Automated animal welfare system for group-kept animals and related methods

Abstract

The invention pertains to an automated system (20) designed for animal welfare. The system includes heat-detecting imaging devices (210) and an animal welfare robot (200) with a waste collector (220). The imaging devices (210) detect (401) waste (301) material, animals (312), and bedding material (304), and send data (211) to a computational device (400). The computational device (400) processes the data to locate (401) positions of animals (312), waste (301), and bedding material (304). The animal welfare robot (200) receives instructions from the computational device (400) to move and collect waste (301, 222, 500, 223) material from beddings (302) without disturbing animals (312) or colliding with any structures (333). The robot (200) also distributes (230) bedding material (304). The system (20) is designed to operate the robot (200) according to an animal welfare policy for movements (314). The robot is also configured to collect (220) waste (301) from animals (312), distribute (230, 232, 233) bedding material (304), and dump waste (301) at a designated dump area (304).

Description

[0001] AUTOMATED ANIMAL WELFARE SYSTEM FOR GROUP-KEPT ANIMALS AND

[0002] RELATED METHODS

[0003] Technical field

[0004] The invention pertains to an automated system for maintaining cleanliness in animal husbandry environments, specifically for group-kept animals such as dairy cows, using a robot that identifies and removes manure without disturbing the animals.

[0005] Background

[0006] In the field of animal husbandry, particularly for group-kept animals such as dairy cows, maintaining cleanliness and hygiene is a significant challenge. Manure management is a critical aspect of this, as accumulation of waste can lead to health issues for the animals, including hoof diseases and pressure damage. Moreover, the presence of manure can disrupt the natural behavior of the animals, causing stress and potentially impacting their productivity.

[0007] Traditional methods of manure management often involve manual labor, which can be timeconsuming and inefficient. Additionally, these methods can cause disturbance to the animals, further exacerbating stress levels. There is also the risk of not being able to promptly identify and address situations of concern within the group, such as estrus or heightened anxiety, which can lead to further complications.

[0008] Furthermore, the distribution of fresh bedding is another task that requires regular attention. Inadequate or irregular distribution can lead to discomfort for the animals and can also contribute to the spread of diseases.

[0009] Therefore, there is a clear need for an efficient, non-intrusive solution that can effectively manage manure and bedding distribution in animal husbandry settings, while also being, capable of monitoring the behavior and well-being of the animals.

[0010] Summary of invention

[0011] The automated system for animal welfare includes heat-detecting imaging devices and an animal welfare robot with a waste collector. The imaging devices detect waste material, animals, and bedding material, sending data to a computational device. The robot receives instructions from the computational device to collect waste material and distribute bedding material. The computational device processes the data to locate positions of animals, waste, and bedding material.

[0012] The system operates the robot without disturbing animals according to an animal welfare policy. The policy is thus a policy for how the robot should move and operate relative the animal (current type of animal being cared for) and relates to movement patterns ut also to timings for different actions such as cleaning, feeding and so on). As would be understood, depending on the type of animal, the movement pattern will direct the robot as regards what side to pass on animal on to not scare or disturb the animal. This is also part of rules for being friendly to animals, i.e. animal friendly rules. Such rules are dictated by law and there are common understandings of such in EU through common legislation, legislation that is similar in many different countries. The robot is thus enabled to fulfill such legal requirements in whatever jurisdiction it is employed.

[0013] The robot is also configured to collect waste from animals, distribute bedding material, and dump waste at a designated area, such as a waste dump or similar location. The system can operate on various platforms such as ground traction, ceiling movement, and wall movement. The waste collector includes a robotic arm, waste container, vacuum or elevator, scraper tool, and a lifter tool. The system also includes a bedding provider for receiving and holding bedding supply and distributing bedding material. Technical problem

[0014] When tending to and caring for a group of animals when scaling up to industrial scale, the habitat for the animals have traditionally had to change to accommodate the needs for animal or milk production. With current insights into stock animal life and welfare, the inventor has recognized a challenge in providing a well-maintained natural habitat with bedding for milk production livestock such as cows, where the animals may stay, lie down to rest or sleep, and walk freely. A typical approach for sheep has been to build a bedding and add more bedding on top as the animals leave their waste on top. This turns the bed into a burning bed that heats up and breaks down the material gradually, with odor and risk of bacterial contamination. For industrial scale production with risks for diseases spreading this is not a desired way of maintaining a free walking natural environment for the animals. In an industrial scale, it would be best for the animals to have a free walking and living space which is constantly, or recurringly maintained to the best conditions for the animals, not limited to cows, sheep, horses, goats, but this may also apply for any type of kept animal in a group, or as solitary stock animal, To constantly tend and switch bedding material while removing only waste and waste contaminated bedding material, would be very beneficial for the animals, while extremely labor intensive as no machine would provide such a service without interfering with the natural behavior of the animals.

[0015] There seems to be an unwanted conflict of interests for the animal and for livestock and animal production costs, that calls for a solution, preferably a technical solution as a time and labor-saving solution.

[0016] Moving floors have been provided as a solution for this type of problem, as described in patent WO9827808A1 ANIMAL BOX FOR BREEDING by the inventor Lindvall year 1996 to 1997. While a moving floor is a technical solution, it has some drawbacks, such as the need to move the entire floor, height of construction, a risk of disturbances for the animals, and the cost for large scale floor solutions.

[0017] Hence, there is a need for alternative solutions for animal husbandry on stationary floor for animals, especially diary animals like cows offering a social living space for improved mental animal health and connected physical health and productivity for the farmer. Solution to problem

[0018] As described in this document, the inventor has investigated the viability of installing an animal welfare robot that carries out work, the way a farmer would do if he / she had plenty of time to care for the animals living on a large floor or surface, here we call it a bedding.

[0019] In the past, attempts have been made to let robots operate in collaboration with animals, milking robots is just one good example of a pretty good adaptation of a robot to the behavior of cows. The inventor has recognized that the best environment for livestock such as cows are to let the cows do whatever they like to do, that is rest, move, drink, eat and sleep when they like to do so this includes letting off their waste, excrements and urine when needed. The inventor has provided an automated system 20 for animal welfare comprising machine vision solution for recognition of animals, stationary objects, identification of warm waste from the animals deep inside bedding material, and an animal welfare robot 200 that is configured to operate along a moving platform to let the robot close to its waste for pick up.

[0020] A computational device, configured to receive image segmentation of waste, animal, and structure objects meaning a part of the building such as a wall, ceiling, floor, pillar, bar, furniture, bucket, cage, box for horses, or spilt for cow, or similar physical object; is configured to guide the robot movement platform to a proper position, while respecting a set of configurable welfare policies for movements. These policies can be entered in a natural language, or a formal language with defined syntax and semantics, and translated into machine instructions for asserting that the animal welfare policy for movements 312, with specific policies for movement and robot behavior, are fulfilled.

[0021] The movement platform may be implemented as ground traction platform 251 with wheels, or traction belts; as a ceiling rail movement platform 252 to let the robot climb or travel with minimal interference with the animals; and a telfer wall movement platform 253 that attaches to a wall, walls, or to a pillar to let the robot climb along a wall and / or along a crane arm that swings out over the area over the bedding and animals. All movement platforms have their individual animal welfare policy for movements, to be fulfilled during operation.

[0022] Once the robot is in position for clearing the waste, while respecting mentioned animal welfare policies, the robot arm, and a vacuum cleaner 223, or an elevator 223’ are manipulated to pick up and lift identified waste while transporting it to a waste container onboard the animal welfare robot. A set of feasible tools are provided for the robot arm to use, such as a scraper tool, that can scrape away waste that has been hardened and sticked to a surface, or that by other ways be lifted by the scraper tool; the sweeper tool is configured to sweep and / or brush the bedding while lifting waste to the vacuum or elevator 223; a spray tool can spray water onto surfaces to avoid waste getting stuck; a lifter tool can be used to touch and lift for example the tail of a cow lying down on the bedding, to get access to the waste to be removed. All robotic arm manipulation will be carried out according to the animal welfare policy for movements. Also, a bedding provider with a bedding container and a bedding spreader that is configured to distribute a new bedding material, will also operate under the constraints of the animal welfare policy for movements.

[0023] A human machine interface and machine to machine interface (IF) provides ability to supervise the operation, and control the operation of all processes, and even modify the animal welfare policy according to what is best for the animals while supporting production goals.

[0024] Advantageous effects of invention

[0025] The manure itself does not cause any pressure damage, it is the booths and beds with containing and guiding structures often made of tubes, that cause pressure damages. On top of that, these tube constructions are a tangible obstacle for the animals, limiting their freedom. It is a desire to eliminate the need for these traditional booths / beds that the inventor wishes to make possible with the help of the robot. The robot makes it possible to maintain and keep animals in a more natural way, where the farmer once more can start keeping animals in a group without fences and limiting booths.

[0026] As the automated system 20 for animal welfare, provides a natural and hygienic approach to automated manure management of group-kept animals. With a better environment for the animals, better animal health follows, a smaller number of dangerous medicines, and better products for human consumers living on production results.

[0027] With a robot that must ensure and assert an animal welfare policy for movements, the risk for mistreatment of animals is reduced, while offering an optimal movement schedule.

[0028] Over time, and usage, it will be possible to record animal behavior and optimize the animal welfare policy for movement furthermore. Also, the animal welfare policy for movement may provide recipes and routines for achieving certain goals and tasks for the animal farming operation.

[0029] Brief description of drawings

[0030] The invention is described, by way of example, with reference to the accompanying drawings, which follows. FIG. 1 illustrates a complete automated system 20 comprising an animal welfare robot 200, image sensors and manipulators needed to operate the robot, along with a robot movement platform 250. The Animal or group of animals 312 are walking on a bedding 302 provided with a bedding material 304, where in the animals leaves waste 301. A waste dump 304 is presented as a destination for waste 301. A bedding supply 23 Iprovides new bedding material 304.

[0031] FIG. 2 illustrates the animal welfare robot 200 and its components with focus on manipulators for Waste collector 220 and Bedding provider 230.

[0032] FIG 3. illustrates the animal welfare robot 200 with focus on its robot movement platform 250 which may be provided as: a ground traction platform 251 ; a ceiling rail movement platform 252 that actually may be carried by a wire harness as an alternative, and finally a telfer wall movement platform 253 enabling the robot movement platform to hang from a wall or outstretched from a pillar or structure, similar to a lifting crane.

[0033] FIG. 4 illustrates the sweeper tool 500 with a pair of overlapping rotatable discs slightly tilted together, provided for sweeping of bedding and for picking up waste 301 to a vacuum or elevator 233 transporting system delivering the waste to a waste container 224.

[0034] FIG. 5 illustrates an embodiment of the animal welfare robot 200 equipped with a ceiling movement platform 252, or a telfer wall movement platform 253 where the movement platform is attached to a wall, a pillar, or a tower. The movement structures are configured to carry the animal welfare robot horizontally above the floor hanging from a ceiling or a wall structure. An alternative embodiment for a wall or pillar hanged animal welfare robot, may be to use a SCARA robot arm type of arrangement. Such a SCARA robot arm arrangement would allow the robotic arm to swing around a central position while serving a diameter around its attachment point being a pillar or a wall structure. The ceiling movement platform 252, may be implemented using a crane structure, a rail structure allowing the robot to climb horizontally at the ceiling, or even implemented as a wire system for positioning of the animal welfare robot horizontally along the ceiling.

[0035] FIG. 6 illustrates an embodiment of the animal welfare robot 200 equipped with a ground traction platform 251 for horizontal positioning on a floor and / or animal bedding 302. FIG 7. describes the structure of a method for the Automated system for Animal welfare, and the animal welfare robot 200.

[0036] Description of embodiments

[0037] The present disclosure relates to an automated system 20 designed for animal welfare. In an example embodiment, the system 20 comprises one or more heat-detecting imaging devices 210 configured to detect a waste material 301, an animal 312, a structure object 303, and / or a bedding material 304 and send data 211 to an image segmentation function 401 identifying a quantity of waste material 301 using the heat-detecting imaging devices, and further to a computational device 400.

[0038] In an example embodiment, the system includes at least one animal welfare robot 200 comprises a waste collector 220. The animal welfare robot 200 is configured to receive instructions from the computational device 400 to move and collect a quantity of waste material 301 and to distribute bedding material 304.

[0039] In an example embodiment, the computational device 400 functions with memory with human-machine-interface (HMI) or machine to machine interface (IF) 600 for control and monitoring. The computational device 400 comprises an image segmentation function 401 configured to process the data 211 from the imaging devices 210 to locate positions of animals 312, waste 301, bedding material 304, and structural objects 333.

[0040] In an example embodiment, the computational device 400 is configured to control the robot 200 to move and collect a quantity of waste material 301 from one or more beddings 302 without disturbing a group of animals 312, nor colliding with any structure object 303, and to distribute bedding material 304.

[0041] In an example embodiment, the automated system 100 is configured to move and operate the animal welfare robot 200 without disturbing any animal according to an animal welfare policy for movements 314. The animal welfare robot 200 is configured to collect waste 301 from at least one animal 301, 312 from a bedding 302, to distribute bedding material 304, and to dump waste 301 at a designated waste dump 306.

[0042] In an example embodiment, the animal welfare robot 200 is configured to move and operate on the bedding 302 using a ground traction platform 251 comprises wheels or traction belts. In an example embodiment, the animal welfare robot 200 configured to operate along predefined paths guided by one or more guiding structures such as a rail system, or a wire system, for movement using a ceiling movement platform 252 comprises a rail system mounted at a ceiling, or an elevated structure over the bedding 302 and space for animals 312.

[0043] In an example embodiment, the animal welfare robot 200 is configured to operate from a wall, a ceiling, an over-head structure, or a pillar, using a telfer wall movement platform 253 comprises a crane arm system, configured let the animal welfare robot 200 reach waste 301 over the bedding 302 and space for animals 312.

[0044] In an example embodiment, the animal welfare robot's 200 waste collector 220 comprises a robotic arm 221, a waste container 224, a vacuum or elevator 223, a scraper tool 222 or a sweeper tool 500, a lifter tool 225. The robotic arm 221 is configured operate the vacuum or elevator 223, and scraper tool 222 or sweeper tool 500 to pick up waste 301 at a designated volume, determined by the computational device 400; and operate the robot to the waste dump 306 area, and release the waste 301 to the waste dump 306.

[0045] In an example embodiment, the animal welfare robot's 200 waste collector 220 comprises a water container 227, a spray tool 226 configured to release or spray water onto waste 301, lifter tool 225, spray tool 226, sweeper tool 500, vacuum or elevator 223, robotic arm 221, or into waste container 224 to keep waste moist and to prevent waste from clinging to watered objects.

[0046] In an example embodiment, the cleaning process should be an ongoing continuous watering and cleaning operation while the machine is working. The robot will then start water flushing all parts that may be contaminated with manure. The flushing will start preferably one to a 3, 5 or a few seconds before the extraction for waste is started / begins; while continuing watering throughout the waste harvesting process plus a few additional seconds, such as five seconds or more, or as long as necessary for the parts to be clean. Also, it can be necessary to flush a little amount of water at regular intervals to prevent the manure from drying out. For this, the robot must carry water in a special water tank 224, that can be filled automatically, at a water supply filling station 228 or through any type of pipe and hose system that may be connected temporary or permanently with the robot's 200 water supply / tank 227. In an example embodiment, the animal welfare robot 200 comprises a self-cleaner 240, where in the animal welfare robot 200 is configured to move to an animal safe position according to the animal welfare policy for movements 314 for self-cleaning and then operate the robotic arm 221 to use the spray tool 226 to clean animal welfare robot 200 including parts, tools, or movement platform 251, 252, 253.

[0047] In an example embodiment, the animal welfare robot 200 further comprises a bedding provider 230 which comprises at least a bedding container 232 for receiving and holding bedding supply 231 , a bedding spreader 233 for distribution of bedding material 304 from the bedding container 232 onto a bedding 302 for free walking animals 312.

[0048] In an example embodiment, the animal welfare robot's 200 sweeper tool 500 comprises a pair of counter rotatable discs 500, 501 configured to be propelled by at least one motor 502, 502’ to make the bedding 302 be swept clean, and waste 301 with 305 or without waste contaminated bedding material 304 can be feed and transported into a vacuum or elevator 223, for further transport into waste container 224.

[0049] In an example embodiment, a method for automated system 20 for animal welfare using an animal welfare robot 200 with computational device 400 for operation in an open animal husbandry facility a bedding 302 provided for free walking, standing, and lying down animals 312, is disclosed. The method comprises the steps of collecting image sensor data from one or more heat-detecting imaging devices 210, identifying position of waste material by image processing and / or pattern recognition such as a convolutional neural network (CNN), identifying position of any heat dissipating animal or animals 312 by image processing and / or pattern recognition such as a convolutional neural network (CNN), positioning robot 200 within reach of waste material not obstructed by the group of animal 302 or animal 312, collecting waste material 301 using one or more functional components of the waste collector 220, and distributing bedding material 304 using at least one bedding provider 230 for bedding material 304 distribution.

[0050] In an example embodiment, the method for automated system 20 further comprises the steps of moving the animal welfare robot 200 to a service station, emptying waste 304 from waste container 224 at a designated waste dump 306 or area, refilling bedding material 304 into a bedding container 230 at a bedding supply 231, and refilling water, or fluid into water container 227 at a water supply filling station 228.

[0051] In an example embodiment, the method for automated system 20 further comprises the steps of gently guiding animal when animal has been blocking a location at the bedding 302 too long to enable cleaning, while following the animal welfare policy for movement 314, and optionally waving away insects for animals suffering from insects.

[0052] Detailed description of drawings

[0053] FIG. 1 illustrates a complete automated system 20 comprising an animal welfare robot 200, image sensors and manipulators needed to operate the robot, along with a robot movement platform 250. The Animal or group of animals 312 are walking on a bedding 302 provided with a bedding material 304, where in the animals leaves waste 301.

[0054] A waste dump 306 is presented as a destination for waste 301. A bedding supply 231 provides new bedding material 304.

[0055] FIG. 2 illustrates the animal welfare robot 200 with focus on manipulators for Waste collector 220 and Bedding provider 230.

[0056] FIG 3. illustrates the animal welfare robot 200 with focus on its robot movement platform 250 which may be provided as: a ground traction platform 251; a ceiling rail movement platform 252 that actually may be carried by a wire harness as an alternative, and finally a telfer wall movement platform 253 enabling the robot movement platform to hang from a wall or outstretched from a pillar or structure, similar to a lifting crane.

[0057] FIG. 4 illustrates the sweeper tool 500 with a pair of overlapping rotatable discs slightly tilted together, provided for sweeping of bedding and for picking up waste 301 to a vacuum or elevator 233 transporting system delivering the waste to a waste container 224.

[0058] FIG. 5 illustrates an embodiment of the animal welfare robot 200 equipped with a ceiling movement platform 252, or a telfer wall movement platform 253 where the movement platform is attached to a wall, a pillar, or a tower. The movement structures are configured to carry the animal welfare robot horizontally above the floor hanging from a ceiling or a wall structure. An alternative embodiment for a wall or pillar hanged animal welfare robot, may be to use a SCARA robot am type of arrangement. Such a SCARA robot arm arrangement would allow the robotic arm to swing around a central position while serving a diameter around its attachment point being a pillar or a wall structure.

[0059] The ceiling movement platform 252, may be implemented using a crane structure, a rail structure allowing the robot to climb horizontally at the ceiling, or even implemented as a wire system for positioning of the animal welfare robot horizontally along the ceiling.

[0060] FIG. 6 illustrates an embodiment of the animal welfare robot 200 equipped with a ground traction platform 251 for horizontal positioning on a floor and / or animal bedding 302. The ground traction platform 251, comprises motorized wheels 254 and / or traction belts to let the platform move around and steer between animals while positioning the welfare animal robot within reach for waste collection and at a service station for replenishing of supplies and dumping of waste. An advantage of the ground traction platform is that no further infrastructure is needed for the installation.

[0061] In one of the embodiments, the image sensor data is thermal cameras. In one of the embodiments, the heat-detecting imaging devices is thermal cameras. In one of the embodiments, the convolutional neural network is artificial intelligence. In one of the embodiments, the waste material is manure. In one of the embodiments, the animal is animals, dairy cows. In one of the embodiments, the robot is machine, Wheel or tracked machine. In one of the embodiments, the waste collector is an elevator, a vacuum, a rotatable feeding disc, a brush, or a combination. In one of the embodiments, the robotic arm is boom. In one of the embodiments, the scraper tool, sweeper tool, spray tool, lifter tool, vacuum or elevator function is pipe.

[0062] FIG 7. Describes the structure of a method for the operation of the Automated system for Animal welfare 20, and specifically the animal welfare robot 200.

[0063] First embodiment an automated system 20 designed for animal welfare

[0064] According to one embodiment, the automated system 20 is designed for animal welfare, where in the system 20 is comprising at least:

[0065] - one or more heat-detecting imaging devices 210;

[0066] - at least one animal welfare robot 200; - a computational device 400 with human-machine-interface (HMI) or machine to machine interface (IF) 600 for control and monitoring the robot 200,

[0067] - an animal welfare policy for movements 314 defining safe and animal friendly movements for the robot, as well as rules for operation to assure an animal friendly behaviour.

[0068] The automated system 20 with the animal welfare robot 200 is further described in claim 1 with details in claim 2-8, and methods according to claim 9 to 13.

[0069] The automated system 20 comprises one or more heat-detecting imaging devices 210 configured to detect a waste material 301, an animal 312, a structure object 303, and / or a bedding material 304 and send data 211 to an image segmentation function 401 identifying a quantity of waste material 301 using a heat-detecting imaging device 210 and forward the image segmentation 401 data to a computational device 400.

[0070] Furthermore the automated system 20 comprises at least one animal welfare robot 200 comprising:

[0071] - a waste collector 220, wherein the animal welfare robot 200 is configured to receive instructions from a computational device 400 to move and collect a quantity of waste material 301 and to distribute bedding material 304;

[0072] - a computational device 400 with computer function with memory with human-machineinterface (HMI) or machine to machine interface (IF) 600 for control and monitoring,

[0073] The computational device 400 comprises and / or integrates with:

[0074] - an image segmentation function 401 preferably a convolutional neural network (CNN) configured to process the data 211 from the imaging devices 210 to locate positions of animals 312, waste 301, bedding material 304, and structural objects 333 at risk for collision with the animal welfare robot 200; and

[0075] - an animal welfare policy for movements 314 specifying and containing animal friendly rules, restrictions and procedures for the animal welfare robot to be followed while operating within a perimeter from an animal.

[0076] The automated system 20 with the animal welfare robot 200 is further specialized in in that the computational device 400 is configured to control the robot 200 to move and collect a quantity of waste material 301 from one or more beddings 302 without disturbing a group of animals 312, nor colliding with any structure object 303, and to distribute bedding material 304, according to the animal welfare policy for movements 314.

[0077] The automated system 100 is configured to move and operate the animal welfare robot 200 without disturbing any animal according to the animal welfare policy for movements 314; and wherein the animal welfare robot 200 is configured to collect waste 301 from at least one animal (301, 312) from a bedding 302, to distribute bedding material 304, and to dump waste 301 at a designated dump 306 area.

[0078] Embodiment with an animal welfare robot walking on the ground

[0079] The automated system 20 may be provided according to one embodiment with the animal welfare robot 200 configurated to move and operate on the bedding 302 using a ground traction platform 251 comprising wheels 254 or traction belts, which are wheels with traction belts for grip and low ground pressure.

[0080] Embodiment with an animal welfare robot hanging from the ceiling or similar structure

[0081] The automated system 20 may be provided as a ceiling climbing animal welfare robot 200 configured to operate along predefined paths guided by one or more guiding structures such as a rail system, or a wire system, for movement using a ceiling movement platform 252 comprises a rail system mounted at a ceiling, or an elevated structure over the bedding 302 and space for animals 312.

[0082] Embodiment with an animal welfare robot hanging from a wall or pillar such as a crane

[0083] The automated system 20 be provided as an animal welfare robot 200 is configured to operate from a wall, a ceiling, an over-head structure, crane, or a pillar, using a telfer wall movement platform 253 comprises a crane arm system, configured let the animal welfare robot 200 reach waste 301 over the bedding 302 and space for animals 312.

[0084] The animal welfare robot 200 being an integral part of the automated system 20

[0085] According to one embodiment the automated system 20 of as further describe in claim 5, comprises an animal welfare robot 200 having a waste material collector 220 that comprises a robotic arm 221; a waste container 224; a vacuum or elevator 223 to extract and deliver waste material 301; a scraper or sweeper tool, that may come in the form of two counter rotatable discs configured to sweep waste material 301 into an elevator or a vacuum. The animal welfare robot 200 may comprise a lifter tool 225; and the animal welfare robot may comprise a robotic arm 221 for operation of tools such as the sweeper tool, the vacuum and / or elevator.

[0086] The robotic arm 221 preferably a multi-joint extendable arm, at least a robotic arm with two degrees of freedom (DOF), or three degrees of freedom, or preferably four degrees of freedom.

[0087] The waste container 224 is configured to receive waste 301 and to release waste material 301,

[0088] 305 to a waste dump 306.

[0089] The vacuum or the elevator 223 is configured to deliver waste material 301, or bedding material with waste material 305 to the waste container 224.

[0090] The scraper tool 222 or the sweeper tool 500 are both configured to deliver waste 301, bedding material 305 or both to the vacuum or elevator 223 tools.

[0091] The lifter tool 225 is configured for moving objects or for gently touching animals according to the animal welfare policy for movements 314 to ease access to waste 301 hidden in bedding material 304.

[0092] Especially the robotic arm 221 of the animal welfare robot 200, is configured to operate the vacuum or elevator 223, and any scraper tool 222 or any sweeper tool 500 to pick up waste material 301, or bedding material with waste material 305, at a designated bedding 302 area determined by the computational device 400; and the operate the robot to the waste dump

[0093] 306 area, a service area, and then release the waste 301 to the waste dump 306 while following and respecting the animal welfare policy for movements 314, to keep animals calm and happy.

[0094] The animal welfare robot with a water container and spray tool

[0095] According to one embodiment, the automated system 20 has an animal welfare robot 200 with a waste collector 220 that comprises a water container 227 connected with a spray tool 226 which is configured to release or spray water onto: the waste material 301 to avoid that the waste material hardens and clings to the animal welfare robot parts and tools, as well as the bedding (302). The spray tool 226 may also spray water onto the lifter tool 225, the spray tool 226 itself, the sweeper tool 500, the vacuum or elevator 223, the robotic arm 221, or into the waste container 224 to keep waste moist and to prevent waste material 301, 305 from clinging to watered objects. The animal welfare robot 200 is especially configured to move to, and to connect with a water supply filling station 228 to refill water, or fluid into the water container 227, preferably without human intervention as an automatic maintenance process.

[0096] The animal welfare robot with self-cleaning 240 function

[0097] In one embodiment the automated system 20 animal welfare robot 200 comprises a self- cleaner 240 function.

[0098] According to the embodiment, the animal welfare robot 200 is configured to move to an animal safe position according to the animal welfare policy for movements 314 for selfcleaning, and configured to let the robotic arm 221 to use the spray tool 226 to clean the animal welfare robot 200 optionally including parts, tools, and / or any movement platform 251, 252, 253 for movement along a ceiling, wall, floor, a telfer crane, or a pillar.

[0099] The animal welfare robot with bedding provider 230 function

[0100] In one embodiment the automated system 20 animal welfare robot 200 has a bedding provider 230 which comprises at least: a bedding container 232 for receiving and holding bedding supply 231, or a bedding spreader 233 for distribution of bedding material 304 from the bedding container 232 onto a bedding 302 for free walking animals 312.

[0101] According to the embodiment the animal welfare robot 200 is especially configured to move and spread the bedding material while asserting and fulfilling rules, procedures, limitation, and conditions according to an animal welfare policy for movements 314 to avoid interfering with the animals in a negatively way. Furthermore, the animal welfare robot 200 is configured to move to a location for bedding supply 231 and to refill the bedding container 232 with new bedding material 304, to replenish bedding material when needed. The animal welfare robot 200 with a sweeper tool 230 with overlapping discs 500, 501

[0102] In one embodiment the automated system’s 20, animal welfare robot 200 is equipped with a sweeper tool 500 that comprises: a pair of counter rotatable motorized tilted together and overlapping discs (500, 501); configured to be propelled by at least one motor 502, 502’ to make the bedding 302 swept clean; while feeding waste material 301 and bedding material with contamination of waste material 304.

[0103] Especially, the sweeper tool 500 is configured to sweep waste 301 with a waste contaminated bedding material 305 or a waste 301 without a waste contaminated bedding material 304 to feed and transport the waste 301, 305 into a vacuum or elevator 223 for further transport into waste container 224.

[0104] Method for automated system 20 for an animal welfare robot 200

[0105] In one embodiment the invention is a method for automated system 20 for animal welfare using an animal welfare robot 200 with computational device 400 for operation in an open animal husbandry facility with a bedding 302 provided for free walking, standing, and lying down animals 312.

[0106] The method is comprising the steps:

[0107] 100 collecting image sensor data from bedding 302, animals 312, structure objects 333, or waste material such as manure and urine 301, bedding material 304 and bedding material contaminated with waste material 301 from one or more heat-detecting imaging devices 210, or camera sensors;

[0108] 102 identifying position of waste material (300, 301 , 305), by identifying position of any heat dissipating manure (301, 305) or urine 301 by image processing and / or pattern recognition preferably a convolutional neural network (CNN);

[0109] 104 identifying position of any heat dissipating animal or animals, by identifying position of any heat dissipating animal or animals 312 by image processing and / or pattern recognition such as a convolutional neural network (CNN);

[0110] 105 receiving, reading, and applying an animal welfare policy 314 for animal welfare robot 200 operation, according to policies, rules or procedures defined for animal friendly operation;

[0111] 106 positioning robot within reach of waste material such as manure and / or urine not obstructed by the group of animal or animal 312, while respecting the animal welfare policy 314;

[0112] 108 collecting waste material (301, 305) using one or more functional components of the waste collector 220, comprising: a robotic arm 221 for manipulation of tool: a scraper tool 222, sweeper tool 500, a spray tool 226, a lifter tool 225, or a vacuum or elevator (223 function) configured to collect the waste 301, while respecting the animal welfare policy;

[0113] 110 distributing bedding material using at least one bedding provider 230 for bedding material 304 distribution; and

[0114] 112 moving the animal welfare robot 200 to a service station while respecting the animal welfare policy.

[0115] Where all mentioned steps are especially carried out according to an animal welfare policy 314 for movements 312 to reduce the animal welfare robot's 200 movement interference with the animals 312.

[0116] Method for automated system 20 for an animal welfare robot 200 with self-replenishing

[0117] According to an embodiment, the method mentioned is provided with a self-replenishing step, wherein mentioned step 112 further comprises the following sub-steps to carried out while respecting the animal welfare policy 314:

[0118] 114 emptying waste from waste container 224 at a designated dump 306 area;

[0119] 116 refilling bedding material 304 into a bedding container 230 at a bedding supply 231 ; and

[0120] 118 refilling water, or fluid into water container at a water supply into water container 227 at a water supply filling station 228. Method for automated system 20 for an animal welfare robot 200 with relocation of animals

[0121] According to an embodiment, the methods mentioned referring to step 112, further comprises the following sub- steps carried out while respecting the animal welfare policy 314: 120 wedging animal when animal has been blocking a location at the bedding too long according to a time limit in the animal welfare policy 314; and

[0122] 122 waving away insects from animals suffering from insect swarms.

[0123] Gentle movements are guaranteed as all movement patterns are carried out according to the animal welfare policy 314.

[0124] Method for automated system for an animal welfare robot with animal welfare policy 314

[0125] According to an embodiment, the methods mentioned especially carries out each of mentioned steps according to the animal welfare policy for movements 312, with the objective to, to further reduce the animal welfare robot's 200 movement interference with the animals 312.

[0126] By using the method, the welfare policy for movements 312 further defines policies and restrictions, and specifies routines that are policies for operation comprising, but not limited to: i) moving behind rather than in front of animal 312; ii) avoiding moving the animal welfare robot 200 closer than a specified distance to animals or and a group of animals, including human beings 312; iii) moving alongside animals rather than in front of an animal or group of animals

[0127] 312; iv) withdrawing from any animal 312 attacking the animal welfare robot 200; v) reducing the movement speed of animal welfare robot 200 including arm and tools, to a specified velocity limit when moving closer than a specified distance limit from an animal, or group of animals 312; vi) increasing the movement speed of animal welfare robot 200 to a specified speed when at a specified safe distance range from any animal, and group of animals 312; and / or vii) avoiding collision with any stationary objects 333, walls, floor, bedding 302, ceiling, and animals 312, group of animals 312, including humans 312.

[0128] Furthermore, the welfare policy for movements 312 may be updated via a machine-machine interface or the human machine interface, of the automated system for the animal welfare robot. The policies can be provided as software programs and routines, and source code, and / or parameterized movement restrictions. It would even be possible to define assert statements that define rules and regulations that should be fulfilled, during movement of the animal welfare robot 200, or even for the management of multiple robots 200. In the event multiple robots with close or overlapping operation are being used, coordination of animal welfare policy is essential to avoid stressing animals, and to avoid collisions between robots, and the environment.

[0129] Alternative embodiments

[0130] In one of the embodiments, collecting image sensor data is observing and identifying the manure when it comes out. In one of the embodiments, identifying the position of waste material and animals is observing and identifying the manure when leaving the animals, hi one of the embodiments, processing image data is identifying the manure, reading the animals, controlling the animal welfare robot 200. In one of the embodiments, collecting waste material is picking up the manure from the bed. In one of the embodiments the manipulating robotic arm with tool is reaching the entire width of the surface to be kept clean. In one of the embodiments, the tool is configured to collect waste by vacuuming the manure and urine, to enter a waste container 224. Reference Signs List

[0131] Description of reference numbers used in drawings are defined as follows. First a figure reference number is specified, and then a short name of the item, arrow, flow of information or method step is presented, and in some cases also briefly described.

[0132] The complete system described here, is the “automated system” for animal welfare with reference number 20. The animal welfare robot has reference number 200.

[0133] To avoid risks of mixing figure numbers with reference sign numbers, numbers 1-19 are omitted.

[0134] Method steps are numbered as 100, 102, and on to 122, and as step 105.

[0135] 20 = Automated system designed for animal welfare.

[0136] 100 = Method step: Collecting image sensor data from bedding 302, animals 312, structure objects 333, or urine 301, waste material 204 from one or more heatdetecting imaging devices 210, or camera sensors.

[0137] 102 = Method step: Identifying position of waste material such as urine (301) and manure (304).

[0138] 104 = Method step: Identifying position of any heat dissipating animal or animals.

[0139] 105 = Receiving, reading, and applying an animal welfare policy on robot operation.

[0140] 106 = Method step: Positioning robot within reach of manure not obstructed by the group of animal or animals (312).

[0141] 108 = Method step: Collecting waste material (301, 304) using one or more functional components of the waste collector (220).

[0142] 110 — Method step: Distributing bedding material.

[0143] 112 = Method step: Moving the animal welfare robot to a service station.

[0144] 114 = Method step: Emptying manure from container at a waste dump.

[0145] 116 = Method step: Refilling bedding material into a container at a bedding supply.

[0146] 118 = Method step: Refilling water, or fluid into water container at a water supply filling station 228.

[0147] 120 = Method step: Wedging animal when animal has been blocking a location at the bedding too long.

[0148] 122 = Method step: Waving away insects for animals suffering from insects.

[0149] 200 = Animal welfare robot. = Animal welfare robot frame structure. = Heat-detecting imaging device. = Data transmission for imaging. = Waste collector, for robot. = Robotic arm. = Robot arm detachable tool interface. = Vacuum or elevator, a waste delivery system. = Waste container. = Lifter tool. = Spray tool, for water or cleaning fluid. = Water container, connectable to a water supply filling station 228 or a water hose / pipe system. = Water supply filling station, available to refill water container 227 at robot 200. = Bedding material provider. = Bedding supply. = Bedding container. = Bedding material spreader. = Self-cleaning robotic system. = Robot movement platform. = Ground traction platform. = Ceiling movement mechanism. = Wall-mounted movement system. = Wheels configured for enabling horizontal movement of the robotic movement platform hanging from a ceiling, a telfer, a wall, a pillar structure, or a conveyer, or moveable on a floor or ground. At least one wheel is configured with a motor for positioning of robot movement platform 251 carrying the animal welfare robot frame structure 201. = A rail structure, configured with a first rail 255 and second rail 256 to guide a horizontal movement of the robot movement platform. = Second rail for horizontal 2-dimensional movement. = First horizontal movement direction 258 = Second horizontal movement direction orthogonal with the first horizontal movement direction 257.

[0150] 259= An articulated servo operated joint at the robotic arm contributing to a degree of freedom for the robotic arm 221.

[0151] 259’= Another articulated servo operated joint at the robotic arm contributing to more degrees of freedom for the robotic arm 221.

[0152] 300 = Detectable waste material.

[0153] 301 = Waste material, such as dung, manure, excrement, urine, or body fluids.

[0154] 302 = Bedding, for animals to walk, stand on or rest on, preferably an open area without gates where animals may coexist and enjoy each other's company as social animals.

[0155] 303 = Structural object, detection.

[0156] 304 = Bedding material, such as hay or straw, cutter chips or pellets.

[0157] 305 = Bedding material contaminated with waste material 301, such as manure, or urinated hay or straw, cutter chips or pellets.

[0158] 306 = Waste dump, a designated location for a waste pile or large external waste container.

[0159] 312 = Animal, or group of animals, with position detected.

[0160] 314 = Animal welfare policy for movements. A definition of constraints for how the animal welfare robot with robot movement platform 250, and robotic arm 221 with tools may operate to not interfere in a negative way with the animals 312.

[0161] 333 = Structure objects, identification of structure objects to avoid collision when planning movements for the animal welfare robot.

[0162] 400 = Computational control.

[0163] 401 = Image segmentation function.

[0164] 410 = Software for computational devices.

[0165] 500 = Sweeper tool.

[0166] 501 = First sweeper disc.

[0167] 501 ’ = Second sweeper disc.

[0168] 502 = First sweeper disc motor.

[0169] 502’ = Second sweeper disc motor. 503 = Frame for Sweeper tool, configured to carry the first and second sweeper discs 501, 501’ with connected first and second sweeper disk motors 502, 502’, and to align with the Vacuum or elevator, a waste delivery system 223 configured to transport waste 301, 304, 305 to a waste container 224. 600 = Human-machine interface (HMI) or machine to machine interface (IF).

Claims

CLAIMS1. An automated system (20) designed for animal welfare, where in the system (20) is comprising: one or more heat-detecting imaging devices (210) configured to detect a waste material (301), an animal (312), a structure object (303), and / or a bedding material (304) and send data (211) to an image segmentation function (401) identifying a quantity of waste material (301) using a heat-detecting imaging device (210) and forward the image segmentation (401) data to a computational device (400); at least one animal welfare robot (200) comprising: a waste collector (220), wherein the animal welfare robot (200) is configured to receive instructions from a computational device (400) to move and collect a quantity of waste material (301) and to distribute new bedding material (304); a computational device (400) with computer function with memory with human-machine- interface (HMI) or machine to machine interface (IF) (600) for control and monitoring, wherein the computational device (400) comprises: the image segmentation function (401) preferably a convolutional neural network (CNN) configured to process the data (211) from the imaging devices (210) to locate positions of animals (312), waste (301), bedding material (304), and structural objects (333) at risk for collision with the animal welfare robot (200); and an animal welfare policy for movements (314) comprising: animal friendly rules, restrictions and procedures for the animal welfare robot to be followed while operating within a perimeter from an animal, characterized in that the computational device (400) is configured to control the robot (200) to move and collect a quantity of waste material (301) from one or more beddings (302) without disturbing a group of animals (312), nor colliding with any structure object (303), and to distribute new bedding material (304), according to the animal welfare policy for movements (314); and the automated system (100) is configured to move and operate the animal welfare robot (200) without disturbing any animal according tothe animal welfare policy for movements (314); and wherein the animal welfare robot (200) is configured to: collect waste (301) from at least one animal (301, 312) from a bedding (302), to distribute new bedding material (304), and to dump waste (301) at a designated dump (306).

2. The automated system (20) according to claim 1, wherein the animal welfare robot (200) is configurated to move and operate on the bedding (302) using a ground traction platform (251) comprising wheels or traction belts.

3. The automated system (20) of claim 1 , wherein the animal welfare robot (200) configured to operate along predefined paths guided by one or more guiding structures such as a rail system, or a wire system, for movement using a ceiling movement platform (252) comprises a rail system mounted at a ceiling, or an elevated structure over the bedding (302) and space for animals (312).

4. The automated system (20) of claim 1, wherein the animal welfare robot (200) is configured to operate from a wall, a ceiling, an over-head structure, or a pillar, using a telfer wall movement platform (253) comprises a crane arm system, configured let the animal welfare robot (200) reach waste (301) over the bedding (302) and space for animals (312).

5. The automated system (20) of claim 1-4, wherein the animal welfare robot's (200) waste collector (220) comprises: a robotic arm (221) preferably a multi-joint extendable arm, at least a robotic arm with two degrees of freedom (DOF), or three degrees of freedom, or preferably four degrees of freedom; a waste container (224) configured to receive waste (301) and to release waste to a waste dump (306); a vacuum or elevator (223) configured to deliver waste (301) to the waste container (224); a scraper tool (222) or a sweeper tool (500) or configured to deliver waste (301) tothe vacuum or elevator (223); and a lifter tool (225) configured for moving objects or for gently touching animals according to the animal welfare policy for movements (314) to ease access to waste (301) hidden in bedding material (304), characterized in that the robotic arm (221) is configured to operate the vacuum or elevator (223), and any scraper tool (222) or any sweeper tool (500) to pick up waste (301) at a designated bedding (302) area determined by the computational device (400); and operate the robot to the waste dump (306) area, and release the waste (301) to the dump (306) while following and respecting the animal welfare policy for movements (314).

6. The automated system (20) of claim 1-5, wherein the animal welfare robot's (200) waste collector (220) comprises: a water container (227), a spray tool (226) configured to release or spray water onto: the waste (301), the lifter tool (225), the spray tool (226), the sweeper tool (500), the vacuum or elevator (223), the robotic arm (221), or into the waste container (224) to keep waste moist and to prevent waste from clinging to watered objects; characterized in that the animal welfare robot (200) is configured to move to, and to connect with a water supply filling station (228) to refill water, or fluid into the water container (227).

7. The automated system (20) of claim 6, wherein the animal welfare robot's (200) comprises a self-cleaner (240), and wherein the animal welfare robot (200) is configured to move toan animal safe position according to the animal welfare policy for movements (314) for self-cleaning, and configured to let the robotic arm (221) to use the spray tool (226) to clean the animal welfare robot (200) including parts, tools, or any movement platform (251, 252, 253).

8. The automated system (20) of claim 1-7, wherein the animal welfare robot (200) further comprises a bedding provider (230) which comprises at least: a bedding container (232) for receiving and holding bedding supply (231), or a bedding spreader (233) for distribution of bedding material (304) from the bedding container (232) onto a bedding (302) for free walking animals (312), characterized in that the animal welfare robot (200) is configured to move and spread the bedding material according to an animal welfare policy for movements (314) to avoid interfering with the animals in a negatively way; and that the animal welfare robot (200) is configured to move to a location for bedding supply (231) and to refill the bedding container (232) with new bedding material (304).

9. The automated system (20) of claim 1-8, wherein the animal welfare robot's (200) sweeper tool (500) comprises: a pair of counter rotatable tilted together and overlapping discs (500, 501) configured to be propelled by at least one motor (502, 502’) to make the bedding (302) swept clean, and wherein the sweeper tool (500) is configured to sweep waste (301) with a waste contaminated bedding material (305) or a waste (301) without a waste contaminated bedding material (304) to feed and transport the waste (301, 305) into a vacuum or elevator (223) for further transport into waste container (224).

10. A method for an automated system (20) for animal welfare using an animal welfare robot (200) with computational device (400) for operation in an open animal husbandry facility with a bedding (302) provided for free walking, standing, and lying down animals (312), comprising the steps:(100) collecting image sensor data from bedding (302), animals (312), structure objects (333), or waste material such as manure and urine (301), bedding material (304) and bedding material contaminated with waste material (301) from one or more heat-detecting imaging devices (210), or camera sensors;(102) identifying position of waste material (300, 301 , 305), by identifying position of any heat dissipating manure (301, 305) or urine (301) by image processing and / or pattern recognition preferably a convolutional neural network (CNN);(104) identifying position of any heat dissipating animal or animals, by identifying position of any heat dissipating animal or animals (312) by image processing and / or pattern recognition such as a convolutional neural network (CNN);(105) receiving, reading, and applying an animal welfare policy (314) for animal welfare robot (200) operation, according to policies, rules or procedures defined for animal friendly operation;(106) positioning robot within reach of waste material such as manure and / or urine not obstructed by the group of animal or animal (312), while respecting the animal welfare policy (314);(108) collecting waste material (301, 305) using one or more functional components of the waste collector (220), comprising: a robotic arm (221) for manipulation of tool: a scraper tool (222), sweeper tool (500), a spray tool (226), a lifter tool (225), or a vacuum or elevator (223 function) configured to collect the waste (301), while respecting the animal welfare policy;(110) distributing bedding material using at least one bedding provider (230) for bedding material (304) distribution; and(112) moving the animal welfare robot (200) to a service station while respecting the animal welfare policy; characterized in that the steps are carried out according to an animal welfare policy (314) for movements (312)to reduce the animal welfare robot's (200) movement interference with the animals (312).

11. The method according to claim 10 wherein the step (112) further comprises the sub steps carried out while respecting the animal welfare policy (314):(114) emptying waste from waste container (224) at a designated dump (306) area;(116) refilling bedding material (304) into a bedding container (230) at a bedding supply (231); and(118) refilling water, or fluid into water container at a water supply into water container (227) at a water supply filling station (228).

12. The method according to claim 10-12 further characterized in the steps are carried out according to the animal welfare policy for movements (312) to reduce the animal welfare robot's (200) movement interference with the animals (312), using policies for operation comprising: a) moving behind or alongside rather than in front of an animal or group of animals (312); b) avoiding moving the animal welfare robot (200) closer than a specified distance to animals or and a group of animals, including human beings (312); c) withdrawing from any animal (312) attacking the animal welfare robot (200); d) reducing the movement speed of animal welfare robot (200) including arm and tools, to a specified velocity limit when moving closer than a specified distance limit from an animal, or group of animals (312); e) increasing the movement speed of animal welfare robot (200) to a specified speed when at a specified safe distance range from any animal, and group of animals (312); and f) avoiding collision with any stationary objects (333), walls, floor, bedding (302), ceiling, and animals (312), group of animals (312), including humans (312).

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