Vehicle, system and method for displacing feed

Abstract

A vehicle for displacing feed which is situated on a floor along a feed fence comprises an electrical drive and steering system for driving and steering the vehicle, and a battery system. The vehicle comprises a skirt which is suspended from a skirt carrier so as to be rotatable about an axis of rotation. The skirt defines a continuous bottom edge which, during the displacement of feed, extends in a plane which runs obliquely with respect to the surface, so that a lowest point of this bottom edge is in contact with the surface. Due to this contact, the skirt rotates when the vehicle moves, so that the skirt displaces the feed on the floor in a direction perpendicular to the direction of travel of the vehicle. The skirt carrier comprises a tilting arm which extends perpendicularly to the longitudinal central plane and, viewed in the direction of travel, in front of the axis of rotation of the skirt. The tilting arm comprises a left end respectively a right end with skirt-guiding elements, from which the skirt is suspended so as to be rotatable. The tilting arm comprises a central hinged connection which defines a tilting axis which is situated substantially in the longitudinal central plane. The tilting arm is adjustable by means of an electrical adjustment device in a left pushing position and a right pushing position, in which the tilting arm is tilted about the tilting axis to an oblique position to the left or to the right, respectively, in order to tilt the skirt-guiding element on the left end and on the right end of the tilting arm, respectively, down in order to adjust the lowest point of the skirt to the left and right, respectively, of the longitudinal central plane.

Description

[0001] Vehicle, system and method for displacing feed

[0002] The invention relates to a vehicle for displacing feed which is situated on a surface, in particular feed on a floor alongside a feed fence, such as adjacent to a feeding alley of an animal shed.

[0003] W02016018141A1 discloses an autonomous vehicle which is configured to displace feed situated on a surface to a feed fence. The vehicle comprises an undercarriage which is provided with a plurality of wheels which are wheelable across the surface. The vehicle comprises an ultrasonic sensor which determines the distance of the vehicle to the feed fence. The ultrasonic sensor is connected to a control unit which is programmed in such a way that the vehicle travels at a predetermined distance along the feed fence.

[0004] The vehicle has a skirt which is suspended from a skirt carrier so as to be freely rotatable. The skirt carrier is arranged on the undercarriage. The skirt defines a continuous bottom edge and on top thereof an outer surface for displacing and / or pushing back the feed lying on the surface. The skirt has an axis of rotation which runs slightly obliquely with respect to the vertical, i.e. the lowest point of the continuous bottom edge comes into contact with the surface and / or the feed situated thereon.

[0005] Due to the lowest point and / or adjacent circumferential portions of the bottom edge coming into contact with the surface and / or the feed situated thereon, the skirt rotates slowly when the vehicle travels forward. As a result thereof, the feed which is situated on the surface is displaced by means of an outer surface of the rotating skirt and / or pushed back in a direction perpendicular to the direction of travel of the vehicle towards the feed fence.

[0006] The lowest point on the bottom edge of the skirt is adjustable. With this known vehicle, the skirt carrier from which the skirt is suspended so as to be rotatable, is connected to the undercarriage so as to be pivotable about a substantially vertical pivot axis which is situated in a longitudinal central plane of the vehicle. If the angular position of the skirt carrier is adjusted in such a manner that the slightly oblique axis of rotation of the skirt runs in the longitudinal central plane of the vehicle, the lowest point on the bottom edge of the rotating skirt is situated in the centre of the vehicle.

[0007] By pivoting the skirt carrier from this angular position about the vertical pivot axis, the oblique axis of rotation of the skirt, viewed in plan view, comes to lie at an angle with respect to the longitudinal central plane of the vehicle. In this case, the axis of rotation of the skirt continues to enclose the same angle with the vertical. Therefore, by pivoting the skirt carrier about the vertical pivot axis, the lowest point is moved to the left or to the right of the longitudinal central plane.

[0008] When the vehicle travels on the right along a feed fence, the skirt carrier is pivoted to the left, so that the lowest point of the bottom edge of the skirt is adjusted to be on the left. The skirt then rotates counterclockwise when the vehicle travels forwards, as a result of which the skirt pushes the feed towards the feed fence on the left-hand side. If a feed fence is situated on the other side of the vehicle, i.e. on the right-hand side, the skirt carrier is pivoted to the right in order to adjust the lowest point of the bottom edge of the skirt to the right. The skirt then rotates clockwise when the vehicle moves forward, so that the skirt can then also move the feed towards the feed fence.

[0009] The embodiment with the pivotable skirt carrier for adjusting the lowest point to the left or to the right works satisfactorily and is reliable, but requires considerable installation space. Depending on the design and / or the task of the vehicle, the available installation space may be limited, as a result of which this embodiment with the pivotable skirt carrier may not always be suitable. In particular, there is less installation space available in an autonomous vehicle which is configured for both pushing back feed along a feed fence and for feeding animals, such as cows. In this case, for example, relatively large batteries, more or more powerful motors are used, as a result of which insufficient space remains for the pivotable skirt carrier. Nevertheless, even in the case of such a vehicle, it is desirable to be able to adjust the lowest point to the left and to the right for pushing back the feed.

[0010] It is an object of the invention to provide an improved vehicle for displacing feed which is situated on a surface, in which, in particular, the lowest point can readily be adjusted to the left and to the right, and the necessary installation space for measures to adjust the lowest point is restricted.

[0011] This object is achieved, according to the invention, by a vehicle for displacing feed which is situated on a surface, in particular feed on a floor along a feed fence, such as adjacent to a feeding alley in an animal shed, the vehicle comprising:

[0012] - an electrical drive and steering system for driving and steering the vehicle,

[0013] - a battery system for storing electrical energy,

[0014] - an undercarriage,

[0015] - a skirt carrier which is arranged on the undercarriage,

[0016] - a skirt which is suspended from the skirt carrier so as to be freely rotatable about an axis of rotation, wherein the skirt defines a continuous bottom edge which, during the displacement of feed, extends in a plane which runs obliquely with respect to the surface, so that a lowest point of this bottom edge comes into contact with the surface and / or the feed situated thereon, and the skirt, when moving the vehicle in a direction of travel parallel to a longitudinal central plane of the vehicle, due to this contact, rotates in order to displace the feed which is situated on the surface by means of an outer surface of the rotating skirt in a direction perpendicular to the direction of travel of the vehicle, wherein the skirt carrier comprises a tilting arm which extends perpendicularly to the longitudinal central plane and, viewed in the direction of travel, in front of the axis of rotation of the skirt, wherein the tilting arm, on either side of the longitudinal central plane, is provided with, respectively, viewed in the direction of travel, a left end and a right end with skirt-guiding elements, from which the skirt is suspended so as to be at least partly rotatable, and wherein the tilting arm comprises a central hinged connection which defines a tilting axis which is situated substantially in the longitudinal central plane and, in particular, runs substantially horizontally, wherein the axis of rotation of the skirt and the tilting axis of the tilting arm preferably intersect at a point, and wherein the vehicle comprises an electrically actuatable adjustment device which is connected to the battery system, and wherein the tilting arm is adjustable by means of the adjustment device to a left pushing position and a right pushing position, in which the tilting arm is tilted about the tilting axis to an oblique position to the left or to the right, respectively, in order to tilt the skirt-guiding element on the left end and on the right end of the tilting arm, respectively, down in order to adjust the lowest point of the skirt to the left and to the right, respectively, of the longitudinal central plane.

[0017] It should be noted that in this description the term “perpendicular(ly)” is not limited to an angle of 90° with respect to the direction of travel. The phrase “displacing the feed situated on the surface in a direction perpendicular to the direction of travel of the vehicle” has to be understood to include that the feed is displaced in a direction at an angle other than 90° with respect to the direction of travel, for example in a direction at an angle of between 30°-120° or between 45°-105°. The term “perpendicular(ly)” is understood to mean that the direction in which the feed is displaced has a component which is at right angles to the direction of travel.

[0018] The term “horizontal(ly)” in this description is understood to mean substantially parallel to the plane of travel which is defined by the vehicle, in particular the lowest points of wheels of the vehicle. In other words, the term “horizontal(ly)” is understood to mean substantially parallel to the surface, for example a floor surface of a feeding alley in an animal shed or a surface along a feed fence in the open air. The surface is preferably substantially flat. In practice, the surface will not slope, or hardly slope, preferably not more than 3° (4 cm per 100 cm). The term “vertical(ly)” is understood to mean substantially at right angles to the horizontal plane. In the case of a flat surface which does not slope, the “vertical” runs substantially in the direction of the force of gravity.

[0019] Although the vehicle according to the invention may be used for various types of feed and on various kinds of surfaces, both inside and outside, the vehicle according to the invention is particularly suitable for the shifting and / or pushing back of feed which has been deposited along a feed fence on a floor of a feeding alley in an animal shed. The vehicle is preferably self-propelled, unmanned and autonomous. The vehicle comprises, for example, a control system which is connected to the drive and steering system.

[0020] The undercarriage of the vehicle comprises, for example, a plurality of wheels which can travel across the surface. The drive and steering system may possibly be provided with at least one electrical drive motor for driving at least one of the wheels, with the battery system being connected to the or each electrical drive motor. The electrical drive motor or drive motors of the wheels may be actuated by the control system. The vehicle has, for example, two individually driven rear wheels which are arranged on either side of the longitudinal central plane, and a front wheel which is substantially in the longitudinal central plane.

[0021] The skirt may be composed of a plurality of skirt parts which together form a continuous skirt. The skirt and its continuous bottom edge preferably have a substantially circular cross section. The axis of rotation of the skirt runs, for example, obliquely at an angle with respect to the vertical. The bottom edge extends in a straight plane which runs substantially at right angles with respect to the axis of rotation, i.e. extends obliquely at this angle with respect to the surface. The angle between the axis of rotation of the skirt and the vertical is equal to the angle which encloses the bottom edge of the skirt and the surface.

[0022] When the vehicle rests on a flat surface and the tilting arm is adjusted in the left pushing position or the right pushing position, the lowest point of the bottom edge of the skirt is situated at a predetermined height with respect to the surface. The predetermined height with respect to the surface is, for example, equal to 0, but may also be greater than 0. The bottom edge is adjusted to such a height with respect to the surface that the lowest point is in contact with the surface and / or the feed situated thereon when the feed is being pushed. The lowest point abuts the surface or is situated slightly above the surface, for example at a height of less than 10 cm, preferably less than 4 cm. The lowest point contacts the surface, either directly or indirectly via the feed situated on the surface. The lowest point forms a point of engagement.

[0023] Incidentally, the lowest point is formed by a dynamic point of the bottom edge, i.e. if the position of the lowest point of the bottom edge remains stationary with respect to the undercarriage of the vehicle, the lowest point is formed by, in each case, a different physical point of the periphery of the bottom edge during rotation of the skirt. If, at a first point in time, the lowest point is formed by a physical point on the periphery of the bottom edge, rotation of the skirt results in a different physical point forming the lowest point on the periphery of the bottom edge at a second, later point in time.

[0024] It should furthermore be noted that the term “lowest point” does not mean that the bottom edge can only make contact with the surface and / or the feed situated thereon with a single point. In practice, the bottom edge of the skirt has a flexible strip, as a result of which the bottom edge not only touches the surface and / or the feed situated thereon with the lowest point, but also with adjacent circumferential portions of the bottom edge.

[0025] When the vehicle travels forward, contact of the lowest point and / or adjacent circumferential portions of the bottom edge with the surface and / or the feed situated thereon leads to the skirt rotating about the axis of rotation. The skirt is driven by the ground. At the location of the surface, the outer surface of the skirt forms an outer peripheral wall of the vehicle which extends upwards from the surface, for example up to a height which is between 10 and 80 cm, preferably between 30 and 60 cm. By means of the outer surface of the rotating skirt, the feed situated on the surface is displaced and / or pushed in a direction perpendicular to the direction of travel of the vehicle, in particular in the direction of the feed fence.

[0026] In order to be able to readily adjust the lowest point on the left and on the right during pushing of the feed, the vehicle according to the invention is provided with the tilting arm which may be configured to be slim. Viewed in plan view, the tilting arm only has to extend perpendicularly to the longitudinal central plane across a narrow strip. In other words, the tilting arm only requires a thin prismatic installation space. Except for the electrical adjustment device, which is also arranged in the vehicle, no installation space is required in front of and behind the tilting arm in order to be able to adjust the lowest point on the left and on the right. The required installation space for adjusting the lowest point is thus reduced. As a result thereof, the vehicle according to the invention is improved.

[0027] Due to the fact that the installation space is reduced, it becomes possible, for example, to provide the vehicle with larger batteries, more powerful motors and / or more motors. According to the invention, the vehicle may be configured as a feed pusher. If the vehicle is used to push back feed, the vehicle may, for example, travel further, faster and / or for longer. In addition, according to the invention, it is possible for the vehicle to be configured to feed animals, such as cows, and to be provided with a container for holding feed, and a dispensing device for dispensing feed held in the container. In this case, the vehicle preferably also comprises a mixing device for mixing feed which is held in the container. If the vehicle is configured to feed animals, it is a significant advantage to be able to use larger batteries and a more powerful motor, such as an additional motor and gearbox for driving the mixing device.

[0028] In a preferred embodiment according to the invention, the hinged connection is connected substantially in the longitudinal central plane so as to be displaceable in the height direction to a guiding device which is attached to the undercarriage, wherein the hinged connection of the tilting arm, in the left pushing position and the right pushing position of the tilting arm, downwardly rests on a stop of the guiding device, and wherein the tilting arm is adjustable, by means of the adjustment device, in a skirt-lifting position, in which the hinged connection of the tilting arm is lifted at a distance above this stop of the guiding device and the tilting arm extends substantially horizontally in such a way that the bottom edge of the skirt is completely clear of the surface.

[0029] As a result thereof, the skirt can be lifted by means of the tilting arm, so that the bottom edge of the skirt comes to lie completely clear of and above the surface. Preferably, in the skirt-lifting position, the lowest point of the bottom edge of the skirt is at a height above the surface which is greater than 10 cm, more preferably greater than 15 cm or 20 cm. The vehicle is then able to travel without the lowest point of the bottom edge coming into contact with the surface, i.e. the vehicle can travel without the skirt rotating, thus allowing a higher speed. The skirt is lifted, for example, when the vehicle travels from one animal shed to another animal shed, or within an animal shed travels from one feed fence to another feed fence.

[0030] It should be noted that with the above-described known vehicle, the skirt may also be lifted, but that in this case the skirt is lifted by means of the pivotable skirt carrier, which requires a significant amount of installation space. By means of the preferred embodiment with the liftable tilting arm according to the invention, it is possible to lift up the skirt while the required installation space is reduced.

[0031] According to the invention, the adjustment device may be configured in various ways. In a specific embodiment according to the invention, the adjustment device comprises:

[0032] - an electrical actuation device which is connected to the battery system, and

[0033] - a supporting beam which extends substantially horizontally and substantially directly under the tilting arm, wherein the tilting arm rests on the supporting beam on either side of the longitudinal central plane by means of supporting elements, and wherein the supporting beam is provided with, respectively, viewed in the direction of travel, a left end and a right end with an obliquely downwardly running guide track on either side of the longitudinal central plane, and wherein the supporting beam is displaceably connected to the undercarriage and is adjustable, by means of the actuation device, to

[0034] • a right position, in which the tilting arm, by means of the supporting elements, rests on, viewed in the direction of travel, a portion of the supporting beam situated to the right of the longitudinal central plane respectively the guide track of the left end of the supporting beam, in such a way that the tilting arm is adjusted to the left pushing position,

[0035] • a left position, in which the tilting arm, by means of the supporting elements, rests on, viewed in the direction of travel, a portion of the supporting beam situated to the left of the longitudinal central plane respectively the guide track of the right end of the supporting beam, in such a way that the tilting arm is adjusted to the right pushing position, and

[0036] • a central position, in which the tilting arm, by means of the supporting elements, rests on, viewed in the direction of travel, inwardly situated portions of the supporting beam situated to the left respectively right of the longitudinal central plane, with respect to the guide tracks, in such a way that the tilting arm is adjusted in the skirt-lifting position.

[0037] This embodiment of the adjustment device provides the functionality to displace the tilting arm to the left pushing position, the right pushing position and the skirtlifting position, while the required installation space remains limited. The supporting arm extends substantially directly under the tilting arm, i.e. the supporting arm and the tilting arm are situated in the same narrow prismatic space, in front of which and behind which, space is only required to fit the electrical actuation device.

[0038] According to the invention, it is preferable if the supporting beam is connected to the undercarriage by means of two pivot arms which run substantially parallel with respect to each other, in such a way that the supporting beam, the pivot arms and the undercarriage together form a mechanism of four links, wherein the mechanism of four links makes it possible to displace the supporting beam from the right position to the central position and then to the left position and back. In this case, the supporting beam, pivot arms and the undercarriage form a mechanism of four links or parallelogram construction. The pivot axes of the connections between the supporting beam and a top end of the pivot arms, and the pivot axes of the connections between a bottom end of the pivot arms and the undercarriage run substantially parallel to the longitudinal central plane.

[0039] The mechanism of four links makes it possible to displace the supporting beam with respect to the undercarriage in an upward and downward direction and in the direction perpendicular to the longitudinal central plane. In the right position, the central position and the left position, the supporting beam runs substantially horizontally and remains oriented substantially horizontally during the displacement between these positions. During the displacement perpendicular to the longitudinal central plane and simultaneously up and down, the supporting beam remains oriented substantially horizontally. As a result thereof, the left pushing position, the right pushing position and the skirt-lifting position can be adjusted in a reliable manner, while the required installation space remains minimal.

[0040] According to the invention, it is possible for the actuation device to be provided with an actuating rod which engages with the mechanism of four links, in particular with one of the pivot arms, wherein the actuating rod is movable between a retracted position, an extended position and a central position situated in between the former, which correspond to, respectively, one of the positions of the supporting beam. This actuation device is reliable and only takes up little installation space.

[0041] In a specific preferred embodiment according to the invention, the actuation device comprises one linear actuator which is provided with the actuating rod. The actuating rod of the electrical linear actuator is extendable in a substantially straight line. In this case, the vehicle has only one actuator to be able to adjust the left pushing position, the right pushing position and the skirt-lifting position, which is advantageous with a view to limiting costs.

[0042] In an embodiment according to the invention, the vehicle comprises a control system which is operatively connected to the adjustment device. The adjustment device is actuated by the control system of the vehicle. The adjustment device is controlled, for example, by the control system on the basis of an operating signal which is input by a user. In addition, the adjustment device may be actuated automatically by the control system.

[0043] For example, a route for the vehicle is programmed in the control system, such as a route through a feeding alley in an animal shed, and / or across the yard of a farm, such as from a feed store system to an animal shed, or from an animal shed to another animal shed. Based on the programmed route, the adjustment device may be controlled by the control system automatically to assume the left pushing position and the right pushing position, and preferably also the skirt-lifting position, while travelling along this route.

[0044] Assuming that the feed fence is initially situated to the right of the vehicle and the lowest point of the bottom edge is adjusted to front right. When the vehicle then turns around, so that the feed fence comes to lie to the left of the vehicle, the lowest point is automatically moved to front left by means of the adjustment device which is actuated by the control system. Thus, the vehicle according to the invention has many possible uses.

[0045] In an embodiment, the vehicle comprises a distance-measuring device for determining the distance to a feed fence, and a control system which is connected to the distance-measuring device and to the drive and steering system of the vehicle, wherein the control system is configured to move the vehicle at a predetermined distance along the feed fence. The feed fence delimits, for example, the feeding alley in an animal shed, with the vehicle being able to travel along the former across the floor of the feeding alley at the predetermined distance from the feed fence. The distance-measuring device preferably comprises an ultrasonic sensor and / or a camera. According to the invention, the distance-measuring device may be configured in other ways.

[0046] The invention also relates to a system, comprising at least a feed fence and a vehicle as described above. The vehicle is configured to push back feed which has been deposited along the feed fence in the direction of the feed fence. If the vehicle is furthermore configured to feed the animals, the system forms a feeding system.

[0047] The invention furthermore relates to a method for displacing feed which is situated on a surface along one or more feed fences, in particular on a floor of a feeding alley in an animal shed, by means of a vehicle as described above, wherein the method comprises:

[0048] - moving the vehicle across the surface in the direction of travel on the right along a feed fence, wherein the tilting arm is adjusted to the left pushing position and the lowest point is situated in a front-left position on the bottom edge of the skirt, viewed in the direction of travel and with respect to the longitudinal central plane, and wherein the lowest point in this front-left position comes into contact with the surface and / or the feed situated thereon and, due to this contact, the skirt rotates about the axis of rotation for displacing the feed situated on the surface by means of the outer surface of the rotating skirt in a direction perpendicular to the direction of travel of the vehicle towards the feed fence on the left-hand side,

[0049] - moving the vehicle across the surface in the direction of travel on the left along a feed fence, which may be the same feed fence or a different feed fence, wherein the tilting arm is adjusted to the right pushing position and the lowest point is situated in a frontright position on the bottom edge of the skirt, viewed in the direction of travel and with respect to the longitudinal central plane, and wherein the lowest point in this front-right position comes into contact with the surface and / or the feed situated thereon and, due to this contact, the skirt rotates about the axis of rotation for displacing the feed situated on the surface by means of the outer surface of the rotating skirt in a direction perpendicular to the direction of travel of the vehicle towards the feed fence on the right-hand side.

[0050] The method according to the invention has the same technical effects and advantages as described above in relation to the vehicle according to the invention.

[0051] According to the invention, it is preferable, with this method, for a route for the vehicle to be programmed in a control system of the vehicle which is connected to the adjustment device, wherein the adjustment device is controlled by the control system, based on the programmed route, to automatically adjust the left pushing position and the right pushing position, and preferably also the skirt-lifting position, when travelling along this route.

[0052] The invention will now be explained in more detail by means of the attached figures, in which:

[0053] Figure 1 shows a diagrammatic plan view of a system according to the invention, comprising a vehicle which travels along a feed fence in an animal shed.

[0054] Figure 2 shows a diagrammatic view in perspective of the vehicle illustrated in Figure 1.

[0055] Figure 3 shows a diagrammatic view in perspective of an alternative embodiment of the vehicle for use with the system illustrated in Figure 1 .

[0056] Figure 4 shows a cut-away view in perspective of the substructure of the vehicle illustrated in Figure 1.

[0057] Figure 5 shows a cut-away plan view of the substructure of the vehicle illustrated in Figure 1.

[0058] Figures 6A and 6B show the substructure of the vehicle illustrated in Figure

[0059] 1 , wherein the lowest point is situated, viewed in the direction of travel, on the front left.

[0060] Figures 6C and 6D show a rear view and a view in perspective of the tilting arm in the left pushing position.

[0061] Figures 7A and 7B show the substructure of the vehicle illustrated in Figure 1 , with the skirt being lifted.

[0062] Figure 7C shows a rear view of the tilting arm in the skirt-lifting position.

[0063] Figure 8A shows the substructure of the vehicle illustrated in Figure 1 , with the lowest point being situated, viewed in the direction of travel, on the front right.

[0064] Figure 8B shows a rear view of the tilting arm in the right pushing position.

[0065] The system 1 illustrated in Figure 1 comprises two feed fences 6 and a vehicle 9. The system 1 forms an automatic feeding system for feeding animals, such as cows 4. The system 1 is installed in an animal shed 2 with a dwelling space 3 for keeping the cows 4, fitted with cubicles 5. On the side of each feed fence 6 situated opposite the dwelling space 3, there is a feeding alley 7. In this exemplary embodiment, the vehicle 9 is configured as an autonomous vehicle for feeding the cows 4 with feed from a feed store system (not shown). The feed store system contains, for example, a plurality of types of feed, such as grass silage, hay and maize. The feed store system may store an amount of feed lasting a plurality of days, for example 1-5 days.

[0066] The vehicle 9 forms a self-propelled, unmanned feed wagon. The vehicle 9 comprises a substructure 9a and a superstructure 9b (see Figure 2). The substructure 9a comprises an undercarriage 10 with two rear wheels 11a and a front wheel 11 b, by means of which the vehicle 9 is wheelable across a floor of the feeding alley 7, the yard of a farm or another surface. The front wheel 11 b is substantially in the vertical longitudinal central plane 29 of the vehicle 9, whereas the rear wheels 11 a are arranged on either side of this longitudinal central plane 29 (see Figure 5).

[0067] The vehicle 9 comprises an electrical drive and steering system for driving and steering the feed wagon. The drive and steering system comprises at least one electrical drive motor 14, and an electronic control system 46 (shown diagrammatically in Figures 2 and 3) which is connected to the drive and steering system for controlling the latter. In this exemplary embodiment, the front wheel 11b is not driven, while each rear wheel 11a can be driven separately by an electrical drive motor 14, so that the vehicle 9 can be steered.

[0068] The drive motors 14 are powered by a battery system 45 for storing electrical energy (shown diagrammatically in Figures 2 and 3). The battery system 45 is connected to the control system 46. The drive motors 14, the battery system 45 and the control system 46 together form the drive and steering system for driving and steering the vehicle 9.

[0069] By controlling the drive and steering system, the speed and direction of the movement of the vehicle 9 can be determined. By means of the control system 46, the vehicle 9 is able to travel autonomously along a route in order to supply feed to the cows 4. However, it is also possible for the autonomous vehicle 9 to be guided along a route by means of a guide rail. In this case, the vehicle 9 may, for example, be suspended from the guide rail which is attached to the animal shed.

[0070] Figure 1 shows a charging station 8 with a charging system for charging the battery system 45 of the vehicle 9 shown at the end of the feeding alley 7. The charging system of the charging station 8 comprises a charging coupling 10a which can be brought into a detachable mechanical coupling position with a vehicle coupling 10b to produce a plug connection. In practice, the charging station 8 may be arranged near the feed store system (not shown). While the vehicle 9 is placed in the charging station 8 to charge the battery system, the vehicle 9 can be filled with feed. In this case, the charging station 8 simultaneously acts as a feed supply station.

[0071] The vehicle 9 comprises a container 12 for holding a batch of feed. The container 12 is arranged on the undercarriage 10 of the vehicle 9. The container 12 comprises a bottom 14 and a continuous side wall 15 which extends upwards from the bottom 14. In the container 12, a mixing and / or cutting element 13 for mixing and / or cutting feed held in the container 12 is fitted. The mixing and / or cutting element 13 is drivable and rotatable about a substantially vertical axis of rotation 16.

[0072] An elongate dispensing aperture 20 is provided in the side wall 15 of the container 12 for dispensing the feed from the container 12. The dispensing aperture 20 is closable by an elongate sliding door 21. In the closed position of the sliding door 21 , the dispensing aperture 20 is completely closed, i.e. the feed cannot leave the container 12 via the dispensing aperture 20. The sliding door 21 can be displaced upwards from the closed position into an open position, in which the sliding door 21 unblocks the dispensing aperture in order to dispense the feed from the container 12. When the sliding door 21 is open, feed held in the container 12 can be distributed along one or more of the feed fences 6 in the animal shed 2.

[0073] The vehicle 9 comprises a rotatable skirt 18 with an outer surface 23 for displacing and / or pushing back remaining feed which is situated along the feed fence 6 and feed which has been dispensed via the dispensing aperture 20 in a direction perpendicular to the direction of travel A of the vehicle 9, in particular for forming a swathlike heap of pushed-back feed along a feed fence 6. The dispensing aperture 20 is positioned in such a way that the feed discharged from the dispensing aperture 20 is also pushed back. The pushed-back feed comprises the remaining feed which was already present along the feed fence 6 and the feed which has just been dispensed from the dispensing aperture 20.

[0074] According to the invention, the vehicle 9 may also be configured as a feed pusher (see Figure 3). In this case, the substructure 9a of the vehicle 9 is substantially the same as with the vehicle 9 for feeding the animals. However, the vehicle 9 for pushing back feed along the feed fence 6, without dispensing feed, has no container for holding a batch of feed, and does not have a dispensing device for dispensing feed along the feed fence 6 either. Feed is deposited on the floor of the feeding alley 7 for the animals 4 which can eat at the feed fence 1 , for example by means of the vehicle 9 shown in Figure 2 or a pulled or self-propelled feed-mixing wagon (not shown) known per se. The vehicle 9 illustrated in Figure 3 moves in a direction of travel A along the feed fence 6 across the floor of the feeding alley 7 to push back the feed.

[0075] The vehicle 9 is furthermore provided with a distance-measuring device 19, in the illustrated exemplary embodiment an ultrasonic sensor, for determining the distance of the vehicle 9 to the feed fence 6. However, the vehicle 6 may comprises other navigation means, such as a camera, gyroscope and / or sensor for following beacons arranged on the floor 6, for example a metal strip. The distance-measuring device 19 and / or other navigation means are connected to the control system 46 in order to move the vehicle 9 at a predetermined distance along the feed fence 6 or the feed fences 6 along a route preprogrammed in the control system 46. The power for the distancemeasuring device 19 is supplied by the battery system 45.

[0076] As is illustrated in Figure 4, the continuous skirt 18 in this exemplary embodiment comprises a continuous bearing rail 21. Four skirt parts 23a are arranged on the bearing rail 21 which together form the continuous outer surface 23 (see Figure 5). On its underside, the skirt 18 comprises a flexible pantograph contact strip 24, as shown in Figures 6A and 6B. The pantograph contact strip 24 is made, for example, from flexible plastic. The pantograph contact strip 24 forms a continuous bottom edge 25 of the skirt 18. In this exemplary embodiment, the skirt 18 and the bottom edge 25 thereof have a substantially circular cross section.

[0077] The bearing rail 21 of the skirt 18 is rotatably suspended from a skirt carrier 30 by means of skirt-guiding elements 22, in this exemplary embodiment three bevel gear wheels. The bevel gear wheels 22 define an axis of rotation 27 of the skirt 18 (see Figures 6A and 6B). The axis of rotation 27 of the skirt 18 runs obliquely to the vertical, for example at an angle of between 0-5°. The bottom edge 25 of the skirt 18 extends in a plane which runs substantially at right angles to the axis of rotation 27 and at this angle with respect to the floor 6. By way of a lowest point 26 and / or circumferential portions of the bottom edge 25 adjacent thereto, the bottom edge 25 makes contact with the floor and / or the feed situated thereon. The lowest point 26 is situated outside the longitudinal central plane 29 of the vehicle 9. When the vehicle 9 travels across the floor, the skirt 18 slowly rotates about the axis of rotation 27 (see arrow B in Figures 2 and 3) due to the lowest point 26 and / or circumferential portions of the bottom edge 25 adjacent thereto being in contact with the floor and / or the feed situated thereon, as a result of which the outer surface 23 of the rotating skirt 18 pushes the feed in the direction of the feed fence 6.

[0078] The position of the lowest point 26 of the bottom edge 25 of the skirt 18 can be adjusted. According to the invention, the skirt carrier 30 comprises a tilting arm 31 which extends perpendicularly to the longitudinal central plane 29 and, viewed in the direction of travel A, in front of the axis of rotation 27 of the skirt 18. On either side of the longitudinal central plane 29, the tilting arm 31 comprises, viewed in the direction of travel A, a left end 32 and a right end 33, respectively. The ends 32, 33 of the tilting arm 31 each carry one of the skirt-guiding elements 22.

[0079] The tilting arm 31 comprises a central hinged connection 34 which defines a tilting axis which extends substantially horizontally in the longitudinal central plane 29. The hinged connection 34 is connected to a guiding device 35, so as to be substantially vertically displaceable in the longitudinal central plane 29, which guiding device 35 is attached to the undercarriage 10. The guiding device 35 comprises a stop 45 which restricts the downward displacement of the tilting arm 31 .

[0080] The tilting arm 31 is adjustable by means of an electrically actuatable adjustment device 36 which is connected to the battery system 45. The adjustment device 36 comprises an electrical actuation device 37 which, in this exemplary embodiment, is configured as a linear actuator. The actuator 37 has an actuating rod 38 which is displaceable between a retracted position, an extended position and a central position in between the former.

[0081] The adjustment device 36 furthermore comprises a supporting beam 40 which extends substantially horizontally and substantially directly under the tilting arm 31 , i.e. also runs perpendicularly to the longitudinal central plane 29. The tilting arm 31 , by means of supporting elements 39, rests on the supporting beam 40 on either side of the longitudinal central plane 29. On either side of the longitudinal central plane 29, the supporting beam 40 has, viewed in the direction of travel A, a left end 41 and a right end 42 with an obliquely downwardly extending guide track, respectively.

[0082] The supporting beam 40 is connected to the undercarriage 10 by means of two pivot arms 43, 44 which are substantially parallel to each other. The supporting beam 40, the pivot arms 43, 44 and the undercarriage 10 together form a mechanism of four links. In this exemplary embodiment, the actuating rod 38 of the actuator 37 is in engagement with the pivot arm 44 on the right-hand side of the vehicle 9. The supporting beam 40 is thus displaceably connected to the undercarriage 10 and adjustable by means of the actuator 37.

[0083] In Figures 6C and 6D, the actuating rod 38 of the actuator 37 is retracted in order to adjust the supporting beam 40 in a right position. The hinged connection 34 of the tilting arm 31 then rests downwardly on the stop 45 in the guiding device 35. By means of the supporting elements 39, the tilting arm 31 rests on a portion of the supporting beam 40 which, viewed in the direction of travel A, is situated to the right of the longitudinal central plane 29, respectively the guide track of the left end 41 of the supporting beam 40.

[0084] The tilting arm 31 is then situated in a left pushing position, in which the tilting arm 31 is tilted about the tilting axis 34 to an oblique position to the left in order to tilt the skirt-guiding element 22 on the left end 32 downwards in order to adjust the lowest point 26 of the skirt 18 to the left (see Figures 6A and 6B). If the vehicle 9 drives on the right side along the feed fence 6, as is illustrated in Figures 1 , 2 and 3, the vehicle 9 pushes the feed to the feed fence 6 on the left-hand side.

[0085] If the actuating rod 38 of the actuator 37 is extended to the central position (see Figure 7C), the tilting arm, by means of the supporting elements 39, comes to rest on portions of the supporting beam 40 which, viewed in the direction of travel A, are situated inwardly on the left and right, respectively, of the longitudinal central plane 29 with respect to the ends 42 with the obliquely downwardly extending guide tracks. In other words, the supporting elements 39 of the tilting arm 31 are situated on a central portion of the supporting beam 40.

[0086] The hinged connection 34 of the tilting arm 31 is then lifted to a distance above the stop 45 of the guiding device 35, while the tilting arm 31 extends substantially horizontally. The tilting arm 31 is in in a skirt-lifting position, in which the bottom edge 25 of the skirt 18 is entirely clear of the surface (see Figures 7A and 7B). Incidentally, the bottom edge 25 of the skirt 18 may in this case still run slightly obliquely with respect to the surface. If the skirt 18 has been lifted, the vehicle 9 is not only able to travel faster, but may also travel, for example, across rougher terrain than the smooth floor of a feeding alley, such as across the yard of a farm outside the animal shed.

[0087] As is shown in Figure 8B, the actuating rod 38 of the actuator 37 may furthermore be extended to the completely extended position in order to adjust the supporting beam 40 to a right position. The hinged connection 34 of the tilting arm 31 in the guiding device 35 then again rests downwardly on the stop 45. By means of the supporting elements 39, the tilting arm 31 rest on a portion of the supporting beam 40 which, viewed in the direction of travel A, is situated to the left of the longitudinal central plane 29, respectively the guide track of the right end 42 of the supporting beam 40.

[0088] The tilting arm 31 is then in a right pushing position, in which the tilting arm 31 is tilted about the tilting axis 34 to an oblique position to the right in order to tilt the skirt-guiding element 22 downwardly at the right end 33 so as to adjust the lowest point 26 of the skirt 18 to the right (see Figure 8A). If the vehicle 9 travels on the left along the feed fence 6, for example in Figure 1 in the opposite direction along the feed fence 6 (in the drawing downwards), the vehicle 9 therefore pushes the feed towards the feed fence 6 on the right-hand side.

[0089] The adjustment device 36 is connected to the control system 46. A route for the vehicle 9 is programmed into the control system 36. The adjustment device 36 can be controlled by the control system 46 based on the programmed route to automatically adjust the left pushing position, the skirt-lifting position and the right pushing position while travelling along this route. The route is for example divided into a number of route sections. While the vehicle 9 travels along the route, the skirt 18 is automatically lifted and the lowest point of the bottom edge of the skirt 18 is automatically adjusted to the left or to the right, depending on the part of the route.

[0090] The components according to the invention to be able to adjust the lowest point 26 to the left and to the right when pushing back the feed and to lift the skirt only occupy little installation space. The required installation space is substantially determined by the assembly comprising the tilting arm 31 , the supporting arm 40 and the actuator 37, i.e. in front thereof and behind, a considerable installation space remains available which may be used, for example, for larger batteries, more powerful motors and / or more motors.

[0091] The invention is not limited to the embodiments illustrated in the figures. The person skilled in the art may make various changes and modifications without departing from the scope of the invention.

Claims

CLAIMS1 . Vehicle for displacing feed which is situated on a surface, in particular feed on a floor along a feed fence (6), wherein the vehicle (9) comprises:- an electrical drive and steering system for driving and steering the vehicle (9),- a battery system (45) for storing electrical energy,- an undercarriage (10),- a skirt carrier which is arranged on the undercarriage,- a skirt (18) which is suspended from the skirt carrier so as to be rotatable about an axis of rotation (27), wherein the skirt defines a continuous bottom edge (25) which, during the displacement of feed, extends in a plane which runs obliquely with respect to the surface, so that a lowest point (26) of said bottom edge is in contact with the surface and / or the feed situated thereon, and the skirt, when moving the vehicle in a direction of travel (A) parallel to a longitudinal central plane (29) of the vehicle, due to said contact, rotates in order to displace the feed which is situated on the surface by means of an outer surface (23) of the rotating skirt in a direction perpendicular to the direction of travel of the vehicle, characterized in that the skirt carrier comprises a tilting arm (31) which extends perpendicularly to the longitudinal central plane and, viewed in the direction of travel, in front of the axis of rotation of the skirt, wherein the tilting arm, on either side of the longitudinal central plane, is provided with, respectively, viewed in the direction of travel, a left end (32) and a right end (33) with skirt-guiding elements (22), from which the skirt is suspended so as to be at least partly rotatable, and wherein the tilting arm comprises a central hinged connection (34) which defines a tilting axis which is situated substantially in the longitudinal central plane, and wherein the vehicle comprises an electrically actuatable adjustment device (36) which is connected to the battery system, and wherein the tilting arm is adjustable by means of the adjustment device to a left pushing position and a right pushing position, in which the tilting arm is tilted about the tilting axis to an oblique position to the left or to the right, respectively, in order to tilt the skirt-guiding element on the left end and on the right end of the tilting arm, respectively, down in order to adjust the lowest point of the skirt to the left and to the right, respectively, of the longitudinal central plane.

2. Vehicle according to Claim 1 , wherein the hinged connection (34) is connected substantially in the longitudinal central plane so as to be displaceable in a height direction to a guiding device (35) which is attached to the undercarriage, andwherein the hinged connection of the tilting arm, in the left pushing position and in the right pushing position, downwardly rests on a stop (45) of the guiding device, and wherein the tilting arm is adjustable, by means of the adjustment device, in a skirt-lifting position, in which the hinged connection of the tilting arm is lifted at a distance above said stop of the guiding device and the tilting arm extends substantially horizontally in such a way that the bottom edge of the skirt is completely clear of the surface.

3. Vehicle according to Claim 2, wherein the adjustment device comprises:- an electrical actuation device (37) which is connected to the battery system, and- a supporting beam (40) which extends substantially horizontally and substantially directly under the tilting arm, wherein the tilting arm rests on the supporting beam on either side of the longitudinal central plane by means of supporting elements (39), and wherein the supporting beam is provided with, respectively, viewed in the direction of travel, a left end (41) and a right end (42) with an obliquely downwardly running guide track on either side of the longitudinal central plane, and wherein the supporting beam is displaceably connected to the undercarriage and is adjustable, by means of the actuation device, to• a right position, in which the tilting arm, by means of the supporting elements, rests on, viewed in the direction of travel, a portion of the supporting beam situated to the right of the longitudinal central plane respectively the guide track of the left end of the supporting beam, in such a way that the tilting arm is adjusted to the left pushing position,• a left position, in which the tilting arm, by means of the supporting elements, rests on, viewed in the direction of travel, a portion of the supporting beam situated to the left of the longitudinal central plane respectively the guide track of the right end of the supporting beam, in such a way that the tilting arm is adjusted to the right pushing position, and• a central position, in which the tilting arm, by means of the supporting elements, rests on, viewed in the direction of travel, inwardly situated portions of the supporting beam situated to the left respectively right of the longitudinal central plane, with respect to the guide tracks, in such a way that the tilting arm is adjusted in the skirt-lifting position.

4. Vehicle according to Claim 3, wherein the supporting beam is connected to the undercarriage by means of two pivot arms (43, 44) which run substantially parallel with respect to each other, in such a way that the supporting beam, the pivot arms and the undercarriage together form a mechanism of four links, wherein the mechanism of four links makes it possible to displace the supporting beam from the right position to the central position and then to the left position and back.

5. Vehicle according to Claim 4, wherein the actuation device is provided with an actuating rod (38) which engages with the mechanism of four links, in particular with one of the pivot arms, and wherein the actuating rod is movable between a retracted position, an extended position and a central position situated in between the former, which correspond to, respectively, one of the positions of the supporting beam.

6. Vehicle according to Claim 5, wherein the actuation device comprises one linear actuator (37) which is provided with the actuating rod.

7. Vehicle according to one or more of the preceding claims, wherein the vehicle is provided with a control system (46) which is connected to the adjustment device, wherein a route for the vehicle is programmed in the control system, and wherein the adjustment device is controlled by the control system, based on the programmed route, to automatically adjust the left pushing position and the right pushing position, and preferably also the skirt-lifting position, when travelling along said route.

8. Vehicle according to one of the preceding claims, wherein the vehicle is provided with a distance-measuring device (19) for determining the distance to a feed fence (6), and a control system (46) which is connected to the distance-measuring device and to the drive and steering system of the vehicle, wherein the control system is configured to move the vehicle at a predetermined distance along the feed fence.

9. Vehicle according to one or more of the preceding claims, wherein the vehicle is autonomous.

10. Vehicle according to one or more of the preceding claims, wherein the vehicle is configured for feeding animals, such as cows, wherein the vehicle is provided with a container (12) for holding a batch of feed, and a dispensing device (20, 21) for dispensing feed held in the container.11 . System, comprising at least a feed fence (6) and a vehicle (9) according to one of the preceding claims.

12. Method for displacing feed which is situated on a surface along one or more feed fences (6), in particular on a floor of a feeding alley (7) in an animal shed (2), by means of a vehicle (9) according to one or more of the preceding claims, wherein the method comprises:- moving the vehicle across the surface in the direction of travel (A) on the right along a feed fence, wherein the tilting arm (31) is adjusted to the left pushing position and the lowest point (26) is situated in a front-left position on the bottom edge (25) of the skirt (18), viewed in the direction of travel and with respect to the longitudinal central plane (29), and wherein the lowest point in said front-left position is in contact with the surfaceand / or the feed situated thereon and, due to said contact, the skirt rotates about the axis of rotation (27) for displacing the feed situated on the surface by means of the outer surface (23) of the rotating skirt in a direction perpendicular to the direction of travel of the vehicle towards the feed fence on the left-hand side, - moving the vehicle across the surface in the direction of travel on the left along a feed fence, which may be the same feed fence or a different feed fence, wherein the tilting arm is adjusted to the right pushing position and the lowest point is situated in a frontright position on the bottom edge of the skirt, viewed in the direction of travel and with respect to the longitudinal central plane, and wherein the lowest point in said front-right position is in contact with the surface and / or the feed situated thereon and, due to said contact, the skirt rotates about the axis of rotation for displacing the feed situated on the surface by means of the outer surface of the rotating skirt in a direction perpendicular to the direction of travel of the vehicle towards the feed fence on the right-hand side.

13. Method according to Claim 12, wherein a route for the vehicle is programmed in a control system (46) of the vehicle which is connected to the adjustment device (36), and wherein the adjustment device is controlled by the control system, based on the programmed route, to automatically adjust the left pushing position and the right pushing position, and preferably also the skirt-lifting position, when travelling along said route.

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