UNMANNED VEHICLE FOR DISPLACING MANURE

• US 20100076641A1
• Filed: 09/25/2009
• Published: 03/25/2010
• Est. Priority Date: 09/25/2008
• Status: Active Grant

• Current Assignee: Lely Patent N.V. (Lely)
• Original Assignee: Lely Patent N.V. (Lely)
• Inventors: VAN DEN BERG, Karel
• Granted Patent: US 8,527,191 B2
• Time in Patent Office: Days
• US Class Current: 701/26
• CPC Class Codes: A01K 1/01 Removal of dung or urine, e.g. from stablesA01K1/015 takes precedence; from poultry houses A01K31/04
• CPC Class Codes: A01K 1/0128 by means of scrapers or the like moving continuously
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

An apparatus and method for an unmanned vehicle for displacing manure includes navigating an unmanned vehicle, further including detecting an animal, determining whether a current course of the unmanned vehicle will lead to a collision with the animal. If this is the case, the method continues by: determining at least a first priority parameter from a set of priority parameters, wherein the first priority parameter is a standing condition of the detected animal, deciding, on the basis of the set of priority parameters, whether the course of the unmanned vehicle will be adjusted to avoid the animal, wherein the course will be maintained if the set of priority parameters meets a predetermined collision criterion, and the course will be adjusted to avoid the animal if the set of priority parameters does not meet the predetermined collision criterion, wherein the set of priority parameters only meets the collision criterion if at least the standing condition is that the animal is standing.

Claims

1. A method of navigating an unmanned vehicle in a space in which at least one animal is present, the method comprising:

detecting at least a part of the at least one animal, and

determining whether a current course of the unmanned vehicle will lead to a collision with the animal,

wherein, if it is determined that the current course of the unmanned vehicle will lead to a collision with the detected animal, the method further comprises;

determining a set of one or more priority parameters of the detected animal comprising at least a first priority parameter relating to a standing condition of the detected animal, and

deciding, on the basis of the set of priority parameters of the detected animal, whether the course of the unmanned vehicle will be adjusted to avoid the detected animal,

wherein the course of the unmanned vehicle will be maintained if the set of priority parameters meets a predetermined collision criterion, and the course of the unmanned vehicle will be adjusted to avoid the detected animal if the set of priority parameters does not meet the predetermined collision criterion, and

wherein the set of priority parameters only meets the predetermined collision criterion if at least the standing condition of the detected animal is that the detected animal is standing, and wherein the set of priority parameters does not meet the predetermined collision criterion if the standing condition of the detected animal is that the detected animal is not standing.

2. The method according to claim 1, wherein the set of priority parameters comprises a relative orientation of the detected animal with respect to the unmanned vehicle,

wherein the set of priority parameters only meets the predetermined collision criterion if at least the standing condition of the detected animal is that the detected animal is standing and the relative orientation of the detected animal is such that the course of the unmanned vehicle is within an observation area of the detected animal, and

wherein the set of priority parameters does not meet the predetermined collision criterion if the standing condition of the detected animal is that the detected animal is not standing or the relative orientation of the detected animal is such that the course of the unmanned vehicle is outside the observation area of the detected animal.

3. The method according to claim 2, wherein the observation area comprises at least the area in front of the forelegs of the detected animal.

4. The method according to claim 3, wherein the observation area further comprises an area next to the detected animal, wherein the area is confined by a virtual line which extends obliquely rearwards from the head of the detected animal.

5. The method according to claim 1, wherein the set of priority parameters comprises a position of the animal with respect to the space,

wherein the set of priority parameters only meets the predetermined collision criterion if at least the standing condition of the detected animal is that the detected animal is standing and the detected animal is positioned with less than a predetermined portion of its body in a confined area of the space, and

wherein the set of priority parameters does not meet the predetermined collision criterion if the standing condition of the detected animal is that the detected animal is not standing or that the detected animal is positioned with more than a predetermined portion of its body in a confined area of the space.

6. The method according to claim 5, wherein the predetermined portion is a percentage of the detected animal, which percentage is selected from a range of 0-90%.

7. The method according to claim 6, wherein the percentage is selected from the group consisting of:

75%, 50%, and 25%.

8. An unmanned vehicle for performing activities in a space in which at least one animal is present, comprising a frame, with mounted thereon:

a propulsion mechanism and a navigation mechanism, wherein the vehicle further comprises a sensor for forming an image of an observation area, the sensor comprising a sensor image processor operatively connected to the navigation mechanism, and

wherein at least one of the sensor image processor and the navigation mechanism is configured to;

detect at least a part of the at least one animal, and

determine whether a current course of the unmanned vehicle will lead to a collision with the animal, wherein the at least one of sensor image processor and navigation mechanism, if the current course of the unmanned vehicle will lead to a collision with the detected animal, subsequently;

determine at least a first priority parameter from a set of one or more priority parameters of the detected animal, wherein the first priority parameter is a standing condition of the detected animal,

decide, on the basis of the set of priority parameters of the detected animal, whether the course of the unmanned vehicle will be adjusted to avoid the detected animal, wherein the course of the unmanned vehicle will be maintained if the set of priority parameters meets a predetermined collision criterion, and the course of the unmanned vehicle will be adjusted to avoid the detected animal if the set of priority parameters does not meet the predetermined collision criterion,

wherein the set of priority parameters only meets the predetermined collision criterion if at least the standing condition of the detected animal if that the detected animal is standing, and

wherein the set of priority parameters does not meet the predetermined collision criterion if the standing condition of the detected animal is that the detected animal is not standing.

9. The unmanned vehicle according to claim 8, wherein the set of priority parameters comprises a relative orientation of the detected animal with respect to the unmanned vehicle,

wherein the set of priority parameters only meets the predetermined collision criterion if at least the standing condition of the detected animal is that the detected animal is standing and the relative orientation of the detected animal is such that the course of the unmanned vehicle is within an observation area of the detected animal, and

wherein the set of priority parameters does not meet the predetermined collision criterion if the standing condition of the detected animal is at least one of:

that the detected animal is not standing or the relative orientation of the detected animal is such that the course of the unmanned vehicle is outside the observation area of the detected animal.

10. The unmanned vehicle according to claim 9, wherein the observation area comprises at least the area in front of the forelegs of the detected animal.

11. The unmanned vehicle according to claim 10, wherein the observation area further comprises an area next to the detected animal, wherein the area is confined by a virtual line which extends obliquely rearwards from the head of the detected animal.

12. The unmanned vehicle according to claim 8, wherein the sensor is configured to form a spatial image of the observation area.

13. The unmanned vehicle according to claim 9, wherein the sensor comprises:

a source of radiation for emitting modulated electromagnetic radiation,

a receiver device for receiving electromagnetic radiation reflected by an object in the observation area, the receiver device comprising a matrix with a plurality of rows and a plurality of columns of receivers,

an optical device for imaging the reflected electromagnetic radiation on the receiver device, and

wherein the sensor image processor is configured to determine for each of the receivers a phase difference between the emitted electromagnetic radiation and the reflected electromagnetic radiation in order to calculate a distance from the receiver to the object.

14. The unmanned vehicle according to claim 8, wherein the set of priority parameters comprises a position of the animal with respect to the space,

wherein the set of priority parameters only meets the predetermined collision criterion if at least the standing condition of the detected animal is that the detected animal is standing and the detected animal is positioned with less than a predetermined portion of its body in a confined area of the space, and

wherein the set of priority parameters does not meet the predetermined collision criterion if the standing condition of the detected animal is that the detected animal is not standing or the detected animal is positioned with more than a predetermined portion of its body in a confined area of the space.

15. The unmanned vehicle according to claim 8, wherein the sensor image processor is configured to determine repeatedly at least one of:

an image of the observation area, and an image of an object in the observation area.

16. The unmanned vehicle according to claim 8, wherein the sensor image processor is configured to recognize at least one of a heap of material to be removed and a leg of the animal.

17. The unmanned vehicle according to claim 16, wherein the vehicle is configured to remove material from the floor of a stable, and comprises a material remover.