Agricultural vehicle

Abstract

Autonomous feed pusher having a body (13) and a navigation sensor (14) on a longitudinal connecting element (12) which extends above the body in an operating position (13), wherein the navigation sensor is deflectable against a collision force. The connecting element is connected to the body (13) such that it is pivotable around a pivot axis (15) and is deflectable against the collision force through a movement around the pivot axis. Autonomous feed pusher having a body and a navigation sensor on a longitudinal connecting element which extends above the body in an operating position, characterised in that the navigation sensor is deflectable against a collision force. The connecting element is connected to the body such that it is pivotable around a pivot axis and is deflectable against the collision force through a movement around the pivot axis.

Description

[0001] Agricultural vehicle

[0002] The invention relates to an agricultural vehicle according to the preamble of

[0003] Claim 1.

[0004] In modem livestock farming, livestock, such as cows, are usually kept as a group in a livestock enclosure with a feeding fence on one side. The animals can poke their heads through gaps in this fence to take feed in front of the feeding fence. However, the animals tend to push feed away from themselves, so that the farmer has to push this feed very regularly back towards the feeding fence. Nowadays, an agricultural vehicle in the form of an autonomous feed pusher is often used for this purpose. This agricultural vehicle follows a specific route along the feeding fence at regular times in the bam, wherein the feed is pushed back towards the feeding fence with a scraper. A navigation sensor mounted at a certain height above the agricultural vehicle is used for effective navigation. All kinds of obstacles can be present in the area in front of the feeding fence, known as the feed alley. These can involve stationary obstacles, but also moving obstacles, such as a tractor. Although such agricultural vehicles generally comprise navigation sensors and bumpers which stop the agricultural vehicle when an obstacle is detected, it is often the case that the protruding navigation sensor collides with an obstacle and the navigation sensor is damaged. This also occurs, in particular, if the obstacle is moving, as in the case of a tractor.

[0005] The object of the invention is to provide an agricultural vehicle of the aforementioned type which is more resistant to damage caused by unexpected collisions.

[0006] This object is achieved with an agricultural vehicle according to Claim 1 . Since the navigation sensor is deflectable against a collision force, the navigation sensor will not be damaged in the event of a collision. The further advantage of the additional deflection is that the agricultural vehicle has a longer braking distance after an obstacle navigation sensor has detected an obstacle and the control brings the agricultural vehicle to a stop.

[0007] In one advantageous embodiment of the invention, the connecting element is connected to the body such that it is pivotable around a pivot axis and is deflectable against the collision force through a movement around the pivot axis. A pivoting design is generally simple but robust. The pivot axis is preferably perpendicular to the normal direction of travel of the agricultural vehicle.

[0008] In a further advantageous embodiment of the invention, the connecting element rests against a stop surface of a stop. The stop preferably comprises an adjustment element to render the stop surface adjustable in height. By rendering the stop surface adjustable, the height of the navigation sensor is adaptable in the operating position. This can be important if the navigation sensor needs to be able to detect a lateral object, such as the crossbeam of a feeding fence. Such crossbeams are often placed at varying heights in each bam depending on the species, breed, age of the animal in the bam, or the manufacturer of the feeding fence.

[0009] It is further advantageous if the centre of gravity of the connecting element lies in front of the pivot axis as seen in the normal direction of travel. By means of this simple design, the connecting element will always be pushed by gravity against the stop surface.

[0010] In an alternative advantageous embodiment of the invention, the connecting element is connected to a spring, wherein the spring pressure pushes the connecting element against the stop surface. Such a design allows the connecting element to be retracted to its normal operating position following a deflection. Even if the deflection is so great that the connecting element crosses the dead centre, the connecting element returns by itself through the dead centre to its normal operating position due to the spring following the removal of the colliding obstacle. By pushing the connecting element against the stop surface with an additional spring force, the connecting element will be less sensitive to unwanted movements around the pivot when the agricultural vehicle, for example, passes over a bump.

[0011] It is further particularly advantageous if the position of the pivot point is adjustable. This enables a simple height adjustment of the navigation sensor.

[0012] In a further favourable specific embodiment, a motion sensor is fitted to emit a collision signal, wherein the agricultural vehicle is controllable on the basis of the collision signal. If the connecting element having the navigation sensor comes into contact with an obstacle which is located in front of the vehicle, the connecting element will move backwards through a movement around the pivot axis. This movement is detected by the motion sensor, wherein a collision signal sent to a control causes the agricultural vehicle to stop. Such motion sensors are inexpensive and provide a robust design.

[0013] In a further advantageous embodiment, the navigation sensor is configured to determine the distance to the feeding fence. In particular, the vehicle is an autonomous feed pusher for moving feed towards a feeding fence. Such vehicles must be driven parallel to the feeding fence, so that it is important to maintain a constant distance between the vehicle and the feeding fence. The uppermost part of a feeding fence consists of a continuous beam. This is a convenient landmark and is therefore well suited for use as a basis for navigation. The navigation sensor is therefore located separately from and well above the body of the vehicle. Due to this design with a connecting element, the navigation sensor can easily be adapted to the height of the feeding fence beam.

[0014] It is further advantageous if the navigation sensor is configured to detect a navigation pattern on the ground. Due to the connecting element, the navigation sensor is positioned relatively high and can therefore effectively detect a navigation pattern applied to the ground. The navigation sensor preferably comprises a camera, in particular a stereo camera. The advantage of a stereo camera is that it can independently and easily determine the distance to the feeding fence, unlike a 2D camera, which can only determine the distance to the feeding fence if known parts having known dimensions are located in the same image.

[0015] The invention will be discussed in more detail below with reference to a drawing, in which:

[0016] Figure 1 shows a schematic view of a connecting element in the form of an autonomous feed pusher in a barn;

[0017] Figure 2 shows a detail of the connecting element in the normal operating position; and

[0018] Figure 3 shows a detail of the connecting element in contact with an obstacle.

[0019] Figure 1 shows a bam 1 with a feed alley 5 and a livestock enclosure 2 with livestock 3. A feeding fence 4 forms the boundary between the feed alley and the livestock enclosure. The livestock 3 can eat feed 7 through openings in the feeding fence 4. An agricultural vehicle is shown in the form of an autonomous feed pusher 6 to move feed 7 towards a feeding fence 4, having a body 13 and a navigation sensor 14 on a longitudinal connecting element 12 (Figure 2) which extends above the body in an operating position, wherein the navigation sensor 14 is deflectable against a collision force. The feed pusher 6 has a freely rotatable skirt 8 which scrapes the feed 7 towards the feeding fence 4 as it moves in the normal direction of travel R. The navigation sensor 14 is configured to determine the distance to the feeding fence 4. Due to the movement at a constant distance parallel to the feeding fence 4, the feed 7 lying on the feed alley 5 is pushed onto an even feed ridge 9 within reach of the animals 3.

[0020] The navigation sensor 14 is designed as a camera in the form of a stereo camera with which 3D images can be captured. As well as determining the distance to the feeding fence 4, this camera is also configured to detect a navigation pattern on the ground. This navigation pattern comprises a clear line 10 that is followed by the feed pusher 6 if the feeding fence 4 is missing. This could be required, for example, to guide the feed pusher 6 between two bams or to a battery charger 11 . In one embodiment (not shown), the navigation pattern comprises a recognizable code, such as a QR code. This indicates the location of the battery charger 11 .

[0021] Figures 2 and 3 show the uppermost part of the agricultural vehicle in the form of an autonomous feed pusher 6. Figure 2 shows the connecting element 12 in the normal position. The connecting element 12 is connected to the body 13 such that it is pivotable around a pivot axis 15 and is deflectable against the collision force through a movement around the pivot axis 15. The connecting element 12 rests against a stop surface 17 of a stop 16. The centre of gravity Z of the connecting element 12 lies in front of the pivot axis 15 as seen in the normal direction of travel R. The stop 16 comprises an adjustment element 18 to render the stop surface 17 adjustable in height. This adjustment element 18 is designed as an adjusting screw with which the entire stop 16 can be adjusted in height in relation to the body 13. In one embodiment (not shown), the position of the pivot axis 15 is adjustable. This can affect both the height of the pivot axis 15 and the angle which the connecting element 12 forms with the horizontal plane.

[0022] The connecting element 12 is connected to a spring 19, wherein the spring pressure pushes the connecting element 12 against the stop surface 17. The spring 19 is fitted between the connecting element 12 and the body 13.

[0023] A motion sensor 20 is fitted to send a collision signal to the control 21 , wherein the agricultural vehicle is controllable on the basis of the collision signal. The motion sensor 20 comprises an induction sensor attached to the support 22 which is connected to the body 13 close to the pivot axis 15. In the event of a collision, the connecting element 12 will remove itself from the induction sensor and the induction sensor will emit a collision signal.

[0024] In an alternative embodiment, the motion sensor 20 comprises an angle sensor attached to the pivot axis 15. In the event of a collision, the angle which the connecting element 12 forms with the body 13 will change. This changed angle acts as a collision signal.

[0025] Figures 2 and 3 illustrate the mode of operation of the agricultural vehicle according to the invention. In both figures, only a part of the body 13 of the agricultural vehicle is shown. Figure 2 shows an obstacle 23 which is outside the field of view 24 of the navigation sensor 14. The vehicle does not detect the obstacle and the vehicle continues to move, after which the navigation sensor 14 strikes the obstacle 23 (Figure 3). The connecting element 12 having the navigation sensor 14 gives way and the connecting element 12 and the navigation sensor 14 move backwards together, against the normal direction of travel R, without damage. This movement is detected by the motion sensor 20 and the collision signal triggers the control 21 to slow down and stop the feed pusher 6. Following the removal of the obstacle 23, the spring 19 pulls the connecting element 12 back against the stop surface 17 into the position shown in Figure 1 . In an alternative embodiment, the feed pusher 6 itself moves backwards in response to the collision.

[0026] The invention is not limited to an agricultural vehicle in the form of an autonomous feed pusher 6 as described, but can comprise any type of agricultural vehicle, such as a field robot for working a field, a mowing robot for autonomous grass mowing or a vehicle for use in a greenhouse. The function of the navigation sensor 14 is not limited to strictly navigating the agricultural vehicle as a whole, but can also be, for example, a camera to identify crops and fruits for the purpose of navigating a robotic arm.

Claims

CLAIMS1. Agricultural vehicle having a body (13) and a navigation sensor (14) on a longitudinal connecting element (12) which extends above the body (13) in an operating position (13), characterised in that the navigation sensor (14) is deflectable against a collision force.

2. Agricultural vehicle according to Claim 1 , characterised in that the connecting element (12) is connected to the body (13) such that is pivotable around a pivot axis (15) and is deflectable against the collision force through a movement around the pivot axis (15).

3. Agricultural vehicle according to Claim 2, characterised in that the connecting element (12) rests against a stop surface (17) of a stop (16).

4. Agricultural vehicle according to Claim 3, characterised in that the stop (16) comprises an adjustment element (18) to render the stop surface (17) adjustable in height.

5. Agricultural vehicle according to Claim 3 or 4, characterised in that the centre of gravity (Z) of the connecting element (12) lies in front of the pivot axis (15) as seen in the normal direction of travel.

6. Agricultural vehicle according to one of the preceding claims, characterised in that the connecting element (12) is connected to a spring (19), wherein the spring pressure pushes the connecting element (12) against the stop surface (17).

7. Agricultural vehicle according to one of the preceding conclusions, characterised in that the position of the pivot point (15) is adjustable.

8. Agricultural vehicle according to one of the preceding claims, characterised in that a motion sensor (2) is fitted in order to emit a collision signal, wherein the agricultural vehicle is controllable on the basis of the collision signal.

9. Agricultural vehicle according to one of the preceding claims, characterised in that the agricultural vehicle is an autonomous feed pusher (6) for moving feed (7) towards a feeding fence (4).

10. Agricultural vehicle according to one of the preceding claims, characterised in that the navigation sensor (14) is configured to determine the distance from the agricultural vehicle to the feeding fence (4).11 . Agricultural vehicle according to one of the preceding claims, characterised in that the navigation sensor (14) is configured to detect a navigation pattern (10) on the ground.

12. Agricultural vehicle according to one of the preceding claims, characterised in that the navigation sensor (14) is a camera, in particular a stereo camera.

Images