阅读说明：本技术 用于家畜畜舍的基础设施布置及其提供方法 (Infrastructure arrangement for livestock barns and method for providing same ) 是由 迪尔克·韦斯滕多夫 于 2018-06-20 设计创作，主要内容包括：本发明涉及一种用于家畜畜舍(500)的基础设施布置(1)和一种用于提供家畜畜舍的基础设施的方法。所述基础设施布置包括：具有多个无光学装置的位置确定网络点(401-404)的固定的位置确定网络(400)；至少一个自主畜舍车辆(100),其中所述自主畜舍车辆具有驱动器(132)和用于该驱动器的充电接口(171)；无光学装置的位置确定装置(410)；用于可松开地固定不同的功能单元的耦联装置(133)；以及控制单元(113))；用于对所述自主畜舍车辆的驱动器充电的至少一个充电站(160、360)；至少一个装配站(210),用于为所述自主畜舍车辆装配不同的功能单元和/或工作材料；以及至少一个数据传输单元(420),其中所述自主畜舍车辆的控制单元构成为,根据所述位置确定装置的和所述数据传输单元的信息生成用于所述自主畜舍车辆的路线图。(The invention relates to an infrastructure arrangement (1) for a livestock barn (500) and a method for providing an infrastructure of a livestock barn. The infrastructure arrangement comprises: a fixed location determination network (400) having a plurality of optical device-less location determination network points (401-404); at least one autonomous barn vehicle (100), wherein the autonomous barn vehicle has a drive (132) and a charging interface (171) for the drive; an optical-device-less position determining device (410); a coupling device (133) for releasably fixing different functional units; and a control unit (113)); at least one charging station (160, 360) for charging a drive of the autonomous barn vehicle; at least one assembly station (210) for assembling different functional units and/or working materials for the autonomous barn vehicle; and at least one data transmission unit (420), wherein the control unit of the autonomous animal house vehicle is configured to generate a route map for the autonomous animal house vehicle on the basis of the information of the position determination device and of the data transmission unit.)

1. An infrastructure arrangement for a livestock barn, the infrastructure arrangement comprising:

a fixed location determination network having a plurality of location determination network points without optical means,

-at least one autonomous barn vehicle, wherein the autonomous barn vehicle has:

○ driver and charging interface for the driver;

○ location determination means without optics;

○ for releasably securing different functional units, and

○ the control unit is controlled by a control unit,

-at least one charging station for charging a drive of the autonomous barn vehicle;

-at least one assembly station for assembling different functional units and/or working materials for the autonomous barn vehicle; and

-at least one data transmission unit,

-wherein the control unit of the autonomous stall vehicle is configured to generate a roadmap for the autonomous stall vehicle on the basis of the information of the position determination device and of the data transmission unit.

2. An infrastructure arrangement as claimed in any one of the preceding claims, wherein the position determining means without optical means are configured to determine the position of the autonomous barn vehicle within the livestock barn and/or in communication with the position determining network

The position-determining device and/or at least one of the position-determining network points and/or the position-determining network has an ultra-wideband unit and/or an RFID unit and/or a radio unit and/or an odometer and/or an inertial sensor device and/or a radar sensor device.

3. An infrastructure arrangement as claimed in any one of the preceding claims, wherein a distance in the vertical direction between at least one and/or a plurality or all of the location determination network points and/or the location determination network and the optical-device-free location determination device of the autonomous stall vehicle

-less than ten times the extension in the vertical direction of the autonomous stall vehicle, in particular less than five times the extension in the vertical direction of the autonomous stall vehicle, and/or

-less than 3m, in particular less than 1.5 m.

4. An infrastructure arrangement as claimed in any one of the preceding claims, wherein the drive is a substantially emission-free drive, in particular an electric drive.

5. An infrastructure arrangement as claimed in any one of the preceding claims, the infrastructure arrangement comprising:

at least one ballast station for providing additional weights on the automated barn vehicle.

6. An infrastructure arrangement according to any of the previous claims, wherein the roadmap comprises an order and/or stay duration for driving to and/or staying at a work area.

7. An infrastructure arrangement as claimed in any of the preceding claims, wherein

-the data transmission unit comprises a human machine interface and/or a data interface configured for obtaining information about tasks to be performed by the autonomous barn vehicle and/or transmitting information about tasks to be performed by the autonomous barn vehicle, and/or

-the data transmission unit and the control unit of the autonomous stall vehicle are configured for contact-based and/or line-based information exchange between each other, and/or

-the control unit of the autonomous barn vehicle is designed to receive a call-back request from the data transmission unit in a contact-free and/or line-free manner and/or to transmit the position information and/or status information to the data transmission unit in a contact-free and/or line-free manner and/or

The control unit is designed to follow the user of the autonomous animal house vehicle at a distance, and/or

-the autonomous stall vehicle comprises a storage device for receiving objects to be transported.

8. An infrastructure arrangement as claimed in any one of the preceding claims, the infrastructure arrangement comprising:

at least one gate for being disposed between two or more livestock dwelling areas, wherein the gate is configured for passage of the autonomous stall vehicle.

9. An infrastructure arrangement as claimed in any one of the preceding claims, wherein at least one of the gates

-comprising a lifting unit for moving the autonomous barn vehicle in a vertical direction, and/or

-comprising cleaning means for cleaning and/or sterilizing the autonomous barn vehicle or parts thereof, and/or

-comprising a charging station for charging a drive of the autonomous barn vehicle, and/or

-comprises a data interface for coupling with said data transmission unit, and/or

-at least one of said gates comprises a passage obstacle for the livestock.

10. An infrastructure arrangement according to any of the preceding claims, wherein at least one of the charging stations and/or at least one of the assembly stations and/or at least one of the ballast stations and/or at least one of the gates are provided elevated with respect to the floor of the animal accommodation area and/or are provided wholly or partly in an area isolated from livestock.

11. The infrastructure arrangement of any one of the preceding claims, wherein at least one of the charging stations and/or at least one of the assembly stations and/or at least one of the ballast stations and/or at least one of the gates are provided in a highly variable manner and/or have a highly variable interface for coupling with the automatic stall vehicle and/or are configured for coupling in a highly independent manner with the autonomous stall vehicle.

12. An infrastructure arrangement according to any of the preceding claims, wherein at least one of the charging stations and/or at least one of the assembly stations and/or at least one of the ballast stations and/or at least one of the gates are constructed as sole stations and/or combined into a multi-functional unit and/or provided in a barn vehicle supply area.

13. A livestock house comprising an infrastructure arrangement according to any of the preceding claims.

14. Use of an infrastructure arrangement according to any of the preceding claims in a livestock house.

15. A method for providing an infrastructure of a livestock barn, the method comprising:

-determining the position of at least one autonomous stall vehicle by means of an optical-device-free position determination device of the stall vehicle and a fixed position determination network with a plurality of optical-device-free position determination network points;

-driving at least one of said autonomous barn vehicles;

-charging at least one of said autonomous barn vehicles at a charging station;

-equipping the autonomous barn vehicle with different functional units at the couplings of at least one of the autonomous barn vehicles; and/or equipping said autonomous barn vehicle with different working materials;

-generating a roadmap for the autonomous stall vehicle in a control unit of the stall vehicle on the basis of the information of the position determination means and of the data transmission unit.

Technical Field

The present application claims priority from german utility model application DE 202017103642.1 filed on 20/6/2017, the entire disclosure of which is incorporated herein by reference.

The present invention relates to an infrastructure arrangement for a livestock barn and a method for providing an infrastructure for a livestock barn.

Background

Infrastructure arrangements for livestock barns and methods for providing infrastructure in livestock barns are known and, for example, also include autonomous barn vehicles.

Disclosure of Invention

It is therefore an object of the present invention to provide an improved infrastructure arrangement for a livestock barn and an improved method for providing an infrastructure for a livestock barn. In particular, it is an object of the present invention to provide an infrastructure arrangement for a livestock barn and a method for providing an infrastructure for a livestock barn, which method improves animal welfare and/or efficiency of livestock rearing.

According to the invention, the object is achieved by an infrastructure arrangement for a livestock barn comprising a fixed position determination network with a plurality of optical-device-free position determination network points; at least one autonomous barn vehicle, wherein the autonomous barn vehicle has: a drive and a charging interface for the drive, an optical-device-free position-determining device, a coupling device for releasably fixing different functional units, and a control unit; at least one charging station for charging a drive of the autonomous stall vehicle; at least one assembly station for assembling different functional units and/or working materials for the autonomous barn vehicle; and at least one data transmission unit, wherein the control unit of the autonomous animal house vehicle is designed to generate a route pattern for the autonomous animal house vehicle on the basis of the information of the position determination device and of the data transmission unit.

The infrastructure arrangement described herein has an autonomous stall vehicle with a control unit. The autonomous barn vehicle also has a position determining device without optics. The position determination device without optical means can also be referred to as a torch (Flare). The infrastructure arrangement further comprises a fixed location determination network having a plurality of optical-device-less location determination network points. The location-determining network points can be arranged in the livestock barn, preferably spatially distributed, in the case of an infrastructure arrangement which is arranged in the livestock barn in operational readiness. The control unit of the autonomous animal house vehicle is designed to generate a route map of the autonomous vehicle on the basis of the information of the position-determining device and of the data transmission unit of the infrastructure arrangement.

The position determination is preferably carried out without optical means by means of a position determination device of the autonomous barn vehicle and a fixed position determination network. Here, optical device-free is to be understood in particular as: the position determination is not based on optical methods, i.e. for example no image recognition, no raster or the like is provided. An optical-free device is also to be understood here as meaning, in particular, a position determination which operates without optical elements, in particular without lenses and/or light.

The autonomous stall vehicle can preferably have two, three or more position determining devices without optical means. In this way, it is also possible to determine the orientation and/or vector of the stall vehicle without moving the stall vehicle, i.e. while stationary.

The determination of the position without optical means can preferably be carried out by means of a torch network. The optical-device-free position determination can include a position determination in which a direct line of sight exists between the position determination device of the autonomous barn vehicle and one or more optical-device-free position determination network points, which line of sight is not obstructed by, for example, barn facilities. Such a direct line of sight between the position determination device of the autonomous barn vehicle and one or more position determination network points of the position determination network may also be preferred in the case of a position determination without optical means.

The location determination network points are preferably arranged such that there is a direct line of sight between the location determination means of the autonomous stall vehicle and at least one, preferably two, three, four or five of the location determination network points of the location determination network, irrespective of the location of the stall vehicle in the stall.

The autonomous barn vehicle also has a charging interface in order to be able to charge the drive at a charging station of the infrastructure arrangement.

Furthermore, the autonomous barn vehicle has a coupling device for releasably fixing the different functional units. For example, the functional unit can in principle be arranged on the coupling device, but it can also be removed and replaced by another functional unit. Preferably, the autonomous barn vehicle can be operated with or without a functional unit, in particular also with a changed functional unit.

The releasable fastening of the functional unit to the coupling device can also be referred to as mounting. For this purpose, the infrastructure arrangement has at least one assembly station in which the autonomous barn vehicle can be coupled with the functional unit and/or in which the autonomous barn vehicle can be fitted with working material.

The data transmission unit of the infrastructure arrangement is preferably designed for data exchange with the autonomous barn vehicle, in particular its control unit, and/or with a central computer. For example, information about work orders to be performed by the autonomous barn vehicles can be transmitted from the central computer to the control units of the autonomous barn vehicles via the data transmission unit. Furthermore, it is preferred that information about the performed work order can be transmitted from the control unit of the autonomous barn vehicle to the central computer via the data transmission unit.

In the control unit of the autonomous barn vehicle, the information of the position determination device about the current position of the autonomous barn vehicle and the information of the data transmission unit, for example about a planned work order of the autonomous barn vehicle, can preferably be linked, so that a route map for the autonomous barn vehicle can be generated. The roadmap for the autonomous barn vehicle can preferably comprise planned routes and/or work to be performed at a specific location and/or work material to be received and/or thrown and/or functional units to be used etc.

In this way, by means of the infrastructure arrangement described here, a planning which is as autonomous as possible for autonomous barn vehicles can be achieved. For example, an operator of a livestock barn can generate a work order to be executed on a central computer and transmit the work order to an autonomous barn vehicle via a data transmission unit. In a control unit of an autonomous barn vehicle, a route pattern can be generated via links to current position data of the autonomous barn vehicle, which route pattern can be realized on the basis of the current position of the barn vehicle: queued work orders are processed as efficiently as possible. For this purpose, a suitable planning algorithm is preferably stored in the control unit. Preferably, data and information may also be synchronized with a central computer and/or network.

This is particularly suitable for repeated tasks in livestock barns, which can be performed substantially automatically by autonomous barn vehicles. For this purpose, different properties, such as, for example, ballast, and/or special functional units, for example in the form of tools, and/or alternative working materials, for example consumable materials, can be required for different work orders. The assembly station and/or the autonomous barn vehicle is preferably designed such that the assembly of the autonomous barn vehicle with the different functional units and/or the working material can be carried out autonomously and/or automatically, wherein preferably no user intervention is required at the assembly station. Preferably, the user's actions are limited to prescribing a work order, for example from a central computer to the outside and/or via a man-machine interface, for example from a control unit of the animal house vehicle. Preferably, the information about which usage units and/or work material are required is contained in a roadmap generated by the control unit of the autonomous barn vehicle, so that said information can be received automatically and/or autonomously by the autonomous barn vehicle at the assembly station.

The control unit of the autonomous stall vehicle can be formed on the autonomous stall vehicle itself or can also be arranged at a distance from the autonomous stall vehicle. For example, the control unit of the autonomous barn vehicle can be provided wholly or partly in the data transmission unit and/or in the central computer.

According to a preferred embodiment, the optical-device-free position determining device is designed to determine the position of the autonomous barn vehicle in the livestock barn in a manner communicating with the position determining network.

The optical-device-free position determining device is preferably designed to interact with a stationary position determining network, in particular its position determining network points, in order to determine the position of the autonomous barn vehicle. Since the autonomous stall vehicle can be moved within the stall by means of the drive, it is advantageous to determine the position of the stall vehicle, in particular for example for navigation and/or mission planning.

It is also preferred that at least one of the position-determining devices and/or the position-determining network points and/or the position-determining network has an ultra-wideband unit and/or an RFID unit and/or a radio unit and/or an odometer and/or an inertial sensor device and/or a radar sensor device.

In a preferred embodiment, it is provided that the distance in the vertical direction between at least one and/or a plurality or all of the position determination network points of the autonomous barn vehicle and the optical-device-free position determination device is less than ten times the extension in the vertical direction of the autonomous barn vehicle, in particular less than five times the extension in the vertical direction of the autonomous barn vehicle, and/or less than 3m, in particular less than 1.5 m.

One or more of such different optical device-free position determinations are preferred, since navigation within the animal house is often a great challenge, on the one hand due to the large dust pollution within the animal house, which often precludes optical device-based position determinations or at least makes them significantly difficult, or due to animal house facilities, such as e.g. steel frames for poultry houses. The stall facility typically shields many frequency ranges, especially the common frequency ranges for GPS (about 1.2GHz or 1.5GHz), WLAN (2.4 to 2.5GHz), etc. Thus, the full availability of the location determination network in the stall is difficult.

Ultra wideband technology (UWB), which in particular has a frequency between 3GHz and 11GHz, in particular between 3.1GHz and 10.6GHz, has proven to be particularly suitable for position determination in livestock barns.

The extension in the vertical direction of the autonomous barn vehicle is preferably dimensioned such that said autonomous barn vehicle is smaller than the clear height below the barn installation. In particular, it is proposed that the extension in the vertical direction of the autonomous barn vehicle is less than 450mm, and/or less than 400mm, and/or less than 350mm, and/or less than 300mm, and/or less than 250mm, and/or less than 200 mm.

The location determination network points of the location determination network are preferably arranged above the head height of the livestock and/or below the roof of the livestock shed. Preferably, the location determination network points are located in one or two preferably horizontal planes in the vertical direction. In this way, shadowing effects can be minimized and the number of location determination network points required can also be reduced. Furthermore, the position-determining network point is preferably arranged at the maximum in the vertical direction at the level of the upper end of the livestock facility, in particular of the poultry house. It is particularly preferred that the position-determining network point is spaced apart from the upper end of the livestock barn roof and/or the livestock barn wall downwards in the vertical direction by at least 1 m. It is particularly preferred that the position-determining network point is arranged in the vertical direction at a maximum at the level of the animal-dwelling surface of the lower part of the livestock facility, in particular at a maximum at the level of the animal-dwelling floor of the lower part of the poultry house. It is particularly preferred to arrange the position-determining network point in the vertical direction at the maximum at the level of the lower dwelling level of the stall facility and above the height of the livestock, preferably the height which the livestock on the stall floor usually does not exceed during customary activities, i.e. for example in the case of birds their head height.

The design is particularly preferred in livestock barns for poultry.

It is furthermore preferred that the autonomous stall vehicle, in particular the control unit, has a (preferably electronic) map of the livestock stall and/or an environment of the livestock stall, for example an environment of the entire livestock stall system. The accuracy of the map can preferably be generated and/or increased at runtime and/or at commissioning. In particular, the map can be used as a basic assumption or input information and can preferably be verified and/or improved during operation, in particular during the driving of the barn vehicle. This can be achieved, for example, by the barn vehicle identifying, registering obstacles and comparing them to a map. By means of this authentication function, preferably in combination with obstacle recognition and/or collision recognition, different advantages and functions result. The verification and/or the improvement of the (preferably electronic) map can be carried out directly at the livestock house when put into operation and/or also as a so-called plug-and-play solution.

For example, a user can deliver actionable materials to livestock

Alternatively, the autonomous barn vehicle can also dispense the animal with the manipulatable material, for example: for this purpose, the corresponding work order is sent to the barn vehicle. After being placed, the manipulable material is typically located in the hallway of the livestock barn. The user can indicate the place of release of the operable material on the map in order to register it as a temporary obstacle and the autonomous barn vehicle can accordingly bypass these areas with the released operable material, in particular during a preset period of time in which the operable material is usually depleted and/or disarmed. Bypassing the obstacle can thus be achieved, which can result in a significant time saving compared to known systems in which the barn vehicle travels through an area and is driven again towards the obstacle at each passage and bypassing has to be performed, for example according to the provided bypassing pattern.

The depleted operational material or the like can also be viewed as a job ticket for the autonomous barn vehicle by the user marking the map with the depleted operational material. For example, a user can mark on a map a location where the autonomous barn vehicle should automatically release the actionable material.

Furthermore, it can be preferred that the user has the following possibilities: after the (temporary) obstacle is expected to no longer be present, e.g. due to exhaustion and/or dismemberment of the operable material by the livestock, a failure date for the obstacle is given.

The dispensing of the operational materials is here taken as an example to illustrate the function and preferred embodiment. However, the features described here are also equally applicable to other functions and embodiments.

It is furthermore preferred that the infrastructure arrangement is configured to generate, preferably periodically, a report with a message about the livestock barn, for example with a report about an obstacle, in which the user can then list the corresponding expiry date. Preferably, the corresponding classification of the obstacle can also be carried out on site in the livestock house, wherein the user carries a mobile terminal device, for example a smartphone, which displays a map of the obstacle position with the markings and via which the user can directly save further information about the obstacle, for example the expiry date. Such a report can be used, for example, as a visual summary and, in particular, regularly provides the user with feedback about the status of the livestock barn.

Furthermore, it can be preferred that state changes relating to the obstacle can be saved, in particular as to whether the obstacle is temporary, fixed or quasi-fixed. Preferably, this can be saved by the user and/or in the autonomous barn vehicle according to an algorithm and/or exploratory procedure.

It can also be preferred to provide the area on the (preferably electronic) map with a specific classification, for example as an obstacle, a hot spot or a no-pass area. In this way, the user is preferably able to control: which regions of the livestock barn are preferred, included or excluded in the route map to be generated by the control unit. Preferably, this classification can also be edited on site by the user in the livestock house by means of a mobile terminal device.

The classification of the obstacle can be made, for example, as a function of time, expiration date, size, and/or location. For example, the user can associate a specific question with a specific location, for example a hard recommendation, and this is marked on the electronic map via the mobile terminal device and a work order is generated for this purpose. Preferably, the autonomous animal house vehicle generates a roadmap from the work orders and their current locations received via the data transmission unit, said roadmap first providing a record of the recommendation work at the assembly station and subsequently working on the hard recommendation at the marked location.

Preferably, the route pattern generated by the control unit of the autonomous barn vehicle can be changed and/or expanded by the user, in particular also in relation to certain problems. For example, in the examples described herein, a user can perform multiple tillers at different points in time.

Furthermore, the control unit is preferably designed to generate a statistical evaluation of the success of the work order and/or of recommendations with respect to its optimization. Such a statistical evaluation can preferably be displayed and/or further processed at the mobile terminal device, at a station in the livestock house, at a central computer and/or on a network, in particular for example in order to be linked with other external data, in order to generate an automated proposal for a specific problem, for example.

A preferred refinement is characterized in that the drive is a substantially emission-free drive, in particular an electric drive.

A further preferred development is characterized in that at least one ballast station is used for providing additional weights on the automated animal house vehicle.

The provision of additional weights, which can also be referred to as ballast, can be preferred in particular for a specific task and/or a specific area of use of the autonomous barn vehicle. As during assembly, the ballasting is preferably carried out substantially automatically as a function of the information of the position determination device and in particular of the data transmission unit. The details described here with regard to the automated assembly therefore apply correspondingly, with suitable modifications, also to the preferably automated ballasting.

According to a preferred embodiment, the route map comprises sequences and/or dwell durations for driving to and/or for dwelling at the work area.

In a further preferred embodiment, it is provided that the data transmission unit comprises a human-machine interface and/or a data interface which is designed to obtain information about tasks performed by the autonomous barn vehicle and/or to transmit information about tasks performed by the autonomous barn vehicle.

A further preferred refinement is characterized in that the data transmission unit and the control unit of the autonomous barn vehicle are designed for contact-based and/or line-based information exchange between each other.

The data transmission unit and the control unit of the autonomous barn vehicle can be designed for exchanging information with one another without contact-based and/or without line-based communication.

In particular, however, a configuration for contact-based and/or line-based information exchange between the data transmission unit and the control unit of the autonomous animal house vehicle is preferred. If the autonomous barn vehicle is standing at one of the described stations, an exchange of information can preferably take place at that station between the control unit and the data transmission unit of the autonomous barn vehicle.

The contact-based and/or line-based information exchange helps to reduce the load on the livestock by means of wireless data transmission. In particular, a low transmitting power of the transmitter located in the livestock shed is preferred in order to keep the corresponding load of the livestock as low as possible.

For example, the autonomous barn vehicle can be substantially offline during the processing of the roadmap and can, for example, process work order and collect information. As soon as the autonomous barn vehicle is then located at one of the stations described here, which has a data transmission unit and/or a data interface, the autonomous barn vehicle can exchange information with the data transmission unit on a contact-based and/or circuit-based basis and, for example, download a new job ticket and/or upload the collected information and, for example, enter it into a central database and/or compare it with desired data, etc. Preferably, the software update of the autonomous barn vehicle can also preferably be performed in this way.

It is furthermore preferably provided that the control unit of the autonomous stable vehicle is designed to receive a call-back request from the data transmission unit in a contact-free and/or line-free manner and/or to transmit position and/or status information to the data transmission unit in a contact-free and/or line-free manner. Furthermore, it is preferably provided that the autonomous barn vehicle, in particular the position determination device and/or the control unit of the autonomous barn vehicle, is designed to receive a call-back request from the position determination network in a contact-free and/or line-free manner.

This embodiment is particularly preferred in order to be able to bring about an early interruption of the route pattern of the autonomous barn vehicle in that: the barn vehicle can be called back, for example at the station described here or at another (preferably predetermined) location.

The non-contact-based and/or non-line-based transmission of the callback requests and/or the position information and/or the status information enables a minimum degree of communication with the autonomous barn vehicle, in particular if the information exchange between the control unit and the data transmission unit of the automatic barn vehicle is only possible in a contact-based and/or line-based manner. In this way, for example, it can be determined that: where the stall vehicle is and/or in what state the drive is, for example, in particular with regard to the power level.

Preferably, the communication between the position determination device and the position determination network can be performed independently of contact-based and/or non-contact-based communication between the data transmission unit and the control unit.

It is preferably possible to locate the autonomous barn vehicle without actively transmitting its position. This can be done, for example, by sending a "ping" over the Flare network (Flare-Netzwerk), for example by the location determination device and/or the location determination network. In this way, the need to set up an additional radio system for locating the autonomous barn vehicle can be eliminated. By transmitting the callback request via the location determination network, such a callback of the barnyard vehicle can also be made independently of the data communication in an advantageous manner.

Contact-based and/or line-based communication between the data transmission unit and the control unit is also preferred, since especially most animal house facilities made of metal and/or most steel walls also containing metal make it difficult and laborious to establish contact-based and/or non-line-based communication between the data transmission unit and the control unit, if such communication can be realized in full in the animal house.

In a further embodiment, it is particularly preferred that the control unit is designed such that the autonomous animal house vehicle can follow the user at a distance.

It is furthermore preferred that the autonomous stall vehicle comprises a storage device for receiving objects to be transported.

For example, if the user needs the autonomous barn vehicle to follow the user at a distance, i.e. to perform a "housekeeping function", for example, a callback function can also be used. Preferably, the control unit is configured to interrupt a route pattern of the autonomous stall vehicle for such housekeeping function and to restore said route pattern after the housekeeping function has ended. In the housekeeping function, the autonomous stall vehicle can follow the user and transport objects, such as tools, spare parts, feed, work material, etc., which the user needs, here preferably on their storage means.

In this way the following problems can be solved: often lack of professionals and/or the work cost for small tasks can tie up a large number of people and/or heavy loads can often only be transported by means of equipment such as wheel loaders and/or wheelbarrows. Thus, in the housekeeping function, the autonomous barn vehicle provides the user with a mobile storage surface and/or a mobile service trolley and/or a comfortable load transport.

In order to enable the autonomous animal house vehicle to follow the user, for example, image evaluation and/or field strength measurement and/or RFID technology and/or NFC technology can be used, in particular, for example, also in combination with a mobile terminal device carried by the user.

In a preferred embodiment, at least one gate for arrangement between two or more animal accommodation areas is provided, wherein the gate is designed for the passage of an autonomous animal housing vehicle.

A preferred development is characterized in that the at least one shutter comprises: a lifting unit for moving the autonomous barn vehicle in a vertical direction, and/or a cleaning device for cleaning and/or sterilizing the autonomous barn vehicle or parts thereof, and/or a charging station for charging a drive of the autonomous barn vehicle, and/or comprising a data interface for coupling with a data transmission unit.

A further preferred development is characterized in that at least one gate comprises a passage barrier for the livestock.

Two or more livestock holding areas are typically provided in a livestock house. The livestock residence areas can be completely separated from each other so that livestock cannot be shifted back and forth between the areas. Alternatively, the livestock residence can also allow for individual livestock changes. Preferably, a gate is provided, which can be arranged between two or more livestock accommodation areas and allows the autonomous animal housing vehicle to pass through. The gate can comprise one or more passage barriers for the livestock in order to prevent and/or reduce the passage of the livestock. Such traffic barriers can be, for example, sheet curtains and/or animal fences. The animal fence can preferably be constructed as a fence from fence elements (for example rods and/or pipes and/or rails) arranged in parallel, which can preferably be made of metal or have metal. Preferably, a large gap is provided between the barrier elements such that livestock cannot enter and/or cross the livestock barrier, while a user and/or an automated stall vehicle can enter and/or cross the livestock barrier.

Two or more livestock accommodation areas can be provided on one level in the livestock house and/or distributed on different levels, in particular on different floors/floors, of the livestock house building. Two or more livestock residence areas can also be located in different buildings of the livestock barn facility. The external livestock residence can also be located between the steel buildings of the livestock barn facility. It can also be provided, for example, that one or more areas are assigned to a stall vehicle area, in which preferably only stall vehicles are located.

It is also preferred that the position of the gate is also indicated in a (preferably electronic) map.

Preferably, the gates and/or the traffic barriers are configured such that only autonomous stall vehicles can use the gates to change between the animal habitation areas.

In particular, if two or more livestock habitats are located on multiple planes one above the other, it is preferred that the gate comprises a lifting unit for moving the autonomous barn vehicle in a vertical direction. The lifting unit can be configured, for example, as a lift and/or a lift cage. The sluice can be configured, for example, as a light sluice, for example, by means of a laser and/or as a sluice.

It is generally preferred that the gate includes additional functionality. For example, cleaning devices can be provided which completely or partially clean and/or sterilize the autonomous animal house vehicle, which is particularly preferred for not spreading dirt and/or germs and the like between the livestock habitats. In this way, biosafety and/or hygiene levels can also be increased internally and/or externally.

Furthermore, a charging station can be provided at the gate in order to charge the drive with the dwell time of the autonomous barn vehicle in the gate.

Furthermore, it is preferred that a data interface for coupling to a data transmission unit is provided at the gate, so that the dwell time of the autonomous barn vehicle in the gate can also be used for data transmission.

In this way, a safe change of the autonomous animal house vehicle between different livestock accommodation areas can be achieved in an advantageous manner, so that preferably the autonomous animal house vehicle can serve a plurality of livestock accommodation areas. For example, an autonomous barn vehicle can also be responsible for the entire livestock barn system. It can also be preferred that a plurality of, for example differently designed, autonomous barn vehicles are responsible for a plurality of livestock habitats.

According to a preferred embodiment, it is provided that the at least one charging station and/or the at least one assembly station and/or the at least one ballast station and/or the at least one sluice gate are arranged elevated relative to the floor of the animal residence area and/or are arranged wholly or partially in an area isolated from the livestock.

In a further preferred embodiment, it is provided that the at least one charging station and/or the at least one assembly station and/or the at least one ballast station and/or the at least one gate are arranged in a height-variable manner and/or have an interface arranged in a height-variable manner for coupling to an automatic stall vehicle and/or are designed for coupling independently of the height of the autonomous stall vehicle.

A further preferred development is characterized in that the at least one charging station and/or the at least one assembly station and/or the at least one ballast station and/or the at least one sluice gate are designed as single stations and/or are combined into a multi-functional unit and/or are arranged in the feed area of the animal house vehicle.

It is common to put in livestock barns recommended that they differ in their height during operation of the livestock barns and/or throughout different areas of the livestock barns. In order to ensure reliable functioning of the autonomous barn vehicle and the infrastructure arrangement, the solution described herein is preferred, which enables independence of recommended heights on the floor of the animal accommodation.

The elevated arrangement can be realized, for example, via an elevated platform which can be reached via a ramp for an autonomous stall vehicle. The bottom of the platform can preferably be constructed as a grid so that recommended and/or dirt can fall through the bottom of the platform so that the height of the platform remains substantially constant.

Height-variable arrangements and/or height-independent couplings are likewise preferred in order to establish independence from recommended heights and/or other materials on the floor of the animal residence.

Another preferred possibility is to provide a region which is completely or partially isolated from the livestock. In such areas, it is preferred that no recommended or other material be placed on the floor.

The area isolated from the livestock can for example be a separate area which is inaccessible to the livestock, for example by design: in this area the autonomous barn vehicle only passes through the gates with passage barriers for the livestock.

For example, it can be preferred to provide a multifunctional station and/or a barn vehicle supply area in an area isolated from the livestock. In areas isolated from the livestock, floors can also be provided, such as livestock fences, into which the livestock cannot enter and/or into which the livestock are unwilling to enter.

Preferably, the at least one charging station and/or the at least one assembly station and/or the at least one ballast station and/or the at least one gate are accessible from different directions for the autonomous barn vehicle and/or can be completely or partially enclosed by an area isolated from the livestock.

The charging station is preferably configured to be capable of charging via induction. Inductive charging has the advantage that the autonomous barn vehicle can be charged independently of its spatial orientation. The charging can also take place via a charging antenna which is brought into contact with a corresponding charging station upwards ("dodgem principle").

Furthermore, it is preferable to form the charging station in an expandable manner and to arrange it in an area which is preferably frequently accessed by the autonomous animal house vehicle (height). For example, it is possible to provide a charging area in the region of the animal accommodation, in which charging area the autonomous barn vehicle must frequently and/or regularly carry out a work order, for example in the region of the conveyor belt to be cleaned. In this way, the autonomous barn vehicle can be charged during processing of the job ticket.

For example, in a barn vehicle feeding area, it is possible in particular to combine stations which make it possible to feed the autonomous barn vehicles physically, such as, for example, at least one assembly station and/or at least one ballast station. In such a barn vehicle supply area, for example, a cleaning station can also be provided. In the case of a multifunctional station, it is preferably possible in particular to combine stations for virtual supply of the autonomous barn vehicles, i.e. in particular charging stations which preferably also enable a contact-based and/or line-based data interface for the exchange of information between the data transmission unit and the autonomous barn vehicle.

In particular, it can be preferred that the assembly station and the ballast station and/or the assembly station and the charging station are formed as a single station.

Preferably, the information exchange also comprises information about the status of the autonomous barn vehicle, such as the battery level and/or the current task list and/or data from sensors that can be provided on the autonomous barn vehicle.

Further advantageous embodiment variants of the device described above result from the combination of the preferred features discussed here.

According to another aspect of the invention, the object mentioned at the outset is achieved by a livestock shed comprising the infrastructure arrangement described previously.

According to a further aspect of the invention, the object mentioned at the outset is achieved by using the infrastructure arrangement described above in a livestock barn.

According to another aspect of the invention, the object mentioned at the outset is achieved by a method for providing an infrastructure for a livestock barn, comprising: determining the position of at least one autonomous stall vehicle by means of an optical-device-free position determination device of the stall vehicle and a fixed position determination network with a plurality of optical-device-free position determination network points; driving at least one autonomous barn vehicle; charging at least one autonomous barn vehicle at a charging station; equipping the autonomous barn vehicle with different functional units on the coupling of at least one autonomous barn vehicle; and/or equipping the autonomous barn vehicle with different working materials; a route map for the autonomous barn vehicle is generated in the control unit of the barn vehicle on the basis of the information of the position determination device and of the data transmission unit.

The previously described methods and preferred refinements thereof preferably have the features or method steps which make them particularly suitable for use in the previously described infrastructure arrangements and refinements thereof.

With regard to the advantages, embodiment variants and embodiment details of this further aspect of the invention and its improvements, reference is made to the preceding description of the corresponding device features.

Drawings

Preferred embodiments are described by way of example with the aid of the accompanying drawings. The figures show:

fig. 1a shows a schematic illustration of a livestock barn with an exemplary embodiment of an infrastructure arrangement;

fig. 1b shows a schematic illustration of a livestock barn with another exemplary embodiment of an infrastructure arrangement;

FIG. 2 shows a schematic view of a livestock barn having a plurality of livestock residence areas;

fig. 3 shows a schematic view of another livestock barn 500 having livestock residence areas arranged one above the other in three floors 521, 522, 523;

FIG. 4 shows a schematic representation of a top view of another livestock barn with an exemplary design of a charging station; and

FIG. 5 shows a schematic three-dimensional view of an exemplary autonomous barn vehicle; and

fig. 6 shows a schematic view of the barn vehicle according to fig. 5 with the raised housing and the charging station.

Detailed Description

In the figures, identical or essentially functionally identical elements are provided with the same reference signs. The general description generally refers to all embodiments unless a difference is explicitly indicated.

Fig. 1a shows a schematic illustration of a livestock barn 500 with an exemplary embodiment of an infrastructure arrangement 1. Fig. 1b also shows a schematic illustration of a livestock barn 500 with a further exemplary embodiment of the infrastructure arrangement 1. Fig. 2 shows a schematic view of a livestock barn 500 having a plurality of livestock residence areas 530. Fig. 3 shows a schematic view of another livestock barn 500 having livestock accommodation areas arranged one above the other in three floors 521, 522, 523. Fig. 4 shows a schematic representation of a top view of another livestock barn 500 having an exemplary embodiment of a charging station. Fig. 5 shows a schematic three-dimensional view of an exemplary autonomous barn vehicle 100. Fig. 6 shows a schematic view of a stall vehicle 100 according to fig. 5 with a raised housing and charging stations.

The following description relates to substantially all embodiments shown herein, as long as the differences are not explicitly indicated.

The infrastructure arrangement 1 for a livestock barn 500 comprises a fixed position-determining network 400 having a plurality of optical-device-free position-determining network points 401, 402, 403, 404. The location determination network 400 comprises a large number of location determination network points, of which only individual location determination network points 401, 402, 403, 404 are representatively shown in the figures. As can be seen in particular in fig. 1a, the position determining network point 401 lies on a first horizontal plane and the position determining network point 402 lies on a second horizontal plane. Although the position determination network point 401 is arranged close to the barn roof 502, the position determination network point 402 is located below the upper end of the barn facility 506 and at the same time above the clear height H of the barn facility 506. In the case of the further-story embodiment of the livestock barn 500 according to fig. 3, it is also preferred if a position-determining network point 402, 403, 404 is provided on each story 521, 522, 523, which is arranged above the clear height of the barn installation 506 and below the upper end of the barn installation 506. The arrangement of the location determining network point 402 is preferred over the arrangement of the location determining network point 401. It is preferably possible to omit the location determination network point 401 near the roof of the animal house.

The optical-device-free position determination device 410 and the optical-device-free position determination network 400 have the advantage of reliably determining the position in the livestock barn 500, wherein, furthermore, preferably, a (preferably electronic) map of the livestock barn 500 can be verified and/or corrected and/or improved during operation and/or when put into operation.

The clear height H preferably corresponds substantially to a height which is slightly greater than the height of the heads of the livestock on the barn floor 503 so that the livestock can move under the barn installation 506.

The infrastructure arrangement 1 comprises an autonomous stall vehicle 100 with a drive 132 for driving the hill-hold 140 and a charging interface in the form of a charging interface 171. The charging port 171 can be coupled with the side wall 162 via the charging pin 163 of the charging base 161 of the charging station 160 to charge the driver 132.

The barn vehicle 100 is also equipped with a coupling 133 for releasably securing different functional units, such as tillers.

The stall vehicle 100 has a housing 110 and a base or chassis 120. Furthermore, a position determination device 410 as well as a control unit 113 are provided on the stall vehicle 100.

The control unit 113 of the autonomous stall vehicle 100 is configured to generate a route pattern for the autonomous stall vehicle 100 on the basis of the information of the position determination device 410 and of the data transmission unit 420 (see fig. 1 a).

For example, the user F can enter information about a job ticket via the central computer, which information is provided to the barn vehicle 100 via the data transmission unit 420 for generating a roadmap. The work order can, for example, involve placing actionable material in region B1 and plowing hard recommendations in region B2. In this case, for example, sequences and/or dwell times in the work areas B1 and/or B2 can be specified for the roadmap. The user F can enter a job ticket, for example, via a human machine interface and/or via a mobile terminal.

Thus, the roadmap of the autonomous barn vehicle 100 may appear to be the first to travel to the assembly station 210 and collect the actionable material there. The roadmap can provide that the autonomous barn vehicle 100 then travels to the area B1 for depositing the actionable material there. Subsequently, the autonomous barn vehicle 100 can travel back to the assembly station 210 according to a roadmap and be coupled with a tiller as a functional unit. If necessary, it can be preferable to receive additional ballast in the ballast station 220 for cultivation. The roadmap can then specify that the barn vehicle 100 travels to the area B2 for cultivating hard grass therein. Subsequently, the roadmap can provide that the autonomous barn vehicle 100 again delivers additional ballast in the ballast station 220 and/or is again decoupled from the tillers in the assembly station 210.

The autonomous stall vehicle can then assume, for example, repetitive tasks, such as cleaning the conveyor belt 350. Preferably, an elongated charging station 360 can be provided in this area, so that the barn vehicle can be charged, preferably during cleaning of the conveyor belt 350. The elongated charging station 360 can be designed, for example, for inductive charging or comprise a conductor arranged above the animal house vehicle, to which the animal house vehicle 100 is coupled for charging by means of a charging antenna.

Alternatively or additionally, a charging station 160 can be provided, which is surrounded by a region 230 isolated from the livestock, for example in the form of a livestock fence. Alternatively or additionally, the charging station 160 can also be arranged on a raised platform via a ramp in order to compensate for different heights of the recommended referrals or independently of the latter.

As can be seen in particular in fig. 2, the charging station 160, the assembly station 210 and the ballast station 220 can be combined into a stall vehicle supply area 200.

Furthermore, fig. 2 shows a plurality of livestock accommodation areas 530, which are arranged on a plane and in which the animal housing facilities 506 are arranged in each case. The livestock residence 530 is connected via a gate 310 that allows the animal house vehicle 100 to pass through and preferably prevents the passage of livestock.

In the example of the livestock barn 500 shown in fig. 3, the livestock residence areas are provided on a plurality of planes 521, 522, 523, which are connected via the lifting unit 320. The stall vehicle 100 is able to work in all three planes 521, 522, 523 via the lifting unit 320.

Cleaning means for cleaning and sterilizing the autonomous stall vehicle or parts thereof are preferably provided in the gate 310 and/or the lifting unit 320. Furthermore, the gate 310 and/or the lifting unit 320 can preferably also comprise a charging station for charging the drive of the autonomous stall vehicle and/or a data interface for coupling with the data transmission unit 420. The lift unit 320 also preferably includes a traffic barrier for the livestock such that the livestock are prevented from changing between floors 521, 522, 523.

Preferably, a data interface is provided in the gate 310 and/or in the charging stations 160, 360 and/or in the assembly station 210 and/or in the ballast station 220, via which the autonomous barn vehicle, in particular its control unit 113, can communicate, preferably on a contact-by-contact basis and/or on a line-by-line basis, with the data transmission unit 420 in order to, for example, download new work orders and/or upload collected data.

The stall vehicle 100 can also follow the user F at a distance intermediate the housekeeping functions. Objects to be transported can be placed on the storage devices 430 of the autonomous stall vehicle 100 and transported by the stall vehicle.

The arrangement of the infrastructure unit 1 described herein in the livestock house 500 enables: a large amount of the required work is performed in a simple and cost-effective manner. Thereby, for example, a lot of work can be performed even in the case of shortage of persons, which serves animal welfare. At the same time, the infrastructure arrangement enables a plurality of measures to be performed quickly and at low cost, which improves the efficiency of the breeding industry.