FR2995758A1 - System for dispensing fodder e.g. hay, in form of ball to livestock using e.g. four-wheel vehicle, has attachment units for fixation with distribution tool and including electrical connection units and support element to receive tool - Google Patents

Abstract

The system has a distribution tool (13) for distributing fodder, concentrate and/or litter and adapted to be fed by applying electrical energy. A self-directional electric vehicle (11) includes reversible attachment units for fixation with the tool and comprises electrical connection units with the tool. The reversible attachment units include a support element adapted to receive the tool, and are movably mounted along vertical direction, and/or in forward direction of the vehicle and/or in transverse direction with the forward direction. The tool is selected from a group consisting of mixer, silage cutter, straw spreader, litter distributor, radial sweeper and bale tongs.

Description

Fodder, concentrate and / or litter distribution system for livestock using a self-guided vehicle. FIELD OF THE DISCLOSURE The field of the invention is that of agricultural machinery.

More specifically, the invention relates to a distribution system of forage, concentrate and / or litter to livestock. In the context of the invention, the term "litter" is understood to mean straw, sawdust or any other material and mixture of known materials intended to be spread on the ground and to serve as a bedding for livestock. 2. State of the art It is widely accepted that the optimization of the production costs of meat or milk in intensive farming requires constant monitoring of the quantity and quality of the feed distributed to livestock and the frequency of distribution of the feed. this diet.

For example, in a free-housing cattle feedlot, it is common to feed the animals 2-4 times a day in order to optimize their growth curve. In order to limit the resulting strain on the farmer, techniques have been proposed for automatically feeding the animals their feeding rations. One known technique is to use remotely operated wagons running on rails, or hanging from guide rails, to transport and distribute fodder rations to cows in a barn. A disadvantage of this technique is that the installation of rails in a stable is expensive. Another disadvantage of this technique is that it is necessary to undertake work to move the existing rails or to install new rails, when changing the layout of the feeding boxes in the barn, which is long and expensive. .

Another disadvantage of this technique is that it is generally not possible to install a suspended rail outside the barn and it is therefore necessary in this case to install the supply silo in the stabling building. Moreover, in the case where the guide rails are placed on the ground, it is necessary to constantly ensure that dirt or debris do not accumulate in the rail to form an obstacle that could cause the stop and derailment of the wagon. In order to overcome these disadvantages, it has been thought to use self-guided robots to distribute their feed to the animals. For example, an ultrasonic guided feeding robot technique is known which automatically pushes dung into the center aisle of a barn to the animals. A disadvantage of this feeding robot technique is that the farmer must regularly spread fodder in the central aisle of the barn, which is binding.

There is also a robot technique equipped with a mixing hopper that automatically distributes silage to livestock. This robot gets its supplies from a silo whose contents are poured into the hopper using an automated grapple. Robots have also been proposed for scraping faeces in a stabling building. A disadvantage of these robot techniques is that they are dedicated to a specific task and it is necessary to provide several robots to perform different operations which is very expensive. In particular, two separate robots are needed to distribute concentrate and fodder to livestock. Another disadvantage of these robots is that they can be knocked down or damaged by a cow because of their small size. Finally, these robots are not suitable for traveling on uneven ground, for example outside buildings. OBJECTIVES OF THE INVENTION The object of the invention is therefore in particular to overcome the disadvantages of the state of the art cited above. More specifically, the invention aims to provide a system for ensuring automated delivery of fresh feed, concentrate and / or litter to livestock. An object of the invention is also, in at least one particular embodiment of the invention, to provide such a distribution system of fodder, concentrate and / or litter that is versatile and in particular that can distribute the feed for livestock and / or litter in the form of a bale, a boot or in bulk and / or which can be used for a purpose other than distribution, such as for example the transport of pallets. Another object of the invention is to provide a forage distribution technique, concentrate and / or litter that is simple to implement, reliable and robust. Another objective of the invention is to provide such a feed distribution system, concentrate and / or litter which is of a reduced cost and which does not require the implementation of expensive infrastructure.

Another object of the invention is to provide a forage, concentrate and / or litter distribution system which does not need to be substantially modified when it is implemented in a new building dedicated to the stabling and / or who can refuel in fodder, concentrate and / or litter outside the building dedicated to the stabling. The invention also aims to provide a fodder distribution system, concentrate and / or litter able to source fodder, concentrate or litter. 4. Description of the Invention These and other objectives which will be apparent later are achieved by means of a distribution system of fodder, concentrate and / or litter to livestock. This system can be used to distribute, for example, hay, silage, alfalfa, flattened cereals, beet pulp, soybean meal, concentrates in the form of granules or flour to supplement a forage ration. and / or litter of straw. According to the invention, such a dispensing system comprises: at least one fodder, concentrate and / or litter distribution tool capable of being supplied with electrical energy; and - a self-guided electric vehicle having reversible securing means with said tool comprising electrical connection means with said tool. Thus, in a novel way, the invention proposes a versatile system of automatic distribution of food and / or litter to livestock. Indeed, thanks to the reversible solidarity means that allow to join or vice versa to separate the vehicle and each tool, the vehicle can in a preprogrammed sequence to become solid with and energize energy turn-by-turn a first tool dedicated by For example, for the distribution of fodder and a second tool dedicated for example to a litter straw distribution, which makes it possible successively to distribute a ration of fodder and litter straw with the same self-guided vehicle. It should be noted that in the context of the invention, the guidance technique implemented in the self-guided electric vehicle can advantageously be a geolocation guidance technique for example via GSP data (acronym for "Global Positioning System"). "), a guidance technique by vision or in other words of optoguidance, the SLAM technique (acronym for" simultaneous localization and mapping "in English), a laser guidance technique and / or a magnetic guidance technique by induction, such as wire guidance or magnetic guidance with magnets. Preferably, said self-guided electric vehicle comprises a driving position and means for selecting a guide mode of said vehicle belonging to the group comprising: - automatic guidance mode, wherein said vehicle moves automatically; manual guiding mode, wherein said vehicle is directed from said driving station.

The farmer can continue to ensure the distribution of feed, concentrate or litter, when the automatic guidance module of the system is damaged. By switching to manual mode, the farmer can also use the vehicle to carry out handling operations inside or outside the stabling building, which is particularly advantageous. Advantageously, said reversible securing means comprise a support member adapted to receive said tool, mounted vertically movable and / or in the direction of advance of said vehicle and / or in a direction transverse to the direction of advance of said vehicle. Thus, it is possible to move each newly secured tool to the self-guided vehicle upwards, to the side of the vehicle or towards the front of the vehicle so as to facilitate the distribution of the feed and concentrates in the troughs in which the cattle come to. feed.

In at least one particular embodiment of the invention, said support element comprises at least one fork secured to an apron. Raising the tools off the ground becomes easy. Preferably, said vehicle comprises means for identifying said tool.

This ensures proper attachment of the vehicle with each tool and arrange the tool on the vehicle in a suitable position depending on the geometric characteristics of the tool. In addition, it is possible to adjust the level of electrical power delivered to the tool.

According to an advantageous aspect of the invention, said self-guided electric vehicle comprises means for reading a digital identifier stored on said tool intended to be active when said tool is secured to said vehicle. It may for example be a reader of electronic identification chips, also called RFID chips, each containing a unique digital identifier for each tool. In another particular embodiment of the invention, it may be provided that said self-guided electric vehicle is equipped with a one-dimensional or two-dimensional barcode reader for identifying a specific bar code attached to each tool. Advantageously, said forage distribution tool, concentrate and / or litter belongs to the group comprising at least: - mixer; - unloader; - bale unroller; - litter dispenser; - radial sweeper; - bale tongs. The tool may in particular be an unloader-mixer, a straw silo unloader or a straw spreader. In an advantageous embodiment, said fodder distribution tool, concentrate and / or litter or said vehicle has a side hatch and / or a side conveyor. It is possible for the system to distribute feed, concentrates and litter in troughs or on the ground as it progresses.

In order to control the amount of food or bedding distributed, the opening and closing of this hatch or the starting and stopping of this conveyor are controlled automatically. Preferably, said fodder distribution tool, concentrate and / or litter comprises means for loading said feed, said concentrate and / or said litter preferably comprising a milling cutter feeding a loading conveyor. This provides a forage distribution system, concentrate and / or litter autonomous, which itself load food or bedding to distribute. It is therefore not necessary to install a grapple or other known vehicle supply system to deposit food or litter in the tool. According to a particularly advantageous embodiment of the invention, said vehicle has on an outer face recharging means comprising at least one electrical connection element protruding outwardly of said vehicle. The vehicle battery can thus be recharged simply during the loading of the fodder, the concentrate or the litter and / or during its displacements. It suffices for the vehicle to come into contact against a power supply rail disposed under the supply silo or against a wall of the stabling building. According to a particular aspect of the invention, said vehicle rests on 3 or 4 wheels. 5. List of Figures Other features and advantages of the invention will appear more clearly on reading the following description of two embodiments of the invention, given as simple illustrative and non-limiting examples, and the accompanying drawings. among which: Figure 1 is a view of a forage and straw distribution system according to the invention in a pen devoted to the open-air housing of cattle; Figure 2 is a view of the self-guided electric vehicle and fodder distribution tool of the dispensing system shown in Figure 1, when the vehicle and the tool are secured; Figure 3 is a schematic sectional view of the forage distribution tool of the dispensing system shown in Figures 1 and 2; Figure 4 is a sectional view of the litter dispensing tool of the dispensing system presented with reference to Figure 1; FIG. 5 illustrates another exemplary embodiment of a distribution system according to the invention; Figure 6 is a sectional view of an example of a sweeper type tool of a dispensing system according to the invention; FIGS. 7A and 7B are sectional and top views, respectively, of a bale-type tool of an exemplary dispensing system according to the invention. 6. Detailed description of the invention 6.1. EXAMPLE OF EMBODIMENT OF THE INVENTION An exemplary embodiment of a system 10 for distributing fodder and litter according to the invention intended to be implemented in an outdoor enclosure has been illustrated schematically with reference to FIGS. devolved to the open-air stabling of cattle. This system 10 is composed of a self-guided electric vehicle 11, a litter straw distribution tool 12 and a forage distribution tool 13.

In Figure 1, the self-guided electric vehicle 11 is disengaged from the tools 12 and 13 which are based on storage locations provided for this purpose. This self-guided electric vehicle 11 is in the form of a three-wheeled vehicle 14 driven by electric servomotors (not shown in FIG. 1) supplied with energy by an on-board battery 15. It is equipped in its front part with a vertical telescopic mast 16 along which can slide a tool holder apron 17 extending by two connecting forks 18. A hydraulic actuating mechanism 19 integral with the mat 16 is further provided to allow the apron carrying the forks 18 to shift on one side or the other of the vehicle. It allows to deport the tool 13 on the right or left side when it is secured to the vehicle 11, to facilitate the distribution of the forage in the trough 113. This self-guided vehicle 11 is configured in this embodiment of the invention to evolve only in automatic guidance mode. It comprises for this purpose a GPS receiver and a geolocation guidance module known per se interpreting the data received by the GPS receiver, which controls the trajectory of the vehicle 11 (not shown in Figure 1). A male power supply connector 110 connected to the battery 15 is fixed to the apron 17. This socket 110 is intended to supply electricity to the tool 12 or the tool 13 when the latter is secured to the vehicle 11. The vehicle 11 is also equipped with a protruding electrical recharge connector 120 which allows the vehicle to recharge the battery 15 in contact with electrical supply rail 121 disposed on the edges of the enclosure. When the feed distribution time to the animals approaches, the self-guided vehicle 11, controlled by the automatic guiding module, goes to the forage distribution tool 12 and is solidary with the latter. It is shown secured to the tool 13 in Figure 2. The attachment of the tool 13 to the vehicle 11 is effected by sliding the forks 18 in two housings 122 formed on the lower edges of the tool. The vehicle 11 then slowly approaches the tank 21 of the tool, until the platform 22 carrying the tank 21 abuts against the deck 17.

The abutment of the platform 22 against the apron 17 compresses a return spring mounted on the apron which releases a hook for locking the tool 13 with the vehicle 11. It also allows to plug the male connector 111 in a connector female electrical provided on the tool 13, which ensures its power supply. When the tool 13 is connected to the vehicle 11, an RFID chip reader 115 proceeds to read a digital identifier of the tool 13 stored in an RFID chip stuck on the outside face of the tank facing the vehicle, to verify that the tool connected to the vehicle 11 is the tool 13. This verification operation performed, a contactor opens automatically in the vehicle and the electrical power required for its operation is delivered to the vehicle. tool 13. The tool 13 is then lifted by the vehicle 11, by sliding the apron 17 along the mast 16, and the vehicle 11 goes to the feed silo 112. When the vehicle 11 stops in front of the silo, an electrical connector provided on a second mat 116 raised above the hood of the vehicle 11 plugs into a corresponding power supply connector provided on the silo. The silo 112 is then supplied with electricity by the vehicle 11, which actuates a holding hatch and allows a predetermined amount of fresh silage to flow into a tank 114 placed under the silo. As can be seen in Figure 3, which is a schematic sectional view of the tool 13, the silage contained in the tray can then be loaded into the tank 21 of the tool 13 under the action of a unloading cutter 32 feeding a loading conveyor 33, in which it is mixed by means of a mixing screw 34. Once the loading of the tank is complete, the vehicle 11 goes to the trough 113 in order to proceed with the distribution of the rations fodder animals through a side hatch 31 provided on the tank of the tool 13 which opens when the vehicle 11 parked in front of the trough 113.

After distributing the feed to the cattle, the vehicle goes to the storage location of the tool 13, where it deposits the tool 13 and then disconnects from the tool 13. After marking a preprogrammed off time, the vehicle 11 moves towards the tool 12 with which it solidifies in order to proceed to the distribution to the animals of a predetermined quantity of litter stored in a specific storage cell 118. In this embodiment of the invention, the tool 12 is a bale unroller shown in section in FIG.

As can be seen in Figure 4, the tool 12 comprises housings 41 for its attachment to the vehicle 11 and a tank 42 containing a tilting mat 43 for receiving a straw bale 45 and a rotary bur 44 for detaching straw strands of the bale 45. The tool 12 is also equipped with rotating discs 46 to ensure the distribution of mulching in the stalls. The skilled person will deduce without undue effort from the foregoing description how this distribution of fodder takes place. 6.2. Another Exemplary Embodiment of the Invention Another example of a concentrate delivery system according to the invention for dispensing concentrate to cows within a barn is illustrated in FIG. This concentrate delivery system 50 comprises a self-guided electric trolley 51 with four wheels provided to operate in semi-automatic mode and a concentrate dispensing tool 52 shown disconnected in FIG. 5. As can be seen in FIG. the self-guided electric trolley 51 has a driving position 53. This vehicle 51 is designed to operate in automatic guiding mode and in manual guiding mode. An inverter is used to switch from the automatic guidance mode to the manual guidance mode and vice versa.

The automatic guidance of the vehicle 51 is provided by an automatic guidance module by vision associated with a camera 54. By switching to manual mode, the breeder can drive the vehicle 51 himself to distribute concentrate to livestock. This option is particularly useful in the event of a failure of the automatic vision guidance module, or while waiting for a maintenance technician or to ensure, on a case-by-case basis, the distribution of concentrate to animals parked in another barn where automatic guiding is not operative. It should be noted that in this particular embodiment of the invention, when the tool 52 is secured to the vehicle in manual mode, its numerical identifier is read by a reader provided for this purpose on the vehicle, and is displayed under Pictogram shape on the vehicle control panel. 6.3. Other Optional Features and Advantages of the Invention In variants of the embodiments of the invention detailed above, it may also be provided to secure to the self-guided electric vehicle: a mixer-type tool; - a litter dispenser type tool; a radial sweeper type tool such as that illustrated in FIG. 6; and / or - a bale-type tool, such as that illustrated in FIGS. 7A and 7B. As can be seen in detail in FIG. 6, which is a sectional view of a radial sweeper type tool 60 secured to the forks 61 of a self-guided vehicle such as those presented in the preceding examples, the tool 60 comprises housings 62 for securing to the vehicle, an electric power supply connector 63, a transverse rotary broom 64, side brooms 65, a waste storage tank 66 and an elevating wheel 67. The example Bullet clip type tool 70 shown respectively in lateral section and in a top view in FIGS. 7A and 7B comprises two housings 71 formed in a support 72, intended to each receive a fork of the vehicle, a fork 73 for to sink into the ball 74 and two hydraulic cylinders 75 fixed on the support 72 which actuate lateral clamps 76. It can also be envisaged without departing from the scope of the invention that the system of dis Fodder, concentrate and / or litter scale includes 3, 4, 5, ... distribution tools.

Claims (11)

REVENDICATIONS1. Feed distribution system, concentrate and / or litter to livestock, characterized in that it comprises: - at least one forage distribution tool, concentrate and / or litter capable of being supplied with electrical energy; and - a self-guided electric vehicle having reversible securing means with said tool comprising electrical connection means with said tool. 2. Fodder distribution system, concentrate and / or litter according to claim 1, characterized in that said self-guided electric vehicle comprises a driving position and means for selecting a guide mode of said vehicle belonging to the group comprising : - automatic guidance mode, wherein said vehicle moves automatically; manual guiding mode, wherein said vehicle is directed from said driving station. 3. Fodder distribution system, concentrate and / or litter according to any one of claims 1 and 2, characterized in that said reversible securing means comprise a support member adapted to receive said tool, mounted vertically and or in the direction of travel of said vehicle and / or in a direction transverse to the direction of travel of said vehicle. 4. Fodder distribution system, concentrate and / or litter according to claim 3, characterized in that said support member comprises at least one fork integral with an apron. 5. Fodder distribution system, concentrate and / or litter according to any one of claims 1 to 4, characterized in that said vehicle comprises means for identifying said tool. 6. Fodder distribution system, concentrate and / or litter according to claim 5, characterized in that said self-guided electric vehicle includes reading means of a digital identifier stored on said tool intended to be active when said tool is secured vehicle audit. 7. Fodder, concentrate and / or litter distribution system according to any one of claims 1 to 6, characterized in that said feed distribution tool, concentrate and / or litter belongs to the group comprising at least : - mixer; - unloader; - bale unroller; - litter dispenser; - radial sweeper; - bale tongs. 8. Fodder distribution system, concentrate and / or litter according to any one of claims 1 to 7, characterized in that said fodder distribution tool, concentrate and / or litter or said vehicle has a hatch lateral and / or lateral conveyor. 9. Fodder distribution system, concentrate and / or litter according to any one of claims 1 to 8, characterized in that said fodder distribution tool, concentrate and / or litter comprises loading means of said forage, said concentrate and / or said litter preferably comprising a milling cutter feeding a loading conveyor. 10. Fodder distribution system, concentrate and / or litter according to any one of claims 1 to 9, characterized in that said vehicle has on an outer face reloading means comprising at least one electrical connection element making projecting outwardly of said vehicle. 11. Fodder distribution system, concentrate and / or litter according to any one of claims 1 to 10, characterized in that said vehicle is based on 3 or 4 wheels.