EP4539662A1

EP4539662A1 - Categorizing system, computer-implemented method, computer program and non-volatile data carrier

Info

Publication number: EP4539662A1
Application number: EP23735445.1A
Authority: EP
Inventors: Peter BAHLENBERG
Original assignee: DeLaval Holding AB
Current assignee: DeLaval Holding AB
Priority date: 2022-06-17
Filing date: 2023-06-14
Publication date: 2025-04-23
Also published as: WO2023244158A1

Abstract

A categorizing system assigns respective zone labels to animals located in a barn area (100) divided into zones, which each is as- sociated with a respective zone label. A positioning arrangement (110, 111, 112, 113) determines a position coordinate (P(X, Y)) of a tag (T) attached to an animal. A controller (120) obtains the po- sition coordinate (P(X, Y)) of the tag (T) and assigns a zone label to the animal by determining a nearest position (x₉, y₁₄) in a regu- lar pattern of positions covering the barn area (100) in which each position is unambiguously associated with a particular zone label (A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14, A15, A16, B1, B2, C1, D1, E1, E2). Specifically, the controller (120) assigns the animal's zone label equal to the zone label (A12) associated with the nearest position (x₉, y₁₄) in the regular pattern of positions.

Description

Categorizing System, Computer-Implemented Method, Computer Program and Non-Volatile Data Carrier

TECHNICAL FIELD

The present invention relates generally to monitoring of position- based animal behavior. Especially, the invention relates to a cate- gorizing system for assigning respective zone labels to animals located in a barn area that is divided into at least two zones ac- cording to the preamble of claim 1. The invention also relates to a corresponding computer-implemented method, a computer pro- gram and a non-volatile data carrier storing such a computer pro- gram.

BACKGROUND

For efficient and animal-friendly handling of domestic herd animals it is important to keep track of each animal’s specific behavior, for instance in terms of preferred dwelling locations and the walking distance completed during certain periods of time. To this aim, the barn area where the animals are held is typically divided into a number of zones, which each is associated with a unique label. Thus, whenever an animal is positioned within a particular zone, the animal is assigned the label of that zone. By studying how such labels are assigned over time, characteristic patterns of animal be- havioral can be identified, which, in turn, for instance enables early detection of illnesses, or other behavioral anomalies. Below follows examples of such monitoring solutions.

WO 2014/042519 describes a method of automatically creating a digital map of an animal barn. The barn contains a plurality of types of barn elements, a plurality of animals, and an animal loca- ting system. The method comprises the steps of: automatically collecting position data with the animal locating system about the position of said at least one animal in said barn as a function of time, providing, for at least a plurality of types of barn elements, a first set of criteria for correlating said position data to said type of barn element and a second set of criteria for determining the position of said type of barn element, automatically applying the sets of criteria to the position data, and automatically creating the map with at least said first barn element and the type and position thereof.

US 9,609,848 shows a solution for localizing and displaying posi- tions of, one or more autonomously mobile objects within plural physically delimited areas, having physical boundaries, in an ani- mal housing. The method includes determining a position of at least one of the objects within the animal housing; displaying the position of the at least one object on a map of the animal housing on a visual display device; and validating the determined position before displaying the position. The validating includes: correcting the determined position into a corrected position within the physi- cally delimited area, and providing the corrected position as the position to be displayed, or otherwise providing the determined position as the position to be displayed. The correction may be dependent on object type and/or status.

US 2021/0176969 discloses a headlock system having a plurality of headlock cells, where each of the cells is adapted to enclose at least one animal. A system for locating the position of at least one animal, comprises: at least one identification means adapted to transmit at least one identification signal associated with said at least one animal; at least one locating means adapted to ge- nerate at least one location signal associated with said at least one animal; and a data processing system in communication with said at least one identification means and said at least one loca- ting means, adapted to analyze said signals. The analyzed sig- nals comprise the position within a predetermined region in said headlock system of each of said at least one animals as a function of time.

Thus, technical solutions exist for positioning animals and catego- rizing the respective positions with respect to the type of area in which the animals are located. In practice, however, the assign- ment of labels often requires execution of a computationally com- plex procedure. This renders the overall monitoring system ex- pensive, energy inefficient and/or error prone.

SUMMARY

The object of the present invention is therefore to offer a solution that is capable of assigning adequate zone labels to animals in an efficient and reliable manner.

According to one aspect of the invention, the object is achieved by a categorizing system for assigning respective zone labels to animals located in a barn area that is divided into at least two zones, which each is associated with a respective zone label. The system includes a positioning arrangement and a controller. The positioning arrangement is configured to determine a position co- ordinate of a tag within the barn area, which tag, in turn, is confi- gured to be attached to an animal. The controller is configured to obtain the position coordinate of the tag, and based thereon as- sign a zone label to the animal. The barn area is associated with a regular pattern of positions in which each position is unambi- guously associated with a particular zone label. The controller is configured to determine a nearest position in the regular pattern of positions, which nearest position is located at a shortest Eucli- dean distance from the position coordinate of the tag determined by the positioning arrangement. Further, the controller is configu- red to assign the zone label to the animal equal to the zone label associated with the nearest position in the regular pattern of po- sitions. For example, the zone labels may designate a resting zo- ne, a food supply zone, a drinking zone, a walking zone, a milking zone a cooling zone and/or a human-only zone.

This categorizing system is advantageous because it allows for a very straightforward assignment of zone labels to the animals roa- ming/strolling in a barn area, or similar spaces.

According to one embodiment of this aspect of the invention, the regular pattern of positions contains a rectilinear equidistant dots pattern that covers the barn area. In other words, the regular pat- tern of positions may be represented by a set of dots organized in such a manner that each dot is located in a respective intersection of a Cartesian grid. This highly facilitates the process of finding the position in the regular pattern of positions that is nearest to the position coordinate of the tag.

Preferably, two adjacent dot positions in the rectilinear equidistant dots pattern are separated from one another by a rectilinear dis- tance, which is in par with a resolution of the positioning arrange- ment. This means that if for example the positioning arrangement provides position data at an accuracy of around 0.1 meter, two adjacent dot positions in the rectilinear equidistant dots pattern should be separated from one another by a rectilinear distance of 0.1 meter.

According to one embodiment of this aspect of the invention, the position coordinate of the tag determined by the positioning arrangement contains first and second two-dimensional coordina- te values. Here, the controller is specifically configured to determi- ne the nearest position in the regular pattern of positions by com- paring the first two-dimensional coordinate value to a first range of dot positions expressing positions in the barn area along a first dimension. The controller is then configured to select a first coor- dinate value in the nearest position in the regular pattern of posi- tions as a dot position in the first range being located at a shortest distance in the first dimension from the first two-dimensional co- ordinate value. The controller is further configured to compare the second two-dimensional coordinate value to a second range of dot positions expressing positions in the barn area along a second dimension that is orthogonal to the first dimension. Thereafter, the controller is configured to select a second coordinate value in the nearest position in the regular pattern of positions as a dot posi- tion in the second range being located at a shortest distance in the second dimension from the second two-dimensional coordina- te value. This technique for determining the shortest so-called Manhattan distance between the position coordinate of the tag and the nearest position in the regular pattern of positions may be implemented very efficiently in software, hardware as well as com- binations thereof.

According to another embodiment of this aspect of the invention, the categorizing system contains a lookup table that for each posi- tion in the regular pattern of positions describes a respective zone label, which is associated with that position. The lookup table is communicatively connected to the controller and the controller is configured to assign the zone label based on consulting the lookup table. Thereby, the controller may assign zone labels in a highly efficient and straightforward manner.

According to still another embodiment of this aspect of the inven- tion, the controller contains a user interface configured to obtain user-generated commands. In response to the user-generated commands, the controller is configured to define at least one of the zone labels. This means that a subset of the positions in the regular pattern of positions is unambiguously associated with a specific one of the zone labels. Preferably, in response to addi- tional user-generated commands, the controller is further configu- red to unambiguously associate another subset of the positions in the regular pattern of positions to another specific one of the zone labels, and so on. Consequently, the barn area may conveniently be divided into different zones through which the animals’ move- ments are trackable.

According to yet another embodiment of this aspect of the inven- tion, the user interface contains a graphical user interface (GUI) configured to display a layout of the barn area. The user interface is also configured to obtain the user-generated commands, e.g. with support from the GUI, via area-defining instructions in relation to the layout of the barn area, which area-defining instructions specify the specific one of the zone labels. Thus, a user may de- fine different zones in the barn in a simple and intuitive manner. Preferably, to attain a further enhanced workflow when defining the different zones in the barn, the user interface may be configu- red to obtain two or more user-generated commands via two or more area-defining instructions specifying different zone labels to positions in the regular pattern of positions within the barn area. If the two or more of these area-defining instructions specify zone labels that at least partially overlap one another with respect to at least one common position in the regular pattern of positions, the user interface is configured to define the at least one common position as being associated with the zone label specified by a latest obtained area-defining instruction relating to the at least one common position. Thereby, a user may gradually refine an already defined zone to include one or more other zones, i.e. subdivisions.

According to another aspect of the invention, the object is achie- ved by a computer-implemented method for assigning respective zone labels to animals located in a barn area divided into at least two zones, which each is associated with a respective zone label, which method is performed in at least one processor and involves the steps of: determining, by a positioning arrangement, a position coordinate of an animal tag within the barn area; obtaining the position coordinate of the animal tag, and based thereon assigning a zone label to the animal. The barn area is associated with a regular pattern of positions in which each position is unambiguo- usly associated with a particular zone label. The method involves determining a nearest position in the regular pattern of positions, which nearest position is located at a shortest Euclidean distance from the position coordinate of the animal tag determined by the positioning arrangement. The animal is assigned a zone label equal to the zone label associated with the nearest position in the regular pattern of positions. The advantages of this method, as well as the preferred embodiments thereof, are apparent from the discussion above with reference to the proposed categorizing system.

According to a further aspect of the invention, the object is achie- ved by a computer program loadable into a non-volatile data car- rier communicatively connected to a processing unit. The com- puter program includes software for executing the above method when the program is run on the processing unit.

According to another aspect of the invention, the object is achie- ved by a non-volatile data carrier containing the above computer program.

Further advantages, beneficial features and applications of the present invention will be apparent from the following description and the dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is now to be explained more closely by means of preferred embodiments, which are disclosed as examples, and with reference to the attached drawings.

Figure 1 shows a layout of a barn area covered by a regular pattern of positions in which each position is unam- biguously associated with a particular zone label according to one embodiment of the invention;

Figure 2 shows a controller with a user interface configured to obtain user-generated commands for defining zone labels according to one embodiment of the invention; and

Figure 3 illustrates, by means of a flow diagram, the general method according to the invention.

DETAILED DESCRIPTION

In Figure 1 , we see a layout of a barn area 100 that is covered by a regular pattern of positions. Here, the regular pattern of posi- tions is exemplified as a rectilinear equidistant dots pattern cove- ring the barn area 100. Thus, the regular pattern of positions is represented by a set of dots being organized in such a manner that each dot is located in a respective intersection of a Cartesian grid. This kind of uniform and repetitive design of the pattern al- lows for a simple process of finding a position in the regular pat- tern of positions that is nearest to a determined position coordina- te in the barn area 100. Each position in the regular pattern of positions is unambiguously associated with a particular zone label as will be discussed below. Technically, this allows for any other regular pattern to be used according to the invention.

Figure 1 exemplifies the following zone labels in the barn area 100: a resting zone label A1 , A2, A3, A4, A5, A6, A7 and A8 res- pectively that designates an area where animals may relax, e.g. during rumination, a food supply zone label B1 and B2 respecti- vely that designates an area where animals are fed, a drinking zone label D1 that designates an area where animals are watered, a walking zone label C1 that designates a transit area through which animals may move to reach other areas in the barn area 100, a milking zone label A9, A10, A11 , A12, A13, A14, A15 and A16 respectively that designates an area where animals are mil- ked either autonomously by a robot or with the assistance from a human operator, a cooling zone label F3 designating an area where animals may be cooled off and a human-only zone label E1 and E2 designating an area where animals are not allowed, e.g. a walking passage for delivering animal feed to the food supply zo- ne. Naturally, according to the invention, any alternative types of zone labels are equally well conceivable.

In Figure 1 also shows a categorizing system for assigning res- pective zone labels to animals located in the barn area 100 divided into at least two zones, which each is associated with a respective zone label. The categorizing system contains a positioning arran- gement and a controller 120.

The positioning arrangement is here symbolically illustrated by means of a set of base stations 111 , 112 and 113 respectively and a central unit 110. The positioning arrangement may include any number of base stations larger than or equal to three, and this arrangement is preferably adapted to determine positions based on triangulation, actively and/or passively depending on the cha- racteristics of the object/tag to be positioned. The central unit 110, which may be co-located with one of the base stations 111 , 112 or 113, is configured to determine a position coordinate P(X, Y) of a tag T within the barn area 100. The tag T, in turn, is configured to be attached to an animal, for instance via an ear clip or a neck- lace.

The controller 120 is configured to obtain the position coordinate P(X, Y) of the tag T, and based thereon assign a zone label to the animal to which the tag T is attached. For clarity, the controller 120 is illustrated as a separate unit. Of course, this does not pre- clude that the controller 120 is integrated into at least one of the other units of the categorizing system, such as the central unit 110 and/or the base stations 111 , 112 or 113.

The controller 120 is configured to determine a nearest position in the regular pattern of positions, which nearest position is located at a shortest Euclidean distance from the position coordinate P(X, Y) of the tag T determined by the positioning arrangement. In Fi- gure 1 , we assume that a dot position x₉, y₁₄ in the regular pattern of positions is the nearest position to the position coordinate P(X, Y) of the tag T. The dot position x₉, yi 4, in turn, is unambiguously associated with the zone label A12, i.e. a milking zone label. The controller 120 is further configured to assign the zone label to the animal equal to the zone label associated with the nearest position xg, y14 in the regular pattern of positions, i.e. in this case A12.

In Figure 1 , in addition to the nearest position xg, yi4, the zone label A12 is unambiguously associated with each of the dot posi- tions: x₈, y₁₄; x₈, y1₅; x₈, y₁₆ x₈, y₁₇; x₉, y₁₅; x₉, y₁₆ x₉, y₁₇; x₁₀ y₁₄ X₁₀, y₁₅; x₁₀, y₁₆ and x₁₀, y₁₇ respectively. Analogously, for examp- le, the zone label F3 is unambiguously associated with each of the dot positions: X₅, y_11; x₆, y₁₁; x₇, y₁₁; x₈, y₁₁; x₉, y₁₁; x ₁₀ y_{1 1} X₁₁ , y₁₁ X₁₂, y₁₁ ; X₁₃, y₁₁; X₁₄, y₁₁ X₁₅, y₁₁;x₁₆, y₁₁; X₁₇, y₁₁; x₁₈ y₁₁; x₁₉, y₁₁ ; X₂₀, y₁₁ ; X₂₁, y₁₁; X₂₂, y₁₁; x₂₃, y₁₁; x₂₄, y₁₁; x₂₅, y₁₁; x₅, y₁₀; x₆, y₁₀; x₇, y₁₀; x₈, y₁₀ x₉, y₁₀ x₁₀, y₁₀ X₁₁, y₁₀ X₁₂, y₁₀ x₁₃, y₁₀; x₁₄, y₁₀ X₁₅, y₁₀ x₁₆, y₁₀; X₁₇, y₁₀; x₁₈, y₁₀; 9₁₈, y₁₀; X₂₀, y₁₀; X₂₁ , y₁₀; _X22, yw; X23, y₁₀; X24, y₁₀ and X25, yw respectively, and the zone label D1 is unambiguously associated with each of the dot positions: xi , yg; xi , y₁₀; xi, yn and xi , yi2 respectively.

Preferably, two adjacent dot positions in the rectilinear equidistant dots pattern are separated from one another by a rectilinear dis- tance in par with a resolution of the positioning arrangement. Thus, if for example the positioning arrangement employs radio waves in the ultrawide band (UWB) ranging from 3.1 GHz to 10.6 GHz, two adjacent dot positions in the rectilinear equidistant dots pattern may be separated by a distance equivalent to between 0.01 and 1 .0 meter from one another, say 0.1 meter.

According to one embodiment of the invention the position coor- dinate P(X, Y) of the tag T determined by the positioning arran- gement is two-dimensional and thus contains first and second two- dimensional coordinate values X and Y. The controller 120 is here configured to determine the nearest position x₉, y1 4n the regular pattern of positions as follows.

First, the controller 120 compares the first two-dimensional coor- dinate value X to a first range of dot positions, in Figure 1 xi - X25, in the regular pattern of positions expressing positions in the barn area 100 along a first dimension x.

Then, the controller 120 selects a first coordinate value x₉ in the nearest position x₉, yu in the regular pattern of positions as a dot position in the first range that is located at a shortest distance in the first dimension x from the first two-dimensional coordinate value X.

Subsequently, the controller 120 compares the second two-dimen- sional coordinate value Y to a second range of dot positions, here yi - yi 9, in the regular pattern of positions expressing positions in the barn area 100 along a second dimension y that is orthogonal to the first dimension x. Thereafter, the controller 120 selects a second coordinate value yu in the nearest position xg, yu in the regular pattern of positions as a dot position in the second range that is located at a shortest distance in the second dimension y from the second two-dimen- sional coordinate value Y.

According to one embodiment of the invention, the categorizing system includes a lookup table 130 that for each position in the regular pattern of positions describes a respective zone label A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A11 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 or E2 respectively, which is associated with that position. The lookup table 130 is communicatively con- nected to the controller 120, and the controller 120 is configured to assign the zone label based on consulting the lookup table 130. In Figure 1 , for clarity, the lookup table 130 is illustrated as a se- parate unit. According to the invention, however, the lookup table 130 may be integrated into the controller 120. Further, the lookup table 130 may be represented by any data structure stored in any type of memory area that is readily accessible by a processing circuitry of the controller 120.

Figure 2 shows a block diagram of the controller 120 according to one embodiment of the invention. It is generally advantageous if the controller 120 is configured to effect the above-described procedure by executing a computer program 127. Therefore, the controller 120 preferably includes a memory unit 125, i.e. non- volatile data carrier, storing the computer program 125, which, in turn, contains software for making processing circuitry in the form of at least one processor 123 in the controller 120 execute the actions mentioned in this disclosure when the second computer program 125 is run on the at least one second processor 123.

Figure 2 shows the controller 120 according to one embodiment of the invention, where the controller 120 has a user interface 220 configured to obtain user-generated commands cmd for defining the zone labels. Here, the controller 120 is configured to define at least one of the zone labels A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A1 1 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 and/or E2 such that a subset of the positions in the regular pattern of positions is unam- biguously associated with a specific one of the zone labels. For instance the user-generated commands cmd may specify that each of the dot positions: x₈, y₁₄; x₈, y₁₆; x₈, y₁₆; x₈, y₁₇; X₉, y₁₄; X₉, y₁₅; X₉, y₁₆; X₉, y₁₇; x₁₀, y₁₄; x₁₀, y₁₅; X₁₀, y₁₆ and x₁₀, y₁₇ respectively shall be unambiguously associated with the zone label A12.

Preferably, to this aim, the user interface 220 includes a graphical user interface (GUI) configured to display a layout of the barn area 100, for example on a screen of a laptop 230, or similar computer device. The user interface 220 is further configured to obtain the user-generated commands cmd via area-defining instructions in relation to the layout of the barn area 100 as presented via the GUI, wherein the area-defining instructions specify the specific one of the zone labels. This means that a user may define one or more of the zone labels A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A1 1 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 and/or E2 by generating drawing commands on the laptop 230. Of course, this is an efficient and intuitive way of interacting with the categorizing system.

According to one embodiment of the invention, the user interface 220 is further configured to receive the user-generated commands cmd in such a way that a user may build up areas for the different zone labels through a procedure wherein the areas are gradually refined. For example, this means that the user may first define the entire barn area 100 as the zone label C1 . Then, he/she may de- fine a first subdivision of the barn area 100 within the zone label C1 as the zone label D1 , a second subdivision of the barn area 100 within the zone label C1 as the zone label F3, and so on.

To this aim, the user interface 220 is specifically configured to obtain two or more user-generated commands cmd via two or mo- re area-defining instructions specifying different zone labels to positions in the regular pattern of positions within the barn area 100. If the two or more of the area-defining instructions specify zone labels that at least partially overlap one another with respect to at least one common position in the regular pattern of positions, the user interface 220 is configured to define the at least one com- mon position as being associated with the zone label specified by a latest obtained area-defining instruction relating to the at least one common position.

In order to sum up, and with reference to the flow diagram in Fi- gure 3, we will now describe the computer-implemented method according to the invention which is performed in the at least one processor 123 of the controller 120.

In a first step 310, a position coordinate is received, which posi- tion coordinate designates the location of a tag T within the barn area 100. The tag T, in turn, is presumed to be attached to an animal.

Thereafter, a step 320 determines a nearest position in a regular pattern of positions in which each position is unambiguously asso- ciated with a particular zone label.

A following step 330 then assigns a zone label to the animal to which the tag T is attached, which zone label is equal to the zone label associated with the nearest position in the regular pattern of positions.

Subsequently, a step 340 checks if the zone label for a tag is to be updated, typically by checking whether a timer since a latest update has expired. If the zone label is to be updated, the proce- dure continues to step 310. Otherwise, the procedure loops back and stays in step 340. The duration of the timer is preferably set depending on a requested level of accuracy, and may vary from say 1 second to 10 minutes.

The process steps described with reference to Figure 3 may be controlled by means of a programmed processor. Moreover, al- though the embodiments of the invention described above with reference to the drawings comprise processor and processes per- formed in at least one processor, the invention thus also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice. The prog- ram may be in the form of source code, object code, a code inter- mediate source and object code such as in partially compiled form, or in any other form suitable for use in the implementation of the process according to the invention. The program may either be a part of an operating system, or be a separate application. The carrier may be any entity or device capable of carrying the program. For example, the carrier may comprise a storage me- dium, such as a Flash memory, a ROM (Read Only Memory), for example a DVD (Digital Video/Versatile Disk), a CD (Compact Disc) or a semiconductor ROM, an EPROM (Erasable Program- mable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a magnetic recording medium, for example a floppy disc or hard disc. Further, the car- rier may be a transmissible carrier such as an electrical or optical signal which may be conveyed via electrical or optical cable or by radio or by other means. When the program is embodied in a signal, which may be conveyed, directly by a cable or other device or means, the carrier may be constituted by such cable or device or means. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing, or for use in the performance of, the re- levant processes.

Variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed in- vention, from a study of the drawings, the disclosure, and the ap- pended claims.

The term “comprises/comprising” when used in this specification is taken to specify the presence of stated features, integers, steps or components. The term does not preclude the presence or addition of one or more additional elements, features, integers, steps or components or groups thereof. The indefinite article "a" or "an" does not exclude a plurality. In the claims, the word “or” is not to be interpreted as an exclusive or (sometimes referred to as “XOR”). On the contrary, expressions such as “A or B” covers all the cases “A and not B”, “B and not A” and “A and B”, unless otherwise indicated. The mere fact that certain measures are reci- ted in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

It is also to be noted that features from the various embodiments described herein may freely be combined, unless it is explicitly stated that such a combination would be unsuitable. The invention is not restricted to the described embodiments in the figures, but may be varied freely within the scope of the claims.

Claims

1. A categorizing system for assigning respective zone labels to animals located in a barn area (100) divided into at least two zones, which each is associated with a respective zone label, the system comprising: a positioning arrangement (110, 111 , 112, 113) configured to determine a position coordinate (P(X, Y)) of a tag (T) within the barn area (100), which tag (T) is configured to be attached to an animal, and a controller (120) configured to obtain the position coordina- te (P(X, Y)) of the tag (T), and based thereon assign a zone label to the animal, characterized in that the barn area (100) is associated with a regular pattern of positions in which each position is unambiguo- usly associated with a particular zone label (A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A11 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 , E2), and the controller (120) is configured to: determine a nearest position (xg, y-u) in the regular pattern of positions, which nearest position (xg, yu) is located at a shor- test Euclidean distance from the position coordinate (P(X, Y)) of the tag (T) determined by the positioning arrangement (110, 111 , 112, 113), and assign the zone label to the animal equal to the zone label (A12) associated with the nearest position (xg, y-u) in the regular pattern of positions.

2. The categorizing system according to claim 1 , wherein the regular pattern of positions comprises a rectilinear equidistant dots pattern (Cartesian grid) covering the barn area (100).

3. The categorizing system according to claim 2, wherein two adjacent dot positions in the rectilinear equidistant dots pattern are separated from one another by a rectilinear distance equiva- lent to a distance of 0.01 to 1.0 meter in the barn area (100).

4. The categorizing system according to any one of claims 2 or 3, wherein the position coordinate (P(X, Y)) of the tag (T) deter- mined by the positioning arrangement (110, 111 , 112, 113) com- prises first and second two-dimensional coordinate values (X; Y), and the controller (120) is configured to determine the nearest position (xg, yu) in the regular pattern of positions by: comparing the first two-dimensional coordinate value (X) to a first range of dot positions (xi - X25) expressing positions in the barn area (100) along a first dimension (x), selecting a first coordinate value (X9) in the nearest position (xg, yu) in the regular pattern of positions as a dot position in the first range being located at a shortest distance in the first dimen- sion (x) from the first two-dimensional coordinate value (X), comparing the second two-dimensional coordinate value (Y) to a second range of dot positions (yi - yi 9) expressing positions in the barn area (100) along a second dimension (y) being ortho- gonal to the first dimension (x), and selecting a second coordinate value (yu) in the nearest po- sition (xg, yu) in the regular pattern of positions as a dot position in the second range being located at a shortest distance in the second dimension (y) from the second two-dimensional coordinate value (Y).

5. The categorizing system according to any one of the prece- ding claims, further comprising a lookup table (130) that for each position in the regular pattern of positions describes a respective zone label (A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A11 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 , E2) being associated with that position, which lookup table (130) is communicatively connected to the controller (120), and the controller (120) is configured to assign the zone label based on consulting the lookup table (130).

6. The categorizing system according to any one of the prece- ding claims, wherein the zone labels comprise at least one of a resting zone label (A1 , A2, A3, A4, A5, A6, A7, A8), a food supply zone label (B1 , B2), a drinking zone label (D1 ), a walking zone label (C1 ), a milking zone label (A9, A10, A11 , A12, A13, A14, A15, A16), a cooling zone label (F3) and a human-only zone label (E1 , E2).

7. The categorizing system according to any one of the prece- ding claims, wherein the controller (120) comprises a user inter- face (220) configured to obtain user-generated commands (cmd), and in response to the user-generated commands (cmd), the con- troller (120) is configured to define at least one of the zone labels (A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A11 , A12, A13, A14, A15, A16, B1 , B2, C 1 , D1 , E1 , E2) such that a subset of the posi- tions in the regular pattern of positions is unambiguously associa- ted with a specific one of the zone labels.

8. The categorizing system according to claim 7, wherein the user interface (220) comprises a graphical user interface configu- red to display a layout of the barn area (100), and the user inter- face (220) obtain the user-generated commands (cmd) via area- defining instructions in relation to the layout of the barn area (100), which area-defining instructions specify the specific one of the zone labels.

9. The categorizing system according to claim 8, wherein the user interface (220) is configured to: obtain two or more user-generated commands (cmd) via two or more area-defining instructions specifying different zone labels to positions in the regular pattern of positions within the barn area (100), and if the two or more area-defining instructions specify zone labels that at least partially overlap one another with respect to at least one common position in the regular pattern of positions; define the at least one common position as being associated with the zone label specified by a latest obtained area-defining instruction relating to the at least one common position.

10. A computer-implemented method for assigning respective zone labels to animals located in a barn area (100) divided into at least two zones, which each is associated with a respective zone label, which method is performed in at least one processor (123) and comprises: determining, by a positioning arrangement (110, 111 , 112, 113) a position coordinate (P(X, Y)) of a tag (T) within the barn area (100), which tag (T) is configured to be attached to an animal, obtaining the position coordinate (P(X, Y)) of the tag (T), and based thereon assigning a zone label to the animal, characterized by the barn area (100) being associated with a re- gular pattern of positions in which each position is unambiguously associated with a particular zone label (A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A11 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 , E2), and the method comprises: determining a nearest position (xg, y-u) in the regular pattern of positions, which nearest position (xg, yu) is located at a shor- test Euclidean distance from the position coordinate (P(X, Y)) of the tag (T) determined by the positioning arrangement (110, 111 , 112, 113), and assigning the zone label to the animal equal to the zone label (A12) associated with the nearest position (xg, y-u) in the regular pattern of positions.

11. The method according to claim 10, wherein the regular pat- tern of positions comprises a rectilinear equidistant dots pattern covering the barn area (100).

12. The method according to claim 11 , wherein two adjacent dot positions in the rectilinear equidistant dots pattern are separated from one another by a rectilinear distance equivalent to 0.1 meter in the barn area (100).

13. The method according to any one of claims 11 or 1 , wherein the position coordinate (P(X, Y)) of the tag (T) determined by the positioning arrangement (110, 111 , 112, 113) comprises first and second two-dimensional coordinate values (X; Y), and the method comprises determining the nearest position (x9, y14) in the regular pattern of positions by: comparing the first two-dimensional coordinate value (X) to a first range of dot positions (x1 - X25) expressing positions in the barn area (100) along a first dimension (x), selecting a first coordinate value (xg) in the nearest position (x9, y14) in the regular pattern of positions as a dot position in the first range being located at a shortest distance in the first dimen- sion (x) from the first two-dimensional coordinate value (X), comparing the second two-dimensional coordinate value (Y) to a second range of dot positions (y1 - y19) expressing positions in the barn area (100) along a second dimension (y) being ortho- gonal to the first dimension (x), and selecting a second coordinate value ( y14) in the nearest po- sition (x9, y14) in the regular pattern of positions as a dot position in the second range being located at a shortest distance in the second dimension (y) from the second two-dimensional coordinate value (Y).

14. The method according to any one of the claims 10 to 13, comprising consulting a lookup table (130) to assign the zone label to the animal, which lookup table (130) for each position in the regu- lar pattern of positions describes a respective zone label (A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A11 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 , E2) that is associated with that position.

15. The method according to any one of the claims 10 to 14, wherein the zone labels comprise at least one of a resting zone label (A1 , A2, A3, A4, A5, A6, A7, A8), a food supply zone label (B1 , B2), a drinking zone label (D1 ), a walking zone label (C1 ), a milking zone label (A9, A10, A11 , A12, A13, A14, A15, A16), a cooling zone label (F3) and a human-only zone label (E1 , E2).

16. The method according to any one of the claims 10 to 15, comprising: obtaining user-generated commands (cmd) via a user inter- face (220), and in response thereto defining at least one of the zone labels (A1 , A2, A3, A4, A5, A6, A7, A8, A9, A10, A11 , A12, A13, A14, A15, A16, B1 , B2, C1 , D1 , E1 , E2) such that a subset of the positions in the regular pat- tern of positions is unambiguously associated with a specific one of the zone labels.

17. The method according to claim 16, wherein the user inter- face (220) comprises a graphical user interface, and the method comprises: displaying, via the graphical user interface, a layout of the barn area (100), and obtaining the user-generated commands (cmd) through area-defining instructions in relation to the layout of the barn area (100), which area-defining instructions specify the specific one of the zone labels.

18. The method according to claim 17, further comprising: obtain two or more user-generated commands (cmd) through two or more area-defining instructions specifying different zone labels to positions in the regular pattern of positions within the barn area (100), and if the two or more area-defining instructions specify zone labels that at least partially overlap one another with respect to at least one common position in the regular pattern of positions; defining the at least one common position as being associa- ted with the zone label specified by a latest obtained area-defining instruction relating to the at least one common position.

19. A computer program (127) loadable into a non-volatile data carrier (125) communicatively connected to a processing unit (123), the computer program (127) comprising software for exe- cuting the method according any of the claims 10 to 18 when the computer program (127) is run on the processing unit (123).

20. A non-volatile data carrier (125) containing the computer program (127) of the claim 19.