U.S. patent application number 16/624416 was filed with the patent office on 2020-07-23 for animal-dwelling vehicle, and method.
This patent application is currently assigned to BIG DUTCHMAN INTERNATIONAL GMBH. The applicant listed for this patent is BIG DUTCHMAN INTERNATIONAL GMBH. Invention is credited to Felix Ruholl.
Application Number | 20200229395 16/624416 |
Document ID | / |
Family ID | 62750968 |
Filed Date | 2020-07-23 |
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United States Patent
Application |
20200229395 |
Kind Code |
A1 |
Ruholl; Felix |
July 23, 2020 |
ANIMAL-DWELLING VEHICLE, AND METHOD
Abstract
An animal-pen vehicle, a method for moving an animal-pen vehicle
on a floor surface with bedding, and the use of an animal-pen
vehicle in a poultry pen for poultry animals and/or in a pig pen is
disclosed for the purposes of influencing positions at which
poultry animals and/or pigs are residing. The animal-pen vehicle
includes a substantially emissions-free drive, at least one
movement unit which is coupled to the drive, wherein the movement
unit is adapted to permit a movement of the animal-pen vehicle on
the bedding, a position-determining device for determining a
position of the animal-pen vehicle relative to animal-pen fixtures,
and a control device for controlling the drive and for providing a
predetermined travel profile, wherein the predetermined travel
profile comprises at least one movement pattern and at least one
preferential area that is to be travelled to within the poultry pen
and/or pig pen.
Inventors: |
Ruholl; Felix; (Lohne,
DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
BIG DUTCHMAN INTERNATIONAL GMBH |
Vechta |
|
DE |
|
|
Assignee: |
BIG DUTCHMAN INTERNATIONAL
GMBH
Vechta
DE
|
Family ID: |
62750968 |
Appl. No.: |
16/624416 |
Filed: |
June 20, 2018 |
PCT Filed: |
June 20, 2018 |
PCT NO: |
PCT/EP2018/066411 |
371 Date: |
December 19, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A01K 15/02 20130101;
A01K 5/0291 20130101; A01K 1/01 20130101; A01K 39/01 20130101; A01K
1/0128 20130101; A01K 1/015 20130101; B60P 3/04 20130101; G05D
1/0257 20130101; A01K 45/00 20130101; A01K 5/0266 20130101; G05D
1/027 20130101; A01K 1/0029 20130101; G05D 1/0272 20130101; A01K
15/003 20130101; A01K 29/00 20130101; A01K 31/04 20130101 |
International
Class: |
A01K 5/02 20060101
A01K005/02; A01K 39/01 20060101 A01K039/01; A01K 1/01 20060101
A01K001/01; B60P 3/04 20060101 B60P003/04 |
Foreign Application Data
Date |
Code |
Application Number |
Jun 20, 2017 |
DE |
202017103642.1 |
Claims
1.-15. (canceled)
16. An animal-pen vehicle adapted for movement on a floor surface
or a bedding material on the floor surface of a poultry or pig pen
for the purpose of influencing a position at which a poultry animal
or pig is residing, comprising: a substantially emissions-free
drive; at least one movement unit coupled to the drive, wherein the
movement unit is adapted to permit a movement of the animal-pen
vehicle on the floor surface or the bedding material on the floor
surface; a position-determining device for determining a position
of the animal-pen vehicle relative to one or more animal-pen
fixtures; and a control device for controlling the drive and for
providing a predetermined travel profile, wherein the predetermined
travel profile comprises at least one movement pattern and at least
one preferential area to which is to be travelled within the
poultry or pig pen.
17. The animal-pen vehicle pursuant to claim 16, wherein a height
of the animal-pen vehicle is smaller than a clear height of the at
least one preferential area to which is to be travelled.
18. The animal-pen vehicle pursuant to claim 16, wherein a height
of the animal-pen vehicle is smaller than a clear height of the at
least one preferential area below one of the animal-pen fixtures to
which is to be travelled.
19. The animal-pen vehicle pursuant to claim 16, wherein the
predetermined travel profile has a travel profile distance to be
travelled or a travel profile duration, and the control device is
adapted to control a movement of the animal-pen vehicle such that
the animal-pen vehicle moves within the at least one preferential
area to which is to be travelled over more than 20% of the travel
profile distance or duration.
20. The animal-pen vehicle pursuant to claim 16, further comprising
an animating device with at least one animation; wherein the
control device is adapted to activate the animation when the
animal-pen vehicle is positioned within the at least one
preferential area or in the region of a predefined animation area
and the control device is adapted to activate, deactivate, or vary
the animation in a time-dependent manner.
21. The animal-pen vehicle pursuant to claim 20, wherein the
animating device is adapted to emit at least one optical signal, at
least one acoustic signal, or a fluid as the at least one
animation; and wherein the control device is adapted to provide a
first travel profile and a second travel profile, wherein a first
movement pattern of the first travel profile differs from a second
movement pattern of the second travel profile, and the control
device is adapted to provide the first travel profile and the
second travel profile in a time-dependent manner.
22. The animal-pen vehicle pursuant to claim 21, wherein the
poultry or pig pen comprises a plurality of animal-pen sections, a
reference model of the poultry or pig pen is stored in the control
device, and one or more of the first or second travel profiles is
determined on the basis of the reference model; and wherein the
reference model of the poultry or pig pen comprises animal-pen
boundaries, fixtures, or passages between two or more of the
plurality of animal-pen sections.
23. The animal-pen vehicle pursuant to claim 22, wherein the
plurality of animal-pen sections comprise residence areas.
24. The animal-pen vehicle pursuant to claim 16, comprising: a
housing enclosing a top side, averted from the floor surface or the
bedding material on the floor surface, of the animal-pen vehicle
and, at least in certain portions, a first side surface and a
second side surface of the animal-pen vehicle, wherein the housing
is mounted in floating fashion; and wherein the housing comprises
at least one impact sensor adapted to detect contact of the housing
with an obstruction, wherein the impact sensor comprises a mounting
arrangement of the housing.
25. An animal-pen vehicle adapted for movement on a floor surface
or a bedding material on the floor surface of a poultry or pig pen
for the purpose of influencing a position at which a poultry animal
or pig is residing, comprising: a substantially emissions-free
drive; at least one movement unit coupled to the drive, wherein the
movement unit is adapted to permit a movement of the animal-pen
vehicle on the floor surface or the bedding material on a floor
surface; a position-determining device for determining a position
of the animal-pen vehicle relative to one or more animal-pen
fixtures; a control device for controlling the drive; a housing
enclosing a top side, averted from the floor surface or the bedding
material on the floor surface, of the animal-pen vehicle, wherein
the housing is mounted in floating fashion with respect to a main
body or a chassis of the animal-pen vehicle; and at least one
collision-detecting device adapted to detect contact with an
obstruction, wherein the at least one collision-detecting device
comprises at least one impact sensor.
26. The animal-pen vehicle pursuant to claim 25, wherein the
housing further comprises, at least in certain portions, a first
side surface and a second side surface of the animal-pen vehicle
and the least one collision-detecting device is adapted to detect
contact with an object or an animal.
27. The animal-pen vehicle pursuant to claim 25, wherein the at
least one collision-detecting device comprises at least one impact
element adapted to interact with the impact sensor or at least one
reference object adapted to interact with the at least one impact
sensor; and wherein the impact sensor is arranged on the housing
and the at least one impact element or the at least one reference
object is arranged on the main body or on the chassis of the
animal-pen vehicle.
28. The animal-pen vehicle pursuant to claim 25, wherein the at
least one impact sensor further comprises a mounting arrangement on
the housing, the at least one impact sensor is arranged on the main
body or the chassis of the animal-pen vehicle and the at least one
impact element, or the at least one reference object is arranged on
the housing.
29. The animal-pen vehicle pursuant to claim 27, wherein collision
detection is performed by any of: contactless or contact-based
detection of a relative displacement between the at least one
impact sensor and the at least one impact element or a relative
displacement between the at least one impact sensor and the at
least one reference object; contact of the at least one impact
sensor and the at least one impact element or contact of at least
one impact sensor and the at least one reference object;
mechanical, electromagnetic, optical, ultrasonic, magnetic,
capacitive, inductive, electromechanical, or electrical detection;
or at least two collision-detecting devices adapted to detect
different collision directions.
30. The animal-pen vehicle pursuant to claim 25, wherein: the at
least one impact sensor is adapted to detect an impact direction;
the at least one impact sensor has a variable sensitivity variable
in a manner dependent on a position of the animal-pen vehicle
determined by the position-determining device or is adapted to be
activated, deactivated, or varied in predetermined positions of the
animal-pen vehicle; the control device is adapted to cause the
animal-pen vehicle to travel to an obstruction position two or more
times for the purposes of detecting a movable or static
obstruction, travel around a detected static obstruction for a
predetermined time, or travel to a detected static obstruction
again after for a predetermined period of time; the
position-determining device comprises a barcode reading unit, a QR
code reading unit, or a data matrix code reading unit, or the
position-determining device is adapted to determine a position of
the animal-pen vehicle within a poultry or pig pen when
contaminated with dust or dirt, wherein the position-determining
device comprises an ultra-wideband unit, an RFID unit, a radio
unit, an odometer, or an inertial sensor arrangement; or the
floating housing is adapted for automatic resetting into an initial
position by at least one spring element, wherein the spring element
is arranged on the housing or the main body, is of disk-shaped
form, or has recesses.
31. The animal-pen vehicle pursuant to claim 25, comprising a
coupling device for the detachable fastening of a functional unit,
wherein the functional unit is preferably selected from the group
consisting of a bedding tiller, a bedding pusher, a dispensing
device for manipulable material, or a chick paper dispensing
device.
32. The animal-pen vehicle pursuant to claim 25, wherein the
emissions-free drive comprises an electric drive or a fuel cell and
the movement unit comprises one or more wheels and one or more
crawler chains, wherein the one or more crawler chains is
flexible.
33. The use of the animal-pen vehicle pursuant to claim 25 in a
poultry or pig pen for poultry animals or pigs for the purposes of
influencing positions at which poultry animals or pigs are
residing.
34. A method for moving an animal-pen vehicle on a floor surface or
a floor surface with bedding of a poultry or pig pen for the
purposes of influencing positions at which poultry animals or pigs
are residing, the method comprising the steps of: providing within
a poultry or pig pen with at least one poultry residence facility
or pig residence facility an animal-pen vehicle comprising a
substantially emissions-free drive, at least one movement unit
coupled to the drive, wherein the movement unit is adapted to
permit a movement of the animal-pen vehicle on the floor surface or
the bedding material on the floor surface, a position-determining
device for determining a position of the animal-pen vehicle
relative to one or more animal-pen fixtures, and a control device
for controlling the drive and for providing a predetermined travel
profile, wherein the predetermined travel profile comprises at
least one movement pattern and at least one preferential area to
which is to be travelled within the poultry or pig pen; moving the
animal-pen vehicle with a predetermined travel profile, wherein the
predetermined travel profile comprises at least one movement
pattern and at least one preferential area to which is to be
travelled within the poultry or pig pen.
35. The method pursuant to claim 34, further comprising the steps
of: activating an animation of an animating device when the
animal-pen vehicle is positioned within the at least one
preferential area or in a region of a predefined animation area; or
detecting a poultry animal or a pig and directing the animation at
the poultry animal or the pig in targeted fashion; wherein the
predetermined travel profile has a travel profile distance to be
travelled or a travel profile duration such that the animal-pen
vehicle moves within the at least one preferential area to be
travelled to over more than 20% of the travel profile distance or
duration.
Description
CROSS-REFERENCE TO FOREIGN PRIORITY APPLICATION
[0001] The present application claims the benefit under 35 U.S.C.
.sctn..sctn. 119(b), 119(e), 120, and/or 365(c) of
PCT/EP2018/066411 filed Jun. 20, 2018, which claims priority to
German Application No. DE 202017103642.1 filed Jun. 20, 2017.
FIELD OF THE INVENTION
[0002] The invention relates to an animal-pen vehicle for moving on
a floor surface with bedding and to a method for moving an
animal-pen vehicle on a floor surface with bedding and to the use
of an animal-pen vehicle in a poultry pen for poultry animals
and/or in a pig pen for the purposes of influencing positions at
which poultry animals and/or pigs are residing.
BACKGROUND OF THE INVENTION
[0003] In very general terms, poultry can be kept in a caged
environment, in a small-group environment, in a barn environment,
and/or in a free-range environment. The caged environment is,
however, forbidden in many countries. In the European Union, the
presently most widespread manner in which poultry is kept is in an
aviary environment, wherein the animals can move in or on the
aviaries and on a floor surface on which the aviaries are arranged.
The floor surface generally has bedding. In particular, the
aviaries have been developed such that the well-being of the
animals is improved, taking into consideration the necessary
productivity.
[0004] It is desirable that, in their rest phases, the animals move
into the aviaries and do not dwell on the floor surface or on the
bedding of the animal pen. The dwelling of poultry animals on the
floor surface, in particular, at nighttime, can firstly lead to
reduced well-being of the animal and can secondly jeopardize the
health of the poultry animal and thus also of the entire poultry
animal flock.
[0005] The residence on the floor surface can furthermore lead to
ground eggs. Ground eggs are eggs which have not been laid in the
laying nest provided for this purpose, but rather on the floor
surface or on the bedding of an animal pen. The ground eggs
generally cannot be taken away automatically from this location,
such that they must be collected manually by an operator.
[0006] The collection of ground eggs by a farmer is time-consuming
and entails personnel costs. Furthermore, in the case of ground
eggs, the assignment of a time to these is difficult. The laying of
ground eggs can give rise to a situation in which an egg collected
by a farmer has not been freshly laid, but has rather already been
lying there for a relatively long time. The introduction of an egg
that has been lying for a relatively long time in this way into the
further processing chain is generally undesirable.
[0007] It is, therefore, an object of the present invention to
alleviate or eliminate one or more of the stated disadvantages. In
particular, it is an object of the invention to provide a solution
which reduces the ground egg quota of a poultry animal flock. It is
furthermore an object of the invention to provide a solution which
increases the well-being of the animals and/or the health of the
animals in the keeping of poultry animals and/or the keeping of
pigs.
SUMMARY OF THE INVENTION
[0008] Said object is achieved according to the invention by means
of an animal-pen vehicle for moving on a floor surface with bedding
of a poultry pen and/or of a pig pen for the purposes of
influencing positions at which poultry animals and/or pigs are
residing, comprising a substantially emissions-free drive, at least
one movement unit which is coupled to the drive, wherein the
movement unit is arranged and designed to permit a movement of the
animal-pen vehicle on the bedding, a position-determining device
for determining a position of the animal-pen vehicle relative to
animal-pen fixtures, a control device for controlling the drive and
for providing a predetermined travel profile, wherein the travel
profile comprises at least one movement pattern and at least one
preferential area that is to be travelled to within the poultry pen
and/or pig pen.
[0009] The invention is based on the realization that targeted
influencing of positions at which poultry animals and/or pigs are
residing, in particular, positions at which poultry animals and/or
pigs are resting, results in a reduction of a ground egg quota
and/or leads to the driving of poultry animals and/or pigs.
[0010] The movement of an animal-pen vehicle on a floor surface
with bedding is associated with challenges. Vehicles with three,
four or more wheels generally become stuck in the bedding of the
poultry pen, because the wheels sink in too far, and the vehicle
thus lies with its body on the bedding. Furthermore, the bedding
generally becomes stuck in the profile of the movement units, for
example, wheels. This is the case, in particular, in the case of
damp bedding. In particular, the bedding is a material for covering
the floor in animal pen facilities and absorbing the excretions of
the animals. The bedding serves, for example, for insulation
against cold temperatures rising from the ground, for creating a
favorable microclimate, and for absorbing water which is excreted
via the feces of the animals or which originates from the drinking
troughs. As material, use may be made, in particular, of organic
and mineral materials. As bedding, use is generally made of
granular, pourable materials which have a high water-binding
capacity or a high absorption capacity and which can absorb a large
amount of moisture but which, even in the damp state, maintain a
crumbly structure and remain loose and pourable, in particular hard
and mobile and not sticky. Bedding material should furthermore be
clean, dry, and biologically degradable and have a low dust
fraction and not be laden with dust, fungi, or spores. Examples of
bedding materials are straw granules composed of ground and pressed
straw or chopped straw or short straw, wherein, as straw types, use
is made, in particular, of wheat straw, barley straw, or rye straw;
spelts; woodchips, in particular, non-impregnated, dust-free and
fungi-free softwood chips; wood shavings; pulp; dried corn silage;
corn cob granulate; or similar material. In Germany, use is
preferentially made of short straw or chopped straw and/or
woodchips. The floor surface, possibly with the bedding, of a
poultry pen is designed, in particular, as a livestock area.
[0011] During the movement of the animal-pen vehicle on the
bedding, in particular. on damp bedding, continuous operation or a
continuous movement of the animal-pen vehicle within the poultry
pen should be made possible. The animal-pen vehicle should be
movable within the poultry pen without human intervention, in
particular, in an autonomous manner, such that the animal-pen
vehicle ensures reliable influencing of the position at which
poultry animals are residing, in particular, at which poultry
animals are resting, in particular, for the purposes of reducing a
ground egg quota and/or for the purposes of driving poultry
animals. The animal-pen vehicle is, in particular, designed for
being able to move both on the bedding and on an animal-pen floor
without bedding.
[0012] The animal-pen vehicle, in particular, the structural design
thereof and the functions thereof, is designed in accordance with
respectively applicable regulations, in particular, in the context
of animal welfare law.
[0013] The animal-pen vehicle is driven by the substantially
emissions-free drive. An emissions-free drive is distinguished by
the fact that it emits substantially no volatile combustion
products and, in particular, also emits substantially no emissions
that are harmful to animal health. The substantially emissions-free
drive is coupled to the movement unit, wherein the movement unit
permits a movement of the animal-pen vehicle on the bedding, in
particular, on damp bedding. It is furthermore preferable for the
movement unit to permit a movement of the animal-pen vehicle on
slatted floors.
[0014] The position-determining device of the animal-pen vehicle is
arranged and designed to permit the determination of the position
of the animal-pen vehicle relative to animal-pen fixtures of the
poultry pen. It is furthermore preferable for the
position-determining device to be arranged and designed for
determining the position of the animal-pen vehicle relative to
animal-pen boundaries, in particular, outer animal-pen boundaries,
such as for example animal-pen walls. By means of such a
position-determining device, the animal-pen vehicle can move in a
manner substantially unhindered by solid, immovable objects in the
animal pen.
[0015] It may furthermore be preferable for the control device to
be arranged and designed to compare a position of the animal-pen
vehicle as determined by means of the position-determining device
with a setpoint position of the provided travel profile, and/or for
the control device to be arranged and designed to control the drive
and/or the movement unit such that the position determined by means
of the position-determining device substantially corresponds to a
setpoint position of the provided travel profile.
[0016] The control device is, in particular, arranged and designed
such that it controls the drive and provides a predetermined travel
profile, wherein the travel profile comprises at least one movement
pattern and at least one preferential area that is to be travelled
to within the poultry pen. A travel profile thus comprises a
movement pattern and a preferential area. The movement pattern may
be synonymously referred to as a movement route or as a travel
path. The preferential area is situated on this movement pattern or
is a particular area which is travelled to at least in certain
sections over the course of the route of the movement pattern.
[0017] In this preferential area, the animal-pen vehicle moves in
accordance with predefined criteria. For example, in the
preferential area, the animal-pen vehicle may perform a circulating
and/or zigzag-shaped and/or back-and-forth movement. Furthermore,
the animal-pen vehicle may also perform further functionalities in
the preferential area. It is furthermore preferable for the travel
profile to comprise two or more preferential areas. The
preferential areas are preferably selected such that they comprise
preferred locations of the poultry animals. These preferred
locations are preferentially utilized by the poultry animals, in
particular, for the laying of ground eggs and/or for dwelling in
night phases. By virtue of the animal-pen vehicle travelling to the
preferential areas, the animals in these areas are more vigorously
animated so as to thus not produce any ground eggs or remain here
overnight. With regard to the specific form of the animation of the
animals, it is necessary, in particular, to observe national and
international animal welfare laws. It is furthermore preferable for
the travel profile to comprise two or more movement patterns,
wherein the movement patterns may, for example, be dependent on the
time of day. In the present context, dependency on the time of day
refers, in particular, to the artificial time of day prevailing in
the animal pen, because, in a closed poultry pen, it is generally
the case that times of day are simulated which differ from those
actually prevailing outside the poultry pen. The time of day is
generally simulated in a poultry pen by means of the light
conditions.
[0018] In a preferred design variant of the animal-pen vehicle,
provision is made whereby an animal-pen vehicle height is smaller
than a clear height of the at least one preferential area that is
to be travelled to, in particular, is smaller than a clear height
of a preferential area below animal-pen fixtures that is to be
travelled to. The clear height of the at least one preferential
area that is to be travelled to is preferably a parameter stored in
the predetermined travel profile. This means that the preferential
areas only have clear heights such that travel of the animal-pen
vehicle is made possible here at all times. Areas whose clear
height is lower than the animal-pen vehicle height are, therefore,
not part of the preferential area.
[0019] Such an area of excessively small clear height may also be
surrounded by a preferential area. For example, animal-pen fixtures
may, under their lowermost level, have actuating motors which face
toward the animal-pen floor. These actuating motors may have a
clear height over the animal-pen floor or the bedding which is
smaller than an animal-pen vehicle height, wherein the region under
the actuating motor is then not included in the preferential
area.
[0020] In particular, the clear height of poultry residence
facilities mounted on stands must be taken into consideration.
Furthermore, the clear height generally under animal-pen fixtures
of the poultry pen must be taken into consideration in the
parameterization of the travel profiles. In particular, provision
is made whereby the animal-pen vehicle height is smaller than 450
mm, and/or smaller than 400 mm, and/or smaller than 350 mm, and/or
smaller than 300 mm, and/or smaller than 250 mm, and/or smaller
than 200 mm. By means of an animal-pen vehicle designed in this
way, travel is made possible to a large part of a poultry pen. In
this way, influencing of positions at which poultry animals are
residing, in particular, positions at which poultry animals are
resting, can be made possible in targeted fashion and at
substantially all locations in the poultry pen, and a reduction of
a ground egg quota, and/or driving of poultry animals, can be made
possible over a large area.
[0021] In a further preferred design variant of the animal-pen
vehicle, provision is made whereby the predetermined travel profile
has a travel profile distance to be travelled and/or a travel
profile duration, and the control device is arranged and designed
to control a movement of the animal-pen vehicle such that the
animal-pen vehicle moves within the preferential areas that are to
be travelled to over more than 20%, and/or 30%, and/or 40%, and/or
50%, and/or 60%, and/or 70%, and/or 80% of the travel profile
distance, and/or the animal-pen vehicle moves within the
preferential areas that are to be travelled to over more than 20%,
and/or 30%, and/or 40%, and/or 50%, and/or 60%, and/or 70%, and/or
80% of the travel profile duration.
[0022] A further preferred development of the animal-pen vehicle is
distinguished by the fact that it comprises an animating device
with at least one animation, wherein the control device is
preferably arranged and designed to activate the animation when the
animal-pen vehicle is positioned within a preferential area and/or
in the region of a predefined animation area and/or to activate
and/or deactivate and/or vary the animation in a manner dependent
on the time.
[0023] The animating device is, in particular, arranged and
designed to detect a poultry animal and direct the animation, in
particular, an optical signal, at the poultry animal in targeted
fashion. The animating device is, in particular, arranged and
designed to animate the animals on the floor surface into activity
such that they do not permanently dwell on the floor surface. This
is desirable for the purposes of promoting the well-being and the
state of health of the animals, and further-more also reduces the
ground egg quota, such that an economic advantage can also be
achieved here.
[0024] In particular, it is preferable for the animating device to
be arranged and designed to emit at least one optical signal,
and/or at least one acoustic signal, and/or a fluid, in particular,
water, as animation. Furthermore, it is possible for the animating
device to emit a fluid, in particular, water, as animation.
Animation of the poultry animals is made possible already by the
movement of the animal-pen vehicle. In particular, the targeted
movement of the animal-pen vehicle within a preferential area
permits the targeted animation of a poultry animal. Furthermore, a
poultry animal can also be animated by contact with the animal-pen
vehicle.
[0025] Furthermore, the animating device may be arranged and
designed to provide manipulable elements for poultry animals. For
example, balls, alfalfa bales, or pecking stones may be used as
manipulable elements.
[0026] A further particularly preferred design variant of the
animal-pen vehicle provides for the control device to be designed
to provide a first travel profile and a second travel profile,
wherein a first movement pattern of the first travel profile
differs from a second movement pattern of the second travel
profile, and the control device is arranged and designed to provide
the first travel profile and the second travel profile in a
time-dependent manner. Alternatively, or in addition, the first
travel profile differs from the second travel profile by the number
and/or location of the preferential areas. It is furthermore
preferable for a reference model of a poultry pen and/or of a pig
pen to be stored in the control device and for the travel profile
or the travel profiles to be determined on the basis of the
reference model, wherein, preferably, the reference model of the
poultry pen and/or of the pig pen comprises animal-pen boundaries,
and/or fixtures, and/or passages between two or more animal-pen
sections, in particular, residence areas.
[0027] According to a further aspect of the invention, the object
stated in the introduction is achieved by means of an animal-pen
vehicle for moving on a floor surface with bedding of a poultry pen
and/or of a pig pen for the purposes of influencing positions at
which poultry animals and/or pigs are residing, comprising a
substantially emissions-free drive, at least one movement unit
which is coupled to the drive, wherein the movement unit is
arranged and designed to permit a movement of the animal-pen
vehicle on the bedding, a position-determining device for
determining a position of the animal-pen vehicle relative to
animal-pen fixtures, a control device for controlling the drive, a
housing which encloses preferably a top side, averted from the
bedding, of the animal-pen vehicle and/or preferably, at least in
certain portions, side surfaces of the animal-pen vehicle, wherein
the housing is mounted in floating fashion, in particular, with
respect to a main body and/or a chassis of the animal-pen vehicle,
and/or at least one collision-detecting device is provided which is
arranged and designed to detect contact with an obstruction, in
particular, with an object and/or an animal, wherein the at least
one collision-detecting device preferably comprises at least one
impact sensor.
[0028] A collision-detecting device has the advantage that
collisions of the animal-pen vehicle with poultry animals and/or
objects can be detected, which makes it possible, on the basis of a
collision, to provide appropriate control, for example to stop the
animal-pen vehicle. Preferably, the collision-detecting device is
designed to detect contact with an obstruction, in particular, with
an object and/or an animal, irrespective of the direction of motion
of the animal-pen vehicle, for example, also during reverse and/or
sideward travel of the animal-pen vehicle.
[0029] Preferably, in the event of the collision detection, a
recovery of energy (recuperation) occurs, in particular, of the
energy expended for braking of the animal-pen vehicle.
[0030] Preferred embodiments of one or more aspects stated herein
will be described below.
[0031] In a preferred embodiment, the at least one
collision-detecting device comprises at least one impact element
which is preferably arranged and/or designed to interact with the
impact sensor.
[0032] In a preferred embodiment, the at least one
collision-detecting device comprises at least one reference object
which is preferably arranged and/or designed to interact with the
impact sensor.
[0033] It is furthermore preferable if the impact sensor is
arranged on the housing and the impact element and/or the reference
object is arranged on the main body and/or on the chassis.
[0034] A further preferred embodiment provides for the impact
sensor to be arranged on the main body and/or on the chassis and
for the impact element and/or the reference object to be arranged
on the housing.
[0035] A collision detection may preferably be performed by means
of a contactless or contact-based detection of a relative
displacement between impact sensor and impact element and/or of a
relative displacement between impact sensor and reference object. A
collision detection may preferably be performed by means of a
non-optical detection of a relative displacement between impact
sensor and impact element and/or of a relative displacement between
impact sensor and reference object. A contact-based and/or
non-optical detection has the advantage of being particularly
highly suitable for a dusty environment in the animal pen.
[0036] A collision detection may also be performed by means of
contact of impact sensor and impact element and/or contact of
impact sensor and reference object.
[0037] The collision detection is preferably performed mechanically
and/or electromagnetically and/or optically and/or by means of
ultrasound and/or by means of radar and/or by means of laser, in
particular optical laser, and/or by means of thermography and/or
magnetically and/or capacitively and/or inductively and/or
electromechanically and/or electrically and/or by means of eddy
current.
[0038] The impact sensor is preferably comprised by a mounting
arrangement of the housing and/or arranged on a mounting
arrangement of the housing. The impact sensor may also be arranged
for example on an inner surface of the housing, which preferably
faces toward the main body and/or chassis of the animal-pen
vehicle.
[0039] Preferably, at least two collision-detecting devices are
provided which are arranged and/or designed to detect different
collision directions. In particular, it may be preferable for the
at least two collision-detecting devices to be arranged at an
angle, in particular, at a 90.degree. angle, with respect to one
another. Through the provision of at least two collision-detecting
devices, an impact direction can be detected in a particularly
preferred manner. An impact direction is preferably a direction in
which an object causing the collision or the impact is situated,
for example, in relation to a central and/or reference point of the
animal-pen vehicle and/or in relation to an, in particular
instantaneous, direction of motion of the animal-pen vehicle.
[0040] The collision-detecting device may, for example, be in the
form of a button-type detection means. For this purpose, it is
preferably possible for a button to be arranged as impact sensor on
the chassis of the animal-pen vehicle and for an impact element,
for example in the form of an impact plate, impact angle piece, of
an elevation or of a recess, to be arranged on the housing,
preferably on the inner surface thereof, which is also referred to
as housing bottom side. Alternatively, the impact element may be
arranged on the chassis of the animal-pen vehicle, and the impact
sensor may be arranged on the housing, preferably on the housing
bottom side. In the normal state (without a collision), the impact
element and the impact sensor are preferably spaced apart from one
another. In the event of a collision, a relative movement occurs
between impact element and impact sensor. If the relative movement
is great enough to bridge the spacing, and the impact element makes
contact with the impact sensor, a switch is preferably activated,
and/or a collision is detected.
[0041] The collision-detecting device may, for example, be in the
form of an analogue impact-detecting means. For this purpose, an
analog sensor and/or a sensor with continuous measurement in
conjunction with a threshold value may preferably be provided.
[0042] The collision-detecting device may preferably comprise a
proximity sensor and/or a potentiometer, preferably with a
switching threshold.
[0043] It is furthermore preferable for the collision-detecting
device to comprise a situation sensor and/or a position sensor,
wherein the situation sensor and/or a position sensor is preferably
designed to determine its situation relative to another object.
[0044] The collision-detecting device may have a reference object
which may preferably perform a function similar to the impact
element.
[0045] The collision-detecting device may, for example, be designed
as an inductive and/or capacitive collision-detecting means. For
this purpose, it is preferably possible for a continuous
measurement to be provided, preferably with the possibility of
storing multiple threshold values in the impact sensor and/or in a
sensor controller. An inductive and/or capacitive impact sensor may
preferably be arranged on the chassis, wherein the reference object
is preferably arranged on the housing. The inductive and/or
capacitive impact sensor may also be arranged on the housing, and
the reference object arranged on the chassis. The reference object
is preferably electrically conductive, preferably with low
resistance. The reference object may for example be in the form of
an elevation or a recess.
[0046] The collision-detecting device may, for example, be designed
as a magnetic collision-detecting means. For this purpose, it is
preferably possible for a continuous measurement to be provided,
preferably with the possibility of storing multiple threshold
values in the impact sensor and/or in a sensor controller. A
magnetic impact sensor may preferably be arranged on the chassis,
wherein the reference object is preferably arranged on the housing.
The magnetic impact sensor may also be arranged on the housing, and
the reference object arranged on the chassis. The reference object
is preferably formed from a magnetic material. Preferably, the
reference object comprises a magnetic pattern, for example, an
alternating sequence of north and south poles. A measurement of the
relative movement of impact sensor and reference object with
respect to one another may be performed, for example, by counting
the alternations in polarity. A magnetic sensor may, for example,
operate in accordance with the principle of a Hall sensor, in
accordance with the principle of a reed contact, or in accordance
with the magnetoresistive principle.
[0047] The collision-detecting device may, for example, be designed
as an optical collision-detecting device. For this purpose, it is
preferably possible for a continuous measurement to be provided,
preferably with the possibility of storing multiple threshold
values in the impact sensor and/or in a sensor controller. An
optical impact sensor may preferably be arranged on the chassis,
wherein the reference object is preferably arranged on the housing.
The optical impact sensor may also be arranged on the housing and
the reference object arranged on the chassis. The reference object
is preferably designed in a manner dependent on the measuring
method and/or in a manner dependent on the impact sensor, and may,
for example, be of reflective or non-reflective form. The reference
object preferably comprises an optical pattern, for example, an
alternating sequence of detection marks. A measurement of the
relative movement of impact sensor and reference object with
respect to one another may be performed, for example, by counting
the alternations of detection marks. The optical pattern may be of
repeating, structured, unstructured, unidirectional, bidirectional,
or arbitrary form. The pattern preferably permits counting of
pattern alternations during a relative movement of impact sensor
and reference object. Pattern detection of material-inherent
patterns is likewise possible, which may be performed, for example,
by means of a speckle measuring method. An optical collision
detection, and the preferred embodiments thereof, in particular,
also has the advantage that an impact direction can also already be
determined by means of a collision-detecting device.
[0048] The collision-detecting device may, for example, be designed
as an electromechanical collision-detecting means and may
preferably comprise a potentiometer, in particular, a linear
potentiometer and/or a rotary potentiometer, preferably with
transmission, for example, in the manner of a control stick
(joystick). For example, the impact sensor may comprise the fixed
part of the potentiometer, and the movable part of the
potentiometer may serve as reference object. For this purpose, it
is preferably possible for a continuous measurement to be provided,
preferably with the possibility of storing multiple threshold
values in the impact sensor and/or in a sensor controller. An
electromechanical impact sensor may preferably be arranged on the
chassis, wherein the reference object is preferably formed by the
movable part of the potentiometer and is preferably connected to
the housing. The electromechanical impact sensor may also be
arranged on the housing, and the reference object formed by the
movable part of the potentiometer and preferably connected to the
chassis. Accordingly, for example, in the event of a relative
movement of the housing with respect to the chassis, the adjustable
part of the potentiometer can be moved, which is associated with a
change in the electrical resistance of the potentiometer, and
inference of the change in situation and/or position is made
possible. As is also the case for most other embodiments of the
collision-detecting device, the provision of two
collision-detecting devices with potentiometers permits the
situation determination in multiple dimensions. For example, a
potentiometer combination in the form of a control stick, such as
is known for example from the control of remote-controlled
vehicles, may be used.
[0049] In a further particularly preferred design variant of the
animal-pen vehicle, said vehicle comprises a housing which encloses
a top side, averted from the bedding, of the animal-pen vehicle
and/or, at least in certain portions, side surfaces of the
animal-pen vehicle. The housing is preferably mounted in floating
fashion.
[0050] Preferably, the housing has a contact portion which is
preferably formed in encircling fashion around the outer periphery
of the housing. The contact portion may, for example, be of
ring-shaped form. In particular, it is preferable for the contact
portion to form, in a substantially horizontal direction, the outer
edge of the animal-pen vehicle, such that contact with an
obstruction is realized preferably only via the contact portion.
The housing and/or the contact portion may for example be formed
from plastic, in particular from polyurethane (PUR), or may
comprise plastic, in particular, polyurethane (PUR). The housing
and/or the contact portion may preferably be of soft and/or elastic
form so as not to cause damage in the event of contact with an
obstruction. Furthermore, the housing preferably comprises at least
one impact sensor which is arranged and designed to detect contact
of the housing with an obstruction, in particular, with an object
and/or an animal. The at least one impact sensor may preferably be
arranged on a mounting arrangement of the housing. The mounting
arrangement may be formed from plastic, in particular from
polyurethane (PUR), or may comprise plastic, in particular,
polyurethane (PUR).
[0051] It is furthermore preferable for the at least one impact
sensor to be arranged and designed to detect an impact direction,
and/or for the at least one impact sensor to have a variable
sensitivity, which is preferably variable in a manner dependent on
a position of the animal-pen vehicle determined by the
position-determining device, and/or for the at least one impact
sensor to be arranged and designed to be activated and/or
deactivated and/or varied in predetermined positions of the
animal-pen vehicle.
[0052] A further particularly preferred development of the
animal-pen vehicle is distinguished by the fact that the control
device is arranged and designed to travel to an obstruction
position two or more times for the purposes of detecting a movable
or static obstruction, and/or the control device is arranged and
designed to travel around a detected static obstruction for a
predetermined period of time, and/or the control device is arranged
and designed to travel to a detected static obstruction again after
a predetermined period of time. It is thus possible in targeted
fashion to distinguish between objects and animals. Furthermore, an
object can be checked with regard to its spatial flexibility. For
example, there are obstructions or objects which do not change
their location in the long term. These include, for example,
supports or struts of the animal pen or of the aviaries.
Furthermore, objects are also conceivable which, although they are
present as an obstruction in the animal pen for a limited period of
time, they do not remain in the animal pen in the long term. It is
relevant here that the animal-pen vehicle can distinguish between
long-term objects and objects which remain for short periods in the
animal pen, in order to thus adapt the travel profile if
necessary.
[0053] It is furthermore preferable for the position-determining
device to comprise a barcode reading unit and/or a QR (quick
response) code reading unit and/or a data matrix code reading unit.
In a further preferred development, provision is made for the
position-determining device to be arranged and designed to
determine a position of the animal-pen vehicle within a poultry pen
and/or a pig pen when contaminated with dust and/or dirt, wherein
the position-determining device preferably has an ultra-wideband
unit and/or an RFID (radio-frequency identification) unit and/or a
radio unit and/or an odometer and/or an inertial sensor
arrangement.
[0054] A floating mounting arrangement may also be referred to as a
sliding mounting arrangement. A floating mounting arrangement
advantageously permits automatic resetting into an initial
position, which can also be referred to as rest position.
[0055] The floating mounting arrangement of the housing on the main
body is preferably realized by means of one, two, three, four, or
more mounting points. It is particularly preferable for at least
three, in particular four, mounting points to be provided. The
mounting is realized preferably by means of at least one spring
element per mounting point.
[0056] Furthermore, the floating mounting arrangement is preferably
designed so as to yield a stroke range, in particular, in a
substantially horizontal direction, of the housing to the main body
of at least +/-25 mm, preferably +/-30 mm, in particular at least
+/-50 mm. In particular, it may be preferable for the stroke range
in the direction of a main direction of movement of the animal-pen
vehicle to amount to approximately +/-50 mm, and in a direction
orthogonal with respect thereto, which is preferably likewise
substantially horizontal and can also be referred to as lateral
direction, to amount to approximately +/-30 mm.
[0057] In a preferred embodiment, the floating mounting arrangement
is designed for automatic resetting into an initial position,
preferably by means of at least one spring element, wherein the
spring element is arranged preferably on the housing or main body
and/or is of disk-shaped form and/or has recesses.
[0058] A spring element preferably has a corresponding restoring
force in order to realize the stated ranges. The at least one
spring element may preferably be composed of an elastic material or
have an elastic material. An elastic material may for example be
composed of a polymer or may have a polymer, for example an
EPDM.
[0059] Preferably, the spring element is of disk-shaped form. The
extent of the spring element in the installed state in a horizontal
plane is preferably several times greater than that in a vertical
direction orthogonal with respect to the horizontal plane. The
spring element preferably has a height, which in the installed
state is oriented in a vertical direction, of at most 20 mm,
preferably at most 15 mm, particularly preferably at most 10 mm.
The shape of the spring element in the horizontal plane, which can
also be referred to as disk plane, is arbitrary, and may preferably
be rectangular.
[0060] In a preferred embodiment, the at least one spring element
is of structured design. A structured design is to be understood
here, in particular, to mean a design which is not solid. In
particular, it is preferable for the spring element to have
recesses which may be irregular or regular. In particular, the
recesses may assume any geometrical figure. Preferably, the
recesses are round, elliptical, triangular, rectangular,
pentagonal, hexagonal, octagonal, or of some other polygonal form.
A honeycomb-shaped design is particularly preferred, wherein a
honeycomb may, in particular, be hexagonal. Furthermore, amorphous
structures are also possible, for example through the use of
elastic foams. The recesses may be open on one side or on multiple
sides, or may be formed as closed cavities.
[0061] Through the material selection and/or through the
structuring of the spring element, in particular, by means of
recesses, and/or through combinations of these, it is possible to
realize a spring hardness and/or a spring characteristic curve of
the spring element which meets the requirements of the field of
use. For example, in the case of polymers being used, different
degrees of hardness are possible proceeding from the same base
material.
[0062] The spring element preferably has a spring action primarily
or exclusively in a substantially horizontal direction in the
installed state.
[0063] The at least one spring element may be attached to the
housing or to the main body. In the case of multiple spring
elements being used, it is possible for all spring elements to be
arranged on the housing or on the main body. A mixed arrangement of
spring elements on the housing and on the main body is also
possible.
[0064] The spring element preferably has a holding device which is
designed to fasten the spring element to the housing and/or to the
main body. The holding device preferably has edge boundaries which
encompass the spring element at at least one side, preferably at at
least four sides. One side of the spring element is preferably a
surface, which is substantially vertical in the installed state, of
the spring element. Preferably, the holding device has a cover part
which encompasses a part, in particular, an edge region, of a disk
surface of the spring element. A disk surface of the spring element
is preferably a surface, which is horizontal in the installed
state, of the spring element. By means of these designs, secure
hold of the spring element in different positions of the animal-pen
vehicle can be ensured, and/or the spring element can be prevented
from falling out. The provision of a cover part of the holding
device may furthermore contribute to preventing or reducing
excessive protrusion or bulging of the spring element in the event
of intense deflection or loading of the spring element. The edge
boundaries of the holding device are preferably designed for
fastening to the housing and/or to the main body. For this purpose,
the edge boundaries may preferably have fastening flanges.
[0065] It is furthermore preferably possible for the spring element
to have a receptacle for a fastening element, for example, a pin.
It is preferable for a honeycomb-shaped recess of the spring
element to have a receptacle of said type.
[0066] A structured design of a substantially disk-shaped spring
element has various advantages. A spring element of said type has a
small structural height, in particular, in the case of a design as
a honeycomb structure or a similar structure. Such a spring element
furthermore exhibits high resistance to dirt and/or high resistance
to ammonia, which promotes use in the animal pen. Furthermore, the
spring element is preferably force-free in the initial position,
which can also be referred to as rest position. This can contribute
to a lengthened service life of the spring elements. Furthermore,
installation of the spring elements, possibly also retroactively,
is easily possible, for example, by virtue of said spring elements
being fitted on and/or placed on.
[0067] A further preferred design variant of the animal-pen vehicle
is distinguished by the fact that it comprises a coupling device
for the detachable fastening of a functional unit, wherein the
functional unit is preferably selected from the group comprising a
bedding tiller, and/or a bedding pusher, and/or a dispensing device
for manipulable material, and/or a chick paper dispensing
device.
[0068] It is furthermore preferable for the movement unit to
comprise one, two, or more wheels, and/or one, two, or more crawler
chains, wherein, preferably, the one, two, or more wheels and/or
the one, two, or more crawler chains is or are designed to be
flexible. The crawler chains may comprise plastic and/or steel or
be composed of plastic and/or steel. In particular, elastic
materials are preferred. The flexible form promotes self-cleaning
of the wheels or of the crawler chains, such that cleaning can be
omitted.
[0069] It is furthermore preferable for the emissions-free drive to
comprise an electric drive, and/or a fuel cell. It is furthermore
preferable for the animal-pen vehicle to comprise an energy store,
in particular, a battery.
[0070] Also preferable is a poultry pen for poultry animals which
comprises a floor surface with bedding, at least one poultry
residence facility, which is supported on the floor surface, and an
animal-pen vehicle, according to at least one of the design
variants mentioned above, for moving on the floor surface with
bedding. In particular, it is preferable for the poultry pen to
comprise a multiplicity of RFID transponders, and/or an
ultra-wideband device, and/or a position radar system, and/or a
multiplicity of barcodes, and/or a multiplicity of QR codes and/or
data matrix codes, wherein the multiplicity of QR codes and/or data
matrix codes is preferably arranged on a ceiling of the poultry
pen, wherein the multiplicity of RFID transponders, and/or the
ultra-wideband device, and/or the position radar system, and/or the
multiplicity of barcodes, and/or the multiplicity of QR codes
and/or data matrix codes are arranged and designed to interact with
a position-determining device of the animal-pen vehicle.
[0071] According to a further aspect of the invention, the object
stated in the introduction is achieved by means of a method for
moving an animal-pen vehicle on a floor surface with bedding of a
poultry pen and/or of a pig pen for the purposes of influencing
positions at which poultry animals and/or pigs are residing,
comprising providing an animal-pen vehicle, in particular, an
animal-pen vehicle according to at least one of the design variants
described above, within a poultry pen and/or a pig pen with at
least one poultry residence facility and/or pig residence facility,
moving the animal-pen vehicle with a predetermined travel profile,
wherein the travel profile comprises at least one movement pattern
and at least one preferential area to be travelled to within the
poultry pen and/or pig pen.
[0072] In particular, the movement of the animal-pen vehicle on the
floor surface with bedding serves for influencing positions at
which poultry animals are residing, in particular, positions at
which poultry animals are resting, in particular, for the purposes
of reducing a ground egg quota and/or for the purposes of driving
poultry animals.
[0073] In a preferred design variant of the method, provision is
made whereby said method comprises activating an animation of the
animating device when the animal-pen vehicle is positioned within a
preferential area and/or in the region of a predefined animation
area, and/or detecting a poultry animal and/or a pig and directing
the animation at the poultry animal and/or the pig in targeted
fashion. In particular, it is preferable for the animation to
comprise an optical signal and/or the emitting of a fluid, in
particular, water. It is furthermore preferable for the
predetermined travel profile to have a travel profile distance to
be travelled and/or a travel profile duration, and for the
animal-pen vehicle to move within the preferential areas that are
to be travelled to over more than 20%, and/or 30%, and/or 40%,
and/or 50%, and/or 60%, and/or 70%, and/or 80% of the travel
profile distance, and/or for the animal-pen vehicle to move within
the preferential areas that are to be travelled to over more than
20%, and/or 30%, and/or 40%, and/or 50%, and/or 60%, and/or 70%,
and/or 80% of the travel profile duration.
[0074] According to a further aspect of the present invention, the
object stated in the introduction is achieved through the use of an
animal-pen vehicle, in particular, of an animal-pen vehicle
according to at least one of the design variants described above,
in a poultry pen for poultry animals and/or in a pig pen for the
purposes of influencing positions at which poultry animals and/or
pigs are residing.
[0075] It is furthermore preferable for the animal-pen vehicle to
be used for reducing a ground egg quota and/or for driving poultry
animals and/or pigs, wherein, preferably, the poultry animals are
driven from a floor surface of an animal pen, and/or the poultry
animals in resting positions on the floor surface are animated, in
particular, in order to reduce the number of ground eggs of a
flock.
[0076] The method according to the invention and the possible
developments thereof have features or method steps which make it
suitable, in particular, for being used for an animal-pen vehicle
according to the invention and the developments thereof. For
further advantages, design variants, and design details of these
further aspects and the possible developments thereof, reference is
also made to the above description relating to the corresponding
features and developments of the animal-pen vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[0077] Preferred embodiments of the invention will be discussed by
way of example on the basis of the appended figures, in which:
[0078] FIG. 1 is schematic, three-dimensional view of an exemplary
embodiment of an animal-pen vehicle;
[0079] FIG. 2 is a three-dimensional exploded view of the
animal-pen vehicle from FIG. 1;
[0080] FIG. 3 is a schematic, three-dimensional, partially
transparent view of the animal-pen vehicle from FIG. 1;
[0081] FIG. 4 is a schematic, two-dimensional side view of the
animal-pen vehicle as per FIG. 1;
[0082] FIG. 5 is a schematic, three-dimensional view of the
animal-pen vehicle from FIG. 1 with a functional unit;
[0083] FIG. 6 is a schematic side view of a further exemplary
embodiment of an animal-pen vehicle;
[0084] FIG. 7 is a schematic side view of the animal-pen vehicle
from FIG. 6 with a different functional unit;
[0085] FIG. 8 is a schematic plan views of three exemplary
embodiments of animal-pen vehicle housings;
[0086] FIG. 9 is a schematic view of an animal pen with exemplary
embodiments of a travel profile;
[0087] FIG. 10 is a schematic side view of an animal pen with an
exemplary embodiment of an animal-pen vehicle;
[0088] FIG. 11 is a schematic illustration of the principle of a
magnetic collision detection;
[0089] FIG. 12 is a schematic, three-dimensional view of an
exemplary embodiment of a spring element;
[0090] FIG. 13 is a schematic, three-dimensional, partially
sectional view of an exemplary embodiment of a housing with four
spring elements; and
[0091] FIG. 14. is a schematic sectional illustration through a
spring element fastened to a main body.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0092] In the Figures, identical or substantially functionally
identical or similar elements are denoted by the same reference
designations.
[0093] FIGS. 1 to 5 show an animal-pen vehicle 100 which has a
housing 110 and a first crawler device 130 and a second crawler
device 140. The housing 110 encloses the upper part of the
animal-pen vehicle 100 such that the respective upper half of the
first and second crawler device 130, 140 is enclosed to the outside
by the housing 110. The housing 110 comprises a housing upper part
112, which has an areal and, during operation, substantially
horizontal extent. Furthermore, the housing 110 comprises a first
housing end part 114 and a second housing end part 116, which is
arranged so as to be curved around the front and/or rear part of
the animal-pen vehicle. Furthermore, the housing 110 has two
housing side parts 118.
[0094] The internal construction of the animal-pen vehicle 100 can
be seen, in particular, from FIG. 2. The Figure shows inter alia
the first crawler device 130 which, aside from the crawler chain
136, also has a first drive axle 131. The drive axle 131 has a
motor 132 and a coupling unit 133. With this coupling unit 133, the
motor 132 is coupled via a first crawler wheel 134 to the crawler
chain 136, such that the drive axle 131 is coupled via the first
crawler wheel 134 to the crawler chain 136. The second crawler
device 140 is of analogous construction and comprises a second
drive axle 141. The crawler chain 136 may have any suitable
material. In particular, it is preferable for the crawler chain 136
to be composed of a plastic and/or a steel or to comprise a plastic
and/or a steel. It is particularly preferable for the crawler chain
136 to be formed from an elastomer, in particular, a rubber, or for
the crawler chain to comprise an elastomer, in particular, a
rubber.
[0095] Furthermore, the animal-pen vehicle 100 has a main body 120,
on which the crawler devices 130, 140 are arranged laterally,
wherein the motors of the drive axles 131, 141 project into the
interior space of the main body 120 through passage openings 121,
122. Furthermore, an integrated positioning device and control
device 150 and a battery box 115 with a battery 113 are arranged on
the main body 120. Furthermore, a stroke-imparting unit 152 for the
positioning device and control device 150 is arranged within the
main body 120, wherein the positioning device and control device
150 can be removed from the animal-pen vehicle preferably with the
stroke-imparting unit 152. In particular, FIGS. 3 and 4 show the
specific construction of the crawler device 130, 140, wherein the
arrangement over a first crawler wheel 134 and a second crawler
wheel 135 is shown. These two crawler wheels 134, 135 serve for
tensioning the crawler chain 136. The first crawler wheel 134 has
an axle stub 137.
[0096] FIG. 5 shows a charging station 160 with a front wall 162
and with a first side wall 164 and a second side wall 166 arranged
orthogonally with respect to the front wall 162 and likewise with a
horizontal extent. On the front wall 162, there is furthermore
arranged, at the bottom edge, a horizontal wall 168. The charging
station 160 may be connected to the animal-pen vehicle 100 via a
station coupling device 161 of the charging station 160 and a
vehicle coupling device 170 of the animal-pen vehicle 100, and the
battery of the animal-pen vehicle 100 can thus be charged. The
station coupling device 161 has a coupling pin 163, which is
arranged and designed to be arranged in a coupling opening 171 of
the vehicle coupling device 170.
[0097] FIG. 6 shows an animal-pen vehicle 200 which has a crawler
drive with a first crawler device 210 which comprises a first
crawler wheel 214 and a second crawler wheel 215, which are looped
around by a crawler chain 216. The animal-pen vehicle 200
furthermore has a pecking material container 202, which is
connected via a conveying device 204 to a pecking dish 206. The
pecking dish 206 offers a mobile conveyance of pecking material,
such that poultry animals can firstly be supplied with feed by
means of the animal-pen vehicle 200, which can furthermore also
serve as manipulable material. The animal-pen vehicle 200
furthermore has various functional units. The functional unit may
for example have, or be designed as, a bedding teller 220, a
pushing device 230, and a sweeping unit 240. Furthermore, the
animal-pen vehicle 200 has a chick paper dispensing device 270 for
chick paper 271. Feed for chicks can be scattered on the chick
paper 271 in order that the chicks do not have to stand on the cold
animal pen floor while feeding. The chick paper 271 furthermore
facilitates the cleaning of the animal pen.
[0098] In FIG. 7, the animal-pen vehicle 200 is equipped with an
egg-collecting device 250, which comprises an articulated-arm robot
252 with an egg gripper 254. The animal-pen vehicle 200 furthermore
has an egg-detecting device 256, which is preferably coupled to a
control device of the articulated-arm robot 252 and of the gripper
254 such that a detected egg 10 can be picked up by the egg gripper
254 in targeted fashion.
[0099] FIG. 8 shows plan views of housings of animal-pen vehicles,
which each have different geometries. The housing 301 has a
circular geometry. The housing 302 comprises a rectangular portion
and a semicircular portion. The housing 303 has a rectangular
portion and a first semi-circular portion, the diameter of which
has the same extent as the side of the rectangular portion on which
the semicircular portion is arranged. At the apex of the
abovementioned semicircular portion, there is a further portion
comprising a rectangular portion and a circular-segment-shaped
portion. The different housings 301, 302, 303 may be utilized for
different usage purposes. The housing shape 302 has, in particular,
the advantage that it can move forward as far as into a corner. The
advantage of the housing 301 lies, in particular, in the low risk
of injuries to poultry animals.
[0100] FIG. 9 shows an animal pen 400 with an outer animal-pen
boundary 402 and two inner animal-pen boundaries 404, 406. The
first inner animal-pen boundary 404 and the second inner animal-pen
boundary 406 are designed as walls through which the poultry
animals cannot pass. The first inner animal-pen boundary 404 and
the second inner animal-pen boundary 406, however, have passage
facilities through which an animal-pen vehicle can also move. Also
arranged in a corner of the animal pen is the charging station 410,
which is to be regarded as the base station for the animal-pen
vehicle. Here, the batteries of the animal-pen vehicle can be
charged and the animal-pen vehicle can be cleaned. Furthermore, the
charging station 410 serves as a rest station for the animal-pen
vehicle when it is not presently in operation. The charging station
410 may for example be designed analogously to the charging station
160 shown in FIG. 5.
[0101] Furthermore, FIG. 9 shows a travel profile of an animal-pen
vehicle, which is illustrated by arrows and circles. The travel
profile firstly comprises the movement pattern 412, which is
distinguished by travel through the various animal pen areas.
Furthermore, the travel profile also comprises the six preferential
areas 420, 421, 422, 423, 424, 425, in which the animal-pen vehicle
particularly preferentially moves. The preferential areas 420 to
425 are preferably selected on the basis of empirical values, in
particular, on the basis of an accumulation of ground eggs and/or
dwelling of poultry animals at nighttime having been detected
here.
[0102] FIG. 10 shows an animal pen 500 with an animal-pen roof 502
and with a floor surface 504, wherein first animal-pen fixtures 506
and second animal-pen fixtures 508 are arranged on the floor
surface 504. The animal-pen fixtures 506, 508 have a clear height
507 underneath them. The animal-pen vehicle 300 has an animal-pen
vehicle height smaller than the clear height 507 of the animal-pen
fixtures 506, 508.
[0103] By means of an animal-pen vehicle 100, 200, 300 described
above, the positions at which poultry animals are residing, in
particular, positions at which poultry animals are resting, can be
influenced, in particular, for the purposes of reducing a ground
egg quota and/or for the purposes of driving poultry animals. In
particular, by travelling through a travel profile with a movement
pattern 412 and at least one preferential area 420 to 425, the
ground egg quota and instances of animals remaining on the floor
surface overnight can be reduced.
[0104] FIG. 11 is a schematic illustration of the principle of a
magnetic collision detection with a collision-detecting arrangement
600, which comprises a first collision-detecting device 601 and a
second collision-detecting device 602. A non-optical detection in
the form of a magnetic detection has the advantage of being
particularly highly suitable for a dusty environment in the animal
pen.
[0105] The two collision-detecting devices 601, 602 are of
substantially identical form, but arranged so as to be offset with
respect to one another by 90.degree.. In this way, different
collision directions can be detected. Through the provision of two
collision-detecting devices 601, 602, it is particularly preferably
possible for an impact direction, in particular, a direction in
which an object causing the collision or the impact is situated,
for example in relation to a central and/or reference point of the
animal-pen vehicle and/or in relation to an, in particular,
instantaneous, direction of motion of the animal-pen vehicle, to be
detected.
[0106] The first collision-detecting device 601 has a first
magnetic impact sensor 611 and a first reference object 621. The
second collision-detecting device 602 has a second magnetic impact
sensor 612 and a second reference object 622.
[0107] The first impact sensor may preferably be arranged on the
chassis of an animal-pen vehicle, and the first reference object
arranged on a housing mounted in floating fashion on the chassis,
in particular, on the housing bottom side. The first impact sensor
may also be arranged on the housing, and the first reference object
arranged on the chassis. The same arrangement principles also apply
to the second collision-detecting device 602. It is also possible
for different arrangements to be selected for the first and second
collision-detecting device 601, 602.
[0108] The collision-detecting devices 601, 602 are arranged and
designed to detect contact with an obstruction, in particular, with
an object and/or an animal, preferably irrespective of the
direction of motion of the animal-pen vehicle, that is to say, for
example, also during reverse and/or sideward travel of the
animal-pen vehicle.
[0109] The magnetic collision detection preferably takes the form
of a continuous measurement, preferably with the possibility of
storing multiple threshold values in the impact sensors 611, 612
and/or in a sensor controller. The reference objects 621, 622 are
formed from magnetic material and comprise a magnetic pattern, in
this case an alternating sequence of north and south poles in each
case. A measurement of the relative movement of the first impact
sensor and first reference object with respect to one another may
be performed by counting the alternations in polarity. The profiles
of the magnetic flux density B and of the electrical voltage U for
the first collision-detecting device 601 that arise in the case of
such a relative movement are plotted in the graphs 631 and 632.
Correspondingly, a measurement of the relative movement of second
impact sensor and second reference object with respect to one
another may also be performed by counting the alternations in
polarity, likewise resulting in corresponding profiles of the
magnetic flux density B and of the electrical voltage U.
[0110] FIGS. 12 to 14 illustrate an exemplary embodiment of a
spring element 700 and of the use thereof for a floating mounting
of the housing 110 on the main body 120. The spring element 700 is
of not solid but structured form, and has multiple regular recesses
701 in the form of hexagonal honeycombs, which are open at their
top and bottom sides. A central honeycomb has a receptacle 702 for
a fastening element in the form of a fastening pin 720.
[0111] The spring element 700 furthermore has a holding device 710
which has a cover part 713 and edge boundaries 711 with fastening
flanges 712. Fastening holes 714 are provided on the fastening
flanges 712.
[0112] The spring element 700 is of substantially disk-shaped form
and, in the installed state, has an extent in a substantially
horizontal plane which amounts to several times the height, which
in the installed state is substantially vertical, of the spring
element.
[0113] It is preferably possible, as illustrated in FIG. 13, for
four mounting points with in each case one spring element 700 to be
provided. FIG. 14 shows a fastening of the spring element to the
main body 120 in the case of which the fastening pin 720 is
fastened to the main body 120 and projects upward in the direction
of the housing 110 and, in so doing, engages into the receptacle
702 of a honeycomb of the spring element 700.
[0114] A structured embodiment of disk-shaped spring elements has
the advantage of a small structural height, high resistance to dirt
and ammonia, and simple installation.
[0115] Collisions of the animal-pen vehicle with poultry animals
and/or objects can be detected by means of the collision-detecting
arrangement 600. It is thereby possible, on the basis of a
collision, to provide appropriate control, for example, to stop the
animal-pen vehicle.
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