An autonomous vehicle for feeding animals other than humans, a method for detecting feed, and a method for determining the height of a feed pile

Abstract

The first subject of the invention is an autonomous vehicle for feeding animals other than humans, comprising: a frame, navigation devices and safety systems, a feed container that is mounted on weighing means, provided with feed mixing means, a control unit, a power supply unit, a rotary separating device structure having a movable mechanism for moving the feed separating device, and a feed separating device for separating animal feed from a feed pile, weighing means, characterized in that the axis of rotation of the feed separating device (5) and the axis of rotation of the mixing means (11) are parallel, wherein the control unit (15) is connected to the weighing means (3) and to height position sensors of the separating device (5) and is configured to register a change in the signal from the weighing means (3) as a function of the height of the separating device (5) in order to measure the parameters of the animal feed pile. The invention also relates to a method for detecting feed and a method for determining the density of a feed pile.

Description

[0001] An autonomous vehicle for feeding animals other than humans, a method for detecting feed, and a method for determining the height of a feed pile

[0002] The subject of the invention is an autonomous vehicle for feeding animals other than humans for use in the animal husbandry industry. The subject of the invention is also a method for determining the height of a feed pile using an autonomous vehicle for feeding animals other than humans. Another subject of the invention is also a method for determining the density of a feed pile using an autonomous vehicle for feeding animals other than humans.

[0003] Automatic feeding devices for cattle are well-known solutions in animal husbandry. They are characterized by high purchasing costs and a complicated structure. Most systems have separate feed loading modules and separate feed mixing and distribution modules. Some of these solutions have their own loading modules, which are transported on an autonomous device, while others have separate loading modules, as in invention EP2838355B1. A problematic issue that occurs in known solutions is detection of feed intended for extraction, especially the height of a feed pile, and a complicated structure of the feed extraction modules. The device described in European patent application EP4282260A1 has built-in ultrasonic sensors and laser scanners for feed extraction. Feed extraction with the use of such sensors is expensive, which increases the purchasing cost of the device. Laser and optical devices used in agricultural conditions, especially in barns, operating on materials that generate dirt and dust, are exposed to dust and, as a result, contamination of optical components, which may lead to incorrect readings. A feed extraction device is installed on the machine frame and is not weighed. This makes it impossible to measure the height of the feed using a device separating feed from a feed pile.

[0004] In international application WO15037983, three-dimensional scanning is used to detect feed piles. Another European patent application, EP3989708A1, describes a method for detecting the moment of contact between a device for separating feed from a pile, e.g., the type of a feed separator milling cutter, based on readings from a sensor measuring operating parameters of the drive powering the feed separating device. This solution is not very accurate, as low-density feed components (such as loose corn, dry straw, or hay) will not bedetected due to the lack of changes in engine parameters in the initial phase, when the amount of extracted feed is low. In addition, it is necessary for the device separating the feed from the pile during measuring the feed presence to be switched on when driving up to the feed, before it is detected. This is also undesirable due to the energy consumption during idling, when no work is performed. As a result, it is necessary to recharge the batteries more frequently in the autonomous device. Additionally, feed detection according to the above method involves performing work on the feed at the moment of its detection, and changing its structure by breaking it down, so it is not possible to detect feed without loosening it, which in some cases is problematic, e.g., when it is only necessary to detect feed without extracting it - the feed after loosening may become aerated and consequently ferment.

[0005] In the solution known from patent EP2838355B1, a loading claw is a separate device and moves independently of the feed mixing device. The disadvantage of this solution is the separate movement of the loading device and the mixing device, which greatly limits the loading of feed only to the area where the claw is moving, and the fact that the laser scanner only shows the height of the feed pile without taking into account its density, which in the case of materials such as straw and hay may lead to incorrect readings due to individual protruding stalks or very low density of the material, without taking into account the compaction of the product. An additional disadvantage of this solution are additional laser or optical scanners and the high cost of the support structure on which the claw is moving. Laser and optical devices used in agricultural conditions, especially in barns, operating on materials that generate dirt and dust, are exposed to dust and, as a result, contamination of optical components, which may lead to incorrect readings.

[0006] From European patent EP3043638B1, a device for extracting and preparing feed is known, consisting of a frame, a feed container fitted on the frame, in particular provided with feed mixing means, a gripper having a movable arm and a gripper mounted thereon for grabbing an amount of animal feed from a pile of animal feed, and further comprising weighing means, wherein the weighing means are arranged and configured to weigh the grabbed amount of animal feed by determining the change in weight of at least the feed container and the gripper construction together with the grabbed amount of animal feed.A contact method of measuring the presence of feed is also known from Polish patent application PL447024, where a feed preparation container is attached to a frame via weighing devices that determine the change in weight of the container. In this case, during driving up to detect the feed storage, the feed separating device is raised to an upper position so that it does not protrude beyond the outline of the device. In such a situation, the device driving up to the feed storage rests against the feed with the feed mixing container or another structural element which is attached to the device through weighing devices. Next, a control unit reads the indications of weight change resulting from pressing the device against the feed in the storage, followed by the activation of the feed separating device, which is lowered and extracts feed from top to bottom. In this case, as in other solutions mentioned above, the problem is measuring the height of the feed pile in the feed storage, where the extracting milling cutter is not weighed together with the bin. An additional problem that occurs is the inability of installing additional devices on the front part of the bin, e.g., a belt or another device for moving feed transversally toward the animals, as such a device would prevent the feed from coming into contact with the weighed container and thus prevent the detection of the feed pile.

[0007] There is a need for a device that is simple to manufacture, uses sensors already installed in the device, and allows not only the detection of the feed pile without disturbing its structure, but also the measurement of the height of the feed pile that is extracted, as well as the density of the feed. Simplicity of teh structure is another desirable effect to reduce manufacturing and operating costs, so that autonomous feed extraction devices are more accessible to farmers. The device should be resistant to dust present in the farm environment.

[0008] The invention achieves this goal by means of an autonomous animal feeding device as defined in the patent claims attached to this specification. In particular, by means of an autonomous animal feeding device comprising a frame, a feed container mounted on the frame, a feed separating device structure having a mechanism for moving the feed separating device, and a separation device for separating animal feed from an animal feed storage location, further comprising weighing means, wherein the weighing means are arranged and configured to detect and measure the height of an animal feed pile by determining the change in weight ofat least the feed container and the feed separating device structure when the feed separating device structure rests on the feed pile during its downward movement.

[0009] The autonomous animal feeding vehicle according to the invention has a number of advantages. It is characterized by a simple structure and allows for measuring the height of the feed pile and its density without additional measuring devices, such as optical scanners. This is carried out when the feed separating device is being lowered. The vehicle is also resistant to dust and dirt generated during feed extraction. Upon contact with the feed, the weighing devices register a change in weight, which is proportional to the change in the pressure exerted by the feed separating device on the feed pile that is extracted. When the feed separation device rests on low-density material such as loose straw, the pressure force of the separating device increases gradually without abrupt changes as the extracted feed component is gradually compressed. The weighing devices are relieved gradually. This indicates a low-density material. When the separating device rests on a hard material, such as haylage bales or a cut haylage block, the pressure force of the device increases abruptly, which indicates a high-density material. This is a unique feature that allows for measuring the density of the extracted material, which is not possible with laser, ultrasonic, optical, or visual scanners. In addition, weighing the feed tank together with the structure of the feed separating device allows for very accurate measurement of the height of the feed pile.

[0010] In some embodiments, the autonomous animal feeding vehicle further comprises additional measuring devices such as ultrasonic or other devices providing information about distance, in particular an optical device for recording spatial images. Stereo camera technology, which creates a spatial image of the surroundings, may be preferably used here. Said measuring devices may perform the function of ensuring operational safety during autonomous operation of the device, measuring the volume of feed outside the container during extraction or during distribution to animals at the place where the animals are kept. Preferably, said measuring devices may be made as devices fixedly mounted on the autonomous device, ensuring operational stability, or they may be installed on movable elements of the device, such as the structure of the separating device, so that the measurements relate to the workingarea of the device as much as possible; in this way, the spatial image recording device may be directed towards the desired area and brought closer to it, resulting in better measurement.

[0011] Measuring devices such as ultrasonic sensors or other ones known from the state of the art may be used to complement the method for measuring the height of the feed pile and its density, as an additional option. In practice, it has been found that physical measurement using the separating device made according to the embodiments of the invention is the only way to examine the structure and density of feed.

[0012] The solution according to the invention may be used in many situations, such as:

[0013] - extracting feed directly from feed silos as well as from a so-called feed kitchen. In the following part of the document, the feed kitchen will be understood as a place where various feed ingredients are delivered and gathered from external feed and other silos so that the mobile device can collect from the feed kitchen all the ingredients of the feed mixture that is prepared. Whereas in external feed silos the feed is always of the same type, in the feed kitchen the ingredients are delivered by the operator to specific locations. If each feed ingredient has a specific density, in the form of a table or other database stored in the memory of the computer managing the operation of the device, the mobile device is able to determine whether the feed ingredients have been delivered to the right location in the feed kitchen based on the density of the feed, avoiding incorrect prepa ration of the mixture, which is very beneficial from the point of view of animal health;

[0014] - examining the degree of feed compaction using the separating device, enabling the adjustment of the operating parameters of the feed separating device, e.g. by selecting appropriate parameters, feed extraction rate, appropriate rotation speed in the case of a feed collection device in the form of a milling cutter, pressure force of the feed separating device, etc. Feed density may be examined in a similar manner, by examining the side wall of the pile of the ingredient that is extracted by pressing the separating device onto the side plane of the pile that is extracted. Such a process allows the control unit software to generate the shape of the side wall, which is of great importance when extracting feed directly from external silos, as shown in Fig. 5.The key aspect of the invention turned out to be matching the shape of the autonomous animal feeding vehicle to the shape of the feed pile that is extracted, so that the height of the feed pile could be measured despite the feed falling off during the extraction process. A feed container with a horizontally positioned mixing device together with a feed separating device with an axis of rotation parallel to the shaft of the mixing device, in the vertical plane, forms a shape that allows driving up to the feed pile that is extracted, which has partially fallen off in such a way that the separating device is able to measure the height of the feed pile from above. Fig. 4 shows a typical manner in which the feed falls off when it is extracted from the feed extraction point, e.g., a silo or simple blocks of feed cut from a feed heap and delivered to the feed kitchen, by marking the fallen feed as 13a. The same formation is formed in the case of loose fibrous feed, corn silage, or other loose feed, which, after being delivered to the feed kitchen or during extraction from the feed silo, falls off, forming the shape of a cone with the base wider than the apex.

[0015] The side view in Fig. 4 shows how the near-circular shape of the feed container adapts to the shape of the pile of the feed that has fallen off. Thanks to the parallel positioning of the axis of symmetry of the separating device 5 and the axis of symmetry of the mixing device 11, the separating device 5 moves tangentially to the feed container, which offers advantages such as: the ability to measure the height of the feed pile from above, the movement of the separating device 5 at a short distance from the weighing devices, which allows for more accurate measurement of the pressure exerted by the feed separating device on the feed pile. During such measurement, the device according to the invention adapts to the shape of the feed slope without pressing on the feed with the feed container.

[0016] The vehicle according to the invention is a device with a horizontal mixing system. Thanks to the horizontal mixing structure with a partially open chamber from the side of the separating device, the feed separating device moves relatively close to the feed container at a short distance from the front weighing sensors. Thanks to this structure, it is possible to accurately measure the pressure and relieving of weighing sensors in kilograms. For example, another type of structure of the extraction device installed on a long frame, as in solutions known from the state of the art, e.g., from EP4282260A1 or EP3023004B1, causes the weight of theseparating device, which in this case is a milling cutter, would transfer loads through a lever of length equal to the arm transporting the separating device. In the vehicle according to the invention, the feed separating device is installed at close proximity to the weighing sensors relative to the vertical plane, such that the weight of the separating device is transferred to the weighing devices without the intermediary of a lever, which ensures optimal pressure on the weighing devices by a force directed vertically downward. If the separating device was suspended on the feed container by means of an arm, the indicated weight would be higher than the actual weight. The greater the distance between the feed container and the separating element, the higher the readings of the weighing devices would be. A vehicle with the feed mixing system according to the present invention provides for the placement of the feed separating device in close proximity to the weighing devices in the vertical plane so that it is in close proximity to the weighing devices, without the use of additional supports for the separating device, which would be impossible in devices with a vertical mixing system and other devices characterized by a high loading threshold.

[0017] To ensure that feed detection works correctly and that the system accurately indicates the weight with which the separating device presses on the feed pile, especially in the case of feed with a loose structure and a relatively low impact on the separating device, it is important that the entire system is symmetrical without any undesirable skew or tension. The parallel placement of the axes of symmetry of rotation of the separating device and the mixing device means that the separating device has a symmetrical impact on the left and right weighing devices without distorting the readings.

[0018] Preferably, the autonomous vehicle comprises the control of the separating device which is configured such that, upon detection of feed, the separating device begins to separate the feed and simultaneously move the feed to the feed container. Since the separating device rests on the feed during the extraction, weight readings do not show the actual weight in the container, it is preferable to lift the separating device at specific intervals so that it no longer has contact with the feed, in order to ensure that the amount of feed extracted into the mixing container is sufficient. When approaching the required amount of feed to be loaded, measurements may be taken more frequently to avoid loading an excessive amount of feed.When applying excessive pressure to the feed pile with the separating device, there is also a risk of the device tippingover by lifting up the drive wheels. Such a situation may be prevented by determining the maximum pressure of the separating device on the feed. Naturally, the pressure exerted by the separating device on the feed pile is determined with the use of weighing devices. Additionally, when determining the maximum pressure, the weight of the feed in the feed container may be taken into account, which in this case acts as additional stabilizing ballast, and in this case the pressure may be higher than with an empty feed container. The structure of the device indicates that the weighing devices located closest to the axis of symmetry of rotation of the separating device will be the most sensitive during weight measurements.

[0019] Embodiments for carrying out the invention have been illustrated in the figures, where: Fig. la shows a structure of the autonomous animal feeding vehicle having a movable mechanism for moving the feed separating device in the form of at least one arm, where the separating device 5 is made in the form of a rotary milling cutter,

[0020] Fig. lb shows a structure of the autonomous animal feeding vehicle having a movable mechanism for moving the feed separating device in the form of at least one arm, where the feed separating device is made in the form of a scooping claw,

[0021] Fig. 2a shows a structure of the autonomous animal feeding vehicle having a movable mechanism for moving the feed separating device in the form of a straight guide, where the feed separating device is moved by a hydraulic or an electric actuator,

[0022] Fig. 2b shows a structure of the autonomous animal feeding vehicle having a movable mechanism for moving the feed separating device in the form of a straight guide, where the feed separating device 5 is moved by means of a rope (chain, belt) winch,

[0023] Fig. 3a shows a structure of the autonomous animal feeding vehicle having a movable mechanism for moving the feed separating device in the form of a guide mounted on the container, where the feed separating device is made in the form of a rotary milling cutter, Fig. 3b shows a structure of the autonomous animal feeding vehicle having a movable mechanism for moving the feed separating device in the form of a guide on the feed container, where the feed separating device is made in the form of a scooping claw,Fig. 4 shows an animal feeding vehicle with the separating device during the measurement of the height of the feed pile and the feed falling off during the extraction,

[0024] Fig. 5 shows an animal feeding vehicle with the separating device during the measurement of shape of the vertical wall,

[0025] Fig. 6 shows an autonomous animal feeding vehicle with an intermediate platform,

[0026] Fig. 7 shows a structure of the autonomous animal feeding vehicle with devices for supporting feed distribution,

[0027] Fig. 8 shows a difference in width of the feed separating device relative to the width of the vehicle.

[0028] Example 1. An autonomous animal feeding vehicle with a separating device structure in the form of a rotary separating device (5) mounted on at least one arm

[0029] The structure of the autonomous animal feeding vehicle has been illustrated in Fig la. The structure of the autonomous feed preparation vehicle is based on the structure of the device from the Polish patent application PL447024.

[0030] Fig. la shows a side view of the vehicle according to the invention, presenting its left side. Wheels 7, 9, in this case, may be driven by motors 8, such as electric motors. Feed container 2 is mounted on wheels 7 and 9 via weighing devices 3 determining the weight of the container 2. Weighing devices 3 comprise front weighing devices 3a and rear weighing devices 3b, which functionally constitute the same element. Unless specified otherwise in the following part of the description, the term "weighing devices" shall be understood as devices 3a at the front of the device, on the side of the feed separating device 5, and devices 3b at the rear of the device, on the side opposite to the side of the feed separating device 5, which devices are designated as 3. The container 2 includes a feed mixing device 11. The feed mixing device 11 in the container 2 may have a structure according to the patent application PL447024, or another comprising a rotating shaft extending from at least one wall of the container 2. Figures 1-5 show the feed mixing device 11 to illustrate the subject of the invention. The shaft of the mixing device 11 may extend between two walls of the container 2 perpendicularly to the forward / re verse direction of movement of the autonomous feed preparation vehicle. The feed mixing container 2 may have the shape as in the device according to patent applicationPL447024, i.e. similar to a cylinder. The feed mixing container 2 may also have a different shape that allows achieving the objectives of the present invention. However, it should preferably have two side walls and comprise a device for mixing feed in the container. Preferably, feed cutting knives are installed in the feed container 2 (similarly as in PL447024), which, in the case of feed components with long fibers, also cut these during mixing. The cutting knives may be constructed as movable, where, depending on the requirements or load on the motor driving the mixing device 11, they may be located inside or outside the feed container.

[0031] Preferably, in one embodiment, for obtaining greater rigidity of the structure, wheels 7 and 9 may be connected to a rigid frame 1, and weighing devices 3 weighing the feed container 2 are supported on the frame 1. Attached to the feed container 2 is a feed separating device structure having a movable mechanism, in this embodiment in the form of at least one arm 4, for moving the feed separating device 5, and the separating device 5. In the following embodiments, the structure of the feed separating device differs in the structure of the mechanism for moving the feed separating device 5.

[0032] In some embodiments, the animal feeding vehicle comprises an intermediate platform 17, which is mounted between weighing devices 3 on one side and the feed container 2 and the separating device structure, as well as other structural elements on the other side. All parts to be weighed are therefore arranged on this intermediate platform 17, which may then be easily weighed, for example using means known from the state of the art. Examples of the latter are two or more weighing devices of different types and sizes. A person skilled in the art will have no problem applying solutions known from the state of the art for this purpose. The advantage of the additional platform 17 is the possibility of installing the heavy and sturdy structure of the separating device 5 not directly on the feed container 2, which could place too much load on the structure of the feed container 2, but on the appropriately reinforced intermediate platform 17, which would transfer the entire weight of the structure of the separating device to the weighing devices 3. This structure allows for the installation of a heavy structure of the separating device on the intermediate platform 17 without putting any load on the feedcontainer 2, while maintaining the possibility of measuring the height of the feed pile using weighing devices 3.

[0033] The feed separating device 5 may be a device of the type of a rotary milling cutter known from the state of the art, e.g., from the specification of Polish patent PL239092B1. The axis of rotation of the milling cutter is preferably substantially parallel to the axis of rotation of the feed mixing device 11 in the feed container 2. However, the axis of rotation of the feed separating device 5 may deviate in working conditions by several degrees from the parallel orientation relative to the feed mixing device 11.

[0034] The feed separating device 5 may also have the form of a claw 5a with a pivot point 5c for scooping feed ingredients into the container 2. The claw essentially has the form of a simple metal sheet with sharp teeth or knives at the bottom, which may be movable. Generally, the scooping claw may have a width similar to that of the feed container. In one of the variants, the claw may be divided horizontally into separate parts that move independently. There is a possibility of implementing a cleaning mechanism for knives and teeth, if the feed does not detach from them during scooping.

[0035] The terms claw and blade will be used interchangeably in the rest of this specification. The blade 5a is moved by a drive 5b, shown in Fig. lb. The drive 5b may be an actuator driven hydraulically by an external pump, electrically, or pneumatically. However, there may also be other solutions causing a displacement movement, in a direction parallel to the direction of movement of the device according to the invention, or a rotational movement of the blade 5a toward or away from the container 2, such as a hydraulic or electric motor with a reduction gear. The pivot point 5c of the blade 5a also corresponds to the mounting point of the blade 5a to at least one arm 4. This embodiment of the invention is shown in Fig. lb.

[0036] In the case where the feed separating device 5 has the form of a scooping claw 5a, its mounting (mounting point 5c), i.e., the place of location in the structure of the feed separating device 5, is not different from the location of the device 5 in the form of a milling cutter in the structure of the autonomous vehicle according to the invention. Namely, the feed separatingdevice 5 in the form of a scooping claw 5a is also mounted to the other end of at least one arm 4 (Fig. lb).

[0037] In the embodiment of the feed separating device 5 as a rotary milling cutter, it is preferable that the width "X" of the feed separating device 5 be greater than the width of the feed container designated as "Y" in Fig. 8. Thanks to this structure, space is created for installing 7 wheels. An autonomous feed preparation device, while moving forward and extracting feed, creates a path free of feed, along which the wheels 7 are moving. This is significant from the point of view of the device's movement, as the wheels 7 are not blocked by feed lying in front of them.

[0038] The axis of rotation of the feed separating device 5 of the claw 5a type, determined by the mounting point 5c to at least one arm 4, is perpendicular to the direction of forward / reverse movement of the device according to the invention. Said axis is also parallel to the axis of the mixing device 11 in the feed container 2. The location of the axis of rotation of the feed mixing device 11 in the structure of the device based on Figures 1-5 will be obvious and clear to a person skilled in the art. Preferably, the device 5 in the form of the claw 5a may also be mounted to two movable arms 4 in an identical manner.

[0039] In a preferred variant of the autonomous device for feeding humans, the elements

[0040] The remaining part of this description will be concentrated on the vehicle with a structure comprising two movable arms 4. However, it will be obvious to a person skilled in the art that the presented features may also be applicable to a structure comprising a single movable arm 4. The arms 4 in each embodiment are attached to the feed container 2 directly or indirectly in a movable way and allowing rotational movement, e.g. through bearings, bearing sleeves, etc. around the axis. The pivot point of the arms 4 relative to their mounting point on the feed container 2 is located on the axis of the container 2, more precisely on the axis of the shaft of the feed mixing device 11 in the container (Fig. la). However, it is possible to locate the mounting point of the arms in a different place, allowing increasing the arms 4 length, and therefore the scope of feed extraction. The mounting point 4 of the arms may be mounted anywhere on the feed container 2 or on the intermediate platform 17, preferably in a planeparallel to the walls of the feed container 2. The higher the mounting point, relative to the plane on which the autonomous vehicle is moving, the greater the range of the feed separation device 5. For the purposes of the invention, the arms 4 may be mounted to additional structural elements attached to the feed container 2 or to the intermediate platform 17. The arms 4, at their first end, may have extensions with counterbalancing means attached to them for counterbalancing the forces acting (not shown in the figures) on the feed separating device 5, e.g., gravity, during its movement. The counterbalancing means facilitate the movement of the device 5 by means of arms 4 in an up-down direction and contribute to lowering the electrical energy consumption necessary to set arms 4 in motion by means of a drive 6 lifting the arms 4 with the feed separation device 5. Drive 6 may be implemented using any actuator, e.g., with a piston rod, or a motor drive. Each of the arms 4 has a separate drive 6. The drive of device 5 may be preferably located inside the drum of the device 5, if it has the form of said milling cutter.

[0041] The device according to the invention moves on wheels, two of which are drive wheels 7, which are driven by the drive system 8. Drive wheels 7 also allow the vehicle to perform maneuvers, such as changing the driving direction.

[0042] The remaining wheels 9 are support wheels, which in one embodiment have no drives of their own. In another embodiment of the feed preparation device, the wheels 9 are driven by an external drive with the possibility of forcing a turn by the external drive. Any combination of drive wheels, passive wheels, and steering wheels is allowed.

[0043] All mentioned drives, sensors or measuring systems are electrically connected in the control unit 15 responsible for the autonomous operation of the device.

[0044] The device is provided with safety systems, e.g. in the form of safety bumpers, ultrasonic sensors, and others, as well as navigation systems such as floor sensors, video cameras, GPS devices, and others not shown in the figures.

[0045] In the basic structure of the autonomous vehicle according to the invention, it has a power supply unit powering all the systems of the vehicle (mechanical, electrical, electronic, hydraulic), e.g. in the form of a rechargeable battery, which allows the device to moveindependently. The vehicle has a socket through which it automatically connects to the power supply network to recharge the batteries after they have been discharged. In another solution, the autonomous vehicle may be permanently connected to the power supply network or in selected locations or installation zones.

[0046] The autonomous animal feeding vehicle, after the process of extracting feed ingredients and after mixing them, can move in reverse to distribute feed at the place where the animals are kept, using the same opening through which the feed ingredients were extracted.

[0047] In other embodiments, the autonomous animal feeding vehicle may include an additional feed distribution device at the place where the animals are kept. An embodiment is shown in Fig.

[0048] 7 as a distribution window 12 located in the rear wall of the vehicle. The distribution window may be provided with unloading support elements, such as a transverse belt 14 for distribution to the left and right sides, or, for example, a horizontal milling cutter supporting the unloading through the distribution window 12, not visible in the figures. An additional distribution window 12 is preferably located on the rear wall opposite the feed separating device 5 or, for example, on parallel side walls, and it remains closed during the mixing of feed in the feed container 2.

[0049] Example 2. An autonomous animal feeding vehicle with a feed separating device structure in the form of a rotary separating device mounted on a gantry crane

[0050] The general structure of the animal feeding vehicle does not differ from the structure described in Example 1. The general structure should be understood as a feed container 2 mounted on wheels and, in a preferred variant, additionally on a frame 1. The differences between Example 1 and the present one will be presented below. The structure of the autonomous feed preparation vehicle according to this embodiment has been illustrated in Figs. 2a-2b.

[0051] In this embodiment of the invention, the feed separation device 5 is movably attached to guides 4a, forming the structure of the feed separation device, which is attached to the walls of the container 2. The feed separating device 5 is moved in guides 4a in one embodiment bymeans of an actuator 4b. In another embodiment, the feed separating device 5 may be moved by means of a winch with a drive motor 4c.

[0052] In yet another embodiment, the device 5 may include gearwheels coupled to the drive of the feed separating device 5, the gear wheels engaging with a toothed bar in the guides 4a, which enables the device 5 to move along the guides 4a.

[0053] In possible embodiments, the device 5 may be moved by means of a winch or, for example, a motor with a gear wheel fixedly installed with the device 5 and toothed bars / guides installed on the guide 4a. The guides 4a may be preferably mounted in a nearly vertical position, but for a better fit, they may be tilted at a fixed angle of up to + / - 30° parallel to the direction of travel of the autonomous feed preparation vehicle. In another embodiment, the angle of deflection of the guides 4a from the container 2 may also be adjusted in a smooth manner, e.g. by means of a hydraulic, electric, or another actuator, in order to optimally adapt to the shape of the feed pile that is extracted, preferably within a range of + / - 30°.

[0054] In the preferred embodiment shown in Figs. 2a and 2b, the feed separating device in the form of a rotary milling cutter may be replaced by a scooping claw, analogous to the solution shown in Fig. lb.

[0055] In this embodiment, the feed preparation vehicle may also comprise an intermediate platform 17, which is mounted between weighing devices 3 on one side and the feed container 2 and the separating device structure, as well as other structural elements on the other side. All parts to be weighed are therefore arranged on this intermediate platform 17, which may then be easily weighed, for example using means known from the state of the art. In this case, this structure allows for the installation of a heavy construction of the separating device in the form of a gantry crane on the intermediate platform without putting any load on the feed container 2, while maintaining the possibility of measuring the height of the feed pile using weighing devices 3.

[0056] Example 3. An autonomous animal feeding vehicle with a feed separating device structure in the form of a rotary separating device mounted directly on the feed containerThe general structure of the animal feeding vehicle does not differ from the structure described in Example 1. The general structure should be understood as a feed container 2 mounted on wheels through the weighing devices 3 and, in a preferred variant, additionally on a frame 1. The differences between Example 1 and the present one will be presented below. The structure of the autonomous feed preparation vehicle according to this embodiment has been illustrated in Figures 3a-3b.

[0057] In this embodiment, toothed guides 4e are installed on the feed container 2. The location of the toothed guides 4e is shown in Figures 3a-3b. The toothed guides 4e are in the form of toothed bars with a shape corresponding to the shape of the feed container 2, in particular to the longitudinal shape of the edge of the container 2. The movement of the feed separating device 5 is performed by means of a drive (e.g., electric, hydraulic) 4d with a reduction gear and a gear wheel cooperating with the bars 4e. The device 5 is installed on the support frame 4f, which moves on bearings 4g. The frame 4f is a structural element on which the feed separating device 5 is moving, and may have various embodiments in the form of welded profiles or metal sheets in order to give rigidity to the entire structure and, by means of bearings 4g, move in a vertical plane without causing skewing. This embodiment of the invention is shown in Fig. 3a.

[0058] The same method of movable mounting of the feed separating device with toothed guides 4e may be used for the separating device in the form of a scooping claw 5a, as shown in Fig. 3b. The difference between the devices in Figures 3a and 3b essentially lies in the change of the feed separating device from a milling cutter to a scooping blade 5a, where both devices perform the same function of separating feed from the feed pile and loading it into the feed container.

[0059] Example 4. A method for feed detection and extraction (Fig.4)

[0060] The vehicle according to the structure according to any of Examples 1-3 moves on a road where feed is likely to be stored, wherein during this operation, the feed separating device 5 is in the lowered position. Upon contact with the feed, the feed exerts resistance on the feed separating device 5, which in practice translates into a change in the readings of the weighing devices 3, which is recorded in the control unit 15. The front weighing devices 3a are beingrelieved, and the rear weighing devices 3b are increasing their readings, which indicates the presence of a feed pile. After detecting the feed, it is preferable for the feed preparation device to perform a reverse movement of approximately 30 cm so that the structure of the feed pile is not disrupted when the separating device is lifted. After lifting the separating device to its maximum height using the lifting mechanism of the separating device, the device moves forward by a distance equal to the sum of the performed reverse movement and the width equal to the working range of the separating device 5, so that the separating device 5 is positioned above the feed that is extracted (Fig. 4). After moving forward, the separating device 5 is lowered, and upon contact of the feed with the separating device 5, in the readings of the weighing devices 3, the average value of all readings of the weighing devices 3 expressed in [kg], will begin to decrease. Information from the weighing devices about load changes is sent to the control unit 15, which, based on this information and information from the sensor measuring the height of the separating device 5, records the height of the feed pile. The height of the feed separating device 5, i.e., its position relative to the surface on which the device according to the invention is moving (e.g., the floor in the animal housing), is determined by means of inductive sensors, encoders measuring the angle of rotation (in the case of a structure with an arm / arms) or other sensors that a person skilled in the art would use to determine the lifting height of the device 5. In the case of the embodiment the invention shown in Fig. la, the position sensor is made as a device indicating the angle of rotation of the arm, where, knowing the value of the said angle of rotation and the length of the arm, it is possible to indicate the height of the position of the feed separating device 5. In other embodiments, these may be distance measurement sensors indicating the height of the separating device above the floor or e.g. an encoder counting the revolutions of the motor moving the separating device (for example, in a structure with guides). The separating device 5 is lowered onto the feed pile at a constant speed. When the separating device 5 comes into contact with the feed pile, a certain mechanical resistance is exerted by the pile. The created mechanical resistance leads to a change in the electrical signal value per unit of time recorded by weighing devices 3, which is interpreted by the control unit 15 software as a change, in this case a decrease in the total weight of the device 5 and the container 2. The control unit 15 software contains stored values for the rate of change in the weighing device readings for agiven type of feed at a given lowering speed of the separating device 5. Therefore, by comparing the data read from sensors 3 with the data from the control unit 15 software, it is possible to determine the type of the extracted feed by its density, i.e., whether the feed is loose, compact, or in between. The readings from the weighing sensors 3 will be different during lowering the device 5 at the same speed onto e.g. a pile of straw, and different during lowering the device 5 onto a hard, compacted mass of hay silage from a silo. Once the weighing devices 3 have reached the appropriate relief value, the control unit 15 initiates the extraction process by setting the separating device 5 in rotational movement. When measuring height and lowering of the separating device 5, it is very important that the drive of the separating device 5 is switched off for energy saving reasons.

[0061] Below are the steps performed by the control unit 15 during the detection, identification, and extraction of feed from the feed pile:

[0062] 1. Driving up to the feed pile

[0063] 2. Change in weighing device 3 readings and detection of feed,

[0064] 3. Reverse movement of the autonomous device,

[0065] 4. Lifting of the separating device,

[0066] 5. Forward movement of the autonomous device,

[0067] 6. Lowering of the separating device 5,

[0068] 7. Change in weighing device 3 readings,

[0069] 8. Recording by the control unit 15 of feed detection and information about the height of the separating device,

[0070] 9. Further lowering of the separating device 5 at a reduced fixed speed,

[0071] 10. Determining by the control unit 15 ofthe density of the feed pile, based on changes in the readings of weighing devices 3 and the lowering speed of the separating device 5, 11. Stopping the lowering of the separating device 5,

[0072] 12. Activating the separating device 5,

[0073] 13. Lowering the structure of the separating device 5,

[0074] 14. Feed extraction,

[0075] 15. Stopping the separating device 5,16. Lifting the structure of the separating device 5 so that it is not in contact with the feed pile,

[0076] 17. Checking the loaded weight of a given ingredient,

[0077] 18. If there is a sufficient amount of a given ingredient, loading of that ingredient is completed and a move to the next feed pile is performed to extract the next ingredient, or:

[0078] 19. Activating the separating device 5,

[0079] 20. Lowering the structure of the separating device 5,

[0080] 21. Further feed extraction, repeating steps 14-17 until full loading is achieved,

[0081] 22. Feed distribution.

[0082] In addition, the described method also makes it possible to determine whether, during delivery to the feed kitchen, the storage locations of individual feed types have been mixed up, where the autonomous device can easily determine the feed type without additional scanners, e.g., spatial ones, and cameras. This is very important when hiring unskilled workers on a farm.

[0083] Example 5. The structure of the device with devices for supporting feed distribution The autonomous animal feeding vehicle according to the invention may include a feed pushing element (18) mounted in its rear part, which pushes the feed to the side during the reverse movement of the autonomous feed preparation device, shown in Fig. 7. The pushing element (18) is made of a metal sheet shaped in the form of a wedge. The pushing element (18) may be raised during passage and lowered during reverse movement of the device, e.g. during feed distribution. For clarity, references of other structural elements have been omitted from Figure 7. However, a person skilled in the art will have little difficulty recognizing them by comparison with other figures.

[0084] Reference List:

[0085] (1) support frame,

[0086] (2) feed container,

[0087] (3) weighing means,

[0088] (4) movable arm of the milling cutter suspension,(4a) guide of the separating device,

[0089] (4b) actuator for lifting separating devices,

[0090] (4c) winch with a motor drive,

[0091] (4d) motor with a gear wheel,

[0092] (4e) toothed guide,

[0093] (4f) frame of the separating device,

[0094] (4g) bearings of the frame 4f,

[0095] (4h) toothed,

[0096] (5) feed separating device,

[0097] (6) drive moving the suspension arm of the feed separating device, (7) driving wheels - drive wheels,

[0098] (8) drive powering the drive wheels,

[0099] (9) support wheels,

[0100] (10) cutting knives,

[0101] (11) mixing device,

[0102] (12) distribution window,

[0103] (13) feed pile,

[0104] (13a) pile of feed that is falling off,

[0105] (14) transverse distribution belt,

[0106] (15) control unit of the autonomous device,

[0107] (16) drive of the mixing device,

[0108] (17) intermediate platform,

[0109] (18) feed moving element,

[0110] X - width of the feed separating device,

[0111] Y - width of the feed container.

Claims

Claims1. An autonomous vehicle for feeding animals other than humans, comprising- a frame,- navigation devices and safety systems,- a feed container mounted on weighing means, provided with feed mixing means, a control unit, and a power supply unit,- a rotary separating device structure having a movable mechanism for moving the feed separating device (5), and a feed separating device (5) for separating animal feed from a feed pile,- weighing means (3),characterized in that the axis of rotation of the feed separating device (5) and the axis of rotation of the mixing means (11) are parallel, wherein the control unit (15) is connected to the weighing means (3) and to the height position sensors of the separating device (5), wherein the weighing means (3) are configured to determine the change in weight of at least the feed container (2) and the structure of the rotating separating device.

2. The vehicle according to claim 1, characterized in that the weighing means (3) are configured to determine the change in weight of at least the feed container (2) and the structure of the rotary separating device altered by the weight with which the separating device (5) presses on the animal feed pile, in order to measure the parameters of the animal feed pile.

3. The vehicle according to claim 1, characterized in that the separating device (5) is movably attached to the feed mixing container (2) by means of a movable mechanism (4) for moving the feed separating device (5), which means are selected from a group comprising at least one arm (4), preferably two arms (4), a guide system (4a) or a toothed guide system (4e) cooperating with a motor with a gear wheel (4d).

4. The vehicle according to claim 1, characterized in that it comprises wheels (9) and (7), wherein they may be driven by motors, such as electric motors.

5. The vehicle according to claim 1 or 3, characterized in that the feed separating device (5) has the form of a milling cutter or a scooping claw (5a).

6. The vehicle according to claim 1 or 3, characterized in that at least one arm (4) is connected with an arm drive (6).

7. The vehicle according to claim 1, 3, or 5, characterized in that if the feed separating device (5) is a blade (5a), the arm (4), preferably each of the arms (4), is connected to a drive (5b), preferably drives (5b), configured to move the blade (5a).

8. The vehicle according to claim 1 or 3, characterized in that the guides in the guide system (4a) are mounted in a swinging manner on the feed container (2) and allow for their deflection by an angle ±a in a direction parallel to the movement direction of the vehicle, preferably the angle a is ±30°.

9. The vehicle according to claim 1, 3, or 7, characterized in that a drive configured to move the feed separating device (5) is attached to the guide system (4a).

10. The vehicle according to claim 1, 3, or 3, characterized in that the guide system (4a) comprises toothed bars coupled to a gear wheel mounted on the feed separating device (5), wherein the feed separating device has the form of a milling cutter with an internal drive.

11. The vehicle according to claim 1 or 3, characterized in that the feed separating device (5) is mounted on a frame (4f) connected to a motor with a gear wheel (4d) configured to move the frame (4f) along toothed guides (4e).

12. The vehicle according to claim 1, characterized in that the wheels (7, 9) are connected to the frame (1), to which the feed container (2) is connected through weighing sensors (3).

13. The vehicle according to any of the preceding claims, characterized in that an intermediate platform (17) is located between the weighing means (3) and the feed container (2).

14. The vehicle according to claim 1, characterized in that the measurement of feed pile parameters comprises the measurement of the height and / or density of the feed pile.

15. The vehicle according to claim 1, characterized in that the separating device (5) is wider than the feed container (2).

16. A feed detection method comprising providing a vehicle forfeeding animals otherthan humans as defined in claim 1, moving the vehicle to a feed storage location, characterized in that the vehicle for feeding animals moves to the feed storage location (13) with the feed separating device (5) lowered, and a control unit (15) registers a change in the electrical signal in the drive (8) of the wheels (7) in case of contact of the feed separating device (5) with feed, which corresponds to the presence of feed, wherein no change in the electrical signal in the drive (8) corresponds to the absence of feed (13), wherein the vehicle forfeeding animals otherthan humans is the vehicle defined in claim 1, optionally, the control unit (15) additionally registers a change in the electrical signal in the weighing sensors (3) in case of contact of the feed separating device (5) with feed.

17. The detection method according to claim 16, characterized in that the change in the electrical signal in the drive (8) of the wheels (7) constitutes a change in power consumption, preferably an increase in power consumption, for driving the wheels (7).

18. The detection method according to claim 16, characterized in that the control unit (15) software interprets the change in the electrical signal in the weighing sensors (3) as a change in the weight of the structure of the feed separating device (5) and the feed container (2).

19. The detection method according to claim 17, characterized in that the front weighing sensors (3a) register a decrease in the weight of the feed separating device and the feed container (2) in case of contact between the feed separating device (5) and the feed.

20. The detection method according to claim 16, characterized in that the rear weighing sensors (3b) register an increase in the weight of the feed separating device and the feed container in case of contact between the feed separating device (5) and the feed.

21. The detection method according to claim 16, characterized in that, after feed has been detected, the animal feeding vehicle performs a reverse movement relative to the feed (13).

22. The feed detection method according to claim 16, characterised in that the steps of the method are performed by an autonomous feed preparation vehicle moving within a building or outside of a building.

23. A method for determining the height of a feed pile, comprising providing a vehicle for feeding animals other than humans, as defined in claim 1, moving the vehicle to a feed storage location, characterized in that the feed (13) is detected by the method defined in claim 16, the feed separating device (5) of the animal feeding vehicle is raised to its maximum working height and the vehicle is moved towards the feed (13), the feed separating device (5) is lowered and the control unit (15) registers a change in the electrical signal in the weighing sensors (3) in case of contact of the feed separating device (5) with the feed, wherein the change in the electrical signal corresponds to a change in the weight of the feed separating device (5) and the feed container (2), and based on the readings of the height position sensors of the feed separation device (5) the height of the feed pile is determined at the moment of the change in weight of the feed separation device (5) and the feed container (2), wherein the vehicle for feeding animals other than humans is the vehicle defined in claim 1.

24. The method for determining height according to claim 23, characterized in that the position of the feed separating device (5) in the vertical direction is determined by means of height sensors.

25. The method for determining the height of a feed pile according to claim 23, characterised in that the steps of the method are performed by an autonomous feed preparation vehicle moving within a building or outside of a building.

26. A method for determining the density of a feed pile, comprising providing a vehicle for feeding animals other than humans as defined in claim 1, moving the vehicle to a feed storage location, characterized in that the feed (13) is detected by the method as defined in claim 16, the height of the feed pile is determined by the method as definedin claim 20, and after determining the height of the feed pile (13), the feed separating device (5) is lowered at a constant speed towards the feed pile (13), simultaneously recording in a continuous manner in the control unit (15) the value of the electrical signal in the weighing sensors (3), and the recorded electrical signal value is compared with the values stored in the control unit (15) software in order to determine the density of the feed (13), wherein the vehicle for feeding animals other than humans is the vehicle as defined in claim 1.

27. The method for determining the density of a feed pile according to claim 26, characterized in that the steps of the method are performed by an autonomous feed preparation vehicle moving within a building or outside of a building.

Images