U.S. patent application number 14/668176 was filed with the patent office on 2015-09-10 for motorized feeding vehicle and a method of operating an animal farming system.
This patent application is currently assigned to DANSK MINK PAPIR A/S. The applicant listed for this patent is DANSK MINK PAPIR A/S. Invention is credited to Johnny Mollerup Larsen, Henrik Palsgaard, Rudi Pedersen.
Application Number | 20150250137 14/668176 |
Document ID | / |
Family ID | 54016092 |
Filed Date | 2015-09-10 |
United States Patent
Application |
20150250137 |
Kind Code |
A1 |
Palsgaard; Henrik ; et
al. |
September 10, 2015 |
MOTORIZED FEEDING VEHICLE AND A METHOD OF OPERATING AN ANIMAL
FARMING SYSTEM
Abstract
An animal feeding vehicle includes a movement control system, a
GPS receiver for generating a first set of parameters including
location information, a proximity sensor for generating a second
set of parameters including spatial information, a position sensor
for generating a third set of parameters including motion
information, a feeding system including a feeding control system
for feeding animals based on a fourth set of parameters. A control
unit receives the first, second, third, and fourth sets of
parameters, and defines a first mode in which the user controls the
movement control system and the feeding control system, and in
which the control unit records data representing the first, second,
third, and fourth sets of parameters; and a second mode in which
the control unit controls the movement control system and the
feeding system by comparing recorded data with the first, second,
third, and fourth sets of parameters.
Inventors: |
Palsgaard; Henrik; (Aalborg,
DK) ; Larsen; Johnny Mollerup; (Aalborg, DK) ;
Pedersen; Rudi; (Herning, DK) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
DANSK MINK PAPIR A/S |
Holstebro |
|
DK |
|
|
Assignee: |
DANSK MINK PAPIR A/S
Holstebro
DK
|
Family ID: |
54016092 |
Appl. No.: |
14/668176 |
Filed: |
March 25, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
14555655 |
Nov 27, 2014 |
|
|
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14668176 |
|
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Current U.S.
Class: |
119/57.92 |
Current CPC
Class: |
B60P 1/00 20130101; A01K
5/00 20130101; G05D 1/0278 20130101; A01K 5/0275 20130101; G05D
1/0221 20130101; G05D 2201/0201 20130101; A01K 5/0266 20130101;
G05D 1/0276 20130101 |
International
Class: |
A01K 5/00 20060101
A01K005/00; G05D 1/02 20060101 G05D001/02 |
Foreign Application Data
Date |
Code |
Application Number |
Nov 27, 2013 |
EP |
13194613.9 |
Mar 25, 2014 |
EP |
14161461.0 |
Claims
1. A motorized feeding vehicle for an animal farming system, said
animal farming system comprising a field having a building
accommodating a plurality of cages, each cage adapted for
accommodating one or more animals, said motorized feeding vehicle
comprising: a power system operable for driving said motorized
feeding vehicle; a steering system operable for determining a
direction of said motorized feeding vehicle; a user-operated
movement control system configured for controlling said power
system and said steering system; a satellite navigation receiver
configured for generating a first set of parameters constituting
location information from a satellite navigation system; a
proximity sensor configured for generating a second set of
parameters constituting spatial information of an area adjacent
said motorized feeding vehicle; an internal position sensor
comprising a direction sensor and a velocity sensor, said internal
position sensor being configured for generating a third set of
parameters constituting motion information; an animal feeding
system, comprising a feed storage tank configured for storing
animal feed and a feeding pipe configured for conveying said animal
feed from said feed storage tank to said cages individually, said
animal feeding system further comprising a feeding control system
operable for controlled feeding of said animals via said animal
feeding system based on a fourth set of parameters constituting
feeding parameters; and a control unit connected to: (a) said
satellite navigation receiver so as to receive said first set of
parameters, (b) said proximity sensor so as to receive said second
set of parameters, and (c) said internal position sensor so as to
receive said third set of parameters; wherein said control unit is
operable in (1) a first mode constituting a learn mode in which
said user is controlling said motorized feeding vehicle via said
user movement control system and said user feeding control system,
wherein said control unit continuously records data representing
said first set of parameters, said second set of parameters, said
third set of parameters and said fourth set of parameters, and (2)
a second mode constituting an autonomous mode in which said control
unit is controlling said power system, said steering system and
said animal feeding system by comparing said recorded data with
said first set of parameters, said second set of parameters, said
third set of parameters, and said fourth set of parameters.
2. The motorized feeding vehicle according to claim 1, wherein said
motorized feeding vehicle comprises an electromagnetic reader
configured for reading an identification device operably associated
with each cage and/or each animal.
3. The motorized feeding vehicle according to claim 2, wherein at
least one of said field and said building comprises an additional
identification device configured for navigation of said
vehicle.
4. The motorized feeding vehicle according to claim 1, wherein said
motorized feeding vehicle includes a detector configured for
determining an amount of feed present in said cages.
5. The motorized feeding vehicle according to claim 1, wherein said
proximity sensor comprises at least one of an IR sensor, radar, or
laser proximity sensor configured for detecting objects at a
specific distance from said motorized feeding vehicle.
6. The motorized feeding vehicle according to claim 1, wherein said
data are exportable from said control unit and/or said data are
importable into said control unit.
7. The motorized feeding vehicle according to claim 1, wherein said
control unit is operable to control said power system and said
steering system based on a weighing algorithm using said recorded
data, said first set of parameters, said second set of parameters,
said third set of parameters, and said fourth set of
parameters.
8. The motorized feeding vehicle according to claim 1, wherein said
first set of parameters is ignored if said satellite navigation
system receiver is not receiving navigation information from a
sufficient amount of satellites, said second set of parameters is
ignored if said proximity sensor cannot detect any nearby objects,
and said third set of parameters is ignored if an onboard
accelerometer detects loss of traction of said power system of said
motorized feeding vehicle.
9. The motorized feeding vehicle according to claim 1, wherein said
feeding pipe is movable in at least 1 degree of freedom, wherein
said degree of freedom is at least one of a rotational degree of
freedom and a translational degree of freedom.
10. The motorized feeding vehicle according to claim 1, wherein
said motorized feeding vehicle comprise a heat sensitive camera
configured for determining a health status of said animals
individually.
11. The motorized feeding vehicle according to claim 1, wherein
said motorized feeding vehicle comprises a wireless communication
unit configured for communicating any of said first set of
parameters, said second set of parameters, said third set of
parameters, said fourth set of parameters and said data to at least
one of a server, a computer, and a handheld device.
12. The motorized feeding vehicle according to claim 1, wherein
said internal position sensor comprises at least one of an inertial
navigation system, a compass, a sensor monitoring said user
operated movement control system, and a sensor measuring an angular
rotation of said power system of said motorized feeding
vehicle.
13. A retrofit kit for a motorized feeding vehicle for an animal
farming system, said animal farming system comprising a field
having a building accommodating a plurality of cages, each cage
adapted for accommodating one or more animals, said motorized
feeding vehicle comprising: a power system operable for driving
said motorized feeding vehicle; a steering system operable for
determining a direction of said motorized feeding vehicle; a
user-operated movement control system configured for controlling
said power system and said steering system; and an animal feeding
system comprising a feed storage tank configured for storing animal
feed and a feeding pipe configured for conveying said animal feed
from said feed storage tank to said cages individually; said
retrofit kit comprising: a satellite navigation receiver configured
for generating a first set of parameters constituting location
information from a satellite navigation system; a proximity sensor
configured for generating a second set of parameters constituting
spatial information of an area adjacent said motorized feeding
vehicle; an internal position sensor comprising a direction sensor
and a velocity sensor, said internal position sensor being
configured for generating a third set of parameters constituting
motion information; a feeding control system configured for
controlled feeding of said animals via said animal feeding system
and for establishing a fourth set of parameters constituting
feeding parameters; and a control unit connected to: (a) said
satellite navigation receiver so as to receive said first set of
parameters, (b) said proximity sensor so as to receive said second
set of parameters, and (c) said internal position sensor so as to
receive said third set of parameters; wherein said control unit is
operable in (1) a first mode constituting a learn mode in which
said user is controlling said motorized feeding vehicle via said
user movement control system and said user feeding control system,
and wherein said control unit is continuously recording data
representing said first set of parameters, said second set of
parameters, said third set of parameters, and said fourth set of
parameters, and (2) a second mode constituting an autonomous mode
in which said control unit is controlling said power system, said
steering system and said animal feeding system by comparing said
recorded data with said first set of parameters, said second set of
parameters, said third set of parameters, and said fourth set of
parameters.
14. A method of operating an animal farming system, said animal
farming system comprising a field having a building accommodating a
plurality of cages, each cage adapted for accommodating one or more
animals, said method comprising: (a) providing a motorized feeding
vehicle, said motorized feeding vehicle comprising: (1) a power
system operable for driving said motorized feeding vehicle; (2) a
steering system operable for determining a direction of said
motorized feeding vehicle; (3) a user-operated movement control
system operable for controlling said power system and said steering
system; (4) a satellite navigation receiver configured for
generating a first set of parameters constituting location
information from a satellite navigation system; (5) a proximity
sensor configured for generating a second set of parameters
constituting spatial information of an area adjacent said motorized
feeding vehicle; (6) an internal position sensor comprising a
direction sensor and a velocity sensor, said internal position
sensor being configured for generating a third set of position
parameters constituting motion information; (7) an animal feeding
system comprising a feed storage tank configured for storing animal
feed and a feeding pipe configured for conveying said animal feed
from said feed storage tank to said cages individually, said animal
feeding system further comprising a feeding control system operable
for controlled feeding of said animals via said animal feeding
system based on a fourth set of parameters constituting feeding
parameters; and (8) a control unit connected to: (a) said satellite
navigation receiver so as to receive said first set of parameters,
(b) said proximity sensor so as to receive said second set of
parameters, and (c) said internal position sensor so as to receive
said third set of parameters; said method further comprising the
steps of: (b) moving said motorized feeding vehicle in a first mode
constituting a learn mode, in which said user is controlling said
motorized feeding vehicle via said user movement control system and
said user feeding control system, and wherein said control unit is
continuously recording a data representing said first set of
parameters, said second set of parameters, said third set of
parameters, and said fourth set of parameters; and (c) moving said
motorized feeding vehicle in a second mode constituting an
autonomous mode in which said control unit is controlling said
power system, said steering system, and said animal feeding system
by comparing said recorded data with said first set of parameters,
said second set of parameters, said third set of parameters, and
said fourth set of parameters.
15. A motorized feeding vehicle for an animal farming system, said
animal farming system comprising a field having a building
accommodating a plurality of cages, each cage adapted for
accommodating one or more animals, said motorized feeding vehicle
comprising: a power system operable for driving said motorized
feeding vehicle; a steering system operable for determining a
direction of said motorized feeding vehicle; an animal feeding
system comprising a feed storage tank configured for storing animal
feed and a feeding pipe configured for conveying said animal feed
from said feed storage tank to said cages individually, said animal
feeding system further comprising a feeding control system operable
for controlled feeding of said animals via said animal feeding
system, said animal feeding system comprising a vertical telescopic
cylinder connected to said motorized feeding vehicle, a horizontal
telescopic cylinder rotationally connected to said vertical
telescopic cylinder, and a feed dispensing device connected to said
horizontal telescopic cylinder and said feeding pipe; and a safety
mechanism interconnecting said vertical telescopic cylinder and
said horizontal telescopic cylinder, said safety mechanism
comprising a lower part connected to said vertical telescopic
cylinder and an upper part connected to said horizontal telescopic
cylinder, said lower part and said upper part being interconnected
by a locking mechanism operable to prevent said upper part from
rotating relative to said lower part unless a horizontal force is
applied to said horizontal telescopic cylinder.
16. The motorized feeding vehicle of claim 15, wherein said locking
mechanism comprises a spring-loaded ball seatable within a
groove.
17. A motorized feeding vehicle for an animal farming system, said
animal farming system comprising a field having a building
accommodating a plurality of cages, each cage adapted for
accommodating one or more animals, said motorized feeding vehicle
comprising: a power system operable for driving said motorized
feeding vehicle; a steering system operable for determining a
direction of said motorized feeding vehicle; an animal feeding
system comprising a feed storage tank configured for storing animal
feed and a feeding pipe configured for conveying said animal feed
from said feed storage tank to said cages individually, said animal
feeding system further comprising a feeding control system operable
for controlled feeding of said animals via said animal feeding
system, said animal feeding system comprising a feed dispensing
device that, in turn, comprises a portioning device rotationally
accommodated within a cover, said portioning device being connected
to said feeding pipe, said portioning device defining a first
aperture and said cover defining a second aperture, said feed
dispensing device defining a dispensing state when said first
aperture and said second aperture are at least partially
overlapping, and a non-dispensing state when said first aperture
and said second aperture are non-overlapping.
18. The motorized feeding vehicle of claim 17, wherein at least one
of said portioning device and said cover includes a plurality of
apertures of different configurations so as to allow a variation in
the feed flow.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation-in-part of co-pending
U.S. application Ser. No. 14/555,655, filed Nov. 27, 2014, which
claims priority from European Application No. EP 13194613.9, filed
Nov. 27, 2013. This application claims priority from European
Application No. EP 14161461.0, filed Mar. 25, 2014. The subject
matter of all of the aforesaid prior applications is incorporated
herein by reference in its entirety.
BACKGROUND
[0002] The present invention relates to a motorized feeding
vehicle, an animal farming system and a method of operating an
animal farming system.
[0003] In relation to animal farming, in particular furred animal
farming such as mink farming, the animals are typically kept in a
building or shed in which the animals are accommodated either in
individual cages, or with a small number of animals in each cage.
The word "cage" should be understood to encompass also similar
enclosures for animals. The building typically has a roof and
walls, however, it may also have an at least partially open
structure. The cages are typically positioned on each side of a
passage through the building. In small farms the animals may be fed
manually; however, in larger farms, the feeding of the animals is
performed by using a motorized feeding vehicle.
[0004] The motorized feeding vehicle may comprise a chassis, a
driver position, a movement control system, a power system, a
steering system and an animal feeding system. The feeding system
comprises a feed storage tank and a pipe for delivering the animal
feed directly on the cages. The feed is typically provided in a
flowable form. The user thus drives into the building and adjacent
a cage such that the pipe is located above the cage and then
operates a pump or delivery system for delivering a user determined
amount of feed for the individual animal.
[0005] The operation of such motorized feeding vehicles is very
monotonous work since it involves driving to a cage, operating the
feeding system, driving to the next cage, and so on. Further, the
feeding must be repeated several times every day at the times when
the animals should be fed. Thus, in the prior art there has been
committed significant work for developing technologies for allowing
the motorized feeding vehicle to be automatically controlled. Some
of the prior art technologies are described below:
[0006] The German patent application DE 10 2006 037 232 A1
describes a navigation system for a vehicle which has an internal
wireless reader which may read location data from transponders
positioned in the same area as the vehicle.
[0007] The Danish patent DK 176 402 B1 describes a fully automatic
feeding vehicle, which may move automatically along a predetermined
path by the aid of a wireless positioning system, such as a GPS
system.
[0008] The Danish patent DK 177 425 B1 describes a feeding vehicle
having a navigation system, which measures the angular rotation of
a wheel and calculates the distance which the feeding vehicle has
moved based on the radius and the angular movement of the
wheel.
[0009] The Danish patent DK 177 406 B1 describes a feeding vehicle
having a feeding pipe divided into two pipe sections and a servo
motor for moving the feeding pipe.
[0010] The European patent application EP 366 350 A2 describes a
vehicle for primarily unmanned operation equipped with an upwardly
pointing video camera which during a manually driven learning mode
observes overhead features which during a subsequent umnanned trip
are used for guidance.
[0011] The Dutch patent NL 1020093 relates to an autonomous vehicle
having a detector for detecting floor markings.
[0012] The Dutch patent NL 1035687 relates to an unmanned vehicle
having a control system using sensors or GPS. The sensors of the
control system may be slides or land-marks in the surroundings in
which the vehicle is used.
[0013] The United Stated patent application US 2010/0161225 A1
relates to a method of building map information using a 3D camera
for localization.
[0014] The international patent application WO 2008/101500 A1
relates to a system for feeding fur animals in which an unmanned
motorized feed cart is guided along a guide wire. The document also
describes the use of RFID tags.
[0015] The European patent EP 2 124 528 B1 relates to an unmanned
vehicle for supplying feed to an animal and having a sensor for
forming an image of an observation area.
[0016] The Chinese utility model CN 203015614 U describes an
automatic feeding machine for fur-bearing animals having a feed
hopper and a feed pump.
[0017] The Chinese utility model CN 202697443 U describes an
automatic feeding machine comprising a seat and a steering
wheel.
[0018] The Chinese utility model CN 201426302 Y describes an
automatic feeding machine comprising a hydraulic motor and a
hydraulic pump.
[0019] The Chinese utility model CN 201690880 U describes an
automatic feeding machine having a hopper and a feed conveying
device.
[0020] The Chinese utility model CN 201733700U relates to a small
sized three wheeled vehicle having a handlebar type steering
device.
[0021] The Chinese application CN 103004626A relates to a machine
for distributing feeding meat to animals having a power device that
is fixedly connected to a gear shaft provided with a meshed gear
pump and discharging pipe that is connected with the bottom of a
storage hopper arranged with a feeding port.
[0022] The European patent EP 0 739 161 B1 relates to a feed wagon
moving between feed loading stations by means of a detection device
for the detection of passive beacons or a wire.
[0023] The European patent EP 2 334 169 B1 relates to an unmanned
vehicle having a protective device in the form of an electrical
conductor for protecting the vehicle against obstacles such as
animal legs.
[0024] The U.S. Pat. No. 7,689,434 B1 relates to an animal feeding
system comprising a vehicle having a GPS system.
[0025] The U.S. Pat. No. 5,424,957 relates to a control and
monitoring system mount in a feed truck which detects whether feed
remains in the bunks from prior feedings.
[0026] The Danish patent 176 138 B1 relates to a method of
increasing the fertility of female animals by automatic individual
feeding of the animals.
[0027] GB 1 564 197 relates to a fodder distribution system
comprising a row of individual troughs and a fodder distribution
vehicle which is movable along the row.
[0028] US 2007/0288249 relates to a system comprising at least one
device for measuring one or more parameters of individual animals,
the data being used to determine management strategies for
individual animals in real-time.
[0029] The automatic feeding vehicles mentioned in the above
mentioned documents allow for an automatic feeding of caged animals
without the direct involvement of a user. In order to allow the
feeding vehicle to navigate without the need of user involvement,
it is necessary for the feeding vehicle to comprise a navigation
system. The navigation systems used in the above mentioned prior
art documents may basically be divided into global navigation
systems, such as GPS, local navigation systems, such as RFID tags
or cameras; and onboard navigation systems, such as an onboard
distance and directional measurement.
[0030] All of the above systems have their individual advantages
and drawbacks. The global navigation systems typically depend on
satellites emitting high frequency radio waves which allow a very
accurate localization but which cannot be accurately received
indoors. Local navigation systems may be positioned both indoors
and outdoors; however, they may be very sensitive to dust, rain,
snow, and similar environmental influence. Onboard navigation
systems have the inherent drawback that a well determined starting
position is required, and any navigation error thereafter is
cumulative and thus increases over time and distance from the
well-defined starting point.
[0031] Some navigation systems depend on beacons or electric wires
which are installed on the premises of the animal farming system.
Such navigation systems may provide a high location accuracy by
utilizing a method such as triangulation for position; however,
such systems require high investments to be made in order to
install the system. There is, however, a need for accurate location
systems which may be used directly in an existing animal farming
system without having to invest in new infrastructure.
[0032] Thus, all of the above described feeding vehicles suffer
from a risk of failure in the navigation system. Such failure
should be avoided since it will require user involvement.
Therefore, the object of the present invention is to find a
technology which allows for a more secure and fail-safe navigation
of a motorized feeding vehicle while keeping the investment in the
animal farming system low.
SUMMARY
[0033] The above objects together with numerous other objects which
are evident from the detailed description of the present invention
are obtained according to a first aspect of the present invention
by a motorized feeding vehicle for an animal farming system, the
animal farming system comprising a field having a building
accommodating a plurality of cages, each cage adapted for
accommodating one or more animals, preferably a furred animal, most
preferably a mink, the motorized feeding vehicle comprising: [0034]
a power system for driving the motorized feeding vehicle, [0035] a
steering system for determining a direction of the motorized
feeding vehicle, [0036] a user operated movement control system for
manually controlling the power system and the steering system,
[0037] a satellite navigation system receiver for generating a
first set of parameters constituting location information from a
satellite navigation system, [0038] a proximity sensor for
generating a second set of parameters constituting spatial
information of an area adjacent said motorized feeding vehicle,
[0039] an internal position sensor comprising a direction sensor
and a velocity sensor for generating a third set of parameters
constituting motion information, [0040] an animal feeding system
comprising a feed storage tank for storing animal feed and a
feeding pipe for conveying the animal feed from the feed storage
tank to the cages individually, the animal feeding system further
comprising a feeding control system for controlled feeding or
non-feeding the animals via the animal feeding system based on a
fourth set of parameters constituting feeding parameters, and,
[0041] a control unit connected to the satellite navigation system
for receiving the first set of parameters, to the proximity sensor
for receiving the second set of parameters, and to said internal
position sensor for receiving the third set of parameters, the
control unit defining: [0042] a first mode constituting a learn
mode in which the user is controlling the motorized feeding vehicle
via the user operated movement control system and the user feeding
control system and the control unit continuously recording data
representing the first set of parameters, the second set of
parameters, the third set of parameters and the fourth set of
parameters, and [0043] a second mode constituting an autonomous
mode in which the control unit is controlling the power system, the
steering system and the animal feeding system by comparing the
recorded data with the first set of parameters, the second set of
parameters, the third set of parameters and the fourth set of
parameters.
[0044] By combining three different navigation systems, namely a
satellite navigation system, a proximity sensor and an internal
position sensor, the location of the motorized feeding vehicle may
be determined more accurately and the motorized feeding vehicle may
be navigated more precisely in an autonomous mode than relying on
only one or two different navigation systems. In case one or even
two of the three navigation systems falls out, navigation will
still be possible. Especially, if one or even two of the three
navigation systems gives a non-accurate location, the error may be
compensated by accurate information from the remaining navigation
system(s).
[0045] The control unit may also be set up using a primary
navigation system, e.g. the proximity sensor and the second set of
parameters. In case the proximity sensor cannot accurately detect
any objects in the nearby spatial environment, e.g. if the
motorized feeding vehicle are located too far from any object, such
as a wall or the like, the control unit may use the satellite
navigation system receiver, i.e. the first set of parameters. When
both the first and second sets of parameters are inaccurate, e.g.
when navigating between cages within the building, the control unit
uses the internal position sensor, i.e. the third set of
parameters.
[0046] The motorized feeding vehicle is intended for navigating
within and outside the building accommodating the animals. A
separate maintenance shed is typically provided for the motorized
feeding vehicle, in which it may be serviced and resupplied. The
motorized feeding vehicle should thus by be able to navigate from
the shed into the building, passing all of the cages, and
thereafter returning to the maintenance shed.
[0047] The power system may comprise an electrical motor or a
combustion engine for driving a set of wheels or caterpillar
tracks. The steering system allows the motorized feeding vehicle to
change direction by e.g. changing the direction of the wheels or
the velocity of the caterpillar tracks. The power system and the
steering system may be controlled by the user operated control
system which may comprise pedals, steering wheel, levers etc. for
controlling the steering system and the power system.
[0048] The first set of parameters constitutes location information
indicating the location of the motorized feeding vehicle, e.g.
coordinates such as longitude and latitude. The satellite
navigation system receiver continuously generates the first set of
parameters by receiving satellite information. The receiver must
receive signals with sufficient signal strength from a certain
number of satellites, typically at least three, in order to
establish the location with high accuracy. Roofs, walls and cloudy
skies may reduce the signal strength and thus make the first set of
parameters less accurate.
[0049] The proximity sensor fulfills the purpose of detecting
objects obstructing the motorized feeding vehicle. The proximity
sensor has the dual function of a collision prevention system and a
navigation system. Acting as a collision prevention system, the
object may be a human being, an animal or any other larger movable
article which may be damaged by or cause damage to, the motorized
feeding vehicle in case of collision. Acting as a navigation
system, the object may be the external and internal walls of the
building of the animal farming system. When the motorized feeding
vehicle is navigating in the field, the proximity sensor will
normally not receive any information. When approaching the entrance
of the building, the proximity sensor will allow the motorized
feeding vehicle to enter and avoid collisions with the external
wall of the building. When in the passage between cages, the
proximity sensor will prevent collision with the cages and allow
the motorized feeding vehicle to navigate along the passage. The
control unit may be configured to navigate and avoid collision both
in learn mode and in autonomous mode. In learn mode, the motorized
feeding vehicle may generate the second set of parameters
constituting spatial information indicating e.g. the width and
location of the entrance and passage, whereas in the autonomous
mode, the motorized feeding vehicle may use the recorded spatial
information for navigation and further be caused to deviate from
its derived route and make a detour about any occasional object.
Further, objects may be placed in the field and along the passage
to detect via the proximity sensor of the motorized feeding
vehicle, e.g. as an indication of the location of a specific
cage.
[0050] The internal position sensor uses the direction sensor and
the velocity sensor for generating the third set of parameters
constituting motion parameters. The motion parameters may be used
for determining the location of the motorized feeding vehicle by
deriving the location using the motion parameters from a
predetermined location, e.g. the location of the maintenance shed
or alternatively the location information from the first or second
set of parameters. The new location of the motorized feeding
vehicle is determined from the distance and direction travelled
from the predetermined location. The velocity and the time
travelled are typically used for determining the distance. The
location may thus be established without the need of any external
devices. The motion parameters may also be used directly by the
control unit for navigating between two locations.
[0051] The food storage tank of the animal feeding system may be
filled at the maintenance shed. The fourth set of parameters may
provide information about the amount of feed to be distributed to
each animal. The feed is simply pumped at or onto the cage in the
right amount by the use of the feeding pipe. The feeding may be
controlled by the user utilizing the feeding control system. In
this way the fourth set of parameters may be recorded including
e.g. the amount of feed given to a certain animal kept at a certain
cage location.
[0052] The control unit is typically located in the feeding vehicle
although some parts of it, such as data storage, may be located on
a centralized server e.g. at the maintenance shed. The first mode
of the motorized feeding vehicle defines the learn mode in which
the user is driving the motorized feeding vehicle and the data
comprising the first, second, third, and fourth sets of parameters
are recorded by the control unit. The control system thus
continuously records the first, second, third, and fourth sets of
parameters using a predetermined sampling rate, e.g. 1 sample per
second or 10 samples per second or more.
[0053] The user typically performs a normal feeding run using the
user operated control system, e.g. drives from the maintenance
shed, into the building and feeding all animals within the cages
using the animal feeding system and returning to the maintenance
shed. The data thus includes location information from three
independent navigation systems, namely the satellite navigation
system, the proximity sensor and the internal position sensor.
[0054] Additionally, the data includes the feeding parameters
defining the amount of feed to dispense at the specific locations
of the animals. It is contemplated that the feeding parameters may
be determined during learn mode, or a constant amount of feed may
be given to each animal, or the amount of feed may be determined by
user inputting the feeding parameters.
[0055] The second mode defines the autonomous mode. In this mode,
the control system is controlling the motorized feeding vehicle
essentially without user involvement. The control system uses the
previously recorded data to navigate the motorized feeding vehicle
from the maintenance shed, into the building and feeding all
animals within the cages using the animal feeding system, and
returning to the maintenance shed. When the motorized feeding
vehicle is navigating by use of the control unit in the autonomous
mode, the power system and steering system is controlled by the
control unit. The control system may use the velocity inherently
defined by the data and the sampling rate, or the velocity may be
predetermined or internally defined by an internal vehicle
stability system. The direction may be established by periodical
course corrections based on the difference between the generated
first, second, and third sets of parameters and the recorded data.
The animal feeding system may also be autonomously controlled by
using the recorded fourth set of parameters together with the
first, second, and third sets of parameters in order to provide the
correct amount of food to the correct animal in the cage.
[0056] According to a further embodiment of the first aspect, the
motorized feeding vehicle comprises an electromagnetic reader for
reading an identification device of each cage and/or each animal,
the reader preferably being an RFID reader or an optical reader.
The identification device may comprise information about the animal
and of the location of the animal and/or cage within the building.
Additional identification devices may be located at the entrance of
the building and outside the building for providing location
information only. This location information may during learn mode
be recorded by a further set of parameters which may be used later
during autonomous mode as additional navigation information. The
reader preferably receives the information from the identification
devices by the use of wireless technologies when the reader is
located within a certain distance from the indemnification device.
Triangulation methods may be used for fixating the location of the
motorized feeding vehicle provided at least two identification
devices are within range.
[0057] Preferably, an RFID tag on each of the cage and/or directly
on the animals, e.g. the tails of the animals, may be used for
remotely and wireless reading of the identification devices.
Alternatively, an optical tag and an optical reader may be used,
e.g. a barcode or QR code.
[0058] According to a further embodiment of the first aspect, the
motorized feeding vehicle includes a detector for determining the
amount of feed present or not present in the cage, the detector
preferably being a camera or an ultrasound detector. The detector
may e.g. be connected to the animal feeding system in order to
determine the amount of feed to be released onto the cage. The
information of remaining feed may also be used for continuously
altering the fourth set of parameters such that all animals receive
the proper amount of feed.
[0059] According to a further embodiment of the first aspect, the
field and/or the building comprises additional identification
devices for navigation. The additional identification devices may
be used for navigating outside the building and through small
passages, e.g. through the entrance of the building.
[0060] According to a further embodiment of the first aspect, the
proximity sensor comprises a IR, radar, or laser proximity sensor,
and/or a sensor for detecting objects a specific distance from the
motorized feeding vehicle, preferably 0.5 m-2 m from the motorized
feeding vehicle, such as 1 m from the motorized feeding vehicle.
IR, radar and laser define technologies for detecting nearby
objects with high accuracy. 1 m provides a suitable distance for
being able to reduce the velocity of the motorized feeding vehicle
and turn the vehicle.
[0061] According to a further embodiment of the first aspect, the
data may be exported from the control unit and/or the data may be
imported into the control unit. It is not necessary to use the same
motorized feeding vehicle for performing the learn mode and the
autonomous mode. The data recorded by one motorized feeding vehicle
may be read into another motorized feeding vehicle, eliminating the
need of performing the learn mode for every vehicle in case
multiple vehicles are used in the same animal farming system.
[0062] According to a further embodiment of the first aspect, in
the motorized feeding vehicle according to the description, wherein
the control unit is controlling the power system and the steering
system based on a weighing algorithm using the recorded data, the
first set of parameters, the second set of parameters, the third
set of parameters, and the fourth set of parameters, the weighing
algorithm preferably being adaptive, such as a Kalman filter. The
control unit may include a control algorithm for controlling the
autonomous cruising of the motorized feeding vehicle based on the
recorded data and the continuously received first, second third
and, optionally, fourth set of parameters. An adaptive control or
robust control algorithm may be used based on the first, second and
third sets of parameters. The control algorithm may e.g. be based
on a Kalman filter.
[0063] According to a further embodiment of the first aspect, the
first set of parameters is ignored if the satellite navigation
system receiver is not receiving navigation information from a
sufficient number of satellites, and/or, the second set of
parameters is ignored if the proximity sensor cannot detect any
nearby object, and/or, the third set of parameters is ignored if an
onboard accelerometer detects loss of traction of the power system
of the motorized feeding vehicle. The decision whether or not to
ignore a set of parameters may also be based on the factors which
are known to influence the quality of the location information. A
satellite navigation system receiver typically must achieve a
stable connection to at least three, preferably four, satellites in
order to provide reliable location information. The proximity
sensor must be very close to an object in order for the proximity
sensor to assume that the motorized feeding vehicle is positioned
correctly and thus the spatial information cannot be considered to
be correct in case the nearest objects are far away. The internal
position sensor may not be able to yield accurate motion
information in case the motorized feeding vehicle drives over a
small object or in case the power system looses traction. Thus, in
case the onboard accelerometer detects loss of traction, the motion
information may be ignored since it may be deemed to be
inaccurate.
[0064] The control unit may e.g. be ignoring one set of parameters
of the first set of parameters, the second set of parameters and
the third set of parameters if the one set of parameters deviates
in relation to the other two sets of parameters by more than a
certain value, e.g. 1 m. Any one of the first, second and third
sets of parameters may be inaccurate for the several reasons stated
above. It may be assumed that in case one of the three sets of
parameters deviates from the other two by the above distance, the
set may be ignored since it is a high probability that the one
deviating set of parameters is inaccurate. The control unit may
thus use the remaining two sets of parameters for navigation and
ignore the set of parameters deemed to be inaccurate.
[0065] According to a further embodiment of the first aspect, the
feeding pipe is movable in 1 or 2 degrees of freedom, preferably in
1 rotational or translational degree of freedom, most preferably in
1 rotational degree of freedom. In order for the motorized feeding
vehicle to be able to assume a compact shape when the motorized
feeding vehicle is moving within and outside the building while
allowing the feeding to be accomplished in a safe way, the feeding
pipe may be movable in order for the end of the feeding pipe to be
positioned above the cage when the feed is released, wherein the
feeding pipe may have at least 1 rotational or translational degree
of freedom. In this way the motorized feeding vehicle is compact
when moving in and out of the building, while during feeding the
feeding pipe may be extended in order to reach in above the cages
for releasing the feed onto the cages.
[0066] According to a further embodiment of the first aspect, the
motorized feeding vehicle comprises a heat sensitive camera, such
as an IR camera, for determining a status, such as a health status,
of the animals individually.
[0067] When the animals are fed, the motorized feeding vehicle may
simultaneously utilize a heat camera in order to determine whether
an animal is present in the cage or not. The number of live animals
may thereby be easily calculated while the animals are fed.
[0068] Further, the heat camera may monitor the health status of
the animal by measuring the body temperature of the animal. The
body temperature is commonly used in the veterinary science for
identifying sick animals. The normal body temperature varies
between species. An elevated body temperature, i.e. fever, is
indicative of that the animal is affected by a disease. The control
unit may record the body temperature of the animal and compare the
measured body temperature with the standard body temperature. In
case the difference between the measured body temperature and the
standard body temperature is above a certain value, it indicates
that the animal has a fever and may be affected by a disease. The
animal may thereafter be removed and treated in order to avoid
spreading of disease among the population of animals within the
building.
[0069] Yet further, the heat camera may be used for identifying
animal injuries. An injured animal may have a higher body
temperature at the location of the injury. Such injured animals may
also be removed and treated. The heat camera may also detect
animals suffering from an unusually low body temperature.
[0070] According to a further embodiment of the first aspect, the
motorized feeding vehicle comprises a surveillance camera for
observing the animals and/or the motorized feeding vehicle and/or
the surroundings of the motorized feeding vehicle. The surveillance
camera may be used for monitoring the animals and the farm in order
to detect any irregularities.
[0071] According to a further embodiment of the first aspect, the
motorized feeding vehicle comprises a wireless communication unit,
such as a WIFI or GSM unit, for communicating any of the first set
of parameters, the second set of parameters, the third set of
parameters, the fourth set of parameters and the data to a server,
computer or handheld device. The sets of parameters may be
communicated to a server for generating statistics of the feeding
of the animals. The measured data may also be used for optimizing
the feeding.
[0072] According to a further embodiment of the first aspect, the
internal position sensor comprises any of an inertial navigation
system, a compass, a sensor monitoring the user operated movement
control system and a sensor measuring an angular rotation of the
power system of the motorized feeding vehicle. The internal
position sensor may e.g. determine the velocity and/or the distance
travelled by the motorized feeding vehicle by measuring the number
of rotations of the wheels over a time period. The direction of the
motorized feeding vehicle may be determined by measuring the
direction of the steering wheels. Alternatively, the direction may
be determined via a compass. Yet alternatively, an inertial
navigation system, such as an IMU, may be used for determining the
acceleration of the motorized feeding vehicle and thereby derive
the velocity and/or distance over a time period.
[0073] The above object together with numerous other objects which
are evident from the detailed description of the present invention
are obtained according to a second aspect of the present invention
by an animal farming system comprising a field having a building
accommodating a plurality of cages, each cage adapted for
accommodating one or more animals, preferably a furred animal, most
preferably a mink, the animal farming system comprising a motorized
feeding vehicle according to the first aspect for moving within and
outside the building.
[0074] It is evident that any of the further features described
above in connection with the motorized feeding vehicle according to
the first aspect may be used in the animal farming system according
to the second aspect.
[0075] The above object together with numerous other objects which
are evident from the detailed description of the present invention
are obtained according to a third aspect of the present invention
by a retrofit kit for a motorized feeding vehicle for an animal
farming system, the animal farming system comprising a field having
a building accommodating a plurality of cages, each cage adapted
for accommodating one or more animals, preferably a furred animal,
most preferably a mink, the motorized feeding vehicle comprising:
[0076] a power system for driving the motorized feeding vehicle,
[0077] a steering system for determining a direction of the
motorized feeding vehicle, [0078] a user operated movement control
system for manually controlling the power system and the steering
system, and [0079] an animal feeding system comprising a feed
storage tank for storing animal feed and a feeding pipe for
conveying the animal feed from the feed storage tank to the cages
individually, the retrofit kit comprising: [0080] a satellite
navigation system receiver for generating a first set of parameters
constituting location information from a satellite navigation
system, [0081] a proximity sensor for generating a second set of
parameters constituting spatial information of an area adjacent the
motorized feeding vehicle, [0082] an internal position sensor
comprising a direction sensor and a velocity sensor for generating
a third set of parameters constituting motion information, [0083] a
feeding control system for controlled feeding or non-feeding of the
animals via the animal feeding system based on a fourth set of
parameters constituting feeding parameters, and, [0084] a control
unit connected to the satellite navigation system for receiving the
first set of parameters, to the proximity sensor for receiving the
second set of parameters, and to the internal position sensor for
receiving the third set of parameters, the control unit defining:
[0085] a first mode constituting a learn mode in which the user is
controlling the motorized feeding vehicle via the user operated
movement control system and the user feeding control system and the
control unit continuously recording data representing the first set
of parameters, the second set of parameters, the third set of
parameters and the fourth set of parameters, and [0086] a second
mode constituting an autonomous mode in which the control unit is
controlling the power system, the steering system and the animal
feeding system by comparing the recorded data with the first set of
parameters, the second set of parameters, the third set of
parameters and the fourth set of parameters.
[0087] The retrofit kit may be used for converting a non-autonomous
motorized feeding vehicle to be able to be run automatically. The
existing motorized feeding vehicle is expected to include at least
the power system, the steering system, the user operated movement
control system and the animal feeding system. The navigation
systems may be added in the form of a kit. It is evident that some
parts of the kit may be already included in the existing motorized
feeding vehicle.
[0088] The above object together with numerous other objects which
are evident from the detailed description of the present invention
are obtained according to a fourth aspect of the present invention
by a method of operating an animal farming system, the animal
farming system comprising a field having a building accommodating a
plurality of cages, each cage adapted for accommodating one or more
animals, preferably a furred animal, most preferably a mink, the
method comprising providing a motorized feeding vehicle, the
motorized feeding vehicle comprising: [0089] a power system for
driving the motorized feeding vehicle, [0090] a steering system for
determining--a direction of the motorized feeding vehicle, [0091] a
user operated movement control system for manually controlling the
power system and the steering system, [0092] a satellite navigation
system receiver for generating a first set of parameters
constituting location information from a satellite navigation
system, [0093] a proximity sensor for generating a second set of
parameters constituting spatial information of an area adjacent
said motorized feeding vehicle, [0094] an internal position sensor
comprising a direction sensor and a velocity sensor for generating
a third set of position parameters constituting motion information,
[0095] an animal feeding system comprising a feed storage tank for
storing animal feed and a feeding pipe for conveying the animal
feed from the feed storage tank to the cages individually, the
animal feeding system further comprising a feeding control system
for user controlled feeding or non-feeding of the animals via the
animal feeding system and for establishing a fourth set of
parameters constituting feeding parameters, and [0096] a control
unit connected to the satellite navigation system for receiving the
first set of parameters, to the proximity sensor for receiving the
second set of parameters and to the internal position sensor for
receiving the third set of parameters, the method comprising the
additional steps of: [0097] moving the motorized feeding vehicle in
a first mode constituting a learn mode in which the user is
controlling the motorized feeding vehicle via the user operated
movement control system and the user feeding control system and the
control unit continuously recording data representing the first set
of parameters, the second set of parameters, the third set of
parameters and the fourth set of parameters, and [0098] moving the
motorized feeding vehicle in a second mode constituting an
autonomous mode in which the control unit is controlling the power
system, the steering system and the animal feeding system by
comparing the recorded data with the first set of parameters, the
second set of parameters, the third set of parameters and the
fourth set of parameters.
[0099] It is evident that any of the further features described
above in connection with the motorized feeding vehicle according to
the first aspect may be used in the method according to the fourth
aspect.
[0100] The above object together with numerous other objects which
are evident from the detailed description of the present invention
are obtained according to a fifth aspect of the present invention
by a motorized animal status vehicle for an animal faulting system,
the animal farming system comprising a field having a building
accommodating a plurality of cages, each cage adapted for
accommodating one or more animals, preferably a furred animal, most
preferably a mink, the motorized animal status vehicle comprising:
[0101] a power system for driving the motorized animal status
vehicle, [0102] a steering system for determining a direction of
the motorized animal status vehicle, and [0103] a heat sensitive
camera, such as an IR camera, for determining a status, such as a
health status, of the animals individually.
[0104] It is evident that the heat camera described above may be
used in an animal status vehicle without necessarily including the
navigation and feeding features.
[0105] According to a further embodiment of the fourth aspect, the
motorized animal status vehicle further comprises a calculation
unit for calculating the number of animals present in said animal
farming system. The heat camera may be used in order to determine
whether an animal is present in the cage or not. The number of live
animals may thereby be easily calculated
[0106] According to a further embodiment of the fourth aspect, the
motorized animal status vehicle further comprises a determination
unit for determining the health status of animals present in said
animal farming system. Further, the heat camera may monitor the
health status of the animal by measuring the body temperature of
the animal. The body temperature is commonly used in the veterinary
science for identifying sick animals. The normal body temperature
varies between species. An elevated body temperature, i.e. fever,
is indicative of that the animal is affected by a disease. The
control unit may record the body temperature of the animal and
compare the measured body temperature with the standard body
temperature. In case the difference between the measured body
temperature and the standard body temperature is above a certain
value, it indicates that the animal has a fever and may be affected
by a disease. The animal may thereafter be removed and treated in
order to avoid spread of disease among the population of animals
within the building.
[0107] Yet further, the heat camera may be used for identifying
animal injuries. An injured animal may have a higher body
temperature at the location of the injury. Such injured animals may
also be removed and treated. The heat camera may also detect
animals suffering from an unusually low body temperature.
[0108] The above object together with numerous other objects which
are evident from the detailed description of the present invention
are obtained according to a sixth aspect of the present invention
by a method of operating an animal farming system, the animal
farming system comprising a field having a building accommodating a
plurality of cages, each cage adapted for accommodating one or more
animals, preferably a furred animal, most preferably a mink, the
method comprising providing a motorized animal status vehicle, the
motorized animal status vehicle comprising: [0109] a power system
for driving the motorized animal status vehicle, [0110] a steering
system for determining a direction of the motorized animal status
vehicle, and [0111] a heat sensitive camera, such as an IR camera,
for determining a status, such as a health status, of the animals
individually, said method comprising the further steps of: [0112]
moving said motorized animal status vehicle to a specific cage of
said plurality of cages, and [0113] measuring a body temperature of
said animal in said specific cage.
[0114] It is evident that the method according to the fifth aspect
may be used together with the motorized animal status vehicle
according to the fifth aspect.
BRIEF DESCRIPTION OF THE DRAWINGS
[0115] FIG. 1 is a view of an animal farming system and a motorized
feeding vehicle.
[0116] FIG. 2A-D is a series describing the motorized feeding
vehicle in the first mode.
[0117] FIG. 3 is a perspective view of the motorized feeding
vehicle.
[0118] FIG. 4A-D is a series describing the motorized feeding
vehicle in the second mode.
[0119] FIG. 5 is a perspective view of a further embodiment of the
motorized feeding vehicle.
[0120] FIG. 6 is a chart illustrating the working principle of the
control unit.
[0121] FIG. 7 is a flow chart illustrating the working principle of
the motorized feeding vehicle.
[0122] FIG. 8 is a perspective view of a motorized feeding vehicle
having a feed dispenser.
[0123] FIG. 9A-D is a series describing the movement of the feed
dispenser.
[0124] FIG. 10 is a perspective exploded view of a feed dispensing
device.
[0125] FIG. 11A-D is a series describing the working principle of
the feed dispensing device.
[0126] FIG. 12 is a perspective exploded view of a safety mechanism
for the feed dispenser.
[0127] FIG. 13 is a perspective view of the upper part of the
safety mechanism.
[0128] FIG. 14 is a perspective view of the lower part of the
safety mechanism.
DETAILED DESCRIPTION
[0129] FIG. 1 shows a perspective view of an animal farming system
10. The animal farming system 10 is located on a field and
comprises a number of sheds or buildings 12. Each building 12
comprises a passage 14 and a plurality of cages 16 on each side of
the passage 14 accessible from the passage 14. Each cage 14
comprises one or more animals (not shown), such as a furred animal,
and in particular a mink. The animal farming system 10 further
comprise a motorized feeding vehicle 20 initially positioned at a
maintenance shed 22. The motorized feeding vehicle 20 is adapted
for moving along a path 24 on the field surrounding the buildings
12 and through the buildings 12 indicated by the mows. The
motorized feeding vehicle 20 may be moved either in a learning mode
or in an autonomous mode, which both will be explained in detail
below.
[0130] FIG. 2A shows a perspective view of a motorized feeding
vehicle 20 entering a building 12 via an entrance 26. The motorized
feeding vehicle 20 comprises an animal feeding system comprising a
feed storage tank 28 filled by an animal feed 30 and a feeding pipe
32 for conveying the animal feed 30 from the feed storage tank 28
via a pump (not shown) to the exterior. The feeding pipe 32 is
swingable between the present contracted state allowing the
motorized feeding vehicle 20 to pass though the entrance, and an
extended state which will be explained in detail below.
[0131] The motorized feeding vehicle 20 also comprises a power
system 34 including four wheels 36 36' and a diesel engine 38. The
present motorized feeding vehicle 20 is in a learn mode in which a
user 40 controls the movement of the motorized feeding vehicle 20
via a control system and a steering system comprising a steering
wheel 42 which controls the direction of the front wheels 36'. The
entrance 26 of the building comprises an RFID tag 44 which will be
explained in detail below. Also, each of the cages may comprise an
RFID tag 44.
[0132] FIG. 2B shows a perspective view of a motorized feeding
vehicle 20 when it has entered the building 12 via the entrance 26.
The motorized feeding vehicle 20 is thus positioned in front of a
cage 16 including one or more animals 18. The user 40 swings the
feeding pipe 32 to the extended state partially extending partially
above the cage 16.
[0133] FIG. 2C shows a perspective view of a motorized feeding
vehicle 20 when the user 40 has engaged the animal feeding system
in order to convey animal feed 30 from the tank 28 onto the cage 16
via the feeding pipe 32.
[0134] FIG. 2D shows a perspective view of a motorized feeding
vehicle 20 when the user 40 drives along the passage 14 and
delivers a specific amount of feed 30' to each of the cages 16 via
the animal feeding system.
[0135] FIG. 3 shows a close-up perspective view of the motorized
feeding vehicle 20. The motorized feeding vehicle 20 comprises
three navigation systems, optionally four, all using different
technologies. The motorized feeding vehicle 20 comprises a
satellite navigation system receiver (GPS receiver) 46 for
generating a first set of parameters constituting location
information from a satellite navigation system (not shown).
[0136] The motorized feeding vehicle 20 further comprises a
proximity sensor 48, such as an IR/Laser sensor, for generating a
second set of parameters constituting spatial information. The
spatial information represents the location of nearby objects such
as the walls, the cages and the entrance of the building of the
animal farming system. Also, objects permanently present outside
the building may be included in the spatial information, as well as
object occasionally occurring in the path of the motorized feeding
vehicle 20.
[0137] The motorized feeding vehicle 20 yet further comprises an
internal position sensor 50 comprising a direction sensor and a
velocity sensor for generating a third set of parameters
constituting motion information. The motion information represents
the velocity/acceleration/distance/direction traveled by the
motorized feeding vehicle 20.
[0138] The information representing the amount of feed delivered to
each cage by the feeding pipe 32 and the status of the feeding pipe
may be stored as a fourth set of feeding parameters. In this way,
the feeding may as well be performed automatically. The amount of
feed delivered to each cage may be predetermined, inputted
manually, or be determined in the learn mode.
[0139] The motorized feeding vehicle 20 further comprise an RFID
reader 52 which detects nearby RFID tags used for localization. The
information received from the RFID reader 52 of nearby RFID tags
may be used for generating an optional fifth set of parameters
which may be used for navigation.
[0140] The motorized feeding vehicle 20 may also include an IR
camera 54 for detecting the presence or non-presence of an animal
within the cage. The IR camera 54 may also be used for determining
the number and the location of the animal(s) and the presence of
any remaining feed in the cage. Further, the IR camera 54 may be
used for determining the temperature of the animal. The temperature
of the animal may be used for determining whether the animal is
sick, i.e. has a fever, or other diseases as well as injuries. The
information about the health status of the animal may be
stored.
[0141] The motorized feeding vehicle 20 further comprises a control
unit 56, which is connected to the satellite navigation system
receiver 46, the proximity sensor 48, the internal position sensor
50, the feeding system, the RFID reader 52 and the IR camera 54.
When the user is controlling the motorized feeding vehicle 20 via
the user operated movement control system, the control unit 56 is
in learn mode, in which all of the first, second, third, fourth and
optionally fifth sets of parameters are recorded as data.
Optionally, the IR camera data may be recorded as well. In case any
sets of parameters cannot be properly received, they may be
ignored.
[0142] When the control unit 56 is set to autonomous mode, the
power system 34 and the steering system 42 are controlled by the
control unit 56 based on the previously recorded data, including at
least the first, second, and third sets of data. During autonomous
mode, the control unit 56 continuously compares the recorded data
with the continuously generated first, second, and third sets of
parameters. In this way, the motorized feeding vehicle 20 may be
navigated very accurately. In case more than one of the first,
second and third sets of parameters are received, the navigation of
the motorized feeding vehicle is based on a running average, a
weighing algorithm or a Kalman filtering algorithm.
[0143] FIG. 4A shows a perspective view of a motorized feeding
vehicle 20 in autonomous mode approaching the entrance 26. When
outside the building 12 the control unit 56 uses primarily the
first and second sets of parameters compared to the corresponding
recorded data for continuously performing course corrections. The
proximity sensor 48 may be used when avoiding occasional obstacle
along the path of travel of the motorized feeding vehicle 20.
[0144] FIG. 4B shows a perspective view of a motorized feeding
vehicle 20 in autonomous mode passing through the entrance 26. The
third set of parameters and optionally the fifth set of parameters
may be used in order to position the motorized feeding vehicle 20
correctly in the passage 14 of the building 20. At this point, the
first set of parameters may be inaccurate and navigation may be
performed based on the other sets of parameters only compared to
the recorded data. Once the entrance 26 has been cleared, the
feeding pipe 32 may be extended automatically and the feeding
started based on the data of the recorded fourth set of
parameters.
[0145] FIG. 4C shows a perspective view of a motorized feeding
vehicle 20 in autonomous mode during feeding. The feeding of each
animal 18 in the cages 16 may be based on the data of the fourth
set of parameters previously recorded.
[0146] FIG. 4D shows a perspective view of a motorized feeding
vehicle 20 in autonomous mode during movement in the passage 14
based on the comparison between the recorded data and the
continuously recorded sets of parameters. Further, the IR camera 54
may be monitoring the status of the animal.
[0147] The feeding vehicle 20 will continue through the passage 14
and provide feed to the animals 18. When the feed tank 28 is empty,
the feeding vehicle 20 may be programmed to autonomously return to
a re-supply station being e.g. the maintenance shed 22 to be
resupplied. The maintenance shed 22 may include a silo (not shown)
including animal feed for resupplying the feed tank 28 of the
feeding vehicle 20. Alternatively, a separate silo building is
provided to which the feeding vehicle 20 may move autonomously and
at which the feed tank 28 may be resupplied. The motorized feeding
vehicle 20 may use the satellite navigation system receiver 46 and
the proximity sensor 48 when navigating to the re-supply station.
When navigating back to the position at which the feed tank 28 was
empty, also the internal position sensor 50 may be used.
[0148] FIG. 5 shows a perspective view of an alternative embodiment
of a motorized feeding vehicle 20 when communicating with a server
60 via antennas 58, 58' on the vehicle 20 and the server 60,
respectively. The recorded data may be transmitted to the server 60
for use with other motorized feeding vehicles 20. The motorized
feeding vehicle 20 may also comprise cameras 62 for use in
controlling the motorized feeding vehicle 20 remotely. A second
feeding pipe 32' may be provided on the opposite side of the
vehicle from the first feeding pipe 32. The second feeding pipe 32
may include a second IR camera 54 and a second camera 62 for use in
controlling vehicle movement.
[0149] The present motorized feeding vehicle 20 comprises electric
motors 38' in all of the wheels 36 36' for driving the motorized
feeding vehicle and replacing the diesel engine. The electric motor
38' is powered by a battery pack (not shown), which may be
recharged at the maintenance shed 22. Further, the present
motorized feeding vehicle 20 comprises an articulated steering
mechanism.
[0150] FIG. 6 shows a chart illustrating the working principle of
the control unit. The RoboFeeder Controller subsystem, which may be
provided as a retrofit kit for upgrading existing manually
controlled motorized feeding vehicles to autonomous control,
includes the following subsystems:
a) The Navigation Subsystem constituting the satellite navigation
system receiver, which comprises an on board GPS antenna for
receiving location information. b) The Collision Prevention
Subsystem constituting the proximity sensor including the IR
scanner for providing spatial information. c) The Feeder Arm
Subsystem including the Feeder Arm mechanics and the RFID reader.
d) The Vehicle Velocity Control Subsystem including speed and
direction systems. e) The speed and direction systems comprising a
respective sensor and actuator. f) The Control Panel Subsystem
comprising a display, LEDs and sound.
[0151] The RoboFeeder controller may optionally be connected to a
stationary GPS subsystem and a remote computer subsystem.
[0152] FIG. 7 is a self explanatory flow chart illustrating the
working principle of the motorized feeding vehicle.
[0153] FIG. 8 is a perspective view of an alternative embodiment of
a motorized feeding vehicle 20'. The motorized feeding vehicle 20'
comprises a feed dispenser 64. The feed dispenser 64 comprise a
first vertical telescopic cylinder 66 mounted at the front of the
motorized feeding vehicle 20'. A second vertical telescopic
cylinder 68 is slidably mounted on the first vertical telescopic
cylinder 66 for allowing the second vertical telescopic cylinder 68
to move in the vertical direction in relation to the first vertical
telescopic cylinder 66.
[0154] A first horizontal telescopic cylinder 70 is mounted on the
second vertical telescopic cylinder 68 and a second horizontal
telescopic cylinder 72 is slidably mounted on the first telescopic
cylinder 70 for allowing the second horizontal telescopic cylinder
72 to move in the horizontal direction in relation to the first
horizontal telescopic cylinder 70. A feed dispensing device 74 is
mounted on the second horizontal telescopic cylinder 72. A feeding
pipe 32 supplies animal feed to the feed dispensing device 74. By
moving the second vertical telescopic cylinder 68 and the second
horizontal telescopic cylinder 72 the feed dispensing device may be
moved in the vertical and horizontal directions.
[0155] FIG. 9A is a perspective view of the feed dispenser 64 in a
contracted state. In this state the feed dispenser 64 does not
extend outside the perimeter defined by the motorized feeding
vehicle. This state is used when moving the motorized feeding
vehicle though doorways.
[0156] FIG. 9B is a perspective view of the feed dispenser 64 in an
elevated state. In this state the second vertical telescopic
cylinder 68 has been moved in relation to the first vertical
telescopic cylinder 66 in order to elevate the feed dispensing
device 74. This state is used when approaching an animal cage.
[0157] FIG. 9C is a perspective view of the feed dispenser 64 in an
dispensing state. In this state the second horizontal telescopic
cylinder 72 has been moved in relation to the first horizontal
telescopic cylinder 70 in order to reach above an animal cage. This
state is used when feeding the animals and when moving between
adjacent cages.
[0158] FIG. 9D is a perspective view of the feed dispenser 64 in an
interrupt state. The first horizontal telescopic cylinder 70 is
loosely mounted on the second vertical telescopic cylinder 68 such
that it may rotate when exposed to a force. Thus, the first and
second horizontal telescopic cylinders 70 72 will rotate in
relation to the first and second vertical telescopic cylinder 66 68
when for instance the feed dispensing device 74 colliding with a
doorway, an animal cage or any object accidentally placed in the
operational area of the motorized feeding vehicle. This state will
allow the motorized feeding vehicle to safely shut down when there
is an object obstructing the feed dispenser 64 in the dispensing
state.
[0159] FIG. 10 shows an exploded perspective view of the feed
dispensing device 74. The feed dispensing device 74 comprise a
portioning device 76 located within a cover 78. The portioning
device 74 is supplied with animal feed via the feeding pipe 32. A
sealing ring 80 is used for sealing between the portioning device
76 and the cover 78. The portioning device 76 may be rotated in
relation to the cover 78 by means of a motor 82. The portioning
device 76 comprises a first aperture 84 and the cover 78 comprises
a second aperture 86. When the portioning device 76 has been
rotated such that the first aperture 84 and the second aperture 86
are flush, the feed may be dispensed, whereas when the first
aperture 84 and the second aperture 86 are non-flush, the feed is
not dispensed.
[0160] FIG. 11A shows a perspective view of the portioning device
76 and the cover 78. In the present embodiment, the cover 78
comprises a second aperture 86 in the form of one elongated
aperture whereas the portioning device 76 comprises a first
aperture 84 in the form of two elongate apertures. By rotating the
portioning device 76 in the direction as shown by the arrow, a
quicker dispensing of the feed may be achieved using two apertures
in the portioning device compared to using only one apperture.
[0161] FIG. 11B shows a perspective view of the portioning device
76 and the cover 78. In the present embodiment, the cover 78
comprises a second aperture 86 in the form of one elongated
aperture whereas the portioning device 76 comprise a first aperture
in the form of one thin elongate aperture 84 and one thick elongate
aperture 84'. In this way two different flows of feed may be
achieved depending on the rotational direction of the portioning
device 76, i.e. depending on whether the thin elongate aperture or
the thick elongate aperture are flush with the second aperture
86.
[0162] FIG. 11C shows a perspective view of the portioning device
76 and the cover 78. In the present embodiment, the cover 78
comprises a second aperture 86' in the form of one circular
aperture whereas the portioning device 76 comprise one circular
aperture of a small diameter 84'' and one a circular aperture of a
large diameter 84'. In this way two different flows of feed may be
achieved depending on the rotational direction of the portioning
device 76, i.e. depending on whether the small diameter aperture
84'' or the large diameter aperture 84''' is flush with the second
aperture 86.
[0163] FIG. 11D shows a perspective view of the portioning device
76 and the cover 78. In the present embodiment, the cover 78
comprises a second aperture 86' in the form of one circular
aperture whereas the portioning device 76 comprise one aperture
having the shape of a droplet 84''''. In this way a multitude of
different flows of feed may be achieved depending on the rotational
position of the portioning device 76, i.e. depending on whether the
small diameter of the droplet 84'''' shaped aperture or the large
diameter of the droplet 84'''' shaped aperture is flush with the
second aperture 86.
[0164] FIG. 12 shows a perspective view of a safety mechanism 88.
The safety mechanism comprise an upper part 90 which is mounted to
the first horizontal telescopic cylinder and a lower part 92 which
is mounted on the second vertical telescopic cylinder. The upper
part 90 and the lower part 92 are held together rotatably by means
of a bolt 94 and a bearing 96. Rotation is in normal operation
prevented by means of a locking mechanism comprising four balls 98
which are forced by springs 100 in an upwardly direction partly
protruding through holes 102 in the lower part and interacting with
matching grooves 104 in the upper part 90. When a large enough
rotational force is applied to the feed dispensing device, the
locking mechanism released in that the balls 98 will be depressed
into the holes 102 and the upper part 90 will rotate relative to
the lower part 92. The locking mechanism thus releases when the
feed dispensing device collides with an object. At the same time,
when the upper part 90 rotates relative to the lower part 92, the
switch 106 will disengage the groove 104' and the motorized feeding
vehicle will be stopped.
[0165] FIG. 13 shows a perspective view of the safety mechanism 88.
The upper part 90 is fixedly mounted on the first horizontal
telescopic cylinder 70.
[0166] FIG. 14 shows a perspective view of the safety mechanism 88.
The lower part 92 is fixedly mounted on the second vertical
telescopic cylinder 68.
[0167] Although the above animal farming system and motorized
feeding vehicle has been described above with reference to specific
embodiments, it is evident to the skilled person that numerous
modifications are feasible, such as a semi-autonomous system in
which the motorized feeding vehicle is moving autonomously, but
where the user is controlling the feeding manually. Further, the
user need not necessarily be controlling the motorized feeding
vehicle while riding it; the user may also control the motorized
feeding vehicle from another location via a remote control and
cameras.
[0168] Further, the animal feeding system may include two or more
motorized feeding vehicles operating at the same time. One
motorized feeding vehicle may be used for the learn mode. The
animal feeding system may thereafter be split up in sections
wherein each motorized feeding vehicle operates in one of those
sections.
LIST OF PARTS WITH REFERENCE TO THE FIGS
[0169] 10. Animal farming system [0170] 12. Building [0171] 14.
Passage [0172] 16. Cages [0173] 18. Animal [0174] 20. Motorized
feeding vehicle [0175] 22. Maintenance shed [0176] 24. Path [0177]
26. Entrance [0178] 28. Feed tank [0179] 30. Feed [0180] 32.
Feeding pipe [0181] 32'. Second feeding pipe [0182] 34. Power
system [0183] 36. Front wheel [0184] 38. Engine [0185] 40. User
[0186] 42. Steering wheel [0187] 44. RFID tag [0188] 46. GPS
receiver [0189] 48. Proximity sensor [0190] 50. Internal position
sensor [0191] 52. RFID reader [0192] 54. IR camera [0193] 56.
Control unit [0194] 58. WIFI antenna (vehicle) [0195] 58'. WIFI
antenna (server) [0196] 60. Server [0197] 62. Surveillance camera
[0198] 64. Feed dispenser [0199] 66. First vertical telescopic
cylinder [0200] 68. Second vertical telescopic cylinder [0201] 70.
First horizontal telescopic cylinder [0202] 72. Second horizontal
telescopic cylinder [0203] 74. Feed dispensing device [0204] 76.
Portioning device [0205] 78. Cover [0206] 80. Sealing ring [0207]
82. Motor [0208] 84. First aperture [0209] 86. Second aperture
[0210] 88. Safety mechanism [0211] 90. Upper part [0212] 92. Lower
part [0213] 94. Bolt [0214] 96. Bearing [0215] 98. Balls [0216]
100. Springs [0217] 102. Holes [0218] 104. Grooves [0219] 106.
Switch
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