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. Blanke 2 1 Danish Institute of Agricultural Sciences, Research Centre Bygholm, Dept. of Agricultural Engineering, P.O.Box 536, 8700 Horsens, Denmark * of corresponding author: 2 Technical University of Denmark, ØrstedDTU, DTU- Automation, building 326, 2800 Lyngby, Denmark Danish Institute of Agricultural Sciences Research Centre Bygholm

Background 2 million m 2 surface / week Manual cleaning –Working environments Automated cleaning –Results / water consumption Challenges Danish Institute of Agricultural Sciences Research Centre Bygholm

vision 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 Sciences Research Centre Bygholm

Research 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 Sciences Research Centre Bygholm

WP 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 Sciences Research Centre Bygholm

WP 2: Unclean and clean surfaces and 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 Sciences Research Centre Bygholm

WP 3. Smart interpretation of sensor 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 Sciences Research Centre Bygholm

WP 4: Intelligence features and integration 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 Sciences Research Centre Bygholm

WP 5: Sensor system physical construction 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 Sciences Research Centre Bygholm

WP 6: Dissemination of results Refereed publication in ISI journals Selected conferences & seminars Web-site publications Workshop & networks Research educations Danish Institute of Agricultural Sciences Research Centre Bygholm

ISAC team, time & Budget Team: DIAS, DTU, LU, ALTO, Gerni Time: Nov.2002 – Dec Budget: 7.4 mil. DDK (1mil.USD) Danish Institute of Agricultural Sciences Research Centre Bygholm

DELIMITATIONS 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 Sciences Research Centre Bygholm

Detection principles Spectral signatures of surfaces and fouling materials Hyperspectral imaging with Acousto- Optic Tunable Filters Multi-specture image analysis Surface texture image analysis Danish Institute of Agricultural Sciences Research Centre Bygholm

PIG HOUSING 100 million m 2 of pig housing surfaces per year in Denmark type and colour of the materials New and old inventory Danish Institute of Agricultural Sciences Research Centre Bygholm

Floor Danish Institute of Agricultural Sciences Research Centre Bygholm

Pen partitions Danish Institute of Agricultural Sciences Research Centre Bygholm

Feeding and watering equipments Danish Institute of Agricultural Sciences Research Centre Bygholm

Plastic/concrete corner with fittings Danish Institute of Agricultural Sciences Research Centre Bygholm

OPERATIONAL REQUIREMENTS Speed of operation = 7 m 2 /min Mechanical requirements –Forces and vibrations imposed –moisture, stains and dirt, etc Detection of location Safety Danish Institute of Agricultural Sciences Research Centre Bygholm

FUNCTIONAL REQUIREMENTS (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 Sciences Research Centre Bygholm

FUNCTIONAL REQUIREMENTS (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 Sciences Research Centre Bygholm

End Danish Institute of Agricultural Sciences Research Centre Bygholm