacent bar.

Abstract: A milking cup is moved into position surrounding a cow's teat by power operated members controlled by an electrical circuit including a pair of spaced ultrasonic detectors for locating the teat. Each detector includes a transmitter and a receiver. The ultrasonic fields produced by the transmitters intersect one another at a position spaced from the transmitters. Conical reflecting surfaces are disposed adjacent the transmitters and receivers to reflect ultrasonic waves to obtain a detection field of predetermined dimensions and to determine the area within which the ultrasonic waves are reflected back to the receivers. The generatrix of the conical reflecting surfaces may be slightly concave or convex.