Vehicle for displacing feed on a feed table

Abstract

The present disclosure relates to an autonomous vehicle (1) for displacing feed on a feed table (2), the vehicle comprising a drive arrangement (4) for propelling the vehicle in a forward direction (M) along the feed table and means (5) for displacing feed on the feed table relative to the forward direction to the side (D). The vehicle further comprises a container (8) for a feed additive, a dispenser (22) for dispensing feed additive from the container to the feed table, and an outer cover (7). The container is disposed inside the vehicle and the outer cover is arranged to shield or protect the container from the exterior of the vehicle. The outer cover is provided with an inlet (10) for adding feed additive to the container. The inlet has an outer end (11) which is accessible from the exterior of the vehicle, and an inner end (15) which is arranged such that feed additive added via the inlet is directed into the container when the outer cover is mounted on the vehicle.

Description

Technical Field

[0001] The present invention generally relates to an autonomous vehicle for moving feed on a feeding platform in a dairy farm. Background Technology

[0002] Managing and distributing feed is an essential part of the daily operations of a dairy farm. Feed is provided to feeding stations for dairy cows and other dairy animals. Access to the feed is controlled by feeding fences, which animals can use to reach the feeding stations. However, during feeding, animals often push the feed away from the feeding fences, eventually making it unreachable. Therefore, the feed needs to be repositioned back to the feeding fences. Furthermore, it is highly beneficial to remix the feed during repositioning, making it more palatable to the animals. In addition, extra feed ingredients in liquid or pellet form can be added to the feed to compensate for deficiencies in certain components or to encourage animal consumption. This can be in the form of feed additives, such as concentrates. Concentrates are a general term for pelleted feeds (pellets, flakes, grains, etc.) with high nutritional value, meaning they are rich in energy, protein, minerals, etc. Different types of concentrates are used in different parts of the world, depending on local needs and availability.

[0003] Traditionally, these tasks were performed manually, which was both arduous and time-consuming. To reduce manual labor on farms, many tasks previously done manually have now been automated, including moving feed from feed trays using feed transfer vehicles (see WO 2014033275 A1). An example of a feed transfer vehicle is DeLaval's OptiDuo. TM Its advantage is that it can not only push the feed, but also redistribute and mix the feed while repositioning it on the feeding platform.

[0004] Further improvements and improvements to make feed transfer vehicles easier to handle feed additives would be beneficial. Summary of the Invention

[0005] One object of the present invention is to provide a feed transfer vehicle that facilitates the handling of feed additives. Therefore, the present invention relates to an autonomous vehicle for transferring feed on a feed platform, comprising a drive arrangement for propelling the vehicle forward along the feed platform, and means for transferring the feed laterally (i.e., in the transverse direction) on the feed platform relative to the forward direction.

[0006] The vehicle also includes a container for feed additives and a dispenser for dispensing the feed additives from the container to the feed station. Thus, feed additives can be dispensed onto feed that has already been repositioned by the feed transfer device. The vehicle also includes an outer cover that defines (or separates) the interior of the vehicle from the exterior.

[0007] The container is arranged inside the vehicle, i.e. under the cover, and the cover is arranged to shield or protect the container from influences from outside the vehicle. The cover is provided with an inlet for adding feed additive to the container. The inlet has an outer end which is accessible from outside the vehicle, and an inner end which is arranged such that feed additive added via the inlet is guided into the container when the cover is mounted on the vehicle.

[0008] Such a vehicle is thus able to add feed additive to the feed on the feed table, in particular to the feed being or having been displaced by the feed displacement device. This will increase the flexibility in adapting the feed to the animals and reduce the amount of physical labor. The feed additive is stored in a container inside the vehicle and protected from external influences by the cover. The inlet allows the container to be filled with feed additive with minimal effort and minimal manual operation. The container can also be replenished automatically or semi-automatically when the vehicle visits a replenishment station. Such a replenishment station can for example be arranged at or near a charging station for charging the autonomous vehicle.

[0009] The outer end of the inlet can comprise a funnel-shaped portion with an opening directed upwards to the outside of the vehicle, which funnel can be arranged on top of the cover. Thus, it is facilitated to replenish the feed additive through the inlet, there is less spillage, and the positioning of the vehicle relative to the feed additive replenishment arrangement is less critical.

[0010] The inlet can have a tube-shaped portion which extends from the funnel-shaped portion in a substantially vertical direction towards the container (substantially vertical is defined as plus or minus 20 degrees from vertical). This reduces the risk of feed additive accumulating and / or becoming trapped at the inlet. Furthermore, if desired, the tube-shaped portion of the inlet can be used as additional storage space for feed additive, in combination with the container.

[0011] The inlet can have an elliptical (and circular) cross-section in a horizontal plane, and the long axis of the elliptical cross-section is substantially parallel to the lateral direction of the vehicle (substantially parallel is defined as plus or minus 20 degrees from the lateral direction). Thus, the lateral positioning of the vehicle relative to the feed additive replenishment arrangement is less critical to reduce the risk of spillage.

[0012] The inlet can be located on an opposite side of the vehicle relative to the lateral direction for displacing the feed. This means that if the vehicle is configured to displace the feed to the left, the inlet is located on the right side of the vehicle, and vice versa. Thus, the feed additive can still be replenished when the vehicle is positioned along the feed fence.

[0013] The inlet can be closed with a lid. This reduces the risk of dust and / or liquids or other unwanted material entering the container. It also reduces the risk of small animals such as mice and birds entering the container.

[0014] The inlet can be provided with a screen or grid arranged to prevent objects of a certain size from entering the container through the inlet from the outside of the vehicle. The grid size can be in the range of 5 mm to 50 mm. Thus, larger objects can be prevented from entering the inlet of the container. Furthermore, it also serves as a safety mechanism to prevent the vehicle operator from reaching into the container during operation of the vehicle.

[0015] The cover can be removable to provide access to the container inside the vehicle. Thus, it is facilitated to service the vehicle in addition to replenishing the container with feed additive.

[0016] The cover can form an upper wall of the container. Thus, the interior space of the vehicle is effectively utilized and the construction is simplified.

[0017] A sealing element can be arranged between the container and the cover. Thus, the risk of feed additive (or dust thereof) leaving the container, as well as the risk of dust and / or liquid from the outside entering the container, is effectively reduced.

[0018] The inlet can be removably connected to the cover, preferably by removable fastening means, such as screws or other mechanical fastening means known in the art. As an alternative, the inlet is integrally formed with the cover, e.g. by moulding.

[0019] The distributor can comprise an auger located in the container for transporting feed additive from the container to an outlet for dispensing the feed additive to the feed table. Thus, automatic transportation of feed additive from the container to the feed on the feed table can be achieved while operating the vehicle. As an alternative to an auger, other means of transportation are conceivable, e.g. by gravity, by a moving belt, a rotating shovel, etc.

[0020] The auger can be located at the bottom of the container, and wherein the container narrows towards the auger to facilitate movement of feed additive towards the auger. Thus, feed additive affected by gravity is moved towards the auger and transported by the auger towards the outlet for dispensing the feed additive to the feed table.

[0021] The means for displacing feed on the feed table can be a rotatable means. Alternatively, it can be an inclined or plough-shaped means configured to displace feed laterally as the vehicle moves.

[0022] The rotatable means for displacing feed on the feed table can be a feed displacement auger having a rotation axis extending in a lateral direction. Thus, the feed is effectively displaced and at the same time lifted and re-mixed, which makes the feed more appetizing for the animals. As an alternative to a feed displacement auger, the vehicle can be provided with a rotatable skirt extending towards the floor of the feed table, which skirt is rotatable about a substantially vertical axis (within 10 degrees from the vertical direction). BRIEF DESCRIPTION OF DRAWINGS

[0023] The application will now be explained more closely with the aid of a description and with reference to the attached drawings.

[0024] Figure 1 A perspective view of an autonomous vehicle for displacing feed on a feed table is shown.

[0025] Figure 2 A vehicle for displacing feed on a feed table according to an embodiment is shown.

[0026] Figure 3 A cover for a feed displacement vehicle with an inlet for feed additives according to an embodiment is shown.

[0027] Figure 4 A cross-sectional view of a feed displacement vehicle according to an embodiment is shown. DETAILED DESCRIPTION

[0028] In Figure 1 In the shown example, the feed displacement vehicle 1 is arranged to displace feed on a feed table 2. The vehicle is powered using an internal battery 3 and has a drive arrangement 4 comprising a set of wheels for supporting the vehicle and propelling the vehicle in a forward direction M along the feed table. The drive arrangement is controlled to enable the vehicle to move forward, turn left or right, and / or move in a reverse direction. Thus, the vehicle can position itself on the feed table as needed. The vehicle comprises a charging connector arrangement 6 to enable charging of the internal battery, e.g. when the vehicle is parked.

[0029] A feed displacement auger 5 is arranged at the front of the vehicle, which feed displacement auger rotates around its axis during a feed displacement operation to displace feed on the feed table in a lateral direction D relative to the forward direction. In the shown example, the feed displacement direction D is to the right relative to the forward movement direction M of the vehicle.

[0030] The feed displacement vehicle is designed for operation in a barn or even outdoors. An outer cover 7 is arranged to separate the interior of the vehicle from the exterior of the vehicle and to reduce the risk of dust, dirt, water, etc. entering the interior of the vehicle.

[0031] The vehicle further comprises a container 8 for feed additive, which is located inside the vehicle, below the housing 7, and is thus separated from the outside of the vehicle. The feed additive can be a granular material, such as a feed concentrate, and can comprise protein, carbohydrates, minerals, etc. A dispenser is provided to dispense the feed additive from the container to the feed table. The dispenser is provided with an outlet 9 located at the side of the vehicle, so that the feed additive can be added to the feed on the feed table, which has been relocated by the feed displacement auger. Thus, the vehicle can perform a double operation of displacing the feed and adding feed additive to the feed on the feed table. These operations can be performed simultaneously or separately from each other.

[0032] The housing 7 is provided with an inlet 10 for adding feed additive to the container while the housing is still mounted to the vehicle. The inlet has an outer end 11 which is accessible from the outside of the vehicle and an inner end 15 which is arranged such that feed additive added via the inlet is guided into the container below the housing. Thus, the feed additive can be replenished into the container while the housing is mounted on the vehicle.

[0033] The inlet is located at the top of the housing, at the opposite side from the outlet, for dispensing feed additive to the feed on the feed table. The outer end 11 of the inlet is funnel-shaped to facilitate replenishment of the feed additive. The inlet is elongated in a lateral direction to allow for some flexibility in positioning the vehicle relative to the feed additive replenishment arrangement. A lid 12 is provided to close the inlet when no feed additive is being replenished into the container. The inlet 10 is mounted to the housing 7 such that if the housing is removed from the vehicle, the inlet is also removed.

[0034] In Figure 2 The operation of the feed displacement vehicle 1 on the feed table 2 is illustrated in Fig. 1. The feed table 2 is separated from the area where the animals (dairy cows in the figure) are located by a feed fence 13. The feed fence is provided with openings so that the animals can pass through with their heads, but are restricted from passing through the fence. On the feed table 2, feed 14 is provided for the animals. The feed can be roughage, hay, silage, corn, hay, fresh grass, etc. As described earlier, when the animals eat, the feed tends to be pushed away from the feed fence, as illustrated in position A. In order to be within reach of the animals, the feed needs to be moved back to the feed fence, which is done by the feed displacement vehicle 1 by relocating the feed in direction D. Thus, in position C, the animals have access to the relocated feed.

[0035] During operation, feed additive can be added from the container 8 inside the vehicle through the outlet 9 to the feed and onto the feed on the feed table. The container 8 is separated from the outside of the vehicle by the housing 7. The inlet 10 for the feed additive is attached to the housing and is arranged at the side of the vehicle opposite the outlet 9 and the charging connection arrangement 6. Thus, the feed additive can be replenished while the vehicle is positioned on the feed table or while the vehicle is parked for charging.

[0036] In Figure 3 the figure an exploded view of the outer cover 7 and the inlet 10 of the vehicle is shown. The outer cover is removable from the vehicle in order to gain access to the interior of the vehicle, for example for cleaning or maintenance. The inlet 10 has a funnel shaped outer end 11 and a tube shaped inner end 15 which is received in a recess or opening 16 in the outer cover 7. The recess is formed by a flange 17 on the outer cover, which flange is used to attach the inlet 10 to the outer cover by mechanical fastening means such as bolts, rivets etc. The inlet is inserted into the recess such that the funnel shaped outer end of the inlet rests on the flange, forming a sealed connection to prevent dust etc. from entering the container through the inlet.

[0037] The inlet 10 is provided with a lid 12 with a hinge arranged such that the lid can be opened for replenishment of feed additive, but such that the lid is closed during normal operation of the vehicle. This will reduce the risk of dirt, dust and water as well as small animals entering the container through the inlet, as well as the risk of feed additive being expelled from the container through the inlet. The inner end 15 of the inlet is provided with a screen or grid 18 arranged to stop objects of a certain size from entering the container from the outside of the vehicle through the inlet. The grid size can be in the range of 5 to 50 mm. Thus, larger objects can be prevented from entering the inlet of the container, and the safety of the operation of the vehicle is also increased.

[0038] In Figure 4 the figure a cross sectional view of the upper part of the vehicle 1 is shown, where the outer cover 7 is arranged on the vehicle, the inner end 15 of the inlet 10 is inserted into the recess 16 and fastened to the flange 17. The outer end 11 of the inlet is funnel shaped and has an asymmetric funnel extending towards the side of the vehicle in order to facilitate replenishment of feed additive, the lid 12 is connected with a hinge arranged at the opposite end of the inlet. At the inner end part of the inlet a grid or screen 18 is provided.

[0039] The container 8 is formed by side walls 19a, 19b and a bottom surface 20. Sealing elements 21a, 21b are arranged between the side walls 19a, 19b and the outer cover 7 to form a dust tight seal of the container. The outer cover 7 thus forms a top wall of the container 8, which improves the accessibility and cleanability of the interior of the vehicle. The sealing of the container by the side walls 19a, 19b and the outer cover 7 also allows the container to be highly filled, while still reducing the risk of feed additive leaking from the container.

[0040] The dispenser 22 is arranged to dispense feed additive from the container 8 through the outlet 9 onto feed at a feed table. The bottom 20 of the container 8 slopes from a low end 23a to a high end 23b, upwardly towards the outlet 9. The dispenser comprises an auger 24 in the container 8 for transporting feed additive from the container to the outlet 9. The auger 24 is located at the bottom of the container, close to the floor 20. The container narrows towards the auger to facilitate movement of feed additive by gravity towards the auger. The auger extends from the low end 23a to the high end 23b of the container and is rotated by an electric motor 25 to transport feed additive towards the outlet 9.

Claims

1. An autonomous vehicle (1) for displacing feed on a feed table (2), comprising; a drive arrangement (4) for propelling the vehicle in a forward direction (M) along the feed table; a device (5) for displacing feed on the feed table in a lateral direction (D) relative to the forward direction; a container (8) for a feed additive; a dispenser (22) for dispensing feed additive from the container to the feed table; and a housing (7) for the vehicle, characterized in that the container is arranged inside the vehicle and the housing is arranged to shield the container from the outside of the vehicle, and the housing is provided with an inlet (10) for adding feed additive to the container, the inlet having an outer end (11) which is accessible from the outside of the vehicle, and an inner end (15) which is arranged such that feed additive added via the inlet is guided into the container when the housing is mounted on the vehicle, wherein the outer end (11) of the inlet comprises a funnel-shaped portion having an opening directed upwards to the outside of the vehicle, wherein the inner end (15) has a tube-shaped portion which is accommodated in an opening (16) in the housing (7), wherein the housing (7) is removable to provide access to the container (8) inside the vehicle, wherein the housing (7) forms an upper wall of the container (8).

2. The vehicle according to claim 1, wherein the inlet (10) has an oval cross-section in a horizontal plane, and a long axis of the oval cross-section is substantially parallel to the lateral direction of the vehicle.

3. The vehicle according to claim 1 or 2, wherein the inlet (10) is located on an opposite side of the vehicle relative to the lateral direction for displacing feed.

4. The vehicle according to claim 1 or 2, wherein the inlet (10) is closable by a lid (12).

5. The vehicle according to claim 1 or 2, wherein the inlet (10) is provided with a screen or grid (18) which is arranged to prevent objects of a certain size from passing from the outside of the vehicle into the container via the inlet.

6. The vehicle according to claim 1, wherein a sealing element (21a, 21b) is arranged between the container (8) and the housing (7).

7. The vehicle according to claim 1 or 6, wherein the inlet (10) is removably connected to the housing (7) by removable fastening means.

8. The vehicle according to claim 1, wherein the dispenser (22) comprises an auger (24) located in the container (8) for transporting feed additive from the container to an outlet (9) for dispensing the feed additive to the feed table.

9. The vehicle according to claim 8, wherein the auger (24) is located at the bottom (20) of the container, and wherein the container narrows towards the auger to facilitate movement of the feed additive towards the auger.

10. The vehicle according to claim 1 or 2, wherein the means (5) for displacing feed on the feed table is a rotatable means.

11. The vehicle according to claim 10, wherein the rotatable means for displacing feed on the feed table is a feed displacement auger, the feed displacement auger having an axis of rotation extending in the lateral direction (D).

Images