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 is expected to be visible within a view field (VF) 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 and/or hoses , and in response to identifying at least one tool : determine a respective tool position (P T1 , P T3 , P T4 ) for each identified tool 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 (A) 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 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 is expected to be visible within a view field (VF) 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 and/or hoses , and in response to identifying at least one tool : determine a respective tool position (P T1 , P T3 , P T4 ) for each identified tool 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 and/or hoses , and in response to identifying at least one tool : determine a respective tool position (P T1 , P T3 , P T4 ) for each identified tool 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 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 (A) 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 should be present. <EOS>