A tool-pickup system of an automatic milking arrangement, the tool-pickup system comprising: a robotic arm provided with a grip device configured to pick up tools, and a camera configured to register three-dimensional image data (D img3D), and a control unit configured to control the robotic arm to move the camera to an origin location (Pc) from which at least one tool (141, 142, 143, 144) is expected to be visible within a view field of the camera, wherein the control unit is further configured to: obtain three-dimensional image data (D img3D) registered by the camera at the origin location (Pc); process the three-dimensional image data (D img3D) using an image-based object identification algorithm to identify objects in the form of tools (141, 143, 144) and/or hoses, and in response to identifying at least one tool (141, 143, 144): determine a respective tool position (P T1, P T3, P T4) for each identified tool (141, 143, 144) based on the origin location (P C) and the three-dimensional image data (D img3D); and exclusively control the grip device to one or more of the respective tool positions (P T1, P T3, P T4) to perform a pick-up operation; characterised in that the control unit is further configured to: produce an alert in response to identifying at least one hose at a position where, in a current stage of a procedure executed by the automatic milking arrangement, one of said tools (141, 142, 143, 144) should be present. a robotic arm provided with a grip device configured to pick up tools, and a camera configured to register three-dimensional image data (D img3D), and a control unit configured to control the robotic arm to move the camera to an origin location (Pc) from which at least one tool (141, 142, 143, 144) is expected to be visible within a view field of the camera, wherein the control unit is further configured to: obtain three-dimensional image data (D img3D) registered by the camera at the origin location (Pc); process the three-dimensional image data (D img3D) using an image-based object identification algorithm to identify objects in the form of tools (141, 143, 144) and/or hoses, and in response to identifying at least one tool (141, 143, 144): determine a respective tool position (P T1, P T3, P T4) for each identified tool (141, 143, 144) based on the origin location (P C) and the three-dimensional image data (D img3D); and exclusively control the grip device to one or more of the respective tool positions (P T1, P T3, P T4) to perform a pick-up operation; obtain three-dimensional image data (D img3D) registered by the camera at the origin location (Pc); process the three-dimensional image data (D img3D) using an image-based object identification algorithm to identify objects in the form of tools (141, 143, 144) and/or hoses, and in response to identifying at least one tool (141, 143, 144): determine a respective tool position (P T1, P T3, P T4) for each identified tool (141, 143, 144) based on the origin location (P C) and the three-dimensional image data (D img3D); and exclusively control the grip device to one or more of the respective tool positions (P T1, P T3, P T4) to perform a pick-up operation; determine a respective tool position (P T1, P T3, P T4) for each identified tool (141, 143, 144) based on the origin location (P C) and the three-dimensional image data (D img3D); and exclusively control the grip device to one or more of the respective tool positions (P T1, P T3, P T4) to perform a pick-up operation; characterised in that the control unit is further configured to: produce an alert in response to identifying at least one hose at a position where, in a current stage of a procedure executed by the automatic milking arrangement, one of said tools (141, 142, 143, 144) should be present.