WO2022081066A1 - An autonomous vehicle and method of controlling an autonomous vehicle in a livestock area - Google Patents

An autonomous vehicle and method of controlling an autonomous vehicle in a livestock area Download PDF

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Publication number
WO2022081066A1
WO2022081066A1 PCT/SE2021/050992 SE2021050992W WO2022081066A1 WO 2022081066 A1 WO2022081066 A1 WO 2022081066A1 SE 2021050992 W SE2021050992 W SE 2021050992W WO 2022081066 A1 WO2022081066 A1 WO 2022081066A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
guide arrangement
track
gap
primary guide
Prior art date
Application number
PCT/SE2021/050992
Other languages
French (fr)
Inventor
Szymon KARWACKI
Original Assignee
Delaval Holding Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Priority to EP21795034.4A priority Critical patent/EP4228399A1/en
Publication of WO2022081066A1 publication Critical patent/WO2022081066A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
    • A01K5/02—Automatic devices
    • A01K5/0266—Automatic devices with stable trolleys, e.g. suspended
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/10—Feed racks
    • A01K1/105—Movable feed barriers, slides or fences

Definitions

  • the invention relates generally to a method of controlling an autonomous vehicle operating in a livestock area and such an autonomous vehicle.
  • Feed is provided to a feed table where the dairy animals, such as cows, come to eat. Access to the feed is controlled by a feed fence through which the animals can reach the feed table. However, during eating, the animals also tend to push the feed further away from the feed fence such that it eventually is out of reach. Therefore, the feed needs to be repositioned back towards the feed fence.
  • a feed displacement vehicle is the DeLaval OptiDuoTM.
  • Floor supported autonomous vehicles providing such tasks may navigate on the floor by means of a guide arrangement provided in the floor.
  • the guide arrangement forms a track for the vehicle to follow. Examples of such guide arrangement are induction lines or magnets.
  • the vehicle is navigating itself by detecting such a guide arrangement in the floor, and the vehicle is then controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
  • the floor is made out of concrete but a certain part of the intended area of operation of the vehicle has a metal floor or is made of any other type of material that makes it difficult to use the primary guide arrangement.
  • a section of the floor is removable, and thus not suitable for installing primary guide arrangement in that section.
  • This could e.g. be a bridge etc., which the vehicle should pass.
  • Bridges may be provided where there are ducts beneath the floor such as for transporting effluent, wastewater etc. Therefore, it would be beneficial to further improve the navigation method to increase the flexibility in such installations.
  • the invention relates to a method of controlling an autonomous vehicle operating in a livestock area.
  • the method comprises, in the vehicle detecting a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow.
  • the vehicle comprises a detector for detecting the guide arrangement.
  • the guide arrangement may comprise discrete guide elements or continuous guide elements, but they are arranged such that the vehicle is able to detect the location and direction of the track.
  • the vehicle is then navigating according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
  • the vehicle is then obtaining (e.g. by the detector) an indication that there will be a gap in the track formed by the primary guide arrangement.
  • the vehicle is detecting that there will be a gap in the track.
  • the gap is such that the primary navigation mode will be unavailable for the vehicle along the gap in the track. This means that over a certain distance the vehicle will not be able to navigate according to the primary navigation mode.
  • the vehicle Upon indication that there will be a gap in the track formed by the primary guide arrangement, the vehicle is engaging a secondary navigation mode, which is to be used temporarily for overcoming the gap, and navigating according to the secondary navigation mode.
  • the secondary navigation mode is disengaged and the primary navigation mode is re-engaged, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
  • the vehicle is able to engage a secondary navigation mode in situations where the primary navigation mode is unavailable.
  • This will increase the flexibility in arranging tracks for autonomous vehicles in a livestock area, such as a dairy barn. Especially it will facilitate movement of the autonomous vehicle, on its own, across bridges etc. that may be located in the area of intended operation of the vehicle.
  • the secondary navigation mode may comprise controlling the vehicle to move along to a predetermined path of movement.
  • the vehicle may, temporarily engage a movement along a predetermined path which is available to the vehicle (such as programmed in the vehicle), to cross the gap in the primary guide arrangement.
  • the predetermined path of movement may include following a straight line, turning x degrees (x may be within the interval +/- 180 degrees, such as +/- 45 degrees, +/- 90 degrees etc.), following a circular segment of radius R (such as +/- 180 degrees, +/- 90 degrees, +/- 45 degrees etc.), or combinations thereof such as to follow any shape of free form.
  • the predetermined path of movement may be to control the vehicle to follow a straight line along a direction determined during the primary navigation mode.
  • the predetermined path of movement may be to follow a circular segment to the left, 180 degrees, having a radius of half the distance between two separate tracks of the primary guide arrangement.
  • the predetermined path of movement may be to turn 90 degrees to the right and then follow a straight line of e.g. 5 m.
  • the predetermined path of movement may be a sequence of steps of forward, backward and/or turning movements of the vehicle, which may be pre-recorded in the vehicle.
  • the predetermined path of movement may be a straight line along a direction determined during the primary navigation mode.
  • the secondary navigation mode may be based on determining the movement and/or acceleration of the vehicle. Movement of the vehicle may be the distance travelled by the vehicle, as well as how the vehicle is turned, by means of monitoring the drive device of the vehicle (e.g. rotations of a drive wheel). Thus, the vehicle may be controlled to follow the predetermined path of movement based on intrinsic measurements done by the vehicle.
  • the secondary navigation mode may be based on measuring the acceleration of the vehicle in at least two dimensions and navigating according to the principle of inertial navigation.
  • the movement of the vehicle during the secondary navigation mode may be calculated and controlled by integrating the acceleration of the vehicle in two steps.
  • the secondary navigation mode may comprise detecting a secondary guide arrangement, different from the primary guide arrangement, which secondary guide arrangement forms a track for the vehicle to follow, and wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected secondary guide arrangement.
  • the gap in the track by the primary guide arrangement may be overcome by switching into detecting a secondary guide arrangement.
  • the secondary guide arrangement is different from the first guide arrangement, such as based on discrete magnets instead of inductor cables, optical markers, mechanical markers, etc.
  • the indication of the gap in the track formed by the primary guide arrangement may be that the vehicle no longer is able to detect the primary guide arrangement. Hence, the vehicle will go into a mode of switching into the secondary mode of navigation when the vehicle no longer is able to detect the primary guide arrangement.
  • the indication of the gap in the track formed by the primary guide arrangement may be that the vehicle is able to detect the secondary guide arrangement.
  • the vehicle may continuously or intermittently try to detect the secondary guide arrangement and go into the secondary mode of navigation once available.
  • the indication of the gap in the track formed by the primary guide arrangement may be that the primary guide arrangement has a configuration indicating the gap in the track.
  • the vehicle may be able to detect the coming gap in the track by detecting a change in the configuration of the primary guide arrangement.
  • This may be a different arrangement of magnets (a group of magnets, different distance between magnets), a different number of magnets, a different shape of an induction line, such as a double induction line instead of a single line, etc.
  • the indication of the gap in the track formed by the primary guide arrangement may be a marker detectable by the vehicle, indicating the gap in the track, is positioned such that the vehicle is detecting the marker before reaching the gap.
  • the marker may be a transponder (such as an NFC transponder), a mechanical marker (such as a rod), a visual marker, etc.
  • the indication of the gap in the track formed by the primary guide arrangement may be a signal obtained by the vehicle at a position before reaching the gap.
  • the signal may be an optical signal, a radio signal (such as a Bluetooth signal), an induction signal, etc.
  • the primary guide arrangement may comprise one or more induction lines, a plurality of magnets, or a plurality of markers in the floor.
  • the magnets are typically discrete permanent magnets.
  • the markers may be e.g. optical markers or transducers, such as NFC markers etc.
  • the step of detecting the primary (and/or secondary) guide arrangement in the floor may comprise, in the vehicle, detecting, i.e. sensing (by means of one or more sensors), the relative position of the guide arrangement with respect to the vehicle (i.e. the relative position of the vehicle to the guide arrangement).
  • the sensors may be electrical sensors, electromagnetical sensors, magnetometer sensors, optical sensors, etc., depending on the type of guide arrangement(s) used. If a secondary guide arrangement is used, the detector is preferably provided with a suitable sensor or set of sensors to enable detection of both the primary and secondary guide arrangement.
  • the invention relates to an autonomous vehicle for a livestock area, comprising a body; a drive device supporting the body on a floor of the livestock area; a control unit for navigating the vehicle and controlling the drive device; a detector for detecting a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow;
  • control unit is configured to navigate the vehicle according to a primary navigation mode wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement;
  • control unit is configured to obtain, e.g. from the detector, an indication of a gap in the track formed by the primary guide arrangement
  • control unit is configured to engage a secondary navigation mode
  • control unit is configured to navigate according to the secondary navigation mode over the gap in the track of the primary guide arrangement
  • the detector is configured to detect that the vehicle has crossed the gap in the track of the primary guide arrangement
  • control unit is configured to disengage the secondary navigation mode when it has been detected that the vehicle has crossed the gap, and re-engage the primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
  • the autonomous vehicle may be a feed displacement robot, a feed distribution robot, a manure displacement robot, a manure collecting robot, a bedding displacement robot or a bedding distribution robot, or combinations thereof.
  • the invention relates to an installation in a livestock area, comprising an autonomous vehicle as described herein, arranged to move along a floor of the livestock area, a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow, and a gap in the track formed by the primary guide arrangement, which gap the autonomous vehicle is configured to cross.
  • Figure 1 shows a first embodiment of the invention, where a feed robot is navigating on a feed table.
  • Figure 2 shows a second embodiment of the invention, where a feed robot is navigating on a feed table.
  • Figure 3 shows a third embodiment of the invention, where an autonomous vehicle is navigating on a floor of a livestock area.
  • Figure 4 shows a fourth embodiment of the invention, where an autonomous vehicle is navigating on a floor of a livestock area.
  • Figure 5 shows a flow chart of a method according to the invention.
  • Figure 6 shows an autonomous feed displacement vehicle according to the invention.
  • an autonomous feed displacement vehicle 1 is shown on a feed table 2 in a dairy barn.
  • the feed table is a section of the floor, which is separated from an area where the animals are located by means of a feed fence 3.
  • Feed 4, 4’ is provided to the feed table where the animals, such as cows, come to eat.
  • Access to the feed is controlled by the feed fence through which the animals can reach the feed table.
  • the animals also tend to push the feed further away from the feed fence such that it eventually is out of reach. Therefore the feed needs to be repositioned back towards the feed fence.
  • the feed displacement vehicle 1 is provided with a rotating auger, which is repositioning the feed in a direction D while moving in the direction M. Thus, after being repositioned the feed is again within reach by the animals through the feed fence for eating.
  • the induction line is an electrical cable through which a current is conducted, and it constitutes a primary guide arrangement for the vehicle.
  • the floor is made of concrete, and the induction line is incorporated in the floor by means of milling a trench and inserting the cable.
  • the vehicle detects the induction line 5 in the floor, forming a track for the vehicle to follow, and navigates according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the induction line.
  • the section 6 is in this example a bridge over a trench in the floor, which bridge is made of metal. It is not possible to incorporate the induction line in this section, and thus the vehicle is not able to navigate according to the primary navigation arrangement formed by the induction line 5. Hence, there is a gap 7 in this primary navigation arrangement from a first section 5 to a second section 5’. The gap extends from the end 7a of the first section 5 to the beginning 7b of the second section 5’ of the induction line.
  • This gap extends over such a distance that the vehicle is not able to detect the second section 5’ of the primary navigation arrangement from the position 7a.
  • the induction line may form two independent loops 5 and 5’, on each side of the section 6, or the induction line may extend along/under section 6 but still be unavailable (e.g. hidden or shielded) to the vehicle over the gap 7.
  • the vehicle is obtaining an indication that there will be a gap in the track formed by the induction line.
  • the primary navigation mode will be unavailable for the vehicle along the gap 7 in the track.
  • the indication is obtained by a marker 8 in the form of a transponder that is detectable by the vehicle.
  • the marker indicates to the vehicle that there will be a gap in the induction line and that the vehicle temporarily has to engage a secondary navigation mode to navigate across the gap.
  • the secondary navigation mode comprises instructions for the vehicle to move along a predetermined path of movement over the gap 7.
  • the predetermined path of movement is set up to fit each individual case of barn layouts and may include following a straight line, turning x degrees (x may be within the interval +/- 180 degrees, such as +/- 45 degrees, +/- 90 degrees etc.), following a circular segment of radius R (such as +/- 180 degrees, +/- 90 degrees, +/- 45 degrees etc.), or combinations thereof such as to follow any shape of free form.
  • the predetermined path of movement may be to control the vehicle to follow a straight line along a direction determined during the primary navigation mode. The vehicle navigated along the predetermined path of movement by controlling the drive device of the vehicle.
  • the vehicle When reaching the position 7b, i.e. the end of the gap in the track, the vehicle is again able to detect the primary guide arrangement in the form of the second section of the induction line 5’. Thus it is determined that the vehicle has successfully crossed the gap in the track, so the secondary navigation mode is disengaged and the primary navigation mode is reengaged. According to this navigation mode, the vehicle is again controlled to be positioned and to move along the track, relative to the second section 5’ of the induction line, and to reposition feed 4’ on the feed table.
  • the primary guide arrangement comprises a plurality of discrete permanent magnets 9 and 9’, arranged to form a track 10 and 10’ for the vehicle to follow.
  • the magnets are drilled into the floor of the feed table, and are detected by the vehicle.
  • the vehicle is controlled to be positioned and to move along the track, relative to the detected magnets.
  • There is an indication of the gap formed by a specific arrangement of magnets 11 in this case a pair of magnets arranged side by side.
  • the vehicle Upon detecting this specific arrangement of the magnets, the vehicle engages the secondary navigation mode to cross the gap 7. When the vehicle again is detecting the arrangement of magnets 9’ forming the track 10’ on the other side of the gap, the vehicle disengages the secondary navigation mode and re-engages the primary navigation mode to follow the track 10’ formed by the magnets 9’.
  • Figure 3 shows an installation including an autonomous vehicle 12 operating on the floor 13 in a livestock area, such as a dairy barn.
  • the vehicle may be a feed displacement robot, a feed distribution robot, a manure displacement robot or a manure collecting robot, etc.
  • the vehicle is intended to follow a track 14 on the floor, which track is illustrated by the sections 14a, 14b and 14c.
  • a primary guide arrangement in the form of an induction line 15 is laid down in the floor.
  • the induction line is split into sections 15a and 15c, defining sections 14a and 14c of the track, and connected using section 15b, not forming part of the track 14. Therefore, the track 14 is initially formed by section 15a of the induction line.
  • the autonomous vehicle 12 moves along direction M, detecting the induction line 15a and positioning itself and moving along track 14a, relative the induction line 15a.
  • the vehicle When reaching the section 16 it obtains an indication that there will be a gap in the track formed by the induction line, by detecting a marker 17.
  • the vehicle now engages a secondary navigation mode to move M’ and follow the section 14b of the track.
  • This secondary navigation mode may in this case to follow a predetermined path of movement making a circular turn 180 degrees to the left, having the radius half the distance between the sections 15a and 15c of the induction line.
  • the secondary navigation mode comprises detecting a track made out of magnets or other guide elements, different from the induction line, and forming the track 14b.
  • the vehicle When the circular turn has been completed, the vehicle either automatically determines that the end of the gap has been reached, or the vehicle detects a marker 18 indicating that the end of the gap has been reached, or the vehicle again detects the induction line 15c forming the track 14c. Thus, the vehicle again engages the primary navigation mode to follow the track 14c.
  • the primary guide arrangement in Figure 3 may be formed by discrete permanent magnets drilled into the floor and forming tracks 14a and 14c, while magnets are unavailable for the segment 14b, and the vehicle thus engages a secondary navigation mode to pass that segment of the track, where there is a gap in the magnet arrangement.
  • Figure 4 shows an alternative to what is described in Figure 3.
  • an autonomous vehicle 12 operating on the floor 13 in a livestock area.
  • the installation includes an induction line 19 in the floor, forming sections 19a, 19b and 19c.
  • the autonomous vehicle 12 moves along direction M, detecting the induction line 19a and positioning itself and moving along track 14a, relative the induction line 19a.
  • the induction line is forming a double line in the intersection between segment 19a and 19b of the induction line.
  • the induction line is forming a double line in the intersection between segment 19b and 19c of the induction line.
  • the vehicle When reaching the section 16 the vehicle thus obtains an indication that there will be a gap in the track formed by the induction line, by detecting the double line of the induction line at position 20. Thus the vehicle now engages a secondary navigation mode to move M’ over the gap and follow the section 14b of the track, forming a circular turn.
  • the vehicle determines that the end of the gap has been by detecting again the double induction line at position 21. Thus, the vehicle again engages the primary navigation mode to follow the track 14c along section 19c of the induction line.
  • FIG. 5 shows steps of the method as disclosed herein.
  • the method 600 comprises, in the vehicle detecting 601 a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow.
  • the vehicle is then navigating 602 according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
  • the vehicle is then obtaining 603 an indication of that there will be a gap in the track formed by the primary guide arrangement.
  • the gap is such that the primary navigation mode will be unavailable for the vehicle along the gap in the track. This means that over a certain distance the vehicle will not be able to navigate according to the primary navigation mode.
  • the vehicle Upon indication of that there will be a gap in the track formed by the primary guide arrangement, the vehicle is engaging 604 a secondary navigation mode, which is to be used temporarily, and navigating 605 according to the secondary navigation mode.
  • the secondary navigation mode Upon the vehicle detecting 606, that it has crossed the gap in the track formed by the primary guide arrangement, the secondary navigation mode is disengaged 607 and the primary navigation mode is reengaged, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
  • a feed displacement vehicle 1 is shown, which is used to displace feed lying on a feed table 2.
  • the vehicle is an autonomous, battery powered and self-propelled, vehicle having a body 22 which is supported on the floor by a drive device 23 comprising a set of wheels. It has a general direction of movement M but can also turn in order to navigate in the livestock area.
  • the vehicle has a cylindrical auger 24 having a central portion supporting helical blades.
  • the auger has a longitudinal extension and is rotatable around an axis of rotation R.
  • the rotation axis is transverse to the direction of movement M, i.e. substantially orthogonal, but may be varied within the scope of the invention as long as there is a sideways displacement of feed during operation.
  • the helical blades engage with the feed lying on the feed table, in front of and underneath the auger, displacing the feed sideways along D, towards the feed fence, but also redistributing and mixing the feed.
  • the vehicle further comprises a control unit 25 for navigating the vehicle and controlling the drive device to move forward, backward and turn the vehicle. It is also provided with a detector 26 for detecting a primary guide arrangement 27 in the floor.
  • the detector is a sensor arrangement comprising one or more sensors 28.
  • the sensors may include electrical sensors, electromagnetical sensors, magnetometer sensors, optical sensors, etc., or combinations thereof, depending on the type of guide arrangement and markers used.
  • the control unit 25 is configured to navigate the vehicle according to a primary navigation mode wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement 27.
  • control unit 25 is configured to obtain an indication 30 of a gap in the track 29 formed by the primary guide arrangement 27.
  • the indication may be obtained by the detector 26.
  • the control unit is configured to engage a secondary navigation mode and to navigate according to the secondary navigation mode over the gap in the track of the primary guide arrangement.
  • the vehicle is configured to detect that the vehicle has crossed the gap in the track of the primary guide arrangement and to disengage the secondary navigation mode when the vehicle has crossed the gap. Thereafter the vehicle will re-engage the primary navigation mode, wherein it is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Zoology (AREA)
  • Birds (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The disclosure relates to an autonomous vehicle and a method of controlling an autonomous vehicle operating in a livestock area, comprising, in the vehicle, detecting a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow. The vehicle is then navigating according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement. The vehicle is then obtaining an indication of that there will be a gap in the track formed by the primary guide arrangement. Upon indication of that there will be a gap in the track formed by the primary guide arrangement, the vehicle is engaging a secondary navigation mode, which is to be used temporarily, and navigating according to the secondary navigation mode. Upon the vehicle detecting, that it has crossed the gap in the track formed by the primary guide arrangement, the secondary navigation mode is disengaged and the primary navigation mode is re-engaged, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.

Description

AN AUTONOMOUS VEHICLE AND METHOD OF CONTROLLING AN AUTONOMOUS
VEHICLE IN A LIVESTOCK AREA
TECHNICAL FIELD
The invention relates generally to a method of controlling an autonomous vehicle operating in a livestock area and such an autonomous vehicle.
BACKGROUND
Managing and distributing feed is an important part of the daily work in a dairy barn. Feed is provided to a feed table where the dairy animals, such as cows, come to eat. Access to the feed is controlled by a feed fence through which the animals can reach the feed table. However, during eating, the animals also tend to push the feed further away from the feed fence such that it eventually is out of reach. Therefore, the feed needs to be repositioned back towards the feed fence.
Traditionally these tasks have been done manually, which is both heavy and time consuming. To reduce the amount of manual labour on the farm, many work duties earlier performed by hand now have been automated, including the displacement of feed on the feed table by a feed displacement vehicle, see WO 2014033275 A1. One example of a feed displacement vehicle is the DeLaval OptiDuo™.
Further to this, there are also other tasks in the barn that may be automated, and that can be performed by various autonomous robots, such as feed distribution, manure displacement, manure collection, a bedding displacement and bedding distribution. One and the same autonomous vehicle may be providing different tasks, such as both distributing and displacing feed at the feed table.
Floor supported autonomous vehicles providing such tasks may navigate on the floor by means of a guide arrangement provided in the floor. The guide arrangement forms a track for the vehicle to follow. Examples of such guide arrangement are induction lines or magnets. The vehicle is navigating itself by detecting such a guide arrangement in the floor, and the vehicle is then controlled to be positioned and to move along the track, relative to the detected primary guide arrangement. However, in some cases it is not possible, practical or desirable to provide such a guide arrangement in the floor over the full track of the vehicle. As one example, it may be that the floor is made out of concrete but a certain part of the intended area of operation of the vehicle has a metal floor or is made of any other type of material that makes it difficult to use the primary guide arrangement. As another example, a section of the floor is removable, and thus not suitable for installing primary guide arrangement in that section. This could e.g. be a bridge etc., which the vehicle should pass. Bridges may be provided where there are ducts beneath the floor such as for transporting effluent, wastewater etc. Therefore, it would be beneficial to further improve the navigation method to increase the flexibility in such installations.
SUMMARY
It is an object of the invention to improve the navigation method of autonomous vehicles operating in a livestock area, such as a dairy barn, to increase the flexibility in installations as initially described.
According to one aspect, the invention relates to a method of controlling an autonomous vehicle operating in a livestock area. The method comprises, in the vehicle detecting a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow. The vehicle comprises a detector for detecting the guide arrangement. The guide arrangement may comprise discrete guide elements or continuous guide elements, but they are arranged such that the vehicle is able to detect the location and direction of the track. The vehicle is then navigating according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement. The vehicle is then obtaining (e.g. by the detector) an indication that there will be a gap in the track formed by the primary guide arrangement. In other words the vehicle is detecting that there will be a gap in the track. The gap is such that the primary navigation mode will be unavailable for the vehicle along the gap in the track. This means that over a certain distance the vehicle will not be able to navigate according to the primary navigation mode. Upon indication that there will be a gap in the track formed by the primary guide arrangement, the vehicle is engaging a secondary navigation mode, which is to be used temporarily for overcoming the gap, and navigating according to the secondary navigation mode. Upon the vehicle detecting that it has crossed the gap in the track formed by the primary guide arrangement the secondary navigation mode is disengaged and the primary navigation mode is re-engaged, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
Thus, the vehicle is able to engage a secondary navigation mode in situations where the primary navigation mode is unavailable. This will increase the flexibility in arranging tracks for autonomous vehicles in a livestock area, such as a dairy barn. Especially it will facilitate movement of the autonomous vehicle, on its own, across bridges etc. that may be located in the area of intended operation of the vehicle.
The secondary navigation mode may comprise controlling the vehicle to move along to a predetermined path of movement. Thus the vehicle may, temporarily engage a movement along a predetermined path which is available to the vehicle (such as programmed in the vehicle), to cross the gap in the primary guide arrangement.
The predetermined path of movement may include following a straight line, turning x degrees (x may be within the interval +/- 180 degrees, such as +/- 45 degrees, +/- 90 degrees etc.), following a circular segment of radius R (such as +/- 180 degrees, +/- 90 degrees, +/- 45 degrees etc.), or combinations thereof such as to follow any shape of free form. As one example the predetermined path of movement may be to control the vehicle to follow a straight line along a direction determined during the primary navigation mode. As another example the predetermined path of movement may be to follow a circular segment to the left, 180 degrees, having a radius of half the distance between two separate tracks of the primary guide arrangement. As yet another example the predetermined path of movement may be to turn 90 degrees to the right and then follow a straight line of e.g. 5 m. Hence, the predetermined path of movement may be a sequence of steps of forward, backward and/or turning movements of the vehicle, which may be pre-recorded in the vehicle. The predetermined path of movement may be a straight line along a direction determined during the primary navigation mode.
The secondary navigation mode may be based on determining the movement and/or acceleration of the vehicle. Movement of the vehicle may be the distance travelled by the vehicle, as well as how the vehicle is turned, by means of monitoring the drive device of the vehicle (e.g. rotations of a drive wheel). Thus, the vehicle may be controlled to follow the predetermined path of movement based on intrinsic measurements done by the vehicle.
The secondary navigation mode may be based on measuring the acceleration of the vehicle in at least two dimensions and navigating according to the principle of inertial navigation. Thus, the movement of the vehicle during the secondary navigation mode may be calculated and controlled by integrating the acceleration of the vehicle in two steps.
The secondary navigation mode may comprise detecting a secondary guide arrangement, different from the primary guide arrangement, which secondary guide arrangement forms a track for the vehicle to follow, and wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected secondary guide arrangement. Thus, the gap in the track by the primary guide arrangement may be overcome by switching into detecting a secondary guide arrangement. The secondary guide arrangement is different from the first guide arrangement, such as based on discrete magnets instead of inductor cables, optical markers, mechanical markers, etc.
The indication of the gap in the track formed by the primary guide arrangement may be that the vehicle no longer is able to detect the primary guide arrangement. Hence, the vehicle will go into a mode of switching into the secondary mode of navigation when the vehicle no longer is able to detect the primary guide arrangement.
The indication of the gap in the track formed by the primary guide arrangement may be that the vehicle is able to detect the secondary guide arrangement. Thus, the vehicle may continuously or intermittently try to detect the secondary guide arrangement and go into the secondary mode of navigation once available.
The indication of the gap in the track formed by the primary guide arrangement may be that the primary guide arrangement has a configuration indicating the gap in the track. Thus, the vehicle may be able to detect the coming gap in the track by detecting a change in the configuration of the primary guide arrangement. This may be a different arrangement of magnets (a group of magnets, different distance between magnets), a different number of magnets, a different shape of an induction line, such as a double induction line instead of a single line, etc.
The indication of the gap in the track formed by the primary guide arrangement may be a marker detectable by the vehicle, indicating the gap in the track, is positioned such that the vehicle is detecting the marker before reaching the gap. The marker may be a transponder (such as an NFC transponder), a mechanical marker (such as a rod), a visual marker, etc. The indication of the gap in the track formed by the primary guide arrangement may be a signal obtained by the vehicle at a position before reaching the gap. The signal may be an optical signal, a radio signal (such as a Bluetooth signal), an induction signal, etc.
The primary guide arrangement may comprise one or more induction lines, a plurality of magnets, or a plurality of markers in the floor. The magnets are typically discrete permanent magnets. The markers may be e.g. optical markers or transducers, such as NFC markers etc. The step of detecting the primary (and/or secondary) guide arrangement in the floor may comprise, in the vehicle, detecting, i.e. sensing (by means of one or more sensors), the relative position of the guide arrangement with respect to the vehicle (i.e. the relative position of the vehicle to the guide arrangement). The sensors may be electrical sensors, electromagnetical sensors, magnetometer sensors, optical sensors, etc., depending on the type of guide arrangement(s) used. If a secondary guide arrangement is used, the detector is preferably provided with a suitable sensor or set of sensors to enable detection of both the primary and secondary guide arrangement.
According to another aspect, the invention relates to an autonomous vehicle for a livestock area, comprising a body; a drive device supporting the body on a floor of the livestock area; a control unit for navigating the vehicle and controlling the drive device; a detector for detecting a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow;
- wherein the control unit is configured to navigate the vehicle according to a primary navigation mode wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement;
- wherein the control unit is configured to obtain, e.g. from the detector, an indication of a gap in the track formed by the primary guide arrangement;
- wherein the control unit is configured to engage a secondary navigation mode;
- wherein the control unit is configured to navigate according to the secondary navigation mode over the gap in the track of the primary guide arrangement;
- wherein the detector is configured to detect that the vehicle has crossed the gap in the track of the primary guide arrangement;
- wherein the control unit is configured to disengage the secondary navigation mode when it has been detected that the vehicle has crossed the gap, and re-engage the primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
The autonomous vehicle may be a feed displacement robot, a feed distribution robot, a manure displacement robot, a manure collecting robot, a bedding displacement robot or a bedding distribution robot, or combinations thereof.
According to a further aspect, the invention relates to an installation in a livestock area, comprising an autonomous vehicle as described herein, arranged to move along a floor of the livestock area, a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow, and a gap in the track formed by the primary guide arrangement, which gap the autonomous vehicle is configured to cross.
BRIEF DESCRIPTION OF DRAWINGS
The invention is now to be explained more closely by means of examples, and with reference to the attached drawings.
Figure 1 shows a first embodiment of the invention, where a feed robot is navigating on a feed table.
Figure 2 shows a second embodiment of the invention, where a feed robot is navigating on a feed table.
Figure 3 shows a third embodiment of the invention, where an autonomous vehicle is navigating on a floor of a livestock area.
Figure 4 shows a fourth embodiment of the invention, where an autonomous vehicle is navigating on a floor of a livestock area.
Figure 5 shows a flow chart of a method according to the invention.
Figure 6 shows an autonomous feed displacement vehicle according to the invention. DETAILED DESCRIPTION
In Figure 1, an autonomous feed displacement vehicle 1 is shown on a feed table 2 in a dairy barn. The feed table is a section of the floor, which is separated from an area where the animals are located by means of a feed fence 3. Feed 4, 4’ is provided to the feed table where the animals, such as cows, come to eat. Access to the feed is controlled by the feed fence through which the animals can reach the feed table. During eating, the animals also tend to push the feed further away from the feed fence such that it eventually is out of reach. Therefore the feed needs to be repositioned back towards the feed fence. In the example shown the feed displacement vehicle 1 is provided with a rotating auger, which is repositioning the feed in a direction D while moving in the direction M. Thus, after being repositioned the feed is again within reach by the animals through the feed fence for eating.
In order for the vehicle to navigate along the feed fence, it follows a track formed by an induction line that is incorporated in the floor. The induction line is an electrical cable through which a current is conducted, and it constitutes a primary guide arrangement for the vehicle. In this example the floor is made of concrete, and the induction line is incorporated in the floor by means of milling a trench and inserting the cable.
The vehicle detects the induction line 5 in the floor, forming a track for the vehicle to follow, and navigates according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the induction line.
In this barn, however there is a section 6 that the vehicle needs to pass in order to travel along the whole length of the feed fence and to reposition feed 4 and 4’ on different portions of the feed table 2. The section 6 is in this example a bridge over a trench in the floor, which bridge is made of metal. It is not possible to incorporate the induction line in this section, and thus the vehicle is not able to navigate according to the primary navigation arrangement formed by the induction line 5. Hence, there is a gap 7 in this primary navigation arrangement from a first section 5 to a second section 5’. The gap extends from the end 7a of the first section 5 to the beginning 7b of the second section 5’ of the induction line. This gap extends over such a distance that the vehicle is not able to detect the second section 5’ of the primary navigation arrangement from the position 7a. The induction line may form two independent loops 5 and 5’, on each side of the section 6, or the induction line may extend along/under section 6 but still be unavailable (e.g. hidden or shielded) to the vehicle over the gap 7. Thus, at position 7a the vehicle is obtaining an indication that there will be a gap in the track formed by the induction line. The primary navigation mode will be unavailable for the vehicle along the gap 7 in the track. The indication is obtained by a marker 8 in the form of a transponder that is detectable by the vehicle. The marker indicates to the vehicle that there will be a gap in the induction line and that the vehicle temporarily has to engage a secondary navigation mode to navigate across the gap.
In the example shown the secondary navigation mode comprises instructions for the vehicle to move along a predetermined path of movement over the gap 7. The predetermined path of movement is set up to fit each individual case of barn layouts and may include following a straight line, turning x degrees (x may be within the interval +/- 180 degrees, such as +/- 45 degrees, +/- 90 degrees etc.), following a circular segment of radius R (such as +/- 180 degrees, +/- 90 degrees, +/- 45 degrees etc.), or combinations thereof such as to follow any shape of free form. As in the example shown the predetermined path of movement may be to control the vehicle to follow a straight line along a direction determined during the primary navigation mode. The vehicle navigated along the predetermined path of movement by controlling the drive device of the vehicle.
When reaching the position 7b, i.e. the end of the gap in the track, the vehicle is again able to detect the primary guide arrangement in the form of the second section of the induction line 5’. Thus it is determined that the vehicle has successfully crossed the gap in the track, so the secondary navigation mode is disengaged and the primary navigation mode is reengaged. According to this navigation mode, the vehicle is again controlled to be positioned and to move along the track, relative to the second section 5’ of the induction line, and to reposition feed 4’ on the feed table.
The example shown in Figure 2 differs from what is described above in that the primary guide arrangement comprises a plurality of discrete permanent magnets 9 and 9’, arranged to form a track 10 and 10’ for the vehicle to follow. The magnets are drilled into the floor of the feed table, and are detected by the vehicle. According to the primary navigation mode, the vehicle is controlled to be positioned and to move along the track, relative to the detected magnets. Similar to in Figure 1 , there is a gap 7 in the track formed by the magnets 9, 9’, such that the vehicle is not able to navigate according to the magnets over the gap. There is an indication of the gap formed by a specific arrangement of magnets 11 , in this case a pair of magnets arranged side by side. Upon detecting this specific arrangement of the magnets, the vehicle engages the secondary navigation mode to cross the gap 7. When the vehicle again is detecting the arrangement of magnets 9’ forming the track 10’ on the other side of the gap, the vehicle disengages the secondary navigation mode and re-engages the primary navigation mode to follow the track 10’ formed by the magnets 9’.
Figure 3 shows an installation including an autonomous vehicle 12 operating on the floor 13 in a livestock area, such as a dairy barn. The vehicle may be a feed displacement robot, a feed distribution robot, a manure displacement robot or a manure collecting robot, etc. The vehicle is intended to follow a track 14 on the floor, which track is illustrated by the sections 14a, 14b and 14c. A primary guide arrangement in the form of an induction line 15 is laid down in the floor. However in a section 16 of the floor, where part of the track 14b is intended to run it is not possible or feasible to lay down the induction line. Therefore the induction line is split into sections 15a and 15c, defining sections 14a and 14c of the track, and connected using section 15b, not forming part of the track 14. Therefore, the track 14 is initially formed by section 15a of the induction line.
The autonomous vehicle 12 moves along direction M, detecting the induction line 15a and positioning itself and moving along track 14a, relative the induction line 15a. When reaching the section 16 it obtains an indication that there will be a gap in the track formed by the induction line, by detecting a marker 17. Thus the vehicle now engages a secondary navigation mode to move M’ and follow the section 14b of the track. This secondary navigation mode may in this case to follow a predetermined path of movement making a circular turn 180 degrees to the left, having the radius half the distance between the sections 15a and 15c of the induction line. Alternatively, the secondary navigation mode comprises detecting a track made out of magnets or other guide elements, different from the induction line, and forming the track 14b. When the circular turn has been completed, the vehicle either automatically determines that the end of the gap has been reached, or the vehicle detects a marker 18 indicating that the end of the gap has been reached, or the vehicle again detects the induction line 15c forming the track 14c. Thus, the vehicle again engages the primary navigation mode to follow the track 14c.
As an alternative the primary guide arrangement in Figure 3 may be formed by discrete permanent magnets drilled into the floor and forming tracks 14a and 14c, while magnets are unavailable for the segment 14b, and the vehicle thus engages a secondary navigation mode to pass that segment of the track, where there is a gap in the magnet arrangement.
Figure 4 shows an alternative to what is described in Figure 3. Similarly, it is shown an autonomous vehicle 12 operating on the floor 13 in a livestock area. The installation includes an induction line 19 in the floor, forming sections 19a, 19b and 19c. The autonomous vehicle 12 moves along direction M, detecting the induction line 19a and positioning itself and moving along track 14a, relative the induction line 19a. At position 20, the induction line is forming a double line in the intersection between segment 19a and 19b of the induction line. Similarly at position 21 the induction line is forming a double line in the intersection between segment 19b and 19c of the induction line.
When reaching the section 16 the vehicle thus obtains an indication that there will be a gap in the track formed by the induction line, by detecting the double line of the induction line at position 20. Thus the vehicle now engages a secondary navigation mode to move M’ over the gap and follow the section 14b of the track, forming a circular turn.
When the circular turn has been completed, the vehicle determines that the end of the gap has been by detecting again the double induction line at position 21. Thus, the vehicle again engages the primary navigation mode to follow the track 14c along section 19c of the induction line.
Figure 5 shows steps of the method as disclosed herein. The method 600 comprises, in the vehicle detecting 601 a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow. The vehicle is then navigating 602 according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement. The vehicle is then obtaining 603 an indication of that there will be a gap in the track formed by the primary guide arrangement. The gap is such that the primary navigation mode will be unavailable for the vehicle along the gap in the track. This means that over a certain distance the vehicle will not be able to navigate according to the primary navigation mode. Upon indication of that there will be a gap in the track formed by the primary guide arrangement, the vehicle is engaging 604 a secondary navigation mode, which is to be used temporarily, and navigating 605 according to the secondary navigation mode. Upon the vehicle detecting 606, that it has crossed the gap in the track formed by the primary guide arrangement, the secondary navigation mode is disengaged 607 and the primary navigation mode is reengaged, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
In Figure 6 a feed displacement vehicle 1 is shown, which is used to displace feed lying on a feed table 2. The vehicle is an autonomous, battery powered and self-propelled, vehicle having a body 22 which is supported on the floor by a drive device 23 comprising a set of wheels. It has a general direction of movement M but can also turn in order to navigate in the livestock area. The vehicle has a cylindrical auger 24 having a central portion supporting helical blades. The auger has a longitudinal extension and is rotatable around an axis of rotation R. The rotation axis is transverse to the direction of movement M, i.e. substantially orthogonal, but may be varied within the scope of the invention as long as there is a sideways displacement of feed during operation. During rotation of the auger, the helical blades engage with the feed lying on the feed table, in front of and underneath the auger, displacing the feed sideways along D, towards the feed fence, but also redistributing and mixing the feed.
The vehicle further comprises a control unit 25 for navigating the vehicle and controlling the drive device to move forward, backward and turn the vehicle. It is also provided with a detector 26 for detecting a primary guide arrangement 27 in the floor. The detector is a sensor arrangement comprising one or more sensors 28. The sensors may include electrical sensors, electromagnetical sensors, magnetometer sensors, optical sensors, etc., or combinations thereof, depending on the type of guide arrangement and markers used.
The control unit 25 is configured to navigate the vehicle according to a primary navigation mode wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement 27.
As disclosed above the control unit 25 is configured to obtain an indication 30 of a gap in the track 29 formed by the primary guide arrangement 27. The indication may be obtained by the detector 26. The control unit is configured to engage a secondary navigation mode and to navigate according to the secondary navigation mode over the gap in the track of the primary guide arrangement. The vehicle is configured to detect that the vehicle has crossed the gap in the track of the primary guide arrangement and to disengage the secondary navigation mode when the vehicle has crossed the gap. Thereafter the vehicle will re-engage the primary navigation mode, wherein it is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.

Claims

1. A method (600) of controlling an autonomous vehicle operating in a livestock area, comprising, in the vehicle;
- detecting (601) a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow;
- navigating (602) according to a primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement;
- obtaining (603) an indication of a gap in the track formed by the primary guide arrangement;
- engaging (604) a secondary navigation mode;
- navigating (605) according to the secondary navigation mode;
- detecting (606) that the vehicle has crossed the gap in the track formed by the primary guide arrangement;
- disengaging (607) the secondary navigation mode when the vehicle has crossed the gap and re-engaging the primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement.
2. The method according to claim 1 wherein the secondary navigation mode comprises controlling the vehicle to move along to a predetermined path of movement.
3. The method according to any one of the preceding claims wherein the secondary navigation mode is based on measuring the movement and/or acceleration of the vehicle.
4. The method according to claim 1 wherein the secondary navigation mode comprises detecting a secondary guide arrangement, different from the primary guide arrangement, which secondary guide arrangement forms a track for the vehicle to follow, and wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected secondary guide arrangement.
5. The method according to claim 4, wherein the indication of the gap in the track formed by the primary guide arrangement is that the vehicle no longer is able to detect the primary guide arrangement.
6. The method according to claim 4 or 4, wherein the indication of the gap in the track formed by the primary guide arrangement is that the vehicle is able to detect the secondary guide arrangement.
7. The method according to any one of the claims 1 to 4 wherein the indication of the gap in the track formed by the primary guide arrangement is that the primary guide arrangement has a configuration indicating the gap in the track.
8. The method according to any one of the claims 1 to 4 wherein the indication of the gap in the track formed by the primary guide arrangement is a marker detectable by the vehicle, indicating the gap in the track, which is positioned such that the vehicle is detecting the marker before reaching the gap.
9. The method according to any one of the claims 1 to 4 wherein the indication of the gap in the track formed by the primary guide arrangement is a signal obtained by the vehicle at a position before reaching the gap.
10. The method according to any one of the preceding claims wherein the primary guide arrangement comprises one or more induction lines, a plurality of magnets, or a plurality of other markers in the floor.
11. An autonomous vehicle (1) for a livestock area, comprising: a body (22); a drive device (23) supporting the body on a floor of the livestock area; a control unit (25) for navigating the vehicle and controlling the drive device; a detector (26) for detecting a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow; wherein the control unit is configured to navigate the vehicle according to a primary navigation mode wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement; wherein the control unit is configured to obtain an indication of a gap in the track formed by the primary guide arrangement; wherein the control unit is configured to engage a secondary navigation mode; wherein the control unit is configured to navigate according to the secondary 14 navigation mode over the gap in the track of the primary guide arrangement; wherein the detector is configured to detect that the vehicle has crossed the gap in the track of the primary guide arrangement; wherein the control unit is configured to disengage the secondary navigation mode when it has been detected that the vehicle has crossed the gap, and re-engage the primary navigation mode, wherein the vehicle is controlled to be positioned and to move along the track, relative to the detected primary guide arrangement. An installation in a livestock area, comprising an autonomous vehicle (1) according to claim 11, arranged to move along a floor (2, 13) of the livestock area, a primary guide arrangement in the floor, which primary guide arrangement forms a track for the vehicle to follow, and a gap in the track formed by the primary guide arrangement, which gap the autonomous vehicle is configured to cross.
PCT/SE2021/050992 2020-10-15 2021-10-11 An autonomous vehicle and method of controlling an autonomous vehicle in a livestock area WO2022081066A1 (en)

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