A method for milking a dairy animal with a robot milking device including a teat position determination system and a controller. The method includes allowing the robot milking device, with the help of the teat position determination system, to make one or more connection attempts for connecting at least one milking cup to a teat of the dairy animal, and milking with all connected milking cups where the controller records a number of failed connection attempts. The number of failed connection attempts #MA in a predefined number of milkings, which number of milkings is at least equal to a predefined number #MB, fulfils a predefined criterion, automatically adapting the milking criterion by means of the controller.

A method for milking a dairy animal with a robot milking device including a teat position determination system and a controller. The method includes allowing the robot milking device, with the help of the teat position determination system, to make one or more connection attempts for connecting at least one milking cup to a teat of the dairy animal, and milking with all connected milking cups where the controller records a number of failed connection attempts. The number of failed connection attempts #MA in a predefined number of milkings, which number of milkings is at least equal to a predefined number #MB, fulfils a predefined criterion, automatically adapting the milking criterion by means of the controller.

A robot milking device includes a milking site, an animal identification device, robot milking means, a feeding device for providing feed to the dairy animal during the milking based on a feed allowance, and a controller for the robot milking system and for updating feed allowance. The method includes selecting a future time period, determining a free capacity C of the robot milking system, determining a sub-group of the dairy animals for which the controller may continue to provide feed after the milking, milking and feeding the dairy animals which visit the milking system, and additionally feeding a dairy animal from the sub-group depending on the determined free capacity C, if the dairy animal still has a feed allowance for milking.

A robot milking device includes a milking site, an animal identification device, robot milking means, a feeding device for providing feed to the dairy animal during the milking based on a feed allowance, and a controller for the robot milking system and for updating feed allowance. The method includes selecting a future time period, determining a free capacity C of the robot milking system, determining a sub-group of the dairy animals for which the controller may continue to provide feed after the milking, milking and feeding the dairy animals which visit the milking system, and additionally feeding a dairy animal from the sub-group depending on the determined free capacity C, if the dairy animal still has a feed allowance for milking.

A milking system configured to milk animals includes at least one milking station, a milk tank, a transport conduit, a valve arrangement, and a cleaning arrangement that includes a delivery arrangement configured to deliver a first liquid into the milk transport conduit and to deliver a second liquid into the milk transport conduit, a pump, a controller configured to control the delivery arrangement, and a detector configured to detect that a delivery of the first liquid into milk transport conduit has ended. The detector is connected to the controller, which is configured, as a response to a signal from the detector that the delivery of the first liquid has ended, to activate the delivery arrangement to deliver the second liquid into the milk transport conduit subsequently to the ending of the delivery of the first liquid while there is a column of first liquid in the milk transport conduit.

A milking system configured to milk animals includes at least one milking station, a milk tank, a transport conduit, a valve arrangement, and a cleaning arrangement that includes a delivery arrangement configured to deliver a first liquid into the milk transport conduit and to deliver a second liquid into the milk transport conduit, a pump, a controller configured to control the delivery arrangement, and a detector configured to detect that a delivery of the first liquid into milk transport conduit has ended. The detector is connected to the controller, which is configured, as a response to a signal from the detector that the delivery of the first liquid has ended, to activate the delivery arrangement to deliver the second liquid into the milk transport conduit subsequently to the ending of the delivery of the first liquid while there is a column of first liquid in the milk transport conduit.

An image processor that obtains image data registered by a time-of-flight imaging system and representing a scene illuminated by two or more light sources calibrated to enable the image processor to include distance data in the image data, where the image processor determines if a shadow effect exists by which a first object in the scene obstructs light of at least one light source from reaching a part of a second object in the scene, and adjusts the distance data to compensate for the at least one light source for which light did not reach the part of the second object.

An image processor that obtains image data registered by a time-of-flight imaging system and representing a scene illuminated by two or more light sources calibrated to enable the image processor to include distance data in the image data, where the image processor determines if a shadow effect exists by which a first object in the scene obstructs light of at least one light source from reaching a part of a second object in the scene, and adjusts the distance data to compensate for the at least one light source for which light did not reach the part of the second object.

A system for milking a group of animals, in particular cows, comprising an accommodation space in which the animals roam freely, and a plurality of fixed milking stations. A milk storage tank is placed outside the accommodation space. An automatic milking system for automated milking of the animals comprises at least one autonomous self-propelled trolley with milking cups. The milking system automatically connects the milking cups of the trolley to the teats of the animal. A milk discharge system connects the milking cups to the milk storage tank. The milk discharge system comprises flexible milk lines which are connected to the trolley. The trolley is connected to each milking station through a connection in an animal-free space adjacent to the milking stations. The flexible milk line is configured so the trolley can travel from the animal-free space into each of the milking stations while connected to the trolley.

A system for milking a group of animals, in particular cows, comprising an accommodation space in which the animals roam freely, and a plurality of fixed milking stations. A milk storage tank is placed outside the accommodation space. An automatic milking system for automated milking of the animals comprises at least one autonomous self-propelled trolley with milking cups. The milking system automatically connects the milking cups of the trolley to the teats of the animal. A milk discharge system connects the milking cups to the milk storage tank. The milk discharge system comprises flexible milk lines which are connected to the trolley. The trolley is connected to each milking station through a connection in an animal-free space adjacent to the milking stations. The flexible milk line is configured so the trolley can travel from the animal-free space into each of the milking stations while connected to the trolley.