System for use on a farm

Abstract

A system for use on a farm comprises a self-propelled barn vehicle and a power supply system. The barn vehicle has a frame with means of locomotion which are drivable by an electric motor, and a battery with a battery plug. The power supply system receives electrical energy from an electricity network, transforms it into a charging current, and comprises a power supply unit with a power supply device for said conversion, a power supply inlet for mains current and a power supply output for said charging current, furthermore at least one charging cable, provided with a charging cable input plug and a charging cable output plug, a mains plug cable, a charging point which is arranged in a fixed position with respect to the outside world, with a charging point input and a charging point output with a female battery connector for detachably connecting to said battery plug connection. The power supply unit is movable physically by hand by an operating person. Either the charging cable output plug of said charging cable is detachable from the charging point input and detachably connectable to said battery plug connection, or the charging cable input plug of said first charging cable is detachably connected to the power supply output and there is furthermore a second charging cable which is detachably connectable by its charging cable input plug to the power supply output and is electrically connectable by its charging cable output plug to the battery in order thus to bring about an electrical connection between the power supply output and the battery. In this way, a stalled self-propelled barn vehicle can also be recharged again via a connection other than the charging point, without having to move said vehicle.

Description

[0001] System for use on a farm

[0002] The present invention relates to a system for use on a farm, comprising a self-propelled barn vehicle and a power supply system, wherein the self-propelled barn vehicle is configured to perform an animal-related operation in an animal barn, and comprises a frame with drivable means of locomotion, in particular wheels, at least one electric motor for driving the means of locomotion, a rechargeable battery configured to provide electrical energy to the at least one electric motor, a battery plug connection for electrically connecting the battery to an external charging source for electrical energy, a device provided on the frame for performing the animal-related operation, wherein the power supply system is configured to receive electrical energy from an electricity network, converting the received electrical energy into a charging current which is suitable for charging said battery and for providing the converted electrical energy to the battery, and wherein the power supply system comprises a power supply unit with a power supply device which is configured to perform said conversion, and with a power supply inlet for mains current from said electricity network and a power supply output for said charging current, a charging cable, provided with a charging cable input plug which is connected or connectable to the power supply output, and with a charging cable output plug, a mains plug cable for connecting the power supply inlet to the electricity network, a charging point arranged in a fixed position with respect to the outside world, with a charging point input which is connected or connectable to the charging cable output plug of a first charging cable from the set of charging cables, and with a charging point output with a female battery connector for detachably connecting to said battery plug connection, wherein said first charging cable is furthermore connectable via its charging cable input plug to said power supply output in order thus to bring about an electrical connection between the power supply output and the charging point output.

[0003] Such a system for use on a farm is known per se. For instance, Lely markets the automatic Vector® feeding system with an autonomous mixing and feeding robot, the autonomous Juno® feed pusher and the autonomous Discovery® manure cleaning robot. Obviously, the mixing and feeding robot of the automatic feeding system occasionally has to be provided with new energy, and a charging point is provided for this purpose. In order to be charged, the vehicle drives to the charging point, thus bringing about an electrical connection. In this position, the battery is recharged, following which the vehicle can resume its task. The autonomous feed pusher and the autonomous manure cleaning robot may likewise be recharged at a charging station provided with a charging point. It is possible for the battery to become drained during operation, for example due to a malfunction, a blockage, etc. For reasons of safety, the vehicle is then often inhibited by means of a brake. For example, the drive motors with the brakes are designed in such a way that the brakes are only released when the battery supplies power. In this case, the brakes are automatically activated should the battery become drained during operation. In such circumstances, it is very laborious to provide the vehicle with electrical energy. In the case of an autonomous feed pusher or autonomous manure cleaning robot, the stalled vehicle may possibly be lifted up and removed by means of a fork-lift truck or another means. But if the autonomous feeding and mixing robot comes to a standstill during operation as a result of drained batteries, such a vehicle is particularly difficult to move, since the feeding and mixing robot is too large and heavy to be towed away. If the feeding and mixing robot is really in the way, it is possible in some cases for the vehicle to be moved by an external means, such as a tractor, while the brakes are engaged. It will be clear that this is undesirable due to the risk of damage to the vehicle, and due to the fact that it takes up considerable time.

[0004] It is therefore an object of the present invention to provide an improved system which alleviates the abovementioned problem at least partly.

[0005] The invention achieves this object by means of a system or barn system according to Claim 1. The invention is based on the idea of making the electrical connection between the vehicle and the power supply system more flexible. After all, it is not feasible in practice to take a separate battery obtained for that purpose to the stationary vehicle, since such batteries are too heavy to be able to do this, and since this would also involve the use of unnecessary resources, partly because of the fact that a vehicle will only rarely stall. However, by providing the power supply unit as a separate component of the power supply system, and making it possible to move this power supply unit manually, the options for bringing about an electrical connection are greatly increased. In particular, the power supply unit is portable. The power supply unit in principle consists mainly of electrical and / or electronic circuitry parts in a housing, which does not have to be heavy, i.e. only a few kilograms. Nevertheless, it is obviously possible to design the power supply unit as a wheelable or slidable device, or as yet another form.

[0006] In this case, the connection between the power supply unit and the charging point has to be detachable, and able to be connected to the vehicle, at least to its battery, in a different way than by using the charging point. To this end, in a first embodiment of the invention, the charging cable can be detached from the charging point input at the charging cable output plug and can be detachably connected to the battery plug connection on the vehicle. In this case, the plug of the charging point, to which the vehicle is connected when coupled, is in fact spatially moved. This may suffice if the vehicle has almost reached the charging point, all this depending on the length of the first charging cable. It is possible to configure this in the form of a reel, thus making it possible to greatly increase the range. In this case, it should be noted that the provision of a long cable which is subject to relatively high current strengths may result in significant heat and power losses. In addition, the charging cable output plug obviously has to be functionally identical to the female battery connector in order to bring about an electrical connection.

[0007] In a second embodiment according to the invention, in addition to the first charging cable which, in this case remains connected to the charging point, but can be detached from the charging cable input plug thereof at the power supply unit, a second charging cable is furthermore provided which can be detachably connected by its charging cable input plug to the power supply output and can be electrically connected to the battery by its charging cable output plug, in particular via the battery plug connection, in order thus to bring about an electrical connection between the power supply output and the battery. Thus, a second cable is provided which greatly increases the options for bringing about an electrical connection. Not only is it thus possible for the connection to the charging point to remain fixed, as this should not be detached too often in order to prevent damage and the risk of short-circuit or another malfunction, but the power supply unit, which is in fact movable, can be moved to a position close to the stationary vehicle by a person and sufficiently close to another socket of the electricity network. The reason for this is that the unit is situated in a barn environment, where multiple sockets are virtually always provided. This means that the wires between the socket and the vehicle do not have to be excessively long.

[0008] In addition, it is also possible to connect the power supply unit to the electricity network by means of an extension cable. In other words, according to the invention, it is possible to provide the power supply system with an extension cable which is configured to electrically connect the power supply unit to the electricity network if the battery of the barn vehicle is connected to the power supply unit by means of the second charging cable, wherein the extension cable in particular has a length which is greater than 5 metres, such as greater than 10 metres or greater than 20 metres. Due to the fact that, in many cases, the mains voltage is much higher than the battery voltage, for example 230 V versus 48 V, the current strength through the mains cable is so much lower that a longer cable or extension cable will produce only a little loss. Even if the socket is situated at a relatively great distance from the stalled barn vehicle, the power supply unit can be arranged close to the barn vehicle by means of the extension cable in order to charge the battery.

[0009] In the present invention, the term "connecting" and similar terms are in each case understood to mean "electrically connecting", unless the context clearly indicates otherwise. Furthermore, in this text, the term "charging point" is understood to refer to any charging device which is arranged in a fixed position with respect to the outside world. It does not necessarily have to be a pole, but may also be, for example, a wall-mounted construction. Therefore, it is advisable to include the more general term “charging station” when reading the customary term "charging point".

[0010] It should be noted that US 2023 / 0234237 A1 discloses a system comprising a feed-pushing robot and a charging device. The charging device is configured as a charging point. In a first embodiment, the charging point is fixed. In this case, a control system sends the feed-pushing robot to the charging point when the battery of the feedpushing robot becomes run down. In another embodiment, the charging point is movable, with the charging point being configured as an autonomous charging robot. When the feed-pushing robot has to be recharged, the control system directs the autonomous charging robot to get close to the feed-pushing robot, so that the feed-pushing robot can be recharged. The charging point configured as an autonomous charging robot is thus moved in its entirety towards the feed-pushing robot, while the charging point according to the invention remains arranged in a fixed position with respect to the outside world, the power supply unit of the power supply system can be detached from the charging point and this power supply unit can then be moved, separately from the charging point, to the autonomous barn vehicle.

[0011] According to the invention, the barn vehicle may be configured in various ways. The animal-related operation may comprise various operations or a combination of various operations. For example, said device for performing the animal-related operation comprises a manure slide and / or manure-sucking device or a rotatable feed-pushing skirt, such as a Discovery® manure cleaning robot and a Juno® feed-pushing robot, respectively. Of course, the animal-related operation then involves the removal or displacement of manure and the pushing down of roughage at a feed fence, respectively. However, the invention has particular advantages with a barn vehicle comprising an animal feed device which is configured to provide animal feed to animals, such as with a mixing and feeding robot of an automatic feeding system. Such a mixing and feeding robot is large and heavy, and consequently very cumbersome to remove in the case of a drained battery or another malfunction which causes the vehicle to stall. Incidentally, such a barn vehicle is also able to travel outside the barn. Nevertheless, other vehicles, such as a mobile milking robot, an autonomous bedding dispenser, etc, are likewise possible.

[0012] According to the invention, it is preferable if the animal feed device comprises a container for accommodating a batch of feed, in which a mixing device for mixing feed accommodated in the container is optionally provided, wherein the system is provided with a feeding area, such as adjacent to a feed fence in a barn, a feed store and a feed-loading system for loading feed from the feed store into the container of the animal feed device, and wherein, in addition to said power supply unit and said charging point, a second charging point and a second power supply unit are provided which are situated on a feed-loading station at the feed store and the feed-loading system, in such a way that the battery of the barn vehicle is rechargeable by means of the second charging point while feed from the feed store is loaded into the container of the animal feed device and / or mixed, and wherein the said power supply unit and said charging point are situated at a distance from the feeding area which is smaller than the distance from the second charging point to the feeding area, in particular are disposed in a barn.

[0013] In this case, the first charging point with the lighter power supply unit thus has two different functions. In the first place, this power supply unit can be used to charge the vehicle in or near the barn without the vehicle having to return all the way to the second charging point at the feed-loading system. In the second place, the lighter power supply unit of the first charging point according to the invention is configured to be mobile, so that this power supply unit can also be used to charge the drained battery of a vehicle which has stalled in the barn. Normally, this would require a separate power supply unit, also with a view to safety rules and regulations. However, according to the invention, such an additional power supply unit for vehicles with a drained battery is not necessary, as this function is incorporated in the mobile, lighter power supply unit of the first charging point.

[0014] In this case, it is preferred if the second power supply unit is fixedly connected to the second charging point. Mixing feed requires a considerable amount of power, so that the second power supply unit with the second charging point at the feedloading station can be configured to be heavier than the first, mobile power supply unit. In that case, the second charging point is fixedly arranged.

[0015] In a particular embodiment, the second power supply unit has a maximum (nominal) electrical power which is higher, in particular at least twice as high, as a maximum (nominal) electrical power of the first power supply unit. Such an embodiment may be useful with a system comprising a vehicle whose device requires high power output, at least temporarily, for example a mixing and feeding robot of the automatic feeding system Vector® Lely. The latter mixes and cuts the feed while it is being filled, requiring significant electrical power. This power is not delivered by the batteries, but comes directly from the electricity network. The reason for this is that not only is the vehicle already stationary, and a constant connection to the electricity network is readily possible, but the batteries would also be drained too quickly or, on the contrary, require a much greater capacity and would therefore weigh much more. Therefore, the possibility is provided to use mains current, in order to provide electrical energy to a motor of the device for the animal-related operation without using the battery. The power supply unit of the charging point which has to provide this power is then also configured differently. Partly due to the higher voltage and / or current strength and the associated safety aspects, such a charging point and power supply unit are in principle connected in a fixed manner.

[0016] According to the invention, it is preferable if the system comprises a second self-propelled barn vehicle which is configured to perform an animal-related operation in the animal barn, and comprises a frame with drivable means of locomotion, such as wheels, at least one electric motor for driving the means of locomotion, a rechargeable battery, and a device provided on the frame for performing the animal-related operation, wherein said device for performing the animal-related operation of at least one of the self- propelled vehicles comprises an animal feed device, and wherein, in addition to said power supply unit and said charging point, a second charging point and a second power supply unit are provided, wherein the self-propelled vehicles are configured to travel in the same space, in particular a feeding alley in a barn, and wherein the system is provided with a control system for controlling the self-propelled vehicles, and wherein the control system is configured to in each case only allow one of the self-propelled vehicles to travel and on the condition that the other self-propelled vehicle is connected to one of the charging points.

[0017] When using two barn vehicles, at least one of which is configured to comprise an animal feed device, in particular as an autonomous feeding and mixing robot, the charging point with the lighter power supply unit has yet another function in addition to the first function of only charging the vehicle. This function relates to the prevention of collisions. According to the invention, it is possible for the first and second self-propelled vehicles to be configured in a substantially identical way, in particular both are configured as the same feeding and mixing robot. It is, for example, also possible for one of the vehicles to be a feeding and mixing robot, while the other vehicle is a feed-pushing robot. Such vehicles are active in the feeding alley of a barn along a feed fence, that is to say in the same area. In this case, both vehicles may be charged, for example, at the same charging point. In particular, two charging points are provided or, in more general terms, as many charging points as there are vehicles. This offers the control unit of each vehicle, or the general control system for all vehicles, the possibility to ensure, in a simple way, that the vehicles do not collide with one another by only allowing one vehicle at a time to travel. In this case, the control system does not have to know where each vehicle is situated in the sense that the vehicle has to be located. The reason for this is that the control system is configured in such a way that, if one of the vehicles is travelling, every other vehicle is positioned at one of the charging points. In other words, the charging point with the lighter power supply unit determines a parking spot for the other vehicle, so that the position of this vehicle is known and collisions are ruled out. The control system only allows a vehicle to travel on the condition that the other vehicle or all other vehicles are attached to a charging point and are therefore safely parked, that is to say their positions are known and collisions are ruled out. That is to say, the travelling vehicle only has to avoid the charging points, without having to know the exact positions of every non-moving vehicle.

[0018] According to the invention, the first charging point with the lighter power supply unit may thus even have three different functions. Firstly, this power supply unit may be used to charge the vehicle in the barn without the vehicle having to return all the way to the feed-loading station. In order to only charge the vehicle, a much lighter power supply unit suffices. Secondly, the charging point with the lighter power supply unit is a safe parking spot which easily prevents collisions. If a vehicle is connected to this charging point, the control system knows the position of this vehicle, and the control system can allow the other vehicle to travel in a safe manner. Thirdly, the lighter power supply unit of the first charging point according to the invention is configured to be mobile, so that this power supply unit may also be used to charge the drained battery of a vehicle which has stalled in the barn. Normally, a separate power supply unit would be required to do this, also in order to comply with safety rules and regulations. But, according to the invention, such an additional power supply unit for stalled vehicles is not necessary, as this function is incorporated in the mobile, lighter power supply unit of the first charging point.

[0019] In embodiments, the power supply unit comprises a housing with a handle. In this way, a person is easily able to pick up the power supply unit which, as has already been mentioned above, does not have to weigh more than a few kilogrammes, and take it to a suitable alternative location. The handgrip may be in any suitable shape and may, for example, be configured as a handle or shaft. It is also possible for several handgrips to be provided.

[0020] Alternatively, the power supply unit may comprise a housing with wheels, so that it is wheelable, or comprise legs provided with a bottom surface suitable for sliding, such as guide blocks, so that it can be moved relatively easily.

[0021] As has been indicated above, it is possible to provide the power supply unit with current via the mains plug cable and an extension cable. In this way, the mains plug cable can be kept short during normal use, and consequently possible losses will be kept low. Nevertheless, it is possible in some embodiments for a cable reel to be provided on the power supply unit for the mains plug cable, resulting in the mains plug cable reaching a length of at least 10 metres, in particular at least 25 metres. Purely on the basis of the length of such a mains plug cable, a surface area of a few thousand square metres can be covered, which will be sufficient in most cases to reach a vehicle which has stalled somewhere in the barn. Obviously, in this case, the connection with the charging point is then interrupted. In addition, the charging device is connected to the battery of the vehicle by means of either an additional charging cable from the set of charging cables, which is provided with a female battery connector, or the power plug itself, if this power plug is either functionally equivalent to the female battery connector, or the battery plug connection comprises a second input for connection with a power plug having a different functionality of that of the female battery connector.

[0022] In particular, the system according to the invention furthermore comprises an animal barn for livestock animals, in which animal barn the or each self-propelled barn vehicle is autonomously movable, wherein the animal barn has a first socket for said mains plug cable when the power supply unit is connected to the charging point, as well as at least one additional socket for said mains plug cable which is situated at a distance from said first socket. As has already been indicated above, such a system offers the possibility of reaching a stalled vehicle with the power supply unit in a flexible manner in order to recharge the battery again. In this case, it is stressed that sockets are often provided next to each other, at least close to each other. It will be clear that such sockets which are provided next to each other, or at least clearly in a group, do not contribute substantially to the flexibility of the system. In particular, said distance is at least equal to the length of the mains plug cable, although the distance is not limited thereto and may also be, for example, half the length of the mains plug cable. In the case of said distances, the flexibility of the movable power supply unit already provides sufficient flexibility in charging a stalled vehicle. The invention will now be explained in more detail by means of a few nonlimiting exemplary embodiments, as well as the drawing in which:

[0023] - Figure 1 diagrammatically shows a plan view of a system according to the invention in a barn,

[0024] - Figure 2 diagrammatically shows a system according to the invention, and

[0025] - Figure 3 diagrammatically shows a similar system during a malfunction in practice (stalling).

[0026] Figure 1 diagrammatically shows a plan view of a system according to the invention for use on a farm, in particular in a barn 1 . The system comprises a feed store, in which, for example, various types of feed are stored. In this exemplary embodiment, the feed store forms a feed kitchen 11 with feed blocks 14, such as blocks of feed cut from a silage pit. The feed kitchen may also comprise other feed, for example troughs of bulk feed or feed bales. The system furthermore comprises a feed-loading system for loading feed from the feed kitchen 11 into a container of a feeding and mixing robot 10, which is placed next to the feed kitchen 11 on a feed-loading station. In this exemplary embodiment, the feed-loading system has an overhead crane 13 with a grab 12.

[0027] The illustration shows that the barn 1 has two spaces 2-A and 2-B which are separated from each other by a feed fence 3 with feed 4 on one side, which is pushed by an autonomous feed pusher 5. Adjacent to the feed fence 3, there is a feeding area, where feed for animals 100, in particular cows, is deposited in the barn. In space 2-B, an autonomous manure cleaning robot 6 pushes manure 7, and an autonomous bedding dispenser 8 fills cubicles 9 with bedding. The cows 100 are situated in the space 2-B.

[0028] The illustration also shows the autonomous mixing and feeding robot 10 in the feed kitchen 11 , where the grab 12 on the overhead crane 13 grabs feed from the feed blocks 14. In the container of the mixing and feeding robot 10, a mixing device for mixing feed accommodated in the container is provided, such as a vertical mixing screw (not shown). Once the container of the mixing and feeding robot 10 has been loaded with feed in accordance with a desired ration and that feed has been mixed, the robot 10 can enter space 2-A via the dashed line and via automatic gate 15.

[0029] In addition, a charging system is shown comprising a first, second, third and fourth charging point 20-1 , 20-2, 20-3 and 20-4, respectively, each provided with a respective power supply unit 21-1 , 21-2, 21-3 and 21-4, and connected to a respective socket 22-1 , 22-2, 22-3 and 22-4. Additional sockets are denoted by reference numeral 23.

[0030] The illustrated autonomous robots 5, 6, 8 and 10 are all robots which are able to autonomously perform an animal-related task in a barn environment. In Figure 1 , both the feed pusher 5 and the mixing and feeding robot 10 are present in the space 2- A. In this case, robots 5 and 10 are able, for example, to communicate with each other in order to prevent a collision while travelling. It is also possible for the feed pusher 5 to be positioned at the charging point 20-1 when the mixing and feeding robot 10 is situated in the space 2-A, so that navigation is also possible without having to continuously request the position of the other robot 5. In Figure 1 , two robots are travelling around space 2-B, namely the autonomous manure cleaning robot 6 and the bedding dispenser 8, both of these communicating with each other in this case.

[0031] The autonomous robots 5, 6, 8 and 10 have to be provided with new electrical energy from time to time. In particular for the robots 5, 6 and 8, this takes place at the charging point 20-1 and one of the charging points 20-2 and 20-3, respectively. To this end, respective power supply units 21-1 , 21-2 and 21-3 are provided which convert mains current from the respective sockets 22-1 , 22-2 and 22-3 into charging current suitable for the batteries (not shown). In a similar way, the mixing and feeding robot 10 is usually recharged at the charging point 20-4, which is positioned at the feed-loading spot next to the feed kitchen 11. However, this has a heavier power supply 21-4 which is configured to provide a higher power output to the robot 10, so that the latter can cut and mix feed from the feed blocks 14. This feed is stored in the feed storage system, which is shown here diagrammatically as the feed kitchen 11 of a Vector® system by Lely, but which may comprise any other feed storage system. The feed kitchen 11 is filled every few days with, for example, silage cutters or silo loaders which themselves do not form part of the invention. Incidentally, the one or more batteries of the robot could also be recharged at, for example, the first charging point 20-1 , when the robot 10 is situated in space 2-A.

[0032] In principle, the navigation and the control of the robots 5, 6, 8 and 10 is configured in such a way that they return to a charging point to be charged with new electrical energy (long) before the batteries are drained again. However, it is possible for a battery to be drained unexpectedly. However, all of the robots 5, 6, 8, 10 are quite heavy and will often, in case of loss of power, engage an automatic brake for safety reasons. As a result, once these robots have stalled, it becomes very difficult to move them to a charging point. Usually the latter is carried out using a tractor or shovel, which is obviously undesirable because of the risk of damage. In particular the heavy mixing and feeding robot 10 is very difficult to move to the charging point 20-1 or 20-4 after it has stalled.

[0033] The invention provides a solution to this problem which will be explained in more detail by means of Figures 2 and 3. It should be noted that, due to the particular, and mainly heavier embodiment of the power supply device 21-4, the cabling of the charging system 21-4 / 22-4 is in principle fixed. The power supply device 21-4 of the mixing and feeding robot 10 is of a heavier configuration due to the power which is required for mixing feed.

[0034] The system according to the invention may comprise a second mixing and feeding robot which has the same configuration as the mixing and feeding robot 10. For example, the feed pusher 5 illustrated diagrammatically in Figure 1 may be interpreted as a second mixing and feeding robot. The two feeding and mixing robots 5 and 10 both travel in the space 2-A of the barn 1. In order to prevent collisions between the two feeding and mixing robots 5 and 10, the system is configured in such a way that one of the feeding and mixing robots 5, 10 can only travel autonomously if the other feeding and mixing robot 5, 10 is attached to one of the charging points 20-1 of 20-4.

[0035] Figure 2 diagrammatically shows a system according to the invention, and Figure 3 diagrammatically shows a similar system in case of a malfunction (stalling) in practice.

[0036] Figure 2 shows an autonomous manure cleaning robot 6 with a frame 50 and a slide 51 for sliding manure 7. However, the autonomous manure cleaning robot 6 illustrated in Figure 2 could also be one of the feeding and mixing robots 5, 10 (not shown). Also, if the robot illustrated in Figure 2 is configured as a feeding and mixing robot 5, 10, this robot comprises a battery plug 52, a battery 53, an electric motor 54 and wheels 55.

[0037] In addition, a power supply system 30, at the charging point 20-2 or 20-3, or at the charging point 20-1 , comprises a power supply unit 31 with a housing 32 and a handgrip 33, as well as a power supply device / converter 34 with a power supply inlet 35 and a power supply output 36, in particular for use with a second feeding and mixing robot 5 to be connected to this charging point 20-1. A mains plug cable 37 is inserted both in socket 22' and power supply inlet 35. The power supply system 30 furthermore comprises a charging point 40 with a charging point input 41 and a charging point output, only the female battery connector 42 of which is indicated here, as well as a charging cable 45 with a charging cable input plug 46 and a charging cable output plug 47. Finally, the outside world is indicated by floor 60-1 and wall 60-2.

[0038] The charging cable 45 is shown here with detached connections to the power supply unit 31 and the charging point 40, respectively, but obviously it is connected during charging. The battery 53 is shown as a single battery, but this may obviously also be a composite battery pack. The same applies to the single electric motor 54 for driving the wheels 55 shown here, which may also consist of one electric motor per wheel.

[0039] In order to recharge the battery 53, the manure cleaning robot 6 travels to the charging point 40, so that the battery plug 52 is electrically connected to the female battery connector 42. This creates a closed circuit from mains current, via the socket 22', the mains plug cable 37, the power supply unit 31 , the charging cable 45 and the charging point 40 to the battery 53.

[0040] Incidentally, Figure 2 also serves as an explanation for a simple embodiment of the invention, that is to say if the manure cleaning robot stalls close to the charging point 40, it might be sufficient to disconnect the charging cable output plug 47 of the charging cable 45 from the charging point input 41 , and connect it to the battery plug 52. Obviously, this only works if the charging cable 45 is sufficiently long. In practice, however, this will often not be very long, in order to prevent losses from the often high charging currents.

[0041] In such a case, that is to say if the manure cleaning robot 6, the feeding and mixing robot 5, 10 or obviously any other autonomous barn vehicle stalls at too great a distance from the charging point 40, another embodiment of the invention might be of use, as will be explained with reference to Figure 3.

[0042] Figure 3 diagrammatically shows the system from Figure 2 in case of a malfunction (stalling) in practice, namely at too great a distance from the charging point 40. In this case, the power supply unit 31 has been detached from the charging cable 45 at the charging cable input plug 46, and mains plug cable 37 has been removed from the socket 22', and the power supply unit 31 has been moved to an additional socket 23' which is situated closer to the robot 6, 5, 10. There, the mains plug cable has been put in the socket 23', and a second charging cable 45' now connects the power supply output 36 to the battery plug 52 by means of the second charging cable input plug 46' and the second charging cable output plug 47'.

[0043] In this way, only the power supply unit 31 and a second charging cable 45' have to be moved. This power supply unit 31 weighs, for example, only a few kilogrammes, and is thus readily portable for a person. Alternatively, the power supply unit 31 is configured to have small wheels, guide blocks, etc. Incidentally, it is possible to move the first charging cable 45 along, but preferably this remains connected to the charging point 40, in order to prevent possible wear and malfunctions as much as possible.

[0044] In principle, it is also possible to make the mains plug cable 37 long, such as 10 metres, or 25 metres, and to then wind it onto a cable reel (not shown here, but to be provided on the power supply unit). Nevertheless, despite the lower current strengths, a shorter cable is preferred. Also, an extension cable of 5, 10, 20 metres or more may be provided. In practice, all this may depend on the location of the additional sockets 23’. If only a few additional sockets 23’ are provided which are a large distance apart, the mains cable and / or charging cable(s) and / or extension cable will have to be sufficiently long to ensure that they can be connected to the vehicle in all circumstances.

Claims

CLAIMS1. System for use on a farm, comprising a self-propelled barn vehicle (5, 10) and a power supply system (30), wherein the self-propelled barn vehicle is configured to perform an animal-related operation in an animal barn (1), and comprises- a frame (50) with drivable means of locomotion (55), in particular wheels,- at least one electric motor (54) for driving the means of locomotion,- a rechargeable battery (53) configured to provide electrical energy to the at least one electric motor,- a battery plug connection (52) for electrically connecting the battery to an external charging source for electrical energy,- a device provided on the frame for performing the animal-related operation, wherein the power supply system (30) is configured to receive electrical energy from an electricity network, converting the received electrical energy into a charging current which is suitable for charging said battery (53) and for providing the converted electrical energy to the battery, and wherein the power supply system comprises- a power supply unit (31) with a power supply device (34) which is configured to perform said conversion, and with a power supply inlet (35) for mains current from said electricity network and a power supply output (36) for said charging current,- a set of at least one charging cable (45), each provided with a charging cable input plug (46) which is connected or connectable to the power supply output and with a charging cable output plug (47),- a mains plug cable (37) for detachably connecting the power supply inlet to the electricity network,- a charging point (40) arranged in a fixed position with respect to the outside world, with a charging point input (41) which is connected or connectable to the charging cable output plug (47) of a first charging cable (45) from the set of charging cables, and with a charging point output with a female battery connector (42) for detachably connecting to said battery plug connection (52), wherein said first charging cable is furthermore connectable via its charging cable input plug (46) to said power supply output (36) in order thus to bring about an electrical connection between the power supply output and the charging point output, wherein the power supply unit (31) is movable, such as portable, slidable or wheelable, in particular physically by hand by an operating person, and wherein furthermore, either the charging cable output plug (47) of said first chargingcable (45) is detachable from the charging point input (41) and is detachably connectable to said battery plug connection, or the charging cable input plug (46) of said first charging cable is detachably connected to the power supply output and furthermore there is provided a second charging cable (45’) which is detachably connectable by its charging cable input plug (46’) to the power supply output (36) and is electrically connectable by its charging cable output plug (47’) to the battery (53), in particular via the battery plug connection (52), in order thus to bring about an electrical connection between the power supply output and the battery.

2. System according to Claim 1 , wherein the power supply system (30) is provided with an extension cable (37) which is configured to electrically connect the power supply unit (31) to the electricity network when the battery (53) of the barn vehicle is connected to the power supply unit (31) by means of the second charging cable (45’), wherein the extension cable (37) in particular has a length which is greater than 5 metres, such as greater than 10 metres or greater than 20 metres.

3. System according to Claim 1 or 2, wherein said device for performing the animal-related operation of the self-propelled vehicle comprises an animal feed device.

4. System according to Claim 3, wherein the animal feed device comprises a container for accommodating a batch of feed, wherein a mixing device for mixing feed accommodated in the container is optionally provided, wherein the system is provided with a feeding area, such as adjacent to a feed fence (3) in a barn (1), a feed store (11) and a feed-loading system (12, 13) for loading feed from the feed store into the container of the animal feed device, and wherein, in addition to said power supply unit and said charging point, a second charging point (40) and a second power supply unit (31) are provided which are situated on a feed-loading station at the feed store and the feedloading system, in such a way that the battery (53) of the barn vehicle is rechargeable by means of the second charging point while feed from the feed store (11) is loaded into the container of the animal feed device and / or mixed, and wherein said power supply unit and said charging point are situated at a distance from the feeding area which is smaller than the distance from the second charging point to the feeding area, in particular are disposed in a barn.

5. System according to Claim 4, wherein the second charging point is arranged in a fixed position with respect to the outside world and the second power supply unit is fixedly connected to the second charging point.

6. System according to Claim 5, wherein the second power supply unit has a maximum electrical power which is higher, in particular at least twice as high, as amaximum electrical power of the first power supply unit (31).

7. System according to one or more of the preceding claims, furthermore comprising a second self-propelled barn vehicle (5, 10) configured to perform an animal- related operation in the animal barn (1), and comprising a frame (50) with drivable means of locomotion (55), such as wheels, at least one electric motor (54) for driving the means of locomotion, a rechargeable battery (53), and a device provided on the frame for performing the animal-related operation, wherein said device for performing the animal- related operation of at least one of the self-propelled vehicles comprises an animal feed device, and wherein, in addition to said power supply unit and said charging point, a second charging point (40) and a second power supply unit (31) are provided, wherein the self-propelled vehicles (5, 10) are configured to travel in the same space (2-A), in particular a feeding alley in a barn, and wherein the system is furthermore provided with a control system for controlling the self-propelled vehicles (5, 10), and wherein the control system is configured to in each case only allow one of the self-propelled vehicles (5, 10) to travel and on the condition that the other self-propelled vehicle (5, 10) is connected to one of the charging points (40).

8. System according to Claim 7, wherein the first and second self-propelled vehicle (5, 10) are configured substantially in an identical way.

9. System according to one or more of the preceding claims, wherein the power supply unit comprises a housing with a handle, such as a handle or shaft.

10. System according to one or more of the preceding claims, wherein the power supply unit is provided with a cable reel for the mains plug cable.11 . System according to one or more of the preceding claims, wherein said device for performing the animal-related operation comprises a manure slide and / or manure-sucking device, a rotatable feed-pushing skirt and / or of an animal feed device.

12. System according to one or more of the preceding claims, furthermore comprising an animal barn for livestock animals, in which animal barn the or each self- propelled barn vehicle is autonomously movable, wherein the animal barn has a first socket for said mains plug cable when the power supply unit is connected to the charging point, and at least one additional socket for said mains plug cable which is situated at a distance of said first socket, wherein said distance in particular is at least equal to the length of the mains plug cable.

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