A hoof treatment arrangement arranged to spray a liquid onto hooves of animals while they are stationary in a stall of an animal arrangement includes an identification system configured to identify animals, an automatic detector arrangement configured to determine the hoof status for animals, an automatic spray device, and a control arrangement. The control arrangement is operatively connected to an information database of the animal arrangement, which includes animal specific information for a plurality of animals housed in the animal arrangement; the identification system, to obtain information regarding the identity of each of the plurality of animals; the automatic detector arrangement, to obtain information regarding the hoof status for each of the identified animals; and the automatic spray device, to control the automatic spray device.

A milking system for milking a dairy animal comprises teat cups, a robot arm with actuators, for connecting the teat cups to teats of the dairy animal, and a control device in order to reach and/or maintain a desired position of the robot arm, by adjustment of a respective adjusting force parameter exerted by the actuators. The control device is configured to adjust a selectable compliance of the robot arm, wherein the compliance is a reaction of the robot arm to an external force which is exerted on the robot arm, such as a kick. This compliance is a function of the external force or of an animal identity. Thus, the behaviour of the robot arm can be adapted, such as, under otherwise unchanged circumstances, more or earlier yielding in the case of sensitive animals, and, conversely, less in the case of playful animals.

In picking up tools in an automatic milking arrangement, the positions of the tools are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools have predefined locations relative to one another. Therefore, any second tool candidate is disregarded, which is detected at a separation distance from a first tool candidate when the separation distance exceeds a first threshold distance in relation to the predefined relative locations.

The positions of the tools in an automatic milking arrangement are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools are arranged according to a spatially even distribution relative to one another. Therefore, any tool candidate is disregarded, which is detected at such a position that the position for the candidate deviates from the spatially even distribution.

The positions of the tools in an automatic milking arrangement are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools are arranged according to a spatially even distribution relative to one another. Therefore, any tool candidate is disregarded, which is detected at such a position that the position for the candidate deviates from the spatially even distribution.

The milking apparatus includes a cluster (4) connected to a retraction line (10), and a cylinder (11) having a piston (13) being movable between first and second end positions. The piston acts on the retraction line to move the cluster to a retracted rest position when moved to the second end position, and to permit the cluster to be moved to an active milking position when the piston is in the first end position. A switch device (30) may alternate between a first state and a second state. The retraction line permits the switch device to change from the first state to the second state when a movement of the cluster from the retracted rest position is initiated. The switch device initiates in the second state supply of a pressurized medium to the cylinder to force the piston to the first end position.

The milking apparatus includes a cluster (4) connected to a retraction line (10), and a cylinder (11) having a piston (13) being movable between first and second end positions. The piston acts on the retraction line to move the cluster to a retracted rest position when moved to the second end position, and to permit the cluster to be moved to an active milking position when the piston is in the first end position. A switch device (30) may alternate between a first state and a second state. The retraction line permits the switch device to change from the first state to the second state when a movement of the cluster from the retracted rest position is initiated. The switch device initiates in the second state supply of a pressurized medium to the cylinder to force the piston to the first end position.

The present invention discloses a free dome range (FDR) where dairy animals have a free access to their stall to concurrently eat and to be milked. The FDR comprises a plurality of stalls; at least one of said stalls is characterized by a front side and rear opposite side into which a dairy animal is at least temporarily accommodated, head fronting said front side; a plurality of main living areas (MLAs); at least one of said MLAs is in connection with at least one of said stalls by means a plurality of gates. The FDR further comprising a substantially horizontally positioned elevated rail system comprising a plurality of elevated rails, and a plurality of mobile milking units (MMUs), each of said MMUs is configured to transport on said elevated rail to a dairy animal at its stall, and milk the animal while it is eating.

The present invention discloses a free dome range (FDR) where dairy animals have a free access to their stall to concurrently eat and to be milked. The FDR comprises a plurality of stalls; at least one of said stalls is characterized by a front side and rear opposite side into which a dairy animal is at least temporarily accommodated, head fronting said front side; a plurality of main living areas (MLAs); at least one of said MLAs is in connection with at least one of said stalls by means a plurality of gates. The FDR further comprising a substantially horizontally positioned elevated rail system comprising a plurality of elevated rails, and a plurality of mobile milking units (MMUs), each of said MMUs is configured to transport on said elevated rail to a dairy animal at its stall, and milk the animal while it is eating.

A milking stable configured to house one animal at a time for milking the animal, with a first long side wall, a second long side wall located opposite to the first long side wall, a first short end wall and an opposite second short end wall, an entrance door hingedly connected to the second long side, and an exit door hingedly connected to the second long side wall, wherein the second long side wall is displaceable in a direction towards and away from the first long side wall so as to change the size of the milking stable to accommodate animals of different size.