UNMANNED VEHICLE FOR SUPPLYING FEED TO AN ANIMAL

• US 20100006034A1
• Filed: 09/23/2009
• Published: 01/14/2010
• Est. Priority Date: 03/26/2007
• Status: Active Grant

• Current Assignee: Maasland N.V.
• Original Assignee: Maasland N.V.
• Inventors: VAN DEN BERG, Karel
• Granted Patent: US 8,397,670 B2
• Time in Patent Office: Days
• US Class Current: 119/14.180
• CPC Class Codes: A01K 5/02 Automatic devices automatic identification devices for stock A01K11/006
• CPC Class Codes: A01K 5/0266 with stable trolleys, e.g. suspended
• CPC Class Codes: A01K 9/00 Sucking apparatus for young stock ; Devices for mixing solid food with liquids
• CPC Class Codes: G01S 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals

Abstract

An unmanned vehicle for supplying feed to an animal, which is provided with a frame, with propulsion mechanism disposed thereon, feed supplier for supplying feed and navigator connected to the propulsion mechanism with a sensor for forming an image of an observation area, wherein the sensor comprises: a source of radiation for emitting modulated electromagnetic radiation, a receiver device for radiation reflected by an object, comprising a matrix with rows and columns of receivers, an optical device and sensor image processor configured to determine for the receivers a phase difference between the emitted electromagnetic radiation and the reflected electromagnetic radiation in order to calculate a distance from the receiver to the object. Through use of the unmanned vehicle device an excellent and reliable navigation is possible, so that, for example, milk can be conveyed efficiently from a milking implement to a calf.

Claims

1. Unmanned vehicle for supplying feed to an animal, comprising a frame, with disposed thereon

a propulsion mechanism;

a feed supplier for supplying feed; and

a navigator connected to the propulsion mechanism with a sensor for forming an image of an observation area, the sensor comprising;

a source of radiation for emitting modulated electromagnetic radiation, in particular light,

a receiver device for receiving electromagnetic radiation reflected by an object in the observation area, comprising a matrix with a plurality of rows and a plurality of columns of receivers,

an optical device for displaying the reflected electromagnetic radiation on the receiver device, and

a sensor image processor configured to determine for each of the receivers a phase difference between the emitted electromagnetic radiation and the reflected electromagnetic radiation in order to calculate a distance from the receiver to the object.

2. The vehicle according to claim 1, wherein the sensor image processor configured to form a three-dimensional image of the observation area.

3. The vehicle according to claim 1, wherein the sensor image processor configured to form a three-dimensional image of an object in the observational area.

4. The vehicle according to claim 1, wherein at least one of the receiver device and the source of radiation is disposed at least one of rotatably and telescopically.

5. The vehicle according to claim 1, wherein the navigator is operatively connected to the sensor.

6. The vehicle according to claim 1, wherein the navigator is operatively connected to the sensor image processor.

7. The vehicle according to claim 1, wherein the sensor image processor is configured to recognize at least one of a feed loading place, an animal and a part of an animal.

8. The vehicle according to claim 5, wherein the feed loading place comprises an autonomously displaceable milking implement.

9. The vehicle according to claim 1, further comprising an animal identifier configured to supply an identification signal which is indicative of the identity of the animal.

10. The vehicle according to claim 7, wherein the image recognizer is further configured to determine changes in the identified animal.

11. The vehicle according to claim 8, wherein the image recognizer is further configured to determine a change in at least one of a height and a size of the identified animal.

12. The vehicle according to claim 1, wherein the feed supplier comprises at least one of an operable valve, a drinking nozzle, and a flexible teat.

13. The vehicle according to claim 10, wherein the feed supplier is mounted movably relative to the rest of the vehicle.

14. The vehicle according to claim 1, wherein the feed supplier is controllable by at least one of the image processor and the identification signaler.

15. The vehicle according to claim 1, further comprising at least one of a connection for electrical feeding and a connection to a feed loading place for receiving feed, and wherein the sensor image processor is arranged to couple the connection to a counter-connection for that connection, by recognizing the connection and the counter-connection and minimizing the mutual distance between the connection and the counter-connection.

16. The vehicle according to claim 11, wherein the feed loading place is configured to receive liquid feed.

17. The vehicle according to claim 5, wherein the feed loading place comprises at least one of a milk storage vessel and a milking implement.

18. The vehicle according to claim 1, further comprising a milking implement with automatically connectable teat cups and a milk storage vessel.