• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for the automatic detection of an animal by means of radio waves and a plurality of nodes (1, 2, 3) wherein the animal is located on a floor (5) and to be located with a node (1) of the radio positioning system and with a or more acceleration sensors is equipped. By evaluating the Messergehnisse the acceleration sensors, it is inferred, which activity the animal is currently executing and at what height above the ground (5) while the node (1) is located. In the calculation of the position of the node to be located (1) from the Messergehnissen the radiolocation system, the assumption of this height as a boundary condition with a.
    公开号:AT515088A4
    申请号:T107/2014
    申请日:2014-02-14
    公开日:2015-06-15
    发明作者:Wolfgang Auer
    申请人:Mkw Electronics Gmbh；
    IPC主号:
    专利说明:

    description
    The invention relates to a method for locating animals by means of radio waves.
    Known installations for locating objects, such as animals, with the aid of radio waves, have a plurality of radio transmitters and / or radio receivers located at known positions, and in each case a radio transmitter and / or radio receiver at each location object.
    Furthermore, the transmitters or receivers used for radio wave location simply become " nodes " designated. In accordance with a frequently used method, in order to determine the position of the node attached to the animal to be located, in the first step radio signals are used to measure the length by which the distances of the individual nodes of known position to the node to be located differ from one another. For example, from the node to be located, a signal is simultaneously sent to all other nodes. The receiving nodes measure the time at which this signal arrives at them. The differences between the individual measured times, in each case multiplied by the speed of light (signal propagation speed in the relevant medium), give the distance differences of the individual nodes to the transmitting node. For the further calculation, it is assumed in the first step that the node to be located is located on a hyperboloid whose axis passes through two knots of known position as foci, the measured distance difference of these nodes to the node to be located being equal to that length which, by definition, differ in the distances between the two foci to each point on the hyperboloid. By cutting at least three such hyperboloids, the possible position of the device to be located is limited to two points. The further restriction to one point can be made with the aid of a fourth hyperboloid (so that at least four knots of known position are required) or by a point on the basis of known geometrical conditions can be excluded anyway, for example, because he is outside of the stall within that animals can move is located. (Hyperboloid " in this text refers to a rotationally symmetric cup-shaped surface which may be thought of as being due to rotation of a hyperbola about its major axis.)
    If, in a modification 2U, the method described in the first step uses radio waves to directly deduce the distances between the node at the animal to be located and the individual nodes of known position, in the second step spheroidal shells are assumed instead of the hyperboloid shells.
    With radio localization of animals according to the principle explained, for example, the documents AT 506628 Al, US 6122960 A, DE '100 45 469 C2, W09941723 Al W02011153571 A2 and W02012079107 A2 are concerned.
    Due to considerable in practice inevitable occurring significant measurement errors and measurement inaccuracies - 2.B. due to reflections from radio waves - additional logical assumptions have to be made and corresponding evaluations made in order to obtain a reasonably reliable locating result. In addition to the above-mentioned exclusion of results which are impossible on the basis of geometrical conditions, stochastic methods are used in particular to limit the ambiguity of the respective results and to find the result of measurement which is the least Probability of error reflects reality. A proven stochastic model in this context is the Hidden Markov model and in particular the Viterbi algorithm, with the aid of which the currently most probable state sequence can be found relatively efficiently from a multiplicity of possible state sequences. Such a method is described, for example, in EP 1 494 397 A2, in particular for use in radio localization in buildings, which is particularly difficult due to the frequent occurrence of signal reflections.
    For example, EP 549081 A1, GB 2234070 A, GB 2278198 A, US 3999611 A, US 6122960 A, US 7616124 B2, WO 2002091001 A1, WO 2003055388 A2, WO 2006077589 A2, WO 2010108496 A1 and WO 2010109313 A1 propose and explains how to attach acceleration sensors (among others) to living animals and to deduce the behavior of the animals from the measurement results of the acceleration sensors which leads to the respective accelerations. Usually, the measurement results are transmitted via a radio link to a data processing system and checked by this for matches with stored as a pattern of temporal progression of acceleration data.
    The temporal patterns stored as a pattern are characteristic of certain activities of the animal such as walking, eating, rumination, sleeping, possibly limping, riding on other animals. In order to find the characteristic patterns, in earlier work acceleration data and at the same time the activities of animals determined by direct observation were recorded and correlations between acceleration patterns and activities were filtered out from the recorded data.
    W09941723 Al deals with a device carried by a human or animal which can transmit and receive radio waves and whose position can be detected by a satellite navigation system. It is also mentioned that the device in addition to various other sensors, for example, a biological
    Condition can also have an acceleration sensor.
    WO2011153571 A2 and WO2012079107 A2 are concerned with radio-enabled ear tags for animals, wherein an ear tag both enables radiolocation and can contain an acceleration sensor, with the aid of which animal activities can be automatically detected by pattern evaluation.
    US 6122960 A is primarily concerned with the measurement and recording of movements and distances traveled by humans or animals by measuring accelerations and evaluating the measurements. It is additionally proposed an " absolute position " by radio navigation.
    Starting from this state of the art, the object of the invention is to provide an automatically executing method for animals in stables and paddocks for the detection of animals with the aid of radio waves, which compared to known methods of such related to the investment required more accurate and better provides reliable results.
    To solve the problem, it is proposed to combine radiolocation and analysis of the data from at least one acceleration sensor in the following novel way:
    From the data of the acceleration sensor is determined whether the animal in question is in an upright, walking or running position or in a lying position. In response to this decision, it is determined how high an animal-facing node serving the radio order is above the ground. The information about the height position of the node to be located can be included as a boundary condition in those to be performed in the course of the radio positioning calculation, according to which the position of the node to be located from the results of several distance measurements or Distanzunter schiedsmessungen between the animal-mounted node and multiple nodes with known position is calculated.
    Even assuming the boundary condition that the node to be located is located in a certain area, the computation required for locating the coordinates of the location at which this node is located is greatly simplified compared to a situation without such a boundary condition. One finds with a knot known position less Auslangen.
    Of course, by allowing the results of the acceleration measurements to clearly determine in which of two different clearly defined areas the node to be located must lie, one can of course achieve much better accuracy than if one had only a mean average area " and would not know whether the node to be located is actually something above or below. Quite significant advantages of the method according to the invention arise when in the area in which the node to be located can be shading objects such as walls or other animals. In the method according to the invention, by knowing the level at which the node to be located can then be very suitably and selectively stated, whether or not this node is shadowed from direct visual contact with certain nodes of known position. In this way, it can be said very selectively whether the results of the respective knot of known position can be included in a calculation or not.
    The invention is illustrated by means of schematic diagrams:
    Fig. 1; shows in top view section lines of a hyperboloid whose axis is parallel to the X-axis with two planes that are parallel at different heights to the xy plane.
    Fig. 2: shows in side view geometric relationships in egg nem exemplary space in which the invention is applied.
    The curves a, b of FIG. 1 are each a section of a section line of a single hyperboloid with two different planes parallel to the xy plane. Assuming that the unit length is one meter, the foci of the hyperboloid on a line parallel to the x-axis are fifteen feet apart with the x coordinates -7.5 and +7.5 and the difference of the distances of the two foci to each Points of the hyperboloid is 10 meters. The cutting plane leading to curve a is one meter below the line connecting the foci. The cutting plane leading to curve b is 2.2 meters below the line connecting the foci.
    The curves a, b reflect the ideal conditions again when m a stable of 15 meters apart walls at a height of 2.5 meters each one node of a radio location system is mounted and if stored in the stable cattle where the node to be located an ear tag is and is at a height of 1.5 meters when a cattle is standing or walking and is at a height of 0.3 meters when the cattle have laid down or eats from the ground and when the distance of the ear tag of a cattle to the one node by 10 meters is greater than to the other node and - if the radiolocation principle is applied to one in which the differences between the signal propagation times between the node to be located and the various nodes of known position are measured.
    With respect to xy coordinates, the normal distance between the two intersection curves a, b is only about 1/3 meter and therefore not significant at first glance. However, it can be seen that in the normal to the connecting line between the focal points of the hyperboloid, ie in the normal to the connecting line between the two nodes of known position, the distance between the two curves a, b can be about 2 meters when the to be located Node is located in the vicinity of the connecting line between the nodes of known position.
    By using one of two different curves a, b according to the invention instead of a single " average curve " (which would be assumed to be midway between curves a, b), therefore, the measurement accuracy with respect to the y-coordinate is drastically improved, while the improvement of the measurement accuracy with respect to the x-coordinate (which is parallel to the connecting line between the nodes of known position) is small.
    Perhaps the most significant advantage of the method according to the invention will be explained with reference to FIG.
    Animals which carry to locating nodes 1, typically in the form of an ear tag, are located in an area, for example a playpen, which is defined by lateral walls 4 and a floor 5. Nodes 2, 3 of a radio location system are anchored in a known position on the lateral walls. On the site there is an object 6, which shadows some volume areas r, s above the floor 5 of the terrain against the node 3, so that there is no direct visual contact with the node 3 from these volume areas. The shading object may be, for example, a partition wall, a feeding device or another animal whose position has been determined by radio positioning.
    As is known per se, in the logical evaluation of the ambiguous results of the radiolocation, it is taken into account whether or not the node 1 to be located can even be located at a location which apparently results from the calculation. Furthermore, if the necessary basic information is available, calculation results in which measurement results of the node 3 have been included are rejected as invalid if they state that the node 1 to be located is in a volume range s, from which it is possible to reach node 3 of known position no direct visual contact exists. The measured signal transit time on which the calculation is based can not then reflect the distance between nodes 1 and 3 in a straight line.
    According to the invention, as a boundary condition for calculating the position, it is already assumed in which height the node 1 to be located will have, depending on the case (smaller or larger of the two possible heights) for the calculation significantly different volume ranges s, r by the Object 6 are shadowed from node 3.
    If a calculation from the results of the radiolocation shows that the node 1 to be located is located in a volume area s, r shaded with respect to a node 3, and if measured values of the node 3 have been included in this calculation, then the relevant calculation result is for the further one Evaluation as invalid, so not to be taken into account, classify.
    In the example shown in FIG. 2, therefore, the calculation result involving node 3 can be further treated as a possible result if, on the basis of the evaluation of the results of the acceleration measurements, it is known that the node 1 to be located must be in the higher position the point e results as his calculated location. On the other hand, a calculation result which includes the measurement result from the node 3 is certainly invalidated with respect to the further evaluation, if it is known from the evaluation of the results of the acceleration measurements that the node 1 to be located must be in the lower position, so that point f as its calculated location, since the point f lies in the volume area s shaded by the object 6 from the accounts 3.
    The method according to the invention is applicable to a wide variety of animals. In practice, the use cases in cattle and pigs are probably the most significant. For each animal species and possibly also individually for each individual animal, it is necessary to examine and to determine for the calculations in which height above the ground the lumped animal is most likely to be present in which activities of the animal. If more than two different activities of the animal are recognizable in the acceleration evaluation, more than two possible heights may also be defined, each with a different altitude of another activity (standing, sitting, lying, lying with head up, lying with head on the ground ..,) is assigned. As a boundary condition for the position calculation from the radiolocation, one of the respective heights must be selected from more than two possible heights.
    Particularly simple calculations are obtained when the bottom 5 is a flat surface and when all nodes 2, 3 known position at the same height above the bottom 5 are arranged.
    权利要求:
    Claims (3)
    [1]
    Fatentan Proverbs 1. A method of locating an animal by means of radio waves, the animal being located on a ground (5) and being provided with a locating node (1) of the radiolocation system and a plurality of further nodes (2, 3) of the radiolocation system are arranged at known positions, wherein radio signals between the node to be located (1) and the nodes (2, 3) are transmitted with a known position and wherein measured from the signal transmission parameters individual distances and / or individual distance differences between the individual nodes (2 , 3) known position on the one hand and the node to be located (1) on the other hand are calculated and from several such calculation results possible positions of the node to be located (1) and wherein the animal is provided with one or more acceleration sensors, by which accelerations due to movements the animal are measured, related measurement results to a Dat be converted by the data processing system on the basis of comparison with exemplary acceleration paths, which of a number of possible distinguishable activities the animal currently executes straight, characterized in that is deposited in the data processing system, in which height above the ground (5) on Animal at which activity of the animal of the nodes to be located (1), wherein at least two mutually distinguishable activities are assigned different heights and wherein in the calculation of the position of the node to be located (1) from the measurement results of the signal transmissions, the assumption of the current Activity associated with altitude as a constraint.
    [2]
    2. The method according to claim 1, characterized in that the bottom 5 is a flat surface and that all nodes (2, 3) known position at the same height above the bottom 5 are arranged.
    [3]
    3. The method according to claim 1 or 2, characterized in that deposited in the data processing system, which volume areas (r, s) above the floor (5) against a node (3) known position by an object (6) are shaded that Calculation results in which measurement results of the node (3) are included and which lead to the statement that the node to be located (1) is in a volume range (r, s) is paid through the object (6) to the node (3) , are classified as invalid and that, depending on which height of the node to be located (1) is to be assumed, different volume ranges (r, s) are taken into account.
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    法律状态:
    2017-05-15| HC| Change of the firm name or firm address|Owner name: SMARTBOW GMBH, AT Effective date: 20170330 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA107/2014A|AT515088B1|2014-02-14|2014-02-14|Method for locating animals using radio waves|ATA107/2014A| AT515088B1|2014-02-14|2014-02-14|Method for locating animals using radio waves|
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    US15/117,541| US10568303B2|2014-02-14|2015-02-12|Method for locating animals|
    US16/774,576| US11140875B2|2014-02-14|2020-01-28|Method for locating animals|
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