WO2022071820A1 - Système de rassemblement de troupeau et de pâturage autopropulsé - Google Patents

Système de rassemblement de troupeau et de pâturage autopropulsé Download PDF

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Publication number
WO2022071820A1
WO2022071820A1 PCT/RS2021/000001 RS2021000001W WO2022071820A1 WO 2022071820 A1 WO2022071820 A1 WO 2022071820A1 RS 2021000001 W RS2021000001 W RS 2021000001W WO 2022071820 A1 WO2022071820 A1 WO 2022071820A1
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WO
WIPO (PCT)
Prior art keywords
wire
robotic
self
robotic unit
fork
Prior art date
Application number
PCT/RS2021/000001
Other languages
English (en)
Inventor
Dusan KRSTIC
Milan BANIC
Ivan SIMONOVIC
Milos SIMONOVIC
Drago SAMARDZIC
Aleksandar MILTENOVIC
Misa TOMIC
Vukasin PAVLOVIC
Nikola VITKOVIC
Nikola KORUNOVIC
Vlastimir NIKOLIC
Ivana SAMARDZIC SIMIC
Slavica SLAVIC
Original Assignee
Coming-Computer Engineering Doo Beograd
Masinski Fakultet Univerziteta U Nisu
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 Coming-Computer Engineering Doo Beograd, Masinski Fakultet Univerziteta U Nisu filed Critical Coming-Computer Engineering Doo Beograd
Publication of WO2022071820A1 publication Critical patent/WO2022071820A1/fr

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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
    • A01K3/00—Pasturing equipment, e.g. tethering devices; Grids for preventing cattle from straying; Electrified wire fencing
    • A01K3/005—Electrified fencing for pastures
    • 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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B17/00—Insulators or insulating bodies characterised by their form
    • H01B17/14—Supporting insulators
    • H01B17/145—Insulators, poles, handles, or the like in electric fences

Definitions

  • This invention pertains to the field of agriculture, and more particularly to the field of animal husbandry.
  • the invention can more closely be classified under electrified fences .
  • Classification is A01K 3/00.
  • the technical problem solved by the invention is how to construct an autonomous, flexible, self-propelled system in the form of an electric fence, to be used for herding.
  • the invention also solves the bigger and harder to solve technical problem of taking the herd out to the pasture, across different terrains , without people, or shepherds, and without herding dogs .
  • the Serbian patent fund includes the solution from patent application RS 20050171 submitted on 22 February
  • the solution from this application comprises setting up an open movable enclosure for a certain number of animals in the grazing area . After a certain amount of time the enclosure moved by external force to another area suitable for grazing .
  • the solution from the said application differs from the present invention in that it is only applicable for pasturing the animals in the grazing area, but not for herding the animals from the farm to the pasture .
  • a fundamental difference also lies in the fact that the said application does not describe the shape or construction of the enclosure , or the force by which the enclosure is moved from one grazing area to another .
  • the prior art includes an invention entitled “Rolling electric fence” .
  • This solution is protected by patent US4078771 , published on 14 March 1978 .
  • the solution in the said patent comprises an electric fence for enclosing animals , where one part of the fence is movable . This part of the fence is moved by way of mechanical assemblies .
  • the movable part of the fence in this solution, consists of a plurality of wheels on one axle , mutually connected with wire , where the ends of the axle are connected by springs to a device on the stationary, parallel parts of the fence .
  • the fence is in the shape of a parallelogram where only the length of the parallelogram can be changed .
  • the electric fence in the said US patent differs signi ficantly from the self-propelled system according to the present invention, because only one part of the stationary fence in a pasture is movable , and that part of the fence is moved by way of mechanical devices .
  • the prior art also includes the patent document of
  • the mobility of the fencing within the pasture is achieved by the wire being lightweight, so that shepherds can easily transport it from one area of the pasture to another .
  • the said solution demonstrates an electric fence that is not self-propelled, but needs to be handled by a shepherd as well .
  • patent literature includes Canadian patent application CA3060738 published on 30 April 2020.
  • This application describes a solution entitled "Robotic rotational grazing system” .
  • the system is robotically controlled and consists of an electric fence that can move itself autonomously and automatically without manual intervention .
  • a robot controls the locomotion of the fence enclosure around a grazing pasture and at the same time enables the fence to contract or expand in order to encompass the optimum grazing area .
  • the movable electric fence from the said patent application differs from the present invention in that it only moves around the pasture it was set up on and is used only for pasturing animals in an enclosure, but not for herding the animals to the pasture .
  • the self-propelled herding and pasturing system is a robotic shepherd in the form of an electric fence , which surrounds the livestock during grazing and herding to the pasture .
  • the system according to the present invention is a movable enclosure, which, by moving, directs the movement of the animals within the enclosure and along a predefined route .
  • the self-propelled system meets the strictest global standards and requirements regarding safety of exploitation .
  • the system provides optimum protection of animals , people and their surroundings .
  • the electric fence being an integral part of the self-propelled system, is steered by the movement of the animals , while at the same time the animals are protected from predators .
  • the low-intensity high voltage current passing through the fence prevents any endangerment of the lives of people or animals that come in contact with the fence .
  • the self-propelled system has two basic and two ancillary modes of operation .
  • the basic modes of operation are : the mode for moving along the road from the farm to the pasture , used to herd the animals from the farm to the pasture and back, and the stationary mode , used to guard the animals while they are in the pasture .
  • the ancillary modes of operation are : the zero position mode on the farm, which enables the self-propelled system to get into the starting position to receive the livestock, and the livestock to exit the system after returning from the pasture , and the charging mode , when the batteries of the robotic units and system are charged .
  • the system according to the present invention consists of at least four robotic units .
  • the robotic units consist of movable posts necessary to form the fence .
  • the robotic units are connected to one another by wires , through which an electric current is passed .
  • the electric circuit closes , creating a short , safe electric shock, which keeps the animal away from the fence .
  • the same principle is used to protect the animals within the enclosure from predators on the other side of the fence .
  • the mild electric shocks also help direct the movements of the animals within the enclosure when the whole system is moving .
  • the system can be used on terrains intended for grazing, including sloped/rough terrains .
  • the use of four robotic units forms a simpler shape of the enclosure .
  • more complex shapes can be formed, which facilitate the locomotion of the entire system.
  • the system can be in the shape of any kind of quadrangle , which can be a narrow rectangle suitable for moving along a road .
  • the system can also make sharp turns .
  • An existing system can always be upgraded by adding additional robotic units .
  • the possibility of changing the distance between robotic units , or posts , and the device for automatic tensioning of the connecting wire enable the system to retain a certain shape and to retain the area within the fenced enclosure .
  • the robotic units Upon arrival at the pasture , the robotic units , or posts , move away from one another and position themselves into positions suitable for grazing according to the configuration of the terrain, covering the optimum grazing area relative to the number of animals within the enclosure .
  • the system according to the present invention retains the set position throughout the day with minimal movements for the purpose of grazing management .
  • the self-propelled system is capable of completely autonomously herding the animals out to the pasture in the morning, pasturing them the entire day, and returning them to the farm in the evening .
  • the self-propelled herding and pasturing system consists of at least four robotic units and an electric fence .
  • the robotic units are equipped with sensors and communication devices needed for navigation, sensing the surroundings and communication with the other robotic units within the same system, which enables efficient mobility across mildly stony fields , soft ground, through low vegetation, mud and across slopes .
  • Each robotic unit includes a vertical post .
  • the post is fixed to a robotic platform.
  • the inclination of the post can be changed by changing the inclination of the platform by way of linear actuators .
  • the post has a device that always keeps it in the vertical position regardless of the inclination of the terrain on which the robotic unit is moving . Rotation around the post ' s vertical axis enables the system to form geometrical shapes without right angles while moving across the terrain .
  • the number and height of the wires comprising the fence depends on the type of animal the system is used for .
  • the wire tensioning device which is a part of the robotic unit , always keeps the wire tensioned between the posts .
  • the wire tensioning device consists of a reel on which the wire is wound and a device for tensioning the wire .
  • the posts are serially connected by the wire, forming a closed loop . When the livestock are entering and exiting the fenced enclosure the connection between two posts is interrupted in a controlled manner .
  • the self-propelled system according to the present invention is powered by batteries .
  • the batteries are charged by electricity from the power grid through a socket , by solar energy, or through a set-up induction infrastructure , as needed .
  • the self-propelled system For the purpose of sensing obstacles , and for overseeing the livestock, the self-propelled system includes imaging and other sensors through which the system forms a perception of the surroundings .
  • Figure 1 shows a diagram of the system according to the invention with four robotic units in the shape of a parallelogram
  • Figure 2 shows a diagram of the moving of the system along the road from the barn on the farm to the pasture with a depiction of the various shapes of a fence with six robotic units while the system is moving along the road;
  • Figure 3 shows a diagram of the increase of the fenced-in area for grazing with four robotic units ;
  • Figure 4 shows an axonometric proj ection of a robotic unit
  • Figure 5 shows an axonometric proj ection of a robotic unit with parts in an opened mobile platform;
  • Figure 6 shows cross section A-A from figure 4 ;
  • Figure 7 shows an axonometric proj ection of the frame structure of the mobile platform
  • Figure 8 shows a proj ection of the upper casing of the mobile platform
  • Figure 9 shows a proj ection of the lower casing of the mobile platform
  • Figure 10 shows a post as viewed from the front ;
  • Figure 11 shows a post as viewed from above ;
  • Figure 12 shows detail A from figure 10 ;
  • Figure 13 shows detail B from figure 10 ;
  • Figure 14 shows detail C from figure 4 ;
  • Figure 15 shows detail A from figure 5 ;
  • Figure 16 shows the support mechanism as viewed from above ;
  • Figure 17 shows an axonometric proj ection of a wheel
  • Figure 18 shows an axonometric proj ection of an alternative execution of the locomotion device ;
  • Figure 19 shows the power transmission device as viewed from the front ;
  • Figure 20 shows an axonometric proj ection of the belt drive power transmission device within the frame ;
  • Figure 21 shows an axonometric proj ection of the braking device
  • Figure 22 shows the position of the braking device in the robotic unit frame
  • Figure 23 shows a block diagram of the control system
  • Figure 24 shows a diagram of the central control system
  • Figure 25 shows the position of the control system elements on the robotic unit frame ;
  • Figure 26 shows a diagram of the hierarchal level of action selections ;
  • Figure 27 shows a diagram of the communication system
  • Figure 28 shows a diagram of the measuring system
  • Figure 29 shows a block diagram of wheel control
  • Figure 30 shows a block diagram of wire tensioning control .
  • the self-propelled herding and pasturing system consists of at least four robotic units 1 and an electric fence 2 .
  • the number of robotic units 1 in the system depends on the configuration of the terrain on which the system is to be used, the shape of the road from the farm to the pasture along which the system is to herd the livestock and the size of the herd, that is , the size of the necessary grazing area . In the case of straight roads , four robotic units 1 are sufficient , but if there are sharp turns in the road, more robotic units 1 are added to the system.
  • the self-propelled system according to the present invention is controlled through the communication system 8 and the control system 101 .
  • the robotic unit 1 is a self-propelled vehicle , which consists of a mobile platform 3 , a locomotion device 4 and a wire tensioning device 5 .
  • the locomotion device 4 apart from its locomotive function, also has the function of adj usting the distance of the mobile platform 3 from the ground, as well as changing the inclination of the mobile platform 3 of the robotic unit 1 .
  • the robotic unit 1 also includes a charging device 6 , a measuring system 7 .
  • the mobile platform 3 is the horizontal base of the robotic unit 1 with a vertical post 9 in the middle .
  • the mobile platform 3 consists of a frame 10 , upper casing 11 and lower casing 12 .
  • the base of the frame 10 consists of two lateral profiles 13 of square or rectangular cross section .
  • the lateral profiles 13 are the same length as the mobile platform 3 , and are mutually and inseparably connected by front profiles 14 .
  • the locomotion device 4 is placed in the inner empty space 113 of the lateral profiles 13 .
  • the lateral profiles 13 are also inseparably connected to the post support 15 .
  • the post support 15 consists of four transverse profiles 16 and four longitudinal profiles , which are inseparably connected and distributed in pairs in two parallel planes .
  • the transverse profiles 16 and the longitudinal profiles 17 in one plane are connected to the transverse profiles 16 and the longitudinal profiles 17 in the other plane by vertical profiles 18 .
  • Two fans 19 are fitted onto each front profile 14 .
  • the fans 19 force air flow inside the mobile platform 3 .
  • the frame 10 of the mobile platform 3 is covered and connected with a thin casing, consisting of a lower casing 12 and an upper casing 11 .
  • the function of the lower 12 and upper 11 casings is to protect the inside of the mobile platform 3 .
  • the charging device 6 is connected to the frame 10 and the lower casing 12 of the mobile platform 3 .
  • a photovoltaic panel 61 can be fitted onto the upper casing 11 of the mobile platform 3 , to generate electric power to drive the entire system.
  • the photovoltaic panel 61 is connected by means of the necessary electronics to the charging device 6 .
  • Thermal insulation 20 is fitted to the inside or the outside of the upper casing 11 of the mobile platform 3 .
  • the insulation 20 is fitted in order to eliminate the impact of the ambient temperature on the robotic unit 1 .
  • the role of the thermal insulation 20 , as well as of the fans 19 is to prevent dramatic temperature increases inside the robotic unit 1 during summer months while the system is out on the pasture .
  • the thermal insulation 20 protects the battery from temporary loss of capacity .
  • the thermal insulation 20 protects the mobile platform from electric shocks as well if the wires which form the fence and through which electricity is passed touch the mobile platform as the robotic unit 1 is moving .
  • the lateral sides of the upper casing 11 are fitted with ultrasonic proximity sensors 21 .
  • the proximity sensors sense and j udge the distance from potential obstacles in the way .
  • a vertical post 9 is mounted on the middle of the mobile platform 3 , and is rigidly connected to the mobile platform 3 .
  • the post 9 includes two parallel vertical guides 91 , 92 and a middle supporting profile 93 .
  • the axes of the vertical guides 91 , 92 and profile 93 are not in the same vertical plane , which increases the rigidity of the vertical post 9 .
  • the guides 91 and 92 have a circular or ring-type cross section .
  • the guides 91 , 92 are linear guides in the vertical direction .
  • the sliders 94 and the wire tensioning devices 5 are at the same heights on guides 91 and 92 .
  • the post 9 also includes three horizontal plates : the bottom plate 95 , the middle plate 96 and the top plate 97 . Plates 95 , 96 and 97 are parallel to one another and at a set distance .
  • the bottom plate 95 and the middle plate 96 are separably connected to the post support 15 .
  • the guide 91 is connected through three flanges 98 to the bottom plate 95 , the middle plate 96 and the top plate 97 .
  • the guide 92 is also connected through three flanges 98 to the bottom plate 95 , the middle plate 96 and the top plate 97 .
  • the support post 93 is connected through three flanges 901 to the bottom plate 95 , the middle plate 96 and the top plate 97 .
  • the guides 91 , 92 and the support 93 are seals 99 . The seals 99 prevent the ingress of precipitation and dirt into the robotic unit .
  • Two sets 22 with connectors and switches and a camera 23 are mounted onto the top plate 97 .
  • a set 22 consists of a switch 24 for turning the robotic unit 1 on and off , connector 25 and connector 26 .
  • Connector 25 is a connector for charging with electric power and is connected to the charging device 6 .
  • a computer input device 106 is connected to connector 26 .
  • the computer input device 106 is used for system diagnostics .
  • the computer input device 106 also serves for entry and all changes of the parameters of the measuring and control device 7 if the robotic unit cannot be accessed remotely .
  • On top of the set 22 a protective lid 29 is placed, which protects connectors 25 and 26 and switch 24 from atmospheric influence .
  • Onto the protective lid 29 a set of sensors is fitted, which are used for perception of the surroundings and remote surveillance of the animals inside the fenced enclosure .
  • a laser scanner 27 or radar 28 can be used instead of the camera 23 .
  • the sliders 94 are fitted on the vertical guide 91 .
  • the number of sliders 94 on the guide 91 depends on the height of the fence 2 , that is , on the number of wires 200 in the fence 2 .
  • the figures illustrate the invention variant with three guides 91 , and with six wires 200 in the fence 2 .
  • the slider 94 is connected through the intermediate plate 30 to the force sensor used to tension the wire 200 .
  • the position of the slider 94 on the guide 91 is defined and secured by an axial retaining ring 32 , which is mounded on the guide 91 underneath the slider 94 . It is connected by the force sensor 31 for measuring the force of tensioning the wire 200 , through the electrical insulator, to the plate 33 .
  • the plate 33 holds the spring 35 through lugs 34 .
  • the spring 35 is a spiral part of the wire 200 of the fence 2 .
  • Several wires 200 can be connected to one plate 33 .
  • the other end of the wire 200 is connected to the wire tensioning reel 51 of the wire tensioning device 5 of the adj acent robotic unit 1 .
  • the wire tensioning device 5 is fitted onto the guide 92 of the vertical post 9 , in the same horizontal plane with the corresponding slider 94 .
  • the wire tensioning device 5 can freely rotate around the axis of the guide 92 . This ensures the forming of the fence regardless of the position of two robotic units 1 relative to one another, because the wire tensioning device 5 is always directed towards the other robotic unit 1 due to the wire tensioning force .
  • the wire tensioning device 5 consists of a gearmotor 53 , which is connected to the top plate 54 and the bottom plate 55 .
  • Sliding carriages 56, 57 are fitted to the top and bottom plates 54 , 55 .
  • the sliding carriages 56, 57 are on guide 92 of the post 9 .
  • a lead-in 52 is fitted for the wire 200 which is connected on its other end to the slider 94 of the adj acent post 3 .
  • the lead-in 52 for the wire 200 is directly in front of the wire tensioning reel 51 .
  • the wire tensioning device 5 consists of two leads-in 52 for the wire 200 and two wire tensioning reels .
  • the wire tensioning reels 51 are fitted to the ends of the output shaft 58 of the gearmotor 53 .
  • the wire tensioning reels 51 on the output shaft 58 of the gearmotor 53 are secured by a plate 59 , which is fastened to the output shaft 58 .
  • Axial securing of the sliding carriages 56 , 57 in the vertical direction is achieved by an axial retaining ring 32 , which is fitted to guide 94 , under the sliding carriages 56 , 57 . This fixes the position of the wire tensioning device in the vertical direction, so that it is on the same plane as the slider 94 of the adj acent post 9 .
  • a robotic unit 1 consists of four locomotion devices 4 .
  • the locomotion devices 4 have a triple function . The function of moving the robotic unit 1 , adj usting the distance of the mobile platform 3 from the ground, and changing the inclination of the mobile platform 3 of the robotic unit 1 .
  • Each locomotion device 4 is fitted in the inner empty space 113 of the lateral profile 13 of the frame 10 of the robotic unit 1 .
  • a locomotion device 4 consists of a wheel 41 , an electric motor 42 , a support mechanism 43 , a power transmission device 44 and a braking device 45 for robotic unit 1 .
  • the support mechanism 43 consists of three plates- forks parallel to one another, namely : the outer fork 46 , the middle fork 47 and the inner fork 48 .
  • the forks 46 , 47 and 48 are positioned at a set distance from one another and are connected to one another through several elements into one rigid whole .
  • the outer 46 and inner fork 48 are connected to one another by a stationary shaft 49 , while both are connected to the frame 10 by a cylindrical j oint 402 .
  • Between the outer fork 46 and the inner fork 48 is the wheel 41 .
  • the position of the wheel 41 between the outer 46 and the inner fork 48 is determined by the shape of the stationary shaft 49 and a distance spacer 407 .
  • the stationary shaft 49 also connects the outer 46 and inner fork 48 with the wheel 41 . All three forks 46 , 47 , 48 are connected to one another by connecting shaft 401 .
  • the stationary shaft 49 , the shape of the connecting shaft 401 and the distance spacer 407 determine the distance between the outer fork 46 and the inner fork 48 .
  • the middle 47 and the inner fork 48 are connected through the connecting shaft 408 to the shaft of the electric motor 42 , if an electric motor 42 with a body that rotates around a stationary shaft is used . If an electric motor 42 with a stationary body is used and the torque output is on the shaft of the electric motor 42 , then the middle 47 and the inner fork 48 are connected to the body of the electric motor 42 through the connecting shaft 408 .
  • the outer fork 46 is connected to the middle fork 47 through the connecting shaft 408 and cylindrical j oint 409 .
  • the cylindrical j oint 409 is connected to the vibration damper 410 .
  • the vibration damper 410 is fitted between the outer fork 46 and the middle fork 47 and is separated from them by two distance spacers 411 .
  • the wheel consists of a tire , which can be a solid tire , a rim 404 and a bearing 405 .
  • the bearing 405 is built into the rim 404 .
  • the wheel 41 rotates around the stationary shaft 49 by way of the bearing 405 .
  • the vibration damper 410 is connected to the linear actuator 412 .
  • the linear actuator 412 is connected to the frame 10 of the robotic unit 1 through a cylindrical j oint 409 .
  • the movement of the piston 413 of the linear actuator 412 transfers the movement through the vibration damper 410 , cylindrical j oint 409 and connecting shaft 408 and causes a change in the position of rigidly connected forks 46 , 47 and 48 .
  • the rigidly connected forks 46 , 47 and 48 rotate around the cylindrical j oint 402 and thereby change the distance of the robotic unit 1 from the ground .
  • the frame 10 of the robotic unit 1 can be caused to rotate around the transverse and lateral direction, which causes a change of the inclination of the frame 10 in the lateral and longitudinal direction relative to the surface the vehicle is moving across .
  • the position of the piston 413 of the linear actuator is changed based on the data from the angular position sensor .
  • the inclination of the frame 10 of the robotic unit 1 relative to the adj acent robotic units 1 connected to one another by the electric fence 2 is defined in the same way .
  • the parallel position of the electric fence 2 to the ground across which the system is moving is achieved .
  • the locomotion device 4 consists of a discreet pitch mechanism 414 .
  • the discreet pitch mechanism 414 enables discreet changing of the distance of the robotic unit 1 from the ground by retracting or protracting the wheel 41 through the support mechanism 43 .
  • the alternative execution with a pitch mechanism 414 does not have the possibility of adj usting the inclination of the frame 10 of the robotic unit 1 around the longitudinal and lateral direction .
  • the discreet pitch mechanism 414 consists of a hollow profile , profile 416 and retaining pin 417 .
  • the outer shape of the profile 416 corresponds to the hollow of profile 415 .
  • Profile 416 is inside profile 415 and slides freely in the longitudinal direction .
  • Both profiles 415 and 416 have several openings 418 along the length of the side . The distance between the openings 418 corresponds to the pitch of the discrete pitch mechanism 414 .
  • the retaining pin 417 By fitting the retaining pin 417 into the openings 418 of both profiles 415 and 416 the discrete pitch mechanism 414 is fixed in a set position, which corresponds to the position of the rigidly connected forks 46 , 47 and 48 .
  • the position of the rigidly connected forks 46 , 47 and 48 is changed, which changes the distance of the frame 10 of the robotic unit 1 from the ground .
  • the power transmission device 44 is placed between the inner 48 and the middle fork 47 and transmits the rotary motion from the electric motor 42 to the wheel 41 with reduction of the number of revolution and increase of the torque .
  • the power transmission device 44 consists of : a smaller chain pulley 419 and a larger chain pulley 420 , a chain 421 and a chain tensioner 422 .
  • the smaller chain pulley 419 is rigidly connected to the body of the electric motor 42 , if an electric motor 42 whose body rotates around a stationary shaft 49 is used . I f an electric motor 42 with a stationary body where the torque output is on the shaft of the electric motor 42 is used, then the smaller chain pulley 419 is connected to the shaft of the electric motor 42 .
  • the larger chain pulley 420 is rigidly collected to the rim 404 of the wheel 41 .
  • the protective housing of the transmission 423 is connected to the inner fork 47 . The protective housing of the transmission 423 protects the chain pulleys 419 , 420 and the chain 421 from the ' impact of the surface across which the robotic unit 1 is moving and prevents ingress of dirt into the power transmission device 44 .
  • belt drive can also be used in the same configuration .
  • the power transmission device 44 consists of a smaller belt pulley 424 , a larger belt pulley 425 , a belt 426 and a belt tensioner 427 .
  • the belt 426 can be : a V belt , ribbed or toothed .
  • the braking device 45 consists of a brake disk 451 , brake pads 453 , a brake-power transmission device 454 and two actuators with their supports , namely brake actuator 452 , brake actuator support 455 , linear actuator 456 and linear actuator support 457 .
  • the brake disk 451 is rigidly connected to the wheel rim 404 .
  • the brake disk 451 is fitted between the brake pads 453 .
  • the brake pads 453 are connected to the caliper of the brake actuator 452 .
  • the activation of the caliper of the brake actuator 452 is caused by the linear actuator 456 through the brake-power transmission device 454 .
  • the brake-power transmission device is connected on one side to the piston of the linear actuator 456 and on the other side to the brake actuator 452 .
  • the linear actuator 456 is connected through the linear actuator support 456 to the frame 10 of the robotic unit 1 .
  • the brake actuator 452 is connected through the brake actuator support 452 to the outer fork 46 of the support mechanism 43 of the locomotion device 4 .
  • the charging device 6 consists of : a DC power supply 62 , a pulse power supply 63 and electronics 64 .
  • the electronics 64 adapt the voltage from the DC power supply 62 to the individual components that require supplying with power .
  • the pulse power supply 63 generates voltage higher than a minimum of 4000 V and at set time intervals sends high voltage power pulse .
  • the pulse power supply 63 is connected to the DC power supply 62 and to the wires 200 of the electric fence 2 .
  • the wires 200 are connected alternately to the positive and negative pole of the pulse power supply 63 , thereby forming pairs of wires which an animal has to touch to close the electric circuit .
  • the pulse power supply 63 for high voltage power can be introduced into the fence 2 on the side of the slider 94 or on the side of the wire tensioning reel 51 .
  • the control system 101 of the self-propelled system ensures the desired behavior of the system in all modes of operation .
  • the control system 101 of the self-propelled system consists of two physically separate systems : the central control system 102 and the system 103 for controlling the robotic unit 1 . These two control systems 102 and 103 are connected and exchange information through the communication system 8 or directly by entering the end destination, the desired route and other parameters into the system 103 for controlling the robotic unit 1 .
  • the system 103 for controlling the robotic unit 1 is connected to the measuring system 7 through which an awareness of the actual exploitation surroundings is achieved .
  • the central control system 102 consists of a hardware part 121 and a software part 122 .
  • the hardware part consists of a computer 104 with one or more screens and various peripherals 105 .
  • the software part consists of the software realization and implementation of intelligent control algorithms with a user interface and a software solution for visualization and surveillance of the self-propelled system.
  • the central control system 102 has the function of executing a higher level of control , monitoring and surveillance of the self-propelled system according to the invention, if a sudden and unforeseen need for this arises .
  • the central control system 102 can also function as a system for supervised control of the self- propelled system, that is , as an alternative system of control by the operator-farmer, if the need for this arises .
  • the usual control mode is automatic with assistance from the operator - farmer when switching from ancillary to basic modes of operation and vice versa .
  • the system 103 for controlling the robotic unit 1 also consists of a hardware and a software part .
  • the hardware part consists of a computer 106 , which has the function of the main controller, and several controllers 107 used to control the lower levels of the system that require controlling , such as for instance the wire tensioning device 5 , the battery charger, the locomotion device 45 , or for controlling the wheels 41 .
  • the computer 106 controller of the robotic unit 1 communicates with the computers 106 controllers of the other robotic units .
  • the computer 106 controller of the robotic unit processes the data received from the other computers 106 controllers of the other robotic units 1 and the force sensor 31 and based on this communication sends control algorithms to the controllers 107 that control the lower levels .
  • the system 103 for controlling the robotic unit 1 consists of two basic subsystems for controlling the lower levels , as follows :
  • - subsystem 113 for controlling the movements of the wheel 41 ; - subsystem 114 for controlling the tensioning, i . e . the tightening and releasing of the wire 200 .
  • the subsystem 113 for controlling the movements of the wheel 41 consists of a controller 107 and a driver 116 for the electric motor of the wheel .
  • the controller 107 for controlling the movements of the wheel 41 generates control signals and sends them to the driver 116 for the electric motor of the wheel 41 .
  • the driver 116 for the electric motor of the wheel 41 is connected to the wheel 41 and has the function of controlling the speed of the wheel 41 .
  • the control signals are generated on the basis of control algorithms , which the controller 107 for controlling the movements of the wheel 41 receives from the computer 106 .
  • the subsystem 114 for controlling the tensioning, i . e . the tightening and releasing of the wire 200 consists of a controller 107 for controlling the tensioning of the wire 200 , a driver 118 for the DC motor for tensioning the wire 200 .
  • the control signals are generated on the basis of control algorithms , which the controller 107 for controlling the tensioning of the wire receives from the computer 106 - controller of the robotic unit 1 .
  • the driver 118 for the DC motor for tensioning the wire 200 is connected to the DC motor of the gearmotor 53 and the controller 107 for controlling the tensioning of the wire 200 .
  • the function of the driver 118 is to control the motor of the gearmotor 53 .
  • the electronics 119 feed in the voltage from the power supply 62 , adapt it to the required voltage and transmit it to the drivers 116 of the electric motor of the wheel 41 , the drivers 118 for the DC motor for tensioning the wire 200 and the controllers 107 for controlling the movements of the wheel 41 and controlling the tensioning of the wire 200 .
  • the measuring amplifier 120 transmits the values from the force sensor 31 to the computer 106 - controller of the robotic unit 1 .
  • All the said elements of the system 103 for controlling the robotic unit 1 are fitted in the mobile platform 3 of the robotic unit 1 .
  • the controlling of the self-propelled system is based on the following :
  • the algorithm for monitoring the locomotion i . e . the navigation of the self-propelled system
  • Offline planning of the route is achieved through the software part 122 of the central control system 102 by using the user interface 130 .
  • a map is provided with GPS coordinates of the route from the farm to the pasture and back .
  • This GPS map represents the basis for generating the coordinates of the route .
  • images of the terrain of the route are also used .
  • the necessary parameters are defined for the route in terms of forming the shape of the self-propelled system and are entered into the central control system 102 by way of the user interface .
  • the additional data used to define the shape of the self-propelled system is the type of livestock and the number of animals to be herded out to pasture . This is used to calculate the dimensions of the self-propelled system and along with the known data about the route these represent the input parameters for implementing the algorithm for planning the route, controlling the shape and avoiding known stationary obstacles .
  • the results of implementation of the above mentioned algorithms represent the routes of each individual robotic unit .
  • the self-propelled system has two basic and two ancillary modes of operation .
  • the basic modes of operation are :
  • Stationary mode used to guard the animals while they are in the pasture .
  • the ancillary modes of operation are :
  • the communication system 8 ensures reliable transmitting of information and unhindered operation of the self-propelled system.
  • Communication between the central control system 102 and the self-propelled system is through a 3G/4G/5G network .
  • This connection provides two-way transmission of data from the parts of the measuring system 7 of the self-propelled system to the central control system 102 and from the central control system 102 to the computer 106 of the main controller of each robotic unit 1 .
  • each robotic unit 1 includes a 3G/4G/5G network card 81 connected to the computer .
  • the 3G/4G/5G connection is used to exchange information directly between the computer 104 of the central control system 102 and the computer 106 of each robotic unit 1 .
  • Communication between the central control system 102 and the self-propelled system can also be achieved by way of a wireless WiFi internet connection .
  • the communication system 8 includes devices that provide GPS /GNSS locating of the self-propelled system.
  • a base station 82 is set up on the farm, and a receiver - rover 73 is fitted to each robotic unit .
  • the rover 73 receives satellite signals and signals from the base station 82 .
  • the measuring system 7 consists of several sensors which are fitted to each individual robotic unit 1 .
  • the sensors are connected by wired connection to the computer 106 controller of each robotic unit 1 .
  • This data from the sensor is transmitted though the computer 106 controller of the robotic unit 1 to the central control system 102 . This creates the necessary conditions for tracking the movement and surveillance of the self-propelled system, and for detecting and avoiding obstacles .
  • Each robotic unit 1 is fitted with a measuring system 7 , which consists of the following parts : an inertial measurement unit 71- IMU; a force sensor 31 ; a camera 23 ; a LIDAR 72 ; a radar 28 ; a receiver 73-rover and a proximity sensor 21 .
  • the inertial measurement unit 71 is an electronic device for measuring the navigation parameters of the robotic unit 1 .
  • the inertial measurement unit 71 measures the angular velocity, linear acceleration and magnetic field . Its function is to determine the attitude of each robotic unit 1 and its real-time velocity .
  • the force sensor 31 for tensioning the wire 200 is connected to the slider 94 and is part of the wire tensioning device 5 . It measures the tightening force for the wire 200 as the control parameter for turning the wire tensioning device 5 on or off .
  • the camera 23 is fitted to the casing 29 on the top of the post 9 and has a wired connection to the computercontroller 106 of the robotic unit 1 .
  • the function of the camera is video surveillance of the movement of the self- propelled system, obstacle recognition, and surveillance of the animals while they are grazing . Surveillance is ongoing in both the moving mode and the stationary mode .
  • the LIDAR 72 is an optical measuring instrument . It is fitted on the frame 10 of the robotic unit 1 . It has a wired connection to the computer 106 controller of the robotic unit 1 . This type of imaging is used to gather high-accuracy spatial data .
  • the radar 29 is a wireless measuring instrument and performs the same function at the LIDAR 72 .
  • the receiver 73-rover is part of the measuring system 7 and the communication system 8 . It is fitted on each robotic unit on the frame 10 . It receives satellite signals and signals from the base station 82 . The receiver 73 is used to measure the speed of the robotic unit 1 .
  • the proximity sensor 21 is fitted on the upper casing 11 of the mobile platform 3 . It is connected to the computer 106 controller of the robotic unit 1 . Its function is to detect obstacles while the system is moving . When it detects an unknown obstacle it sends a signal which is translated into a braking action and stopping of the self-propelled system. After the self- propelled system stops moving, the control system based on the obstacle-avoidance algorithm implemented into the computer 106 is activated, the route is changed, the obstacle is circumvented and the system continues moving .
  • the self-propelled system has multiple applications . Apart from its primary application, namely herding and pasturing livestock, the self-propelled system can also be used for controlled transport of smaller groups of animals from the pasture where they graze to the location where they are for instance milked . This is the case on New Zealand farms where from a large pasture with 1000 cows , groups of 50 cows are herded to milking stations with a capacity of 50 cows , in the morning and the afternoon .
  • the self-propelled system can be used to transport a large number of animals from 1 to 5000 , at distances that the animals can cover in a day, or in several days if food and water are provided for the animals for each daily distance , and charging of the system with electric power .
  • a large number of animals can be transported to the slaughterhouse or to another farm to be sold, instead of 1000 cows being transported by 50 trucks ( or in 50 trips by truck) .
  • the system also solves the problem of protecting animals during nomadic forms of rearing, where there is no building in which the animals live , because they live out in the open . In such cases the animals live inside the self-propelled herding system.
  • the system according to the present invention can also solve the problem of controlled managing of vegetation between plants that are edible to the animals as well .
  • rows of pear trees are several meters apart . I f land between these trees is overgrown by tall vegetation, this will take away nutrients from the pears , and prevent agricultural machines from moving freely between the rows .
  • Such vegetation is currently controlled by mechanical means (plowing or cutting/mowing) , or by herbicides or other chemicals .
  • With the self-propelled system it is possible to achieve organized and controlled movement between the tree rows such that for instance cows cannot eat the fruit or the trees , leaves or branches , while the surrounding vegetation is managed without chemicals or mechanical means .
  • Vegetation alongside motorways and other roads can also be managed by the use of the self-propelled system, without danger of the animals straying into the road, and with enormous savings .

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Zoology (AREA)
  • Catching Or Destruction (AREA)

Abstract

La présente invention concerne un système autopropulsé de pâturage de bétail et de rassemblement vers et depuis le pâturage. Le système autopropulsé est un berger robotique sous la forme d'une clôture électrique, qui entoure le bétail pendant le pâturage et le rassemblement vers et depuis le pâturage. Le système comprend un minimum de quatre unités robotiques (1) reliées l'une à l'autre par le fil (200) de la clôture électrique (2) qui se déplacent simultanément avec les animaux, ajustant la forme du système autopropulsé en fonction de l'itinéraire planifié. Les fils (200) de la clôture électrique (2) sont reliés par paires alternativement aux pôles positif et négatif de l'alimentation électrique (63). L'unité robotique (1) est un véhicule autopropulsé, qui est constitué d'une plate-forme mobile (3), d'un dispositif de locomotion (4) et d'un dispositif de mise en tension de fil (5). L'unité robotique (1) comprend également un dispositif de charge (6), un système de mesure (7), un système de communication (8) et un système de commande (101).
PCT/RS2021/000001 2020-09-30 2021-02-05 Système de rassemblement de troupeau et de pâturage autopropulsé WO2022071820A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RS20201177A RS20201177A1 (sr) 2020-09-30 2020-09-30 Samohodni sistem za čuvanje i teranje stada na ispašu
RSP-2020/1177 2020-09-30

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WO2022071820A1 true WO2022071820A1 (fr) 2022-04-07

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4078771A (en) 1976-04-12 1978-03-14 Diggs Richard E Rolling electric fence
US20020011595A1 (en) * 1999-10-20 2002-01-31 Lely Research Holding, Ag A Swiss Limited Liability Co. Implement for demarcating an area, as well as a vehicle suitable for being used in said implement
CN201123293Y (zh) 2007-12-13 2008-10-01 青海省机械科学研究所 电子羊圈
DE202012101575U1 (de) * 2012-04-27 2012-05-18 Johann Moissl Wander-Weidezaun für eine Rotations- oder Positionsweide
US20130269625A1 (en) * 2008-03-06 2013-10-17 Lely Patent N.V. Assembly for and method of grazing
US20200097023A1 (en) * 2018-09-21 2020-03-26 Honda Motor Co., Ltd. Autonomous all-terrain vehicles for herding
US20200128785A1 (en) * 2018-10-31 2020-04-30 Underground Agriculture Company, LLC Robotic rotational grazing system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4078771A (en) 1976-04-12 1978-03-14 Diggs Richard E Rolling electric fence
US20020011595A1 (en) * 1999-10-20 2002-01-31 Lely Research Holding, Ag A Swiss Limited Liability Co. Implement for demarcating an area, as well as a vehicle suitable for being used in said implement
CN201123293Y (zh) 2007-12-13 2008-10-01 青海省机械科学研究所 电子羊圈
US20130269625A1 (en) * 2008-03-06 2013-10-17 Lely Patent N.V. Assembly for and method of grazing
DE202012101575U1 (de) * 2012-04-27 2012-05-18 Johann Moissl Wander-Weidezaun für eine Rotations- oder Positionsweide
US20200097023A1 (en) * 2018-09-21 2020-03-26 Honda Motor Co., Ltd. Autonomous all-terrain vehicles for herding
US20200128785A1 (en) * 2018-10-31 2020-04-30 Underground Agriculture Company, LLC Robotic rotational grazing system
CA3060738A1 (fr) 2018-10-31 2020-04-30 Underground Agriculture Company, LLC Systeme de paturage robotique rotatoire

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