Abstract: A method for use with a multibody system includes two body sections assembled via a joint, one of the body sections including a camera which is moveable between a first position and a second position, includes detecting a reference object with the camera situated in the first position, determining a reference value of the reference object, requesting movement of the camera from the first position into the second position, initiating movement of the camera from the first position towards the second position, while iteratively sampling image of the reference object, determining a current object value of the reference object, based on the sampled image, matching the reference value with the current object value, and determining successfulness of the camera movement, based on the matching.

Abstract: A system, a sensor and a control unit for determining validity of a result of a lateral flow test, whereby a lateral flow stick that has a sample pad, a conjugate pad having antibody treated gold particles, and a porous membrane for receiving a capillary flow of a milk sample. The porous membrane has a test line treated with a progesterone reference which binds antibody treated gold particles of the milk sample and thereby brings the test line to change colour tint when exposed for milk comprising a progesterone level lower than a threshold limit, and a control line treated with an antibody reference which binds antibody, and thereby brings the control line to change colour tint when exposed for milk comprising antibody treated gold particles.

Abstract: A message handling node of a farm management system that receives error messages from a plurality of automatic devices, and generates and sends out error reports to user terminals, where the message handling node applies a rules system prescribing that an error report concerning a particular one of the automatic devices is generated based on fulfillment of a frequency criterion relating to a number of times at which the message handling node receives the error messages from said particular one device within at least one previous period in order to manage a total number of error reports received by each of the user terminals.

Abstract: A milking arrangement includes a milk transport line (1), a plurality of milk stations, and a cleaning arrangement (4) with a delivery arrangement (5) configured to deliver a cleaning liquid into the milk transport line (1) and a pump (6) configured to pump the cleaning liquid through the milk transport line (1) at a pressure larger than atmospheric pressure, thereby filling the transport line (1) with cleaning liquid. A control unit (9) is configured to determine a volume and/or length of the milk transport line (1) on basis of registered first point of time of pump start, a second point of time of passage of cleaning liquid through the milk transport line (1), and the amount of liquid introduced into the milk transport line from the first point of time to the second point of time.

Abstract: A rotating platform having a plurality of stalls is provided, each of the stalls being configured to house a respective animal during milking. The stalls are separated from one another by delimiting structures. A camera registers three-dimensional image data of the rotating platform within a field of view. A controller receives the image data that has been registered while the rotating platform completes at least one full revolution around its rotation axis. The controller processes the image data to derive a set of key features of the rotating platform, and then stores the set of key features in a data storage, which is configured to make the set of key features available for use at a later point in time.

Abstract: A milking control arrangement and milk extracting system, configured to obtain teat size data of at least one teat of an animal to be milked and to adjust a milking parameter of a milk extraction unit when milk is extracted from the teat based on the obtained teat size data of the teat.

Abstract: 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.

Abstract: An autonomous agricultural vehicle that operates in accordance with a cleaning plan, a method for operating the vehicle, and a computer program related to operating the vehicle, wherein while the vehicle is operated, a load quantity representing an amount of material moved by the cleaning device is monitored at a plurality of individual times, and the cleaning plan of the autonomous agricultural vehicle is adjusted based on a variation in the monitored load quantity among the individual times.

Abstract: A milking arrangement includes plural milking places, each milking place having a primary end and an opposite secondary end, an entrance at the primary end, a front side and a rear side, which both extend in parallel with the longitudinal axis, a plurality of sequence gates arranged between the front side and the rear side, each of the sequence gates being pivotable between a closed position and an open position, each sequence gate being only pivotable from its closed position to its open position in a pivotation direction in which the front end is pivoted into a milking place towards the front side of the milking arrangement, main extension planes of the sequence gates being aligned when the sequence gates are in their closed position, with a lower edge of each sequence gate defining a bulge that extends downwards.

Abstract: 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.

Abstract: A distribution unit for milk samples that includes a first distribution portion with a first flow channel and a plurality of ports adjoining and communicating with the first flow channel, the ports configured to permit various media to be delivered to and from the first flow channel, and a second distribution portion that includes a second flow channel and a plurality of ports adjoining and communicating with the second flow channel, including at least a milk inlet port permitting milk to be delivered from the first flow channel to the second flow channel, and including a milk outlet port permitting milk samples to be delivered from the second flow channel to a further milk analyzing unit.

Abstract: Tools in an automatic milking arrangement are picked up by using a robotic arm (110). The robotic arm (110) moves a camera (130) to an origin location (PC) from which the camera (130) registers three-dimensional image data (Dimg3D) of at least one tool (141, 142, 143, 144). The three-dimensional image data is processed using an image-based object identification algorithm to identify objects in the form of the tools and hoses (152). In response to identifying at least one tool, a respective tool position (PT1, PT3, PT4) is determined for each identified tool based on the origin location (PC) and the three-dimensional image data. Then, a grip device (115) is exclusively controlled to the one or more of the respective tool positions (PT1, PT3, PT4) to perform a pick-up operation. Thus, futile attempts to pick-up non-existing or blocked tools can be avoided.

Abstract: A control unit is configured to obtain measurements of milk flow during a milking session of the animal (101) and analyse a sequence of the obtained measurements. Based on the analysis, the control unit estimates a total milk yield of the animal (101) and determines a predetermined partial amount of milk of the estimated total milk yield. During early lactation, the control unit interrupts the milking of the animal on all teats when the predetermined partial amount of milk of the estimated total milk yield has been drawn from the animal, or detects that the milk flow has reached a plateau phase and interrupts the milking during the plateau phase (220).

Abstract: A cassette (130) configured to enable measurement of at least one biomarker value of a milk sample of an animal (100). The cassette (130) includes a tape distributing spool (131); a tape (170) with a plurality of dry sticks (180a, 180b, 180c), configured to indicate the biomarker value of the milk sample, and a top film (310) arranged to protect the dry sticks (180a, 180b, 180c) while rolled up on the tape distributing spool (131); a tape collecting spool (132), configured to collect used dry sticks (180a, 180b, 180c); and a top film reel (330), arranged to peel off and collect the top film (310) of the tape (170).

Abstract: 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.

Abstract: A control arrangement and a control module for a milking position for milking a dairy animal includes a casing forming an inner space enclosing a printed circuit board incorporating a control system for controlling and supervising at least some functions of the milking position. A communication area is provided on a front side of the printed circuit board and communicates with the control system. The casing includes an inner front plate. The front side of the printed circuit board is attached to a rear side of the inner front plate by a transparent adhering substance so that a part of the printed circuit board projects from the rear side of the inner front plate. The inner front plate permits access to the communication area. The part of the printed circuit board is embedded in a block of plastic material.

Abstract: 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.

Abstract: 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.

Abstract: A method and control unit for controlling a moveable crowd gate of a holding area at an entrance of a milking parlour at a farm where the control unit obtains information from at least one sensor regarding animals present in the holding area, determines a stress level among the animals in the holding area, based on the obtained information, and controls movement of the crowd gate, via an actuator configured to adjust position of the moveable crowd gate, based on the determined stress level.

Abstract: A cleaning device includes cleaning units (3) for receiving and cleaning teatcups (7). The cleaning unit includes a cup-shaped member (10). The cup-shaped member includes an annular bottom surface (12) extending around a longitudinal central axis (x) of the cleaning unit, and a side surface (13) extending around the annular bottom surface and facing the longitudinal central axis. Ribs (14) protrude from the annular bottom surface and have an extension between an inner position (A) and an outer position (B) on the annular bottom surface. The inner position is located more closely to the longitudinal central axis than the outer position. The ribs are configured to create a gap (15) between the annular bottom surface and an end surface (8) of a teatcup received in the cleaning unit. Each of the ribs is curved along at least a part of the extension.