NL2024464B1

NL2024464B1 - A method of cleaning floors of animal cubicles in a stable by means of an autonomous, unmanned vehicle and an autonomous, unmanned vehicle adapted for cleaning at least a part of a floor of an animal cubicle in a stable operating said method

Info

Publication number: NL2024464B1
Application number: NL2024464A
Authority: NL
Inventors: Tantan Kagan
Original assignee: Triodor Arastirma Gelistirme Yazilim Ve Bilisim Ticaret Ltd Sirketi
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2021-09-02

Abstract

The present invention relates to a method of cleaning floors (F) of animal cubicles (C) in a stable (S) by means of an autonomous, unmanned vehicle (V) wherein 5 the following steps are performed: a) subdividing the stable (S) by defining a set of cubicle areas (CA) each including a group of substantially contiguous cubicles (C); b) defining at least one cleaning priority parameter (CP); c) determining for each cubicle (C) a cleaning priority value (CV) based upon the at 10 least one cleaning priority parameter (CP); d) determining for each cubicle area (CA) a cleaning priority value (CAV) based upon the cleaning priority value (CV) of the component cubicles (C); e) determining an overall optimum cubicle cleaning sequence by determining firstly an optimum cubicle area cleaning sequence within the set of cubicle areas (CA) based 15 upon the determined cleaning priority values (CAV) and by determining secondly a local optimum cubicle cleaning sequence within each cubicle area (CA) based upon the cleaning priority value (CV) of the component cubicles (C); f) cleaning the floors (F) of the cubicles (C) in accordance with the determined overall optimum cubicle cleaning sequence; 20 g) repeating at least steps c) - f). Thus, an efficient cleaning method is realized. Optimization takes place on two levels. Inefficient routes between remote cubicles are avoided. The invention further relates to an autonomous, unmanned vehicle adapted for cleaning at least a part of a floor of an animal cubicle in a stable operating said method.

Description

A method of cleaning floors of animal cubicles in a stable by means of an autonomous, unmanned vehicle and an autonomous, unmanned vehicle adapted for cleaning at least a part of a floor of an animal cubicle in a stable operating said method The present invention relates to a method of cleaning floors of animal cubicles in a stable by means of an autonomous, unmanned vehicle. The invention further relates to an autonomous, unmanned vehicle adapted for cleaning at least a part of a floor of an animal cubicle in a stable operating said method.

Such a method is known in the art, e.g. from EP 3 102 025 B1. In the known system, the sequence in which the floors are cleaned is not defined. There is a need for an improved method. EP 2 252 190 B1 discloses a method of performing robotic servicing using a robotic cleaner and global location awareness. Optimal servicing routes along locations are determined, taking into account several parameters, but the method is not optimally adapted to a typical stable environment with animal cubicles. There is a need for an improved method.

It is an object of the present invention to provide an improved method. It is another object of the present invention to provide an autonomous, unmanned vehicle for operating the method.

The invention achieves the object at least in part by means of a method according to claim 1, in particular a method of cleaning floors (F) of animal cubicles (C) in a stable (S) by means of an autonomous, unmanned vehicle (V) wherein the following steps are performed: a) subdividing the stable (S) by defining a set of cubicle areas (CA) each including a group of substantially contiguous cubicles (C); b) defining at least one cleaning priority parameter (CP); C) determining for each cubicle (C) a cleaning priority value (CV) based upon the at least one cleaning priority parameter (CP); d) determining for each cubicle area (CA) a cleaning priority value (CAV) based upon the cleaning priority value (CV) of the component cubicles (C); e) determining an overall optimum cubicle cleaning sequence by determining firstly an optimum cubicle area cleaning sequence within the set of cubicle areas (CA) based upon the determined cleaning priority values (CAV) and by determining secondly a local optimum cubicle cleaning sequence within each cubicle area (CA) based upon the cleaning priority value (CV) of the component cubicles (C);

f) cleaning the floors (F) of the cubicles (C) in accordance with the determined overall optimum cubicle cleaning sequence; a) repeating at least steps c) - f). In this way, an efficient cleaning method is realized. Optimization takes place on two levels. Thus, inefficient routes between remote cubicles are effectively avoided. A typical stable environment with animal cubicles, which are often grouped in rows, clusters or the like, can be optimally serviced.

The expression "substantially contiguous” is meant to include close-by, nearby, adjacent, neighbouring, bordering.

A cubicle area can consist of one or more cubicles, but not all cubicle areas can consist of only one cubicle.

In the method according to the invention, steps a) - b) are performed once or repeatedly, steps c) - f) are performed repeatedly. The subdivision in step a) and the definition in step b) can be used again. Based upon current circumstances, steps c} - f) are updated after completion of each cleaning sequence.

It is noted that floors can be cleaned partly or as a whole. The expression "cleaning floors" thus encompasses cleaning in part.

Suitable and advantageous embodiments are described in the dependent claims, as well as in the description below.

In an embodiment of the invention, in step e) cubicles (C) having a cleaning priority value (CV) below a certain threshold (TC) are deleted from the overall optimum cubicle cleaning sequence. By not cleaning cubicles with a low cleaning priority, the efficiency is further enhanced.

In a further embodiment, in step e) cubicle areas (CA) having a cleaning priority value (CAV) below a certain threshold (TCA) are deleted from the overall optimum cubicle cleaning sequence. Low cleaning priority areas can be skipped entirely, thus even further improving the efficiency of the method.

In yet a further embodiment, for each cubicle (C) the time elapsed since its last cleaning is monitored and the cleaning priority parameter (CP) comprises the time elapsed since the last cleaning of the cubicle (C). This constitutes a practical implementation. It is not efficient to clean a cubicle when it has been cleaned only recently.

Advantageously, each cubicle (C) has a minimum threshold time between two successive cleanings. In this way, the cleaning method is further enhanced. Once cleaned, a cubicle will not be cleaned again for a certain period of time. Thus, inefficiency is being avoided.

In a further embodiment, for each cubicle (C) the level of its pollution is measured and the cleaning priority parameter (CP) comprises the level of pollution of the cubicle (C). Taking into account the degree of pollution further improves the method. It makes sense to give highly polluted cubicles cleaning priority over less polluted ones.

In yet another embodiment, the cleaning comprises sucking up dirt on the floor of the cubicle (C). This is a straightforward, yet practical implementation.

According to an advantageous embodiment, the cleaning comprises scraping and/ or brushing of bedding material lying on the floor (F) of the cubicle (C) towards a walkway (WW) adjacent the cubicle (C). Thus, a simple yet efficient method is achieved.

Advantageously, the cleaning comprises cleaning of a part of a walkway (WW) adjacent the cubicle (C). This further improves the method.

In a highly efficient embodiment, the cleaning further comprises spreading of clean bedding material on the floor (F) of the cubicle (C). In this way, not only a highly efficient, but also a versatile method is realized.

Advantageously, the spreading of clean bedding material on the floor (F) of the cubicle (C) is performed in dependence on its level of pollution. Thus, the cleaning method is well adapted to the circumstances.

The invention further achieves the object at least in part by means of a device according to claim 12, in particular an autonomous, unmanned vehicle (V) adapted for cleaning at least a part of a floor (F) of an animal cubicle (C) in a stable (S), the vehicle (V) comprising drive means for driving floor contact means, such as wheels (W), navigation means, floor cleaning means (CM), and a control system for controlling the operation of the vehicle (V), wherein the control system is arranged to provide or to receive an overall optimum cubicle cleaning sequence determined in accordance with the method according to any one of claims 1 - 11, and the control system is further arranged to control the cubicle floor cleaning means (CM) to clean the floors {F} of the cubicles (C) in accordance with the overall optimum cubicle cleaning sequence. In this way, an efficient cubicle floor cleaning vehicle, suitable for operating the method in accordance with the invention, is realized.

In an embodiment, the vehicle (V) comprises a sensor for determining the level of pollution of a cubicle (C). This enables the use of the level of pollution as a cleaning priority parameter.

In a further embodiment, the vehicle (VV) comprises a sensor for determining the presence of an animal (A) in a cubicle (C), the control system being arranged to delete cubicles (C) in which an animal (A) is present from the overall optimum cubicle cleaning sequence. In this way, the animals are not disturbed when they occupy a cubicle and the efficiency of the cleaning is further enhanced. Advantageously, the control system is arranged to receive and to process signals from sensors mounted on the vehicle (V) itself and/or sensors positioned in or at a cubicle (C) and/or sensors located elsewhere in the stable (S). Thus, the control system is suitable to process signals from a wide range of sensors.

In yet a further embodiment, the floor cleaning means (CM) comprise sucking means suitable for sucking up dirt, the vehicle (V) comprising a collector for collecting the dirt. This is a simple, yet practical implementation.

In a further embodiment, the floor cleaning means (CM) comprise scraping and/or brushing means suitable for scraping and/ or brushing of bedding material lying on the floor (F) of the cubicle (C) towards a walkway (WW) adjacent the cubicle (C). This is another simple, yet practical implementation, enhancing the versatility of the vehicle.

Advantageously, the floor cleaning means (CM) comprise shoveling means suitable for cleaning of a part of a walkway (WW) adjacent the cubicle (C). This is yet another simple, but practical implementation, further enhancing the versatility of the vehicle.

In a highly advantageous embodiment, the vehicle (V) further comprises a container for storing bedding material and spreading means suitable for spreading the bedding material on the floor (F) of a cubicle (C). In this way, the vehicle is made even more versatile.

The invention will now be further explained with reference to the following Figures.

- Figure 1 shows a typical barn layout in which the method can be applied; - Figure 2 shows a detail from a stable in a perspective view.

In Figure 1, a stable S is depicted with an office O and a milking robot area MR. A plurality of cubicles C is provided for animals A, for example cows or goats. The animals A can be milked automatically be means of a milking robot in the milking robot area MR. An autonomous, unmanned vehicle V is adapted for cleaning at least a part of a floor of an animal cubicle C in the stable S.

The vehicle V comprises drive means for driving floor contact means. These can e.g. be constituted by wheels (3 or 4, for example) or crawler tracks. The drive means can comprise an electric motor powered by rechargeable batteries. Furthermore, the vehicle V has navigation means, floor cleaning means, and a control system for controlling the operation of the vehicle V. The control system can be a computer or a processor on the vehicle itself, or a computer or processor located elsewhere (e.g. in the office O) which is adapted to communicate with the vehicle V. This will be further 5 elucidated below.

The cubicles C in the stable S are grouped into cubicle areas CA of substantially contiguous cubicles C in step a) of the method according to the invention. That is to say, cubicles C which are located close-by, nearby, adjacent, neighbouring and/or bordering are grouped together. A cubicle area CA can consist of one or more cubicles C, but not all cubicle areas CA can consist of only one cubicle C. In the example shown in Figure 1, there are four cubicle areas CA. Figure 1 is only schematic in the sense that in a bigger stable S the cubicle areas CA are normally positioned much farther apart from each other.

The subdivision of the stable S (or of the plurality of cubicles C) into cubicle areas CA in step a) can be performed once in the control system (automatically, e.g. based upon the stable layout, or manually by a user) and usually remains the same as long as the barn layout is unchanged. Of course, it can be amended if needed.

In step b), at least one cleaning priority parameter CP is defined. Again, this step can be performed once in the control system (automatically, e.g. choosing from a number of stored alternatives, or manually by a user) and it is usually not repeated before every cleaning sequence. Of course, step b) can be repeated if needed. For example, due to a new sensor a new, different cleaning priority parameter becomes available, or due to a defective sensor a certain existing cleaning priority parameter is no longer usable.

Examples of cleaning priority parameters CP are: the time T elapsed since the last cleaning, or the measured degree of pollution P. Of course, in this case the time elapsed since the last cleaning, or the measured degree of pollution, has to be measured and registered for each cubicle C. Also, a combination of several parameters is possible, as will be explained below.

Now, in step c) for each cubicle C a cleaning priority value CV is determined based upon the at least one cleaning priority parameter CP. That is to say, for the cleaning priority parameter CP a concrete, current cleaning priority value CV is determined {measured and/or calculated) for each cubicle C.

In the example where CP is the time T elapsed since the last cleaning of the cubicle C, the value CV may be e.g. the value "0" for T < 5 hours and the value "(T - 5) /

(T -4}" for T >= 5 hours. In this way, CV is zero for the first 5 hours after a cleaning, after which CV is a value increasing from zero (at T = 5 hours) to almost one (when T gets very high). Table 1 shows some values in this example: Table 1 T (hours) CV 0 0 1 0 3 0 5 0 6 0,5 8 0,75 12 0,875 104 0,99 In another example where CP is the measured degree of pollution P, there may be a scale of 5 classes of pollution defined, the value CV then being one of the five values "0,2" (light pollution), "0,4", "0,6", "0,8", "1" (heavy pollution), dependent on the measured pollution class.

These two examples may also be combined. Both parameters T and P can thus be taken into account, e.g. by determining CV as the product of the respective T and P values of each cubicle. Both values being between 0 and 1, the resulting product value CV will also be in this interval.

In each case, the value of CV is high (e.g. close to one) in case of a high cleaning priority and low (e.g. close to zero) in case of a low cleaning priority. Needless to say that this is not essential to the invention, any suitable form of scaling or ranking may be used.

According to the invention, in step d) for each cubicle area CA a cleaning priority value CAV is determined based upon the cleaning priority value CV of the component cubicles C. Here, as an example, the maximum value of the CV values of the component cubicles C of a cubicle area CA can be taken, or the product of all these values CV. This value CAV gives an indication of the urgency for cleaning the relevant cubicle area CA.

Next, in step e) an overall optimum cubicle cleaning sequence is determined by determining firstly an optimum cubicle area cleaning sequence within the set of cubicle areas CA based upon the determined cleaning priority values CAV and by determining secondly a local optimum cubicle cleaning sequence within each cubicle area CA based upon the cleaning priority value CV of the component cubicles C.

For example, the cubicle areas CA may be ranked in decreasing order of their value CAV. The first ranked CA is then the one which should be cleaned with the highest priority. Within the set of cubicles C constituting each cubicle area CA, a local optimum sequence can easily be determined by ranking the respective cubicles C according to their values CV.

All these operations can of course be performed by the control system. The result is a ranking of cubicle areas CA and within each CA a ranking of its cubicles C. In this way, an overall optimum cubicle cleaning sequence is determined. The optimization of the sequence according to the invention is achieved by defining and optimizing two levels, namely the cubicle areas CA level and the cubicles C level within each CA. Cubicle areas CA are serviced as a whole, one by one, in an order in accordance with their determined cleaning priority values CAV. Within each cubicle area CA, the cubicles C are cleaned in an order in accordance with their determined cleaning priority values CV.

In step f) the floors F (see Figure 2) of the cubicles C are cleaned in accordance with the determined overall optimum cubicle cleaning sequence. Thus, inefficient cleaning sequences are avoided. Without the two level optimization, it could be possible that the vehicle V travels from a first cubicle C at one end of the stable to clean a second cubicle C at the other end of the stable, and then back again to clean a third cubicle C next to the first one, which would not be efficient.

According to the invention, in step g) at least the steps c) - f) are the repeated, resulting each time in a new overall optimum cubicle cleaning sequence. As already mentioned, steps a) - b) are performed once or repeatedly (only if necessary), steps c) -f) are performed repeatedly. The subdivision in step a) and the definition in step b) can be used again. Based upon current circumstances, steps c) - f) are updated after completion of each cleaning sequence.

In step e) cubicles C having a cleaning priority value CV below a certain threshold TC (for example, in the embodiment where the time T elapsed since the last cleaning is taken as CP, the cubicles C with CV value zero) are deleted from the overall optimum cubicle cleaning sequence. By not cleaning cubicles C with a low cleaning priority, the efficiency is enhanced.

In a further embodiment, in step e) cubicle areas CA having a cleaning priority value CAV below a certain threshold TCA are deleted from the overall optimum cubicle cleaning sequence. Low cleaning priority cubicle areas CA can be skipped entirely, thus even further improving the efficiency of the method.

Advantageously, each cubicle C has a minimum threshold time between two successive cleanings (for example, in the embodiment where the time T elapsed since the last cleaning is taken as CP, a 5 hour threshold). Once cleaned, a cubicle C will not be cleaned again for a certain period of time. Thus, inefficiency is being avoided.

Figure 2 shows a detail from a stable in a perspective view, to further illustrate the invention. The stable S has a cubicle floors F and a walkway WW behind the cubicles C. In the example shown, there is a cubicle area CA consisting of five cubicles C. The autonomous, unmanned vehicle V, provided with wheels W and floor cleaning means CM moves along the row of cubicles C in order to clean these. In this respect it is noted again that floors F can be cleaned partly or as a whole. The expression "cleaning floors" thus encompasses cleaning the floors only partly.

According to the invention, the control system is arranged to provide or to receive an overall optimum cubicle cleaning sequence determined in accordance with the method described above, and the control system is further arranged to control the cubicle floor cleaning means CM on the vehicle V to clean the floors F of the cubicles C in accordance with the overall optimum cubicle cleaning sequence. The control system may determine itself (with the aid of local sensors, as will be elucidated below), and thus provide, the optimum cleaning sequence, but this sequence may also be determined elsewhere (e.g. with the aid of outside sensors and/or a separate computer or processor) and then be received by the control system.

As described in the above, the cleaning priority parameter CP can be the elapsed time since a previous cleaning, or the level of dirt, or a combination thereof.

To enable the measuring of the pollution in each cubicle C, the vehicle V comprises a sensor for determining the level of pollution of a cubicle C. This may be e.g. an optical or a tactile sensor mounted on the vehicle V or at a cubicle C. The pollution may be manure, urine and/or milk.

The vehicle V can also comprise a sensor for determining the presence of an animal A in a cubicle C, the control system being arranged to delete cubicles C in which an animal A is present from the overall optimum cubicle cleaning sequence. This can also be an optical sensor or a camera mounted on the vehicle V or at a cubicle C.

Cubicles C which are occupied by an animal A are temporarily not cleaned to avoid stress for the animal A.

The control system is arranged to receive and to process signals from sensors mounted on the vehicle V itself, but can also be arranged to receive and to process signals from sensors positioned in or at a cubicle C and/or sensors located elsewhere in the stable S.

The floor cleaning means CM advantageously comprise sucking means suitable for sucking up dirt (not shown, known as such), the vehicle V comprising a collector for collecting the dirt.

The floor cleaning means CM may also comprise scraping and/or brushing means (not shown, known as such) suitable for scraping and/ or brushing of bedding material lying on the floor F of the cubicle C towards a walkway WW adjacent the cubicle C. This constitutes a cleaning step easy to implement.

The floor cleaning means CM may also comprise shoveling means (not shown, known as such) suitable for cleaning of a part of a walkway WW adjacent the cubicle C. In this way, also the space behind a cubicle C can be cleaned.

In a further embodiment, the vehicle V further comprises a container for storing bedding material and spreading means suitable for spreading the bedding material (both not shown, known as such) on the floor F of a cubicle C. In this way, the cubicle C is cleaned and well prepared for a next visit from an animal A. Advantageously, the spreading of clean bedding material on the floor F of the cubicle C is performed in dependence on its level of pollution. Thus, the cleaning method is well adapted to the circumstances. For example, in case there is a lot of pollution by manure and/or urine and/or milk, a lot of bedding material can be spread in order to absorb the pollution.

The vehicle V (its drive means) can be charged at a base station with means for charging the vehicle's batteries (not shown, known as such). Advantageously, at such a base station the container with bedding material to be spread can also be charged. This improves the efficiency of the system.

In case the animals A wear tracking tags (known as such), the vehicle V may also be provided with a tracking tag, preferably compatible with or of the same kind as the ones worn by the animals A.

Claims

CONCLUSIONS

1. A method for cleaning floors (F) of cubicles (C) in a stable (S) by means of an autonomous, unmanned vehicle (VV) which comprises the following steps: a) subdividing the stable (S) by defining a set of cubicles area (CA) each containing a group of substantially contiguous cubicles (C); b) defining at least one cleaning priority parameter (CP); Cc) determining for each cubicle (C) a cleaning priority value (CV) based on the at least one cleaning priority parameter (CP); d) determining for each cubicle area (CA) a cleaning priority value (CAV) based on the cleaning priority value (CV) of the constituent cubicles (©); e) determining an overall optimum cubicle cleaning order by first determining an optimum cubicle area cleaning order within the set of cubicle areas (CA) based on the determined cleaning priority values (CAV) and secondly determining a local optimum cubicle cleaning order within each cubicle area (CA) based on the cleaning priority value (CV) of the cubicles forming part (C); f) cleaning the floors (F) of the cubicles (C) in accordance with the determined overall optimum cubicle cleaning sequence; a) repeating at least steps c) - f).

Method according to claim 1, wherein in step e) cubicles (C) which have a cleaning priority value (CV) below a certain threshold value (TC) are removed from the overall optimum cubicle cleaning sequence.

A method according to any one of claims 1 - 2, wherein in step e) cubicle areas (CA) having a cleaning priority value (CAV) below a certain threshold value (TCA) are removed from the overall optimum cubicle cleaning sequence.

Method according to any one of claims 1 to 3, wherein for each cubicle (C) the elapsed time since its last cleaning is monitored and the cleaning priority parameter (CP) comprises the time elapsed since the last cleaning of the cubicle (C).

Method according to claim 4, wherein each cubicle (C) has a minimum time limit value between two successive cleanings.

A method according to any one of claims 1 to 5, wherein the degree of soiling is measured for each cubicle (C) and the cleaning priority parameter (CP) comprises the degree of soiling of the cubicle (C).

A method according to any one of claims 1-8, wherein the cleaning comprises sucking up dirt on the floor of the cubicle (C).

A method according to any one of claims 1 - 7, wherein the cleaning comprises sliding and/or brushing litter lying on the floor (F) of the cubicle (C) towards an aisle (WW) near the cubicle (C).

A method according to any one of claims 1-8, wherein the cleaning comprises cleaning a part of an aisle (WW) near the cubicle (C).

A method according to any one of claims 7-9, wherein the cleaning further comprises spreading clean litter on the floors (F) of the cubicle (C).

A method according to claim 10 when dependent on claim 6, wherein the spreading of clean litter on the floor (F) of the cubicle (C) is performed in dependence on the pollution level.

12. An autonomous, unmanned vehicle (V) adapted for cleaning at least a part of a floor (F) of a cubicle (C) in a stable (S), the vehicle (V) comprising drive means for driving floor contact means such as wheels (W), navigation means, floor cleaning means (CM), and a controller for controlling the operation of the vehicle (V), the controller being arranged to provide or receive an overall optimum cubicle cleaning order determined in accordance with with the method according to any one of claims 1-11, and the control is further arranged to have the cubicle floor cleaning means (CM) clean the liners (F) of the cubicles (C) in accordance with the overall optimum cubicle cleaning sequence.

A vehicle according to claim 12, wherein the vehicle (VV) comprises a sensor for determining the pollution level of a cubicle (C).

A vehicle as claimed in any one of claims 12 to 13, wherein the vehicle (V) comprises a sensor for determining the presence of an animal (A) in a cubicle (C), for the control adapted to cubicles (C) in which a cubicle animal (A) is present from the overall optimum cubicle cleaning sequence.

A vehicle according to any one of claims 12 - 14, wherein the control system is designed to receive signals from sensors mounted on the vehicle (V) itself and/or from sensors placed in or on a cubicle (C) and/or from elsewhere in it. the stable (S) placed sensors.

A vehicle according to any one of claims 12-15, wherein the floor cleaning means (CM) comprise suction means suitable for sucking up dirt, the vehicle (V) comprising a collector for collecting the dirt.

A vehicle according to any one of claims 12 - 16, wherein the floor cleaning means (CM) comprise sliding and/or brushing means suitable for sliding and/or brushing litter lying on the floor (F) of the cubicle (C) to an aisle. (WW) close to the cubicle (C).

A vehicle according to any one of claims 12 - 17, wherein the floor cleaning means (CM) comprise scooping means suitable for cleaning a part of an aisle (WW) near the cubicle (C).

A vehicle according to any one of claims 12-18, wherein the vehicle (V) further comprises a container for storing litter and spreading means suitable for spreading the litter on the floor (F) of a cubicle (C).