Autonomous Vehicle Barn Mapping via Sensor Data
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Solution Overview
Problem
Existing animal farm systems with autonomous vehicles lack accurate and efficient barn map information, making it laborious for farmers to program routes and navigate, especially in dynamic environments with moving objects and unexpected obstacles.
Innovation Solution
An animal farm system where a user inputs barn map information using real-time position and sensor data from the vehicle, allowing for step-by-step generation of accurate barn maps, preventing uncertainties associated with SLAM and enabling immediate use of the map for navigation and route planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If barn map information is manually entered by the farmer, then the vehicle can navigate using programmed routes, but the process becomes laborious and time-consuming
Solution Approach 1:
The autonomous vehicle performs self-mapping by autonomously moving through the barn, collecting position data and sensor information, and automatically generating barn map information without requiring manual intervention from the farmer. This eliminates the laborious manual entry process while maintaining accurate navigation data.
Solution Approach 2:
The patent replaces the manual mechanical process of drawing and entering map information with an automated electronic system. The vehicle uses its position determining system and sensor system to electronically capture and process spatial data, substituting the farmer's manual drawing actions with automated digital mapping.
2Reliability
If the vehicle uses only vehicle control actions without barn map information, then the system remains simple, but the vehicle cannot accurately determine its location or recover if lost
Solution Approach 1:
The barn map information is generated and stored in the vehicle's memory before navigation operations begin. The vehicle performs preliminary mapping by moving through the barn and collecting spatial data, so that when navigation is required, accurate location determination and route recovery are already possible without adding operational complexity.
3Measurement precision
If high accuracy barn map information is required for precise vehicle operation, then navigation reliability improves, but the manual input process becomes even more laborious
Solution Approach 1:
The vehicle autonomously collects position data from its position determining system and sensor data from its sensor system, then automatically processes this information to generate high-precision barn map data. This self-service approach eliminates manual input while achieving the required measurement precision for accurate vehicle operation.
Solution Approach 2:
The vehicle repeatedly determines its position and sensor parameters, feeding this data back to the control unit which processes and stores it as barn map information. This continuous feedback loop ensures high accuracy in the generated maps without requiring manual verification or adjustment.
Data Source
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AI summary
An animal farm system comprises a barn, animal related structures within the barn, such as a feeding alley and/or a milking system, an autonomous vehicle arranged to perform an animal related action and move about in the barn, wherein the vehicle comprises - a control unit to move the vehicle about, - a position determining system for determining a position of the vehicle in the barn, - a sensor system to determine a value of a parameter related to a position of the vehicle with respect to the barn or an object therein, such as the at least one structure therein, and - a vehicle communication device, wherein the control unit further is arranged to contain barn map information, and receive motion control and navigation information via the vehicle communication device, wherein the animal farm system further comprises an external communication device to exchange information with the vehicle communication device, wherein the control unit is arranged to send determined vehicle positions and determined parameter values to the external communication device, that is arranged to visualise the received vehicle positions and determined parameter values in dependence of the momentary determined position of the vehicle, and for inputting by a user of barn map information on the basis of the visualised position and/or parameter values, and to send the inputted barn map information to the control unit. A corresponding method comprises moving the vehicle, receiving vehicle positions and vehicle position dependent parameter values, and drawing a barn map based thereon.