MOTORIZED FEEDING VEHICLE

• US 20150149050A1
• Filed: 11/27/2014
• Published: 05/28/2015
• Est. Priority Date: 11/27/2013
• Status: Active Grant

• Current Assignee: Dansk Mink Papir A/S
• Original Assignee: Dansk Mink Papir A/S
• Inventors: Pedersen, Rudi, Palsgaard, Henrik, Larsen, Johnny Mollerup
• Granted Patent: US 9,510,560 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: A01K 5/00 Feeding devices for stock or game A01K1/10 takes precedence; feeding devices for poultry or other birds A01K39/00 ; Feeding wagons; Feeding stacks
• CPC Class Codes: A01K 5/0266 with stable trolleys, e.g. suspended
• CPC Class Codes: A01K 5/0275 with mechanisms for delivery of measured doses A01K5/0233 takes precedence
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

An animal feeding vehicle includes a movement control system, a GPS receiver for generating a first set of parameters including location information, a proximity sensor for generating a second set of parameters including spatial information, a position sensor for generating a third set of parameters including motion information, a feeding system including a feeding control system for feeding animals based on a fourth set of parameters. A control unit receives the first, second, third, and fourth sets of parameters, and defines a first mode in which the user controls the movement control system and the feeding control system, and in which the control unit records data representing the first, second, third, and fourth sets of parameters; and a second mode in which the control unit controls the movement control system and the feeding system by comparing recorded data with the first, second, third, and fourth sets of parameters.

Claims

1. A motorized feeding vehicle for an animal farming system, said animal farming system comprising a field having a building accommodating a plurality of cages, each cage adapted for accommodating one or more animals, preferably a furred animal, most preferably a mink, said motorized feeding vehicle comprising:

a power system for driving said motorized feeding vehicle;

a steering system for determining a direction of said motorized feeding vehicle;

a user operated movement control system for manually controlling said power system and said steering system;

a satellite navigation system receiver for generating a first set of parameters constituting location information from a satellite navigation system;

a proximity sensor for generating a second set of parameters constituting spatial information of an area adjacent said motorized feeding vehicle;

an internal position sensor comprising a direction sensor and a velocity sensor for generating a third set of parameters constituting motion information;

an animal feeding system comprising a feed storage tank for storing animal feed and a feeding pipe for conveying said animal feed from said feed storage tank to said cages individually, said animal feeding system further comprising a feeding control system for controlled feeding or non-feeding said animals via said animal feeding system based on a fourth set of parameters constituting feeding parameters; and

a control unit connected to said satellite navigation system for receiving said first set of parameters, to said proximity sensor for receiving said second set of parameters and to said internal position sensor for receiving said third set of parameters, said control unit defining;

a first mode constituting a learn mode in which said user is controlling said motorized feeding vehicle via said user operated movement control system and said feeding control system, and in which said control unit records data representing said first set of parameters, said second set of parameters, said third set of parameters, and said fourth set of parameters; and

a second mode constituting an autonomous mode in which said control unit is controlling said power system, said steering system, and said animal feeding system by comparing said recorded data with said first set of parameters, said second set of parameters, said third set of parameters, and said fourth set of parameters.

2. The motorized feeding vehicle according to claim 1, said motorized feeding vehicle comprising an electromagnetic reader for reading an identification device of each cage and/or each animal, said reader being selected from the group consisting of an RFID reader and an optical reader.

3. The motorized feeding vehicle according to claim 2, wherein at least one of said field and said building comprises an additional identification device for navigation.

4. The motorized feeding vehicle according to claim 1, wherein said motorized feeding vehicle includes a detector for determining the amount of feed present or not present in said cage, said detector being selected from the group consisting of a camera and an ultrasound detector.

5. The motorized feeding vehicle according to claim 1, wherein said proximity sensor comprises at least one of an IR sensor, radar, and a laser proximity sensor, wherein said proximity sensor is configured for detecting objects 0.5 m to 2.0 m from said motorized feeding vehicle.

6. The motorized feeding vehicle according to claim 1, wherein said data are exportable from said control unit and importable into said control unit.

7. The motorized feeding vehicle according to claim 1, wherein said control unit controls said power system and said steering system using an adaptive weighing algorithm using said recorded data, said first set of parameters, said second set of parameters, said third set of parameters, and said fourth set of parameters.

8. The motorized feeding vehicle according to claim 1, wherein said first set of parameters is ignored if said satellite navigation system receiver is not receiving navigation information from a sufficient amount of satellites, wherein said second set of parameters is ignored if said proximity sensor cannot detect any nearby objects, and wherein said third set of parameters is ignored if an onboard accelerometer detects loss of traction of said power system of said motorized feeding vehicle.

9. The motorized feeding vehicle according, claim 1, wherein said feeding pipe is movable in a rotational degree of freedom.

10. The motorized feeding vehicle according to claim 1, wherein said motorized feeding vehicle comprise a heat sensitive camera for determining a health status of said animals individually.

11. The motorized feeding vehicle according to claim 1, wherein said motorized feeding vehicle comprises a wireless communication unit for communicating any of said first set of parameters, said second set of parameters, said third set of parameters, said fourth set of parameters, and said data to at least one of a server, a computer, and a handheld device.

12. The motorized feeding vehicle according to claim 1, wherein said internal position sensor comprises at least one of an inertial navigation system, a compass, a sensor monitoring said user operated movement control system, and a sensor measuring an angular rotation of said power system of said motorized feeding vehicle.

13. (canceled)

14. A retrofit kit for a motorized feeding vehicle for an animal farming system, said animal farming system comprising a field having a building accommodating a plurality of cages, each cage adapted for accommodating one or more animals, preferably a furred animal, most preferably a mink, said motorized feeding vehicle comprising:

a power system for driving said motorized feeding vehicle;

a steering system for determining a direction of said motorized feeding vehicle;

a user operated movement control system for manually controlling said power system and said steering system; and

an animal feeding system comprising a feed storage tank for storing animal feed and a feeding pipe for conveying said animal feed from said feed storage tank to said cages individually;

said retrofit kit comprising;

a satellite navigation system receiver for generating a first set of parameters constituting location information from a satellite navigation system;

a proximity sensor for generating a second set of parameters constituting spatial information of an area adjacent said motorized feeding vehicle;

an internal position sensor comprising a direction sensor and a velocity sensor for generating a third set of parameters constituting motion information;

a feeding control system for user controlled feeding or non-feeding said animals via said animal feeding system and for establishing a fourth set of parameters constituting feeding parameters; and

a control unit connected to said satellite navigation system for receiving said first set of parameters, to said proximity sensor for receiving said second set of parameters and to said internal position sensor for receiving said third set of parameters, said control unit defining;

a first mode constituting a learn mode in which said user is controlling said motorized feeding vehicle via said user operated movement control system and said feeding control system, and in which said control unit records data representing said first set of parameters, said second set of parameters, said third set of parameters, and said fourth set of parameters; and

a second mode constituting an autonomous mode in which said control unit is controlling said power system, said steering system, and said animal feeding system by comparing said recorded data with said first set of parameters, said second set of parameters, said third set of parameters, and said fourth set of parameters.

15. A method of operating an animal farming system, said animal farming system comprising a field having a building accommodating a plurality of cages, each cage adapted for accommodating one or more animals, preferably a furred animal, most preferably a mink, said method comprising providing a motorized feeding vehicle, said motorized feeding vehicle comprising:

a power system for driving said motorized feeding vehicle;

a steering system for determining a direction of said motorized feeding vehicle;

a user operated movement control system for manually controlling said power system and said steering system;

a satellite navigation system receiver for generating a first set of parameters constituting location information from a satellite navigation system;

a proximity sensor for generating a second set of parameters constituting spatial information of an area adjacent said motorized feeding vehicle;

an internal position sensor comprising a direction sensor and a velocity sensor for generating a third set of position parameters constituting motion information;

an animal feeding system comprising a feed storage tank for storing animal feed and a feeding pipe for conveying said animal feed from said feed storage tank to said cages individually, said animal feeding system further comprising a feeding control system for controlled feeding or non-feeding said animals via said animal feeding system based on a fourth set of parameters constituting feeding parameters; and

a control unit, said control unit connected to said satellite navigation system for receiving said first set of parameters, to said proximity sensor for receiving said second set of parameters, and to said internal position sensor for receiving said third set of parameters,

said method comprising the additional steps of;

moving said motorized feeding vehicle in a first mode constituting a learn mode, in which said user is controlling said motorized feeding vehicle via said user operated movement control system and said feeding control system, and in which said control unit records data representing said first set of parameters, said second set of parameters, said third set of parameters, and said fourth set of parameters; and

moving said motorized feeding vehicle in a second mode constituting an autonomous mode in which said control unit is controlling said power system, said steering system, and said animal feeding system by comparing recorded data with said first set of parameters, said second set of parameters, said third set of parameters, and said fourth set of parameters.