DK177425B1 - Method, feed cart and system for feeding of fur animals - Google Patents

Method, feed cart and system for feeding of fur animals Download PDF

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Publication number
DK177425B1
DK177425B1 DKPA201000758A DKPA201000758A DK177425B1 DK 177425 B1 DK177425 B1 DK 177425B1 DK PA201000758 A DKPA201000758 A DK PA201000758A DK PA201000758 A DKPA201000758 A DK PA201000758A DK 177425 B1 DK177425 B1 DK 177425B1
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DK
Denmark
Prior art keywords
feed
encoder
cart
feed cart
control unit
Prior art date
Application number
DKPA201000758A
Other languages
Danish (da)
Inventor
Kenneth Storgaard Zobbe
Original Assignee
4M Globe Man Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DKPA201000758A priority Critical patent/DK177425B1/en
Application filed by 4M Globe Man Ltd filed Critical 4M Globe Man Ltd
Priority to PCT/DK2011/000097 priority patent/WO2012025119A2/en
Priority to PL11752095T priority patent/PL2608658T3/en
Priority to CA2809687A priority patent/CA2809687C/en
Priority to EP11752095.7A priority patent/EP2608658B1/en
Priority to DK11752095.7T priority patent/DK2608658T3/en
Priority to US13/819,386 priority patent/US8752505B2/en
Priority to EP14180179.5A priority patent/EP2807918A3/en
Publication of DK201000758A publication Critical patent/DK201000758A/en
Application granted granted Critical
Publication of DK177425B1 publication Critical patent/DK177425B1/en
Priority to US14/284,728 priority patent/US9055731B2/en

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Abstract

The invention relates to a method for positioning an individually metered out food portion on an animal cage arranged in a row of animal cages for fur animals, in particular mink, by means of a motorized feed cart and an encoder.

Description

DK 177425 B1 i
Method, feed cart and system for feeding of fur animals FIELD OF THE INVENTION
The invention relates to a method, a feed cart and a system for feeding of animals, 5 and more particularly to feeding of minks and other fur-bearing animals.
BACKGROUND OF THE INVENTION
Fur animals, particularly mink, are to be supplied with fresh feed at regular intervals, preferably daily. With a large number of animals, and hence cages, on each farm this 10 may be a highly time-consuming task. Therefore effort has been put into finding ways to automate the feeding of such animals.
W02008/101500 describes an unmanned motorized feed cart, which by means of sensors is guided along a guide wire or other signal emitter which may be disposed at 15 the floor along a row or between rows of fur animal cages. Communication equipment is provided on the feed cart adapted for communicating with RFID-tags on each animal or each cage.
A disadvantage related to this automated feed cart is that the use of RFID-tags for 20 each cage or even each animal on a mink farm scale may both involve extra work with the RFID-tags and furthermore it may be an expensive solution.
Further, at fur animal farms the conditions may be very harsh to electronic devices, e.g. due to risk of soiled/contaminated surfaces and/or higher levels of certain 25 damaging gasses in the surroundings. Consequently, the use of RFID-tags, cameras etc. as described in W02008/101500 may be unreliable.
It is therefore an object of the present invention to provide a simpler and more reliable feeding method to facilitate an improved feeding routine for feeding minks 30 and other fur-bearing animals.
DK 177425 B1 2
SUMMARY OF THE INVENTION
The invention relates to a method for positioning an individually metered out food portion on an animal cage arranged in a row of animal cages for fur animals, in particular mink, by means of a motorized feed cart comprising wheels, at least one 5 driving wheel, and a feed container, said method comprises the steps of: - moving said feed cart along a row of animal cages, thereby turning the wheels of the feed cart, - providing an output from an encoder corresponding to the angular turning of one of said wheels to a control unit, 10 - determining by means of the control unit that the feed cart has reached a given position corresponding to a given cage from said output by adjusting an ideal relationship between the radius of the wheel on which said encoder measures angular turning and the distance travelled of the feed cart into an actual relationship on the basis of flattened tires due to the current weight of the feed cart with feed and a 15 database of information related to at least positions of animal cages and desired size of food portions to each animal cage, and - controlling the feed cart to metering out the desired food portions at a suitable food delivering place at the given animal cage according to the information in said database.
20
With the present invention a simpler and more reliable method of positioning individually metered out food portions to a row of animal cages is obtained. All elements possibly vulnerable to contamination used in the present invention are kept away from the very close surroundings of the mink and are instead e.g. part of the 25 feed cart, for which the risk of contamination is smaller, since the feed cart may be positioned away from direct or almost direct contact with the animals when not in use. By use of the encoder instead of e.g. RFID-tags it is hereby made possible to more reliably speed up the process of feeding.
30 In the present invention, an encoder is used to couple the angular turning of one of said wheels to a distance travelled by the feed cart in order to reach a desired DK 177425 B1 3 position. This coupling can be done due to a correlation between the angular turning of the wheel and the movement path of the feed cart. Consequently, the control unit is capable of, on the basis of the output from the encoder, estimating the distance the feed cart moves. As a result the control unit can read information from the database 5 about where and when food portions should be given and then control the feed cart to perform this food delivery.
The present invention is in particularly usable for animals that are raised in arrayed fur animal cages of wire mesh in fur farms. These are typically fed with a mink feed 10 mix with a consistency that enables dosing feed portions from a container of a feed cart via a hose or pipe and mouthpiece by means of a pump. When feeding, the feed portions may be placed upon a wire mesh side of the fur animal cage, as the consistency/density of the feed may be controlled in order to avoid that feed portions or parts thereof fall down through the wire mesh side.
15
With the present invention it is made possible to perform an automatic ideal individual feeding of the animals on the basis of information stored in the database, such that e.g. a large mink is given a larger portion of food than a small mink.
20 The radius of the unloaded wheel, on which said encoder measures angular turning, can be directly measured. From this an ideal relationship between the radius of the wheel on which said encoder measures angular turning and the distance travelled of the feed cart can easily be calculated through the well-known formula O = 2nR, where O is the circumference and R is the radius.
25
However, when load is put on the wheel, it is no longer an ideal situation, and as such the weight of the feed in the feed cart must be taken into account. In a typical filled feed cart the weight of the feed may be app. 2 tons, which obviously will affect the effective radius of the wheels since the tires will obtain a more flattened shape 30 than in an unloaded situation.
DK 177425 B1 4
At the beginning of a feeding routine, or even once and for all for a specific feed cart, the impact of the load on the feed cart on the relationship between encoder output and distance travelled can be measured, and such recorded actual relationship between encoder output and distance traveled can then be used for the determining 5 step. In other words the start weight of the feed cart can be calculated or measured and the deformation of the wheel can then be estimated on the basis of the previously recorded values.
While running the feed cart, the actual weight of the feed cart can be monitored, 10 either by a direct weighing or by monitoring the amount of feed being delivered to the animals and as such leaving the feed cart. This means that while running the feed cart, the instant deformation of the wheels is known by the control unit and is used to adjust the radius of the wheels.
15 In an embodiment of the invention, said feed container comprises an integrated weighing machine, which via communication equipment is connected with said control unit.
In an embodiment of the invention, the feed container is manufactured with an 20 integrated weighing machine, which via communication equipment is connected with the control unit. Hereby the remaining amount of feed can be monitored continuously. As described above, this weight can be used to calculate the impact on the determining of the position due to flattened tires due to large weight in the feed cart.
25
In an embodiment of the invention, said encoder is mounted on a wheel of said feed cart, preferably a driving wheel.
In an advantageous embodiment of the invention the encoder is mounted on a driving 30 wheel of the feed cart, which may increase the accuracy of the relationship between turning of the encoder and distance moved of the feed cart.
DK 177425 B1 5
In an embodiment of the invention, said encoder is an optical encoder with a row of passages in a circular pattern, said encoder comprising at least one light source and at least one photo detector.
5
In a preferred embodiment of the invention, the encoder is an optical encoder. Typically it comprises a disc made of any suitable material with a row of passages in a circular pattern. The photo detector then receives a pulse each time the disc has rotated a certain angle to a next passage. Said pulse is then used for the output to said 10 control unit.
In another embodiment of the invention, the encoder is a magnetic encoder.
In an embodiment of the invention, said optical encoder comprises at least two photo 15 detectors and two concentric rows of passages, wherein said rows are slightly shifted in relation to each other in order for the signal from the encoder to reflect whether said feed cart runs forward or backwards.
By using two concentric rows of passages slightly shifted, it can easily be seen from 20 the pulses received by the two photo detectors that the first pulse coming first indicates a forward movement and the first pulse coming last indicates a backward movement, or the opposite around depending on the specific design of the encoder.
Said pulses are then used for the output to said control unit.
25 Hereby the control unit is able to register a backward travelling as well, if for instance the feed cart for some reason, e.g. meeting an obstacle, has to back a little bit before continuing. Hereby the control unit will know the position through both forward and backward motion of the feed cart.
30 In an embodiment of the invention, said method further comprises an adjusting step for adjusting the recorded position of the feed cart in relation to the animal cages, DK 177425 B1 6 wherein said adjusting step is carried out with a suitable light-emitter, such as a laser, and a suitable detector measuring the distance to known positions such as vertical bearing beams.
5 Even though the determining of the position carried out in the control unit according to the present invention provides a good knowledge of position of the feed cart and thus enables the control unit to know when to deliver which amounts of feed to the cages, the determining step cannot take into account any kind of possible obstacles or other unpredictable issues which may impact the movement of the feed cart. For 10 instance the wheel with the encoder may shortly slide (instead of rotating) on a piece of dirt on the ground, which may lead the control unit to believe the feed cart is temporarily not moving. Another problem may arise if the wheel with the encoder hits a hole in the ground, which may lead the control unit to believe the feed cart is temporarily moving faster than it really is.
15
In order to lessen problems with such inaccuracy, a laser or another suitable light-emitter may be mounted on the feed cart together with a suitable detector. Suitable detectors will be known to the skilled person in the art. This laser/detector may then be used to register when passing known positions such as vertical bearing beams of 20 the cages. Such beams are typically positioned for each 6 to 8 animal cages. If the result of the measurement does not fit with the information in the control unit, displacements with regard to position may automatically be adjusted and in case of a major displacement this may be signalled to the user or another person, possible together with an automatic stop of the feed cart, thereby ensuring the avoidance of 25 errors through a large number of animal cages.
In an embodiment of the invention, said control unit comprises means to enable a user to indicate a present position of the feed cart at the beginning of a row. Alternatively this information may be given automatically to the feed cart by suitable 30 signaling means positions at the beginning/end of each row.
DK 177425 B1 7
In an embodiment of the invention, said feed cart is a motorized feed cart with movement controlled by a user, wherein said user controls said turning of the driving wheel.
5 In an embodiment of the invention, the movement of the feed cart can be controlled by a user with a standard control panel.
In an embodiment of the invention, said feed cart is an unmanned motorized feed cart, wherein said movement of the feed cart is carried out automatically by a control 10 unit controlling said feed cart.
An unmanned motorized feed cart may be used, which may be carried out e.g. with the feed cart being guided by means of sensors along a guide wire or other signal emitter which, for example, is disposed at the floor along a row of fur animal cages 15 or between rows of fur animal cages.
Moreover the invention relates to a motorized feed cart for performing the method according to claim 1, wherein said feed cart comprises wheels, at least one driving wheel, and a feed container, wherein a control unit is provided for determining the 20 position of the feed cart and for metering out food, said control unit having access to a database of information related to at least positions of animal cages and desired size of food portions to each animal cage, the control unit having means for adjusting an ideal relationship between the radius of the wheel on which said encoder measures angular turning and the distance travelled 25 of the feed cart into an actual relationship on the basis of flattened tires due to the current weight of the feed cart with feed, and wherein said feed cart comprises at least one encoder capable of providing an output corresponding to the angular turning of one of said wheels to said control unit, wherein said control unit is adapted to determining the position of said feed cart on basis of said output.
30 DK 177425 B1 8
In an embodiment of the invention, said encoder is mounted on at least one of said wheels, preferably a driving wheel.
Moreover the invention relates to a system for performing the method according to 5 claim 1 comprising a feed cart with an encoder, a control unit, a database, and fur animal houses or halls with fur animal cages arrayed so that a driveway is established along the fur animal cages or between the fur animal cages.
DETAILED DESCRIPTION
10 A feed cart to be used according to the present invention will typically be a motorized feed cart with upwards open feed container and with feed outlets at both sides via two tubular arms with optional articulated joints. The engine may typically be an electric engine, or alternatively a combustion engine. In a typical design, the feed cart has two driving wheels with pneumatic tires, although four driving wheels 15 are possible as well. The driving wheels may be pivotably mounted at a front and/or rear axle.
The feed cart may typically be operated in passages between rows of animal cages with distances to the side to the animal cages being only 10-15 cm. Therefore, during 20 operation of the feed cart it is mnning in substantially straight lines apart from when reaching the ends of the animal cage rows. Consequently a correction in the correlation between angular turning and movement of the feed cart due to turning of the feed cart along the row is not necessary; however if desired, such feature may easily be implemented, e.g. by using encoders on two wheels.
25
The feed cart further includes a dosing pump, which is able to dose rather precise feed portions to be delivered at the top of a wire mesh side of a fur animal cage. In an embodiment of the feed cart, the tubular arms imply great mobility in order to allow the feed cart to deliver food to fur animal cages at more levels.
30
The feeding takes place at one or more sides of the feed cart, and the amount of food DK 177425 B1 9 to be given is determined by information from the database of a central control unit.
The information in the database may be updated as often as necessary, e.g. by directly input on the control unit.
5 According to one embodiment of the invention, the feed cart may deliver food while moving, and in another embodiment the feed cart may slow down or even stop while delivering food. Obviously these two embodiments may be combined within the scope of the invention.
10 The information from the database may be obtained by the control unit via e.g. a wireless network connection to a central computer, or the database may be stored local.

Claims (10)

10 DK 177425 B110 DK 177425 B1 1. Fremgangsmåde til anbringelse af en individuelt afmålt foderportion på et dyrebur arrangeret i en række af dyrebure til pelsdyr, især mink, ved hjælp af en motordrevet fodervogn, som omfatter hjul, mindst ét drivhjul, og en foderbeholder, hvilken 5 fremgangsmåde omfatter følgende trin: - bevægelse af fodervognen langs en række af dyrebure, hvorved fodervognens hjul drejes, - tilvejebringelse af et output fra en encoder, svarende til et af hjulenes vinkeldrejning, til en styreenhed, 10. bestemmelse ved hjælp af styreenheden af, at fodervognen har nået en given position svarende til et givet bur, ud fra outputtet ved at justere et ideelt forhold mellem radius af det hjul, på hvilket encoderen måler vinkeldrejning, og den afstand, som fodervognen har bevæget sig, til et faktisk forhold på basis af fladtrykte dæk, på baggrund af den faktiske vægt af fodervognen med foder og en database med 15 information om i det mindste positioner for dyrebure og ønsket størrelse af foderportioner til hvert dyrebur, og - styring af fodervognen til afmåling af de ønskede foderportioner på et egnet foderleveringssted ved det givne dyrebur i henhold til informationerne i databasen.A method of placing an individually metered feed portion on an animal cage arranged in a variety of animal cages for fur animals, in particular mink, by means of a motorized feed cart comprising wheels, at least one drive wheel, and a feed container comprising the method of the following steps : - moving the feed trolley along a series of animal cages by which the wheels of the feed trolley are rotated; - providing an output from an encoder, corresponding to one of the angles of the wheels, to a control unit; a given position corresponding to a given cage, from the output by adjusting an ideal ratio of the radius of the wheel on which the encoder measures angular rotation, and the distance traveled by the feed trolley to an actual ratio on the basis of flat tire based on the actual weight of the feed cart with feed and a database of 15 information on at least animal cage positions and the desired size view of feed portions for each animal cage; and - control of the feed trolley for measuring the desired feed portions at a suitable feed delivery location at the given animal cage according to the information in the database. 2. Fremgangsmåde ifølge krav 1, hvor foderbeholderen omfatter en integreret vejemaskine, som via kommunikationsudstyr er forbundet med styreenheden.The method of claim 1, wherein the feed container comprises an integrated weighing machine which is connected to the control unit via communication equipment. 3. Fremgangsmåde ifølge krav 1 eller 2, hvor encoderen er monteret på et af fodervognens hjul, fortrinsvis et drivhjul. 25The method of claim 1 or 2, wherein the encoder is mounted on one of the wheels of the feed truck, preferably a drive wheel. 25 4. Fremgangsmåde ifølge et hvilket som helst af kravene 1-3, hvor encoderen er en optisk encoder med en række passager i et cirkulært mønster, idet encoderen omfatter mindst én lyskilde og mindst én fotodetektor.The method of any of claims 1-3, wherein the encoder is an optical encoder having a series of passages in a circular pattern, the encoder comprising at least one light source and at least one photodetector. 5. Fremgangsmåde ifølge et hvilket som helst af kravene 1-4, hvor den optiske encoder omfatter mindst to fotodetektorer og to koncentriske rækker passager, hvor DK 177425 B1 11 rækkerne er en smule forskudt i forhold til hinanden med henblik på, at signalet fra encoderen kan afspejle, om fodervognen kører forlæns eller baglæns.A method according to any one of claims 1-4, wherein the optical encoder comprises at least two photodetectors and two concentric rows of passageways, wherein the rows are slightly offset relative to each other so that the signal from the encoder can reflect whether the feed truck is moving forwards or backwards. 6. Fremgangsmåde ifølge et hvilket som helst af kravene 1-5, hvor fremgangsmåden 5 endvidere omfatter et justeringstrin til justering af fodervognens registrerede position i forhold til dyreburene, hvor justeringstrinnet udføres med en egnet lysemitter, såsom en laser, og en egnet detektor, som måler afstanden til kendte positioner, såsom lodrette bærebjælker.The method of any one of claims 1-5, wherein the method 5 further comprises an adjustment step for adjusting the recorded position of the feed cart relative to the animal cages, wherein the adjustment step is performed with a suitable light emitter, such as a laser, and a suitable detector which measures the distance to known positions, such as vertical beams. 7. Fremgangsmåde ifølge et hvilket som helst af kravene 1-6, hvor fodervognen er en motordrevet fodervogn, hvis bevægelse styres af en bruger, hvor brugeren styrer drejningen af drivhjulet.A method according to any one of claims 1-6, wherein the feed carriage is a motorized feed carriage, the movement of which is controlled by a user, wherein the user controls the rotation of the drive wheel. 8. Fremgangsmåde ifølge et hvilket som helst af kravene 1-6, hvor fodervognen er en 15 ubemandet motordrevet fodervogn, hvor fodervognens bevægelse udføres automatisk af en styreenhed, som styrer fodervognen.A method according to any one of claims 1-6, wherein the feed cart is an unmanned motor powered feed cart, wherein the feed cart movement is performed automatically by a control unit which controls the feed cart. 9. Motordrevet fodervogn til udførelse af fremgangsmåden ifølge krav 1, hvor fodervognen omfatter hjul, mindst ét drivhjul, og en foderbeholder, hvor der er 20 tilvejebragt en styreenhed til bestemmelse af fodervognens position og til afmåling af foder, idet styreenheden har adgang til en database med information om i det mindste positioner for dyrebure og ønsket størrelse af foderportioner til hvert dyrebur, kendetegnet ved, at styreenheden har et organ til justering af et ideelt forhold mellem 25 radius af det hjul, på hvilket encoderen måler vinkeldrejning, og den afstand, som fodervognen har bevæget sig, til et faktisk forhold på basis af fladtrykte dæk, på baggrund af den faktiske vægt af fodervognen med foder, og hvor fodervognen omfatter mindst én encoder, som kan tilvejebringe et output, svarende til et af hjulenes vinkeldrejning, til styreenheden, hvor styreenheden er tilpasset til 30 bestemmelse af fodervognens position på grundlag af outputtet. DK 177425 B1 12A motorized feed cart for performing the method according to claim 1, wherein the feed cart comprises wheels, at least one drive wheel, and a feed container, wherein a control unit is provided for determining the position of the feed cart and for measuring feed, the controller having access to a database with information on at least positions for animal cages and the desired size of feed portions for each animal cage, characterized in that the control unit has a means for adjusting an ideal ratio of 25 radius of the wheel on which the encoder measures angular rotation and the distance which the feed carriage has moved, to an actual ratio on the basis of flat tire, on the basis of the actual weight of the feed carriage with feed, and wherein the feed carriage comprises at least one encoder capable of providing an output corresponding to one of the angles of rotation of the wheels to the control unit; wherein the control unit is adapted to determine the position of the feed truck on the basis of the output. DK 177425 B1 12 10. Anvendelse af en motordrevet fodervogn ifølge krav 9 i et system, som omfatter pelsdyrhuse eller haller med pelsdyrebure opstillet således, at der etableres en kørebane langs pelsdyreburene eller mellem pelsdyreburene. 5Use of a motor-powered feed trolley according to claim 9 in a system comprising fur-huts or halls with fur-cages arranged to establish a lane along the fur-cages or between the fur-cages. 5
DKPA201000758A 2010-08-27 2010-08-27 Method, feed cart and system for feeding of fur animals DK177425B1 (en)

Priority Applications (9)

Application Number Priority Date Filing Date Title
DKPA201000758A DK177425B1 (en) 2010-08-27 2010-08-27 Method, feed cart and system for feeding of fur animals
PL11752095T PL2608658T3 (en) 2010-08-27 2011-08-26 Method, feed cart and system for feeding of fur animals
CA2809687A CA2809687C (en) 2010-08-27 2011-08-26 Method, feed cart and system for feeding of fur animals
EP11752095.7A EP2608658B1 (en) 2010-08-27 2011-08-26 Method, feed cart and system for feeding of fur animals
PCT/DK2011/000097 WO2012025119A2 (en) 2010-08-27 2011-08-26 Method, feed cart and system for feeding of fur animals
DK11752095.7T DK2608658T3 (en) 2010-08-27 2011-08-26 Process, feed cart and fur feeding system
US13/819,386 US8752505B2 (en) 2010-08-27 2011-08-26 Method, feed cart and system for feeding of fur animals
EP14180179.5A EP2807918A3 (en) 2010-08-27 2011-08-26 Method, feed cart and system for feeding of fur animals
US14/284,728 US9055731B2 (en) 2010-08-27 2014-05-22 Method, feed cart and system for feeding of fur animals

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DK201000758 2010-08-27
DKPA201000758A DK177425B1 (en) 2010-08-27 2010-08-27 Method, feed cart and system for feeding of fur animals

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DK201000758A DK201000758A (en) 2012-02-28
DK177425B1 true DK177425B1 (en) 2013-05-13

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EP2878194A1 (en) 2013-11-27 2015-06-03 Dansk Mink Papir A/S Motorized feeding vehicle
CN104938348A (en) * 2014-03-25 2015-09-30 丹斯克敏克帕佩尔股份有限公司 Motorized feeding vehicle and a method of operating an animal farming system
US9974280B2 (en) 2013-11-27 2018-05-22 Dansk Mink Papir A/S Motorized feeding vehicle and a method of operating an animal farming system
US10729100B2 (en) 2014-12-19 2020-08-04 Minkpapir A/S Method for recording and predicting position data for a self-propelled wheeled vehicle

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CN112470974A (en) * 2020-12-24 2021-03-12 绍兴乐丰笼具设备有限公司 Cage, culture system and control method of cage

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Publication number Priority date Publication date Assignee Title
EP2878194A1 (en) 2013-11-27 2015-06-03 Dansk Mink Papir A/S Motorized feeding vehicle
CN104663483A (en) * 2013-11-27 2015-06-03 丹斯克敏克帕佩尔股份有限公司 Motorized feeding vehicle, retrofit kit, animal farming system and method of operating animal farming system
EP2878193A1 (en) 2013-11-27 2015-06-03 Dansk Mink Papir A/S Motorized feeding vehicle
US9974280B2 (en) 2013-11-27 2018-05-22 Dansk Mink Papir A/S Motorized feeding vehicle and a method of operating an animal farming system
CN104663483B (en) * 2013-11-27 2019-12-24 丹斯克敏克帕佩尔股份有限公司 Motorized feeding vehicle, retrofit kit, animal farming system and method of operating same
US10660307B2 (en) 2013-11-27 2020-05-26 Dansk Mink Papir A/S Motorized feeding vehicle and a method of operating an animal farming system
CN104938348A (en) * 2014-03-25 2015-09-30 丹斯克敏克帕佩尔股份有限公司 Motorized feeding vehicle and a method of operating an animal farming system
EP2923566A2 (en) 2014-03-25 2015-09-30 Mink Papir A/S A motorized feeding vehicle and a method of operating an animal farming system
CN104938348B (en) * 2014-03-25 2019-12-03 丹斯克敏克帕佩尔股份有限公司 The motor-driven method given truck and run animal-breeding system
US10729100B2 (en) 2014-12-19 2020-08-04 Minkpapir A/S Method for recording and predicting position data for a self-propelled wheeled vehicle

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