Barn Robot Navigation with External Position Calibration
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Solution Overview
Problem
Autonomous livestock management systems face reliability issues due to wear and interference in navigation systems, limiting flexibility and precision in livestock-related spaces, especially when external systems fail or require laborious calibration.
Innovation Solution
An on-board navigation system integrated with an external vehicle localization device and communication system, using sensors like cameras and odometers, allows for continuous updating and calibration of the vehicle's position and direction, even when external systems fail, by determining external positions and applying correction factors for wheel slip and wear.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If an on-board navigation system with sensors is used for autonomous vehicle operation, then the vehicle can operate autonomously in livestock-related spaces, but the navigation reliability deteriorates due to sensor wear and interference over time
Solution Approach 1:
The patent introduces an external vehicle localization device as an intermediary system that periodically determines the vehicle's position independently of the on-board sensors. This external device acts as a mediator to correct accumulated navigation errors from the on-board system, thereby maintaining navigation reliability without compromising autonomous operation capability
Solution Approach 2:
The system implements a feedback mechanism where the external localization device periodically provides position corrections to the on-board navigation system. This feedback loop allows the vehicle to compensate for sensor drift and wear by continuously comparing on-board position estimates with externally verified positions, thus resolving the reliability issue while maintaining autonomy
2Adaptability or versatility
If the on-board navigation system operates independently without external localization, then the system is simpler and more flexible, but the navigation precision deteriorates due to accumulated errors from wheel slip and sensor wear
Solution Approach 1:
The external vehicle localization device performs preliminary position determination before the on-board navigation errors become critical. By periodically establishing accurate reference positions in advance, the system prevents large accumulation of navigation errors while maintaining the simplicity and flexibility of the on-board autonomous navigation
3Measurement precision
If calibration is performed frequently to maintain navigation accuracy, then the navigation precision is improved, but the operational time is reduced due to calibration interruptions
Solution Approach 1:
The external vehicle localization device performs calibration functions autonomously without requiring vehicle shutdown or manual intervention. The system self-corrects navigation errors by periodically determining vehicle position using external references, thereby maintaining high navigation precision while minimizing interruptions to operational time
Data Source
Figure 1
AI summary
A livestock management system for the autonomous performance of an animal-related action comprises an autonomously movable vehicle for performing the animal-related action in a livestock-related space, said system being equipped with an on-board navigation system having a sensor for vehicle movement information and a memory for navigation information, an external vehicle localisation device for repeatedly determining the external position of the vehicle in the livestock-related space, and a communication device for transferring the external position to the memory. The navigation information comprises at least one previous on-board position and a route to be travelled. The vehicle determines an instantaneous on-board position on the basis of the navigation information and the collected vehicle movement information. The on-board navigation system is configured to repeatedly receive the determined external position, and to calibrate the sensor on the basis of the received external positions and/or to update said navigation information in the memory. A livestock building having such a system is similarly provided.