TECHNICAL FIELD

The invention relates generally to an autonomous vehicle for displacing feed on a feed table in a dairy barn.

BACKGROUND

Managing and distributing feed is an important part of the daily work in a dairy barn. Feed is provided to a feed table where the dairy animals, such as cows, come to eat. Access to the feed is controlled by a feed fence through which the animals can reach the feed table. However, during eating, the animals also tend to push the feed further away from the feed fence such that it eventually is out of reach. Therefore the feed needs to be repositioned back towards the feed fence. Also it is very beneficial to remix the feed while repositioning it, to make it more palatable for the animals. In addition to this, additional feed components in liquid or particulate form may be added to the feed, to fill a lack of some ingredients in the feed or to encourage the animals to eat. This may be in the form of a feed additive, such as concentrate feed. Concentrate feed is a common name for particulate feed (pellets, flakes, grains etc) having a high nutrient value, i.e. rich in energy, protein, minerals etc. In different parts of the world different kinds of concentrate feed is used depending on local needs and availability.

Traditionally these tasks have been done by manually, which is both heavy and time consuming. To reduce the amount of manual labour on the farm, many work duties earlier performed by hand now have been automated, including the displacement of feed on the feed table by a feed displacement vehicle, see WO 2014033275 A1. One example of a feed displacement vehicle is the DeLaval OptiDuo™, which has the advantage of not only pushing the feed, but also redistributing and mixing the feed while repositioning it on the feed table.

It would be beneficial to further improve and facilitate the handling of feed additives by a feed displacement vehicle. SUMMARY

It is an object of the invention to provide a feed displacement vehicle where the handling of feed additive is facilitated. The invention therefore relates to an autonomous vehicle for displacing feed on a feed table, comprising a drive arrangement for propelling the vehicle in a forward direction along the feed table and a device for displacing feed sideways (i.e. in the lateral direction) on the feed table with respect to the forward direction.

The vehicle further comprises a container for a feed additive, and a dispenser to dispense feed additive from the container to the feed table. Feed additive may thus be dispensed onto feed that has been repositioned by the feed displacing device. The vehicle further comprises an outer cover, defining (or separating) an inside of the vehicle and an outside of the vehicle.

The container is disposed inside the vehicle, i.e. under the outer cover, and the outer cover is arranged to shield or protect the container from an outside of the vehicle. The outer cover is provided with an inlet for adding feed additive to the container. The inlet has an outer end which is accessible from the outside of the vehicle, and an inner end arranged such that feed additive added via the inlet is directed into the container while the outer cover is mounted on the vehicle.

Such a vehicle is thus able to add a feed additive to feed on the feed table, in particular to feed that is being or has been displaced by the feed displacing device. This will increase the flexibility in adapting the feed to the animals and decrease the amount of manual work. The feed additive is kept in the container inside the vehicle, where it is protected from the outside by means of the cover. The inlet allows for feed additive to be filled into the container with minimal effort and with minimal manual operation. Refilling the container may also be done automatically or semi-automatically while the vehicle visiting a refilling station. Such a refilling station may e.g. be arranged at or in the vicinity of an electrical charging station for charging of the autonomous vehicle.

The outer end of the inlet may comprise a funnel shaped portion with an opening directed upwards towards the outside of the vehicle, which funnel may be provided on top of the outer cover. Thus refilling of feed additive through the inlet is facilitated, with less spillage and the positioning of the vehicle relative a feed additive refilling arrangement is less critical. The inlet may have a tubular shaped portion extending in a substantially vertical direction from the funnel shaped portion towards the container (substantially vertical defined as plus minus 20 degrees to the vertical direction). Thus the risk of feed additive accumulated and/or trapped in the inlet is reduced. Also, the tubular shaped portion of the inlet may be used as additional storage space for feed additive in combination with the container if needed.

The inlet may have an oblong (and rounded) cross-section in a horizontal plane, and a long axis of the oblong cross-section being substantially parallel to the sideways direction of the vehicle (substantially parallel defined as plus minus 20 degrees to the sideways direction). Thus the sideways positioning of the vehicle relative a feed additive refilling arrangement is less critical, to reduce the risk of spillage.

The inlet may be located on the opposite side of the vehicle with respect to the sideways direction for displacing feed. That means that the inlet is located on the right hand side of the vehicle if the vehicle is configured to displace feed to the left, and vice versa. Thus feed additive may still be refilled while the vehicle is positioned along the feed fence.

The inlet may be closable with a lid. Thus the risk of dust and/or liquid or other unwanted material entering into the container is reduced. Also it reduces the risk of small animals like mice and birds to enter into the container.

The inlet may be provided with a sieve or grid arranged to stop objects of a certain size to enter through the inlet from the outside of the vehicle into the container. The grid size may be in the range of 5 mm to 50 mm. Thus larger objects, may be prevented from entering the inlet into the container. Also it acts as a safety mechanism to stop personnel working with the vehicle from reaching into the container with their hands during operation of the vehicle.

The outer cover may removable for providing access to the container inside of the vehicle. Thus maintenance of the vehicle, other than refilling of the container with feed additive, is facilitated.

The outer cover may form an upper wall of the container. Thus the interior of the vehicle is effectively used and the construction is simplified. Sealing elements may be arranged between the container and the outer cover. Thus the risk of feed additive (or dust thereof) exiting the container is effectively reduced, as well as the risk of dust and/or liquid from the outside entering into the container.

The inlet may be removably connected to the cover, preferably by removable fastening means, such as bolts or other mechanical fastening means known in the art. As an alternative the inlet is formed in one piece with the cover, such as by moulding.

The dispenser may comprise an auger located in the container for transporting feed additive from the container to an outlet for dispensing the feed additive to the feed table. Thus automatic transport of feed additive from the contained to feed on the feed table may be achieved while operating the vehicle. As alternatives to an auger, other transporting means such that by gravity, by a moving band, rotating shovel etc. are conceivable.

The auger may be located in the bottom of the container, and wherein the container is narrowing towards the auger to facilitate movement of the feed additive towards the auger. Thus feed additive, affected by gravity, is moved towards the auger and transported by the auger towards the outlet for dispensing the feed additive to the feed table.

The device for displacing feed on the feed table may be a rotatable device. Alternatively it may be an inclined or plough-shaped device configured to displace feed sideways while the vehicle is moving.

The rotatable device for displacing feed on the feed table may be a feed displacement auger having an axis of rotation extending in the sideways direction. Thus feed is effectively displaced, and is on the same time lifted and remixed which makes it more palatable for the animals. As an alternative to a feed displacement auger the vehicle may be provided with a rotatable skirt extending towards the feed table floor, which is rotatable around a substantially vertical axis (within 10 degrees from the vertical). BRIEF DESCRIPTION OF DRAWINGS

The invention is now to be explained more closely by means of examples, and with reference to the attached drawings.

Figure 1 shows a perspective view of an autonomous vehicle for displacing feed on a feed table.

Figure 2 shows a vehicle according an embodiment, displacing feed on a feed table.

Figure 3 shows a cover for a feed displacement vehicle according an embodiment, with an inlet for feed additive.

Figure 4 shows a cut through view of a feed displacement vehicle according an embodiment.

DETAILED DESCRIPTION

In Figure 1, a feed displacement vehicle 1 is shown, which is used to displace feed lying on a feed table 2. The vehicle is a powered using an internal battery 3 and has a drive arrangement 4 including a set of wheels for supporting the vehicle, and for propelling the vehicle in a forward direction M along the feed table. The drive arrangement is controlled to be able to move the vehicle forward, turn left or right, and/or to move in the reverse direction. Thus the vehicle can position itself on the feed table as required. The vehicle includes an electrical charging connector arrangement 6 to enable charging of the internal battery, e.g. while the vehicle being parked.

In the front portion of the vehicle a feed displacement auger 5 is arranged, which during feed displacement operation is rotated around its axis for moving feed sideways D on the feed table with respect to the forward direction. In the example shown the feed displacement direction D is to the right with respect to the forward direction of movement M of the vehicle.

The feed displacement vehicle is designed for operating in a livestock barn, or even outdoors. An outer cover 7 is arranged to shield the inside of the vehicle from the outside of the vehicle, and to reduce the risk of dust, dirt, water etc. to enter into the interior of the vehicle. The vehicle further comprises a container 8 for a feed additive, which container is located inside the vehicle, under the outer cover 7, and thus shielded from the outside of the vehicle. The feed additive may be a particulate material such as feed concentrate, and may include proteins, carbohydrates, minerals etc. A dispenser is provided to dispense feed additive from the container to the feed table. The dispenser is provided with an outlet 9 located on the side of the vehicle such that feed additive may be added to feed on the feed table, which has been repositioned by the feed displacement auger. Thus the vehicle may perform the dual operations of displacing feed and adding a feed additive to the feed on the feed table. These operations may be performed simultaneously or separately from each other.

The outer cover 7 is provided with an inlet 10 for adding feed additive to the container while the cover is still mounted to the vehicle. The inlet has an outer end 11 which is accessible from the outside of the vehicle, and an inner end 15 arranged such that feed additive added via the inlet is directed into the container under the cover. Thus refilling of feed additive into the container may be performed while the outer cover is mounted on the vehicle.

The inlet is located on the top of the outer cover, and positioned to the side opposite of the outlet for dispensing feed additive to feed on the feed table. The outer end 11 of the inlet is funnel shaped to facilitate refilling of feed additive. The inlet is elongated in the sideways direction to allow for some flexibility in positioning the vehicle relative to a feed additive refilling arrangement. A lid 12 is provided to close the inlet while feed additive is not being refilled into the container. The inlet 10 is mounted to the outer cover 7 such that, if the outer cover is removed from the vehicle, the inlet is also removed.

In Figure 2 the operation of the feed displacement vehicle 1 on the feed table 2 is illustrated. The feed table 2 is separated from the area where the animals (dairy cows in the drawing) are located by means of a feed fence 13. The feed fence is provided with openings such that the animals can reach through with the heads, but are restricted to pass through the fence. On the feed table 2, feed 14 is provided for the animals. The feed may be roughage, forage, silage, maize, hay, fresh grass, etc. As explained earlier, the feed tends to be pushed away from the feed fence while the animals are eating, which is illustrated at position A. In order to be within reach for the animals, the feed needs to be moved back towards the feed fence, which is done by the feed displacement vehicle 1 by repositioning it in the direction D. Thus, at position C the animals are able to reach the repositioned feed.

During operation, feed additive may be added to the feed from the container 8 inside the vehicle, through the outlet 9 and onto the feed on the feed table. The container 8 is shielded from the outside of the vehicle by the outer cover 7. The inlet 10 for feed additive is attached to the outer cover and is arranged on the side of the vehicle opposite to the outlet 9 and the electrical charging connection arrangement 6. Thus refilling feed additive may be done while the vehicle is positioned on the feed table, or while the vehicle is parked for electrical charging.

In Figure 3 an exploded view of the outer cover 7 of the vehicle and the inlet 10 is shown. The outer cover is removable from the vehicle for accessing the interior of the vehicle, e.g. for cleaning or service. The inlet 10 has an outer end 11 which is funnel shaped, and an inner end 15 which is tubular shaped and which is received in a recess or opening 16 in the outer cover 7. The recess is formed by a flange 17 on the outer cover, which is used to attach the inlet 10 to the outer cover by means of mechanical fastening means such as bolts, rivets or the like. The inlet is inserted into the recess such that the funnel shaped outer end portion of the inlet is resting on the flange, forming a connection which is sealed for dust etc.

The inlet 10 is provided with a lid 12 with a hinge arranged such that the lid may be opened for refilling of feed additive, but such that the lid is closed in normal operation of the vehicle. This will reduce the risk of dirt, dust, and water, as well as small animals, to enter into through the inlet into the container, as well as feed additive to exit from the container through the inlet. The inner end 15 of the inlet is provided with a sieve or grid 18 arranged to stop objects of a certain size to enter through the inlet from the outside of the vehicle into the container. The grid size may be in the range of 5 mm to 50 mm. Thus larger objects, may be prevented from entering the inlet into the container, and it also increase the safety of operation of the vehicle.

In Figure 4 a cut through view of an upper portion of the vehicle 1 is shown, where the outer cover 7 is arranged on the vehicle with the inner end 15 of the inlet 10 inserted into the recess 16 and fastened to the flange 17. The outer end 11 of the inlet is funnel shaped with an asymmetric funnel extending towards the side of the vehicle to facilitate refilling of feed additive, and the lid 12 connected with the hinge arranged at the opposite end of the inlet. At the inner end portion of the inlet, the grid or sieve 18 is provided.

The container 8 is formed by sidewalls 19a, 19b and a bottom surface 20. Sealing elements 21a, 21b are arranged between the sidewalls 19a, 19b and the outer cover 7 to form a dust protected sealing of the container. Thus the outer cover 7 forms the top wall of the container 8 which improves the accessibility and cleanability of the interior of the vehicle. The sealing of the container by the sidewalls 19a, 19b and the outer cover 7 also allows the container to be filled to a high degree while still reducing the risk of feed additive to leak out from the container. The dispenser 22 is arranged to dispense feed additive from the container 8 through the outlet 9 and onto feed on the feed table. The bottom 20 of the container 8 is inclined from a low end 23a to a high end 23b, upwards towards the outlet 9. The dispenser comprises an auger 24 located in the container 8 for transporting feed additive from the container to the outlet 9. The auger 24 is located at the bottom of the container, close to the bottom surface 20. The container is narrowing towards the auger to facilitate movement of the feed additive towards the auger by gravity. The auger extends from the low end 23a to the high end 23b of the container, and is rotated by a motor 25 to transport feed additive towards the outlet 9.