Animal movement control system and animal housing apparatus
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- JTEKT CORP
- Filing Date
- 2024-12-04
- Publication Date
- 2026-06-16
Smart Images
Figure 2026097482000001_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to an animal motion control system and an animal breeding device.
Background Art
[0002] Conventionally, there has been a pigsty equipped with an automatic moving floor. In the pigsty of Patent Document 1, an endless belt is stretched by a driving drum and a driven drum. The driving drum is driven by a variable-speed motor. As a result, the endless belt is rotated by the variable-speed motor. The upper portion of the endless belt is supported by a flat floor. Therefore, pigs can easily walk on the upper portion of the endless belt.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, in the pigsty described in Patent Document 1, only the rotational speed of the endless belt can be changed, and there are few changes in the movement of pigs. For this reason, the stress of pigs is not sufficiently eliminated, and there is a risk of damaging the health of pigs. Such problems exist not only for pigs but also for any animal.
Means for Solving the Problems
[0005] The present disclosure has been made to solve at least a part of the above-described problems and can be realized in the following forms.
[0006] (1) According to one embodiment of the present disclosure, a motion control system for causing an animal to perform motion is provided. The motion control system comprises an endless belt, a pair of rollers stretching the endless belt in a direction including a horizontal component, a prime mover for driving at least one of the pair of rollers, a regulating unit for regulating the vertical position of an intermediate portion of the endless belt between the pair of rollers, an attitude control device for changing the vertical position of at least one of the pair of rollers, a shape control device for changing the vertical position of the intermediate portion by controlling the regulating unit, a sensor for acquiring the state of the animal placed on the endless belt, and a control unit for controlling the prime mover, the attitude control device, and the shape control device based on input from the sensor. In this type of motion control system, the posture of the endless belt can be changed by a posture control device. The motion control system can change the shape of the endless belt by a pair of rollers and a posture control device, a regulating unit and a shape control device. Furthermore, the motion control system can appropriately change the posture in which the endless belt is stretched and the shape of the endless belt based on the state of the animal, using sensors and a control unit. As a result, by rotating the endless belt, the motion control system can cause the animal placed on the endless belt to perform a movement that has an appropriate load according to the state of the animal and changes appropriately according to the state of the animal. (2) In the above-described motion control system, the sensor may also be one or more sensors selected from the group consisting of a camera for photographing the animal, a microphone for acquiring sounds produced by the animal, a body temperature sensor for acquiring the temperature of the animal, an ambient temperature sensor for acquiring the temperature of the space on the endless belt where the animal is located, and an ambient humidity sensor for acquiring the humidity of the space on the endless belt where the animal is located. (3) In the motion control system of the above form, a feeding device is provided which is positioned above one of the pair of rollers and feeds the animal, and the prime mover drives at least one of the pair of rollers such that the upper surface of the endless belt moves from the one roller toward the other roller of the pair of rollers. In this configuration, the feeding device can be used to encourage animals to move upstream on the upper surface of the moving endless belt. (4) In the motion control system of the above form, a waste collection device for collecting waste on the upper surface of the endless belt may also be provided on the side opposite to the other roller and at a position lower than the other roller. In this configuration, the excrement discharged onto the upper surface of the endless belt is carried to the other roller at the downstream end, moved by gravity, and collected by the excrement collection device. As a result, the accumulation of excrement on the endless belt can be prevented. Therefore, the health of the animals can be maintained in good condition. (5) In the above-described motion control system, there may also be an embodiment that includes a biomass power generation unit that receives excrement from the excrement collection device and uses the excrement to generate biomass power, and a secondary battery that stores the electricity generated by the biomass power generation unit and supplies the stored electricity to the prime mover. In this configuration, electricity is generated by the biomass power generation unit. The secondary battery can store the electricity generated in this way, or electricity that has been supplied in advance. The prime mover can be driven by the electricity supplied by the secondary battery. As a result, even in the absence of an external power supply, the endless belt can be rotated, allowing animals on the endless belt to exercise for a longer period of time. (6) In the motion control system of the above form, there may also be a configuration that includes a generator connected to one of the pair of rollers and which generates electricity by the rotation of one of the pair of rollers, and a secondary battery that stores the electricity generated by the generator and supplies the stored electricity to the prime mover. In this configuration, electricity is generated by the movement of an animal on the endless belt, which in turn moves the belt. The secondary battery can store the electricity generated in this way, or electricity that has been supplied in advance. The prime mover can be driven by the electricity supplied by the secondary battery. As a result, even without an external power supply, the endless belt can be rotated, allowing the animal on the endless belt to exercise for a longer period of time. (7) According to other embodiments of the present disclosure, an animal housing apparatus for housing animals is provided. This animal housing apparatus comprises the motion control system of Application Example 1, walls and a ceiling surrounding the space in which the animals on the endless belt reside, and wheels that support and rotate the motion control system, the walls and the ceiling. In this configuration, animals can be raised while receiving exercise that has an appropriate load according to the animal's condition and changes appropriately according to the animal's condition. Furthermore, the animal rearing device can be moved to any desired location for raising animals. This disclosure can also be implemented in various forms other than motion control systems and animal rearing devices. For example, it can be implemented in the form of methods for controlling animal movement, methods for rearing animals, computer programs that execute these methods by computer, and non-temporary recording media that store such computer programs. [Brief explanation of the drawing]
[0007] [Figure 1] This is an explanatory diagram showing an animal breeding apparatus 1000 as a first embodiment of the present disclosure. [Figure 2] This is an explanatory diagram showing the configuration of the motion control system 100. [Figure 3] This is an explanatory diagram showing the configuration of the attitude control device 162. [Figure 4] This is an explanatory diagram showing the drive roller 121, driven rollers 126-129, and driven roller 122 arranged in a linear configuration. [Figure 5] This is a block diagram showing the configuration of the biomass power generation unit 158. [Figure 6] This is a block diagram showing the functional components of the exercise promotion unit 191. [Figure 7] This is a block diagram showing the functional components of the dynamic monitoring unit 192. [Figure 8] This is a block diagram showing the functional components of the stress calculation unit 193. [Figure 9] This is a block diagram showing the functions of the momentum calculation unit 194. [Figure 10] This is a block diagram showing the functions of the floor command calculation unit 195 and the functional units of the floor control unit 196. [Figure 11] This is an explanatory diagram showing a modified example of the first embodiment. [Modes for carrying out the invention]
[0008] A. First Embodiment: A1. Hardware configuration of animal breeding equipment: Figure 1 is an explanatory diagram showing an animal rearing apparatus 1000 as a first embodiment of the present disclosure. In Figure 1, the X, Y, and Z axes are shown. The X axis is horizontal. The positive direction of the Z axis is vertically upward. The X, Y, and Z axes constitute a left-handed system. The X, Y, and Z axes shown in Figures 2 and later correspond to the X, Y, and Z axes shown in Figure 1.
[0009] The animal rearing device 1000 is a device for rearing animals AM. The animal rearing device 1000 can be moved by being towed by a tow vehicle. The animal rearing device 1000 is used for rearing experimental animals at the destination. The animals AM are, for example, micro mini pigs. Since the animal rearing device 1000 is a device intended for movement, the space Sa in which the animals AM are reared in the animal rearing device 1000 is not large enough for the animals AM to move around sufficiently. For this reason, the animal rearing device 1000 is equipped with a movement control system 100 to allow the animals AM to move. In addition to the movement control system 100, the animal rearing device 1000 is equipped with an outer wall section 200 and a chassis section 300.
[0010] The outer wall portion 200 blocks the space Sa where the animal AM is bred from the outside of the animal breeding device 1000. Specifically, the outer wall portion 200 covers the space Sa where the animal AM is bred and a part of the motion control system 100. The outer wall portion 200 includes a cage 205, a wall 210, and a ceiling 220.
[0011] The cage 205 surrounds the space Sa where the animal AM is bred (see the central part of FIG. 1). The cage 205 restricts the space where the animal AM can move to the space Sa on the endless belt 110 of the motion control system 100. The endless belt 110 of the motion control system 100 will be described later.
[0012] The wall 210 and the ceiling 220 surround the space Sa where the animal AM is bred (see the upper part of FIG. 1 and the left and right middle parts of the middle section).
[0013] The chassis portion 300 is a configuration for moving the animal breeding device 1000 (see the lower part of FIG. 1). The chassis portion 300 supports the motion control system 100 and the outer wall portion 200. The chassis portion 300 includes a kingpin and a pair of left and right wheels 310. By rotating, the wheels 310 enable the animal breeding device 1000 to be moved by a small external force. The animal breeding device 1000 is a towed vehicle, a so-called trailer, that is towed by a towing vehicle.
[0014] FIG. 2 is an explanatory diagram showing the configuration of the motion control system 100. The motion control system 100 is a system for causing the animal AM to move. The motion control system 100 includes an endless belt 110, a pair of rollers 121 and 122, regulating portions 126 - 129, an electric motor 130, a feeding device 142, an excrement collection device 144, a secondary battery 156, a biomass power generation unit 158, an attitude control device 162, a shape control device 164, a temperature control device 172, a sensor 180, and a control unit 190.
[0015] The endless belt 110 functions as the floor in the space Sa where the animals AM are kept (see the middle left of Figure 2). The endless belt 110 is made of an elastically deformable material. The width of the endless belt 110 is approximately 1.2 m. Grooves are provided on the surface of the endless belt 110 along the direction of rotation of the endless belt 110.
[0016] The central axes of the pair of rollers 121 and 122 are parallel to each other (see the middle left and middle center sections of Figure 2). The distance between the central axes of the pair of rollers 121 and 122 is approximately 1.5 m. The pair of rollers 121 and 122 are oriented with an endless belt 110 that includes a horizontal component. The orientation of the endless belt 110 is the orientation of the line that intersects perpendicularly with the central axes of the pair of rollers 121 and 122 on which the endless belt 110 is oriented. In Figures 1 and 2, the horizontal direction coincides with the X-axis direction.
[0017] The electric motor 130 drives the drive roller 121, which is one of a pair of rollers 121, 122 (see the lower left of Figure 1). The electric motor 130 is supplied with power and outputs rotational force. The other of the pair of rollers 121, 122 is the driven roller 122, which is rotated by the drive roller 121 via the endless belt 110. The electric motor 130 drives the drive roller 121 so that the upper surface of the endless belt 110 moves from the drive roller 121 toward the driven roller 122 (see arrow Ad in Figure 2). In this specification, "upper surface of the endless belt 110" refers to the upper side of the upper part of a pair of parts of the endless belt 110 that are arranged substantially parallel to each other by the pair of rollers.
[0018] The regulating sections 126-129 regulate the vertical position of the intermediate portion 112 of the endless belt 110, which is located between a pair of rollers 121 and 122 (see the lower left of Figure 1). In Figures 1 and 2, the vertical direction coincides with the positive and negative Z-axis directions. The regulating sections 126-129 are driven rollers having a central axis parallel to the central axes of the pair of rollers 121 and 122. Specifically, the driven rollers 126-129 regulate the position of the lower portion of the pair of portions of the endless belt 110, which are arranged substantially parallel to each other. On the other hand, the position of the upper portion of the pair of portions of the endless belt 110, which are arranged substantially parallel to each other, is pressed downward by its own weight and by the animal AM that is riding on it, and its position is regulated by the upper surface of the driven rollers 126-129.
[0019] The temperature control device 172 is powered by electricity and controls the temperature of the space Sa in which the animal AM is located on the endless belt 110 (see upper left of Figure 1). The temperature control device 172 can receive power from the secondary battery 156. Alternatively, the temperature control device 172 can receive power from outside the animal rearing device 1000. Examples of external power sources for the animal rearing device 1000 include power sources provided by research facilities or hospitals. Researchers belonging to such research facilities or hospitals use the animal rearing device 1000 to rear animals AM and conduct experiments. The temperature control device 172 heats or cools the refrigerant by compressing or expanding it with a compressor. The temperature control device 172 controls the temperature of the space Sa in which the animal AM is located by causing heat exchange between the air in the space Sa in which the animal AM is located and the refrigerant.
[0020] The temperature control device 172 also has a function to control the humidity of the space Sa where the animal AM is present. Specifically, the temperature control device 172 increases the humidity of the space Sa where the animal AM is present by spraying water into the space Sa. The temperature control device 172 can take in the air of the space Sa where the animal AM is present and cool it by heat exchange with a refrigerant, thereby extracting the moisture contained in the air as liquid. The temperature control device 172 heats the air from which the moisture has been extracted as liquid as needed to adjust its temperature, and then releases it into the space Sa where the animal AM is present. As a result, the humidity of the space Sa where the animal AM is present is reduced.
[0021] The feeding device 142 is positioned above the drive roller 121 of a pair of rollers 121, 122, and feeds the animal AM (see upper left of Figure 2). The feeding device 142 comprises a feeding section 142f that provides food to the animal AM and where the animal eats the food, and a storage section 142s that stores the food to be supplied to the feeding section 142f.
[0022] With this configuration, the feeding device 142 can encourage the animal AM to move upstream on the upper surface of the moving endless belt 110. For example, by controlling the speed of the endless belt 110 so that the animal AM cannot reach the feeding section 142f, the animal AM can be made to move continuously.
[0023] The excrement collection device 144 collects excrement Exc from the upper surface of the endless belt 110 (see the lower right section of Figure 2). The excrement collection device 144 is positioned on the opposite side of the driven roller 121 from the driven roller 122, and below the driven roller 122. The excrement collection device 144 is equipped with a scraper 144s (see the lower center section of Figure 2). The scraper 144s scrapes off feces adhering to the upper surface of the endless belt 110. As a result, the feces that were on the upper surface of the endless belt 110 move along the scraper 144s by gravity and are collected in the storage space of the excrement collection device 144. Urine excreted from the animal AM on the endless belt 110 flows along grooves provided on the surface of the endless belt 110, travels along the scraper 144s, and is collected by the excrement collection device 144.
[0024] With this configuration, the excrement Exc discharged onto the upper surface of the endless belt 110 is carried to the other roller 122 at the downstream end, moved by gravity, and collected by the excrement collection device 144. As a result, it is possible to prevent the accumulation of excrement Exc on the endless belt 110. Therefore, the environment in which the animals AM are raised can be kept hygienic, and the health of the animals AM can be maintained in good condition.
[0025] Figure 3 is an explanatory diagram showing the configuration of the attitude control device 162. The attitude control device 162 changes the vertical position of the driven roller 122 of the pair of rollers 121, 122 (see the lower right part of Figure 2). The attitude control device 162 is equipped with two sets of combinations of bearing AS, jack JK, conversion mechanism TM, and electric motor EM.
[0026] The bearing AS supports the rotation axis RA of the driven roller 122 (see the middle section of Figure 3). The jack JK changes the vertical position of the bearing AS by extending and retracting. The electric motor EM is supplied with power from the secondary battery 156 or from outside the animal breeding device 1000 and outputs rotational power. The conversion mechanism TM extends and retracts the jack JK using the rotational output of the electric motor EM. The extension and retraction of the jack JK changes the vertical position of the driven roller 122.
[0027] The shape control device 164 changes the vertical position of the intermediate portion 112 of the endless belt 110 by controlling the restricting sections 126-129 (see the lower center of Figure 2). Specifically, the shape control device 164 changes the vertical position of the intermediate portion 112 of the endless belt 110 by changing the vertical position of the restricting sections 126-129. The shape control device 164 has the same configuration and function as the attitude control device 162. The motion control system 100 is equipped with four shape control devices 164, each controlling the restricting sections 126-129 (see the lower left of Figure 2). The attitude control device 162 and the shape control device 164 can change the position of each roller while the endless belt 110 is being driven.
[0028] Figure 4 is an explanatory diagram showing the state in which the drive roller 121, the driven rollers 126, 127, 128, and 129 as regulating sections 126-129, and the driven roller 122 are arranged in a linear configuration. In Figure 4, the drive roller 121 is at the highest position and the driven roller 122 is at the lowest position. In this state, when the electric motor 130 is driven, the upper surface of the endless belt 110 moves from the drive roller 121 toward the driven roller 122. As a result, the animal AM is forced to walk uphill on the upper surface of the endless belt 110 in the direction Aw, from the driven roller 122 toward the drive roller 121.
[0029] On the other hand, in Figure 1, the drive roller 121 is in its highest position. The driven roller 122, and the driven rollers 128 and 129 are in their lowest positions. The driven roller 127 is located between the drive roller 121 and the driven roller 122 in the vertical direction. The driven roller 126 is located between the drive roller 121 and the regulating part 127 in the vertical direction. In other words, of the six rollers, only the drive roller 121 and the driven rollers 126 and 127 are arranged at an angle. The driven rollers 128, 129, and 122 are arranged horizontally.
[0030] In this state, when the animal AM is willing to perform strenuous exercise, it will climb an incline at a position between the driven roller 121 and the driven roller 127, which is close to the feeding device 142. On the other hand, when the animal AM does not want to perform strenuous exercise, it can walk on a flat floor at a position between the driven roller 128 and the driven roller 122.
[0031] Sensor 180 acquires the status of the animal AM placed on the endless belt 110 (see upper center of Figure 2). Sensor 180 includes a camera 181, a microphone 182, a body temperature sensor 183, an ambient temperature sensor 184, an ambient humidity sensor 185, and a weighing scale 186.
[0032] Camera 181 photographs the animal AM placed on the endless belt 110 (see upper center of Figure 2). Specifically, camera 181 is a digital video camera. Microphone 182 acquires sounds produced by the animal AM placed on the endless belt 110 (see upper right of Figure 2). The sounds produced by the animal AM include the animal AM's cries, footsteps, and the sound of the animal AM hitting the cage 205.
[0033] The body temperature sensor 183 acquires the temperature of the animal AM (see upper left of Figure 2). The body temperature sensor 183 is a thermograph that detects infrared radiation emitted from the animal AM and generates an image representing the heat distribution.
[0034] The ambient temperature sensor 184 acquires the temperature of the space Sa where the animal AM is located on the endless belt 110 (see upper center of Figure 2). The ambient humidity sensor 185 acquires the humidity of the space Sa where the animal AM is located on the endless belt 110.
[0035] The weighing scale 186 measures the weight of the animal AM. The weighing of the animal AM using the weighing scale 186 is performed periodically by the user. For ease of understanding the technology, the weighing scale 186 is not shown in Figure 2.
[0036] The control unit 190 controls each part of the motion control system 100, including the electric motor 130, the attitude control device 162, and the shape control device 164, based on input from the sensor 180 (see upper right section of Figure 2). The control unit 190 includes a CPU (Central Processing Unit), which is a processor, RAM (Random Access Memory), and ROM (Read Only Memory). The RAM includes main memory, which is a semiconductor memory, and a hard disk and SSD (Solid State Drive), which are auxiliary storage devices. The CPU loads computer programs stored on the hard disk or SSD into the main memory and executes them to realize various functions for operating the animal rearing device 1000. For example, the control unit 190 controls the rotation speed of the drive roller 121 based on images from the camera 181 so that the position of the animal AM on the upper surface of the endless belt 110 is not extremely biased forward or backward. The functions of the control unit 190 will be described later.
[0037] Figure 5 is a block diagram showing the configuration of the biomass power generation unit 158 (see the lower right section of Figure 2). The biomass power generation unit 158 is supplied with excrement Exc from the excrement collection device 144 and uses the excrement Exc to generate biomass power. Specifically, the biomass power generation unit 158 is supplied with animal AM urine from the excrement collection device 144 and uses the animal AM urine to generate power. The biomass power generation unit 158 includes an ammonia recovery unit 1581, a hydrogen separation unit 1582, a hydrogen tank 1583, and a fuel cell 1584.
[0038] The ammonia recovery unit 1581 recovers ammonia from the urine of animal amniotic fluid (AM) (see upper left of Figure 5). The ammonia recovery unit 1581 can employ devices that recover ammonia using a membrane separation method, devices that recover ammonia using a stripping method, etc. The ammonia recovery unit 1581 supplies ammonia and water to the hydrogen separation unit 1582.
[0039] The hydrogen separation unit 1582 generates hydrogen and nitrogen from ammonia and water (see upper right section of Figure 5). The hydrogen separation unit 1582 can employ a device that separates hydrogen from ammonia and water using a catalytic method, or a device that separates hydrogen from ammonia and water by electrolysis, etc. The hydrogen separation unit 1582 supplies hydrogen gas to the hydrogen tank 1583.
[0040] The hydrogen tank 1583 stores hydrogen gas (see the middle right section of Figure 5). The hydrogen tank 1583 supplies the stored hydrogen gas to the fuel cell 1584. The fuel cell 1584 generates electricity using hydrogen gas and air (see the lower right section of Figure 5). The fuel cell 1584 supplies the generated electricity to the secondary battery 156.
[0041] The secondary battery 156 stores electrical energy (see the lower left of Figure 5 and the lower left of Figure 2). More specifically, the secondary battery 156 stores power supplied from the biomass power generation unit 158 and power supplied from outside the animal breeding device 1000. As mentioned above, the external power source is assumed to be, for example, a power source provided by a research facility or hospital that uses the animal breeding device 1000 to breed animals AM and conduct experiments. The secondary battery 156 supplies power to each component of the animal breeding device 1000, such as the electric motor 130, feeding device 142, attitude control device 162, shape control device 164, temperature control device 172, and control unit 190.
[0042] In this configuration, electricity is generated by the biomass power generation unit 158. The secondary battery 156 stores the electricity generated in this way, or electricity supplied from an external source in advance. Among the various components of the animal rearing device 1000, for example, the temperature control device 172 can be driven by the electricity supplied from the secondary battery 156. As a result, even when there is no external power supply, the endless belt 110 can be rotated, allowing the animals AM on the endless belt 110 to exercise for a longer period of time compared to a configuration without the biomass power generation unit 158. Therefore, the animal rearing device 1000 can reduce the possibility of deterioration in the health of the animals AM when there is no external power supply, compared to a configuration without the biomass power generation unit 158.
[0043] A2. Functions of the control unit: The control unit 190 includes, as functional units implemented by the CPU, an exercise promotion unit 191, a motion monitoring unit 192, a stress calculation unit 193, a momentum calculation unit 194, a floor command calculation unit 195, and a floor control unit 196. Each functional unit of the control unit 190 will be described below with reference to Figures 6-10.
[0044] Figure 6 is a block diagram showing the functional parts of the exercise promotion unit 191, which is a functional part of the control unit 190. The exercise promotion unit 191 receives from the feeding device 142 the weight of the feed previously given to the animal AM, the weight of the feed previously given to the animal AM that the animal AM left behind, and the amount of water previously drunk by the animal AM (see the middle left of Figure 6 and the upper left of Figure 2). The exercise promotion unit 191 receives the weight of the animal AM from the weighing scale 186. The weight of the animal AM is measured periodically by the weighing scale 186. Based on these input values, the exercise promotion unit 191 calculates and outputs a target value for the amount of feed to be given (see the middle right of Figure 6). The exercise promotion unit 191 performs the following processing.
[0045] The amount of food that the animal AM actually consumed in the past is calculated based on the weight of the food given to the animal AM in the past, the weight of the food left behind by the animal AM, and the amount of water the animal AM drank in the past (see the middle left of Figure 6).
[0046] Based on the amount of food the animal AM has actually consumed in the past, the amount of food the animal AM consumes per unit time is calculated (see the middle left of Figure 6). Based on the amount of food the animal AM consumes per unit time, the amount of calories, i.e., energy, acquired by the animal AM per unit time is calculated. Based on the amount of energy acquired by the animal AM per unit time and its body weight, the growth rate of the animal AM is calculated (see the bottom left of Figure 6). The growth rate is recorded in the individual database, associated with the animal's individual identification number (see the bottom right of Figure 6). Based on the growth rate, the amount of food to be given to the animal AM per unit time is calculated (see the bottom right of Figure 6). The amount of food to be given to the animal AM per unit time, i.e., the feeding target value, is input to the exercise amount calculation unit 194 and the floor command calculation unit 195. Based on the amount of food to be given to the animal AM per unit time and the amount of energy acquired by the animal AM per unit time, the amount of food and water to be given each time is calculated (see the middle center of Figure 6). Based on the amount of food and water dispensed each time, a feeding command is generated and input to the feeding device 142 (see the upper center of Figure 6).
[0047] Figure 7 is a block diagram showing the functional components of the motion monitoring unit 192, which is a functional component of the control unit 190. In the motion monitoring unit 192, the operating state of the animal AM is determined based on the image obtained from the camera 181 and the sound obtained from the microphone 182 (see the left and right parts of Figure 7). The motion monitoring unit 192 performs the following processing.
[0048] Based on the images obtained from camera 181, the speed and acceleration of the animal AM's movement are calculated (see upper left of Figure 7). Based on the images obtained from camera 181, the position of the animal AM is detected (see upper center of Figure 7). Based on the position of the animal AM, the frequency of presence of the animal AM at each position is calculated (see upper center of Figure 7). Based on the images obtained from camera 181, a specific part of the animal AM is detected (see upper left of Figure 7). Based on the images obtained from camera 181, the speed of the detected specific part, the acceleration of the specific part of the animal AM, and the orientation of the specific part of the animal AM are calculated (see upper left of Figure 7). These calculation results are used to calculate the momentum of the animal AM (see upper right of Figure 7). These calculation results are also input into a machine learning model for the animal AM's movement (see middle center of Figure 7). The machine learning model for movement outputs the movement being performed by the animal AM. The activity level of the animal AM is determined based on the actions it performs (see the middle right section of Figure 7). The activity level of the animal AM is then input into a machine learning model (see the middle right section of Figure 7).
[0049] Based on the audio obtained from microphone 182, frequency analysis of that audio is performed (see lower left of Figure 7). Based on the audio obtained from microphone 182, the volume of that audio is calculated (see lower left of Figure 7). Based on the audio obtained from microphone 182, the frequency of a specific sound is calculated (see lower left of Figure 7). Based on the audio obtained from microphone 182, the tone of that sound is calculated (see lower left of Figure 7). These calculation results are input into a machine learning model for animal conversation. The machine learning model for conversation outputs information represented by the animal AM's speech (see lower center of Figure 7). The information represented by the animal AM's speech is used to determine the animal AM's mood based on the audio (see lower center of Figure 7). The animal AM's mood, determined based on the audio, is input into the machine learning model (see middle right of Figure 7).
[0050] The machine learning model receives the animal AM's activity level and its mood (determined based on its voice) as input, determines the state of the animal AM, and outputs the result (see the middle right section of Figure 7). Based on the state of the animal AM, a dynamics determination is made, and the animal AM's activity state is determined (see the middle right section of Figure 7). The animal AM's activity state is input to the momentum calculation unit 194.
[0051] Figure 8 is a block diagram showing the functional parts of the stress calculation unit 193, which is a functional part of the control unit 190. In the stress calculation unit 193, the stress state of the animal AM is determined based on the temperature of the space Sa in which the animal AM is present, obtained from the ambient temperature sensor 184, the humidity of the space Sa in which the animal AM is present, obtained from the ambient humidity sensor 185, and an image representing the heat distribution of the animal AM obtained from the body temperature sensor 183 (see the left and right parts of Figure 8). The following processing is performed in the stress calculation unit 193.
[0052] Based on the body temperature of the animal AM obtained from the body temperature sensor 183, the temperature distribution of each part of the animal AM's body is detected (see the lower left of Figure 8). The temperatures of each part of the animal AM's body, the temperature of the space Sa in which the animal AM is located (obtained from the ambient temperature sensor 184), and the humidity of the space Sa in which the animal AM is located (obtained from the ambient humidity sensor 185) are input to a machine learning model for the animal AM's stress (see the lower center of Figure 8). The output of the machine learning model for stress is used to calculate the stress state of the animal AM (see the middle right of Figure 8). If the temperature of the space Sa is outside the temperature range that the animal AM finds comfortable, or if the humidity of the space Sa is outside the humidity range that the animal AM finds comfortable, the stress of the animal AM output by the machine learning model will be high. The stress state of the animal AM is input to the momentum calculation unit 194.
[0053] Figure 9 is a block diagram showing the functions of the movement calculation unit 194 as a functional part of the control unit 190. The movement calculation unit 194 receives the target feed amount value from the movement promotion unit 191 (see the middle right of Figure 6). The movement calculation unit 194 receives the operating state from the motion monitoring unit 192 (see the middle right of Figure 7). The movement calculation unit 194 receives the stress state from the stress calculation unit 193 (see the upper right of Figure 8). Based on the operating state, stress state, and target feed amount value, the movement calculation unit 194 determines the target value of the animal AM's movement (see the upper center of Figure 9). The target value for the animal AM is determined according to the individual animal AM. The target value of the animal AM's movement is input to the floor command calculation unit 195.
[0054] Figure 10 is a block diagram showing the functions of the floor command calculation unit 195 as a functional unit of the control unit 190, and the functions of the floor control unit 196 as a functional unit of the control unit 190. The floor command calculation unit 195 receives a target value for the amount of feed from the exercise promotion unit 191 (see the middle right of Figure 6). The floor command calculation unit 195 receives a target value for the amount of exercise of the animal AM from the exercise amount calculation unit 194 (see the middle right of Figure 9). Based on the target value for the amount of exercise of the animal AM and the target value for the amount of feed, the floor command calculation unit 195 determines the target state of operation of the pair of rollers 121, 122 and the regulating units 126-129 (see the lower left of Figure 2). The target state of operation of the pair of rollers 121, 122 and the regulating units 126-129 is input to the floor control unit 196.
[0055] The floor control unit 196 generates command values to be given to the electric motor 130, the electric motor EM of the attitude control device 162, and the electric motor EM of the shape control device 164, based on the target state of operation. The generated command values are then given to the electric motor 130, the electric motor EM of the attitude control device 162, and the electric motor EM of the shape control device 164 (see the lower left of Figure 2 and the lower part of Figure 3). The floor control unit 196 includes a speed control driver 196v, an attitude control driver 196o, and a shape control driver 196s.
[0056] The speed control driver 196v generates a speed command value to be given to the electric motor 130 (see upper right of Figure 10). Based on the target state of operation, the speed control driver 196v calculates the speed command value and outputs it to the electric motor 130 via the motor driver. The speed control driver 196v receives a signal from the torque sensor on the electric motor 130 and calculates the torque (see upper right of Figure 10). Based on the obtained torque, the speed control driver 196v calculates the load. The speed control driver 196v receives a signal from the rotation sensor on the electric motor 130 and calculates the angular position of the output shaft of the electric motor 130 (see upper right of Figure 10). Based on the obtained load and angular position, the speed control driver 196v calculates the speed command value (see upper center of Figure 10). In other words, the speed control driver 196v performs feedback control on the electric motor 130.
[0057] The attitude control driver 196o generates a position command value to be given to the attitude control device 162 (see the middle right of Figure 10). Based on the target state of operation, the attitude control driver 196o calculates the position command value for the attitude control device 162 and outputs it to the electric motor EM of the attitude control device 162 via the motor driver (see the middle of Figure 10). The attitude control driver 196o receives a signal from the torque sensor provided by the attitude control device 162 and calculates the torque (see the middle right of Figure 10). Based on the obtained torque, the attitude control driver 196o calculates the load. The attitude control driver 196o receives a signal from the rotation sensor provided by the attitude control device 162 and calculates the angular position of the output shaft of the electric motor EM of the attitude control device 162 (see the middle right of Figure 10). Based on the obtained load and angular position, the attitude control driver 196o calculates the position command value (see the middle center of Figure 10). In other words, the attitude control driver 196o performs feedback control to the electric motor EM of the attitude control device 162.
[0058] The shape control driver 196s generates position command values to be given to the shape control device 164 (see the lower right section of Figure 10). The configuration and function of the shape control driver 196s are the same as those of the attitude control driver 196o. For ease of understanding the technology, Figure 10 shows only one shape control driver 196s. However, a shape control driver 196s is provided for each of the four shape control devices 164 (see the lower left section of Figure 2).
[0059] In the first embodiment, the motion control system 100 can change the posture of the endless belt 110 using the posture control device 162 (see the middle section of Figure 4). The motion control system 100 can change the shape of the endless belt 110 using a pair of rollers 121, 122 and the posture control device 162, as well as regulating units 126-129 and shape control device 164 (see the left middle section of Figure 2). Furthermore, the motion control system 100 can appropriately change the posture in which the endless belt 110 is stretched and the shape of the endless belt 110 based on the state of the animal AM using the sensor 180 and the control unit 190 (see the upper section of Figure 2, and Figures 6-10). As a result, by rotating the endless belt 110, the motion control system 100 can cause the animal AM placed on the endless belt 110 to perform movements that have an appropriate load according to the state of the animal AM and that change appropriately according to the state of the animal AM. As a result, stress on animals kept in the limited space Sa of the portable animal housing device 1000 is reduced, and good health can be maintained.
[0060] According to the animal rearing device 1000 of the first embodiment, it is possible to rear animals AM while providing them with an appropriate load according to the state of the animals AM, and while allowing them to perform exercise that changes appropriately according to the state of the animals AM (see Figure 1). Furthermore, the animal rearing device 1000 can be moved to any location and used to rear animals AM. The electric motor 130 in this embodiment is also called the "prime mover".
[0061] A3. Modifications of the embodiment: (1) Modification of the embodiment 1: Figure 11 is an explanatory diagram showing a modified example of the first embodiment. The animal breeding apparatus 1000 may further include a generator 152. The generator 152 is supplied with methane, methanol, or ethanol as fuel and generates electricity by burning them. The generator 152 receives methane, methanol, or ethanol as fuel from the biomass power generation facility 2000.
[0062] The biomass power generation facility 2000 is installed in a facility where an animal breeding device 1000 is provided (see the right side of Figure 11). The biomass power generation facility 2000 is supplied with excrement Exc from the excrement collection device 144 of the animal breeding device 1000 and uses the excrement Exc to generate biomass power. Specifically, the biomass power generation facility 2000 is supplied with animal AM feces from the excrement collection device 144 and uses the animal AM feces to generate power. The biomass power generation facility 2000 includes a biological filtration unit 610, a denitrification unit 620, a carbon dioxide recovery and separation tank 630, and a fuel storage tank 640.
[0063] The biological filtration unit 610 is supplied with animal AM feces, water, oxygen, and hydrogen, and generates carbon dioxide, nitrogen dioxide, water, hydrogen, and nitrogen (see the middle section of Figure 11). The biological filtration unit 610 comprises a dependent bacterial tank 612, an independent aerobic bacterial tank 614, an independent aerobic bacterial tank 616, and an independent anaerobic bacterial tank 618.
[0064] The dependent bacterial tank 612 is supplied with animal amniotic fluid (AM) feces and water, and decomposes the proteins in the animal AM feces to produce methane, methanol, or ethanol, ammonia, and carbon dioxide (see the middle left of Figure 11). The methane, methanol, or ethanol is supplied to the fuel storage tank 640. The carbon dioxide is supplied to the carbon dioxide recovery and separation tank 630 (see the lower left of Figure 11). The ammonia is supplied to the independent aerobic bacterial tank 614.
[0065] The isolated aerobic bacteria tank 614 is supplied with ammonia and oxygen to produce nitrogen dioxide and nitrite (see the middle section of Figure 11). The nitrogen dioxide is supplied to the denitrification unit 620. The nitrite is supplied to the isolated aerobic bacteria tank 616.
[0066] The isolated aerobic bacteria tank 616 is supplied with nitrite and produces water, hydrogen, and nitrate (see the middle right section of Figure 11). The nitrate is supplied to the isolated anaerobic bacteria tank 618. The isolated anaerobic bacteria tank 618 is supplied with nitrate and hydrogen and produces nitrogen and water.
[0067] The denitrification unit 620 is supplied with nitrogen dioxide and ammonia to produce nitrogen and water (see the upper center of Figure 11).
[0068] The carbon dioxide recovery and separation tank 630 receives carbon dioxide and produces methane, methanol, or ethanol and oxygen (see the lower left of Figure 11). The methane, methanol, or ethanol is supplied to the fuel storage tank 640. The fuel storage tank 640 stores the methane, methanol, or ethanol as fuel and supplies it to the generator 152 of the animal breeding apparatus 1000.
[0069] According to the animal breeding apparatus 1000 and biomass power generation facility 2000 of Modification 1, animal waste can be effectively utilized to cover at least a portion of the electricity consumed by the animal breeding apparatus 1000.
[0070] (2) Modification of the embodiment 2: The animal rearing apparatus 1000 shown in Figure 11 is equipped with a generator 152 that generates electricity by burning fuel. However, the animal rearing apparatus 1000 may also be equipped with a generator 153 that converts the kinetic energy of animals AM into electricity, instead of a generator 152 that generates electricity by burning fuel.
[0071] In the modified animal rearing apparatus 1000 of the second example, the generator 153 is an electric motor 130 connected to the drive roller 121 (see the lower left of Figure 2). The electric motor 130, acting as the generator 153, generates electricity through the rotation of the drive roller 121. That is, when power is supplied, the electric motor 130 rotates the drive roller 121, and when rotational force is transmitted from the drive roller 121, it functions as a generator 153. The secondary battery 156 stores the electricity generated by the generator 153. The secondary battery 156 supplies the stored electricity to various components of the animal rearing apparatus 1000, such as the temperature control device 172 (see the upper right of Figure 2).
[0072] In the modified animal rearing device 1000, animals AM attracted by the feed in the feeding device 142 move on the endless belt 110, thereby generating electricity (see the middle left of Figure 2). The secondary battery 156 can store the electricity generated in this way, or electricity supplied in advance (see the lower left of Figure 2). The temperature control device 172 can be driven by the electricity supplied from the secondary battery 156. As a result, even in the absence of an external power supply, the rotation of the endless belt 110 allows the animals AM on the endless belt 110 to exercise for a longer period of time compared to the configuration without a generator 153. Therefore, the modified animal rearing device 1000, compared to the configuration without a generator 153, can reduce the possibility of deterioration in the health of the animals AM in the absence of an external power supply.
[0073] B. Other embodiments: B1. Other Embodiments 1: (1) In the above embodiment, the electric motor 130 drives the drive roller 121 (see the lower left part of Figure 1). However, the electric motor 130 may not drive the roller closer to the feeding device 142 of the pair of rollers 121 and 122, but may drive the roller further away from the feeding device 142. Alternatively, the electric motor 130 may drive both of the pair of rollers 121 and 122.
[0074] (2) In the above embodiment, the attitude control device 162 changes the vertical position of the driven roller 122 (see the lower right part of Figure 2). However, the attitude control device 162 may also change the vertical position of the drive roller 121. In addition, an attitude control device may be provided for each of the pair of rollers 121 and 122 that tension the endless belt 110. However, it is preferable that the roller closer to the feeding device 142 of the pair of rollers 121 and 122 does not have an attitude control device, while the roller further from the feeding device 142 does (see the middle left part of Figure 2). In such an embodiment, the attitude of the endless belt 110 can be changed while keeping the positional relationship between the roller closer to the feeding device 142 and the feeding device 142 constant.
[0075] (3) In the above embodiment, the attitude control device 162 and the shape control device 164 can change the position of each roller while the endless belt 110 is being driven (see the lower left part of Figure 2). However, the attitude control device 162 and the shape control device 164 can also be configured to change the position of each roller only when the endless belt 110 is not being driven.
[0076] (4) In the above embodiment, the restricting portion 126-129 is a driven roller having a central axis parallel to the central axis of the pair of rollers 121 and 122 (see the lower left part of Figure 1). However, the restricting portion may be a non-rotating member that restricts the vertical position of a part of the endless belt 110.
[0077] (5) In the above embodiment, the waste collection device 144 is equipped with a scraper 144s (see the lower center of Figure 2). The waste collection device 144 may be equipped with a water washing device for washing the upper surface of the endless belt 110 together with the scraper 144s, or in place of the scraper 144s.
[0078] (6) In the above embodiment, the external power source is a research facility or hospital that uses the animal rearing device 1000 to raise animals AM and conduct experiments. However, the external power source may be a secondary battery or a generator provided by the towing vehicle.
[0079] (7) In the modified example 2 of the above embodiment, the generator 153 is an electric motor 130 connected to the drive roller 121 (see the lower left part of Figure 2). However, the generator that converts the kinetic energy of the animal AM into electricity may be connected to the driven roller 122 or the driven rollers 126-129. It is preferable that the generator that converts the kinetic energy of the animal AM into electricity is connected to a roller to which the attitude control device is not connected.
[0080] (8) In the above embodiment, the motion control system 100 includes a biomass power generation unit 158 (see the lower right part of Figure 2). The motion control system 100 may also include other types of power generation devices, such as a photovoltaic power generation device that uses sunlight, or a wind power generation device that uses wind power, instead of, or together with, the biomass power generation unit 158.
[0081] (9) In the modified example 1 of the above embodiment, the biomass power generation facility 2000 is provided separately from the animal breeding device 1000 (see Figure 11). However, the animal breeding device 1000 may also have a configuration inside that functions as the biomass power generation facility 2000.
[0082] B2. Another Embodiment 2: In the above embodiment, the sensor 180 includes a camera 181, a microphone 182, a body temperature sensor 183, an ambient temperature sensor 184, an ambient humidity sensor 185, and a weighing scale 186 (see upper center of Figure 2). However, the motion control system 100 does not need to include some or all of these sensors. The motion control system 100 may include, together with or in place of at least some of these sensors, sensors other than those mentioned above as sensors for acquiring the state of the animal AM, such as a vibration sensor for detecting vibrations of the endless belt 110 or a torque sensor provided in the electric motor 130.
[0083] B3. Other Embodiments 3: In the above embodiment, the movement control system 100 includes a feeding device 142 (see upper left of Figure 2). However, the movement control system 100 can also be configured without the feeding device 142. For example, instead of the feeding device 142, the movement control system 100 may include a speaker that outputs the voice of an animal of the same species as the animal AM, which is a mother animal in the process of raising her offspring, as a means of attracting the animal AM. Alternatively, the movement control system 100 may not include any means of attracting the animal AM.
[0084] B4. Other Embodiments 4: In the above embodiment, the exercise control system 100 includes a waste collection device 144 (see the lower right section of Figure 2). However, if, for example, the exercise control system is installed in a facility that is not intended for raising animals but is provided for the purpose of allowing animals AM to exercise, the exercise control system does not need to include the waste collection device 144.
[0085] B5. Other Embodiments 5: In the above embodiment, the motion control system 100 includes a secondary battery 156 and a biomass power generation unit 158 (see the lower right part of Figure 2). However, in a motion control system equipped with facilities that can receive power from an external source, the secondary battery 156 and the biomass power generation unit 158 may not be provided.
[0086] B6. Other Embodiments 6: In the modified example 2 of the above embodiment, the motion control system 100 includes a generator 153 that converts the kinetic energy of the animal AM into electricity (see the lower left of Figure 2). However, the motion control system 100 can also be configured without the generator 153, as in the above embodiment and modified example 1 of the above embodiment.
[0087] B7. Other Embodiments 7: In the above embodiment, the exercise control system 100 for causing the animal AM to exercise is installed in an animal housing device 1000 equipped with wheels 310 that can be moved. However, the exercise control system 100 may also be installed in a facility that is not intended for housing animals at the destination, but is provided for the purpose of causing the animal AM to exercise.
[0088] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features of the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. [Explanation of Symbols]
[0089] 100...Motion control system, 110...Endless belt, 112...Intermediate section, 121...Drive roller, 122...Driven roller, 126...Regulating section, 127...Regulating section, 128...Regulating section, 129...Regulating section, 130...Prime motor, 142...Feeding device, 142f...Feeding section, 142s...Storage section, 144...Excrement collection device, 144s...Scraper, 152...Generator, 153...Generator, 156...Secondary battery, 158...Bio Mass power generation unit, 162... Posture control device, 164... Shape control device, 172... Temperature control device, 180... Sensor, 181... Camera, 182... Microphone, 183... Body temperature sensor, 184... Ambient temperature sensor, 185... Ambient humidity sensor, 186... Weight scale, 190... Control unit, 191... Exercise promotion unit, 192... Dynamic monitoring unit, 193... Stress calculation unit, 194... Momentum calculation unit, 195... Floor command calculation unit, 196... Floor control unit 196o...Attitude control driver, 196s...Shape control driver, 196v...Speed control driver, 200...Outer wall section, 205...Cage, 210...Wall, 220...Ceiling, 300...Chassis section, 310...Wheels, 610...Biological filtration section, 612...Dependent bacteria tank, 614...Independent aerobic bacteria tank, 616...Independent aerobic bacteria tank, 618...Independent anaerobic bacteria tank, 620...Denitrification section, 630...Carbon dioxide recovery and separation tank, 640...Combustion 1000…Animal breeding equipment, 1581…Ammonia recovery equipment, 1582…Hydrogen separation unit, 1583…Hydrogen tank, 1584…Fuel cell, 2000…Biomass power generation facility, AM…Animal, AS…Bearing, Ad…Direction in which the upper surface of the endless belt moves, Aw…Direction in which the animal walks, EM…Electric motor, Exc…Excrement, JK…Jack, RA…Rotating shaft, Sa…Space where the animal is located, TM…Conversion mechanism
Claims
1. A motor control system that enables animals to perform movements, Endless belt and A pair of rollers stretching the endless belt in a direction that includes a horizontal component, A prime mover that drives at least one of the pair of rollers, A restricting portion that restricts the vertical position of the intermediate portion of the endless belt located between the pair of rollers, An attitude control device that changes the vertical position of at least one of the pair of rollers, A shape control device that changes the vertical position of the intermediate portion by controlling the regulating portion, A sensor placed on the endless belt acquires the state of the animal, A motion control system comprising a control unit that controls the prime mover, the attitude control device, and the shape control device based on input from the aforementioned sensor.
2. A motion control system according to claim 1, The aforementioned sensor is A camera for photographing the aforementioned animals, A microphone for acquiring sounds produced by the aforementioned animal, A body temperature sensor that acquires the temperature of the aforementioned animal, An ambient temperature sensor that acquires the temperature of the space on the endless belt where the animal is located, An environmental humidity sensor that acquires the humidity of the space on the endless belt where the animal is located, A motion control system comprising one or more sensors selected from the group consisting of the following.
3. A motion control system according to claim 1, A feeding device is provided above one of the pair of rollers, which feeds the animal. The prime mover is a motion control system that drives at least one of the pair of rollers such that the upper surface of the endless belt moves from one roller toward the other roller of the pair.
4. A motion control system according to claim 3, A motion control system comprising a waste collection device for collecting waste from the upper surface of the endless belt, located on the opposite side from the other roller and below the other roller.
5. A motion control system according to claim 4, A biomass power generation unit receives waste from the aforementioned waste collection device and uses the said waste to generate biomass power, A motion control system comprising a secondary battery that stores the electricity generated by the biomass power generation unit and supplies the stored electricity to the prime mover.
6. A motion control system according to claim 3, A generator connected to one of the pair of rollers, which generates electricity by the rotation of one of the pair of rollers, A motion control system comprising a secondary battery that stores the electricity generated by the generator and supplies the stored electricity to the prime mover.
7. An animal rearing device for raising animals, The motion control system according to claim 1, The walls and ceiling surrounding the space on the endless belt where the animal is located, The motion control system, the wall, and the ceiling are supported by a rotating wheel, An animal breeding device equipped with the following features.