Note: Descriptions are shown in the official language in which they were submitted.
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0972-02OPCT 0174.RL
SYSTEM AND METHOD FOR CARRYING OUT AND MANAGING
ANIMAL FEEDLOT OPERATIONS
BACKGROUND OF INVENTION
Field of Invention
The present invention relates generally to an improved
system and method for carrying out and managing animal
feedlot operations, including delivering assigned feed
rations to animal feedbunks, using real-time virtual reality
(VR) modelling and coordinate acquisition techniques
supported on the digital communications platform of the
Internet (i.e., Cyberspace).
Brief Description of the Prior Art
In modern times, commercial feedlots are used
extensively to feed thousands of head of cattle or other
animals at various stages of growth. The major reason for
using an animal feedlot to feed cattle rather than the "open
range", is to expedite the cattle growth process and thus be
able to bring cattle to the market in a shorter time period.
Within an animal feedlot, cattle are physically
contained in cattle pens, each of which has a feedbunk to
receive feed. Ownership of cattle in the feedlot is defined
by unique lot numbers associated with the group(s) of cattle
in each pen. The number of cattle in an owner's lot can vary
and may occupy a fraction of one or more cattle pens. Within
a particular pen, cattle are fed the same feed ration, (i.e.,
the same type and quantity of feed) . In order to accommodate,
cattle at various stages of growth or which require special
feeding because they are sick, undernourished or the like,
the feedlot comprises a large number of pens.
Generally, feeding cattle in a feedlot involves checking
daily each pen to determine the ration quantity to be fed to
the cattle therein at each particular feeding cycle during
that day, the condition of the cattle, and the condition of
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the pen. At a feedmill, feed trucks are then loaded with
appropriate quantities of feed for delivery during a
particular feeding cycle. Thereafter, the loaded feed trucks
are driven to the feedbunks and the assigned ration quantity
for each pen is dispensed in its feedbunk. The above process
is then repeated for each designated feeding cycle. Owing
to the large number of feed ration quantities' assigned for
delivery each day in the feedlot, feeding animals in a large
feedlot has become an enormously complex and time-consuming
process.
It is well known in the art to use computers to simplify
feedlot management operations.
In their 1984 PC World article "Computers Ride The
Range", Eric Brown and John Faulkner explain that large
feedlots were the first cattle operations to utilize
computers in order to simplify calculations on feed, cattle
movements, payroll and accounting, invoicing and least-cost
feed blending. From such calculations, market projections,
"break-even prices" on any given head of cattle, and
analyzable historical records can be easily created,
permitting feedlot managers to keep track of virtually all
overhead costs, from labor and equipment costs, down to the
last bushel of corn or gram of micronutrients. Computer
systems of the above type are generally described in the
articles: "Homestead Management Systems' Feedlot Planner and
Hay Planner" by Wayne Forest, published on pages 40-44 of the
September 1985 issue of Agricomp magazine; and "Rations and
Feedlot Monitoring" by Carl Alexander, published on pages
107-112 of Computer Applications in Feeding and Management
of Animals, November 1984. The use of computer systems to
simulate and thus predict the growth process of cattle in a
feedlot is disclosed in the article "OSU Feedlot (Fortran)"
by Donald R. Gill, on pages 93-106 of Computer Applications
in Feeding and Management of Animals, supra.
It is also well known to use portable computing
equipment in order to facilitate the assignment and delivery
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of feed rations in a feedlot.
For example, U.S. Patent No. 5,008,821 to Pratt, et al.
discloses one prior art system in which portable computers
are used in feed ration assignment and delivery operations.
As disclosed, this prior art computer system uses portable
computers during the feed ration assignment and delivery
process. Using such computers, the feedbunk reader assigns
particular feedtrucks and drivers to deliver specified loads
of feed to specified sequences of pens along a prioritized
feed route during each physical feeding cycle. Thereafter,
the specified feed loads are loaded onto preassigned feed
delivery vehicles, and then the feed delivery vehicles
dispense the feed rations into the feedbunks,.associated with
the corresponding animal pens along the prioritized feeding
route.
In order to carry out feed delivery operations, prior
art feed delivery vehicles use a motor-driven auger to
dispense the preassigned amount of feed ration from the
vehicle into and along the length of the corresponding
feedbunk. However, when using conventional feed dispensing
technology, non-uniform delivery of feed rations along the
length of the feedbunk often occurs. As each section of the
feedbunk naturally becomes the territory of a particular
animal over time, certain animals, who return to 'the same
section of the feedbunk.during each feeding cycle, are not
provided with an equal amount of feed as animals along the
same feedbunk. This condition along the feedbunk prevents
successful modelling of animal consumption patterns, and the
prediction of weight gain in response to assigned feed
rations, and thus significantly affects the overall feedlot
management process sought to be carried out in the feedlot.
Prior art feedlot management systems and methods not only
fail to address this problem, but create conditions which
perpetuate it.
Prior art feedlot management methods also fail to
provide feedlot operators (e.g., bunkers, feed deliverymen,
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veterinarians and feedlot managers) with an easy way of
ascertaining the state of affairs in the feedlot outside the
scope and range of their human senses. Consequently, the use
of prior art systems and methods has made it very difficult for
operators to collaborate in ways which minimize the time and
energy required to carry out feedlot operations, while reducing
feedlot operating costs and the number of employees required to
support its operations.
Thus, there is a great need in the art for an
improved system and method for carrying out and managing animal
feedlot operations, including delivering assigning feed rations
to animals in a feedlot, while avoiding the shortcomings and
drawbacks of prior art systems and methods.
ODJECTS OF THE PRESENT INVENTION
Accordingly, it is a primary object of some
embodiments of the present invention to provide an improved
method and apparatus for carrying out and managing animal
feedlot operations, while overcoming the problems associated
with prior art systems and methodologies.
A further object of some embodiments of the present
invention is to provide such apparatus in the form of an animal
feedlot operations and management system, wherein each feedlot
vehicle employed therein has an on-board computer system which
uses real-time virtual reality (VR) modelling (e.g., 3-D
geometrical) and coordinate acquisition techniques, supported
on an Internet-based digital communications platform, in order
to carry out and manage animal feedlot operations.
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A further object of some embodiments of the present
invention is to provide such a system, wherein each feed
delivery vehicle employed therein has an on-board computer
system which uses real-time VR modelling and coordinate
5 acquisition techniques to uniformly deliver feed rations to the
feedbunks of animals in the feedlot.
A further object of some embodiments of the present
invention is to provide such a system, wherein a VR subsystem
aboard each feedlot vehicle has access to a 3-D virtual reality
modelling language (VRML) database containing a VR model of the
feedlot which accurately reflects the position and orientation
of the feedlot vehicle as it is navigated through the feedlot
in either its manned or unmanned mode of navigation.
A further object of some embodiments of the present
invention is to provide such a system, wherein the VRML
database is continually updated by a VRML database processor
(i.e., VRML engine) using information which has been obtained
from a global (satellite-based) positioning subsystem (GPS) and
a plurality of local information acquisition subsystems (LIAS)
integrated therewith and transmitted to the database processor
by way of an Internet-based digital communications network.
A further object of some embodiments of the present
invention is to provide such a system, wherein the VR subsystem
aboard each feed delivery vehicle permits the driver to
stereoscopically view a VR model of his feed delivery vehicle
displayed from a high-resolution LCD panel within the cab
thereof, as the driver navigates his vehicle along the feedbunk
during feed delivery operations.
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A further object of some embodiments of the present
invention is to provide such a system, in which the VR model
viewable by the driver shows the position and orientation of
the feed delivery vehicle in relation to the feedbunk as the
vehicle is being driven alongside the feedbunk during uniform
dispensing of assigned feed rations along the length thereof.
A further object of some embodiments of the present
invention is to provide such a system, in which information
produced from the GPS is used to continually update the VR-
based feedlot model in order to: (i) display alleyways, pens
and other fixed identifiers in the feedlot on a display screen
aboard each feedlot vehicle; (ii) determine that each
particular feed delivery vehicle is stopped at the correct
feedbunk for delivery of assigned feed rations; (iii) determine
the length of the feedbunk at which the vehicle is stopped; and
(iv) determine the speed of the feed delivery vehicle from the
beginning of the feedbunk to the end thereof during uniform
feed dispensing operations.
A further object of some embodiments of the present
invention is to provide such a computer-assisted system, in
which each feedlot vehicle includes at least two high-
resolution GPS signal receivers and a GPS processor for
producing coordinate data which specifies the position and
orientation of the feedlot vehicle within the feedlot.
A further object of some embodiments of the present
invention is to provide such a system, in which each feed
delivery vehicle includes sensors for producing coordinate data
specifying the orientation of the feed dispensing chute
relative to the body of the feed delivery vehicle during
uniform feed dispensing operations.
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A further object of some embodiments of the present
invention is to provide such a system, wherein each feedbunk
reading vehicle, veterinary vehicle, and nutritionist vehicle
in the feedlot has an on-board VR subsystem similar to the feed
delivery vehicles, and can be used to "browse" the VR feedlot
model being continuously updated to simulate the physical
reality of the feedlot and ascertain where various vehicles,
operators and tagged animals are in the feedlot at any given
point of time in order to carry out and manage animal feedlot
operations more efficiently.
A further object of some embodiments of the present
invention is to provide such a system, wherein each such
feedlot vehicle can be remotely navigated over a preprogrammed
or improvised navigational course in the feedlot by way of the
vehicle operator interacting with a 3-D VR-world model of the
feedlot stereoscopically viewed at remotely situated VR
workstation in communication with the vehicle through a
wireless digital communication network.
A further object of some embodiments of the present
invention is to provide a feedlot computer network in which
separate computer systems adapted for the feedbunk reader, the
feedmill operator, the feedlot manager, the feedlot
veterinarian, the feedlot nutritionist and the feed delivery
vehicle operators are integrated within a wireless digital
telecommunications network which, as part of the Internet,
permits them to asynchronously transfer information files
therewithin in order to carry out the feedlot modelling and
management method of the present invention.
A further object of some embodiments of the present
invention is to provide such a feedlot computer network,
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wherein the information files which support the VR feedlot
model (as well as feed ration assignment and delivery process)
employed within the feedlot are maintained at one or more World
Wide Web (WWW) sites on the Internet, and are remotely
accessible by a VR browser subsystem provided at each feedlot
computer system on a real-time basis.
A further object of some embodiments of the present
invention is to provide such a feedlot computer network,
wherein the position and body-temperature of RF-tagged animals
in the feedlot are reflected by the position and color of
corresponding VR-based animal (sub)models in VR-based feedlot
models maintained in the network.
A further object of some embodiments of the present
invention is to provide an improved method of carrying out and
managing operations in an animal feedlot.
These and other objects of the present invention will
become apparent hereinafter and in the Claims to Invention.
SUMMARY OF THE PRESENT INVENTION
According to a first aspect of the present invention,
a system is provided for carrying out and managing operations
within an animal feedlot, in which each feed delivery vehicle
employed therein uses real-time VR modelling and coordinate
acquisition techniques to carry out and manage various types of
feedlot operations, including bunkreading, feed dispensing, and
the delivering of animal health and nutritional care in the
feedlot.
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In the first illustrative embodiment, each feedlot
vehicle has an on-board computer system which includes a VR
subsystem that is in communication with an Internet-based
digital communications network that supports real-time multi-
media information transfer. Each VR subsystem provides
access to a 3-D geometrical database (e.g., represented in
VRML) storing information representative of a VR-based model
of the feedlot as well as animate objects (e.g., tagged
animals) and inanimate objects (e.g., pens, alley ways,
feedbunks, buildings, vehicles etc.) present therein. The
VRML database is continually updated by a VRML database
processor which uses information obtained from each feedlot
computer system, a satellite-based global positioning system
(GPS), as well as a local information acquisition subsystems
(LIAS) integrated therewith. The primary function of each
LIAS is to acquire information pertaining to the position and
body-temperature of RF-tagged animals in the feedlot, for use
in maintaining the VR feedlot model. The VR subsystem aboard
each feedlot vehicle includes an image display subsystem
which permits the driver to stereoscopically view any aspect
of the VR feedlot model, including the driver's vehicle as
it is being operated and navigated through the feedlot during
feedlot operations. The VR subsystem aboard each feedlot
vehicle can be used by feedbunk readers, feed deliverymen,
veterinarians, nutritionists, feedmill operators, and feedlot
managers alike.
In an alternative embodiment of the animal feedlot
system, each feedlot vehicle can be remotely navigated
through the feedlot by an operator who sits before a VR
workstation. The VR workstation allows the operator to
remotely navigate the vehicle through the feedlot using a VR-
interface equipped with a stereoscopic vision subsystem
having a field of view along the navigational course of the
remotely controlled vehicle. A single operator can remotely
navigate one or more feedlot vehicles simultaneously. The
navigational courses of these remotely navigated vehicles can
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be preprogrammed in an orchestrated manner to avoid collisions and optimize
the
time and energy required to carry out feedlot operations, while reducing the
operating
costs of the feedlot as well as the number of employees required to support
its
operations.
According to another aspect of the present invention, there is provided
an animal feedlot management system for installation in an animal feedlot,
comprising: at least one feedlot vehicle; a database for maintaining
information
representative of a VR model of said feedlot and objects and animals contained
in
said feedlot; a local information acquisition sub-system in the feedlot to
locally
acquire coordinate information regarding the position of RF tagged animals
with
respect to a local animal pen reference system; and for each said feedlot
vehicle:
vehicle information acquisition means comprising two global positioning system
(GPS) receivers, at least one of GPS receivers being a differential GPS
receiver for
acquiring vehicle information regarding the position and the orientation of
said
vehicle, and/or the state of operation of said feedlot vehicle; and
information
transmission means for transmitting said vehicle information to said database;
wherein said vehicle information acquisition means comprises a satellite-based
global
positioning system, and said database is periodically updated using said
vehicle
information obtained from said satellite-based global positioning system; and
wherein
the VR model comprises coordinate reference frames including a global
coordinate
reference system embedded within the VR model of the feedlot, and a local
coordinate reference system embedded within the VR model for the feedlot
vehicle,
such that mathematical mapping techniques position coordinates specified
within the
global coordinate reference system in relation to coordinates specified within
the local
coordinate reference system, wherein the mapping techniques produce location
information that considers position coordinates of GPS receivers used in the
satellite
based global positioning system, designated by global positioning coordinate
variables, and wherein the local coordinate reference system includes location
information produced by objects with RF tags, such that the location
information from
the two systems are integrated to produce the display that is a periodically
updated
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VR model of the feedlot vehicle and the objects modeled in the feedlot during
vehicle
operation, and considers coordinate information from the local information
acquisition
subsystem; and a display provided in said feedlot vehicle for displaying a
continually
updated VR model of the feedlot vehicle and shown in spacial relation to the
objects
modeled in the feedlot during vehicle operation.
According to another aspect of the present invention, there is provided
an animal feedlot management system, which comprises: an information
acquisition
means comprising a satellite-based global positioning system (GPS); at least
one
feed delivery vehicle employing an on-board feed delivery computer system
which
includes a feedlot modeling subsystem for maintaining a geometrical model of
said
feedlot and animals and objects contained therein, said computer system in
communication with said GPS information acquisition means; a coordinate
acquisition
subsystem for acquiring coordinate information specifying the position of each
said
feedlot vehicle relative to a coordinate reference system symbolically
representing
said feedlot, and a geometrical processor for processing said coordinate
information
in order to update said geometrical model; a local information acquisition sub-
system
in the feedlot to locally acquire coordinate information regarding the
position of RF
tagged animals with respect to a local animal pen reference system; said
geometrical
model being a VR model having coordinate reference frames including a global
coordinate reference system embedded within the VR model, and a local
coordinate
reference system embedded within the VR model, wherein mathematical mapping
techniques position coordinates specified within the global coordinate
reference
system in relation to coordinates specified within the local coordinate
reference
system, wherein the mapping techniques produce location information that
considers
position coordinates of GPS receivers used in the satellite based global
positioning
system, designated by global positioning coordinate variables, and wherein the
local
coordinate reference system includes location information produced by objects
with
RF tags, such that the location information from the two systems are
integrated to
produce the display that is a periodically updated VR model of the feedlot
vehicle and
the objects modeled in the feedlot during vehicle operation, and considers
coordinate
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9b
information from the local information acquisition subsystem; and a display
provided
in the delivery vehicle showing an updated VR model of the delivery vehicle in
spacial
relation to objects modeled in the feedlot during vehicle operation; and a
means for
uniformly delivering a preassigned amount of feed ration along the length of a
feedbunk in the feedlot, wherein said GPS information acquisition means
periodically
updates vehicle information obtained from said coordinate acquisition
subsystem.
According to still another aspect of the present invention, there is
provided a method of managing an animal feedlot, comprising: providing at
least one
feedlot vehicle; providing at least two global positioning system (GPS)
receivers on
said vehicle, at least one of said GPS receivers being a differential GPS
receiver;
ascertaining vehicle information comprising the position and orientation of
each said
feedlot vehicle; providing said vehicle information to said central database;
controlling
the operations of said feedlot vehicles based upon said information in said
central
database; providing a local information acquisition subsystem in the feedlot
to locally
acquire coordinate information regarding the position of RF tagged animals
with
respect to a local animal pen reference system and to acquire body temperature
information of the RF tagged animal; and broadcasting such information to a VR
subsystem associated with a communication network for communicating the
position
of the feedlot vehicle and the RF tagged animals.
BRIEF DESCRIPTION OF THE DRAWINGS
For a more complete understanding of the Objects of the Present
Invention, the Detailed Description of the Illustrative Embodiments thereof is
to be
taken in connection with the following drawings, in which:
Fig. 1 is a schematic representation of a feedlot within which the feedlot
computer network of the present invention is installed in order to practice
the system
and method of the present invention;
Fig. 2A1 is a block system diagram of the illustrative embodiment of the
feedlot computer network of the present invention, showing the 1st feed
delivery
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computer system, the n-th feed delivery computer system, the feedmill computer
system, the feedlot management computer system, the feedbunk reading computer
system, the veterinary computer system, the nutritionist computer system, the
VR
workstation for the veterinary vehicle, the VR workstation for the nutrition
vehicle, the
VR workstation for the feedbunk reading vehicle, the VR workstation for the
feedlot
manager at the
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central office (or feedmill), the VR workstation for the
feedmill operator, the VR workstation for the n-th feed
delivery vehicle, the local positioning subsystem (LIAS) for
the (i=l) animal pen, the LIAS for the n-th animal pen, the
satellites of the global positioning system (GPS), the GPS base
station, and the Internet-based digital communications network
for wireless mobile communications among the computer systems
of the feedlot computer network;
Fig. 2A2 is a system block diagram illustrating the
subcomponents of the GPS base station in relation to the GPS
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satellites and an exemplary feedlot vehicle computer of the
present invention;
Fig. 2A3 is a schematic diagram showing the local
information acquisition subsystem (LIAS) installed at the i-
5 th animal pen in the feedlot, for acquiring coordinate
information specifying the body-temperature and position of
each RF-tagged animal and transmitting such information to
each VR subsystem in the computer network in order to
continuously update the position and the temperature-coded
10 color of such RF tagged animals within the VR-based feedlot
model maintained within the system of the present invention;
Fig. 2B1 is a system block diagram of the computer
system aboard each feed delivery vehicle of the present
invention;
Fig. 2B2 is a schematic representation of the n-th feed
delivery vehicle of the present invention shown operating in
its "manned-navigation" mode of operation with the human
operator using its on-board VR subsystem while navigating the
vehicle alongside a feedbunk being uniformly filled with an
assigned amount of feed ration;
Fig. 2B2' is a schematic representation of the n-th feed
delivery vehicle of the present invention shown operating in
its "unmanned-navigation" mode 'of operation with a human
operator sitting before its remote-situated VR workstation
and remotely navigating the vehicle along a preplotted
navigational course passing along a feedbunk being uniformly
filled with an assigned amount of feed ration;
Fig. 2B3 is a schematic system diagram of the computer
system aboard the n-th feed delivery vehicle, showing the
components used to realize the subsystems thereof;
Fig. 2B4 is a geometrical representation of a 3-D VR
model of a portion of an animal feedlot (i.e., VR-based
feedlot model) , showing one of its pens, a feedbunk and a
feed delivery vehicle, originally created in the centralized
VR workstation and thereafter maintained and updated within
each of the VR subsystems in the feedlot computer network;
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Fig. 2B5 is a geometrical representation of a 3-D VR-
based model of the n-th feed delivery vehicle, maintained
within each VR subsystem of the first illustrative
embodiment, in which a local coordinate reference system
(i.e., coordinate reference frame) is symbolically embedded
therein, and submodels of its front and rear GPS receivers
are shown mounted along the centerline 1FDV(n) of the vehicle
at endpoints PFDV1 (n) and PFDV2 (n) , respectively, and its feed
delivery chute is shown pivotally mounted about a pivot point
PFDV(n) located along the vehicle's centerline 1FDV(n);
Fig. 2C is a system block diagram of the computer system
aboard the feedbunk reading vehicle of the present invention;
Fig. 2C1 is a schematic representation of the feed
delivery vehicle of the present invention shown operating in
its "manned-navigation" mode of operation with a human
operator using its on-board VR subsystem while navigating the
vehicle alongside a feedbunk being uniformly filled with an
assigned amount of feed ration;
Fig. 2CZ. is a schematic representation of the feed
delivery vehicle of the present invention shown operating in
its "unmanned-navigation" mode of operation with a human
operator sitting before its remote-situated VR subsystem and
remotely navigating the vehicle along a preplotted
navigational course passing along a feedbunk being uniformly
filled with an assigned amount of feed ration;
Fig. 2D is a system block diagram illustrating the
subsystem components of the feedlot veterinary computer
system in the computer network of the present invention;
Fig. 2D1 is a. schematic representation of the feedlot
veterinary vehicle of the present invention shown operating
in its "manned-navigation" mode of operation with the
veterinarian using its on-board VR subsystem while navigating
the vehicle alongside a feedbunk containing animals being
visually inspected;
Fig. 2D2 is a schematic representation -of the feed
delivery vehicle of the present invention shown operating in
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its unmanned-navigation" mode of operation with a
veterinarian sitting before its remote-situated VR subsystem
and remotely navigating the vehicle along a preplotted
navigational course passing along a feedbunk containing
animals being visually inspected by its on-board stereoscopic
vision system;
Fig. 2E is a system block diagram illustrating the
subsystem components of the feedlot nutrition computer system
in the feedlot computer network of the present invention;
Fig. 2E1 is a schematic representation of the feedlot
nutrition vehicle of the present invention shown operating
in its "manned-navigation" mode of operation with a
nutritionist using its on-board VR subsystem while navigating
the vehicle alongside a feedbunk containing animals being
visually inspected by its on-board stereoscopic vision
system;
Fig. 2E2 is a schematic representation of the feed
delivery vehicle of the present invention shown operating in
its ."unmanned-navigation" mode of operation with a
nutritionist sitting before its remote-situated VR subsystem
and remotely navigating the vehicle along a preplotted
navigational course passing along a feedbunk containing
animals being visually inspected by its on-board stereoscopic
vision system;
Fig. 2F is a system block diagram illustrating the
subsystem components of the feedmill computer system in the
feedlot computer network of the present invention;
Fig. 2F1 is a schematic representation of the feedmill
computer system of the present invention showing a human
operator sitting before its remote-situated VR subsystem
during typical feedlot management operations within the
feedmill;
Fig. 2G is a schematic block diagram illustrating the
subsystem components of the feedlot management computer
system of the present invention;
Fig. 2G1 is schematic representation of the feedlot
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computer system of the present invention showing a human
operator sitting before its remotely-situated VR subsystem
during typical feedlot management operation within the
central office; and
Fig. 3 is a system block diagram illustrating the
subsystem components of a feedlot vehicle computer system of
the second illustrative embodiment of the feedlot computer
system shown in Figs. 1 and 2 of the present invention.
DETAILED DESCRIPTION OF THE ILLUSTRATIVE
EMBODIMENT OF THE PRESENT INVENTION
The illustrative embodiments of the present invention
will now be described with reference to the accompanying
Drawings, in which like structures or elements will be
indicated by like reference numerals.
Referring to Fig. 1 of the Drawings, there is shown an
exemplary feedlot 1 comprising several cattle pens 2, a
feedmill 3 and a base office (i.e., central office) 4.
Typically, each cattle pen 2 comprises fencing 5 and an
associated feedbunk .6 capable of holding a feed ration,
(i.e., an amount and type of feed ration). The length of
each feedbunk will vary from feedlot to feedlot and typically
has a length commensurate with the length of each animal pen.
Feedmill 3 typically comprises an enclosed building
structure 8 for housing office furniture and a feedmill
computer system 9 programmed for (i) assigning feed loads and
pen subsequences and (ii) controlling various feedmill
operations, the nature of which is'well known in the art.
At the feedmill, elevated storage bins 10A, 10B and 10C, and
feed ingredient mixing/metering equipment 11 operably
associated with the feedmill computer system 9, are provided
so that a specified feed load (i.e., comprising one or more
feed batches) can be milled and mixed (i.e., prepared) and
then loaded onto a feed delivery vehicle 12 in a manner known
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in the art. Base office 4 typically comprises an enclosed
building structure 13 for housing office furniture, a feedlot
management computer system 14 and a feedlot financial
accounting/billing subsystem 15B associated therewith, the
nature of which will be described in greater detail
hereinafter. Within this building, the manager of the
feedlot (hereinafter "the feedlot manager") typically
maintains an office along with personal involved in financial
accounting and billing operations, as well as animal
nutrition and health care.
Overview Of The Feedlot Computer Network
Of The Illustrative Embodiment Of Present Invention
The feedlot operations and management system of the
present invention includes a feedlot computer network 16
which is shown embodied within the exemplary feedlot of Fig.
1: As shown in Fig. 2, the feedlot computer network 16
comprises: a plurality of feed delivery (vehicle) computer
systems 17, each installed aboard a plurality feed delivery
vehicles 12; feedmill computer system 9 installed at feedmill
3; feedlot management computer system 14 installed at base
office 4; feedbunk reading computer system 18 installed
aboard a feedlot vehicle 24; veterinarian computer system 19A
installed aboard a feedlot vehicle 21A; a nutritionist
computer system 19B installed aboard a feedlot vehicle 21B;
VR workstation 20 at central office 4 for remote navigation
of veterinary vehicle 21A and VR-based operations management;
VR workstation 22 at central office 4 for remote navigation
of the nutrition vehicle 21B and VR-based operations
management; VR workstation 23 at central office 4 for remote
navigation of feedbunk reading vehicle 24 and VR-based
operations management; VR workstation 25 at central office
4 for the feedlot manager; VR workstation 26 at feedmill 3
for the feedmill operator; VR workstation 27 at feedmill 3
for the n-th feed delivery vehicle 12; a local positioning
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subsystem (LIAS) 28 for the (i=1) animal pen; LIAS for the
i-th animal pen; a plurality of GPS satellites 30 for the
global positioning system (GPS); a GPS base station 31; and
the Internet-based digital communications network 32 for
5 wireless mobile communications among the computer system of
the feedlot computer network. While the preferred
configuration for the feedlot computer network is illustrated
in Fig. 2, it is understood, however, that alternative
configurations for the computer network may be adopted
10 without departing from the scope and spirit of the present
invention.
As illustrated in Fig. 1, the "feedbunk reader" collects
data relevant to feedbunk management operations by driving
feedlot vehicle similar to the bunkreading vehicle 24, the
is veterinary vehicle 21A or nutritionist vehicle 21B, to the
animal pens where a head of cattle are confined for feeding
and/or veterinary care. In most larger feedlot operations,
the feedbunk reader, or like person carrying out his
responsibilities, has one primary function: to assign
specific types and amounts of feed (hereinafter "feed
rations") to be delivered to each pen and dispensed within
the feedbunk associated therewith during the designated
feeding cycles executed within a given day. The type and
total amount of feed ration assigned per head of cattle will
depend on a number of factors, including the particular stage
of growth of the cattle. Typically, the number of feeding
cycles scheduled by the feedlot manager in a given day will
range from one.. to four or more.
The primary functions of the feedlot manager, on the
other hand, are to maintain daily records on the following
items: (i) cattle held in each pen; (ii) the
ingredients/formulation of the feed rations; (iii) the feed
ration consumption history of the cattle over a period of
time; (iv) the identity of each driver of a feed delivery
vehicle; (v) the identification and description of feed
ration delivery vehicles within the pens in the feedlot; and
CA 02214238 1997-08-29
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(vi) the charges to be billed to cattle owners for the feed
rations delivered to their cattle. It is understood,
however, that these functions may be allocated differently
from one feedlot to the next.
The primary function of the feed deliverymen is to
deliver assigned feed rations to a prioritized (sub)sequence
of animal pens in the feedlot. The primary function of the
veterinarian is to diagnose and treat sick animals with
prescribed medication and nutrients. In certain feedlots,
a nutritionist may be employed for the purpose of ensuring
that the nutritional requirements of the animals are being
satisfied.
The Basic Architecture Of Each Feedlot Computer System
In The Feedlot Computer Network of Present Invention
As shown Figs. 2B1, 2C, 2D, 2E, 2F and 2G, each feedlot
computer system 9, 14, 17, 18, 19A and 19B within the
computer network of Fig. 2 has a similar architecture which
comprises an integration of the following subsystems: an
information file processing and management subsystem 34; a
wireless digital data communication subsystem 35; and a VR
subsystem 36. In addition, each feedlot computer system 9,
14, 17, 18, 19A and 19B is provided with a remotely situated
VR workstation 26, 25, 27, 23, 20 and 21, respectively. If
the feedlot computer system is installed aboard a feedlot
vehicle, then the feedlot computer system will include a
number of additional subsystems corresponding to the
functions to be provided at the vehicle. Similarly, if the
feedlot computer system is installed within a feedlot
building (e.g., central office or feedmill), then the
computer system will include a number of additional
subsystems corresponding to the functions to be provided
within or about these buildings.
As shown in Fig. 2B1, the additional subsystems aboard
CA 02214238 1997-08-29
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the feed delivery vehicle hereof include: a vehicle
propulsion subsystem 37; a vehicle navigation subsystem 38;
a GPS-based coordinate information acquisition subsystem 39;
a feed delivery records subsystem 40 and an uniform feed
dispensing subsystem 41. As shown, these additional
subsystems are integrated with the other subsystems aboard
the feed delivery vehicle to provide what can be viewed as
single resultant system having a number of different modes
of system operation.
As shown in Fig. 2C, the additional subsystems aboard
the feedbunk reading vehicle hereof include: a vehicle
propulsion subsystem 37; a vehicle navigation subsystem 38;
a GPS-based coordinate information acquisition subsystem 39;
and a feedbunk records subsystem 42. As" shown, these
additional subsystems are integrated with the other
subsystems aboard the feedbunk reading vehicle to provide
what can be viewed as single resultant system having a number
of modes of system operation.
As shown in Fig. 2D, the additional subsystems aboard
the veterinary vehicle hereof include: a vehicle propulsion
subsystem 37; a vehicle navigation subsystem 38; a GPS-based
coordinate information acquisition subsystem 39; a veterinary
(i.e., animal health) records subsystem 43; and a feedlot
management records subsystem 44 (for when the vehicle is used
by the feedlot manager). As shown, these additional
subsystems are integrated with the other subsystems aboard
the veterinary vehicle to provide what can be viewed as
single resultant system having a number of modes of system
operation.
As shown in Fig. 2E, the additional subsystems aboard
the nutritionist vehicle hereof include: a vehicle propulsion
subsystem 37; a vehicle navigation subsystem 38; a GPS
coordinate information acquisition subsystem 39; a nutrition
records subsystem 45 and a feedlot management records
subsystem,. 44 (for when the vehicle is used by the feedlot
manager). As shown, these additional subsystems are
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integrated with the other subsystems aboard the nutrition
vehicle to provide what can be viewed as single resultant
system having a number of modes of system operation.
Optionally, a separate vehicle, like feedlot vehicle 19A
or 19B, can be provided for exclusive use by the- feedlot
manager, in which case it would be referred to as the
"feedlot manager vehicle".
For purposes of illustration, the substructure of the
additional subsystems identified above will be described
hereinafter with reference to the schematic diagram of the
feed delivery vehicle computer system shown in Fig. 2B2.
As shown in Fig. 2F, the additional subsystems within
the feedmill hereof include a feed mixing/flow control
subsystem 46, and a feed load records subsystem 47. As shown
these additional subsystems are integrated with the other
subsystems of the feedmill computer system.
As.shown in Fig. 2G, the additional subsystems within
the central office hereof include feedlot financial
accounting/billing subsystem 15. As shown this additional
subsystem is integrated with the other subsystems of the
feedlot management computer system.
Information File Processing And Management Subsystem
Of Each Feedlot Computer System
The primary function of the information file processing
and management subsystem 34 is to provide general information
file processing and management capabilities to the operator
of each feedlot computer system in the feedlot management
network hereof. As shown in Fig. 2B3, this subsystem is
realized by providing each feedlot computer system with the
following subcomponents: program storage memory 50 (e.g.,
ROM) interfaced with system buses 51 for storing of computer
programs according to the present invention; information
(file) storage database memory 52 (e.g., RAM) for storing
CA 02214238 1997-08-29
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various data files; a central processing unit (e.g.,
microprocessor) 53 for processing data elements contained in
these information files (e.g., formatted in Hypertext Mark-up
Language (HTML) for representation on a hypermedia System
realized on the World Wide Web (WWW) of the Internet; a data
entry device 54 (e.g., keyboard or keypad) and associated
interface circuitry 54A; and an ultra-compact hard-copy color
printer 55 and associated interface circuitry 55A for
printing hardcopy images of selected display frames,
including reports, tables, graphs, and color images of the
VR-modelled feedlot.
Wireless Digital Communication Subsystem
Of Each Feedlot Computer System
The primary function of the wireless digital data
communication subsystem 35 associated with each feedlot
computer system is to provide a World Wide Web (WWW) site on
the Internet for each feedlot computer system and LIAS 28i
in the feedlot management system. The purpose of such
subsystems is to facilitate the transmission and reception
(i.e., uploading and downloading) of information files among
the feedlot computer systems, VR workstations and LIASs
throughout the feedlot computer network hereof. In the
illustrative embodiment, such information files include: (1)
HTML formatted feedlot information files associated with the
various types of feedlot information files used to carry out
the feed ration assignment and delivery processes described
in Application Serial No. 07/973,450; and (2) Virtual Reality
Modelling Language (VRML) formatted files associated with the
VR-based feedlot model. Collectively, these digital
communication subsystems 35, in cooperation with
uplinks/downlinks, hubs, routers and communication channels,
provide digital communications network 32 within the spatio-
temporal extent. of .the feedlot. In the illustrative
embodiment, digital communications network 32 provides
CA 02214238 1997-08-29
wireless communication links to each and every feedlot
computer system aboard the feedlot vehicles for high-speed
mobile communications required to realize the system and
method of the present invention.
5 Preferably, digital communications network 32 comprise
one or more subnetworks of the Internet, and therefore is
capable of supporting the TCP/IP protocol in a'switched data
packet communications environment well known in the digital
communications network art. In the first illustrative
10 embodiment of the present invention, digital communications
network 32 includes an Internet server 32A (i.e., "feedlot
Web server") which provides the feedlot, with a site on the
Internet (i.e., "feedlot web site"). At this Web site
server, each feedlot computer system and LIAS is provided
15 with an assigned set of information storage fields for
storing (i.e., buffering) current coordinate information on
vehicle or tagged-animal position, as well as information on
the state of objects (e.g., vehicles, pens, tagged animals,
etc.) in the feedlot at any instant in time. Periodically,
20 (e.g., every second or fraction thereof) such information is
remotely accessed from the feedlot Web site server 32A by the
VR subsystem (e.g., using its VR Web browser) 36, which is
provided at each feedlot computer system and VR workstation
in the feedlot. Such information file transfer is achieved
. using conventional file transfer protocols (FTPs) well known
in the Internet communications art. In turn, each VR
subsystem uses the information accessed from feedlot Web
server 32A to update the VR model locally maintained aboard
the VR subsystem. This approach provides a way in which to
update the VR-based feedlot model represented in each VR
subsystem throughout the feedlot computer network.
Provided with such capabilities, digital communications
network 32 can be viewed as comprising a plurality of
information/communication nodes realized by the different
computer systems shown in Fig. 2 and that these nodes (many
of which being mobile) are linked together by wireless
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21
(electromagnetic-wave transmission) links in a manner in that
enables feedlot data file management and VR modelling and
navigation in the feedlot management system of the present
invention.
As shown in the exemplary schematic diagram of Fig. 2B1,
the wireless digital communication subsystem 35 associated
with each feedlot computer system is realized by: a modem 67A
interfaced to system bus 51 by data communication port 67A;
an transreceiver 68 interfaced to modem 67; an antenna 69
connected to the transceiver permitting the feedlot computer
system to transmit and receive information files over digital
communication network 32; and networking software 70 for
supporting a 3-D networking protocol.. allowing the
coordination of multiple 3-D objects efficiently over the
digital communication network (while supporting the standard
Internet communication protocol TCP/IP). In the case of
feedlot vehicles, the antenna 69 can be mounted outside the
vehicle and electrically connected to RF transceiver 68 using
conventional RF transmission cable.
Preferably, the 3-D networking software provided at each
wireless digital communication subsystem (i.e., node in the
network 32) is capable of supporting a 3-D networking
protocol such as the Standard Distributed Interactive
Simulation (DIS) protocol, to provide support fot the VR
modelling and navigation functions of feedlot management
system. Notably, the DIS protocol is capable of handing many
different types of 3-D data file formats which may be
transmitted over the feedlot computer network. Such 3-D data
formats include VRML and Open Flight, which enable multiple
3-D objects (e.g., VR models of feedlot vehicles, animals,
pens, buildings, feedlot equipment, feedlot resources such
as medicines, micro ingredients, feed ration components, water
sheds, feedlot airplanes and helicopters, etc.) to be
efficiently coordinated over the digital communication
network.
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In The Real Feedlot And In The VR Models Thereof
Consistent with coordinate referencing principles well
known in the VR modelling art, global and local coordinate
reference systems (i.e., coordinate reference frames) are
symbolically embedded within the structure of the "real"
animal feedlot being modelled within each VR subsystem (and
VR workstation) in the feedlot management system hereof. As
illustrated in Figs. 1, 2A3, 2B4 and 2B5 the following
coordinate reference frames are symbolically embedded with
the specified portion of the feedlot: (1) a global coordinate
reference system is symbolically embedded within the "real"
animal feedlot, denoted as RRfeedlot ; (2) a local coordinate
reference system is symbolically embedded within each n-th
"real" feedlot delivery vehicle, denoted as RRõ-f,; (3) a local
coordinate reference system is symbolically embedded within
the real feedbunk reading vehicle, denoted as RRfrv; (4) a
local coordinate reference is system symbolically embedded
within the real veterinary vehicle, denoted as RRVV; (5) a
local coordinate reference system is symbolically embedded
within the real nutritionist vehicle, denoted as RRnv; and (6)
a local coordinate reference system is symbolically embedded
within each i-th real animal pen in the feedlot, denoted as
R
R i-ap -
In practice, coordinate information obtained using a
commercially available satellite-based GPS is expressed in
terms of latitude and longitude measures, referenced with
respect to an Earth-based coordinate reference system (i.e.,
RREarth) historically centered in Greenwich, London, England.
However, for purposes of simplicity, one may locate RRfeedlot
as being spatially coincident with RREarth , and reference all
points in the feedlot with respect to RREarth. Alternatively
one may translate coordinates referenced in RR Earth to
RRfeedlot using homogeneous transformations, (i.e., mathematical
mapping techniques) well known in the computer graphic and
virtual reality modelling arts.
CA 02214238 1997-08-29
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The function of the global coordinate reference system
RRfeedlot is to provide a reference framework within which the
position of all real objects in the feedlot can be specified.
The function of each "local" coordinate reference system RRn-
fdv RRfrv, RR vv and RRnv is to provide a reference framework
within which the position and orientation of the real feedlot
delivery vehicle and its feed dispensing chute can be
specified in relation to objects in the feedlot (e.g.,
feedbunks during feed dispensing operations, and feedmill
filling chutes during feedtruck loading operations).
As will be described in greater detail hereinafter, the
primary function of each VR subsystem is to maintain (i.e.,
update) a 3-D VR model for the feedlot and objects contained
therein. Preferably, this VR feedlot model may be viewed as
a collection of VR-based (sub)models, such of which is
expressed using VRML well know in the VR modelling art. In
the illustrative embodiment, VRML is used to design and
create the following VR models on central VR workstation 71.
Namely: a VR model of the feedlot and the objects contained
therein, namely: (1) a VR model of "real" animal feedlot,
denoted as Mfeedlot; (2) a VR model of each n-th "real" feed
delivery vehicle, denoted as Mn-fdv ; (3) a VR model of the real
feedbunk reading vehicle, denoted as Mfrv; (4) a VR model of
the real veterinary vehicle, denoted as Mv; (5) a VR model
of the real nutritionist vehicle, denoted as Mnv; (6) a VR
model of each i-th animal pen in the feedlot, denoted as M-
ap; and (7) a VR model of each j-th animal "tagged" in the i-
th real animal pen in the feedlot, denoted as Mj-animas; etc.
Ultimately are maintained and updated in each VR subsystem
within the feedlot management system hereof.
In order to maintain correspondence between the "real"
feedlot and the objects therein and the "VR models" thereof,
it is also necessary to symbolically embed the following
coordinate reference frames with the specific portions of the
feedlot, namely: (1) a global coordinate reference system
symbolically embedded within the "VR model" of the animal
CA 02214238 1997-08-29
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feedlot, denoted as RMfeedlot; (2) a local coordinate reference
system symbolically embedded within the "VR model" of each
n-th feed delivery vehicle, denoted as RMn-fdv; (3) a local
coordinate reference system symbolically embedded within the
VR model of the feedbunk reading vehicle, denoted - as RMfrv.;
(4) a local coordinate reference system symbolically
embedded within the VR model of the veterinary vehicle,
denoted as RMvv; (5) a,-local coordinate reference system
symbolically embedded within the VR model of the
nutritionist vehicle, denoted as RMõv;''and (6) a local
coordinate reference system symbolically embedded within the
VR model of each.i-th animal pen in the feedlot, denoted as
RMi-np = While it is understood that these VR models embody
information of a non-graphical nature, the geometrical
aspects of certain of such VR models are shown in Figs. 2A3,
2A4 and 2B2 for illustrative purposes.
In accordance with VR-world building (i.e., modelling)
principles and techniques, a number of relations are
established and maintained by the VR subsystem within the
feedlot management system, namely: (1) the coordinate
reference frame RRfeedlot symbolically embedded within the real
feedlot is deemed isomorphic with corresponding coordinate
reference frame RMfeedlot symbolically embedded within the VR
model thereof Mfeedlot; (2) the coordinate reference frame RRn-fdv
symbolically embedded with each real n-th feed delivery
vehicle is deemed isomorphic with corresponding coordinate
reference frame Rn-fdv symbolically embedded within each VR
model thereof Mn-fdv ; (3) the coordinate reference frame RRn-fdv
symbolically embedded within each real n-th feedbunk reading
vehicle is.deemed isomorphic with corresponding coordinate
reference frame RMfrv symbolically embedded within each VR
model thereof Mfrv ; (4) the coordinate reference frame RRvv
symbolically embedded within the real veterinary vehicle is
deemed isomorphic with corresponding coordinate reference
frame RMfvv symbolically embedded within the VR model thereof
Mvv; (5) the coordinate reference frame RRnv symbolically
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67263-48
embedded within the real nutritionist vehicle is deemed
isomorphic with corresponding coordinate reference frame R"õ,
symbolically embedded within the VR model thereof M,,,,; and
(6) the coordinate reference frame RRi-,,p symbolically
5 embedded within the i-th real animal pen is deemed isomorphic
with corresponding coordinate reference frame RMi-ap
symbolically embedded within the VR model thereof Mi_ap.
Using mathematical mapping techniques, such as
homogeneous transformations, position coordinates specified
10 within global coordinate reference system RMfeedlot can be
easily related to coordinates specified within any local
coordinate reference system. e.g., RMn-fdv. Consequently,
coordinate information pertaining to the position of a feed
delivery vehicle in the feedlot referenced with respect to
15 RRfeedlot (derived aboard a feed delivery vehicle) can be
translated into coordinate information referenced to any
other local reference frame, e.g. coordinate frame RMi-ap
during'feed dispensing operations involving the i-th animal
pen and feedbunk. With such capabilities provided aboard
20 each feed delivery vehicle, the operator thereof can display
on his dash-mounted LCD (navigation) panel, an updated VR
model of the feed delivery vehicle (including its feed
dispensing chute) shown in spatial relation to objects (e.g.
feedbunks) modelled in the feedlot during vehicle operation.
25 Other advantages of this subsystem will become apparent
hereinafter.
For additional information on VR systems and techniques,
reference can be made to the textbook entitled "Virtual
Reality Systems" (1995) by John Vince, ACM SIGRAPH Series,
published by Addison-Wesley,
The VR Subsystem At Each Feedlot Computer
System And VR Workstation
As shown in Figs. 2B1, 2C, 2D, 2E, 2F and 2G, the VR
CA 02214238 1997-08-29
26
subsystem 36 associated with each feedlot computer system
within the feedlot computer network is realized" as
integration of the following subsystems: a VR modelling
subsystem 73; the stereoscopic image display subsystem 74;
and th stereoscopic vision subsystem 75. Also, each VR
workstation 20, 21, 23 and 27 associated with each feedlot
vehicle VR workstations 25 and 26 installed in the feedmill
and base office also includes a VR subsystem 36 allowing a
human operator to establish a VR interface therewith.
The structure of the above-identified subsystem
components will be described in greater detail below.
The VR Modelling Subsystem Of The VR Subsystem
In general, the primary function of VR modelling
subsystem 73 is to support real-time VR modelling thereof
15. within the animal feedlot so that a human operator sitting
aboard a feedlot vehicle, or before a VR navigational
workstation (20, 21, 23, 25, 26 or 27), can view VR-based
feedlot models during feedlot operations. As shown in Fig.
2B3, the VR modelling subsystem 73 of the first illustrative
embodiment, is realized by providing each feedlot computer
system (and VR workstation) with an assembly of subsystem
components, namely: a 3-D geometrical VRML) database 77 for
storing information representative of 3-D VR models of the
feedlot, its pens, feedbunks and alleyways, as well as each
feedlot vehicle and RF-tagged animal therein; and a 3-D
geometrical VRML) database processor 78. The primary
function of 3-D VRML database processor 78 is to process the
3-D geometrical (i.e., VR) models represented by VRML or like
information files stored within 3-D database 77 in order to:
(i) update the position (and orientation) of objects in the
feedlot during feedlot operations as well as during normal
movement throughout the feedlot and; (ii) generate and render
stereoscopic image pairs from the 3-D geometric models along
a viewing direction specified by a set of viewing parameters
that they may be generated in any number of ways. Another
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27
function of the 3-D VRML database processor 78 is to receive
updated information on updated VR models, typically
transmitted from VR subsystems over the network 32 during
feedlot operations. For more detailed information on VRML
and its information file structure, reference should be made
to "VRML-Browsing and Building Cyberspace" 1995, by Mark
Pesce, published by New Riders Publishing, Indianapolis,
Indiana.
The Centralized VR Workstation Of
The Feedlot Computer Network
The primary function of the central VR workstation 71
is to design and construct the original 3-D VR world model
of: (i) the feedlot (e.g. buildings, animal pens and
feedbunks, water-towers and sheds etc); (ii) feed delivery
and other vehicles within the feedlot; as well as (iii) all
or some (i.e., tagged) animals within the feedlot whose
position and condition (e.g., ear temperature) are to be
tracked and represented as part of the central VR-based
feedlot model of the present invention. Preferably, VR
workstation 71, and all other workstations .in the feedlot,
are each realized using a Silicon Graphics Reality-Engine TM
or IndigoTM 3-D computer graphics workstation, or other
suitable PC-based 3-D computer graphics workstation located
inside the feedmill, or.elsewhere within or outside of the
feedlot proper. Suitable virtual reality (VR) world
modelling- software for constructing such 3-D VR models of the
feedlot (and ..objects therein) on such workstation is
commercially available from a number of software vendors
including, for example: Superscape VRTTM Authoring Software
from Superscape Limited, of Palo Alto, California; from Sense
8 TM VR Modeling Software Sense 8 Corp. of Sausilito,
California; and dVISETM VR World Authoring Software from
Division Incorporated of Redwood City, California. In the
illustrative embodiment, each VR workstation is provided with
a keyboard, mouse-like 3-D pointing device, and a Grand
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Prix Fm driving-wheel (input device) from Thrustmaster, Inc.,
which clamps to the remote-operator desktop and offers
steering and quick acceleration, braking, and shifting
control on the steering wheel in order to remotely navigate
a feedlot vehicle hereof.
By using VRML information files for each remotely-
navigated vehicle in the feedlot, it also possible to
represent in the VR model, virtually any type of quantifiable
or qualifiable vehicle attribute, such as for example: (1)
the quantity of feed remaining aboard the feed delivery
vehicle; (2) the subsequence of animal pens at which feed
ration has been previously dispensed along the prioritized
feeding route; (3) the state of the propulsion subsystem
(e.g. idle, forward motion, reverse motion, dispensing feed
in the feedbunk, etc); (4) emergency situation in progress;
and the like, and (5) the temperature of an RF-tagged animal
in a particular animal pen. Such attributes, continuously
updated in VRML information files transmitted to the each
feedlot computer system and VR workstations 20, 21, 23, 25,
26 and 27, provides each human operator aboard a feedlot
vehicle in its manned-navigational mode, or behind a VR
workstation in its unmanned-navigational mode, with full-
scale, (i) real-time VR modelling and interaction
capabilities; and (ii) current information on the state of
each feedbunk and tagged animal in the feedlot. Once
created, the 3-D VR models of the feedlot are transferred to
each VR modelling subsystem 73 by way of wireless digital
communication network 32 linking together the VRworkstations
and feedlot computer systems in the feedlot.
Mobile Coordinate Information Acquisition
Subsystem Aboard Each Feedlot Vehicle
The function of the mobile coordinate information
acquisition subsystem 36 aboard each feedlot vehicle is to
support real-time acquisition of both locally and globally
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referenced coordinate information. The globally referenced
coordinate information specifies the position and orientation
of the feedlot vehicle within the animal feedlot, relative
to global coordinate reference frame RRfeedlot = The locally
referenced coordinate information specifies the position and
orientation of any substructure aboard the feedlot vehicle
(e.g. feed dispensing chute,etc) during feedlot operations
with respect to the local coordinate frame symbolically
embedded in the vehicle (i.e., RRfeedlot-vehicle) = Such acquired
coordinate information it ultimately used to derive
coordinates specifying the position, orientation and
configuration of the feedlot vehicle in relation to all other
objects in the feedlot (e.g., feedbunks, pens, alleyways,
etc.). Once acquired, this coordinate information is
transmitted from the feedlot vehicle (through the digital
communication network 32 hereof) to each VR subsystem 36
within the feedlot computer network, including the VR
workstations 20, 21, 23, 25, 26, 27 and 71 in the feedlot.
In accordance with the present invention, each feedlot
vehicle may include one or more subsystems for measuring the
coordinate position (and/or orientation) of particular
substructures aboard the vehicle (e.g., feed dispensing
chutes, ground tiller, etc.), relative to "locally"
established coordinate reference frame symbolically embedded
therein. Coordinate information locally inquired through
such peripheral measuring devices permitted VR submodels of
such substructure to be continuously updated for transmission
over the wireless digital communication vehicle throughout
the feedlot.
An example of such an on-board coordinate acquisition
subsystem is the chute positioning subsystem installed aboard
each feed delivery vehicle of the present invention. In the
illustrative embodiment, this subsystem is realized aboard
the feedlot vehicle by providing the feed delivery'computer
system with the following additional subsystem..components:
a data input port 80 for receiving encoded digital signals
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from (i) chute angle sensor 81 associated with the pivot
joint of the feed dispensing chute located at pivot point
PFDC1(n) in Fig. 2B5 to provide a measure of chute angle
(defined in Fig. 2B5, and (ii) an ultra-sonic (or like)
5 height or distance sensor for sensing the height of the end
of the feed dispensing chute relative to the ground surface
(which is assumed to be substantially planar in the feedlot)
to derive the z coordinate of pivot point PFDC1 (n) in RRfeedlot
10 Globally referenced coordinate information acquired by
each feedlot vehicle and transmitted to all other VR
subsystems in the feedlot management system is used to
automatically update the position and orientation of the
vehicle within the VR model thereof. This allows any one in
15 the feedlot, with access to a VR subsystem (via its image
generator/display subsystem) to ascertain (through display-
screen visualization) exactly where any feedlot vehicle is
at any particular instant of time, regardless of the
navigational mode that it is operating in. Such information
20 can be useful in the event one vehicle operator requires
help, information or other form of assistance.
In order to realize such "global" coordinate acquisition
functionalitiesõ within the feedlot management system, the
mobile coordinate acquisition subsystem 39 aboard each
25 feedlot vehicle computer system further comprises an array
of subsystem components, namely: at least one (but preferably
two) dual-band high-resolution GPS signal receivers 82A and
82B interfaced with the systems bus by interface circuitry
83A and 83B, for receiving electromagnetic GPS signals from
30 the GPS satellites 30 and the GPS base station 31 and
producing 'digital coordinate signals indicative of the
coordinate position of the GPS from which it was transmitted;
and a GPS signal processor 84 operably connected to the GPS
signal receivers for processing the digital coordinate
signals produced therefrom in order to obtain coordinate
position data of the GPS receiver relative to a global
CA 02214238 1997-08-29
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feedlot reference system RRfeedlot = In the illustrative
embodiment, the dual-band high-resolution GPS signal
receivers 82A and 82B are mounted maximally apart from each
other on the feedlot vehicle body (i.e., at the ends of the
longitudinal axis of the vehicle body). In the illustrative
embodiment, the GPS signal processor 84 is also programmed
to process coordinate information on GPS receiver location
in order to compute: (1) the speed of the feedlot vehicle
relative to the feedbunks and other stationary objects in the
feedlot; and (2) the coordinate values associated with the
location of the GPS receivers referenced to local coordinate
reference system RRõ_pdv .
The GPS receivers 82A and 82B aboard each feedlot
vehicle may be operated in one of two modes: Stand-Alone
Mode; or Differential Mode. In either mode, each GPS
receiver receives two carrier signals L1 and L2 transmitted
from each GPS satellite. In the illustrative embodiment, the
frequency of the L1 carrier is 1,575.42 MHZ and the frequency
of the L2 carrier is 1,227.6 MHZ. The carrier signals L1 and
L2 are modulated with two types of code and a navigation
message. In the illustrative embodiment, the two codes used
to modulate the carriers Li and L2 are the P code (i.e., the
precision code) and the C/A code (i.e., the
course/acquisition code). In order to obtain the highest
degree of positional precision within the subsystem, the P
code (or more precise code) is used to modulate the carrier
signals transmitted by the GPS satellites during GPS signal
transmission and also by GPS receivers during GPS satellite
signal reception. The function of each GPS receiver then is30 to receive these
modulated carrier signals transmitted from
the GPS satellites, and thereafter recover the codes and any
navigation message transmitted thereby., to compute the
latitude and longitude of each GPS receiver and thus
ultimately the x, y, z coordinates thereof in the coordinate
frame RRfeedlot.
In the Stand-Alone Mode, each GPS receiver operates
CA 02214 238 1997-08-29
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exactly as described above, that is, it receives signals from
GPS satellites and uses those signals to calculate 'its
position with respect to Rfeedlot in the following manner. The
GPS satellites modulate the L1 and L2 carriers with the P
code, C/A code and navigation information. The navigation
information includes the orbital position of the satellite
with respect to coordinate system Rfeedlot, expressed in terms
of three position coordinates designated by (Us, Vs, Ws).
Thus, by demodulating the carriers received at the GPS
receiver, the GPS receiver'can obtain the coordinate position
of the satellite referenced to RREarth= The GPS receiver can
also measure the time required for each acquired satellite
signal to travel from the satellite to the GPS receiver. The
GPS receiver accomplishes this timing function by generating
a code identical to the satellite code (P code for military
receivers and C/A code for commercial receivers). The GPS
receiver then code locks this replica with the received code
by shifting the start time of the replica until maximum
correlation is obtained. Since the receiver knows the
nominal starting time, "Ts", for the received code (which is
repeated at regular predetermined intervals) and it knows the
time shift, "Tr", required to obtain code lock, it knows the
time for the signal to travel from satellite to the receiver,
which is just the difference between the nominal start time
for the satellite signal and the start time for the receiver
replica. Multiplying this transit time "Tr - Ts" by the
speed of the light "c" gives the nominal distance (or pseudo
range) "P" between the GPS satellite and the GPS receiver:
P = (Tr - Ts) c
This distance P can also be expressed as the vector
distance between GPS satellite and GPS receiver using earth
based coordinates (referenced to RRfeedlot) :
P = [ (Us-Ur) 2+ (Vs-Vr) 2+ (Ws-Wr) 2 ]1/2
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The three known variables in the above mathematical
expression are the position coordinates of the satellite
designated by (Us,Vs,Us), whereas the three unknown variables
thereof are three position coordinates of the GPS receiver
designated by (Ur, Vr, Wr). If signals from three GPS
satellites are acquired at each GPS receiver, then these
unknowns can be determined using the following mathematical
relations:
P1 = [ (Usl-Ur) 2+ (Vsl-Vr) 2+ (Wsl-Wr) 2 ] lie
P2 = [ (Us2-Ur) 2+(Vs2-Vr) 2+(Ws2-Wr) 2] lie
P3 = [ (Us3-Ur)2+(Vs3-Vr)2+(Ws3-Wr)2)112
wherein the position coordinates (Us1,Vsl,Usl), (Us2,Vs2,Us2)
and (Us3,Vs3,Us3) in the above mathematical expression are
encoded in the received GPS signals and specify the position
of the transmitting GPS satellite with respect to RRfeedlot
As taught at pages 205-206 in GPS SATELLITE SURVEYING
(1990) by A. Leick, published by John Wiley and Sons
(ISBN 0-471-81990-5), it is
possible to correct for GPS receiver clock errors provided
that signals from four GPS satellites are acquired at each
GPS receiver. In such ..a case,a term "r" can be added to
provide the following equations:
P1 = [ (Usl-Ur) 2+ (Vsl-Vr) 2+ (Wsl-Wr) 2+dTr*c] 1/2
P2 = [ (Us2-Ur) 2+(Vs2-Vr) 2+(Ws2-Wr) 2+dTr*c] 1/2
P3 = [ (Us3-Ur) 2+ (Vs3-Vr) 2+ (Ws3-Wr) 2+dTr*c] 1/2
P4 = [ (Us4-Ur) 2+ (Vs4-Vr) 2+ (Ws4-Wr) 2+dtr*c] 1/2
wherein the position coordinates (Usl,Vsl,Usl),
(Us2,Vs2,Us2), (Us3,Vs3,Us3) and (Us4,Vs4,Us4) in the above
mathematical expressions are encoded in the received GPS
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signals and specify the position of the transmitting GPS
satellite with respect to RRfeedlot . This scheme provides a way
of achieving improved position resolution.
There are a number of errors associated with the Stand
Alone Mode of operation described above. These include
errors in the satellite atomic clocks, geometric resolution
errors, and errors associated with the propagation of the
carrier signals through the atmosphere. All of these errors
can be eliminated by operating the system in the Differential
Mode. In Differential Mode, each GPS receiver, in
addition to monitoring GPS satellite signals, will receive
error information transmitted from GPS base station 31
located at some known position. As shown in Fig. 2A2, the
GPS base station 31 includes a receiver 86 for monitoring GPS
satellite signals transmitted from the GPS satellites. In
addition, the GPS base station includes a computer system 87
which has preprogrammed into its memory the precise position
at which it is located relative to the global feedlot
reference system Rfeedlot = The function of the GPS base
station computer 87 is to compare its known position (stored
in its memory) with its coordinate position computed using
the GPS satellite signals. The difference (i.e., error)
between (i) the known GPS base station location and (ii) the
calculated GPS base station location is used by modem-88 to
modulate a carrier signal produced from transmitter 89. This
transmitted error signal is received by the GPS receivers
mounted on each feedlot vehicle. Using the received error
measure, each such GPS receiver adjusts (i.e., corrects) in
real-time its calculated position, thereby overcoming the
limitations of the GPS receivers operated in the Stand-Alone
Mode.
The Local Information Acquisition
Subsystems (LIAS) In Feedlot
CA 02214238 1997-08-29
e r
In many instances, the veterinarian or bunkreader may
desire to quickly determine information pertaining to a
particular animal in the feedlot, (e.g., the location of a
particular animal within a given pen, its temperature at a
5 particular time of the day, etc.). As shown in Fig. 2A3, the
feedlot management system hereof realizes this function by
installing a local information acquisition subsystem (LIAS)
28i in the feedlot, preferably, at each animal pen thereof.
The function of each i-the LIAS of the illustrative
10 embodiment is to (i) locally acquire coordinate information
regarding the position of each "RF-tagged" animal with
respect to the i-the local animal-pen reference system RRi_aP,
as well as the body temperature of the RF-tagged animal, and
(ii) broadcast such information to each VR subsystem
15 associated with the digital data communication network by way
of feedlot Web server 32A, described above. Notably, when
the coordinate information regarding the position of the RF-
tagged animal is received at each VR subsystem, such
coordinate information is automatically translated to the
20 coordinate reference frame of the VR subsystem receiving the
local coordinate information so that the complete VR-based
feedlot model (including the tagged animal) can be updated.
Preferably, the temperature information on each tagged animal
is used to "color" code its corresponding VR animal model
25 maintained in the VR subsystems. As shown in Fig. 2A3, each
LIAS of the illustrative embodiment comprises: a plurality
of miniature local position sensing (LPS) transmitters 90 (in
the form of tags), each attachable to the ear or about the
neck of each j-the animal 91 in the i-the animal pen, and
30 capable of transmitting an encoded electromagnetic signal
(e.g. in the RF range)" with a transmission range spatially
encompassing the i-the pen; a three LPS signal receivers 92A,
92B and 92C mounted apart from each other along the i-th
animal feedbunk, for receiving (at different points in space)
35 the signal transmitted from the LPS transmitter on each
tagged animal in the pen, and processing the same in LPS
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36
signal processor 93 in order to determine the coordinate
position (in terms of x,y,z) of each such head of cattle with
respect to RRi-.p ; a temperature-sensing RF chip 200,
implanted in the ear of each such animal, sensing the body-
temperature of he tagged animal and transmitting a digitally-
encoded RF carrier signal carrying the sensed body
temperature; an RF temperature-signal receiver 201 mounted
along the feedbunk for receiving and processing the
digitally-encoded RF-carrier signals transmitted from
temperature-sensing RF chips 200; and a wireless digital
communication subsystem 94, like subsystem 35, for
transmitting such animal position-coordinate and body-
temperature information to each VR subsystem in the feedlot
computer network by way of feedlot Web server 32A.
In the illustrative embodiment, each RF tag 90
periodically produces an encoded RF signal of a particular
frequency fj=The RF tag includes a battery power supply, an
RF transmitter circuit for producing an RF signal, and
programmable circuitry for digitally encoding the transmitted
RF signal in a manner well known in the RF-tagging art. At
each i-th animal pen, a local coordinate reference system
RRipen is symbolically embedded therein, as shown in Fig. 2A3.
Each LPS receiver receives the RF signal transmitted from
each j-th tagged animal, and using coordinate geometry
principles, computes distance between the transmitting RF tag
and the LPS receiver. Using these three distance measures
and the known coordinates of the three LPS receivers, the LPS
signal processor 93 computes the (x,y,z) coordinates of the
j-th RF tag relative to the local coordinate frame RRipen .
Computed in real-time, this locally referenced animal
coordinate information is transmitted by subsystem 94 to each
VR subsystem within the feedlot management system by way of
the wireless digital communication network 32. At each VR
subsystem, the coordinate information is used to update the
VR model of the feedlot in a manner described above. Through
coordinate translation, any feedlot vehicle pulled up to an
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37
animal pen, can determine exactly where, relative to its
local coordinate reference frame, any RF tagged animal is
within the animal pen, greatly simplifying the location and
treatment of the animal.
In the preferred embodiment, the vehicle operator (e.g.
the feedlot veterinarian) can automatically ascertain the
body temperature of particular animals in the pen by viewing
the animal's corresponding VR model maintained aboard the VR
subsystem. The temperature sensing RF chip 200 implanted
within the ear of each tagged animal produces a RF carrier
signal digitally modulated by the sensed body-temperature of
the animal. Different frequencies or codes can be used with
each RF chip 200 to establish cross-talk free channels for
each tagged animal in a manner known in the prior art. The
RF temperature signal receiver 201 at each animal pen (or
otherwise in the feedlot) receives the RF signal from each
RF chip 200 employed in the animal pen (or feedlot),
demodulates the same to detect the transmitted body-
temperature of the tagged animal, and then provides this
information to digital communication subsystem 94 for
transmission to a preassigned subsite (i.e., information
field) maintained at the feedlot Web server 32A. Functioning
as a Web or VR browser, each VR subsystem 36 in the feedlot
accesses the updated temperature information from the feedlot
Web server 32A and uses the same to update the VR animal
models maintained at each VR subsystem in the feedlot
management system.
As shown in Fig. 2A3, the LIAS at each animal pen may
also include one or more real-time stereoscopic vision
subsystems 300 mounted in the feedlot to provide a field of
view (i) along the length of each feedbunk (for remote bunk
reading operations carried out at a VR workstation), as well
as (ii) into the animal pen where the contained animals are
allowed to roam (for remote pen and animal inspection carried
out at a VR -workstation). Such stereoscopic camera
subsystems are commercially available from VRex, Inc. of
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F0
38
Hawthorne, New York. The digital video output from such
stereoscopic cameras can be provided to the digital
communication subsystem 94 at the animal pen where it is
properly packeted and then transmitted to the feedlot Web
server 32A, for access by any VR subsystem (i.e., VR browser)
36 as the Internet-based digital communication system of the
feedlot computer network.
As shown in Fig. 2A3, **an information entry/display
terminal 210 is also provided at each animal pen in order to
enter information to and display information from the feedlot
computer network. This terminal 210 is realized as a
separate computer subsystem connected to network 32 by way
of its digital communication subsystem 35.
The Stereoscopic Image Display Subsystem Aboard
Each Feedlot Vehicle And At Each VR Workstation
In general, the primary function of the stereoscopic
image display subsystem 74 associated with each VR subsystem
is to visually display (to the eyes of an operator) high-
resolution stereoscopic (or monoscopic) color images of
feedlot information files as well as any aspect of the
continuously updated VR-based feedlot model. In the
illustrative embodiment, each feedlot vehicle operator is
provided with two modes of ."VR feedlot model navigation",
which is to be distinguished from the two modes of "real
feedlot navigation" provided for navigating the real feedlot
vehicle through the real feedlot, i.e., manned-navigational
mode and unmanned-navigational mode. In the first mode of
VR feedlot model navigation, the global coordinates of the
"real" feedlot vehicle (at each instant of time) determines
the portion of the VR-based feedlot model in which the VR-
model of the feedlot vehicle is automatically displayed on
the LCD panel within the vehicle during the manned-navigation
'CA 02214238 1997-08-29
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39
mode of operation, or on the LCD panel of the VR workstation
during the unmanned navigation mode of operation. In the
second mode of VR feedlot model navigation, the global
coordinates selected by the input device of a feedlot
operator (at each instant of time) determines the portion of
the VR-based feedlot model which is automatically displayed
on the LCD panel within the vehicle, or on the LCD panel of
the VR workstation, whichever the case may be.
Typically, each feedlot vehicle operator will have a
need to view different aspects of the VR-based feedlot model
within his VR subsystem.
For example, the feed delivery vehicle operator may
desire to view, in real-time, a plain view,or rear-end view
of the VR-based model of his vehicle as he proceeds to
navigate it alongside a feedbunk during a uniform feed
dispensing operation in accordance with the present
invention.
By initiating a practice of color-coding particular
sections of the VR-based model for each feedbunk in the
feedlot, it is possible to construct a VR feedbunk model
which visually indicates (by specific colors or textures)
those sections of the corresponding feedbunk along which
there appears to be abnormal or irregular feeding patterns.
By comparing the current VR feedbunk model With the
corresponding "real" feedbunk (in the purview of the
bunkreader), it is possible for the bunkreader to deduce
feeding patterns and trends which might suggest or require
corrective measures by the veterinarian and/or nutritionist.
An advantage of the VR-based feedbunk model is that the
bunkreader, veterinarian and nutritionist can easily and
quickly be informed of particular conditions in the feedlot
by 3-D visualization of information gathered on the state and
condition of the feedlot.
Using the stereoscopic image display subsystem 74 of the
present invention, color images of any aspect of the VR
feedlot model can be projected from any desired viewing
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T
direction selected by the vehicle operator during manned as
well as unmanned modes of vehicle navigation. In general,
the viewing direction is specified by a set of viewing
parameters which, in the illustrative embodiment, can be
5 produced using any one of a number of commercially available
3-D pointing devices which can be readily adopted for
mounting on the dashboard adjacent the LCD panel and easily
(and safely) manipulated by the vehicle operator during
vehicle operation. Using such a pointing device, the vehicle
10 operator can easily select the desired aspect of the VR
feedlot model to be viewed during navigation, and feedlot
operations (e.g., feed dispensing operations).
In the illustrative embodiment, the stereoscopic image
display subsystem 74 is realized by providing each feedlot
15 computer system hereof with subsystem components comprising:
a stereoscopic LCD panel 95; an associated display processor
96; and VRAM 97 for buffering stereoscopic pairs to be
displayed on LCD panel 95. The function of the LCD panel is
to display (i) feedlot information files or portions thereof,
20 and (ii) 2-D high-resolution color images of the VR-based
model of the 3-D feedlot so as to support stereoscopic 3-D
viewing thereof from any desired viewing direction in 3-D
space.
A variety of stereoscopic 3-D display techniques and
25 equipment for achieving this function are known in the
virtual reality systems art. The preferred stereoscopic
display technique would be based on polarization
encoding/decoding of spatially-multiplexed images (SMIs)
produced by combining the left and right perspective images
30 of a real or synthetic 3-D object into a single composite
image (the SMI). During the image display process, left
image pixels in each displayed SMI are encoded with a first
polarization state P1, whereas the right image pixels in each
displayed SMI are encoded with a second polarization state
35 P2, orthogonal to P1. Such micropolarized SMIs .can 'be
produced from an LCD panel with a display surface bearing a
CA 02214238 1997-08-29
41
micropolarization panel well known in the stereoscopic 3-D
display art. Such LCD panels and required SMI generation
apparatus are commercially available from VRex, Inc. ."of
Hawthorne, New York. When navigating his vehicle alongside
a feedbunk (during a uniform feed dispensing operation) as
shown in Fig. 2A1, the driver views polarized-SMIs displayed
on the LCD panel while wearing a pair of electrically-passive
polarizing eyeglasses 98 in a conventional manner. The
function of such polarizing eyeglasses is to allow the
drivers left eye to only see the left perspective image
component of the displayed SMI, while permitting the drivers
right eye to only see the right perspective image component
of the displayed SMI. By this viewing process, the driver is
capable perceiving feedlot imagery displayed on the
micropolarizing LCD panel with full 3-D depth sensation. At
the same time, solar glare transmitted to the interior of the
vehicle cab is inherently reduced by the passive polarizer
eyeglasses 97 worn by the driver.
As will become apparent hereinafter, the image display
subsystem 74 is capable of generating and displaying
stereoscopic images of the 3-D VR models of the feed delivery
vehicle and feedbunk, near which the "real" feed delivery
vehicle is physically located. With such a driver-display
interface, the driver is afforded true 3-D depth perception
of the 3-D VR models of each and every object in the VR
feedlot models (e.g., feedbunks, feed delivery chute, etc.)
during real-time feed dispensing operations.
The Vehicle Propulsion Subsystem Aboard Each Feedlot Vehicle
The primary function of the vehicle propulsion subsystem
37 aboard each feedlot. vehicle within the feedlot is to
propel the feedlot vehicle along a navigational course
determined by the navigational subsystem when operated in its
selected navigational mode. In the illustrative embodiment,
this subsystem is realized by an internal combustion engine,
coupled to an electronically controlled power transmission.
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Examples of suitable electronic power transmissions are
described in US Patent No. 5,450,054, and the references
cited therein.
The Navigation Subsystem Aboard Each Feedlot Vehicle
The function of the navigation subsystem 38 is to allow
the associated feedlot vehicle to be navigated within the
feedlot during feedlot operations. In general, the
navigation subsystem is capable of providing such support in
both the manned-navigational modes and unmanned-navigational
modes of vehicle operation. As such, the navigation
subsystem includes a manually-operated steering system and
a foot or hand-operated braking system which enables the on-
board operator to manually steer the vehicle along a desired
navigational course throughout the feedlot. The navigational
subsystem also includes an electronically-controlled steering
system and an electronically-controlled braking system which
enables a remotely situated operator, sitting before the
associated VR workstation (e.g., 20, 21, 23, 27), to remotely
steer the corresponding vehicle along a desired navigational
course throughout the feedlot which has been preprogrammed
into the VR workstation or improvised in real-time by the
remote operator.
The Stereoscopic Vision Subsystem Aboard Each
Feedlot Vehicle And At Each Feedlot Building
The function of the stereoscopic vision subsystem 75
mounted aboard each feedlot vehicle, or located at each
feedlot building, is to capture in real-time both left and
right perspective images of 3-D objects (or scenery) in the
field of view (FOV) thereof. Notably, each left and right
perspective image detected by this subsystem is commonly
referred to as a stereoscopic image pair. Preferably, the
field of view of this subsystem is directed along the
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longitudinal axis of the vehicle in order to permit a remote
operator thereof to view 3-D scenery along the navigational
course which the vehicle is propelled to travel during feedlot operations.
As shown in Figs. 2B2, 2C1, 2D1 and 2E1, stereoscopic
vision subsystem 75 aboard each feedlot vehicle can be
realized using an ultra-compact stereoscopic (3-D) camera
system 99 commercially available from VRex, Inc. of
Hawthorne, New York. As shown in these figure drawings, this
camera system is mounted upon a rotatable support platform
100 which, in turn, is mounted upon the hood of the feed
delivery vehicle. The camera support platform is remotely
controllable from the associated VR workstation to permit the
remote operator of the vehicle to control the viewing
parameters of the stereoscopic camera (e.g., the direction
of the camera optical axes, the point of convergence thereof,
the focal distance of the camera, etc.) during the un-manned
modes of operation. Using a head and eye tracking subsystem
101 at the VR workstation, the remote operator can easily
select such stereoscopic camera (i.e., viewing) parameters
during the unmanned-navigational mode, by simply moving his
head and eyes relative to the LCD display screen of the VR
workstation. Such natural head and eye movements of the
remote operator will change the viewpoint of the images
displayed on the LCD panel 95 of the workstation, and thus
allow the remote operator to interact with the VR model of
the remotely controlled feedlot vehicle under his or her
control.
The Uniform Feed Dispensing Subsystem
Aboard The Feed Delivery Vehicle
It is understood that each feedlot vehicle according to
the present invention may support one or more auxiliary
subsystems for use in carrying out a particular feedlot
function. In particular, each feed delivery vehicle in
the feedlot is also provided with uniform feed dispensing
CA 02214238 1997-08-29
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subsystem 41 which includes a feed dispensing chute 105 and
associated controllers. The function of this auxiliary
subsystem is to uniformly dispense assigned feed ration along
the length of a particular feedbunk in an automatic manner
as the vehicle is navigated alongside the feedbunk in either
the manned-navigational mode or unmanned-navigational mode
of the vehicle.
In the illustrative embodiment, the uniform feed
dispensing subsystem is realized by providing the computer
system aboard the feed delivery vehicle with the following
additional subcomponents: a data communication port 106 for
receiving digital information from an on-board truck scale
107 regarding the weight of the feed contained within the
feed storage compartment 108 on the vehicle ; hydraulic valve
109, electronically controlled by control signals SH,,, for
controlling the flow rate of feed ration from the storage bin
108 by way of a auger 110 rotatably mounted along the feed
dispensing chute 105; a programmed feed dispensing controller
(i.e., microprocessor) 111 for producing control signals SHv
for controlling the operation of hydraulic valve 109 during
feedbunk filling operations; and a data communication port
112 for transmitting such control signals SHv to the
hydraulic valve. The function of the scale 107 is to measure
the actual amount of feed loaded onto an assigned feed
delivery vehicle at the feedmill and subsequently dispensed
into-the feedbunks associated with an assigned pen sequence.
In response to weight measurement, the scale produces an
electrical signal S1 indicative of the total weight of the
feed contained within feed load storage compartment 108.
Signal S1 is digitized and provided as input to the computer
system aboard the feed delivery vehicle. By measuring the
weight of the feed within storage compartment 108 and
recording these measurements in memory of the on-board
computer system, the computer system computes the actual
amount of feed ration either (i) supplied to the feed load
storage compartment during the feed loading process at the
CA 02214238 1997-08-29
feedmill, or (ii) dispensed therefrom into the feedbunk of
any pen in the feedlot. Such computations can be implemented
in a straightforward manner using programming techniques well
known in the art.
5 The primary goal of the uniform feed dispensing
subsystem 41 is to ensure that feed is delivered to each
feedbunk in a substantially uniform manner (i.e., equal
amount of feed dispensed per linear foot travelled by the
feed delivery vehicle). In the preferred embodiment, control
10 signals St,v are generated in real-time by the computer system
aboard feed delivery vehicle using (i) digitized signal S1
indicative of the total weight of the feed contained within
feed load storage compartment 108, and (ii). digital signal
S2 indicative of the speed of the vehicle, relative to the
15 Earth. Signal S2 can be generated in one of several possible
ways. One way is to use the GPS processor 84 to produce
digital signal S2 on the basis of the position coordinates of
the feed delivery vehicle over time. Alternatively, a ground
speed radar instrument 114, mounted aboard the feed delivery
20 vehicle, can be used to produce an electrical signal S, which
is indicative of the true ground speed of the vehicle.
Notwithstanding method used to derive vehicle speed signal
S21 signals S1 and S2 are sampled by the feed dispensing
controller 111 at a sufficient rate and are utilized by a
25 Uniform Feed Dispensing Control Routine (executed within the
feed delivery vehicle computer system) to produce control
signal S,,,, which is provided to the hydraulic valve of
uniform feed delivery control subsystem 41. In this way, the
computer system aboard each feed delivery vehicle
30 automatically controls the incremental dispensation of feed
in a manner such that, for each linear foot traversed by the
feed delivery vehicle, a substantially constant amount of
feed ration is dispensed along the total length of the
feedbunk, independent of the speed of the vehicle.
35 The Feed Mixing/Flow Control Subsystem at the Feedmill
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As shown in Fig. 1, feed mixing/flow control subsystem
46 at the feedmill comprises: feed ration storage bins 10A,
10B and 10C for storing feed ration ingredients for
dispensing and mixing together; an overhead scale 115 for
measuring the weight of feed rations dispensing therefrom;
feed ingredient metering and mixing equipment 11: a storage
bin 116, and a microingredient dispensing system 117 for
producing a microingredient slurry for application to a
prepared batch of feed ration. The function of the storage
bin 116 is to contain feed ration which has been prepared for
loading onto the feed delivery vehicles and dispensing into
particular sequences of animal feedbunks in the feedlot. The
function of scale 115 is to provide an electrical signal
indicative of the total weight of prepared feed ration
contained within the storage bin. The electrical signal
produced from the scale is digitized and provided as input
to the feedmill computer system. By measuring the weight of
the feed within the feed ration storage bin and recording
these measurements in the feedmill computer system, the
actual amount of feed ration prepared and loaded onto a
particular feed delivery vehicle can be computed in a
straight forward manner. The microingredient dispensing
system can be constructed in the manner disclosed in US
Patent No. 5,487,603. In a manner known in the art,
metering and mixing equipment 11 at the feedmill is
controlled by electrical (and hydraulic) control signals
generated by a Feedmill Control Program running within
feedmill computer system 18. As will be described in greater
detail hereinafter, the feedmill computer system of' the
present invention'is provided with computer programs (i.e.,
software) for: (i) assigning feed load and pen subsequence
assignments, as will be described in detail hereinafter; and
(ii) controlling metering and mixing equipment 11 at the
feedmill. Suitable feedmill control software is commercially
available from Lextron, Inc. under the tradename FLOWCON.
CA 02214238 1997-08-29
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Feedload records subsystem 47 equipped with computer
software, is used to maintain records in the assigned feed
ration loaded into each feed delivery vehicle and the
subsequence of pens to which such feed are to be delivered.
The Financial/Accounting And Billing Subsystem
Of The Feedlot Management Computer System
At the central office, the feedlot manager can supervise
all aspects of operation within the feedlot management system
including accounting and billing operations. Such operations
are carried out using financial accounting/billing computer
subsystem 15 interfaced with feedlot management computer
system 14,. as shown in Fig. 2G. Financial
accounting/billing subsystem 15 is equipped with conventional
financial accounting software suitable for feedlot accounting
and billing operations. Suitable financial software is
commercially available from Turnkey Systems, Inc. under the
tradename TURNKEY. In an alternative embodiment,the computer
software for financial accounting/billing operations can be
run on the a single feedlot management computer system.
Veterinary Records Subsystem Aboard The Veterinary Vehicle
In the veterinary vehicle, the veterinarian is able to
access, create, modify or otherwise maintain animal health
(veterinary) records on the health of particular animals in
the feedlot. During the manned-navigational mode of the
veterinary vehicle, the veterinarian navigates his/her
vehicle while sitting within the cab thereof in a
conventional manner. In this mode, the veterinarian can use
the veterinary records subsystem thereaboard to create. Store
and access feedlot data files on particular animals for
review and data entry. Also, the veterinarian can use the
VR subsystem to determine the body-temperature and location
of "tagged" animals in particular pens at any.given moment
by simply reviewing the updated VR-based feedlot model on the
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dash-mounted LCD panel aboard the veterinary vehicle, or the
LCD panel of his VR workstation. When the veterinary vehicle
pulls up to a particular animal pen, the VR-based model of
the corresponding animal pen (and tagged animal therein) is
automatically displayed on the dash-mounted LCD panel in the
vehicle. From the color-code of each tagged animal
represented in the VR feedlot model, the veterinarian can
readily ascertain the body-temperature and precise location
of particular cattle in the feedlot, for visual inspection
and treatment if necessary.
In the illustrative embodiment, such operations are
carried out with the assistance of the veterinary records
subsystem 43. Preferably, subsystem 43 is realized by a
computer program having a number of different routines for
carrying out various data processing and transfer operations
relating to veterinary health care of the cattle,- in the
feedlot.
Nutrition Records Subsystem Aboard The Nutrition Vehicle
In the illustrative embodiment, the nutrition records
subsystem 45 aboard the nutrition vehicle runs a computer
program having a number of different routines which carry out
various data processing and transfer operations relating to
the diet and nutrition of the cattle in the feedlot. The
nutritionist can use the on-board VR subsystem to ascertain
information useful to the diagnosis and treatment of
nutritionally-deficient animals in the feedlot.
Modes Of Feedlot Vehicle operation
In Fig. 2B2, the n-th feed delivery vehicle of the
present invention is shown operated in its manned-
navigational mode, in which the operator thereof navigates
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the vehicle while sitting within the cab of the vehicle.
While operating his vehicle, he is able to view dashboard-
mounted color LCD panel 95, upon which a 3-D VR model of his
vehicle (within the feedlot) is automatically displayed and
viewed stereographically by the driver wearing polarizing
glasses 98. The function of the VR subsystem of this vehicle
embodiment is to provide visual assistance to a human
operator aboard the vehicle while he (manually, or semi-
manually) navigates the feed delivery vehicle through the
feedlot during feed dispensing operations, feed loading
operations and the like. Using the VR subsystem of this
embodiment, the human operator is able to view on the LCD
panel, a dynamically updated VR model of the feed delivery
vehicle (his is navigating) in spatial relation to (i) the
feedbunk being uniformly filled during uniform feed
dispensing operations, (ii) in spatial relation to the
feedmill filling chute during feed loading operations, and
(iii) in spatial relation to any feedlot structure during an
operation involving th feedlot delivery vehicle. In Fig.
2B2 1, the n-th feed delivery vehicle is shown operated in its
unmanned-navigational mode, in which the operator thereof
navigates the vehicle while sitting before the remotely-
located VR-navigation workstation 27 (associated with the
vehicle).
The VR workstation 27 associated with each feed delivery
vehicle allows a human operator to remotely navigate a feed
delivery vehicle through the feedlot during feed loading and
feed dispensing operations, while sitting before the VR
workstation, rather than within the feed delivery vehicle.'
The advantage provided by this embodiment of the VR subsystem
is that a remote human operator, sitting at the VR
workstation in the feedmill, can remotely navigate the feed
delivery vehicle through the feedlot (in either an automatic
or semi-automatic manner) during feed dispensing operations,
feed loading operations as well any other operation in the
feedlot. During remote management of feed (loading) and
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dispensing operations, the human operator can view from the
LCD panel 95 of VR workstation 27, stereoscopic images of a
dynamically updated 3-D VR model of the feed delivery vehicle
shown in spatial relation to the feedbunk being uniformly
5 filled during feed dispensing operations. Optionally, using
split-screen image display techniques, stereoscopic 3-D
images of feedlot scenery captured within the-field of view
of the stereoscopic vision subsystem 75 (aboard the vehicle)
can be displayed on the LCD panel of the VR workstation in
10 the feedmill. In this mode, captured images of real objects
about the feed delivery vehicle are displayed on the LCD
panel of the workstation and can be used by the remote
operator to avoid vehicular collision therewith as the feed
delivery is propelled by the propulsion subsystem 37 along
15 the pre-plotted navigational course programmed with the
navigational subsystem 38. Alternatively, the stereoscopic
vision subsystem 75 and the navigational subsystem 38 can
cooperate to automatically avoid collision with objects along
the pre-plotted navigational course using collision
20 avoidance techniques well known in the robotic control arts.
In either mode of operation, the advantage provided by this
novel arrangement is that the remote operator can use the VR
subsystem to: (i) remotely position the end of the feed
dispensing chute with the end point (i.e., beginning) of the
25 feedbunk to be filled during the beginning of each feedbunk
filling operation; as well as (ii) remotely maintain the end
of the feed dispensing chute over the centerline of feedbunk
during dispensing operations.
In Fig. 2C1, the feedbunk reading vehicle of the present
30 invention is shown operated in its manned-navigational mode,
in which the bunkreader navigates the vehicle while sitting
within the cab of the vehicle. In Fig. 2C2, the feed
delivery vehicle is shown operated in its unmanned-
navigational mode, in which the bunkreader thereof navigates
35 the vehicle (and remotely reads the feedbunks) while sitting
before the remotely-located VR-navigation workstation 23
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51
(associated with the vehicle).
In Fig. 2D1, the veterinary vehicle of the present
invention is shown operated in its manned-navigational mode,
in which the veterinarian navigates the vehicle while sitting
within the cab of the vehicle. In Fig. 2D2, the veterinary
vehicle is shown operated in its unmanned-navigational mode,
in which the veterinarian thereof navigates the vehicle (and
remotely examines animals in pens for signs of sickness)
while sitting before the remotely-located VR-navigation
workstation 20 (associated with the vehicle).
In Fig. 2E1, the nutrition vehicle of the present
invention is shown operated in its manned-navigational mode,
in which the nutritionist navigates the vehicle while sitting
within the cab of the vehicle.
In Fig. 2E2, the nutrition vehicle is shown operated in
.its unmanned-navigational mode, in which the nutritionist
thereof navigates the vehicle (and remotely examines animals
in pens for malnutrition) while sitting before the remotely-
located VR-navigation workstation 20 (associated with the
vehicle).
While not shown, the feedlot management vehicle of the
present invention can be operated in its manned-navigational
mode, in which the feedlot manager navigates the vehicle
while sitting within the cab of the vehicle. In Fig-. 2G1 the
feedlot manager vehicle..is shown operated in its unmanned-
navigational mode, in which the feedlot manager thereof
navigates the vehicle (and remotely inspects the feedlot)
while sitting.. before the remotely-located workstation . 25
(associated with the vehicle). In Fig. 2F1, the feedmill
operator is shown before VR workstation 26 while carrying out
his function in the feedmill.
In the manned-navigational mode shown in Fig. 2B1, the
vehicle operator (i.e., the feedbunk reader) sits within the
cab of the vehicle. During feedbunk reading operations, the
feedbunk reader can use the VR subsystem aboard his vehicle
in a number of ways.
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For example, the bunkreader can readily determine the
position, orientation and state of each feed delivery vehicle
in the feedlot by viewing the VR model of the feedlot on the
dash-board mounted LCD panel within the cab of the feedbunk
reading vehicle, shown in Fig. 2B2. The continuously updated
3-D VR model of such feed delivery vehicles can be viewed
from any viewing direction selected by the feedbunk reader.
The position and state information can be displayed in
various formats depending 'on the needs and desires of the
feedbunk reader.
From time to time, the feedlot nutritionist may decide
to change or modify either the types of feed ration (and/or
the ingredients contained therein) which are fed to the
cattle in the feedlot. When such a decision has been made,
a Feed Ration Change File is created within the feedlot
nutrition computer system by the nutritionist, and is then
transmitted to the feedlot management computer system over
the wireless telecommunication link established by digital
communications network 32. When such a transmission arrives
at the feedlot management computer system, a "file received"
indication will be preferably displayed on the display screen
thereof to cue the feedlot manager to update the Feed Ration
Master File using data contained-in the received Feed Ration
Change File. Preferably the updating process occurs at the
beginning of each new day, but may also occur at any time
during the day as required. When all files have been
updated, the feedlot management computer system then
transmits a copy of the Pen Master File, the Ration Master
File, the Feed Ration Consumption History File and the Cattle
Movement History File to the feedbunk reading computer
system, as indicated at Block B in Fig. 14A. Shortly
thereafter, the feedlot management computer system transmits
a copy of the Pen Master File, the Ration Master File, and
the Feed Ration Consumption History File to the feedlot
veterinary computer system, as indicated at Block C.in Fig.
14.
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Having described the illustrative embodiment of the
present invention, several modifications come to mind.
The feedlot management system of the present invention
described hereinabove can be greatly simplified by storing
at the feedlot Web server 32A, a single VR-based model of the
animal feedlot and the objects contained therein. This
modification will reduce the VR modelling subsystem in each
VR subsystem (and each VR workstation) to a "VRML browser"
having 3-D stereoscopic image display and 3-D input
capabilities, as described in detail hereinabove. In this
alternative embodiment shown in Figs. 1, 2 and 3, the VRML
feedlot model maintained at the VRML server 32A' has links
(i.e., pointers) to each VRML browser (i.e., feedlot computer
system) and LIAS in the feedlot management system, each of
which are assigned a unique WWW address. The type of
information maintained at the VRML browser of each VR
subsystem and LIAS includes: (i) vehicle position and state
information; and (ii) animal position and body-temperature
information. The information currently stored at the WWW
sites of the VRML browsers and LIASs of the network
automatically update the VRML feedlot model maintained at the
VRML server 32A', by virtual of the links created by VRML-
based feedlot model. The primary advantage of this
alternative embodiment of the present invention is that it
reduces hardware and software requirements aboard each
feedlot vehicle, and lessens the data throughput required to
update the VR feedlot model on a real-time basis. In order
to browse any aspect of the VRML feedlot model, a feedlot
operator (e.g., bunk reader or driver) uses VR browser
subsystem 36' and stereoscopic 3-D display subsystem in the
manner described above...
The feedlot management system of the present invention
has been described as having human beings actively involved
in navigating feedlot vehicles in both their manned and
unmanned modes of navigation. It is understood, however,
that when suitably trained, artificial intelligent (AI)
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systems and expert systems can be used to carry out the vehicle
navigation processes required during the various types of
feedlot operations performed within the feedlot.
The scope of the claims should not be limited by the
preferred embodiments of the system and method of the present
invention described in detail herein, but should be given the
broadest interpretation consistent with the description as a
whole.
