WO2022207766A1 - Système de collecte d'œufs comprenant un robot autonome pour récupérer des œufs et procédé de collecte d'œufs - Google Patents

Système de collecte d'œufs comprenant un robot autonome pour récupérer des œufs et procédé de collecte d'œufs Download PDF

Info

Publication number
WO2022207766A1
WO2022207766A1 PCT/EP2022/058510 EP2022058510W WO2022207766A1 WO 2022207766 A1 WO2022207766 A1 WO 2022207766A1 EP 2022058510 W EP2022058510 W EP 2022058510W WO 2022207766 A1 WO2022207766 A1 WO 2022207766A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
egg
eggs
bird
poultry
Prior art date
Application number
PCT/EP2022/058510
Other languages
English (en)
Inventor
Raymond HENEGHAN
Stepan DZHANOV
Original Assignee
Izario Poultry Robotics Limited
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 Izario Poultry Robotics Limited filed Critical Izario Poultry Robotics Limited
Publication of WO2022207766A1 publication Critical patent/WO2022207766A1/fr

Links

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
    • A01K31/00—Housing birds
    • A01K31/14—Nest-boxes, e.g. for singing birds or the like
    • A01K31/16—Laying nests for poultry; Egg collecting
    • A01K31/165—Egg collecting or counting

Definitions

  • the present disclosure relates to an autonomous poultry robot that, in preferred embodiments, includes a movable chassis with internal egg storage capabilities, a robotic arm and a base station with egg storage and recharging abilities.
  • the autonomous poultry robot is a self contained, self powered, and self navigating vehicle with an onboard power generation system, sensory systems, computer controlled navigation system and safety systems.
  • the robot functions in broiler breeder and commercial egg poultry houses retrieving and depositing floor eggs, monitoring birds, monitoring houses/environmental conditions, stimulating birds and maintaining bed litter.
  • the autonomous poultry robot can also operate in broiler houses for dead bird removal, monitoring birds, monitoring houses/environmental conditions, stimulating birds and maintaining bed litter.
  • Modern poultry sheds that house breeder, layer and broiler birds contain designated areas for birds to eat, drink, rest and lay eggs. In some instances, birds may decide to lay eggs elsewhere, such as on the ground. This is an increasing problem for the poultry industry that genetic selection is not able to correct. Production generally begins when birds start to lay eggs at age 25 or 26 weeks old. The next 6-8 weeks are a critical period that requires a constant presence by the farmer to train and discourage birds from laying on the floor. The introduction of the proposed autonomous poultry robot will significantly reduce the instances of floor eggs by encouraging birds to lay in designated areas and along with the fast retrieval of eggs that have been laid on the floor to further reduce the hormonal response of other birds seeing eggs on the floor and also laying their egg on the floor as a result of this.
  • the constant presence of the robot will also increase the fertility levels of the shed by stimulating birds to move throughout the house more frequently to interact with more roosters, which will have a positive effect on the level of eggs that are hatchable in broiler breeder sheds.
  • a general egg production cycle is 65 weeks long. In the first 6-8 weeks of the introduction of a new flock birds can lay floor eggs at a rate of 15-20% per day. At the average stocking rate of 8000 birds per shed this can equate to up to 1 ,600 eggs per day that must be picked by hand. During the first number of weeks it is crucial that the farmer is continuously present to stimulate and encourage birds into laying boxes. Failure to do so can increase floor eggs to over 20%, requiring greater time being spent by the farmer to bring this number down.
  • AS ABE American Society of Agricultural and Biological Engineers
  • That paper discloses a robotic system for autonomous egg picking.
  • the system comprises a mobile robotic platform with a sensor and deep learning algorithms to detect the eggs on the floor and drive up to them, and a robotic arm combined with visual servoing algorithms to pick up the eggs and place them in a basket.
  • CN110833048A and CN212116676U disclose an egg-picking robot comprising a gripping device on an articulated arm and an egg storage tray
  • CN210616549U discloses an automatic patrolling and sorting robot for free-range poultry eggs.
  • the robot uses surveillance cameras to determine if there are eggs nearby and a shovel and sweeper for egg collection.
  • CN109717096A discloses a surface egg picker cart comprising a scoop-like collector plate.
  • CN102350693A discloses a robot that automatically detects the position of eggs, using a camera, and then picks up the eggs using a suction cup on a robot arm.
  • CN109169394A discloses an egg-picking robot in which a camera is disposed on the robot arm.
  • CN108501008A and CN108501009A disclose an egg picking robot that includes a mechanical arm and a gripper connected to the arm, the gripper including cameras to identify the presence and position of an egg.
  • the egg-picking robot of CN211910115U comprises an egg-storage container with a spiral shape.
  • the egg-picking robot of CN107691276A comprises an ultrasonic sensor used solely for egg detection.
  • WO2018156569A1 discloses an egg grasp device comprising a plurality of elongated members extending from a body and interlaced to form a sheath capable of retaining an egg.
  • CN109877857A discloses a pneumatic egg-grasping device.
  • US2005217589A1 discloses a self-propelled robot system for agitating poultry within a poultry house.
  • the robot has sensors to maintain a minimum distance from structures such as surrounding walls.
  • a bump sensor shuts down the robot if it encounters an obstacle in its path.
  • the robot then waits for a farmer to remove the obstacle and to reset the robot to start again.
  • CN212032223U discloses an inspection robot comprising a first set of sensors to determine a bird’s physiological behaviour, including a thermal imaging sensor and a sound sensor.
  • a second set of sensors collect environmental information, including temperature and humidity sensors and a gas sensor.
  • a management system is capable of searching for and collecting dead birds in a poultry house.
  • a search/collection robot moves autonomously and when a dead bird is detected by a sensor camera of the robot, a mechanism collects the bird for transportation to a collection point.
  • a disinfection robot has sensors that monitor ammonia, dust, temperature and humidity. The robot returns to a charging station if the battery charge is low.
  • ES2891401A1 discloses a cleaning robot that is designed to be used in the hydro-cleaning and disinfection of poultry houses when birds are not present.
  • an environment measuring robot has sensors for temperature, humidity, carbon dioxide and ammonia.
  • An infrared camera can detect an increase in body temperature of chickens to detect any chicken that has a disease.
  • US11019805B2 discloses robot-assisted surveillance to distinguish healthy birds from sick and dead birds.
  • a robot moving through a poultry shed takes measurements of ambient conditions such as temperature of the environment and of individual chickens, humidity, carbon dioxide and ammonia concentration, airflow and/or luminosity of the shed and/or sound registration in the shed.
  • ambient conditions such as temperature of the environment and of individual chickens, humidity, carbon dioxide and ammonia concentration, airflow and/or luminosity of the shed and/or sound registration in the shed.
  • a mechanical arm of the robot picks the birds or a separate system is notified to gather the birds.
  • the present invention resides in an autonomous vehicle referred to as a poultry robot for retrieving and depositing eggs but not limited to floor eggs, stimulating birds, monitoring birds, monitoring house/environmental conditions, picking and removing dead birds and maintaining and improving bed litter.
  • the autonomous robot may comprise a structural chassis, robotic arm, mechanical gripper, suction cup, batteries, electric drive motors, navigation sensors, control computer, and safety systems and various other sensors described within.
  • the autonomous poultry robot drives along a predetermined and/or calculated path by steering itself using a stored map depicting the layout of the shed including immovable obstacles.
  • the shed patrolling route is stored in the robot’s main computer memory system as a collection of predetermined or learned or evolving/updating paths.
  • terrain and navigation information is also stored in the poultry robot’s main computer.
  • the poultry robot During patrolling, the poultry robot attempts to traverse a given stored shed route by controlling its drive motors to move the vehicle in either straight lines, backward lines or arcs that describe path segments comprising the monitoring route. Navigating purely from the stored map information, however, is not sufficient to control the vehicle precisely. Factors such as wheel slippage, mechanical inaccuracies, and control errors, which produce cumulative position errors, may eventually cause the vehicle to deviate from its programmed route. Consequently, in order to maintain a correct patrolling route, the autonomous poultry robot includes methods to recalibrate its position with actual reference points in the shed such as the use of LiDAR, SLAM (Simultaneous localization and mapping) obstacle sensors, radio frequency tags and cameras.
  • LiDAR LiDAR
  • SLAM Simultaneous localization and mapping
  • the autonomous poultry robot’s current position referencing is accomplished by comparing the vehicle’s current perceived position in the shed and operating state, derived from sensory data and current task objective, with information it expects from its stored map to determine its exact position and any obstacles that may be in its way and if it needs to self-correct.
  • the autonomous robot may use, but is not limited to, bird-level cameras that are placed onto the robot to process and detect images in order to identify eggs such as floor eggs. Once cameras and the software correctly identify floor eggs, the egg’s positional coordinates are used to inform the arm of the egg’s position in order to pick it.
  • the robot moves into place deploying the autonomous arm which lifts the egg from the floor.
  • the robotic arm then places the egg into the robot’s internal egg storage system where it can identify, based on weight, what type of egg it is.
  • this robot can be used throughout a variety of poultry production systems and is not just limited to broiler breeders and commercial egg houses.
  • This robot can be used throughout the whole live bird production of the poultry sector.
  • the robot can be used in a chicken broiler and turkey house to monitor weight levels of birds, monitor air quality, inform the farmer of dead or injured birds, pick and remove dead birds and maintain the bed litter for higher animal welfare standards.
  • These functions can be implemented with minimal modifications to the autonomous poultry robot.
  • the skilled reader will understand that the size of the robot may be varied depending on the type of poultry production house the robot is operating in.
  • the robot may comprise one or a number of cameras that are placed at bird level. These bird level camera/s are used to actively detect in real time images of eggs that have been laid on the floor and inform the robot control unit to pick them up by the robotic arm.
  • the cameras continuously monitor the internal surfaces of the shed looking to detect eggs.
  • a computer vision algorithm can recognise the colour or shape of the egg or realise that it has previously seen similar images to determine that it an object is an egg and must be picked up.
  • the robot may comprise one or a number of cameras that are placed at bird level to actively monitor birds for proximity to the robot, weight levels, injury, death and health status. For example, if the robot is working throughout the shed and images from the camera detect a bird with a visible injury such as reduced locomotion, the robot has the ability to avoid that bird and notify the farmer/user of the injured bird and what the robot believes the problem to be, such as swollen joints.
  • the robot has the ability to determine if a bird is alive by monitoring its movement using motion detection and body temperature using infrared sensors or a thermal camera that are on the robot or contained within the camera. If the robot determines that the bird may be dead, it will push against it to monitor its motion and if no motion is detected, the farmer will be notified.
  • the robot comprises a fully autonomous arm that extends to the position of egg that is located on the floor and has the ability to pick the egg using a gripper made out of or including, but not limited to, an elasticated soft material that conforms to the egg.
  • the robot may comprise a fully autonomous arm that extends to the position of an egg that is located on the floor and has the ability to pick the egg using a suction cup that is placed in the centre of the egg and which forms a vacuum allowing the robotic arm to lift the egg from the ground.
  • the robot may comprise a mechanical gripper that has the ability to pick up an egg laid on the floor. This form of gripper may be used depending on specific needs.
  • a mechanical gripper also has the ability to lift and move dead birds lying on the floor of the shed or in the path of the robot.
  • the autonomous arm that forms part of the robot also comprises a camera.
  • This camera allows the robotic arm to gather the correct position and/or coordinates of an egg that is on the floor and allows the arm to find the centre of the egg in order to pick it correctly.
  • This camera also allows the robotic arm to move to the correct position of a dead bird to remove it from the shed floor.
  • the autonomous poultry robot may comprise a pump that is connected with the robotic arm and suction cup to evacuate air to allow for a vacuum to form where the suction cup comes into contact with the egg.
  • a pump to create suction prevents an egg from falling and being damaged while being picked by the robot.
  • the use of a suction cup also allows the robotic arm to operate at faster speeds due to the egg being held more securely.
  • the autonomous poultry robot may comprise a mechanism that scoops eggs up from the floor or other surface of a shed once they have been identified using the robot cameras.
  • the scooping method may go below the surface where the egg is on the floor of the shed, when an egg has been identified the mechanical scoop will then lift the egg allowing it to be placed internally into the autonomous poultry robot for storage.
  • the autonomous robot may comprise an egg sweeper.
  • This egg sweeper may, for example, rotate about a horizontal axis parallel to the shed floor and sweep up any eggs that the robot identifies and drives over.
  • the egg sweeper will then allow eggs to be placed into the internal egg management system within the autonomous poultry robot. For example, once the sweeper picks an egg, it can enter an egg funnel that will allow it to reach the internal egg management system.
  • the autonomous poultry robot may comprise one or more of mechanical arms, suction cups, scoops and/or sweepers to retrieve eggs from the floor.
  • the autonomous robot beneficially may be operated effectively with one or more of the aforementioned methods of picking eggs or dead birds from the floor depending on the specific application of the robot.
  • the robot has an internal egg storage system into which eggs from the shed floor that have been picked by the robotic arm are placed to be stored safely prior to unloading.
  • Each egg will have its own individual space that prevents it from rolling or falling internally.
  • the robot can determine if an egg is placed in an individual space and if all of those spaces are full.
  • Each egg may be placed through an opening that allows the eggs to roll down an internal egg storage spiralised system. This system allows for faster storing and unloading of eggs.
  • the autonomous robot may comprise one or more load cells to measure weight.
  • These loads cells allow the robot to weigh an egg and determine what type or size of egg it has picked, e.g. double yolk, standard, large or small.
  • the load cells also allow the robot to calculate its gross weight to allow it to determine how much battery reserve it has to return to the base station or another designated point.
  • the robot comprises an internal egg storage/management system that has the ability to identify the type of egg that has been picked based on, but not limited to, the weight of the egg. This can be used to inform the farmer/user of the number of usable eggs that have been retrieved from the floor.
  • a tracked wheel system that is adaptive to the landscape it moves over to prevent the robot from getting stuck or falling over while carrying out its tasks.
  • the track wheels support the main chassis of the robot and prevent it from coming into contact with the ground.
  • the autonomous poultry robot may use up to four wheels to allow the robot to move while carrying out its tasks. These four wheels may be located at respective corners of the poultry robot. They support the main chassis of the robot and prevent it from coming into contact with the ground.
  • the autonomous poultry robot may comprise a wheel drop sensor that can be integrated with any wheel or track system that is used. This wheel drop sensor can determine if any or all of the wheels drop below a safe operating level, allowing the robot to determine if it needs to back up to prevent it becoming stuck when operating in an environment such as a poultry shed.
  • the autonomous poultry robot may comprise an adaptive suspension system.
  • the driven wheels may be mounted on an adaptive suspension systems that allows the wheels to move to an extended position away from the main chassis or the robot.
  • the suspension system may include, for example, pivoting gearboxes that include the motor and gears that drive the wheels.
  • the weight of the autonomous poultry robot causes the suspension systems and the wheels to retract at least partially into the housing.
  • the autonomous poultry robot may also include wheel drop sensors (e.g., switches engaged by the pivoting gearboxes) to detect when the wheels are in the extended position.
  • the robot may comprise a detachable or permanent body/part in the form of a soil miller or disk harrow-like tool that has the ability to go below the surface of bed litter in the shed in order to turn it over and break up any build-up of manure and litter.
  • a litter conditioner may be dragged by the poultry robot when it is carrying out its specified tasks. This dragging rotates a disk-like body that has spikes or sharp edges to allow for a hard surface build-up of the a bed litter material to be reduced, making a softer surface for birds thus increasing the animal welfare standard of the shed/house.
  • a harrow for the purpose of breaking up the soil or litter may be of various different types such as a spring-tooth harrow, a drag harrow, a spike harrow, a chain harrow or a chain-disk harrow.
  • the robot may comprise a rotating agitator that is placed on the bottom of the robot.
  • This agitator rotates at speed moving bed litter that it comes into contact with.
  • the rotating agitator can be used to move and actively break up the bed litter while the robot moves throughout the poultry house.
  • the rotating agitator is attached to the bottom of the robot so that as the robot moves throughout the poultry house, the agitator is continually spinning as a method to turn and aerate the bed litter in the shed.
  • the rotating agitator may rotate about a substantially horizontal axis parallel to the bed litter of the shed.
  • the rotating agitator may be coupled to electrical motors, to impart rotation, for example of a blade-like body, by way of one or more drive belts, gears or other driving mechanisms.
  • a rotating agitator will reduce humidity levels and ammonia concentrations that are retained in the bed litter. This will allow for a better and softer litter evenly spread throughout the house to prevent a large build-up of birds in areas that are softer, which can cause injury or death to birds.
  • the bed litter may be broken or kept at a certain level of softness by the rotating agitator continuously rotating when the robot is moving throughout the house or a detachable or permanent body that is placed on the back of the robot that may comprise a disc or spikes to turn and move the bed litter. It is important to note that the robot may or may not contain either the rotating agitator and/or body placed at the back of the robot in order to function, as this is dependent on the specific application and the needs of the farmer.
  • a base/recharging station the robot enters in order to recharge its battery.
  • This docking/recharging station is placed at a strategic point in the poultry house to provide ample opportunities for the robot to regain charge.
  • the robot enters the docking station via a robot access point that does not allow birds to gain access to the docking station.
  • the docking station allows the robot to come into contact with charging points that allows the robot to regain charge in order to operate continuously in the shed.
  • the recharging station contains a system that allows eggs contained within the robot to be unloaded into the base station. This allows the robot to fully unload all eggs that are contained within the robot prior to leaving the base station to retrieve any further eggs that may be laid by birds on the floor.
  • the robot may utilise its robot arm to place the eggs that have been picked throughout the shed and currently in the robot’s internal egg management system into a docking station egg unloading point, where it then moves the eggs via a robotic arm or rotating lift that bring the eggs into the base station in order for the farmer to collect all the eggs that have been laid on the shed floor.
  • An embodiment of the poultry robot runs an algorithm for navigating throughout poultry sheds or other environments.
  • This navigation algorithm has the ability to self-determine its position in the shed along with realising obstacles that have previously been in the robot’s paths.
  • the autonomous poultry robot uses deterministic algorithms that generate a path calculated to facilitate complete monitoring coverage of a given shed area while eliminating redundant patrolling and monitoring. Deterministic patrolling requires that the autonomous poultry robot maintains precise position knowledge at all times, as well as its position history including where it has previously been along with eggs it collected in this area, which, in turn, requires a sophisticated positioning system.
  • a positioning system suitably accurate for deterministic patrolling might rely on scanning laser ranging systems, infrared sensors, ultrasonic transducers, a carrier phase differential GPS, LiDAR, SLAM, or other sophisticated methods to determine the robots current position such as dead reckoning.
  • the poultry robot may comprise a LiDAR sensor that contains a laser allowing the robot to map its current position and form an image of its surroundings and in turn avoid obstacles and birds when operating in the poultry shed.
  • the autonomous robot may use a camera in a method of navigation that uses feeding pipes, feeding pan lights, QR codes or other identifiable objects in the poultry shed to calculate the robot’s position relative to such identifiable objects to correct the robot’s course and position whilst carrying out its task.
  • the robot may employ a SLAM (simultaneous localization and mapping) camera as a means of navigation.
  • SLAM can use the feeding pipes, feeding pan lights, QR codes or other identifiable objects in the poultry shed to calculate the robot’s position relative to those identifiable objects to correct the robot’s course and position while carrying out its task in order to determine the robot’s exact position in the shed.
  • the autonomous poultry robot may utilise dead reckoning as a method of determining its current positing in the shed, which that may be coupled with any of several other navigation methods to allow the robot to form a clear picture of its current position in the shed.
  • Dead reckoning involves continually measuring the precise rotation of each drive wheel to continually calculate the current position of the robotic device, based upon a known starting point and orientation, such as a docking station or last known exact point in the shed.
  • the present invention may provide various mechanical avoidance sensors that allow the robot to interact with its surroundings. These mechanical avoidance sensors may be used to identify obstacles in the robot’s path while carrying out its defined tasks. These sensors inform the robot of any known obstacles that it may be approaching and allow the robot to avoid them successfully.
  • the autonomous robot may comprise infrared sensors to identify obstacles that are present in the robot’s path while operating in environments such as poultry sheds.
  • Infrared sensors can determine if an obstacle is a movable or immovable obstacle such as a bird or wooden post.
  • Infrared sensors may also be used in conjunction with a camera to identify birds that are dead.
  • the robot may comprise a motion sensor used to detect motion of the birds in a poultry shed.
  • the robot is configured to evaluate motion of objects in the poultry shed based on images from the camera. The robot can then detect if the image looks like a bird and determine if it is moving or not. If the robot detects the bird is dead it can notify a supervisor.
  • Motion sensors allow for safer navigation throughout the poultry shed when interacting with birds.
  • the autonomous robot may comprise ultrasonic sensors that allow the robot to determine its distance from an obstacle in the way of the robot’s defined path.
  • the robot may be configured to read and generate ultrasonic data that is monitored to determine its distance to the target by measuring the time between the emission and reception of ultrasonic waves.
  • the autonomous robot may comprise radio frequency sensors that will work with radio frequency tags placed throughout environments such as poultry houses.
  • the robot can determine its current position and obstacles based on reading values from the radio frequency tags.
  • These tags can be placed at strategic locations throughout the shed such as on bird feeders, drinkers, walls or posts.
  • an embodiment of the autonomous robot may comprise a camera that has the ability to read QR codes.
  • QR code tags may be placed throughout environments such as poultry houses. These QR code tags allow the robot to determine its current position and obstacles based on reading the QR codes. Again, the QR code tags can be placed at strategic locations such as on bird feeders, drinkers, walls or posts.
  • the autonomous poultry robot may comprise a cliff or edge sensor for generating a cliff signal upon detection of a cliff or a similar uneven surface.
  • the cliff sensor may include an emitter for emitting an emission signal downwardly and a detector configured to detect the emission reflected off a surface being traversed by the robot. This allows the robot to detect if it is going over a mound or an uneven surface that could tip or topple the main chassis. This cliff sensor will prevent the robot from toppling over or getting stuck on a cliff or ridge that it is unable to free itself from.
  • the autonomous poultry robot is configured to detect obstacles resting on or above and spaced apart from the shed surface being monitored.
  • the poultry robot can include a bumper with a plurality of projections extending from a top edge of the bumper.
  • the projections help prevent the poultry robot from becoming wedged under bird feeders and drinkers that are present in the shed.
  • the projections extending from the bumper may come into contact with various elements spread throughout a common poultry shed such as bird feeders and drinkers.
  • the autonomous robot may be caused to enter an obstacle avoidance behaviour and retreat to its last position where it was not in contact with an obstacle.
  • the autonomous poultry robot may comprise a bump sensor which in turn may include a displaceable bumper attached to the chassis and at least one break- beam sensor disposed on the displaceable bumper.
  • the break-beam sensor may be activated upon displacement of the bumper toward the chassis.
  • This bumper may be useful in moving a broody hen away from eggs that she has laid on the floor and is protecting.
  • the bumper sensor will be able to establish the correct amount of pressure to apply to the bird in order to move it away to access the egg without causing any unnecessary harm or stress to the bird.
  • the bumper may also be used to push a dead birds into a better position for the robotic arm to pick up the bird from the floor.
  • the autonomous poultry robot may comprise one or more of a mechanical avoidance sensor, infrared sensor, motion detector sensor, radio frequency sensor, ultrasonic sensor, cliff sensor, wheel drop sensor, bump sensor and break-beam sensor.
  • the autonomous robot beneficially may be operated effectively with none or one or any or all of the aforementioned sensors, depending on the specific application.
  • the autonomous robot may comprise temperature sensors configured to generate temperature signals indicative of the surroundings of the robot.
  • the surrounding temperatures may change in accordance with the robot’s position in a space like a poultry house.
  • Temperature fluctuations may be detected by the robot during the course of its work which can inform the farmer/user of an issue with the shed that could have a negative effect on birds productivity. If temperature fluctuations are detected the farmer/user may be informed by a notification or have the data displayed to them. Severe temperature fluctuations could identify air flow quality issues in various points of a poultry house such as pockets of dead air, draughts, cold spots or hot spots which can all affect the performance of the flock.
  • the robot comprises a humidity sensor configured to measure and monitor humidity levels based on the robots’ location in a poultry house/shed.
  • the poultry robot is configured to gather and transmit humidity levels of the shed based on its current position in the shed, for example to a cloud service. Humidity levels of the shed are directly related to the productivity of birds.
  • the humidity sensor reading may be used in correlation with shed management systems to alter airflow levels based on readings of the sensor to reduce or increase humidity levels.
  • the present invention may comprise a carbon dioxide sensor to monitor the C0 2 levels of the shed.
  • the autonomous poultry robot may be configured to transmit C0 2 data indicative of the C0 2 levels recorded by the robot based on its current position in the shed, for example to a cloud service.
  • C0 2 concentration levels are directly impacted by the shed’s ventilation system. Birds in comparison to humans are able to withstand higher levels of C0 2 concentration but if C0 2 concentration levels are too high it will reduce the productivity of the birds and may eventually cause death.
  • the autonomous robot may comprise ammonia sensors to measure and monitor the ammonia concentration throughout a poultry house.
  • the robot is configured to transmit NH 3 data indicative of the ammonia levels recorded by the robot based on its current position in the shed, for example to a cloud service. Higher ammonia levels in a shed reduce the productivity of a flock and require greater feeding inputs in order to maintain an acceptable level of flock productivity.
  • the ammonia sensor advantageously allows ammonia level concentrations in the shed to be monitored.
  • the sensor can detect if ammonia levels exceed an acceptable level that will have a negative effect on the productivity of the flock and present a health risk to the birds. High levels of ammonia concentrations can cause birds to develop ammonia influenza, in turn reducing the productivity of the flock.
  • the ammonia sensor may be placed on or in the autonomous robot to ensure the reliability of the ammonia levels being measured.
  • the autonomous poultry robot may comprise one or more of a humidity sensor, a ammonia sensor, a temperature sensor a the carbon dioxide sensor.
  • the autonomous robot beneficially may be operated effectively with one or all or any of the aforementioned sensors depending on the specific application.
  • the autonomous robot may contain a light that has the ability to turn on and off and to emit any of various colours that birds are sensitive to.
  • This light can be used to stimulate birds towards laying areas in the initial weeks of a production cycle along with moving birds towards slats prior to lights going off in the shed.
  • the light can be used to move hens off eggs that they are protecting or nesting on to allow the robot to pick up the eggs.
  • the autonomous poultry robot may comprise a light optical amplifier commonly known as a laser. This may be used to emit light with various colours and intensities that poultry are sensitive to.
  • the laser has the ability to stimulate birds that may be in the way of the robot. It may for example be placed at bird height and extend in front behind and to the sides of the autonomous robot to create a secure area around the robot while keeping birds at a safe distance from the robot.
  • the autonomous poultry robot may comprise a sound emitter that can be used to stimulate birds towards laying areas in the initial weeks of a production cycle along with moving birds towards slats prior to lights going off in the shed.
  • a sound-emitting diode can be used to move hens off eggs that they are protecting or nesting on to allow the robot to pick up the eggs.
  • embodiments of the present invention may comprise a bumper that has the ability to lightly push and move birds, allowing the robot to move birds that are protecting eggs laid on the floor.
  • the autonomous poultry robot may comprise one or more of the lights, laser, sound emitter and bumper.
  • the autonomous robot beneficially may be operated effectively with one or all or any of the aforementioned accessories depending on the specific application.
  • the skilled reader will realise that, over time, animals and birds become familiar with their surroundings and the equipment that is operating in these areas. So, throughout the production cycle, birds will become more familiar with the robot and its routine.
  • the robot may employ lights, sound emitters and/or bumpers to continuously stimulate birds but may use these stimulating techniques in different sequences, patterns or combinations for continued levels of bird stimulation.
  • system may comprise a mobile communication device and a cloud service may be configured to send and receive a notification to the mobile communication device indicative of data that has been gathered by the autonomous robot.
  • Figure 1 is a schematic diagram of an autonomous poultry robot’s control system.
  • Figure 2 is a schematic diagram of the autonomous robot’s real time control unit.
  • Figure 3 is a schematic diagram of the autonomous robot’s main computer unit.
  • Figure 4 is a schematic diagram of the autonomous robot’s environment monitoring unit.
  • Figure 5 is a front perspective view of an autonomous poultry robot of the invention.
  • Figure 6 is a rear perspective view of the autonomous poultry robot of Figure 5.
  • Figure 7 is a rear perspective view of the autonomous poultry robot when placing a picked egg into an internal egg storage system
  • Figure 8 is a rear perspective view of the autonomous poultry robot showing workings of its internal egg storage system.
  • Figure 9 is a side view of the autonomous poultry robot with an egg in a gripper/picking mechanism.
  • Figure 10 is a front view of the autonomous poultry robot with an egg in the gripper/picking mechanism.
  • Figure 11 is a side view of the autonomous poultry robot with a detachable harrow used to maintain bed litter conditions.
  • Figure 12 is a rear perspective view of the autonomous poultry robot shown in Figure 11.
  • Figure 13 is a detail side view of the autonomous robotic arm, picking an egg from the floor.
  • Figure 14 is a detail side view of the autonomous robotic arm, picking an egg from the floor at a greater distance from the autonomous robot.
  • Figure 15 is a detail top view of the autonomous robotic arm, picking an egg from the floor.
  • Figure 16 is a schematic top view of a spiralised internal egg management system and a robotic arm operating area.
  • Figure 17 is a schematic top view of an internal egg management system with individualised egg storage compartments and a robotic arm operating area.
  • Figure 18 is a schematic side view of the autonomous robot with a spiralised internal egg management system
  • Figure 19 is a schematic side view of the autonomous robot with an internal egg management system with individualised egg storage compartments.
  • Figure 20 is a perspective view of a docking station that allows the autonomous poultry robot to re-charge and offload eggs from an internal storage system.
  • Figure 21 is a schematic view of the docking station internal egg management system.
  • Figure 22 is a schematic view of egg storage compartments of the egg management system.
  • Figure 23 is a schematic diagram of the autonomous poultry robot patrolling along a set path looking for eggs and monitoring birds and the environment.
  • Figure 24 is a schematic diagram of the autonomous poultry robot patrolling along a set path and adjusting its position in order to pick eggs or remove a bird.
  • Figure 25 is a schematic figure of the autonomous poultry robot adjusting its position in order to pick eggs or remove a bird based on obstacles that are in the robot’s path.
  • Figure 26 is a schematic diagram of the autonomous poultry robot transmitting data to a base unit or cloud service.
  • Figure 27 is a schematic figure of a typical poultry shed geometry with the autonomous poultry robot operating in it.
  • Figure 28 is a flow chart outlining the method steps of identifying eggs that have been laid on the floor and retrieving and offloading them.
  • Figure 29 is a flow chart outlining the method steps of identifying birds and their current health status to inform a supervisor such as a farmer.
  • Figure 30 is a rear perspective view of an autonomous poultry robot of the invention, showing an outlet chute communicating with a storage container of the robot.
  • Figure 31 is a front view of a docking station of the invention arranged for offloading eggs from a robot of the invention shown here docked with the station.
  • Figures 32 and 33 are front views of an egg transfer mechanism of the docking station.
  • Figure 34 is a top perspective view of a receiving chute of the egg transfer mechanism shown in Figures 32 and 33.
  • Figure 35 is a front detail view that shows the egg transfer mechanism in operation.
  • Figure 36 is a top perspective view of an egg management system of the docking station, showing eggs being lifted by the egg transfer mechanism to the level of an egg collection container.
  • Figures 37 and 38 correspond to Figure 36 and show eggs rolling into the egg collection container from the egg transfer mechanism.
  • Figure 39 is a top view of the docking station showing eggs lying in the egg collection container.
  • FIG. 1 a schematic diagram of the control system 10 of an autonomous poultry robot of the invention.
  • the robot control system 10 allows the robot 64 to patrol the inside of a poultry shed 114 in a “path to path” manner.
  • a main computer unit 16 using images from cameras 42, 44, 80 calculates the direction of the robot 64 and sends commands to a real time control unit 12 via a high-speed interface 14.
  • the real time control unit 12 controls motors driving wheels 78 or tracks of the robot 64 to move the robot 64 in its intended direction.
  • the main computer unit 16 analyses images from a main view camera 42 to detect eggs 76 in areas around the path 106 of the robot 64. If an egg 76 is detected, the main computer unit 16 sends a command to the real time control unit 12 to stop the robot 64 and to pick up and pack the egg 76 in an internal egg management system 70, 92 of the robot 64. Meanwhile, an environment monitoring control unit 18 collects data continually from a range of sensors 54, 56, 58, 60, 52.
  • FIG. 2 is a schematic diagram of the real time control unit 12.
  • the real time control unit 12 has a microcontroller 20 that has various connections to allow the robot 64 to function, namely:
  • base station location sensors 38 to allow the robot 64 to navigate to a base station 96 by calculating its route to return to and dock with the base station 96;
  • cliff sensors 36 to allow the robot 64 to detect if it is on an edge and may topple, hence allowing the robot 64 to switch into an obstacle avoidance mode and back-up to a safe location;
  • an IR break beam sensor 34 to detect if an IR or other beam has been broken if a bumper 66 of the robot 64 comes into contact with an obstacle 108; • a wheel drop sensor 32 to determine if a wheel 78 or track has dropped into a hole or substantially below the height of the other wheels 78 or tracks to prevent the robot 64 getting stuck; and
  • a bump sensor 30 for use when the robot 64 bumps into birds or other objects in order to move them.
  • the bump sensor 30 allows the robot 64 to determine how much pressure it is applying to the object.
  • FIG. 3 is a schematic diagram of the main computer unit 16.
  • the main computer unit 16 may comprise a single board computer that is connected to:
  • a WiFi module 46 for robot communication with a user application 50; customer display and control buttons for general control of the robot; and LiDAR 48 to allow the robot 64 to build a map of the shed 114, facilitating navigation and obstacle avoidance;
  • Figure 4 is a schematic diagram of the environment monitoring unit 18.
  • the environment monitoring unit 18 comprises a measurement board 52 for processing data received from various sensors, including:
  • the poultry robot 64 shown here comprises a set of wheels 78 but may instead comprise caterpillar tracks.
  • the wheels 78 support a chassis 82 that in turn supports an internal egg management system 70.
  • Eggs 76 are placed into the egg management system 70 using a robotic arm 72 that comprises a suction cup 74 or mechanical gripper at its distal end to lift eggs 76 individually.
  • An egg 76 is identified on the floor of the shed 114 using the main view camera 80 of the robot 64.
  • the chassis 82 of the robot 64 also supports the robot’s main computer unit 16, real time control unit 12 and environment monitoring unit 18. Bumpers 66 extend across the front and rear of the chassis 82, outboard of the wheels 78.
  • the egg management system 70 comprises a cylindrical housing that is rotationally symmetrical about an upright axis.
  • the housing has an upwardly-opening loading aperture 68 in its top into which the robotic arm 72 can deposit eggs 76 in sequence.
  • the housing contains a spiral chute 86, shown in Figure 8, that twists around the upright axis of the housing, down which eggs 76 roll after being deposited into the loading aperture 68.
  • This spiralised system 86 allows each egg 76 to be handled and stored safely in the robot 64 and allows for fast storing and unloading of eggs 76. Unloading of eggs is performed through an outlet opening 164 in the rear of the housing at the bottom of the chute 86, when a closure 84 is moved aside from the outlet opening 164.
  • the capacity of the egg management system 70 is determined by the length of the chute 86 and the aggregate diameters of the eggs 76 that lie in mutual abutment on the chute 86.
  • FIGS 11 and 12 show an optional litter conditioning attachment 88 on the rear of the robot 64.
  • the litter conditioning attachment 88 is in the form of a harrow comprising a series of toothed discs that rotate as the robot 64 drives along its path 106, hence moving and levelling the bed litter within the shed 114.
  • Figures 13 to 15 show the robotic arm 72 operating to pick eggs 76 or other objects from the floor of a poultry shed 114.
  • the egg 76 is located relatively close to the robot 64 whereas in Figure 14 the egg 76 is relatively far from the robot 64, requiring the robotic arm 72 to extend its reach to pick the egg 76.
  • FIG 16 is a schematic top view of the robot 64 showing the spiral chute egg management system 70 also seen in Figures 5, 7 and 8
  • the internal egg management system 92 comprises an array of individual dish-shaped egg receptacles 94 or containers to allow for each egg 76 to be handled and stored separately in the robot 64.
  • Figures 16 and 17 also show an operating area 90 of the robotic arm 72 that surrounds the front of the robot 64. The robotic arm 72 picks eggs 76 within the operating area 90.
  • Figure 18 and Figure 19 are schematic side views, respectively, of the egg management system 70, 92 for containing eggs 76, shown in Figure 16 and the individual egg containers 94 or slots shown in Figure 17.
  • FIG 20 is a perspective view and Figure 21 is a front view of a base or docking station 96 that allows the autonomous poultry robot 64 to re-charge its onboard battery and to offload eggs 76 from the internal egg management system 70, 92 periodically, for example when the battery charge is running low or the egg management system 70, 92 is full, or nearly so.
  • the docking station 96 has an access opening 98 that allows the robot 64 to enter and unload eggs 76 that have been picked from the poultry shed 114.
  • the docking station 96 further comprises electrical contacts 100, 102 within the access opening 98 that are cooperable with complementary electrical contacts 40 on the robot 64 to recharge the battery of the robot 64 when the robot 64 is docked.
  • the robot 64 blocks the access opening 98 to prevent birds from interfering with the robot 64 when it is not operating.
  • the docking station 64 comprises a retrieval system that unloads the eggs 76 from the egg management system 70, 92 of the robot 64 and transfers the eggs 76 to an internal egg management system 104 of the docking station 96, exemplified in Figure 22.
  • the robot 64 may, for example, use its robotic arm 72 to transfer eggs 76 from the robot’s egg management system 70, 92 into a loading point of the docking station 96, from which the docking station 96 then moves the eggs 76 via a robotic arm 72 or rotating lift that brings the eggs 76 into the egg management system 104 of the docking station 96.
  • Figure 23 shows the autonomous poultry robot 76 patrolling along a set path 106 within a shed area 114 looking for eggs 76 and monitoring birds and the environment. While patrolling along a set path 106, the robot 64 is monitoring images of the shed floor for eggs 76 or obstacles 108.
  • Figure 24 shows the robot 64 while patrolling along the set path 106, looking for eggs 76 and monitoring birds, and adjusting its position relative to the path to pick eggs 76 or remove a bird. The robot 64 is shown here adjusting its position toward a floor egg 76 that is nearest to the robot 64. Once the nearest floor egg 76 is picked, the robot 64 continues to move and adjusts its position to pick the next egg 76 closest to the robot 64.
  • Figure 25 shows the robot 64 adjusting its position to pick eggs 76 or remove a bird based on obstacles 108 that are currently in the robot’s path 106, such as feeders, drinkers, birds or other obstacles 108. While patrolling the shed area 114 looking for eggs 76 and monitoring birds, the robot 64 approaches or comes into contact with an obstacle 108. Consequently, the robot 64 adjusts its path 106 to get around the obstacle 108 and pick an egg 76 that is close to the obstacle 108. Once the robot 64 has adjusted its path, it then continues on to retrieve any further eggs 76 on the floor while also monitoring birds in the robot’s path 106.
  • obstacles 108 such as feeders, drinkers, birds or other obstacles 108.
  • Figure 26 shows the autonomous poultry robot 64 transmitting data to a base or docking unit 110 or a cloud service 110.
  • the robot 64 is configured to transmit various data types generated by the sensors 54, 56, 58, 60, 52 and cameras 42, 44, 80 carried by the robot 64 to the base unit 110 or cloud service 110.
  • the base unit 110 or cloud service 110 may determine, based on the data received, as to whether or not to send a notification or alert to a mobile communication device 112 or computer 112.
  • the autonomous poultry robot 64 may be connected to the base unit 110 or cloud service 110 by, for example, WiFi, Bluetooth, LoRa technologies or the like.
  • the base unit 110 may be in communication with a cloud computing service 110 or the like.
  • FIG 27 shows a typical poultry shed 114 geometry with an autonomous poultry robot 64 of the invention operating in it.
  • the robot 64 is shown here moving along a path in the poultry shed 114 while patrolling for eggs 76, monitoring birds and monitoring the environment within the shed 114.
  • the robot 64 moves along the path between bird feeders and drinkers 118.
  • the robot 64 moves birds towards laying boxes and a slat area 116.
  • the farmer gains access to the shed 114 via doors 120.
  • the docking station 122 is placed at a strategic point of the poultry shed 114 near a door 120 to allow the farmer easy access to collect eggs 76 picked from the floor by the robot 64.
  • the flowchart of Figure 28 outlines the method steps associated with determining when an egg 76 is present on the floor of a poultry shed 114.
  • the autonomous poultry robot 64 is operating and patrolling within the poultry shed 114.
  • cameras 42, 44, 80 on the robot 64 are scanning the shed surface for eggs 76 on the floor that have been laid by birds and that need to be picked immediately.
  • the robot’s camera 80 has detected an egg 76 on the floor, enabling the robot 64 to determine the position of the egg 76 and to transmit corresponding control data to the autonomous robotic arm 72.
  • the robot 64 picks the egg 76 off the floor and uses a weight sensor in the robotic arm 72 to weigh the egg 76 to determine what type and size it is.
  • step 132 the robotic arm 72 places the picked egg 76 into the robot’s internal egg management system 70, 92.
  • step 134 the robot 64 scans the shed surface for eggs 76 until it the robot’s internal egg management system 70, 92 is full.
  • step 136 the robot 64 unloads the eggs 76 picked from the floor into the egg storage system 104 of a docking station 96 prior to the farmer retrieving the eggs 76.
  • step 138 the robot 64 transmits a notification or alert signal to notify the farmer that eggs 76 are ready for collection from the docking station 96.
  • step 140 once all the previous steps have been completed, the autonomous poultry robot 64 resumes its operations in the poultry shed 114.
  • step 142 the autonomous poultry robot 64 is moving and operating in a poultry shed 114.
  • step 144 cameras 42, 44, 80 on the robot 80 are continuously monitoring birds as the robot 64 travels throughout the poultry shed 114.
  • step 146 cameras 42, 44, 80 on the robot 64 analyse images of birds gathered while the robot 64 is patrolling.
  • step 148 the robot 64 determines from the analysed images if a bird is alive, injured or dead.
  • step 150 if the robot 64 determines that a bird is alive and not injured, it moves to step 152 and takes no action before, at step 162, resuming moving in the shed 114 and monitoring birds.
  • step 154 if the robot 64 determines that a bird is alive but injured it moves to step 156, where the robot 64 transmits a signal to notify the farmer of the injured bird and its location in the shed 114 for the farmer to investigate.
  • step 158 if the robot 64 determines that a bird is dead, it moves to step 160, where the robot 64 transmits a signal to notify farmer of the dead bird and its location in the shed 114 to allow for fast removal.
  • the robot 64 may perform an additional step in which the robot 64 will pick and remove the dead bird to a designated point for the farmer to collect, for example close to an entrance door of the shed 114.
  • FIG 30 is a rear view of an autonomous poultry robot 64 that shows the aforementioned outlet opening 164 through which eggs 76 are unloaded from the egg management system 70 when the closure 84 is pivoted aside.
  • the outlet opening 164 communicates with an outlet chute 166 that extends rearwardly to terminate outboard of the chassis 82.
  • the outlet chute 166 is brought into communication with a receiving chute 176 of an egg transfer mechanism 174 in the docking station 96. Docking the robot 64 thereby completes an egg transfer path of a retrieval system extending from the robot 64 to the docking station 96, as will now be explained with reference to Figures 31 to 39.
  • FIGs 31 to 39 illustrate a docking station 96 that serves an as offloading station at which the robot 64 can offload eggs 76 and, if needs be, can charge its onboard battery via contacts 100.
  • Figure 31 shows the robot 64 after driving itself through the access opening 98 of the docking station 96, into a garage space 170 that lies beneath an egg collection container 168 of the docking station 96. This arrangement allows the robot 64 to access the garage space 170 conveniently at floor level and maximises the capacity of the egg collection container 170, without increasing the footprint area of the docking station 96.
  • FIGs 32 and 33 show the docking station 96 without the robot 64, showing an egg transfer system 174 at the rear of the garage space 170.
  • the egg transfer system 174 comprises a receiving chute 176 with which the outlet chute 166 of the robot 64 aligns on docking.
  • eggs 76 roll under gravity from the outlet chute 166 onto the receiving chute 176.
  • a series of egg platforms 182 are spaced apart along the belt 180 so that each egg platform 182 aligns in turn with the bottom of the receiving chute 176 as the belt 180 advances.
  • Each egg platform 182 is pivotable relative to the belt 180 to remain horizontal as the belt 180 travels around the sprocket wheels 178, 190.
  • the belt 180 can be driven continuously or intermittently in a stepwise manner to bring each egg platform 182 into register with the receiving chute 176.
  • Figure 34 shows one of the egg platforms 182 at the level of the bottom of the receiving chute 176, and an egg 76 having rolled from the receiving chute 176 onto that egg platform 182.
  • Figure 35 shows that egg 76 being lifted by the belt 180 on its egg platform 182 toward the level of the egg collection container 168. Simultaneously, other egg platforms 182 on the opposite side of the belt 180 descend toward the receiving chute 176 to collect further eggs 76.
  • Figures 36 to 39 show the belt 180 extending around an upper sprocket wheel 190 at the level of the egg collection container 168.
  • an egg platform 182 on one side of the belt 180 has carried an egg 76 into alignment with an exit chute 184 that communicates with the egg collection container 168.
  • that egg 76 has rolled onto the exit chute 184 and in Figure 38, that egg 76 has rolled from the exit chute 184 and into the egg collection container 168. Meanwhile, another egg 76 on the next egg platform 182 is shown following behind.
  • the egg collection container 168 comprises a raised peripheral shoulder 186 around a central recess 188. Eggs 76 are initially deposited from the exit chute 184 onto the shoulder 186.
  • the shoulder 186 has inclined, chamfered faces to encourage eggs 76 to roll from the shoulder 186 and into the central recess 188 as shown in Figure 39.
  • the autonomous poultry robot 64 may comprise a mechanism that scoops an egg 76 up from the floor or other surface of a shed 114 once it has been identified using the robot’s cameras 42, 44, 80.
  • the scooping method may extend below the surface, for example by digging a shallow trough into the litter under the egg 76, where the egg 76 is on the floor of the shed 114.
  • a mechanical scoop will then lift the egg 76 allowing it to be placed into an internal egg management system 70, 92 of the robot 64 for storage.
  • the egg 76 may enter an egg funnel that will allow the egg 76 to travel onwards to the egg management system 70, 92 of the robot.
  • the robot of the invention 76 has the ability to move throughout a poultry house combining technologies such as a robotic platform and a robotic arm along with computer vision and machine learning to recognise and detect eggs 76 that have been laid by birds on the floor. This allows for the reduction in labour along with higher flock outputs.
  • the robot 64 also has the ability to monitor birds for health status and to monitor environmental conditions within the shed 114 at bird level.
  • the robot 64 of the invention has the ability to move throughout poultry flocks, stimulate them, maintain the litter, recognise eggs 76, pick them, store them and transport them to a designated point to be automatically unloaded for a farmer or other user to collect them conveniently from the shed 114.
  • the robot 64 can recognise eggs 76 using computer vision, unlike other machines that just pass by eggs 76 without taking any action or that automatically pick eggs 76 without any input or insights.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Birds (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Housing For Livestock And Birds (AREA)

Abstract

Un robot autonome (64) pour des volailles comprend un bras robotique à réglage automatique (72). Le robot autonome (64) comprend en outre des caméras, des capteurs et divers dispositifs électroniques pour des fonctions entièrement autonomes à l'intérieur de poulaillers ou de hangars à volailles (114), mais sans y être limités, ces fonctions visant la collecte et le stockage des œufs pondus sur le sol (76) ainsi que la capacité de déplacer les volatiles morts à l'aide du bras robotique (72).
PCT/EP2022/058510 2021-03-30 2022-03-30 Système de collecte d'œufs comprenant un robot autonome pour récupérer des œufs et procédé de collecte d'œufs WO2022207766A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB2104534.9 2021-03-30
GBGB2104534.9A GB202104534D0 (en) 2021-03-30 2021-03-30 Autonomous Poultry Robot

Publications (1)

Publication Number Publication Date
WO2022207766A1 true WO2022207766A1 (fr) 2022-10-06

Family

ID=75783696

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/058510 WO2022207766A1 (fr) 2021-03-30 2022-03-30 Système de collecte d'œufs comprenant un robot autonome pour récupérer des œufs et procédé de collecte d'œufs

Country Status (2)

Country Link
GB (1) GB202104534D0 (fr)
WO (1) WO2022207766A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11977154B2 (en) 2016-10-28 2024-05-07 Ppg Industries Ohio, Inc. Coatings for increasing near-infrared detection distances
US12001034B2 (en) 2019-01-07 2024-06-04 Ppg Industries Ohio, Inc. Near infrared control coating, articles formed therefrom, and methods of making the same

Citations (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050217589A1 (en) 2004-04-02 2005-10-06 Daniel Brace B Agitation of poultry by applied robotics
US20100250024A1 (en) * 2007-08-13 2010-09-30 Macedo Ribeiro Antonio Fernando Fully autonomous or remotely operated golf ball picking system
CN102350693A (zh) 2011-10-06 2012-02-15 郭庆省 一种捡蛋机器人
JP2016202184A (ja) 2015-02-20 2016-12-08 パナソニックＩｐマネジメント株式会社 環境計測ロボット
CN107691276A (zh) 2017-10-21 2018-02-16 长沙展朔轩兴信息科技有限公司 一种捡蛋机器人
WO2018156569A1 (fr) 2017-02-22 2018-08-30 Zoetis Services Llc Dispositif de préhension d'œuf ayant des éléments entrelacés, ainsi que systèmes et procédés associés
CN108501009A (zh) 2018-03-30 2018-09-07 赵晓月 一种捡蛋机器人
CN108501008A (zh) 2018-03-30 2018-09-07 赵晓月 一种捡蛋夹爪
US20180360002A1 (en) * 2015-12-15 2018-12-20 Tibot Mobile robot, in particular an education robot, for poultry farm and rearing facility implementing one or more robots.
CN109169394A (zh) 2018-07-24 2019-01-11 青岛农业大学 全自动喂料拾蛋车及其控制方法
CN109717096A (zh) 2018-11-20 2019-05-07 中国农业大学 地面蛋捡拾车
CN109877857A (zh) 2019-02-28 2019-06-14 西安精雕软件科技有限公司 一种气动的鸡蛋防碎抓取手爪及其抓取方法
CN110833048A (zh) 2019-12-18 2020-02-25 陕西中建建乐智能机器人有限公司 一种捡鸡蛋机器人
CN210616549U (zh) 2019-09-30 2020-05-26 朱子锐 一种用于散养禽蛋的自动巡拣机器人及自动巡拣系统
CN211910115U (zh) 2019-12-27 2020-11-13 深圳市人工智能与机器人研究院 一种带有自动标记功能的鸡蛋收集机器人
CN211960574U (zh) * 2019-11-29 2020-11-20 苏师大半导体材料与设备研究院(邳州)有限公司 一种畜牧养殖用的集蛋设备
CN212032223U (zh) 2020-04-20 2020-11-27 北京农业信息技术研究中心 一种畜禽舍巡检机器人及其巡检系统
CN212116676U (zh) 2019-12-18 2020-12-11 陕西中建建乐智能机器人股份有限公司 一种捡鸡蛋机器人
US20200406118A1 (en) * 2019-06-30 2020-12-31 Cecelumen, Llc Golf related methods and apparatus
JP2021078447A (ja) 2019-11-20 2021-05-27 国立大学法人 鹿児島大学 平飼い鶏舎管理システム
US11019805B2 (en) 2016-07-20 2021-06-01 Farm Robotics And Automation Sl Robot assisted surveillance of livestock
CN113198040A (zh) 2021-03-31 2021-08-03 北京农业信息技术研究中心 畜禽舍消毒机器人控制方法、电子设备和存储介质
ES2891401A1 (es) 2020-07-16 2022-01-27 Juan Carlos Elena Slu Robot de limpieza de naves avicolas de puesta y criaderos y procedimiento de limpieza con dicho robot

Patent Citations (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050217589A1 (en) 2004-04-02 2005-10-06 Daniel Brace B Agitation of poultry by applied robotics
US20100250024A1 (en) * 2007-08-13 2010-09-30 Macedo Ribeiro Antonio Fernando Fully autonomous or remotely operated golf ball picking system
CN102350693A (zh) 2011-10-06 2012-02-15 郭庆省 一种捡蛋机器人
JP2016202184A (ja) 2015-02-20 2016-12-08 パナソニックＩｐマネジメント株式会社 環境計測ロボット
US11026406B2 (en) 2015-12-15 2021-06-08 Tibot Mobile robot, in particular an education robot, for poultry farm and rearing facility implementing one or more robots
US20180360002A1 (en) * 2015-12-15 2018-12-20 Tibot Mobile robot, in particular an education robot, for poultry farm and rearing facility implementing one or more robots.
US11019805B2 (en) 2016-07-20 2021-06-01 Farm Robotics And Automation Sl Robot assisted surveillance of livestock
WO2018156569A1 (fr) 2017-02-22 2018-08-30 Zoetis Services Llc Dispositif de préhension d'œuf ayant des éléments entrelacés, ainsi que systèmes et procédés associés
CN107691276A (zh) 2017-10-21 2018-02-16 长沙展朔轩兴信息科技有限公司 一种捡蛋机器人
CN108501009A (zh) 2018-03-30 2018-09-07 赵晓月 一种捡蛋机器人
CN108501008A (zh) 2018-03-30 2018-09-07 赵晓月 一种捡蛋夹爪
CN109169394A (zh) 2018-07-24 2019-01-11 青岛农业大学 全自动喂料拾蛋车及其控制方法
CN109717096A (zh) 2018-11-20 2019-05-07 中国农业大学 地面蛋捡拾车
CN109877857A (zh) 2019-02-28 2019-06-14 西安精雕软件科技有限公司 一种气动的鸡蛋防碎抓取手爪及其抓取方法
US20200406118A1 (en) * 2019-06-30 2020-12-31 Cecelumen, Llc Golf related methods and apparatus
CN210616549U (zh) 2019-09-30 2020-05-26 朱子锐 一种用于散养禽蛋的自动巡拣机器人及自动巡拣系统
JP2021078447A (ja) 2019-11-20 2021-05-27 国立大学法人 鹿児島大学 平飼い鶏舎管理システム
CN211960574U (zh) * 2019-11-29 2020-11-20 苏师大半导体材料与设备研究院(邳州)有限公司 一种畜牧养殖用的集蛋设备
CN212116676U (zh) 2019-12-18 2020-12-11 陕西中建建乐智能机器人股份有限公司 一种捡鸡蛋机器人
CN110833048A (zh) 2019-12-18 2020-02-25 陕西中建建乐智能机器人有限公司 一种捡鸡蛋机器人
CN211910115U (zh) 2019-12-27 2020-11-13 深圳市人工智能与机器人研究院 一种带有自动标记功能的鸡蛋收集机器人
CN212032223U (zh) 2020-04-20 2020-11-27 北京农业信息技术研究中心 一种畜禽舍巡检机器人及其巡检系统
ES2891401A1 (es) 2020-07-16 2022-01-27 Juan Carlos Elena Slu Robot de limpieza de naves avicolas de puesta y criaderos y procedimiento de limpieza con dicho robot
CN113198040A (zh) 2021-03-31 2021-08-03 北京农业信息技术研究中心 畜禽舍消毒机器人控制方法、电子设备和存储介质

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11977154B2 (en) 2016-10-28 2024-05-07 Ppg Industries Ohio, Inc. Coatings for increasing near-infrared detection distances
US12001034B2 (en) 2019-01-07 2024-06-04 Ppg Industries Ohio, Inc. Near infrared control coating, articles formed therefrom, and methods of making the same

Also Published As

Publication number Publication date
GB202104534D0 (en) 2021-05-12

Similar Documents

Publication Publication Date Title
RU2729827C2 (ru) Мобильный, в частности обучающий, робот для птицеводческой фермы и установка для птицеводческой фермы, в которой используют один или несколько роботов
WO2022207766A1 (fr) Système de collecte d'œufs comprenant un robot autonome pour récupérer des œufs et procédé de collecte d'œufs
US11490563B2 (en) Weeding robot and method
CN109496123B (zh) 家畜的机器人协助监视
EP3858142B1 (fr) Élimination automatisée de carcasses d'animaux
Edan et al. Automation in agriculture
US20200333782A1 (en) Method and system for agriculture
AU712994B2 (en) A construction including a shed for animals
US9980460B2 (en) System and method for improved attachment of a cup to a dairy animal
CN109788739B (zh) 用于散养家畜牧场的装置和方法
US11064647B2 (en) Robotic litter processing system
Vroegindeweij et al. Evaluation of the performance of PoultryBot, an autonomous mobile robotic platform for poultry houses
US20220087105A1 (en) System and method for autonomous harvester installation and farm harvesting operation
NL1043685B1 (en) Harvest robot system
CA3194935A1 (fr) Systeme agricole autonome mobile
NL2029815B1 (en) Agricultural machine for use in a field
Yang et al. Development and trends of chicken farming robots in chicken farming tasks: A review
KR102674670B1 (ko) 뉴럴 네트워크를 이용하는 스마트 팜 관리 장치 및 상기 스마트 팜 관리 장치를 포함하는 스마트 팜 관리 시스템
Gardner Robotics and smart engineering
RU2780844C1 (ru) Беспилотная самоходная система для сбора яиц при напольном содержании птицы
US20220232807A1 (en) System and method for identifying and recovering expired poultry
JP7368341B2 (ja) 巡回自律走行ロボット

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22719587

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22719587

Country of ref document: EP

Kind code of ref document: A1