I ntelligent S ensor for A utonomous C leaning in livestock building - A challenge in bio-environmental engineering J. S. Strøm 1, G. Zhang 1 * and M.

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


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.


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


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


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


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


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


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


WP 6: Dissemination of resultsWP 6: Dissemination of results

Refereed publication in ISI journals Selected conferences & seminars Web-site publications Workshop & networks Research educations


ISAC team, time & BudgetISAC team, time & Budget

Team: DIAS, DTU, LU, ALTO, GerniTime: Nov.2002 – Dec. 2006Budget: 7.4 mil. DDK (1mil.USD)


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


Detection principlesDetection principles

Spectral signatures of surfaces and fouling materials

Hyperspectral imaging with Acousto-Optic Tunable Filters

Multi-specture image analysisSurface texture image analysis


PIG HOUSINGPIG HOUSING

100 million m2 of pig housing surfaces per year in Denmark

type and colour of the materialsNew and old inventory


FloorFloor


Pen partitionsPen partitions


Feeding and watering Feeding and watering equipmentsequipments


Plastic/concrete corner with Plastic/concrete corner with fittingsfittings


OPERATIONAL REQUIREMENTSOPERATIONAL REQUIREMENTS

Speed of operation = 7 m2/min Mechanical requirements

– Forces and vibrations imposed – moisture, stains and dirt, etc

Detection of location Safety


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


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.


EndEnd


I ntelligent S ensor for A utonomous C leaning in livestock building - A challenge in bio-environmental engineering J. S. Strøm 1, G. Zhang 1 * and M.

Documents

intelligent cleaning

research plan wp

intelligent sensor system

sensor types assessment

functionality wp

agricultural engineering

sensor system physical

appropriate sensor technology