Method and system for localizing and displaying positions of autonomously mobile objects

• US 9,609,848 B2
• Filed: 01/31/2014
• Issued: 04/04/2017
• Est. Priority Date: 02/12/2013
• Status: Active Grant

• Current Assignee: Lely Patent N.V. (Lely)
• Original Assignee: Lely Patent N.V. (Lely)
• Inventors: Loosveld, Serge Louis
• Primary Examiner(s): Dsouza, Adolf
• Application Number:
  US14/767,493
• Publication Number:
  US 20160021849A1
• Time in Patent Office: 1,159 Days
• Field of Search: None
• CPC Class Codes: A01K 11/006 Automatic identification systems for animals, e.g. electronic devices, transponders for animals identification systems for access to feeding pens A01K1/0209; ear tags with electronic identification means A01K11/004
• CPC Class Codes: A01K 15/023 Anti-evasion devices
• CPC Class Codes: A01K 27/009 with electric-shock, sound, magnetic- or radio-waves emitting devices
• CPC Class Codes: A01K 29/005 Monitoring or measuring activity, e.g. detecting heat or mating
• CPC Class Codes: G01S 1/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 5/021 Calibration, monitoring or correction G01S5/0252 takes precedence
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A method of and system for localizing, and displaying positions of, one or more autonomously mobile objects within plural physically delimited areas, having physical boundaries, in an animal 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 physically 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.

Claims

1. A method of localizing, and displaying positions of one or more autonomously mobile objects within a plurality of physically delimited areas, having physical boundaries, in an animal housing, the method comprising:

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;

validating the determined position before displaying the position, wherein the validating comprises;

assigning the object to one of the physically delimited areas;

comparing the determined position with first boundary data representative of the physical boundaries of the physically delimited area;

if the determined position of the object is outside the physically delimited area,

correcting the determined position into a corrected position within the physically delimited area, and providing the corrected position as the position to be displayed, otherwise providing the determined position as the position to be displayed.

2. The method of claim 1, further comprising assigning an object type to the object from a plurality of object types, according to at least one assigning criterion, one of assigning human according to a human criterion, assigning animal according to an animal criterion, and assigning vehicle according to an autonomously mobile vehicle criterion, wherein the object is assigned to one of the physically delimited areas in dependence of the object type.

3. The method of claim 2, wherein an object with the object type:

human is selected from the group of humans, or dairy related humans;

animal is selected from the group of livestock animals, or dairy animals, or cattle;

vehicle is selected from the group of vehicles configured to perform a livestock-related action, or mobile milking robot, feeders, feed pushers, feed transporters, and dung scrapers.

4. The method of claim 2, wherein the assigning an object type comprises using an object recognition device, or an optical object recognition device, and assigning an object type in dependence of the object as recognized.

5. The method of claim 3, further comprising:

providing at least one tag on at least one object, or on each object; and

providing a tag localization system.

6. The method of claim 3, wherein the assigning an object type further includes assigning an object status, according to at least one status criterion, or loading for an autonomous vehicle or in cubicle or milk box for an animal, and wherein the assigning the object to one of the physically delimited areas is made in dependence of the object status.

7. The method of claim 2, further comprising providing a plurality of the objects, or having different object types and/or different physically delimited areas assigned thereto.

8. The method of claim 3, further comprising calculating a distance between the determined position and the position to be displayed, and providing a signal, or an alarm signal or correction signal, if the distance is larger than a predetermined threshold distance, or a measurement accuracy of the animal location system, or according to a measurement accuracy based criterion.

9. The method of claim 3, wherein the corrected position of an object is the location within the physically delimited area to which the object is assigned, that is closest to the determined position.

10. An object localization and display system configured to determine and display a position of one or more autonomously mobile objects within a plurality of physically delimited areas, having physical boundaries, in an animal housing, or arranged to perform the method of claim 1, the system comprising:

a localizer, comprising an object position signal receiving system with at least one receiver configured to receive position related signals from the one or more objects;

a processing system, configured to process the received signals and to determine a position of at least one of the objects within the animal housing;

a visual display device to display the position of the at least one object on a map of the animal housing;

wherein the processing system is configured to store a plurality of boundary data representative of the physical boundaries of the plurality of physically delimited areas;

the processing system is configured to store assignment data comprising which of the physically delimited areas are assigned to which object;

the processing system is configured to compare the determined position of the object with the stored boundary data representative of the physically delimited area assigned to the object; and

the processing system is configured to correct, if the determined position of the object is outside the assigned physically delimited area, the determined position into a corrected position within the physically delimited area;

wherein the display device is configured to display the object on the map at;

the corrected position within the physically delimited area, if the determined position of the object is outside the physically delimited area, or a location within the first physically delimited area which is closest to the determined position,

the determined position, otherwise.

11. The system of claim 10, wherein the display device comprises at least one of a computer screen and a screen of a portable device or a mobile phone.

12. The system of claim 10, wherein the localizer comprises at least one optical receiver.

13. The system of claim 10, wherein the localizer comprises at least one emitter for emitting radiation to be reflected by the at least one object to provide position related signals.

14. The system of claim 10, wherein the localizer comprises an object identification system configured to establish an identity of at least one of the objects, or wherein the display is configured to display the position and an indication related to the established identity of the object, or the established identity.

15. The system of claim 10, wherein the processing system is configured to determine a distance between the determined position and the corrected position, and wherein the object localization and display system is configured to provide an alarm signal if the distance is larger than a predetermined threshold distance, or larger than a measurement accuracy of the animal location system, or according to a measurement accuracy based criterion.

16. The system of claim 10, further comprising a plurality of tags, wherein each tag is to be carried by one of the objects and is configured to emit a position related signal.

17. The system of claim 10, configured to provide an alarm signal if, within a predetermined time interval, the determined position of the tag of the first group of tags is outside the first physically delimited area more than a predetermined number of times.

18. The system of claim 10, wherein each object is one of a dairy animal and an autonomously mobile vehicle configured to perform an animal related action, or floor cleaning, feeding, or feed pushing.