METHOD OF FEEDING A GROUP OF ANIMALS AT A FEEDING LOCATION AND SYSTEM FOR PERFORMING THE METHOD

Abstract

A method of feeding a group of animals at a feeding location includes automatically determining an expected feed demand for the group of animals to be fed using a computer; automatically harvesting feed crop in a crop field using an autonomous, unmanned device; automatically loading the harvested feed crop into a storage space provided on the autonomous, unmanned device; automatically transporting the feed crop from the crop field to the feeding location by means of the autonomous, unmanned device; and automatically dosing harvested feed from the storage space of the autonomous; unmanned device to the animals at the feeding location. A completely automated method for determining a feed demand and then harvesting, transporting and dosing the harvested feed to the animals is thus realized. A system for performing the method of feeding a group of animals at a feeding location is also disclosed.

Claims

1. A method of feeding a group of animals at a feeding location comprising the following steps: a) automatically determining an expected feed demand for the group of animals to be fed using a computer; b) automatically harvesting feed crop in a crop field using an autonomous, unmanned device; c) automatically loading the harvested feed crop into a storage space provided on the autonomous, unmanned device; d) automatically transporting the feed crop from the crop field to the feeding location by means of the autonomous, unmanned device; and e) automatically dosing harvested feed from the storage space of the autonomous, unmanned device to the animals at the feeding location.

2. The method according to claim 1, wherein in step a) a quantitative expected feed demand is determined.

3. The method according to claim 2, wherein in step e) a quantity as close as possible to the determined expected feed demand is dosed to the animals at the feeding location.

4. The method according to claim 1, wherein step a) is performed in dependence on at least one of: the determined or estimated remaining feed crop amount at the feeding location; the size and/or composition of the group of animals to be fed; weather data; and historical data.

5. The method according to claim 1, wherein the amount of feed crop collected in the storage space is monitored.

6. The method according to claim 1, wherein the surface of the crop field already harvested is monitored and after step e) the autonomous, unmanned device is automatically returned to the crop field to a starting location in dependence on the surface of the crop field already harvested.

7. The method according to claim 5, wherein in step a) the expected feed demand for the group of animals to be fed is determined as a function of time, the expected amount of feed crop collected in the storage space is also determined as a function of time, whereafter a next feeding time point or interval is scheduled in dependence on the determined expected feed demand and on the determined expected amount of feed crop collected in the storage space, and in step e) feed crop from the storage space of the autonomous, unmanned device is automatically dosed to the animals at the feeding location at the scheduled feeding time point or interval.

8. The method according to claim 7, wherein before step d) an extra step is performed of determining a suitable path and an expected travel time for the autonomous, unmanned device from its expected location to the feeding location as a function of time.

9. The method according to claim 7, wherein the next feeding time point or interval is scheduled also in dependence on the determined suitable path and expected travel time for the autonomous, unmanned device.

10. The method according to claim 9, wherein the next feeding time point or interval is scheduled such that then the determined expected feed demand substantially equals the determined expected amount of feed crop collected in the storage space, taking into account the determined suitable path and expected travel time for the autonomous, unmanned device.

11. The method according to claim 8, wherein an extra step is performed of preparing a free passage for the autonomous, unmanned device along the determined suitable path.

12. A system for performing the method according to claim 1 using a computer and an autonomous, unmanned device provided with automatic harvesting means, automatic loading means, a storage space, automatic feed dosing means and navigation means.

13. The system according to claim 12, wherein a feed fence is provided at the feeding location and means for measuring the feed amount at the feed fence are provided on at least one of: the autonomous, unmanned device; a separate autonomous, unmanned feed pusher device provided at the feeding location; and a fixed location near the feed fence.

14. The system according to claim 13, wherein feed pusher means for the feed at the feed fence are provided on at least one of: the autonomous, unmanned device; and a separate autonomous, unmanned feed pusher device provided at the feeding location.

15. The system according to claim 12, wherein animal location means are provided for monitoring the presence of animals at the feeding location.

16. The system according to claim 12, wherein monitoring means for the amount of feed crop collected in the storage space are provided, said monitoring means comprising at least one of: weighing means such as a weighing floor in the storage space; and feed height sensors provided at, in or near the storage space.

17. The system according to claim 12, wherein the automatic feed dosing means comprise a side discharge.

18. The system according to claim 12, wherein means for measuring the feed height at the feeding location are provided.

19. The system according to claim 12, wherein image recording means are provided for determining or estimating the amount of feed crop remaining at the feeding location.

20. The method according to claim 2, wherein step a) is performed in dependence on at least one of: the determined or estimated remaining feed crop amount at the feeding location; the size and/or composition of the group of animals to be fed; weather data; and historical data.

Description

[0045] The invention will now be further explained with reference to the following Figures.

[0046] FIG. 1 shows an autonomous, unmanned device according to the invention;

[0047] FIG. 2 shows a feeding system according to the invention.

[0048] In FIG. 1 an embodiment of an autonomous, unmanned device 1 according to the invention is depicted. The autonomous, unmanned device 1 is a vehicle with a body 2 and wheels 3. The front side (in the drawing left) is provided with automatic harvesting means 4, here shown in the form of an automatic mowing device 4. Furthermore, there are automatic loading means 5 for conveying the harvested crop into a storage space 6 inside the body 2. At the rear side (in the drawing right) there are provided means 7 for automatically unloading and dosing feed at the feeding location, here shown as a side discharge 7. An antenna 8 on top of the body 2 is provided for communication purposes.

[0049] Not shown are drive means for the autonomous, unmanned device 1 and a computer (or other control means) with the aid of which the autonomous, unmanned device 1 is controlled and operated. This computer comprises i.a. a processor and navigation means. It can be included in the autonomous, unmanned device 1, but it can also be located elsewhere and communicate with the vehicle 1 via antenna 8.

[0050] In FIG. 2 a feeding system according to the invention is shown. The autonomous, unmanned feed pusher device 1 moves over a crop field 9, for example a grass field, following a path 10, under the control of the computer. When the autonomous, unmanned device 1 has finished mowing the grass, or when in accordance with the invention (as further elucidated below) a certain feed demand has been determined, it moves to the feeding location 11. In the embodiment shown, this is a barn or stable 12 in which cows 13 can move freely. Feed 14 is provided to the animals 13 at a feed fence 15.

[0051] The autonomous, unmanned feed pusher device 1 moves along the feed fence 15 while unloading and dosing the feed 14 to the cows 13 via the side discharge 7. Also shown is an autonomous, unmanned feed pusher device 16 provided with a feed amount sensor, for example a feed height sensor 17, such as a laser. Such autonomous, unmanned feed pusher devices are known as such. They are used to push the feed 14, if necessary, back within reach of the cows 13 at the feed fence 15. The feed pusher 16 can communicate with the computer and send feed height measurements.

[0052] Alternatively, the system can function well without such a separate autonomous, unmanned feed pusher device 16, in case the autonomous, unmanned device 1 itself is provided with feed pusher means (not shown). Also, the autonomous, unmanned device 1 can be provided with a feed amount sensor, such as a feed height sensor 18, for example a laser.

[0053] After supplying the animals 13 in the barn 12 with feed 14, the autonomous, unmanned device 1 returns to the crop field 9 for a next harvesting run.

[0054] According to the invention, a method of feeding a group of animals 13 at a feeding location 11 comprises the following steps:

a) automatically determining an expected feed demand for the group of animals 13 to be fed using a computer;
b) automatically harvesting feed crop 14 in a crop field 9 using an autonomous, unmanned device 1;
c) automatically loading the harvested feed crop 14 into a storage space 6 provided on the autonomous, unmanned device 1;
d) automatically transporting the feed crop 14 from the crop field 9 to the feeding location 11 by means of the autonomous, unmanned device 1;
e) automatically dosing harvested feed 14 from the storage space 6 of the autonomous, unmanned device 1 to the animals 13 at the feeding location 11.

[0055] In step a) the computer (not shown) determines an expected feed demand for the animals 13. The determination of the feed demand can be qualitative (“yes/no”) or quantitative (e.g. “80 kilograms needed”, “next feeding required in 1 hour”, “80 kgs needed in 1 hour” or “100 kgs needed every 3 hours for the next 12 hours, then 60 kgs needed every 3 hours for the next 9 hours”). In the exceptional case when it is determined that there is no momentary feed demand (for example, when a lot of feed is already present at the feeding location and the animals are asleep), or a very low one (close to zero), the next steps of the method do not yet have to be carried out. Step a) is then repeated until a significant feed demand has been determined. Thus, unnecessary actions are avoided. As soon as a significant feed demand has been determined, the next steps are performed.

[0056] The feed 14 mowed in the field 9 by the autonomous, unmanned device 1 in step b) using the mowing means 4 is loaded into the storage space 6 of the autonomous, unmanned device 1 in step c) using the loading means 5. Then the feed 14 is transported with the autonomous, unmanned device 1 from the field 9 to the feeding location 11 in step d). In step e) the feed 14 is unloaded from the storage space 6 of the autonomous, unmanned device 1 and dosed to the animals 13 at the feeding location 11 using the side discharge 7. Then the method steps are repeated. A continuous supply of fresh grass 14 to the cows 13 in the barn 12 is thus established.

[0057] Thus, a completely automated method for determining a feed demand and then harvesting, transporting and dosing the harvested feed 14 to the animals 13 is realized. The feeding of fresh crop 14 is optimally adapted to the feed demand of the group of animals 13. This feed demand is then processed in the computer, which triggers the corresponding harvesting action by means of the autonomous, unmanned device 1.

[0058] The feed demand can vary, as e.g. the consistence, texture, density, water content, nutritional value and taste of the crop 14 may vary widely due to weather conditions, season, field conditions, etcetera. Of course, also the feeding habits of the group of animals 13 vary in time. A fixed feeding frequency would therefore not be suitable. In contrast, the method according to the invention offers a completely automated, yet dedicated feeding system.

[0059] In step e) a quantity as close as possible to the determined expected feed demand is dosed to the animals 13 at the feeding location 11. It is noted that not necessarily all harvested feed 14 is unloaded from the autonomous, unmanned device 1, in case the determined feed demand is lower than the harvested amount of feed crop 14.

[0060] It is also possible that the storage space 6 of the autonomous, unmanned device 1 momentarily does not contain enough feed 14 to satisfy the present feed demand. In that case, the storage space 6 is emptied completely and the autonomous, unmanned device 1 begins a next run.

[0061] Step a) is performed in dependence on at least one of:

[0062] the determined or estimated remaining feed crop amount at the feeding location 11;

[0063] the size and/or composition of the group of animals 13 to be fed;

[0064] weather data;

[0065] historical data.

[0066] The determined or estimated remaining feed crop amount at the feeding location 11 is highly relevant for the determination of the expected feed demand. A large remaining feed amount 14 will result in a low (or even momentarily zero) feed demand. Means for determining or estimating the remaining amount of feed crop are, for example, a feed height sensor 18 (such as a laser) on the autonomous, unmanned device 1 or a feed height sensor 17 (such as a laser) on the separate autonomous, unmanned feed pusher device 16. Such a feed height sensor may also be provided (not shown) fixedly near the feed fence 15.

[0067] The feed amount sensors can communicate with the computer, so that the computer can take the measurements into account when determining the feed demand. The computer can also have data available regarding the size and/or composition of the group of animals 13 to be fed. The term “composition of the group” is meant here to encompass age distribution, breed of the animals 13, lactation stage groups, etcetera. The age, breed and/or lactation stage of the animals 13 also influence(s) the feeding behaviour. These data can be taken into account by the computer for his calculations, just like weather or historical data. For example, the computer can have data on the influence of extreme temperatures on the feeding habits of the animals 13, and/or data on the feeding habits of a certain animal or breed of animals over a certain period (e.g. 24 hours, in different seasons or lactation stages). The more data the computer has available, the more precise it can predict the feed demand.

[0068] The amount of feed crop 14 collected in the storage space 6 is monitored. Monitoring means for the amount of feed crop 14 collected in the storage space 6 can be weighing means such as a weighing floor in the storage space 6 or feed height sensors (not shown) provided at, in or near the storage space 6.

[0069] The surface of the crop field 9 already harvested is monitored by means of the computer with the help of the navigation means and after step e) the autonomous, unmanned device 1 is automatically returned to the crop field 9 to a starting location in dependence on the surface of the crop field 9 already harvested, as registered in the computer with the help of the navigation means. The autonomous device 1 is then ready for a next harvesting run. The end point of the last harvesting run is taken as the starting point for the next run.

[0070] In step a) the computer can determine the expected feed demand for the group of animals 13 to be fed as a function of time and the expected amount of feed crop 14 collected in the storage space 6 also. With these predictions the computer can schedule a next feeding time point (or time interval) in dependence on the determined expected feed demand and on the determined expected amount of feed crop 14 collected in the storage space 6. Then in step e) feed crop from the storage space 6 of the autonomous, unmanned device 1 is automatically dosed to the animals 13 at the feeding location 11 at this scheduled feeding time point or interval.

[0071] As soon as there is enough feed 14 collected (compared to the feed demand), the fresh feed 14 can be supplied to the animals 13. Because of the way to travel 10 to the feeding location 11 (go and back) there will usually be temporarily a feed demand bigger than the collected feed amount when the device begins a new run; the capacity of the mower 4 is of course such that after a while the growing amount of collected feed 14 will reach the (also continuously, but slower growing) feed demand. As soon as this is the case (or this is expected to be the case), the next feeding moment is scheduled.

[0072] Before step d) an extra step is performed of determining a suitable path 10 and an expected travel time for the autonomous, unmanned device 1 from its expected location to the feeding location 11, also as a function of time. So the computer anticipates the path 10 to follow and the time this will take. In this way, the computer can also take into account the expected travel time when scheduling the next feeding.

[0073] It is noted that instead of determining multiple expected suitable paths as a function of time, for reasons of economy it is possible that the computer plans only one for scheduling the next feeding time point.

[0074] The next feeding time point or interval is scheduled such that then the determined expected feed demand substantially equals the determined expected amount of feed crop 14 collected in the storage space 6, taking into account the determined suitable path 10 and expected travel time for the autonomous, unmanned device 1. The next feeding is determined to happen as soon as the collected feed 14 equals the feed demand, taking into account the travel path 10 and time for the autonomous, unmanned device 1. At the moment the device 1 arrives at the feeding location 11 and doses the feed 14 to the animals 13, the expected feed demand is exactly at the level of feed collected and transported there. In this way an optimal feeding frequency is achieved.

[0075] It is noted that in FIG. 2 the path 10 for the autonomous, unmanned device 1 is only a schematic illustration. Normally, the device 1 will have to move up and down the field 9 quite a number of times. As soon as the computer has decided that the device 1 should go to the barn 12 for a next feeding, having taken into account the expected feed demand (as determined with e.g. the feed height sensors 17 or 18), the collected amount of feed 14 in the storage space 6 (as determined e.g. with the weighing floor) and the expected travel path and time from the current position of the device 1 to the feeding location 11 (as determined with the navigation means), the device leaves the field 9 along the optimal path 10 calculated by the computer and moves towards the barn 12. This is not exactly illustrated in FIG. 2. The device might leave the field 9 somewhere on the side, for example, if that is a shorter way.

[0076] In an embodiment not shown, an extra step is performed of preparing a free passage for the autonomous, unmanned device 1 along the determined suitable path 10, to ensure efficient and unhindered travel for the autonomous, unmanned device 1. Any gates (not shown) on the determined path 10 may be automatically opened in time, any barn doors (not shown) at the barn 12 may also be opened in time for the device 1 to pass them. In this case, suitable automatically operable opening means are to be provided therefor, which can communicate with and be controlled by the computer.

[0077] The feed fence 15 provided at the feeding location 11 in the barn 12 facilitates the feed dosing. The side discharge 7 of the autonomous, unmanned device 1 works especially well in combination with the feed fence 15. It also enables the use of feed pushing means, either on the autonomous, unmanned device 1 or on the separate autonomous feed pusher device 16.

[0078] In a further embodiment, which is not shown, animal location means, such as cameras, are provided for monitoring the presence of animals 13 at the feeding location 11 to enable a more accurate determination of the expected feed demand. For example, the number of animals 13 within a certain distance of the feed fence 15 can be counted.

[0079] Finally, in a further embodiment, which is not shown, cameras are provided for determining or estimating the amount of feed crop 14 remaining at the feeding location 11, as an alternative to the feed height measuring means 17,18. The computer uses image analysis techniques for this, which are known as such. The cameras may be installed fixedly at the feeding location 11.