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 milker unit detacher with an adjustable and releasable hose support and a support arm that pivots about a tilted axis to bias the support arm toward a milking position to maintain engagement with the adjustable hose support member.

A space divider of a milking parlor arrangement for at least one milking parlor for milking milk-producing animals, wherein the space divider is arranged approximately parallel to a longitudinal axis of the animal to be milked, has an arm device having a milking cluster, which can be adjusted from a parking position to a working position and back. The arm device is arranged with the milking cluster in the parking position in the space divider and can be adjusted into the working position laterally to the animal to be milked between the front and rear legs thereof. The space divider may include a replaceable service unit.

A system and method for providing a decision basis for controlling a robotic arm to perform at least one action relating to a milk-producing animal, wherein a camera registers three-dimensional image data of a milking location that includes a reference object and a rotating platform upon which an animal stands with its hind legs facing the camera, and a control unit checks if an entry window for a robotic arm can be found in the image data by searching for the reference object in the image data, and if the reference object is found the control unit searches for an acceptable obstacle-free volume in the image data, this volume being located within an allowed space relative to the reference object.

A position-determining device, and a milking device, that determines a relative position of an object and includes a 3D time-of-flight camera with a 2D arrangement of pixels configured to repeatedly record an image of a space. A control unit is connected and includes an image-processing device. The 3D time-of-flight camera has a controllable light source and is configured to record a 2D image by means of reflected emitted light and collect distance information. The image-processing device is configured to recognize an object in the 2D image using image-processing criteria and determine distance information and relative position by analysing the 2D image and the distance information. Due to the fact that distance information, which is often much more noisy than 2D brightness information, can be determined with far fewer image points, the position is determined more quickly and reliably.

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.

A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).

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 these stalls is characterized by a front side and rear opposite side into which a dairy animal is at least temporarily accommodated, head fronting the front side; a plurality of main living areas (MLAs); at least one of the MLAs is in connection with at least one of the stalls by 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 the MMUs is configured to transport on the elevated rail to a dairy animal at its stall, and milk the animal while it is eating.

A system for treating livestock may include a ramp for containing dairy livestock and one or more mobile units configured to travel on the ramp, below the dairy livestock, and milk the dairy livestock. A mobile unit may be adapted to travel to a predefined location within a stall, and attach a milking equipment unit to the dairy livestock in the stall. A plurality of mobile units and a central management unit may be configured to dynamically cause at least some of the plurality of mobile units to each perform a portion of a treatment or task.

A robotic arm that extends in a longitudinal direction includes a pivot assembly that pivots a gripping portion around an axis that is substantially perpendicular to the robotic arm, in a direction transverse to the longitudinal direction of the robotic arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.