i ntelligent s ensor for a utonomous c leaning in livestock building - a challenge in...
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Intelligent Sensor for Autonomous Cleaning in livestock building
- A challenge in bio-environmental engineering
J. S. Strøm1, G. Zhang1* and M. Blanke2
1 Danish Institute of Agricultural Sciences, Research Centre Bygholm, Dept. of Agricultural Engineering, P.O.Box 536, 8700
Horsens, Denmark *Email of corresponding author: [email protected]
2 Technical University of Denmark, Ørsted•DTU, DTU-Automation, building 326, 2800 Lyngby, Denmark
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
BackgroundBackground
2 million m2 surface / week Manual cleaning
– Working environments
Automated cleaning– Results / water consumption
Challenges
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
vision and goalsvision and goals
To develop an intelligent sensor system that, combined with an autonomous cleaning system, will carry out the cleaning between batches in livestock buildings.
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
Research planResearch plan
WP 1: Requirements Capture WP 2: Unclean and clean surfaces and sensor
types assessment WP 3. Smart interpretation of sensor signals WP 4: Intelligence features and integration with
automatic cleaning equipment WP 5: Sensor system physical design,
construction and functionality WP 6: Dissemination of results
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
WP 1: Requirements CaptureWP 1: Requirements Capture
To provide background information, specify the success criteria and formulate the functional requirements to an intelligent sensor for autonomous cleaning, including:
Characteristics of residue Requirements - the robot-sensor interface
Quality attributes of remote sensing operation Requirements - operator and robot interface
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
WP 2: Unclean and clean surfaces WP 2: Unclean and clean surfaces and sensor types assessmentand sensor types assessment
To provide knowledge about fouling materials and appropriate sensor technology as a basis for selection of the most promising sensor technology
Evaluation of sensor techniques Distinguish between clean and fouled
surfaces Surface requirements to give reliable
information
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
WP 3. Smart interpretation of WP 3. Smart interpretation of sensor signalssensor signals
Evaluation of cleanliness under varying conditions
Training, estimation, and validation of an automated classifier/grader
Reflected/emitted electromagnetic radiation and/or
Enable feature extraction for the physical objects
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
WP 4: Intelligence features and WP 4: Intelligence features and integration with AC robotintegration with AC robot
Central control and coordination system for the intelligent cleaning sensor.
Automatic calibration and self-diagnosis features on-line
Fault tolerant methods to enhance system availability
To use and update the knowledge base
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
WP 5: Sensor system physical WP 5: Sensor system physical construction and functionalityconstruction and functionality
Test and validate _laboratory conditions Various types of pollution on different
surfaces with various colours, geometry, roughness and shape
Test and validate _near-practical conditions
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
WP 6: Dissemination of resultsWP 6: Dissemination of results
Refereed publication in ISI journals Selected conferences & seminars Web-site publications Workshop & networks Research educations
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
ISAC team, time & BudgetISAC team, time & Budget
Team: DIAS, DTU, LU, ALTO, GerniTime: Nov.2002 – Dec. 2006Budget: 7.4 mil. DDK (1mil.USD)
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
DELIMITATIONSDELIMITATIONS
To focus on the cleaning level where the pig producers are in charge of the cleaning and to reduce the risk of infection between batches
To focus on cleaning in finishing pig houses
Surface under 1.5 m from floor
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
Detection principlesDetection principles
Spectral signatures of surfaces and fouling materials
Hyperspectral imaging with Acousto-Optic Tunable Filters
Multi-specture image analysisSurface texture image analysis
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
PIG HOUSINGPIG HOUSING
100 million m2 of pig housing surfaces per year in Denmark
type and colour of the materialsNew and old inventory
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
FloorFloor
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
Pen partitionsPen partitions
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
Feeding and watering Feeding and watering equipmentsequipments
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
Plastic/concrete corner with Plastic/concrete corner with fittingsfittings
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
OPERATIONAL REQUIREMENTSOPERATIONAL REQUIREMENTS
Speed of operation = 7 m2/min Mechanical requirements
– Forces and vibrations imposed – moisture, stains and dirt, etc
Detection of location Safety
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
FUNCTIONAL REQUIREMENTSFUNCTIONAL REQUIREMENTS (1)(1)
The cleanliness sensor shall be able autonomously to:
Identify selected surface types in finishing pig houses
Distinguish solid surface from openings Distinguish non-clean from clean surface Specify position and area of non-clean
surface Function reliably in the environment of the
empty pig house during cleaning
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm
FUNCTIONAL REQUIREMENTSFUNCTIONAL REQUIREMENTS (2)(2)
The sensor shall be able to interact with a cleaning robot to:
Communicate the position of non-clean areas for guidance of the cleaning process
Perform cleaning at least as resource efficient as manual cleaning to a prescribed standard.
Interaction with human operator: Define surfaces to clean, specify cleaning
parameters and report back on the result.
Danish Institute of Agricultural SciencesDanish Institute of Agricultural SciencesResearch Centre BygholmResearch Centre Bygholm