Methods and apparatus for fecal treatment

Abstract

A method and apparatus are provided for controlling the operation of a fecal scraper based on information obtained from one or more cameras, which are mounted to capture images of the scraper's operating area. This solution enables more efficient use of widely available fecal treatment technologies.

Description

[0001] This case is a divisional application of application number 201980012918.9, filed on February 11, 2019, entitled "Method and apparatus for fecal treatment". Technical Field

[0002] This disclosure relates to methods and apparatus for treating feces. Background Technology

[0003] Today, autonomous vehicles have been developed that can, for example, collect horse or cow manure (WO2016 / 023716A1; EP2731420 B1). There are also autonomous vehicles for moving / transferring animal feed, sometimes referred to as "feed pushers." Some of these autonomous vehicles are equipped with cameras for navigating the environment, while others have pre-programmed routes and / or navigate using radio beacons.

[0004] One example of an autonomous vehicle is the so-called "Zauberzeug," developed by Perpetual Mobile GmbH (http: / / www.zauberzeug.de / ). This vehicle is guided by a wall-mounted camera that overlooks the area where it will be operating. Using image processing technology, the camera can also detect piles of things, such as horse manure or rocks, clearly visible against a bright background. Information about the location of the manure can then be transmitted to the autonomous vehicle, which can then pick it up or sweep it away.

[0005] Autonomous vehicles are widely seen as the future. While they are very appealing, they also come with their own set of problems. Summary of the Invention

[0006] This disclosure provides a method for controlling the operation of a fecal scraper based on information obtained from one or more cameras, said cameras being mounted to capture images of the area where the scraper is operating. The method includes determining the actual need for the scraper to remove feces by performing image processing on the images obtained from the cameras, and wherein said control includes triggering scraper-related actions when information derived from said obtained information meets criteria, said criteria relating to the amount of feces detected to be cleaned and / or the location of the detected feces to be cleaned. Attached Figure Description

[0007] Figures 1-4 Different exemplary flowcharts illustrating methods related to some embodiments are shown.

[0008] Figures 5a-5c An exemplary embodiment of a control unit (processing unit) according to some embodiments is shown.

[0009] Figure 6 An exemplary embodiment of a livestock pen passageway is shown.

[0010] Figure 7 An example diagram showing the dynamic control of the scraper speed is shown. Detailed Implementation

[0011] The inventors have recognized many problems associated with more traditional waste treatment equipment and have proposed ingenious solutions to these problems. Some of the solutions described in this article can also be applied to autonomous vehicles. However, this will not be discussed in this article.

[0012] There will be manure in barns or other buildings where animals (such as dairy or meat animals) are kept. Some animals produce more manure than others, but for example, a dairy cow can produce about 50 kg of manure per day, which makes the requirements for manure treatment equipment very high. The consistency and / or other characteristics of some types of manure or excrement also make the environment and working conditions of manure treatment equipment extremely harsh and difficult.

[0013] One type of sewage treatment equipment is the so-called scraper. Scrapers can come in various sizes and shapes and are typically pulled along an alley by chains, ropes, or lines. The scraper moves sewage along the alley, for example, causing it to drain through slabs / crevices / ventilated floors, or to a special outlet where it may diffuse into the sewer or similar places, such as leading to a septic tank or cesspool. When the term "scraper" is used herein, it is not intended to include autonomous vehicles. The solutions described herein enable more efficient use of widely available sewage treatment technologies.

[0014] Self-study channel

[0015] Scrapers typically travel along a channel. Their routes have starting and ending (or stopping) positions and can pass through many locations where waste can be discharged into the sewer. The channel does not have to be straight, but can have bends or curves. Wide or long channels can be equipped with two or more scrapers, each scraper cleaning a portion of the channel, or cleaning the same section of the channel continuously or parallel to it.

[0016] According to embodiments of the subject matter described herein, one or more cameras may be mounted along the path in which the scraper operates. The number of cameras used depends on the length, width, and / or other characteristics of the area to be cleaned of feces, and / or the characteristics of the cameras (such as coverage area / capacity). The number and / or capacity of the cameras should be sufficient to cover the area(s) where the scraper activity needs to be controlled. For example, a first camera may be mounted such that its field of view includes the intended start point / location of(s) of(s) of the scraper(s), and a second camera may be mounted such that its field of view includes the intended end point / location of the scraper. Preferably, the cameras are mounted, for example, on a ceiling or wall, or similar location, at a distance from the ground and therefore also from feces and animals. Preferably, enough cameras are used, such as for most, or even all, of the scraper path, to be covered by the cooperating cameras. The combined field of view of the cameras can cover the length of the scraper path.

[0017] The camera acquires / captures images, which can be provided to a processing unit that is provided / configured / adapted for image processing, for example, by being provided with appropriate software and hardware capabilities. The processing unit / image processing software can be configured for / capable of being used for image recognition and object recognition.

[0018] During the configuration phase, the scraper can be placed at a starting position (e.g., a desired or suitable starting position), which is then triggered to be registered as the starting position by (multiple) cameras / processing units. The scraper can then be moved to an ending position (e.g., a desired or suitable ending position), which is then triggered to be registered as the ending position by (multiple) cameras / processing units. This triggering of positions can be managed via a relatively simple configuration interface running, for example, on a mobile device.

[0019] A user control interface can be created that runs on a user device (such as a computer, smartphone, or tablet) where a virtual map of the area in which the scraper will operate is created based on information derived from images captured by one or more cameras. The virtual map can be presented as an image of the entire area or one or more portions of the area to be operated by the scraper. The virtual map does not need to correspond to content captured within the field of view of a single camera, but can consist of information from multiple cameras, or only partial information obtained from one or more cameras. For example, using such a user control interface, an image area can be defined as the scraper body (e.g., a portion of an image including the scraper body), and a location in the virtual map / image can be defined as the end and start positions of the scraper. Input from the user control interface, such as the selection / identification of the scraper's start and end positions, can then be provided to a processing unit that can use this information as a reference for detecting when the scraper has reached the start or end position. The use of such an interface may or may not eliminate the need to physically place the scraper at these locations. Other locations and areas can be programmed in the same way to create a virtual route for the scraper.

[0020] This interface can be used for various initialization and / or configuration tasks. For example, it can be used to define intervals or areas within the work area that are not covered by any camera. The length of the channel / work area can be interpolated into the interface, and may also be the length of the non-camera-covered area. Another method for defining / determining non-camera-covered distances is to run the scraper at a constant speed along the entire operating length (from the start position to the end position) and then estimate any distance along the route not covered by the camera (captured within the field of view of any camera) based on the camera information captured during this run. This can be determined automatically when the route length is known. (Depending on the type of area not covered by the camera, running the scraper at a low speed and / or applying other types of safety mechanisms in such areas may be appropriate if there is a risk of encountering obstacles (e.g., animals) there.)

[0021] Images from one or more cameras and / or image-derived information can be provided to the same processing unit, in which the information can be processed individually or in combination, such that information, for example, about the location of the scraper can be derived.

[0022] Therefore, given the start and end positions are exported / obtained / registered, the scraper's route can be derived by the processing unit. The route information derived by the processing unit can be used to control the scraper's operation / run, or it can be directly controlled by the processing unit, which may control, for example, the motor driving the scraper, or via some other control device.

[0023] When the scraper is determined (e.g., by image processing) to have reached its end position, the processing unit may, for example, trigger the motor to stop and reverse, and then, when the scraper is determined (e.g., by image processing) to have reached its end position, trigger the motor to stop reversing and begin forward operation, i.e., scraping.

[0024] Similarly, the scraper (the motor that drives it) can be controlled to adjust its speed, for example, at an intermediate position, which can be registered in a manner similar to the start and end positions. This intermediate position might be associated with a stationary obstacle, which, for example, requires a reaction from the scraper's operation, such as folding the scraper to avoid the obstacle. The intermediate position might also be associated with, for example, a feeding station or an animal crossing path, where a different, for example, lower speed might be needed to avoid startling or colliding with any animals.

[0025] Replace the "end of channel" detection method used

[0026] One aspect is that other methods for detecting when the scraper reaches its end position can be replaced by the techniques proposed herein. In some embodiments, a single camera, e.g., only at the end of the channel, can be used to enable the detection of when the scraper reaches and ends its position, and to control the scraper drive motor based on that information. Previously, different solutions have been used, such as switches that are pushed by the scraper when a position is reached (e.g., past a switch), or observation of motor activity, for example, in the form of observing / deriving how long / how far the line / chain or other type of traction device connected to the scraper has been pulled by the motor.

[0027] Scraper position calibration

[0028] The problem with scrapers operated by a wire or other similar mechanism is that the wire elongates due to tension and / or wear during operation. Therefore, determining the scraper's position using motor activity or wire length can be unreliable. By using image processing based on images captured by a camera having the scraper's endpoint in the scraper channel within its field of view, the scraper drive mechanism can be calibrated and / or adjusted based on determined wire elongation and / or wire slippage in the drive mechanism. For example, an estimated position of the scraper in the channel, determined based on information associated with the motor's driving force and / or the wire's running length, can be compared with an observed position of the scraper determined by image processing performed by a processing unit connected to a camera capturing the scraper image. The estimated position can be corrected or calibrated based on the difference between the two positions (estimated position and observed position). For example, the value of the estimated position can be set to the observed position in the processing unit; the estimation calculation can be adjusted to compensate for the difference between the estimated and observed scraper positions; the wire can be automatically shortened or stretched using a shortening / stretching mechanism. Optionally, an alarm signal can be provided, for example, to a user interface, indicating how much the wire should be shortened in case the wire must be manually tended. Furthermore, assuming the time between calibrations is registered or otherwise obtained, the elongation of the line over time can be estimated based on the elongation between calibrations. Therefore, by repeatedly and automatically adjusting the line length, automatic compensation for elongation over time can be achieved; when the line or other drive mechanism is estimated to have become, for example, X% longer than the last calibration, the estimation is calculated and / or an alarm signal is issued to the user again. Elongation can be verified by observing the actual scraper position, for example, when operating in the forward direction and / or when operating in the reverse direction.

[0029] Automatically adjust the cleaning schedule

[0030] The embodiments of the subject matter described herein can also be used to adjust the cleaning schedule of a scraper technology. The cleaning schedule is typically pre-programmed based on time, causing the scraper to activate and operate during specific periods of day and / or night. Such embodiments may involve one or more cameras placed at least at a certain height on the floor, each camera having at least a portion of its field of view. Therefore, images acquired by the cameras(s) can be analyzed through image processing, and the actual amount of feces needed and / or to be removed by the scraper can be estimated in real-time or near real-time. Information derived from the images can then be used to control the activation, operation, and deactivation of the scraper.

[0031] For example, during the summer in Nordic countries, animals are allowed to graze, but they can still enter barns to access automated milking stations and / or eat additional feed (i.e., in addition to grazing). During this period, the amount of manure on the barn floor can vary considerably at different times of day depending on factors such as weather or temperature (the time animals spend in the barn). By estimating the amount of manure that needs to be removed by a scraper, the scraper can be activated according to a set of rules dependent on that amount. For example, by testing the scraper's capabilities, the maximum amount of manure it can handle in a single sweep can be derived. Then, for example, when this derived maximum amount of manure is observed in the passage (via image processing), the scraper can be activated. The consistency of the manure is also important in the decision to activate the scraper. For example, dry cow dung can be difficult to remove. Therefore, the consistency of the manure can be estimated based on camera images, for example, by determining the light reflection in the manure (dry manure reflects less light). Based on the information obtained, for example, the scraper can be activated and run before the manure becomes too dry to be moved. This can be done regardless of whether the amount of feces to be cleaned reaches a certain level.

[0032] In addition to timer-based scraper scheduling, decisions based on automatically observed fecal conditions can be used, or the scraper can operate entirely based on automatically observed real-time conditions.

[0033] In addition, the watering system can be connected to an image recognition system, or it can be independent of such a system, if needed.

[0034] Therefore, energy can be saved, for example, by running the scraper less frequently, and / or by not having to / try to clean the dried feces.

[0035] Dynamic control of scraper speed

[0036] By observing the amount of feces present at different sections of the area to be cleaned by the scraper (e.g., a tunnel), the scraper's speed can be dynamically adapted to the observed presence of feces. For example: in a 70-meter-long tunnel, with the scraper starting at 0 meters and ending at 70 meters (see...). Figure 7It has been determined that there is feces to be cleared in the 40-60 meter range, but not so much in the rest of the channel. Based on this information, the scraper can operate at a relatively high speed from 0-40 meters, and then be controlled to a slower speed, more suitable for transferring the feces, when it reaches 40 meters (where feces have been observed). This lower speed can be maintained, for example, until the feces are cleared to the discharge outlet. If the scraper clears the observed feces in the 20-30 meter range of a 100-meter channel, and there is a discharge outlet at 50 meters, and no feces are observed to be cleared in the 50-100 meter range, the scraper can be reversed to the starting position. In this 100-meter example, the scraper can operate at a relatively high speed in the 0-20 meter range of the channel, and then operate at an appropriate operating speed between 20-50 meters when transferring the feces to the discharge outlet. For example, during the configuration phase, the processing unit can be made aware of the presence of the discharge port by obtaining information from images captured by a camera, where it has been indicated that the current position of the scraper should be associated with the discharge port / sewage. Alternatively, this information can be derived by the processing unit, for example, by providing information about the load on the motor driving the scraper. Based on the load on the motor, it can be deduced that the load on the motor / scraper decreases / reduces at a given scraper position. This information can be used by the processing unit to conclude that this position is associated with the discharge port, and this conclusion can be used for future calculations and, for example, for scraper speed control. This determination of the discharge port position can, for example, be performed during initialization.

[0037] Alternatively or additionally, the scraper speed can be controlled based on any obstructions (such as animals) observed in the path through which the scraper will operate. This will be described in more detail below.

[0038] Obstacle detection

[0039] Safety is a critical concern when operating automated equipment in biological environments. Scrapers need sufficient power to move heavy feces, and therefore can potentially injure animals in their path, especially small animals such as calves. This is typically addressed by having a human observer manually and / or run the scraper at a very slow speed, allowing the animal time to observe and move away. A safety stop can also be incorporated into the scraper control system, allowing the scraper to pause for a period of time, for example, based on an increase in required driving force / power consumption, when it is determined that the scraper has encountered an obstacle, before resuming movement.

[0040] According to embodiments of the invention, a camera, for example, mounted on a wall or ceiling, captures images of the area where the scraper operates. These images can then be processed by image processing software running on a processing unit that performs object recognition not only for the scraper but also for animals or machines present in the area. For example, the relationship between the observed position and / or direction and speed of the scraper and the animal or machine can be analyzed in real-time or near real-time, and actions can be triggered based on this analysis, such as controlling the scraper to stop to avoid collision / impact with the animal, or decelerating or accelerating to avoid collision with the animal. Thus, safety can be maintained while still operating the scraper effectively, for example by avoiding prolonged safe stops. The scraper can be stopped before a collision with the animal, or when the animal is walking in the same direction as the scraper at a slightly higher speed than the scraper. Eventually, the animal will pass the scraper and place its hooves in front of it. With the aid of embodiments of the invention, the scraper can be stopped before the animal reaches the scraper or before it places its hooves in the path of the scraper, i.e., before the animal is in danger of being injured / impacted by the scraper. Software and / or processing devices can be configured with specific rules for different obstacles / animals. For example, more cautious safety rules regarding stopping and slowing down the scraper can be applied to animals of a specific size and / or with specific movement patterns, such as calves and other young animals, such as lambs or children (goats or humans). This may be based on the understanding that young animals may not have enough experience to assess the risks of moving the scraper and may also lack a sense of balance. Young and / or small animals may also be considerably lighter than adult animals and therefore not, for example, sensed by scraper safety mechanisms based on the power consumption / force applied by the motor running the scraper. A power sensing control system coupled with image recognition can be provided with information about the source of the increased load and act accordingly to program and / or collect information, such as continuing movement or triggering the scraper to stop.

[0041] Furthermore, the image processing-based safety system proposed herein will also prevent overload on the scraper drive mechanism, which could otherwise occur when, for example, a heavy animal or machine blocks the scraper's path and the safety mechanism based on power consumption / applied force is absent or malfunctioning.

[0042] If someone places a stationary heavy object in the passageway, such as blocking the scraper for a certain period of time, an alarm signal can be sent to the user interface or similar device, indicating that human intervention is required, for example. This may also be relevant if / when an animal has been blocking the scraper's path for a period of time, for example, due to the scraper's malfunction causing a buildup of feces exceeding a certain level.

[0043] The speed of the scraper can be effectively controlled by controlling the position, direction of movement, and / or speed of the scraper and any animal, machine, and / or other object. For example, when it is determined that there are no animals or objects in the passage, the scraper can be controlled to operate at a speed higher than the observed risk of an animal stepping on it. This knowledge can be combined with the detection of feces, and the scraper speed can be controlled based on the location of obstacles to be avoided and the quantity and location of feces to be cleared. The scraper speed can be automatically selected based on the presence of obstacles and feces, for example, from a set of different speeds. In other embodiments, the speed can be dynamically varied, for example, between 0 m / s and a predetermined maximum speed. For example, if no obstacles are observed in a passage without feces, it may be necessary to select the maximum speed. In this case, the maximum speed can be selected regardless of whether the scraper is moving forward or backward. When an animal is detected to be colliding with the scraper, the scraper speed can be selected to ensure that the collision is avoided, for example, allowing the animal sufficient time (at a certain speed) to cross and leave the scraper's predetermined path. If the animal deviates from the calculated path, such as by stopping or otherwise changing its speed or direction, this will also be detected based on image processing / object recognition, and the scraper's movement can be controlled to accommodate this situation.

[0044] Detection of drive mechanism damage

[0045] While this should not happen, the wire / rope / chain / cable driving the scraper may break or snap. This can be sensed by a safety mechanism that detects the force applied to the moving scraper, but is not required. A broken wire may get stuck on something and create resistance similar to that used to propagate the scraper. This insight, along with the use of the vision techniques suggested in this paper, makes it possible to detect the difference between the expected movement of the scraper (based on, for example, the expected applied force) and the actual movement of the scraper (observed / registered / detected through image analysis / object recognition). Based on this difference, the software and / or processing unit can conclude that the driving mechanism (e.g., the wire or corresponding object) has broken. This conclusion can lead to an alert signal in the form of an instruction to the user interface, such as an SMS or corresponding message, and / or an audible and / or visual alert signal to draw attention.

[0046] Figures 1-4 Different exemplary flowcharts illustrating methods related to the above embodiments are shown.

[0047] An exemplary embodiment of the control unit (processing unit), Figures 5a-5c

[0048] An exemplary embodiment of the control unit is in Figure 5aThe diagram is shown in a general manner. The control unit is operable to control, for example, trigger a scraper device including, for example, a scraper drive unit and / or a scraper. The scraper device can be controlled to perform actions in response to information obtained from one or more cameras and possibly from a user interface. It can be assumed that the control unit is operable to receive signals from one or more camera sensors. The signals may include information directly or indirectly related to images captured by one or more cameras. The information may be transmitted between the cameras and the control unit via any type of wired or wireless communication or a combination thereof. The control unit is also operable to receive signals from a scraper drive unit, such as a processing unit associated with a motor unit responsible for providing force to drive the scraper.

[0049] The control unit may be included in a system controller within a livestock shed, or it may be included in one of the cameras or as an "additional" module (additional function) of one of the cameras. Such a module may be part of a camera or system controller, or optionally external to one or more cameras and / or other central control devices. For example, the control unit may be part of a central system or apparatus for controlling multiple livestock shed devices. The control unit may also be referred to as, for example, a "control device" or a "processing unit." Communication between the control unit and other entities may be performed via existing wireless and / or wired interfaces. The control unit 500 is configured to perform at least one of the actions described in the above method embodiments. The control unit 500 is associated with the same technical features, objectives, and advantages as the foregoing method embodiments. To avoid unnecessary repetition, the control unit will be briefly described.

[0050] The control unit may be implemented and / or described as follows:

[0051] The control unit 500 includes processing circuitry 501 and a communication interface 502. Processing circuitry 501 is configured to enable the control unit 500 to acquire information from other entities, such as one or more cameras. Processing circuitry 501 is also configured to trigger actions based on the acquired information, such as adjustments to the speed or operation of the scraper. Communication interface 502, which may also be represented as, for example, an input / output (I / O) interface, including wired and / or wireless interfaces, is used to send data, such as commands, to other nodes or entities, and to acquire / receive information from other nodes or entities, such as sensors or user equipment.

[0052] Figure 5b An embodiment of processing circuitry 501 is shown, which includes processing device 503, such as a general-purpose microprocessor, for example, a CPU, and memory 504 communicating with the processing device, which stores or holds instruction code that can be read and executed by the processing device. The instruction code stored or held in memory may be in the form of a computer program 505, which, when executed by the processing device 503, causes the control unit 500 to perform actions in the manner described above.

[0053] Figure 5c An alternative implementation of the processing circuit 501 is shown. Here, the processing circuit includes an acquisition unit 507 for enabling the control unit to acquire information. The processing circuit also includes a determination unit 509 for determining whether a certain criterion is met based on the acquired information. The processing circuit also includes a triggering unit 510 for causing the control unit 500 to trigger an action to be performed when it is determined that the criterion is met.

[0054] Processing circuitry 501 may include further units configured to cause the control unit to perform actions associated with one or more method embodiments described herein. As an example, unit 508 with a dashed outline is provided. Optionally, any of units 507, 509-510 may also be configured to cause the control unit to perform other such actions. Control unit 500 may, for example, include a determining unit for determining whether the scraper device is set in a specific mode containing certain characteristics. Control unit 500 may also include an image analysis and / or object recognition unit 508 for detecting objects and / or the location of objects and / or predetermined scenes in at least one image captured by one or more cameras. This and other tasks may also be performed by one of the other units.

[0055] The control unit 500 may include further functions for performing control unit functions not specifically mentioned herein, such as functions related to the standard operating scraper device.

[0056] The foregoing description of control unit 500 is not limiting. The processing circuitry may also be implemented using other techniques known in the art, such as hard-wired transistor logic or application-specific integrated circuits arranged in a manner sufficient to perform the actions of control unit 500 as described above.

[0057] Figure 6An exemplary embodiment of a schematic diagram of a livestock pen passage 603 is shown. A scraper 601 is arranged to operate within the passage 603. The scraper is configured to be pulled forward (and backward, if appropriate) by a scraper drive 602, which also includes a motor (not shown). Two cameras 604:1-2 are mounted on a wall at a distance from the ground. The cameras are mounted such that they overlook the operating area of ​​the scraper 601. Furthermore, the cameras are arranged to have at least a portion of the operating area of ​​the scraper in their field of view. The cameras provide a captured image or information derived from the captured image to a processing unit (not shown). Then, when the determined position is determined to correspond to a predetermined position, such as a starting position, an ending position, or a specific intermediate position, the processing unit can determine the current position of the scraper in the passage and trigger an appropriate action, such as an action from the scraper drive 602. In addition, obstacles 605 in the passage can be detected, and as a result of the detected obstacles, the movement of the scraper 601, such as its speed, can be adjusted. The obstacle 605 can be an animal or other moving object, and the movement of the obstacle 605 can be analyzed relative to the movement of the scraper 601 to determine whether a collision is imminent or approaching. In this case, the processing unit can trigger appropriate actions of the scraper drive to avoid a collision, such as stopping the scraper, slowing down the scraper speed, or even accelerating the scraper. The processing unit can further trigger the scraper 601 to fold to avoid the obstacle. However, this requires the implementation of a folding function.

[0058] Figure 7 This is a schematic diagram of the scraper 703 and the scraper drive mechanism 704. An exemplary operating distance for the scraper is 70 meters, with a starting position 701 at 0 meters and an ending position 702 at 70 meters. The starting and ending positions can be calibrated using images captured when the scraper is at these positions, or via virtual calibration, wherein these positions are defined, for example, in a user control interface preferably graphical, where the different positions of the scraper can be defined relative to images captured by one or more cameras overlooking the operating area, as previously described.

[0059] The features of the embodiments described herein can be used individually or in combination, depending on needs or preferences. Some elements and features summarizing the subject matter are as follows:

[0060] Exemplary elements and features associated with the embodiments:

[0061] - One or more cameras, operable for at least one of the following:

[0062] - Capture a two-dimensional or three-dimensional image of the area;

[0063] - Provide other entities with information related to the captured images;

[0064] - Perform image processing and / or object recognition;

[0065] - One or more scrapers operable to pull (or push) along the operating path to clean up, for example, feces on the floor;

[0066] - Scraper drive mechanism, operable for at least one of the following:

[0067] - Pull (and / or push) the scraper along the operating path;

[0068] - Reverse the scraper to its starting position;

[0069] -Change the speed and / or force of pulling the scraper;

[0070] - In response to commands, sensor inputs, or the like, stop the scraper;

[0071] - Receives input from the processing unit, which is based on information derived from images captured by one or more cameras that overlook at least a portion of the operating area of, for example, a scraper.

[0072] - Provide other entities with information about motor characteristics, such as the force applied over time and

[0073] / or the resistance felt by the scraper;

[0074] - Based on the characteristics of the drive mechanism, such as determined / recorded motor operation and determined / recorded cable / line distance, estimate the position of the scraper along its operating path;

[0075] - Provide estimation information to other entities, such as processing units associated with one or more cameras;

[0076] - The position of the scraper can be calibrated, for example by correcting the estimated position based on information received from the processing unit (based on camera input), or by shortening the pull cable (or similar / corresponding) or other adjustments to the pull (or push) mechanism;

[0077] The scraper drive mechanism may include or be connected to a control unit having processing circuitry operable to handle, for example, wired or wireless communication with other entities; and to estimate and / or record operating and control functions.

[0078] - A processing unit operable for at least one of the following:

[0079] - Obtain information related to the images captured by one or more cameras;

[0080] - Obtain information related to the scraper drive mechanism, such as information related to the estimated position of the scraper;

[0081] - Perform image processing and / or object recognition;

[0082] - Triggering action performed by the scraper drive mechanism;

[0083] - Provide information to the scraper drive mechanism (e.g., the processing unit associated with it);

[0084] - Provide information or alarm signals to the user interface;

[0085] - Obtain information from the user interface, such as configuration / initialization for the scraper position;

[0086] - Define or adjust the scraper's operating plan based on information obtained from one or more cameras;

[0087] - Initialize the scraper device based on information obtained from one or more cameras and / or from the user interface, such as defining the start and end positions.

[0088] In further summary, the steps, functions, processes, modules, units and / or blocks described herein can be implemented in hardware using any conventional techniques, such as discrete circuit or integrated circuit technology, including general-purpose electronic circuits and special-purpose circuits.

[0089] Alternatively, at least some of the steps, functions, processes, modules, units, and / or blocks described above can be implemented in software, such as a computer program executed by appropriate processing circuitry including one or more processing units. Before and / or during the use of the computer program in a node, the software can be carried by a carrier, such as electronic signals, optical signals, radio signals, or computer-readable storage media.

[0090] When executed by one or more processors, the one or more flowcharts presented herein can be viewed as one or more computer flowcharts. The corresponding apparatus can be defined as a set of functional modules, where each step executed by the processor corresponds to a functional module. In this case, the functional module is implemented as a computer program that runs on the processor.

[0091] It should also be understood that it is possible to reuse the general processing power of any conventional equipment or unit in which the proposed technology is implemented. Existing software can also be reused, for example, by reprogramming existing software or by adding new software components.

[0092] The above embodiments are given as examples only, and it should be understood that the proposed technology is not limited thereto. Those skilled in the art will understand that various modifications, combinations, and changes can be made to the embodiments without departing from the scope of the invention. In particular, where technically possible, different partial solutions from different embodiments can be combined in other configurations.

[0093] When the word “includes” or “contains” is used, it should be interpreted as non-restrictive, meaning “consisting of at least…”.

[0094] It should also be noted that in some alternative embodiments, the functions / actions marked in the boxes may not occur in the order indicated in the flowchart. For example, depending on the functions / actions involved, two boxes shown consecutively may actually be executed substantially simultaneously, or these boxes may sometimes be executed in reverse order. Furthermore, the function of a given box in a flowchart and / or block diagram may be divided into multiple boxes, and / or the functions of two or more boxes in a flowchart and / or block diagram may be at least partially integrated. Finally, without departing from the scope of the inventive concept, other boxes may be added / inserted between the shown boxes, and / or boxes / operations may be omitted.

[0095] It should be understood that the selection and naming of the interactive units in this disclosure are merely for illustrative purposes, and nodes suitable for performing any of the above methods can be configured in various alternative ways to perform the suggested process actions.

[0096] It should also be noted that the units described in this disclosure should be considered as logical entities, and not necessarily as separate physical entities.

Claims

1. A method for controlling the operation of a fecal scraper based on information obtained from one or more cameras, said cameras being mounted to capture images of an area where the scraper is to be operated, the method comprising determining an actual need for feces to be cleaned by the scraper by image processing of the images obtained from the cameras, and wherein said control comprises triggering an action associated with said scraper when information derived from said obtained information meets a criterion, said criterion relating to a detected amount of feces to be cleaned, and / or a detected location of the feces to be cleaned; wherein said method further comprises observing the amount of feces present at different portions of the area to be cleaned by the scraper, and wherein said speed of said scraper is dynamically adapted to the observed presence of feces.

2. The method according to claim 1, wherein, The actions associated with the scraper are controlling its activation, operation, and deactivation.

3. The method of claim 2, further comprising estimating the amount of feces that needs to be removed by a scraper, wherein the scraper is activated according to a set of rules depending on the amount.

4. The method of claim 3, further comprising testing the scraper's capability to derive the maximum amount of feces the scraper can handle in a single cleaning cycle, and activating the scraper when the derived maximum amount of feces is observed via image processing in the scraper's operating area.

5. The method according to claim 4, wherein, When feces have been observed, the scraper is controlled to operate at a lower speed, which is more suitable for transferring feces.

6. The method according to claim 5, wherein, Maintain the low speed until the feces are cleared to the discharge port.

7. The method of claim 1, further comprising estimating the consistency of feces based on camera images.

8. The method of claim 7, comprising: Based on the estimated consistency, the scraper is activated before the feces become too dry to be transferred.

9. The method according to claim 7 or 8, further comprising: If necessary, water is added to the manure through the irrigation system.

10. The method of claim 1, comprising: Obtain information about the location of the scraper along the path of its operation from one or more cameras; Based on the information, determine whether the scraper has reached the predetermined position; When the determined results meet the criteria related to the amount of feces detected to be cleaned and / or the location of the feces detected to be cleaned, the speed or operation of the scraper is adjusted.

11. The method of claim 10, wherein the scraper drive mechanism is triggered to adjust the speed.

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