WO2010057266A1 - Rassemblement robotisé d’animaux - Google Patents

Rassemblement robotisé d’animaux Download PDF

Info

Publication number
WO2010057266A1
WO2010057266A1 PCT/AU2009/001517 AU2009001517W WO2010057266A1 WO 2010057266 A1 WO2010057266 A1 WO 2010057266A1 AU 2009001517 W AU2009001517 W AU 2009001517W WO 2010057266 A1 WO2010057266 A1 WO 2010057266A1
Authority
WO
WIPO (PCT)
Prior art keywords
mustering
agent
herd
information
location
Prior art date
Application number
PCT/AU2009/001517
Other languages
English (en)
Inventor
Peter Corke
Original Assignee
Commonwealth Scientific And Industrial Research Organisation
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
Priority claimed from AU2008906041A external-priority patent/AU2008906041A0/en
Application filed by Commonwealth Scientific And Industrial Research Organisation filed Critical Commonwealth Scientific And Industrial Research Organisation
Publication of WO2010057266A1 publication Critical patent/WO2010057266A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • A01K1/0005—Stable partitions
    • A01K1/0017—Gates, doors
    • A01K1/0029—Crowding gates or barriers
    • 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
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/003—Nose-rings; Fastening tools therefor; Catching or driving equipment
    • 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
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
    • 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
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
    • A01K15/021—Electronic training devices specially adapted for dogs or cats
    • 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
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
    • A01K15/021—Electronic training devices specially adapted for dogs or cats
    • A01K15/023—Anti-evasion devices
    • 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
    • A01K29/00—Other apparatus for animal husbandry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39163—Formation control, robots form a rigid formation, fixed relationship

Definitions

  • This invention concerns the mustering of animals. Mustering is hard, dangerous and labour intensive. It is currently conducted by people on motorbike, quadbike or horse, or in a helicopter. In particular the invention concerns a method for mustering animals. In another aspect the invention concerns a robot mustering agent and in a further aspect the invention is software to control the robot mustering agent.
  • a remote controlled helicopter has been used in another experiment to "push" cattle around a paddock.
  • the cattle and the helicopter were instrumented with GPS receivers and the devices periodically broadcast their position.
  • the helicopter received position messages from the cattle.
  • the helicopter pilot standing on the ground, had difficulty in maintaining the position of the helicopter with respect to the herd. At distance the pilot also had difficulty in estimating the distance to the helicopter.
  • the present invention is a method for operating a robot mustering agent for mustering a herd of animals, comprising the steps of:
  • each mustering agent will also determine the location, direction and speed of the other mustering agent or agents. These determinations may result from the use of communications to exchange information about locations, or rely on perceiving the other robots.
  • the robot mustering agents themselves may be ground or aerial robots, such as helicopters or fixed wing aircraft.
  • the robots may be completely autonomous, performing the storing and determining steps on board.
  • the robots may operate as drones receiving instructions from a base station or operating in cooperating with human musterers on the ground or in helicopters.
  • the base station may be mobile, for instance in a truck that follows the herd. In this case human interpretation and perception may also be fed into the control loop.
  • One way location information can be obtained is from satellite based location equipment (such as GPS, GLONASS or Galileo) carried by each animal of the herd; and if required by the mustering agent or agents.
  • the animals may also carry transmitters to broadcast their location information, either to a base station or directly to the mustering agents.
  • the animals may carry transponders or RPID tags which respond to an interrogation signal from the mustering agent with information about, one or more of, animal location, animal proximity and animal identification.
  • position information may be determined using sensors onboard the mustering agents that sense the position of other mustering agents and the animals for example using cameras and computer vision algorithms. Some combination of the two approaches may also usefully be adopted.
  • the speed and direction of animal motion can be determined from its transmitted velocity information, or its location information (as the temporal derivative).
  • the orientation of a moving animal can be obtained by several means including by inference from its direction of movement, or from an electronic compass.
  • the mustering location can be stored as map, or GPS coordinates.
  • a mustering path can be stored as a set of points each represented by coordinates.
  • the control function may take account of the distance between each robot mustering agent and the herd, and use this information to determine the speed of that agent.
  • the control function may take account of the orientation of each animal or the direction of movement of the herd, or both, and use this information to determine the direction in which one or more of the robot mustering agents will move.
  • the control function may be centralized at a ground station or onboard one of the mustering agents, distributed between the agents, or some combination of these options.
  • the control function may take account of the relative orientation of the animals and the robot mustering agents, the distances between them and various derivatives of any of the determined or stored information.
  • the invention is a robot mustering agent for mustering a herd of animals, comprising an onboard computer system programmed to perform the following steps:
  • the invention is a software program for controlling the robot mustering agent.
  • Fig. 1 is a diagram of a herd of animals and a suite of robot mustering agents.
  • Fig. 2 is a series of graphs from the very first encounter between the helicopter and herd; (a) shows the distance between the helicopter and the herd, (b) shows the velocity of the herd and (c) t shows the velocity of the helicopter Fig. 3 shows three encounters, (a) shows the distance between the helicopter and the herd, (b) shows the velocity of the herd and (c) shows the velocity of the helicopter Fig. 4 shows some longer term animal pushing experiments; (a) shows the distance between the helicopter and the herd, (b) shows the velocity of the herd and (c) shows the velocity of the helicopter
  • the animals 10 of a herd 12 are equipped with GPS devices 12 and transmitters 16 which can wirelessly communicate information about the location of each of the animals.
  • Autonomous helicopter mustering agents 20 move within the perceptual zone of the animals 10 to influence the motion of the herd toward a desired mustering location or path 30.
  • the helicopters receive and use the following information: The location information communicated from the animals 10. Information gathered by the agents 20 about their own and each other's locations.
  • This information is used by on-board computers 22 in the helicopter mustering agents 20 to continually adjust their own speed and heading.
  • the locations of the helicopters are determined with respect to the herd and the desired heading direction.
  • the distance between the helicopters and the herd is derived from this information, as are the orientations of the helicopters and each of the animals.
  • the speed of the animals is a function of the distance of the nearest helicopter. If the helicopter falls too far behind the moving herd, they stop, if too close they tend to panic. Such a stop/start motion of the herd is undesirable. As a result the magnitude of the distance between each helicopter and the herd is used to determine the speed and position of that helicopter. In this way the relative positions of the helicopters to the herd is controlled in order to maintain the desired speed of the herd.
  • Knowing the orientation of each animal is also important, since initially the animals are curious and look at the helicopter. However, as the helicopter approaches the animals they turn away and exhibit a flight response by beginning to move. The relevant bearing angles of the animal's motion are derived and used to determine the directions in which the helicopters will fly. It may be necessary to emit an audible or visual stimuli in order to elicit the response from the animals to compensate for the small size of the robot.
  • Fig. 2 shows the very first encounter 200 between the herd and the helicopter.
  • the helicopter was required to approach within 20m, see 205, before the herd moved 210.
  • the explanation for this behaviour is that the animals were curious and turned to look at the helicopter before becoming somewhat uncomfortable and moving off.
  • the second encounter 220 was similar.
  • the fourth encounter 250 shows sustained herd velocity of more than 0.5m/s 255 for a helicopter proximity of less than 40m 260.
  • Fig. 3 shows three encounters 300, 310 and 320. They each show that herd motion occurs consistently 330 when the helicopter moves closer than 50m 340.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Animal Husbandry (AREA)
  • Zoology (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne le rassemblement d'animaux. Le rassemblement est actuellement effectué par des personnes à moto, en quad ou à cheval, ou par hélicoptère. L'invention concerne en particulier un procédé de rassemblement d'animaux, impliquant l'utilisation d'un agent de rassemblement robotisé pour rassembler un troupeau d'animaux, comportant les étapes consistant à : déterminer l'emplacement, la direction et la vitesse du troupeau; déterminer l'emplacement, la direction et la vitesse de l'agent de rassemblement; mémoriser des informations relatives à l'emplacement ou au trajet de rassemblement; mémoriser des informations relatives au comportement d'un animal particulier ou du troupeau; mémoriser une fonction de commande; utiliser de façon répétée les informations déterminées et mémorisées ainsi que la fonction de commande pour calculer des ajustements de vitesse et de direction de l'agent de rassemblement; et mettre en oeuvre les ajustements dans le fonctionnement de l'agent de rassemblement. Dans un autre aspect, l'invention concerne un agent de rassemblement robotisé et, dans un aspect supplémentaire, un logiciel destiné à commander l'agent de rassemblement robotisé.
PCT/AU2009/001517 2008-11-21 2009-11-20 Rassemblement robotisé d’animaux WO2010057266A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2008906041A AU2008906041A0 (en) 2008-11-21 Robot Mustering of Animals
AU2008906041 2008-11-21

Publications (1)

Publication Number Publication Date
WO2010057266A1 true WO2010057266A1 (fr) 2010-05-27

Family

ID=42197760

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU2009/001517 WO2010057266A1 (fr) 2008-11-21 2009-11-20 Rassemblement robotisé d’animaux

Country Status (1)

Country Link
WO (1) WO2010057266A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2014162A (nl) * 2015-01-20 2016-09-27 Lely Patent Nv Veediermanagementsysteem.
NL2013609B1 (nl) * 2014-10-10 2016-10-04 Lely Patent Nv Veediermanagementsysteem.
WO2017030437A1 (fr) * 2015-08-17 2017-02-23 Lely Patent N.V. Étable à boxes avec système de surveillance de box
WO2017053135A1 (fr) * 2015-09-24 2017-03-30 Digi-Star, Llc Drone agricole destiné à être utilisé dans la surveillance du bétail
US9745060B2 (en) 2015-07-17 2017-08-29 Topcon Positioning Systems, Inc. Agricultural crop analysis drone
US9987971B2 (en) 2016-07-29 2018-06-05 International Business Machines Corporation Drone-enhanced vehicle external lights
US10170011B2 (en) 2016-07-26 2019-01-01 International Business Machines Corporation Guide drones for airplanes on the ground
US10231441B2 (en) 2015-09-24 2019-03-19 Digi-Star, Llc Agricultural drone for use in livestock feeding
KR102159319B1 (ko) * 2019-08-07 2020-09-23 (주)대연씨앤아이 가상 울타리 기반 동물 관리를 위한 제어 시스템 및 방법
US10820574B2 (en) 2016-07-29 2020-11-03 International Business Machines Corporation Specialized contextual drones for virtual fences
WO2022009208A1 (fr) * 2020-07-07 2022-01-13 Beefree Agro Ltd. Drone de rassemblement d'animaux en troupeau

Citations (2)

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US6439162B1 (en) * 1999-05-25 2002-08-27 Lely Research Holding A.G. Unmanned vehicle to be used in a stable or a meadow
US20070006494A1 (en) * 2005-07-06 2007-01-11 Hayes Norman J Systems and methods for tracking livestock

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6439162B1 (en) * 1999-05-25 2002-08-27 Lely Research Holding A.G. Unmanned vehicle to be used in a stable or a meadow
US20070006494A1 (en) * 2005-07-06 2007-01-11 Hayes Norman J Systems and methods for tracking livestock

Non-Patent Citations (2)

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Title
"Proceedings, published 14-17 September 1998", article VAUGHAN ET AL.: "'Robot control of animal flocks', Intelligent Control (ISIC) , 1998, Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems", pages: 277 - 282 *
ADAM STEPHEN: "Robot mustering on the horizon", 9 June 2008 (2008-06-09), Retrieved from the Internet <URL:http://www.abc.net.au/rural/qldlcontent/2007/s2269224.htm> [retrieved on 20091203] *

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2013609B1 (nl) * 2014-10-10 2016-10-04 Lely Patent Nv Veediermanagementsysteem.
NL2014162A (nl) * 2015-01-20 2016-09-27 Lely Patent Nv Veediermanagementsysteem.
US10189568B2 (en) 2015-07-17 2019-01-29 Topcon Positioning Systems, Inc. Agricultural crop analysis drone
US9745060B2 (en) 2015-07-17 2017-08-29 Topcon Positioning Systems, Inc. Agricultural crop analysis drone
WO2017030437A1 (fr) * 2015-08-17 2017-02-23 Lely Patent N.V. Étable à boxes avec système de surveillance de box
NL2015309B1 (nl) * 2015-08-17 2017-03-07 Lely Patent Nv Ligboxenstal met boxbewakingssysteem.
WO2017053135A1 (fr) * 2015-09-24 2017-03-30 Digi-Star, Llc Drone agricole destiné à être utilisé dans la surveillance du bétail
US10231441B2 (en) 2015-09-24 2019-03-19 Digi-Star, Llc Agricultural drone for use in livestock feeding
US10321663B2 (en) 2015-09-24 2019-06-18 Digi-Star, Llc Agricultural drone for use in livestock monitoring
AU2016328274B2 (en) * 2015-09-24 2020-03-26 Digi-Star, Llc Agricultural drone for use in livestock monitoring
US11627724B2 (en) 2015-09-24 2023-04-18 Digi-Star, Llc Agricultural drone for use in livestock feeding
US10170011B2 (en) 2016-07-26 2019-01-01 International Business Machines Corporation Guide drones for airplanes on the ground
US9987971B2 (en) 2016-07-29 2018-06-05 International Business Machines Corporation Drone-enhanced vehicle external lights
US10343589B2 (en) 2016-07-29 2019-07-09 International Business Machines Corporation Drone-enhanced vehicle external lights
US10351044B2 (en) 2016-07-29 2019-07-16 International Business Machines Corporation Drone-enhanced vehicle external lights
US10391922B2 (en) 2016-07-29 2019-08-27 International Business Machines Corporation Drone-enhanced vehicle external lights
US10820574B2 (en) 2016-07-29 2020-11-03 International Business Machines Corporation Specialized contextual drones for virtual fences
KR102159319B1 (ko) * 2019-08-07 2020-09-23 (주)대연씨앤아이 가상 울타리 기반 동물 관리를 위한 제어 시스템 및 방법
WO2022009208A1 (fr) * 2020-07-07 2022-01-13 Beefree Agro Ltd. Drone de rassemblement d'animaux en troupeau

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