Autonomous device for executing one or more operations on or near the teats of a dairy animal for the purpose of milking the dairy animal and method of milking a dairy animal

A method of milking a dairy animal comprising

• providing a milking device which comprises a plurality of milking stations, each of which has one or more milking cups, and
• wherein the milking device has a rotatable milking floor on which the dairy animals are situated during milking,
• wherein the milking device furthermore comprises at least one milking pit with a stationary pit floor which is situated at a lower level than the milking floor, the method further comprising:
• providing an autonomous device for executing one or more operations on or near the teats of a dairy animal for the purpose of milking the dairy animal,
• wherein the autonomous device comprises a self-propelled wheeled undercarriage which can move on the pit floor, and a robot arm which is fitted to the undercarriage and configured to execute the one or more operations,
• wherein the autonomous device executes the one or more operations while the self-propelled wheeled undercarriage is supported on the pit floor, and
• milking the dairy animal.