Abstract: A vision system for determining an identity of an individual animal in a population of animals with known identity is provided. A first image sensor arrangement is configured to capture three-dimensional or thermographic images of the individual animal. A second image sensor arrangement is configured to capture two-dimensional images of the individual animal. Control circuitry is configured to obtain a first image of the individual animal captured by the first image sensor arrangement and to detect a body part in the first image, and in response to detecting the body part, obtain a second image of the individual animal captured using the second image sensor arrangement, and to identify the individual animal by comparing metrics of the second image with the reference data in a data storage.

Abstract: A method, controller, computer program, and computer program product are provided for determining a health condition of an animal by capturing a thermographic image of at least one portion of the animal and capturing a visible light image of the at least one portion of the animal, the visible light image corresponding to the thermographic image. The method further includes determining at least one surface property of the at least one portion of the animal based on the visible light image, adjusting the thermographic image to compensate for impact of the determined at least one surface property, and determining the health condition of the animal based on the adjusted thermographic image.

Abstract: A vision system for determining an identity of an individual animal in a population of animals with known identity is provided. A first image sensor arrangement is configured to capture three-dimensional or thermographic images of the individual animal. A second image sensor arrangement is configured to capture two-dimensional images of the individual animal. Control circuitry is configured to obtain a first image of the individual animal captured by the first image sensor arrangement and to detect a body part in the first image, and in response to detecting the body part, obtain a second image of the individual animal captured using the second image sensor arrangement, and to identify the individual animal by comparing metrics of the second image with the reference data in a data storage.

Abstract: A method, control unit and system for group feeding animals in a herd with different feeding groups based on an estimated energy need, where each respective feeding group has feed having different energy content, and where a control unit identifies an animal in a first feeding group, determines a Body Condition Score (BCS) of the animal, defines a position in lactation cycle of the animal, compares the BCS with a reference value corresponding to the position, and confirms that the animal is able to assimilate the feed and is kept in the correct feeding group when the determined BCS of the animal is within an interval defined by the reference value minus a first margin and the reference value in addition to a second margin.

Abstract: A flow measurement device includes a first sensor device that responds to stimulus from fluid medium flowing through a measurement section by registering a measure representing a physical characteristic, a processor, and a data storage including a look-up table containing a first collection of values representing a first value of flow of a first fluid or a first value of flow of a second fluid, and a second look-up table containing a second collection of the values representing a second value of the flow of the first fluid or a second value of the flow of the second fluid, the processor receiving the measures registered during a measurement time interval and estimating a flow pattern of the fluid medium during the measurement interval where the flow pattern describes how the first and second fluids are distributed in the measurement section over the measurement time interval.

Abstract: A flow measuring device includes a first sensor device that responds to one stimulus caused by a fluid medium flowing through a measurement section by registering a first measure representing a first type of physical characteristic of the fluid medium, and a second sensor device that responds to another stimulus caused by the fluid medium by registering a second measure representing a second type of physical characteristic of the fluid medium, the second measure being independent from the first measure, and the first and second measures both being dependent on the flow of the first fluid and on the flow of the second fluid in the fluid medium in the measurement section, the first measure and the second measure being sufficient to solve both a first function that defines the flow of the first fluid and a second function that defines the flow of the second fluid.

Abstract: An arrangement for determining a body condition score of an animal comprises a three-dimensional camera system directed towards the animal and provided for recording at least one three-dimensional image of the animal; and an image processing device connected to the three-dimensional camera system and provided for forming a three-dimensional surface representation of a portion of the animal from the three- dimensional image recorded by the three-dimensional camera system; for statistically analyzing the surface of the three-dimensional surface representation; and for determining the body condition score of the animal based on the statistically analyzed surface of the three-dimensional surface representation.

Abstract: A method and arrangement for determining a gut fill level of the rumen of an animal uses a three-dimensional camera and an image processing system. The three-dimensional camera is located in a station, wherein the animal is forced to stand essentially still during recording of the three-dimensional image. The three-dimensional camera is located on the left side of the animal at a height above the rumen triangle of the animal, longitudinally in essence in level with the rumen triangle, and is directed downwards towards the rumen triangle during the image recording. The image processing system automatically determines a depth and/or volume of a convexity or concavity of the rumen triangle, and determines the gut fill level of the rumen of the animal based on the determined depth and/or volume.

Abstract: An arrangement, which is provided for determining the position of an animal, comprises a three-dimensional camera directed towards the animal and provided to record a three-dimensional image of the animal, and image processing means is provided for detecting the animal and determining its position in at least one spatial dimension based on the three-dimensional image of the animal. The image processing means may form a three-dimensional surface representation of a portion of the animal from the three-dimensional image of the animal, analyze the surface of the three-dimensional surface representation, and determine the position of the animal based on the analysis of the surface of the three-dimensional surface representation.

Abstract: A flow measurement device includes a first sensor device that responds to stimulus from fluid medium flowing through a measurement section by registering a measure representing a physical characteristic, a processor, and a data storage including a look-up table containing a first collection of values representing a first value of flow of a first fluid or a first value of flow of a second fluid, and a second look-up table containing a second collection of the values representing a second value of the flow of the first fluid or a second value of the flow of the second fluid, the processor receiving the measures registered during a measurement time interval and estimating a flow pattern of the fluid medium during the measurement interval where the flow pattern describes how the first and second fluids are distributed in the measurement section over the measurement time interval.

Abstract: A flow measuring device includes a first sensor device that responds to one stimulus caused by a fluid medium flowing through a measurement section by registering a first measure representing a first type of physical characteristic of the fluid medium, and a second sensor device that responds to another stimulus caused by the fluid medium by registering a second measure representing a second type of physical characteristic of the fluid medium, the second measure being independent from the first measure, and the first and second measures both being dependent on the flow of the first fluid and on the flow of the second fluid in the fluid medium in the measurement section, the first measure and the second measure being sufficient to solve both a first function that defines the flow of the first fluid and a second function that defines the flow of the second fluid.

Abstract: A method and arrangement for determining a gut fill level of the rumen of an animal uses a three-dimensional camera and an image processing system. The three-dimensional camera is located in a station, wherein the animal is forced to stand essentially still during recording of the three-dimensional image. The three-dimensional camera is located on the left side of the animal at a height above the rumen triangle of the animal, longitudinally in essence in level with the rumen triangle, and is directed downwards towards the rumen triangle during the image recording. The image processing system automatically determines a depth and/or volume of a convexity or concavity of the rumen triangle, and determines the gut fill level of the rumen of the animal based on the determined depth and/or volume.

Abstract: An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats.

Abstract: An arrangement for determining a body condition score of an animal comprises a three-dimensional camera system directed towards the animal and provided for recording at least one three-dimensional image of the animal; and an image processing device connected to the three-dimensional camera system and provided for forming a three-dimensional surface representation of a portion of the animal from the three-dimensional image recorded by the three-dimensional camera system; for statistically analyzing the surface of the three-dimensional surface representation; and for determining the body condition score of the animal based on the statistically analyzed surface of the three-dimensional surface representation.

Abstract: An arrangement, which is provided for determining the position of an animal, comprises a three-dimensional camera directed towards the animal and provided to record a three-dimensional image of the animal, and image processing means is provided for detecting the animal and determining its position in at least one spatial dimension based on the three-dimensional image of the animal. The image processing means may form a three-dimensional surface representation of a portion of the animal from the three-dimensional image of the animal, analyze the surface of the three-dimensional surface representation, and determine the position of the animal based on the analysis of the surface of the three-dimensional surface representation.

Abstract: An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats.

Abstract: A method for controlling the milking by a milking machine comprises the steps of: (i) providing (41) different milking schemes, each of which being distinguished by a set of milking parameters, such as milking vacuum, high pulse vacuum, low pulse vacuum, pulse rate, and pulse length; (ii) controlling (43) the milking machine for the milking of a milking animal so that each of the different milking schemes is applied for at least one milking of the milking animal; (iii) for each of the milkings, recording (45) milk yield and/or milking time of the milking of the animal; (iv) evaluating (51) each of the milking schemes for milking the animal based on the recorded milk yield and/or milking time; and (v) selecting (53) one of the milking schemes based on the evaluation, and controlling (53) the milking machine during subsequent milkings of the animal so that they are performed according to the selected milking scheme.

Abstract: This invention relates to a device and a method for allowing performance of several separate treatment of a teat of an animal. The device includes a cup-shaped body (1) having a surface (2) defining an inner space (3), which is arranged to receive the teat of the animal. The device also includes a first delivery mechanism arranged to provide a first treatment by supplying a first medium (4) to the teat via at least a first passage having a plurality of openings (10, 18) to the inner space (3) and at least one additional delivery mechanism arranged to provide an additional medium (13, 26, 28) to the teat, via at least an additional passage having a plurality of openings (10,18) to the inner space(3). Thereby, the device provides at least two different treatments of the teats at different occasions.

Abstract: The invention relates to a device and a method for allowing performance of several separate treatments of a teat of an animal. The device comprises a cup-shaped body (1) having a surface (2) defining an inner space (3), which is arranged to receive a teat of the animal. The device comprises also first means arranged to provide a first treatment by supplying a first medium (4) to the teat via at least a first passage having a plurality of openings (10, 18) to the inner space (3) and at least one additional means arranged to provide an additional treatment by supplying an additional medium (13, 26, 28) to the teat, via at least an additional passage having a plurality of openings (10, 18) to the inner space (3). Thereby, the device provides at least two different treatments of the teats at different occasions.

Abstract: A method and device (1) for controlling the movement of a movable part such as a robot arm (3) in a milking robot (1). A control (7) controls the movement of the arm (3) from an actual position (Pxa, Pya, Pza) to a desired position (Pxd, Pyd, Pzd) A detector (45, 47, 49) detects the actual position of the robot arm (3) and transmits signals corresponding to the actual position to the control (7). The predicted position (Pxp, Pyp, PyP), that the robot arm (3) will pass through as it moves from the actual position to the desired position our model (S). The control (7) makes a comparison (S) of the actual positions of the arm (3) against to the predicted positions, and the movement of the robot arm (3) is modified if its actual position at any time differs by more than a predetermined amount from the predicted position at the same time.