Method and apparatus for recognizing and determining the position of at least one teat cup

A method for recognizing and determining the position of at least one teat cup (401, 402, 403, 404) of at least one teat cup magazine (42;

• 401, 402), characterized in that said method comprises the steps:
• to emit waves (20) into a region (A) containing said at least one teat cup (401, 402, 403, 404) so as to direct said waves (20) towards said at least on teat cup (401, 402, 403, 404);
• 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 (401, 402, 403, 404);
• and
• in the event that it is established that said reflections originate from said at least one teat cup (401, 402, 403, 404), to determine the position of said at least one teat cup (401,402, 403, 404), wherein said method is performed in a milking parlour with a rotary parlour configuration, or a herringbone parlour configuration.