Unmanned vehicle for displacing manure

• US 7,032,682 B2
• Filed: 03/14/2001
• Issued: 04/25/2006
• Est. Priority Date: 05/25/1999
• Status: Expired due to Term

• Current Assignee: LELY Enterprises AG A Swiss Limited Liability Company
• Original Assignee: LELY Research Holding AG
• Inventors: Berg, Karel van den
• Primary Examiner(s): BATSON, VICTOR D
• Application Number:
  US09/764,292
• Publication Number:
  US 20030020243A1
• Time in Patent Office: 1,868 Days
• Field of Search: 15/491, 15/931, 153/19, 15/98, 153/401, 153/403, 180/167, 180/168, 180/274, 172/5
• US Class Current: 172/5
• CPC Class Codes: A01K 1/01 Removal of dung or urine, e.g. from stablesA01K1/015 takes precedence; from poultry houses A01K31/04
• CPC Class Codes: A01K 1/0128 by means of scrapers or the like moving continuously
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection

Abstract

An unmanned vehicle for displacing manure in a stable or field which comprises a steering unit for steering the vehicle and a frame. Two wheels and a manure displacing blade which depend from the frame provide the entire support for the vehicle, the vehicle'"'"'s center of gravity being in an axis which falls between the wheels and the blade. A freely turnable circular bumper is also carried by the frame and prevents the vehicle from colliding with obstacles in the area wherein it operates. The vehicle also includes orientation and steering components as well as sensors for controlling the course of travel of the vehicle within the area and, such as the circular bumper, to prevent it from colliding with obstacles in the area.

Claims

1. An unmanned non-submersible vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit in the vehicle for propelling the vehicle in a non-liquid, air environment, and a manure displacing means for displacing manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight.

2. A vehicle in accordance with claim 1, comprising protective facilities to protect the vehicle against obstacles.

3. A vehicle in accordance with claim 2, wherein said protective facilities comprise a bumper.

4. A vehicle in accordance with claim 2, wherein said protective facilities comprise wall following means.

5. A vehicle in accordance with claim 2, wherein said protective facilities comprise positioning means for determining the position of an obstacle relative to the vehicle.

6. A vehicle in accordance with claim 5, wherein said positioning means comprises a clinometer.

7. A vehicle in accordance with claim 5, wherein said positioning means comprises an accelerometer.

8. A vehicle in accordance with claim 5, wherein said positioning means includes signal producing means that actuates said steering unit.

9. A vehicle in accordance with claim 1, wherein said steering unit comprises guidance means, said guidance means comprising following means for detecting and following a wall.

10. A vehicle in accordance with claim 9, wherein said following means substantially surrounds and is at least in part supported by said manure displacing means.

11. A vehicle in accordance with claim 9, wherein said following means comprises a freely rotating substantially circular element.

12. A vehicle in accordance with claim 11, wherein said circular element comprises a wheel.

13. A vehicle in accordance with claim 11, wherein said circular element comprises a disc.

14. A vehicle in accordance with claim 11, wherein said circular element comprises a ring.

15. A vehicle in accordance with claim 1, comprising orientation means for determining a relative position of the vehicle.

16. A vehicle in accordance with claim 1, comprising orientation means that controls the vehicle so that it travels along a predetermined course.

17. A vehicle in accordance with claim 1, wherein said steering unit comprises orientation means, said orientation means comprising a compass.

18. A vehicle in accordance with claim 1, wherein said steering means comprises orientation means which includes a gyroscope.

19. A vehicle in accordance with claim 1, wherein said steering unit comprises orientation means which includes an air level device.

20. A vehicle in accordance with claim 1, wherein said steering unit comprises an orientation means which includes a clinometer.

21. A vehicle in accordance with claim 1, wherein said steering unit comprises orientation means which includes an acceleratormeter.

22. A vehicle in accordance with claim 1, wherein said steering unit comprises guidance means which includes following means for following the edge of a cubicle.

23. A vehicle in accordance with claim 1, wherein said manure displacing means comprises a brush.

24. A vehicle in accordance with claim 1, wherein said manure displacing means comprises a manure slide.

25. A vehicle in accordance with claim 1, wherein said manure displacing means comprises a spraying unit.

26. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, the vehicle further comprising anti-bumping means which functions to prevent said manure displacing means from moving too far from a floor by which it is supported.

27. A vehicle in accordance with claim 26, wherein said anti-bumping means comprises a bumper.

28. A vehicle in accordance with claim 26, wherein said anti-bumping means comprises a bracket.

29. A vehicle in accordance with claim 26, wherein said anti-bumping means comprises an anti-bumping sensor for performing the function of detecting movements of said manure displacing means away from a floor which supports the vehicle, coupling means coupling said anti-bumping sensor to said propelling unit.

30. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing the manure, said manure displacing means being fitted in the vehicle so that said manure displacing means supports the vehicle while it is operating, said steering means comprising guidance means, said guidance means comprising following means for detecting and following a wall, said following means comprising a freely rotating substantially circular element.

31. A vehicle in accordance with claim 30, wherein said circular element comprises a wheel.

32. A vehicle in accordance with claim 30, wherein said circular element comprises a disc.

33. An unmanned non-submersible vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit arranged in the vehicle to propel the vehicle along a floor in an above liquid, air environment, a manure displacing means for displacing the manure, said manure displacing means being disposed in the vehicle so that said manure displacing means bears on said floor and provides major support for the vehicle while it is operating, and anti-bumping means which functions to prevent said manure displacing means from moving too far from said floor on which it is supported.

34. A vehicle in accordance with claim 33, wherein said anti-bumping means comprises a bumper.

35. A vehicle in accordance with claim 33, wherein said anti-bumping means comprises a bracket.

36. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing the manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, first supporting means and second supporting means engaging an underlying floor and supporting said frame from said floor, said first supporting means and said second supporting means both being turnable relative to the underlying floor, said first supporting means and said second supporting means being located in a substantially vertical plane and being coupled to said propelling unit, the total weight of the vehicle being borne by said first supporting means, said second supporting means and said manure displacing means.

37. A vehicle in accordance with claim 36, wherein said propelling unit includes said steering unit which consists of said first supporting means or said second supporting means or both and comprises at least one rotatable propelling member.

38. An unmanned vehicle for displacing manure which is disposed in an air environment, the vehicle comprising a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing the manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, said propelling unit comprising at least two independently driven propelling members.

39. A vehicle in accordance with claim 38, wherein each of said propelling members comprises a wheel.

40. An unmanned non-submersible vehicle for displacing manure from an a non-submerged area wherein air breathing animals may be present which comprises a frame carrying a propelling unit and which is substantially entirely supported by two rotatable endless members and manure displacing means affixed to said vehicle forward of said rotatable endless members, said propelling unit not being connected to an external power source during the vehicle'"'"'s operations, the vehicle further comprising, orientation means, steering means and protective means coupled by coupling means to said propelling unit, whereby the vehicle'"'"'s course of travel within said area is controlled by the vehicle and the vehicle is prevented from colliding with obstacles and animals in said area.

41. A vehicle in accordance with claim 40, wherein said rotatable endless members comprise wheels and the center of gravity of said vehicle is between said wheels and said manure displacing means.

42. An unmanned non-submersible vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle carried by said frame, and a manure displacing means for displacing the manure carried by said frame, said manure displacing means being non-rotatable and bearing the major part of the vehicle'"'"'s weight while the vehicle is operating.

43. A vehicle in accordance with claim 42, wherein said propelling unit is self contained in the vehicle and is not connected to an external power source while the vehicle is operating.

44. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, a manure displacing means for displacing manure, said manure displacing means being fitted in the vehicle so that said manure displacing means supports the vehicle while it is operating, orientation means that controls the vehicle so that it travels along a predetermined course, said course being determined by guidance means which comprise apertures in a floor over which the vehicle is traveling.

45. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, a manure displacing means for displacing the manure, said manure displacing means being fitted in the vehicle so that said manure displacing means supports the vehicle while it is operating, and orientation means that controls the vehicle so that it travels along a predetermined course, said course being determined by guidance means that comprises reinforcement in a concrete floor over which the vehicle travels.

46. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, a manure displacing means for displacing the manure, said manure displacing means being fitted in the vehicle so that said manure displacing means supports the vehicle while it is operating, and orientation means that controls the vehicle so that it travels along a predetermined course, said course being determined by guidance means which comprises an electrically conducting wire in which an electrical current is flowing.

47. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing the manure, said manure displacing means being fitted in the vehicle so that said manure displacing means supports the vehicle while it is operating, said steering unit comprising guidance means which includes following means for detecting and following a wall, the vehicle being substantially circular when viewed from above, said following means being disposed substantially proximate the vehicle'"'"'s circumference.

48. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing the manure, said manure displacing means being fitted in the vehicle so that said manure displacing means supports the vehicle while it is operating, said steering unit comprising guidance means which comprises following means for detecting and following a wall, said following means substantially surrounding and at least in part being supported by said manure displacing means.

49. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, a manure displacing means for displacing the manure, said manure displacing means being fitted to the vehicle so that said manure displacing means supports said vehicle while it is operating, and an anti-bumping means which functions to prevent said manure displacing means from moving too far from a floor by which it is supported, said anti-bumping means comprising an anti-bumping sensor for performing the function of detecting movements of said manure displacing means away from said floor which supports the vehicle, and coupling means coupling said anti-bumping means to said propelling unit.

50. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing the manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, said propelling unit comprising at least two independently driven propelling members, each of said propelling members comprising a caterpillar track.

51. An unmanned vehicle which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, orientation means that controls the vehicle so that it travels along a predetermined course, said course being determined by guidance means which comprise apertures in the floor over which the vehicle is traveling.

52. An unmanned vehicle which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, orientation means that controls the vehicle so that it travels along a predetermined course, said course being determined by guidance means which comprises reinforcement in a concrete floor over which the vehicle travels.

53. An unmanned vehicle which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, orientation means that controls the vehicle so that it travels along a predetermined course, said course being determined by guidance means which comprises an electrically conductive wire in which an electrical current is flowing.

54. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, said steering unit comprising guidance means, said guidance means comprising means for detecting and following a wall, the vehicle being substantially circular when viewed from above, said means for detecting and following a wall being disposed substantially proximate the vehicle'"'"'s circumference.

55. An unmanned vehicle for displacing manure which comprises a steering unit for steering the vehicle, a frame, a propelling unit for propelling the vehicle, and a manure displacing means for displacing manure, said manure displacing means being non-rotatable and providing support for a major part of the vehicle'"'"'s weight, the vehicle further comprising protective facilities to protect the vehicle against obstacles, said protective facilities comprising a sensor for detecting cows.