DK201570071A1 - Vehicle for feeding animals in a plurality of cages - Google Patents

Abstract

The invention relates to a vehicle (1) for supplying of feed to animals in a plurality of cages, such as minks in cages, wherein the vehicle (1) comprises a feed storage (2) a control system comprising a control unit (7) for controlling the supply of feed according to dosage data (DD), at least a first and a second feed distribution arrangement (3a, 3b) wherein each of the feed distribution arrangements (3a, 3b) is configured for guiding feed of said feed storage (2) to an outlet (4a, 4b) of the respective feed distribution arrangement (3a, 3b) so as to supply feed to said plurality of cages, and a supply arrangement (5) for supplying the feed (6) to the feed distribution arrangements (3a, 3b) from said feed storage compartment (2). The control system is configured to control the supply arrangement (5) so as to individually supply feed to said plurality of cages in accordance with said dosage data (DD). The invention moreover relates to a method of feeding animals in a plurality of cages.

Description

VEHICLE FOR FEEDING ANIMALS IN A PLURALITY OF CAGES Technical field

The present invention relates in a first aspect to a vehicle for feeding animals in a plurality of cages, such as mink in cages, and in a further aspect a method of feeding animals in a plurality of cages.

Background art

Vehicles for feeding animals, such as mink, in plurality of cages, where the vehicle comprises a feed storage for storing feed and a pump for pumping the feed through an arm to be dispensed, are well known. For example, the Danish patent document DK 176402 B1 discloses a motorized full automatic feeding vehicle for mink farms, where the moving of the vehicle, the feeding of animals and the refilling of the vehicle with new feed is automatized. The vehicle comprises a robotic arm that is controlled so as to feed the animals.

This solution however provides drawbacks that the present invention solves, e.g. in relation to providing a faster feeding solution that may be less disturbing to animals.

Brief description of the invention

The invention relates to a vehicle for supplying of feed to animals in a plurality of cages, such as minks in cages, wherein the vehicle comprises a feed storage for storing feed to be supplied to said animals, a control system comprising a control unit for controlling the supply of feed according to dosage data, at least a first and a second feed distribution arrangement wherein each of said feed distribution arrangements is configured for guiding feed of said feed storage to an outlet of the respective feed distribution arrangement so as to supply feed to said plurality of cages, and a supply arrangement for supplying the feed to said feed distribution arrangements from said feed storage compartment wherein said control system is configured to control said supply arrangement so as to individually supply feed to said plurality of cages in accordance with said dosage data.

Generally, the invention as defined above may provide several advantages. For example, motorized full automatic feeding vehicles for mink farms with a robotic arm provides a rather slow feeding due to e.g. all the safety measures that need to be included to try to provide safe and reliable operation. Also, furred animals such as mink, foxes or the like are rather shy, and may not be comfortable with disturbance.

Thus, the two feed distribution arrangements provide that increased feeding speed of the animals can be achieved while at the same time providing individual feeding. Also, reduced disturbance of the animals may thus be provided.

Also, the present invention may beyond feeding speed advantages and reduced disturbance advantages solve problems related to work-related injuries originating from repeated movements of e.g. hand and/or arm to provide feed if the vehicle is operator controlled during feeding.

The individual control of feed supply to the animals may be controlled by dosage means which may e.g. include controlling the supply arrangement to dose the feed according to the dosage data.

The dosage data may comprise information regarding how much feed to be supplied to the individual cage and may be based on information related to animal age, weight, pregnancy information and/or other relevant information. The dosage data may in aspects of the invention be updated by an operator by determining if all the feed that was supplied at the previous feeding has been eaten. If the animal(s) of a cage has note eaten sufficiently of the previously supplied feed, the operator may adjust the dosage data to a less amount to be supplied next time, or if it has all been eaten, to a higher amount to be supplied next time. This information is then stored in the dosage data.

Generally, it is preferred that the dosage data comprises information regarding the amount of feed and/or medication to be provided to animals in different individual cages.

The dosage data provides information regarding e.g. the amount of feed that should be delivered to the respective cages. Hence, one or more animals in a first cage may receive more feed than animals in another cage, based on the dosage data. Accordingly, feed portions may be individually provided to different cages.

The animals to be fed are preferably minks, and the feed to be supplied is preferably mink feed which is a substantially thick, sticky substance which may comprise e.g. among others fish oils and/or other parts retrieved from the fishing industry. However, in other embodiments of the invention, the vehicle may be used for feeding other animals with other types of feed.

The size of the feed portions delivered may in aspects of the invention vary between 50g-700g, e.g. between 60g-600g, for example 70g-500g, according to the dosage data. For example, a cage comprising just one pregnant animal such as mink may only need a feed portion about 40g-70g per day whereas a cage comprising a plurality of minks, e.g. a mink female and her offspring, may need much more feed, e.g. a feed portion between 200g and 500g. Accordingly, the dosage data may be used to control the size of feed portions delivered automatically to different cages dependent on which type and/or how many animals that are located in the respective cages.

In preferred aspects of the invention, said feed distribution arrangements may be suitable for providing feed to animals in cages at opposite sides of said vehicle, preferably by the feed distribution arrangements being substantially oppositely directed at least during feeding.

In mink stables, the cages are normally arranged in rows opposite to each other. Hence, the oppositely directed feed distribution arrangements can provide feed to both rows in one movement along the rows, thereby decreasing the disturbance of the animals and increasing the feeding speed significantly.

The at least two feed distribution arrangements may in aspects of the invention preferably be directed transverse to the main drive direction of the vehicle, e.g. by adjustment as described in more details later on.

In preferred aspects of the invention, the feed distribution arrangements are configured to provide feed simultaneously. This may e.g. provide a fast and efficient feeding of different animals according to dosage data by the feed distribution arrangements.

The mentioned supply arrangement may in aspects of the invention comprise one or more feed transportation devices, such as one or more pumps and/or a screw conveyors.

In embodiments where the vehicle comprises a screw conveyer, this may be arranged in/at the feed distribution arrangements and/or it may be located e.g. in the bottom of the feed storage to supply feed from the storage to a pump of the supply arrangement. The vehicle may also in embodiments be arranged so that the feed is supplied directly to a pump e.g. by means of gravity.

In embodiments of the invention, the screw conveyer may e.g. be flexible or the like and be arranged inside a hose or another hollow structure, thereby providing feed through the respective feed distribution arrangements to supply feed by rotating the flexible screw conveyer.

In advantageous aspects of the invention, the supply arrangement may comprise a first feed transportation device for supplying feed to the first feed distribution arrangement, and a second feed transportation device for supplying feed to the second feed distribution arrangement.

This may provide a more robust and reliable solution for individually feeding animals. It may also facilitate advantageous control of the feed supply in accordance with dosage data. However, it is understood that in other embodiments of the invention, the supply arrangement may comprise just one feed transportation device for supplying the feed. In at least such cases, e.g. individual valves may be provided to control the dosage of feed by opening and closing for the feed flow.

In advantageous aspects of the invention, the vehicle comprises an operator location, such as a seat or standing place, and one or more operator controllable parts such as steering arrangements, preferably at least including a steering wheel for controlling movement direction and/or a speed control for controlling the propulsion speed of the vehicle.

This may e.g. provide that an operator may control the vehicle during feeding and/or during programming of the feeding and/or, if the vehicle is substantially full automatic - to operate the vehicle if the automatic control fails.

In advantageous aspects of the invention, said vehicle is configured to be operator controlled so that an operator is capable of controlling at least partly the movement of the vehicle during said individual feeding and/or when moving said vehicle to a next group of cages which should be supplied with feed from the storage.

This e.g. provides that an operator may look after the animals and register their health conditions during feeding while operating the vehicle by e.g. steering the vehicle by a steering wheel and/or other steering arrangements.

At the same time, the operator’s attention to the health and other conditions of the animals can be increased since the feeding to a large part, if not even fully, is provided automatically by the control unit, feed distribution arrangements and the supply arrangement.

Additionally, the large expenses to automatic steering of the vehicle (including multiple sensor systems, software development, safety measures and the like) are absent in that the vehicle is at least partly operator controlled. This may e.g. improve the cost efficiency of the vehicle compared to full automatic feeding vehicles and also in some cases even provide a more reliable solution.

It is naturally understood that the vehicle (e.g. by a control unit) in embodiments of the invention may be adapted to automatically e.g. adjust the sideways movement of the vehicle to assure proper feeding of the animals by e.g. keeping the proper distance to the cages. Hence, the operator may control the propulsion speed of the vehicle, and to some extent, during feeding, the sideways control, but the control unit may assure that the vehicle is kept in a position to supply feed. In other embodiments, the movement of the vehicle may be fully operator controlled.

In embodiments of the invention where the vehicle is for example operator controlled, the at least two feed distribution arrangements provide a faster feeding, thereby obtaining that the feeding is finished faster and the operator can thus do other work, thereby increasing the yield of the operator’s work.

Moreover, in embodiments of the invention where the vehicle is for example operator controlled, the present invention also provide that laymen that is not very experienced in feeding the animals can operate the vehicle.

In other embodiments, the vehicle may however be a motorized, substantially full automatic feeding vehicle comprising sensors and other safety measures to help to guide the vehicle.

In still further examples, the vehicle may however be motorized and substantially full automatic during feeding, i.e. the control system controls the movement and the feeding according to dosage data, e.g. based on different position input from e.g. identification units, feeding position detection arrangement, an adjustment system and/or the like whereas, after the end of a feeding session, the vehicle is moved to a next group of cages such as rows of cages by an operator using operator controllable parts of the vehicle. This may e.g. provide a more simple and at the same time fast and reliable feeding while the operator may e.g. even more concentrate on monitor the well-being of the animals and e.g. adjust dosage data by an input unit of the vehicle that is able to provide access and adjustment to the dosage data related to cages in the group of cages that the control system provide feed to.

The control system may in aspects of the invention be configured to control the supply of feed so as to deliver feed portions according to dosage data at a plurality of feeding locations while an operator controls the vehicle so as to move the vehicle in a main drive direction of the vehicle, which feed supply is configured to be provided based on input from a feeding position detection arrangement.

This may provide a reliable and fast feeding where a more secure working environment may also be provided in a cost efficient way due to the operator controlling the movement. Hence, it may also require less attention from the operator so the operator can concentrate on the well-being and monitoring of the animals during feeding.

The vehicle may in aspects of the invention comprise a reader arrangement, preferably comprising one or more readers, for receiving input from identification units, which identification units are placed stationary with respect to said cages and are configured to provide information to enable identification of one or more cages containing animals to be fed by the vehicle, and the control system may be configured to control the feeding of animals based on said information from the reader arrangement so as to select and provide an individual dosage of feed to said one or more animals of said cages in accordance with said dosage data.

The reader arrangement may e.g. comprise a Radio Frequency Identification (RFID) unit, a barcode scanner for reading barcodes such as e.g. linear one-dimensional barcodes, two-dimensional barcodes such as matrix barcodes, a radio receiver for receiving a radio signal substantially transmitted continuously or with a predefined interval from an identification unit and/or the like.

The identification unit may thus, accordingly be a barcode, a radio transmitter, an RFID tag or the like that transmits or in other ways provide information to the reader arrangement to identify a group of cages.

The control system comprising the control unit hence e.g. identifies a group of cages with animals to be fed based on information from the respective identification unit, and the dosage data can then be selected according to this information to assure proper individual feeding according to the dosage data. For example, if ten rows of cages are arranged next to each other, and feeding is to be provided to the animals in the cage rows, one or more identification units (e.g. arranged at or before the first cage that the vehicle meet), may comprise and be configured to provide information enabling identification of the cages in a row. Hence, the respective identification unit transmits information to the identification detection arrangement, thereby enabling the control system to determine proper dosages to provide to the animals in the respective cage row(s) to be fed.

The vehicle may in embodiments of the invention comprise a signalling unit comprising light indication, sound, an indication on a display or the like that may provide information to an operator indicting that information has been received from an identification unit and that the vehicle is ready to provide feed according to dosage data based on the received information.

The information from the identification units help to determine the location and preferably also the orientation of the vehicle before a feeding of a group of cages is initiated, and hence, the control system is able to determine the correct dosage data to be utilized for feeding animals in a specific group of cages.

The control system of the vehicle may in aspects of the invention be configured to select a feeding order for providing feed to predefined groups of cages, preferably based on said input from identification units, e.g. during movement of the vehicle.

This may be relevant, e.g. especially in situations where the vehicle is controlled by an operator, since different operators or even the same operator may drive different routes during feeding. This provides that the order of feeding of animals in e.g. a row of cages may need change dependent on from which end the vehicle start the feeding.

Accordingly, it may be advantageous to determine the feeding order on the go during feeding in order to assure that the correct amount of feed is provided to the correct animal(s). Hence, this may provide a fast, more safe and yet correct feeding of animals, e.g. in situation where an operator’s freedom to select a feeding route.

It may however also be relevant in relation to provide adaptable feeding scenarios by full automatic feeding vehicles.

Generally, a group of cages is preferably a row of cages arranged next to each other.

In aspects of the invention, the control system of the vehicle is configured to select which feed distribution arrangement that should be used for providing feed to animals in a first predefined group of cages, and which feed distribution arrangement that should be used for providing feed to animals in a second group of cages, preferably based on said input from identification units.

Accordingly, dependent on e.g. from which end of a cage row or rows that the vehicle start the feeding, it may be necessary to switch between dosage data and preferably also feeding order so as to obtain that correct dosage of feed is provided to the correct animals in a specific cage in a group of cages.

If for example the vehicle enters a path with two rows of cages form a first end, a first feed distribution arrangement should provide feed according to first dosage data to provide the appropriate feed portion to the respective cages in a first cage row. Moreover, a second feed distribution arrangement should provide feed according to second dosage data to provide the appropriate feed portion to the respective cages in a second cage row. However, if entering from the opposite end of the cage rows, the second feed distribution arrangement should provide feed according to the first dosage data to the first cage row (with the feeding order changed), and the a first feed distribution arrangement should provide feed according to the second dosage data to provide the appropriate feed portion to the second cage row (with the feeding order changed).

This may e.g. be considered especially advantageous in relation to operator controlled vehicles in that operators may tend to feed in different order and use different starting points. The above provide that the feeding according to the correct dosage data is provided in e.g. this situation.

The dosage data may in aspects of the invention comprise a plurality of dosage information associated with different cages.

The dosage data comprises data stored in a data storage of the vehicle. The dosage data may define how much feed that is to be delivered to a cage comprising one or more animals. The dosage data may be stored in different ways and may e.g.

comprise timing information relating to control of a separation unit and/or the supply arrangement, it may comprise timing information in relation to controlling a pump or the like of the supply arrangement (e.g. if a pump is known to supply an amount of x grams of feed per second, the information could comprise information of how long a pump should be active to supply the desired feed amount to a specific cage) and/or the like.

Said control system may in aspects of the invention be configured to identify first dosage data associated with a first row of cages, and second dosage data associated with a second row of cages, and the control system may moreover be configured to control said supply arrangement so as to individually supply feed to said first and second rows of cages in accordance with said identified first and second dosage data.

This may provide advantageous control of feeding animals by a vehicle comprising two or more feed distribution arrangements.

In preferred aspects of the invention, one or more of said at least two feed distribution arrangements are adjustable and preferably comprises an adjustable arm.

The adjustable arm may be provided by a robotic arm, one or more telescopic elements, by a rotation of an arm and/or the like. The adjustable feed distribution arrangements preferably comprises one or more parts which are configured to be arranged in different angles to each other and/or to be arranged with different distances to each other to provide that a free end of an arm may adjusted to extend in over cages or another feeding location to provide feed portions through the outlet of the respective feed distribution arrangement.

Hence, the feed distribution arrangements may be adjusted based on input from sensors or the like to assure that the respective feed distribution arrangement is arranged correctly to provide feed.

The one or more of said feed distribution arrangements may thus in aspects of the invention comprise a robotic arm with two or more such as three, four or five movement axes. This may e.g. provide a feed distribution arrangement that may be easily adjustable and that may be able to be adapted to be arranged in different positions to assure that the feed distribution arrangement do not strike obstacles during movement of the vehicle, e.g. at ends rows of cages and/or the like by adjusting the feed distribution arrangement.

In aspects of the invention, one or more of said feed distribution arrangements may comprise one or more telescopic structures for adjusting the height of the respective feed distribution arrangement and/or for adjusting the length of a part of the respective feed distribution arrangement with said outlet.

This may provide a fast and yet cost effective solution. The part of the respective feed distribution arrangement with the outlet is preferably a part comprising a free end extending in over the feeding location(s) during feeding.

Said feed distribution arrangements, in preferred aspects of the invention, each comprises a hollow structure such as a pipe and/or hose for guiding said feed to said outlets. Hence, the hollow structure can be used for guiding the feed inside the hollow structure to the outlet of the feed distribution arrangements.

Said vehicle may in advantageous aspects of the invention comprise one or more separation units, such as mechanical separation units, e.g. including a movable part, which one or more separation units are configured to separate a feed portion from said feed distribution arrangements in response to a control signal from said control system.

The separation unit(s) may e.g. comprise a cutting member arranged to be driven through a feed supply supplied by the feed distribution arrangements e.g. substantially at an outlet such as a mouth piece or the like, thereby separating the feed portion from a feed distribution arrangement. It may also comprise any other suitable mechanical separation unit that can be controlled for example to expose an opening for a predetermined time to allow feed to be supplied at a desired dosage and/or the like.

The animals to be fed may e.g. be mink. The feed for these is normally greasy and sticky and such mechanical separation units may thus be preferred to use to control the supply of feed to e.g. mink so that it is assured that a feed portion is delivered correctly to a feeding location at the right time, e.g. during movement of the vehicle.

In preferred embodiments of the invention, each feed distribution arrangement comprises a separation unit.

Said vehicle may in preferred aspects of the invention comprise a feeding position detection arrangement configured to determine and/or estimate the position of the vehicle along a row of cages, and wherein said control system is configured to determine when feed portions should be delivered according to information from said feeding position detection arrangement.

This feeding position detection arrangement may e.g. comprise a counting device that monitor the distance that has been covered by the vehicle, by e.g. counting revolutions of wheels of the vehicle. The control system may then use this information (e.g. by knowing the predefined distance between the cages in a cage row and/or the width of the cages in the cage row), to control the feed supply so that a feed portion according to dosage data is delivered at the right time during movement of the vehicle.

The feeding position detection arrangement may thus provide information enabling the control system to determine/time when a feed portion based on said dosage data should be provided by an outlet.

The position detection arrangement may also in embodiments of the invention comprise other sensor devices such as an optical detector that may detect e.g. reflectors arranged at or near the cages, and thus e.g. by counting the number of detected reflectors the vehicle may determine the respective position of the cages. The position detection arrangement may also in aspects of the invention comprise a RFID receiver, and RFID tags may hence be arranged at/near each cage thereby enabling individual feeding of animal(s)in a cage by receiving a RFID signal from the RFID tag associated with the respective cage.

The information from said feeding position detection arrangement may in aspects of the invention comprise distance information relating to the distance between cages in a row. This may e.g. provide reliable information that may be advantageous to utilize in relation to determining a position of the vehicle along a cage row.

In advantageous aspects of the invention, the feeding position detection arrangement comprises a position determination part such as a sensor or a tachometer, for determining the position of the vehicle during a feeding session.

Hence, the sensor, tachometer or the like may provide information to the feeding position detection arrangement so that the feeding position detection arrangement based on the information such as cage setup information can help to determine when the control system should provide a feed portion.

In advantageous aspects of the invention, said control system of the vehicle may comprises an adjustment system, which adjustment system is configured for estimating the distance between a part of said vehicle and one or more cages and/or another cage position representative structure during feeding, and adjust the position of said outlets towards and/or away from said cages during feeding.

Hence, if e.g. an operator (or another steering arrangement of a full automatic vehicle) do not steer the vehicle precise enough, the feeding may not be interrupted during a feeding session since the position of said outlets may be adjusted automatically during a feeding session.

The adjustment system may preferably comprise: a sensor for estimating the actual distance between said vehicle and one or more cages and/or another cage position representative structure during feeding, and information regarding the desired predefined distance, wherein the adjustment system is configured to adjust the position of said outlets based on the actual distance and said desired, predefined distance.

This may provide a reliable on-site adjustment to assure reliable supply of feed portions. Also, it may in aspects help to assure that an operator get more freedom in controlling the vehicle movement during feeding (in embodiments where the vehicle is configured to be controlled by an operator during feeding)

Said control system may in aspects of the invention be configured to control the supply of feed so as to deliver feed portions according to dosage data at a plurality of feeding locations which feed supply is configured to be provided based on input from a feeding position detection arrangement.

This may provide reliable feeding of animals. Hence, for example, when the feeding position detection arrangement determines that a feeding portion according to dosage data should be supplied, due to that the vehicle has moved to a position where an outlet or both outlets are able to provide feed to a feeding location related to a cage, the control system may control a supply arrangement to supply the feed, thereby assuring automatic delivery of feed at the correct locations.

At least said outlets of the respective feed distribution arrangement may in aspects of the invention be configured to be arranged ahead of an operator location of said vehicle, at least during feeding.

This should be understood as that when the operator is sitting or standing at the operator location, the outlets are arranged in a position during feeding that provides that the operator can see the outlet(s) and/or the part of the feed distribution arrangements where the feed is dispensed without looking over his/hers shoulders.

This may be provided by arranging the feed distribution arrangements at or near the front end of the vehicle, or alternatively arranging the operator location at the rear end section of the vehicle, e.g. behind the feed storage.

Accordingly, the operator can in an easy way monitor the feed distribution and control the vehicle accordingly, thereby providing a feed supply that is easier to control by an operator. Moreover, this may provide an improved working environment in that the operator does not need to turn his/her head to monitor the feed supply.

The vehicle may in aspects of the invention comprise an operator location, such as a seat or standing place, and the vehicle may moreover comprises one or more operator controllable parts wherein at least one of said one or more operator controllable parts comprises a part for starting and/or stopping the feed supply.

This operator controllable part may comprise a pedal, button, touch screen or the like for starting and stopping the feed supply and/or the like when an operator activates the part.

This may provide a feed supply that is easier to control.

It is understood, that in aspects of the invention, the control system may be configured to register when feed has been supplied to a cage or cage row, and wherein, if an operator tries to provide feed to the same cage or cage row by the vehicle within a predetermined time period, the feed supply is rejected.

Hence, if the time period has lapsed, the feeding may be allowed and e.g. a new time stamp created. This may help to assure safe supply of feed to animals without overfeeding. It may moreover provide a vehicle where different operators may provide feed by means of the vehicle without the risk that another operator has previously provided feed to the same cages of cage rows.

In aspects of the invention, said vehicle is a full automatic feeding vehicle configured for providing feed to animals in a plurality of cages, e.g. arranged in rows, without an operator controlling the movement of the vehicle during feeding.

The invention moreover relates to a method of feeding animals in a plurality of cages, such as minks in cages by means of a vehicle, wherein the method comprises: providing feed to a feed storage of said vehicle, by means of a control system controlling the supply of feed to at least a first and a second feed distribution arrangement of said vehicle, wherein each of said feed distribution arrangements is configured for guiding feed of said feed storage to an outlet of the respective feed distribution arrangement so as to supply feed to said plurality of cages, wherein said control system controls a supply arrangement so as to individually supply feed to said plurality of cages in accordance with dosage data.

The method of feeding animals may in preferred aspects of the invention be a vehicle according to any of claims 1-28.

Figures

Embodiments of the present invention are illustrated in the enclosed drawings of which

Figs. 1-2 : illustrates schematically preferred embodiments of a vehicle according to embodiments of the invention, fig. 3 : : schematically illustrates a vehicle according to embodiments of the invention during feeding, figs. 4a-4c : illustrates embodiments of feed distribution arrangements according to embodiments of the invention fig. 5 : illustrates a control system schematically according to embodiments of the invention fig. 6 : illustrates a separation unit according to embodiments of the invention fig. 7 : illustrates feeding of animals in cages by a vehicle according to embodiments of the invention fig. 8 : illustrates an arrangement for adjusting outlet positions according to embodiments of the invention fig. 9 : illustrates control of adjustment of outlets according to embodiments of the invention, fig. 10-11 : illustrates schematically supply arrangements according to embodiments of the invention

Fig. 12 : schematically illustrates an embodiment of feeding position detection according to embodiments of the invention

Fig. 13 : schematically illustrates a further embodiment of dosage data according to embodiments of the invention,

Fig. 14 : illustrates schematically operation of a control system according to embodiments of the invention, and

Figs. 15a-b : illustrates embodiments of the location of outlets during feeding.

Detailed description of the invention

Fig. 1 illustrates a schematic example of a vehicle 1 for feeding animals, preferably furred animals in cages such as mink in a plurality of cages (not illustrated in figs. 1 and 2) according to embodiments of the invention, seen from above.

The vehicle 1 comprises a feed storage 2 for storing feed 6 to be supplied to said animals. Moreover, the vehicle 1 comprises in the present example two feed distribution arrangements 3 a, 3b in the form of a first feed distribution arrangement 3 a and a second feed distribution arrangement, where each of the feed distribution arrangements 3 a, 3b is configured for guiding feed of the feed storage 2 to an outlet 4a, 4b of the respective feed distribution arrangement 3 a, 3b so as to feed the animals in the cages.

Each feed distribution arrangement 3 a, 3b comprises an outlet 4a, 4b through which the feed portions can be delivered.

The vehicle 1 may also, as illustrated, in embodiments of the invention be configured to be operator controlled so that an operator is capable of controlling at least partly least the movement of the vehicle, preferably during the feeding. The vehicle 1 may thus accordingly comprise an operator location 9 such as a seat or standing place. Also, the vehicle 1 in this embodiment comprises one or more operator controllable parts 8 such as steering arrangements, preferably at least including a steering wheel for controlling movement direction and/or speed control such as an accelerator pedal for controlling the propulsion speed of the vehicle 1, a pedal, button, touch screen or the like for starting and stopping the feed supply and/or the like.

The vehicle 1 also comprises propulsion means such as a motor (not illustrated) e.g. as a combustion engine, an electric engine or the like to provide the propulsion speed of the vehicle. The vehicle 1 may also comprise an energy storage (not shown) such as a rechargeable battery or the like to provide electric energy to electric systems, pneumatic systems and/or hydraulic systems and/or the like of the vehicle 1.

In embodiments of the invention, the vehicle may comprise a control system including control means for controlling the propulsion means of the vehicle 1 by means of operator input and/or by means of other input such as sensor input(s).

The vehicle 1 is portable on transportation means such as wheels 10, a belt drive and/or the like.

The feed distribution arrangements 3 a, 3b may in embodiments of the invention each comprises a hollow structure such as one or pipes and/or hoses for guiding the feed. This may be provided by a pipe or pipes or one or more hoses inside the feed distribution arrangements 3a, 3b and/or one or more pipes and/or hoses arranged to be supported by and/or hang on the outside of the feed distribution arrangements 3a, 3b. The adjustable feed distribution arrangements may thereby adjust the location of the outlet of respective feed distribution arrangements 3 a, 3b.

As schematically illustrated in fig. 2, the vehicle 1 comprises a supply arrangement 5 for supplying the feed 6 of the feed storage 2 to the feed distribution arrangements 3 a, 3b from the feed storage 2.

The supply arrangement 5 may comprise a pumping arrangement or the like as described in more details later on. The supply arrangement 5 may also in embodiments of the invention comprise a screw conveyer 51 or other suitable transportation means arranged in the bottom part of the storage 2 to provide transportation of the feed 6 towards a pump of the supply arrangement 5.

The vehicle 1 moreover comprises a control system comprising a control unit 7 for controlling the feed supply to animals according to dosage data as described in more details later on.

The control unit 7 may hence receive information from different input (not illustrated in figs. 1 or 2, to control the supply arrangement 5. Thereby, the feed supply to the animals is configured to be controlled individually for each of the two or more feed distribution arrangements 3 a, 3b by the control unit 7.

Embodiments of the supply arrangement are described in more details later on.

Moreover, it is understood that even though that the figures illustrates that the feed distribution arrangements 3 a, 3b in embodiments of the invention may be arranged behind operator location 9, it is generally understood that any other location of the feed distribution arrangement on the vehicle 1 may be utilized in further embodiments of the invention, e.g. as described in relation to fig. 15.

Fig. 3 illustrates an embodiment of the invention where the vehicle 1 is arranged to provide feed to animals in two rows of cages.

The feed distribution arrangements 3 a, 3b are arranged to provide feed portions to each their row 11a, 1 lb of cages. The cage rows 11a, lib faces each other with path pi between the cages were the vehicle can move to provide feed to the cages.

Accordingly, in the example of fig. 3, a first feed distribution arrangement 3a provides feed portions 12a to the first row 11a of cages lla l - 11 b n and the second feed distribution arrangement 3 a provides feed portions 12b to the second row 1 lb of cages 1 lb_l - 1 lb_n. This is provided by the vehicle 1 as the vehicle 1 moves along the path pi to drive between the rows of cages 11a, 1 lb so that the first feed distribution arrangement 3 a extend in over a feeding location of the cages of the first cage row 1 la , and the second feed distribution arrangement 3b extend in over a feeding location of the cages of the second cage row lib. Accordingly, when the respective feed distribution arrangement 3 a, 3b is above a feeding location of a cage, the supply arrangement 5 is controlled to provide a feed portion to the cage according to dosage data.

The at least two feed distribution arrangements 3 a, 3b are thus substantially oppositely directed so as to provide feed portions 12a to animals in cages 11 a_ 1 -1 la_n, 11 b_ 1-1 lb_n of the cage rows 11a, 1 lb at opposite sides of said vehicle (1).

Figs. 4a-4c illustrates different embodiments of an adjustable feed distribution arrangement 3 a, according to embodiments of the invention.

Fig. 4a illustrates an embodiment of the invention wherein the feed distribution arrangement 3a of the vehicle 1 (not illustrated in fig. 3a) comprises telescopic arms to provide movement and adjustment of the feed distribution arrangement 3a. The feed distribution arrangement may hence comprise a first lower telescopic part 13 for adjusting the height of an arm part 14 with a free end of the feed distribution arrangement 3 a.

The arm part 14 with the free end 15 may moreover comprise an adjustable part, in this embodiment a telescopic part to provide that the outlet 4a, 4b through which the feed portions can be delivered can be extend to reach in over a feeding location by adjusting the length of the telescopic part of the arm 14.

Fig. 4b schematically illustrates an embodiment of the invention where the feed distribution arrangement 3a may comprise a robotic arm 16 with a plurality of movement axes AX1, AX2. The robotic arm 16 thus comprises a plurality of arm parts/segments 16a-16c that can be rotated or in other ways adjusted in relation to each other, thereby moving a free end 15 of the feed distribution arrangement 3 a with the feed outlet 4a.

The robotic arm 22 may e.g. be of the type having a “shoulder” joint, an “elbow” joint, and a “wrist” joint. It is generally understood that the robotic arm may comprise any suitable number of joints such as at least three joints, e.g. at least four joints, e.g. at least five joints such as at least six joints. Accordingly, the robotic arm 22 may have at least two such as at least three, e.g. at least four, such as at least five degrees of freedom to allow segments of the arm 16 to pivot in different way according to the number of degrees of freedom, thereby controlling the orientation of the arm and thus the position of the outlet 4a for feed.

Fig. 4c illustrates an embodiment of the feed distribution arrangement 3a of the vehicle where the lower part of the feed distribution arrangement is rotatable arranged on a base 17 so that the arm can rotate around a substantially vertical axis to AX41 so as to move the outlet 4a from a feeding position to a non-feeding position (e.g. in over the vehicle) and vice versa.

It is naturally understood that the embodiments described in relation to figs. 4a-4c may be combined in a multitude of varieties within the scope of the invention. For example, a telescopic part as illustrated in fig 4a may be combined with one or more rotatable joints as described in relation to fig. 4b, as well as a rotation relative to a base as illustrated in fig. 4c may be combined with e.g. a telescopic part and/or the like.

Fig. 5 schematically illustrates a control system CS according to embodiments of the invention. As mentioned above, the vehicle comprises control system with a control unit 7. The control unit is configured to operate according to a program code so as to provide feeding according to dosage data DD.

The control unit 7 retrieves dosage data DD from a data storage DS and provides feed portions accordingly by controlling the supply arrangement 5. Hence, the vehicle 1 comprises a dosage feature so as to enable the control unit 7 to control how much feed is applied, e.g. per unit of time. This may e.g. be provided by knowing how much feed that is provided per unit of time when the supply arrangement 5 is turned on to supply feed. The dosage data DD comprises a plurality of dosage information associated with different animals and/or cages.

The control system may be arranged so that the control unit 7 may moreover communicate with control arrangements such as actuators, electric motors and/or the like of the respective feed distribution arrangement 3 a, 3b so as to control the respective feed distribution arrangement’s position by adjustment, see e.g. figs. 4a-4c. Also, the control unit 7 may receive information from sensors and/or other feedback related to the position of the feed distribution arrangements 3 a, 3b so as to provide the control of the feed distribution arrangements 3a, 3b. For example information from end-stop sensors, stepper motors, accelerometers, gyros and/or the like.

The control unit 7 may also, in embodiments of the invention receive information from a reader/ID arrangement IDA of the vehicle. The reader arrangement IDA is configured for receiving information from an identification unit IU external to the vehicle so that the control system CS is able to identify which cages the vehicle 1 is about to feed. The dashed box accordingly encloses parts that may be considered parts of the vehicle 1.

The identification unit IU is configured to provide information to enable identification of one or more cages containing animals to be fed by the vehicle 1, before the feeding is initiated. Accordingly, the control unit 7 is configured to control the feeding of animals by means of the information from the reader arrangement IDA to provide an individual feed portion to the one or more animals of a cage according to the dosage data DD. The reader arrangement IDA may e.g. comprise a RFID unit, an optical reader, a barcode scanner and/or the like, and the identification unit IU accordingly may comprise one or more RFID tags, an optical transmitter, a radio transmitter, one or more barcodes and/or the like.

The reader arrangement IDA thus receive data from the identification unit IU and provide the data to the control unit, the control unit 7 then selects proper dosage data DD from the data storage DS based on the received information so as to control the feed supply to the animals by e.g. transmitting instructions to the supply arrangement 5 and/or the feed distribution arrangements 3a, 3b to adjust these.

In embodiments of the invention, the vehicle 1 comprises a feeding position detection arrangement FPDA configured to determine, during a feeding session, the position of the vehicle along cage rows with animals to be fed. Accordingly, the supply of feed may be controlled by the control unit 7 based on this information from the position detection arrangement PDA. Embodiments of this are explained in more details later on.

In embodiments of the invention, the control unit 7 may also provide control signals to a separation controller 20, e.g. as described below.

Fig. 6 illustrates one embodiment of the invention wherein the vehicle (1) (not illustrated in fig. 6) includes a mechanical separation unit 18 located at the outlet 4a of the feed distribution arrangement 3 a. The mechanical separation unit 18 in this embodiment includes a movable part 19 which can be moved by a separation controller 20. The separation controller 20 may include an electric motor, a pneumatic device such as e.g. an actuator and/or the like.

The movable part can by the separation controller 20 be moved in over the outlet, thereby “cutting” the feed supply to provide a feed portion. The control unit 7 may thus in embodiments of the invention provide control signals 21 to the movable part 19, thereby assuring separation of a feed portion from a feed distribution arrangement.

The movable part 19 is in the present embodiment rotatable around an axis AX61 so as to move the part 19 in over the outlet to provide a cutting of feed. In other embodiments, the part 19 may e.g. be controlled by a linear actuator moving the part between two or more positions or the like.

The mechanical separation unit 18 may in other embodiments of the invention which is not illustrated be provided by providing abrupt movements of a part of the feed distribution device, such as a robotic arm part of the like, e.g. the arm part including the free end 15, thereby providing a cutting or hurling a feed portion to be delivered from the outlet 4a.

The mechanical separation unit 18 may generally also be provided and operated in other suitable ways.

It is understood that each of the feed distribution arrangements 3 a, 3b of the vehicle 1 may comprise a mechanical separation unit 18.

Fig. 7 illustrates an embodiment of the invention relating to controlling that the correct feed dosages and/or medication are provided to the correct animals. Fig. 7 illustrates a plurality of cages arranged in cage rows lla-lln. It is understood that the number of cages in each cage row as well as the number of cage rows lla-lln are only exemplary to explain the concept of the present embodiment(s) of the invention.

In the illustrated example, each cage row, for the sake of simplicity of explanation, comprises 8 cages but it is naturally understood that the number of cages in a row may vary in the respective stable where the animals may be sheltered and fed to e.g. comprise from e.g. 20 to several hundred mink cages such as e.g. 50, 100, 200, 300, 400 500 or even more cages in a row. The same applies for the number of rows in a stable which may vary from e.g. 3 to over 20 or over 40 or 60 or even more cage rows.

The dashed line 23 illustrates the expected route that the vehicle is expected to travel during the feeding. This may however be controlled by an operator of the vehicle in embodiments of the invention. Accordingly, to e.g. provide that the operator has more freedom in the control during feeding, e.g. to provide that the operator can take the vehicle to a re-fuelling station or to refill the storage 2, or to provide another intermediate task, without the risk of providing the wrong feed dosage to the respective animals, the vehicle 1 may comprise a reader arrangement IDA comprising a reader IDAS such as a sensor/receiver or any other suitable reading means. The reader IDAS may e.g. preferably be a wireless receiver such as a RFID receiver, a barcode reader, a Bluetooth receiver, a WIFI receiver and/or the like.

The movement direction MD indicates the main drive direction of the vehicle 1. The feed distribution arrangements (3 a, 3b) are configured to be substantially oppositely directed and suitable for providing feed to animals in cages of a path pl-pn at opposite sides of the vehicle (1). The feed distribution arrangements 3a, 3b may preferably be directed transverse to the main drive direction MD of the vehicle, at least during feeding, e.g. by adjustment.

Each row of cages 1 la-1 In is in the present example associated with an identification unit IUllal, IUllnl. Accordingly, the leftmost cage row 11a is associated with the identification unit IUllal, and the next, oppositely arranged cage row lib at the other side of the path pi at which the vehicle 1 is configured to drive is associated with the identification unit IUllbl. In a similar way the left cage row 11c of the second path p2 is associated with the identification unit IUllcl, and the next, oppositely arranged cage row lid of the second path p2 at which the vehicle 1 is configured to drive is associated with the identification unit IU1 ldl, and so on.

The control system CS of the vehicle preferably comprises information related to each identification units IU1 lal-IUl ln2 (such as a unique ID, a barcode or the like of the identification unit), thereby enabling that the control system CS may determine if the respective identification unit information is associated with dosage data and/or other information stored in a data storage of the vehicle and related to a group of cages that the vehicle 1 is configured to provide feed to.

The identification units IUllal, IUllbl of the cage rows 11a, lib is arranged at each their end of the respective cage rows 11a, lib. Hence, dependent on which of these that is detected by the reader IDAS, the control unit 7 is able to determine the orientation of the vehicle and thus the feed supply arrangements 3 a, 3b in relation to the cages, and thereby determine which dosages of feed that should be provided to which feed distribution arrangement according to dosage data DD so as to provide the correct amount of feed in accordance with the dosage data DD associated with the respective cage row.

The reader IDAS is preferably arranged at a front end side of the vehicle 1. Thus, if for example the reader IDAS detects the identification unit IUllal of the first row, the control unit 7 is able to determine that the first feed distribution arrangement 3 a should provide feed to the first cage row 11a, and the second feed distribution arrangement 3b should provide feed to the second cage row lib.

On the other hand, if for example the reader IDAS detects the identification unit IUllbl of the second row lib, the control unit 7 is able to determine that the first feed distribution arrangement 3a should provide feed to the second cage row lib, and the second feed distribution arrangement 3b should provide feed to the second cage row 11a.

It is understood that even though only one identification unit IUllal- IUllnl is provided to and associated with each cage row lla-lln in the present embodiment, two or more identification units IU may be provided to/associated with each cage row in further aspects of the invention (which are not illustrated), e.g. one at each end of the cage row, e.g. to provide more reliable detection and/or handling of dosage data DD. This may e.g. be provided by arranging an identification unit at each end of a cage row. Here, each identification unit may thus be used to determine the intended feeding direction/orientation of the vehicle.

Hence, when the reader IDAS detects the identification unit IUIIaf, the control system of the vehicle can identify dosage data DD associated with the first cage row I fa and moreover dosage data associated with the second cage row fib as well as the order of feeding can be determine based thereon.

In embodiments of the invention, when for example the reader IDAS detects the identification unit IUllal associated with the first and second cage row 11a, it can identify the dosage data DD associated with the first cage lla l of that row and the first cage 1 lb_l of the second cage row, and thus the relevant order of feeding to provide the correct dosage of feed to the cages of the first and second cage rows 11a, lib.

In a similar manner, if the reader IDAS detects the identification unit IUllbl associated with the second cage row 11a, it can also identify the dosage data DD associated with the last cages 11 a n, 11 b n of the first and second cage rows 11a, 1 lb, and thereby know the order of feeding to provide the correct dosage of feed.

Accordingly, dependent on which identification unit(s) the reader IDAS detects, the order of feeding according to dosage data may be relevant to be switched to assure that the correct feed dosage is provided to the correct cage in a row.

The operator (or in the event that the vehicle is substantially full automatic, the vehicle), can after ended feeding of two cage rows drive to the second path p2 or another path such as the third path p3 or fourth path, path n, and similar feeding may be provided as described above.

Accordingly, the control unit 7 of the vehicle is able to control the feeding of animals in the cages of the rows 1 la-1 In based on the information retrieved from the reader to provide a correct, predefined, individual feed portion to the animals in the cages according to the dosage data DD.

An example of the dosage data DD to be stored in a data storage DS, e.g. as explained above in relation to e.g. figs. 5 and 7 is shown in the below table, Table 1. The dosage data DD is in the below Table 1 provided in a lookup table, but it is understood that any suitable data syntax and/or data representation may be utilized in embodiments of the invention to provide dosage data DD.

Table 1 - Dosage data DD representation

As illustrated in table 1, each cage in a row is represented in the table with a reference 11 followed by an underscore and a number. The cage row reference is represented by a row-reference in the columns of the table, in this case references 1 la-1 In respectively (as in e.g. fig. 7).

For example, the dosage data DD of the first cage 111 of cage row 11a (referred to in fig. 7 as “lla l”) is the reference D al. In a similar way, e.g. the dosage DD data related to the last cage ll_n in the first cage row 11a (referred to in fig. 7 as “11 a n”) is the data reference D an. As a further example, the dosage data DD

associated with the fifth cage in the fourth cage row 1 Id is the reference D_d5 and so on.

Hence, in relation to fig. 7, if the vehicle 1 starts to enter the second path p2 from the lower end of the rows so that the vehicle first meet the cages lien, 1 ld_n of cage rows 11c, lid, the reader IDAS detects the identification unit IUlldl. Accordingly, the control unit 7 of the vehicle 1 receives this information and collects dosage data DD from the data storage such as from a table as e.g. table 1 above. Here, the control system can then determine that the relevant data is found in columns 11c and 1 Id of the table, and due to the identification unit IUlldl is detected as opposed to the identification unit IUllcl, the control system will start from the lower end of these columns of table 1 and work its way upwards through the dosage data for these cage rows 11c, lid during the feeding of the cages in the rows.

Hence, the control system can identify that the feed distribution arrangement 3b will need to supply the feed to the row 11c, and that this should be done with the lowermost dosage data D_cn of the table, and subsequently the dosage data D_c7, then D_c6 and so on until all the data of a row in the table has been used. If the vehicle instead entered the path 2 from the other end, the control system will detect the identification unit IU1 lcl and thus identify that the other feed distribution unit 3a should provide the feed to the cage row 11c, and that this should be provided by starting from dosage data D el, then D_c2 for the next cage in the row 11c and so on.

Thereby, the control unit control 7 can be is configured to control the feeding of animals based on the information from the reader arrangement IDA to provide an individual dosage of feed to the animals of cages according to the dosage data DD. And this may as described above in embodiments of the invention be possible no matter the direction of movement of the vehicle in a path pl-pn.

For example to provide that the vehicle may supply feed to a single cage row such as the last cage row lln, this cage row may be supplied with two associated identification units IUllnl, IUlln2. Thereby, the vehicle may be able to select the feeding order and correct feed distribution arrangement 3 a, 3b for providing the feed, dependent on from end the vehicle start the feeding. E.g. in this embodiment, the reader arrangement may comprise a further reader IDAS (not illustrated) at the other side of the vehicle 1 ,to provide detection of a cage row no matter from which end of the row the vehicle starts the feeding. This may also be relevant in embodiments of the invention where each cage row 11 a-lln in a path pl-pn is associated with identification units at opposite ends.

It is understood that in another embodiment which is not illustrated, each of the cages may be supplied/associated with each their identification unit IU. Hence, the reader(s) IDAS may continuously detect these identification units IU and select dosage data from the data storage accordingly.

The dosage data DD, e.g. the dosage data D al - D_nn of table 1 above, may in embodiments of the invention comprise information that enable the control unit 7 to determine the amount of feed and/or medication to be provided to one or more animals in the different cages.

In embodiments of the invention (not illustrated), the vehicle 1 may also comprise a medication storage that comprise a dosage controller to be controlled by the control system.

Each cage row 1 la-1 In may, in embodiments of the invention, be uniquely identified based on input from an identification unit IUllal, IUllnl.

In embodiments of the invention, an adjustment system 30 may be provided at the vehicle to help an operator with keeping the right course and/or to adjust the feed distribution arrangements 3 a, 3b towards or away from a cage row so that the outlets 4a, 4b of the feed distribution arrangements 3 a, 3b are kept in a position during feeding that will result in supplying feed portions at a proper feeding location.

In one embodiment, this may be provided by an indicator such as a visual and/or audio indicator. For example, a guiding line or another visual guidance may be provided to the floor or base on which the vehicle drives. An operator and/or a sensor on the vehicle 1 may navigate according to this. This information may e.g. be used to provide warnings to an operator and/or a sideways guidance steering of the vehicle (e.g. by a steering guide such as a motor connected to the steering means of the vehicle to control the steering means in response to input from sensors) of the vehicle to help navigating the vehicle.

The time/act from substantially where the vehicle starts providing feed to a first cage in a cage row (or drives to that cage after registering an identification unit), and until feed has been provided to that whole cage row according to dosage data feeding session may be referred to as a feeding session. Hence, in e.g. fig. 7, five feeding session will be needed, one for each path p2-pn, and moreover a further feeding of the last cage row 1 In.

A feeding session may thus be started when registering identification unit IUllal, and ended when feed has been provided to cages 1 la_n, 1 lb_n.

It is generally to be understood that the control system CS in embodiments of the invention may be configured so that it is registered when feed has been supplied to a cage or cage row, so that of an operator tries to provide additional feeding to the same cage or cage row within a predetermined period, the feed supply is rejected by the control system. This may be provided by tracking when feed has been supplied to a cage, e.g. by a time stamp or the like, and when the control system register, e.g. based on input from an identification unit and/or a feeding position detection arrangement as described in more details later on, that feed is about to be supplied to a cage or cage row that recently received feed, feed is not provided to this cage again until a predetermined time is lapsed, e.g. at least 6 hours such as at least 12, e.g. at least 24 hours. The control system CS may this comprise timer functions, calendar information and/or the like, which may be used by the control system to provide time stamps and/or timer functions to determine when a new feeding to a cage or cage row may be provided.

In fig. 8, an embodiment of an adjustment system 30 according to embodiments of the invention is schematically illustrated. This may be especially relevant during a feeding session. The feed distribution arrangements 3 a, 3b of the vehicle are preferably each adjustable sideways, e.g. compared to a reference Ref such as a common reference. For example, a side or a vertical centre-plane of the vehicle 1 may be an appropriate reference Ref.

The distance D81 between oppositely arranged rows 11a, 1 lb of cages in a path is in embodiments of the invention known by or directly or indirectly represented in the a control code of the vehicle which control code is executable by the control unit 7. The distance D81 may vary from stable to stable and/or cage row to cage row. This information may be stored in a data storage of the vehicle 1 (not illustrated in fig. 8).

For example, reader IDAS as described above (not illustrated in fig 8) may be configured to detect an identification unit e.g. as described above and/or a stable identifier which may provide information to the control unit 7 regarding which stable with cages that the vehicle 1 is about to enter and/or exit. This information may be utilized to determine/identify a represented distance and/or other relevant in a data storage to have a valid reference for adjusting the vehicle by a steering arrangement to control the course of the vehicle and/or outlet position 4a, 4b by adjusting the feed distribution arrangement(s) 3 a, 3b.

Hence, by knowing this distance D81 for a respective cage row, or derivatives thereof, it is possible for the control system to determine the proper, ideal position (given by distance D83) of the respective outlet 4a, 4b of the feed distribution arrangements 3 a, 3b so that the feed portions that are dosed according to the dosage data DD is provided properly at a feeding location associated with a cage, e.g. at the top of the cage (in which case the respective outlet 4a, 4b preferably is arranged above the cage during feeding).

The ideal distance D83 of the vehicle relative to a cage row may be stored in a data storage (not illustrated in fig. 8) as e.g. an ideal, predefined distance.

In embodiments of the invention, the adjustment system 30 comprises one or more sensor devices 26 that is/are able to determine the distance or a derivative of this from the vehicle 1 to a cage row. This sensor device 26 may be located in any suitable position and comprise e.g. an optical sensor, a capacitive or inductive sensor and/or any other suitable sensor.

In the present example, this sensor device 26 determines the present distance D82 from a part of the vehicle to a cage row 11a from the vehicle 1 and this information 27 is provided as input to the control system, preferably continuously during feeding.

Based thereon, the control system (by e.g. a control unit 7) is able to determine if the adjustable feed distribution arrangements 3a, 3b and/or the vehicle course needs to be adjusted to provide feed portions properly.

In the present example, the ideal, predefined distance may be D83, and as can be seen, adjustment is thus needed since the detected distance D82 between a side part of the vehicle and the cage row is larger than the ideal distance D83.

In advantageous aspects of the invention, if the control unit 7 determines, based on the information 27 such as distance representative information from the sensor device 26, that e.g. the position of an outlet 4a, 4b need to be adjusted (e.g. due to that an operator controls the vehicle 1 to get a bit out of course compared to the ideal course by turning the vehicle a bit), the control system of the vehicle may retract or extend one of the outlets 4a, 4b, e.g. compared to a detected distance variation D84, and the other outlet may be adjusted accordingly.

In this example, the control unit 7 may transmit control signals to an adjustment arrangement Aa, Ab such as an electric motor, an actuator or the like (not illustrated in fig. 8) of the feed distribution arrangements 3 a, 3b to extend the outlet 4a further away from the vehicle 1 and retract the outlet 4b towards the vehicle 1 so that the feed portions are delivered at the correct position.

Generally, if one of the outlets 4a, 4b should be moved in a direction towards the vehicle 1, the other outlet should most often be moved further away from the vehicle to keep the outlets in the correct feeding position in that the cage rows are most often parallel arranged. In embodiments of the invention, the distance that one of the outlets 4a, 4b is retracted may correspond to the distance the other should be moved extended/moved further away from the vehicle 1.

In the example of fig. 8, the outlet 4a may be extended a distance substantially corresponding to D84 away from the vehicle 1, and the outlet 4b may thus be moved a distance corresponding to D84 towards from the vehicle 1. This may e.g. be calculated by the control unit 7 of the control system by subtracting the detected distance D82 from the ideal distance D83 and/or or by any other suitable calculation.

After a feeding session is ended, the feed distribution arrangements 3 a, 3b may be adjusted to a position so that the feed distribution arrangements 3 a, 3b are not in the way when the vehicle drives around, e.g. the outlets may be retracted or in other ways adjusted to a position where they do not extend from the vehicle.

Fig. 9 illustrates an embodiment the operation of the adjustment system 30. The control unit 7 receives information 27 from a sensor 26. The control unit 7 processes this information according to stored data related to the ideal distance which may either be directly stored in a data storage of the vehicle 1 or determined by the control unit based on information of the distance D1 between oppositely arranged cage rows 11a, lib (see e.g. fig. 8), e.g. by using information from a look up table that comprise relevant distance information that can be identified based on input from an input sensor and/or a stable identifier as explained above.

In test Tl, the controller determines (test TE91) if the detected distance D2 substantially corresponds to an ideal, predefined distance D3. If it does, a predefined deviation such as a predefined percentage of the ideal distance e.g. ±5% or the like, may be allowed without initiating an adjustment of the outlet. If the detected distance D2 is ok, the control unit 7 does not initiate adjustment. However, if the detected distance D2 is not OK, the control unit 7 determines (tests TE92, TE93) if the detected distance D2 is larger or smaller than the ideal distance D3. If the detected Distance D2 is larger (test TE92), the control unit 7 determines (step S91) the adjustment to be provided to e.g. adjust the course of the vehicle and/or the position of the outlets 4a, 4b by means of an adjustment arrangement 5a, 5b, and in step S92, this adjustment is implemented.

If instead the detected distance is smaller (test TE93) control unit 7 determines (steps S93) the adjustment to be provided to e.g. adjust the course of the vehicle and/or the position of the outlets 4a, 4b by means of an adjustment arrangement 5a, 5b, and in step S94, this adjustment is implemented.

If neither of the tests TE92, TE93 are positive, for example an operator may on his/her own motion have provided proper adjustments, and thus, the control unit return to test TE91 before automatic adjustment is provided.

It is understood that in embodiments of the invention, if adjustment is found needed due to input from a sensor 26, guidance information may be provided in a display and/or by other visual indication means such as lights and/or by audio to an operator of the vehicle who steer the vehicle so as to alert the operator. Thereby the operator may correct the course of the vehicle based on the information from one or more sensors 26. In this embodiment, automatic adjustment provided by the control unit 7 may thus not be necessary. Visual indications may e.g. comprise arrow indications or the like that indicate which way to turn the vehicle so as to provide proper adjustment of the outlets, and e.g. also an indication that indicate that the course is OK. This may e.g. be based on Tests TE91-TE93 of fig. 9.

Fig. 10 illustrates an embodiment of a supply arrangement 5 according to embodiments of the invention. The supply arrangement 5 in this embodiment comprises two pumps 5 a, 5b (one for each feed distribution unit) where the first pump 5 a provide feed supply from the feed storage 2 to the first feed distribution arrangement 3 a, and the first pump 5 a provide feed supply from the feed storage 2 to the second feed distribution arrangement 3b. Hence, the control system can (by e.g. the control unit 7) control feed to the respective feed distribution arrangement 3a, 3b by controlling the pumps 5 a, 5b according to dosage data DD. The pumps 5 a, 5b may thus in embodiments of the invention be able to be turned off (stopped) and on (started) individually by the control unit, the amount of feed supplied may be varied by controlling the pumping speed of the pumps 5a, 5b and/or the like. The pumps provide feed through a feed guide 6a, 6b such as a hose and/or or pipe inside the respective feed distribution arrangements 3a, 3b and/or attached to the outside of the respective feed distribution arrangements 3a, 3b, thereby supplying feed portions through the outlets 4a, 4b.

Fig. 11 illustrates another embodiment of a supply arrangement 5 according to embodiments of the invention. The supply arrangement 5 in this embodiment comprises one pump 5 a where the first pump 5 a provides feed supply from the feed storage 2 through a supply 31. The supply is divided into two feed guides 6a, 6b each provided with a feed controller 5cl, 5c2 such as a valve or the like that can be adjusted to control the amount of feed supplied through the respective feed guide 6a, 6b. The Control unit 7 can then control the pump by a control signal, and the individual feed controller 5c 1, 5c2 according to dosage data DD so as to supply feed dosages through the outlets 4a, 4b.

The supply arrangement may e.g. be controlled by means of one or more encoders that provide control signals such as pulses to the supply arrangement 5. By knowing how much feed that is provided per pulse, the feed supply and dosage of feed may be controlled accordingly, it is however generally to be understood that the supply arrangement may be controlled in any other suitable way so as to control the feed supply.

It is generally understood that the feed distribution arrangements 3 a, 3b in embodiments of the invention may comprise separation units 18 as described above, e.g. in relation to fig. 6.

It is generally understood that the control unit 7 of the control system may comprise any suitable data processor or data processors, data storages, and the like to provide the control of the vehicle 1 as explained in this document. It may in embodiments of the invention comprise a Programmable Logic Controller (PLC) for executing a PLC code or another suitable kind of software code, it may comprise one or more data processors that are configured to execute a software code designed in a suitable programming language such as a general purpose programming language as e.g. ”C”, ’’C++”, ”C#” and subsequently compiled code and/or the like.

The control system may in embodiments of the invention comprise several “sub control units” (not illustrated) each handling a part of the control of the vehicle 1 as described in this document. For example, a first sub control unit may handle the supply of feed according to dosage data, another sub control unit may provide adjustment by adjustment system 30 to control that the outlets 4a, 4b are in the correct position during feeding, a third sub control unit may handle steering of the vehicle (in embodiments of the invention where the vehicle is a motorized substantially full automatic feeding vehicle and/or the like. It is understood that the term control unit 7 may refer to the common control provided by such sub control units.

The pump(s) 5a, 5b and/or feed controllers 5cl, 5c2 may in embodiments of the invention be controlled so that the feed distribution arrangements 3 a, 3b are configured to provide feed simultaneously according to dosage data DD.

As previously explained, the vehicle 1 may comprise a feeding position detection arrangement FPDA. This may comprise a position determination part PDP such as sensor, e.g. a counter such as a tachometer, for counting the revolutions on wheels 10 or associated parts thereof (see fig. 1 of the vehicle). The position determination part PDP may also or alternatively comprise sensors such as an optical sensor for receiving a signal by e.g. transmitting light that is reflected by a reflector thereby providing position information, it may comprise a RFID system and/or the like.

In embodiments of the invention, the position determination part PDP may also or alternatively comprise a local positioning system (LPS) in the form of a navigation system that provides location information within the coverage of a network, including three or more signalling beacons of which the exact position is known. The beacons may have a rather limited range and may e.g. include cellular base stations, Wi-Fi access points, and/or radio broadcast towers e.g. inside the stable/building comprising the cages with animal to be fed by the vehicle.

Based on the information from the position determination part PDP, a control system of the vehicle may determine when to allow feeding of animals in a cage, e.g. during movement of the vehicle 1. Hence, the position detection arrangement FPDA may be configured to provide information that enables the control system to determine when to start and stop a feeding, when to switch to a new dosage according to the dosage data and/or the like.

Such technologies may thus be relevant in embodiments of the invention wherein the vehicle is a motorized, full automatic feeding vehicle, and also in embodiments where the vehicle is configured so that an operator controls the movement of the vehicle 1 during and/or between feeding.

In the event of the vehicle 1 being a motorized, full automatic feeding vehicle, the vehicle may also comprise sensors for preventing impacts with persons or furniture, building equipment and/or the like. Such sensors may be coupled to the drive system of the vehicle to automatically interrupt movement of the vehicle if an obstacle is detected.

Fig. 12 schematically illustrates an embodiment of a feeding position detection arrangement FPDA relating to embodiments of the invention where a feeding position detection arrangement FPDA of the vehicle (not illustrated in fig. 1) may provide position information to determine when to provide a feed dosage according to dosage data. This is especially relevant during a feeding session.

The feeding position detection arrangement FPDA comprises cage setup information CSI which for example may comprise distance data that comprises information regarding the distance between the cages 11 a_ 1-1 la_n in a row 1 la of cages.

If a stable comprises multiple rows of cages, cage setup information CSI for each cage and/or cage row may advantageously be represented in a data storage of the vehicle.

Accordingly, if for example an identification unit as described above identifies the row of cages 11a, the cage setup information CSI relating to that row 11a may be identified.

The distance data may e.g. comprise • a first distance that identifies the width D1 of a cage, • a second distance D2 that identifies distance between acceptable feed locations FL to receive a dosage of feed, • a third distance D3 between two cages spaced apart with a distance D4, and/or • a fourth distance D4 that defines the distance of a spacing between cages.

For example, a mink stable may comprise multiple cage rows of cages as described above. These cage rows may however differ from each other and e.g. comprise cages of different dimensions, spaced apart (distance D4) cages that are spaced apart in order to provide space for roof support or other cover supporting building structures and/or the like. Often, a mink stable may comprise a plurality of row sections (e.g. cages 1 la_l - 1 la_6, 1 la_7 - 11 a_ 12 and 11 a_ 13 - 1 la_n respectively) where a row section of the rage row is spaced apart from the next row section with a distance D4 as illustrated.

Thus in order to provide an at least semi-automatic automatic feeding according to dosage data, the control system of the vehicle 1 may consult the cage setup information CSI and provide dosages based thereon.

For example, after a first feed portion is provided to the feeding location FL of the first cage llal, the system of the vehicle knows that the distance to be travelled before the next feeding portion should be provided is D2. The position determination part PDP may thus provide information regarding that the desired distance has been travelled, and thus, the control system knows when the next dosage of feed is to be provided. When the distance D2 has been travelled five times, the next distance to be travelled is the distance D3 (which in the present embodiment is the distance D2+D3) before supplying a new feed dosage according to dosage data, and afterwards, the distance to be travelled is D2 for the next five cages again and so on.

As a further alternative or in addition to the above mentioned embodiment(s) of the feeding position detection arrangement FPDA, the cages may be associated with each their associated identifier (e.g. RFID tag, Barcode and/or the like) so that when this is detected by a sensor of the vehicle (not illustrated in fig. 12), a feed portion is provided.

It is naturally to be understood that other information such as the distance from a detected identification unit (not illustrated in fig. 12) to a feeding location FL may in embodiments of the invention also be utilized to get the vehicle to the feeding location of the first cage in the row.

Fig. 13 schematically illustrates an embodiment of dosage data DD according to embodiments of the invention.

The dosage data in this embodiment comprises dosage data DDRl-DDRn relating to different groups of animals, e.g. animals in cage rows, where these cages are arranged in different stable buildings. The control system of the vehicle 1 may thus have access to Dosage Data relating to each cage row/group in each stable, e.g. as provided as explained in relation to fig. 7 above. Hence, when the control system detects that the vehicle 1 enters a new stable, the control system is able to identify the dosage data group DDS1, DDS2, DDSN associated with the respective stable. Then, when e.g. an identification unit (e.g. as explained in relation to fig. 7) provide information of a cage row, the dosage data DDR associated with that cage row may be identified.

It is understood that dosage data groups for the stables may also be implemented in embodiments of the invention by that the cage rows are identified without an initial identification of the stable.

Fig. 14 illustrates by a conceptual flow chart an embodiment of the operation of the control system of the vehicle 1 according to embodiments of the invention.

In test TE141, the control system tests if an identification unit IU is detected. This may e.g. be provided according to the description above relating to e.g. fig. 7.

If an identification unit is detected and acknowledged (for example by the control system that the identification unit is associated with cages that the vehicle is configured to provide feed to according to dosage data), the control system in step S141 identifies the associated cage row(s) (ID CR), feeding order (FORD) for the respective row and a desired feeding position(s) (FP). This may be done as e.g. explained above. For example, the feeding position may e.g. be determined by consulting cage setup information CSI as described above.

In test TE141 (FPOS?), the control system determines if the vehicle 1 has been moved to a feeding position (e.g. by an operator if the vehicle is operator controlled or by a steering feature if the vehicle is a full automatic vehicle), to provide a feed dosage to a cage of the identified cage row. This may e.g. be determined by a feeding position detection arrangement FPDA as described above. If the desired feeding position has not yet been reached, the control system awaits till this criteria has been complied with.

When the vehicle 1 is determined by the control system to be in a proper feeding position, the control system may test (Test TE143 DA ADJ?) if the feed distribution arrangements 3a, 3b should be adjusted, e.g. as explained in relation to figs. 4a-4c and/or figs. 8 and/or fig. 9. The outlets of the feed distribution arrangements 3a, 3b may thus be adjusted (step SI43 ADJ DA) or at least corrected into a feeding position, see e.g. the description to figs. 4a-4c and figs. 8 and/or 9. This may however in embodiments of the invention e.g. also have been done before test TE142 and/or continuously during the operation from e.g. step S141 and e.g. until the feeding of a cage row is done.

When the control system determines that the position of the outlets 4a, 4b is OK, a feeding according to dosage data DD is initiated. Hence, the control system controls (step S142 - Feed) the feed distribution by the feed distribution arrangements 3 a, 3b according to dosage data DD, to provide an appropriate feed portion.

The control system then identifies (step SI44 - Next Dos) what the dosage for the next cage/feeding location should be, e.g. as explained in relation to figs. 7 and/or 13, and identifies what the next feeding position (Step S145 - ID next FP) should be, e.g. by means of a feeding position detection arrangement FPDA described above.

Then the control system tests (test TE144 - FDONE?) if the feeding of cage rows identified in step S141 is done. If for example the system determines, based on test TE144, that the last feed dosage for a cage row has just been provided, the system return to test TE141 to be ready e.g. for a new feeding of new cage rows, and if not, the system return to step TE142 to be ready to provide feed to a new cage/feeding location in the cage rows when a new desired feeding location is reached.

It is to be understood that in preferred embodiments of the invention, at least the tests TE142 and TE144 and steps S141, S142, S144, SI45 may be provided individually for each of the respective feed distribution arrangements 3 a, 3b so as to individually control the feed supply to the animals in the respective cages for each of the feed distribution arrangements 3 a, 3b by the control system. Hence in embodiments of the invention, for each feed distribution arrangement 3 a, 3b it is determined if the correct feeding position has been reached, if a whole cage row has been feed and/or the like, and based thereon feed portions are provided by the respective feed distribution arrangements. Also, the next feed dosage to be provided by means the feed distribution arrangements is identified for the respective feed distribution arrangement, as may the next feeding position be identified individually for each feeding arrangement. Hence, e.g. cage row setup and dosage data for the respective cage row may be taken into consideration.

The position of the outlets 4a, 4b with respect to the cages (to determine if the outlets should be moved towards or further away from the respective cages before delivering a feed portion) may in embodiments of the invention be determined for just one feed distribution arrangement, and a common adjustment of the outlet positions may be provided based thereon, see e.g. the description to figs 8 and 9 above.

Fig. 15a and 15b illustrates further embodiments of the invention relating to the location of the feed distribution arrangements 3a, 3b on the vehicle. In these embodiments, the vehicle 1 comprises feed distribution arrangements 3a, 3b for supplying feed to animals such as minks in a plurality of cages, where the feed distribution arrangements or at least their outlets are arranged in front of/ ahead of the operator location 9 such as a seat or standing place. The operator may thus sit or stand at the operator location 9 and control e.g. the movement of the vehicle during feeding while monitoring the feed distribution arrangements 3a, 3b and/or their outlets 4a, 4b in relation to cages (not illustrated in fig. 15a or 15b) and/or the like during feeding and preferably navigate the vehicle and/or start and stop feed supply accordingly. Reference FR refers to the vehicle front in the form of the part of the vehicle that is in front when the vehicle 1 moves in its main drive direction.

In fig. 15a, the feed distribution arrangements are arranged at the front end part of the vehicle. Preferably, the feed distributions arrangements or at least their outlets 4a, 4b, at least during feeding, are arranged closer to the front end of the vehicle than the operator location. This may e.g. be provided by adjustment of the feed distribution arrangement as described in this document. Preferably, in this embodiment, at least the outlets 4a, 4b, are configured to be arranged, during feeding, at the front half, such as the front fourth, e.g. the front eighth of the vehicle.

In fig. 15b, the operator location 9b is at the rearmost end (e.g. the rear most half such as the rearmost third) of the vehicle 1 compared to the front end FR of the vehicle 1. Here, at least the outlets 4a, 4b and preferably also other parts of the feed distribution arrangements 3 a, 3b are arranged, at least during feeding, closer to the front end FR of the vehicle 1 than the operator location 9.

By the term “closer to the front end” or “ahead of an operator location” in relation to the location of the feed distribution arrangements or their outlets may be understood that the outlets 4a, 4b, during feeding, are arranged in a plane PL (either a common plane as illustrated or each their plane (not illustrated)) transvers to a longitudinal direction LD of the vehicle, where the plane(s) PL1 is/are closer to the front end plane FRPL of the vehicle compared to the operator location 9. The longitudinal direction LD extends substantially in the direction of the main drive direction MD of the vehicle 1.

Fig. 15b moreover illustrates a further embodiment of the invention wherein the vehicle comprises an operator controllable part (8a) for starting and/or stopping the feed supply. This may be provided by a touch screen, a button, a pedal and or the like. For example, if it is a pedal, when pressed away from the operator by the operator pressing the pedal with his/her foot, the supply arrangement is configured to provide feed in accordance with dosage data as e.g. described above, whereas when the pedal is released, the feeding is stopped.

The embodiments of fig. 15a-15b may naturally in embodiments be combined with any suitable embodiment or embodiments described in this document, for example the adjustment and/or detection described above, e.g. in relation to figs. 8 and/or 12 so as to automatically adjust e.g. the position of the feed distribution units and/or the feed supply.

In general, it is to be understood that the present invention is not limited to the particular examples described above but may be adapted in a multitude of varieties within the scope of the invention as specified in e.g. the claims. For example, storage and/or usage of the dosage data and/or other information may be provided in a multitude of other suitable ways to facilitate the handling of the individual control of feed supply by means of the feed distribution arrangements.

Claims (30)

1. A vehicle (1) for supplying of feed to animals in a plurality of cages, such as minks in cages, wherein the vehicle (1) comprises a feed storage (2) for storing feed (6) to be supplied to said animals, a control system comprising a control unit (7) for controlling the supply of feed according to dosage data (DD), at least a first and a second feed distribution arrangement (3 a, 3b) wherein each of said feed distribution arrangements (3 a, 3b) is configured for guiding feed of said feed storage (2) to an outlet (4a, 4b) of the respective feed distribution arrangement (3a, 3b) so as to supply feed to said plurality of cages, and a supply arrangement (5) for supplying the feed (6) to said feed distribution arrangements (3a, 3b) from said feed storage compartment (2), wherein said control system is configured to control said supply arrangement (5) so as to individually supply feed to said plurality of cages in accordance with said dosage data (DD).

2. A vehicle (f) according to claim f, wherein said feed distribution arrangements (3 a, 3b) are suitable for providing feed to animals in cages at opposite sides of said vehicle (f), preferably by the feed distribution arrangements being substantially oppositely directed at least during feeding.

3. A vehicle (1) according to claim 1 or 2, wherein said feed distribution arrangements (3 a, 3b) are configured to provide feed simultaneously.

4. A vehicle (1) according to claim 1, 2 or 3, wherein said supply arrangement (5) comprises one or more feed transportation devices (5a, 5b,), such as one or more pumps and/or a screw conveyors.

5. A vehicle (1) according to any of the preceding claims, wherein said supply arrangement (5) comprises a first feed transportation device (5 a) for supplying feed (6) to the first feed distribution arrangement (3a), and a second feed transportation device (5b) for supplying feed (6) to the second feed distribution arrangement (3b).

6. A vehicle (f) according to any of the preceding claims, wherein said vehicle (f) comprises an operator location (7), such as a seat or standing place, and wherein said vehicle (f) comprises one or more operator controllable parts (8, 8a) such as steering arrangements, preferably at least including a steering wheel for controlling movement direction and/or a speed control for controlling the propulsion speed of the vehicle (f).

7. A vehicle (f) according to any of the preceding claims, wherein said vehicle (1) is configured to be operator controlled so that an operator is capable of controlling at least partly the movement of the vehicle during said individual feeding and/or when moving said vehicle (f) to a next group of cages which should be supplied with feed (6) from the storage (2).

8. A vehicle (f) according to claim 6 or 7, wherein said control system is configured to control the supply of feed so as to deliver feed portions according to dosage data (DD) at a plurality of feeding locations (FL) while an operator controls the vehicle so as to move the vehicle in a main drive direction of the vehicle, which feed supply is configured to be provided based on input from a feeding position detection arrangement (FPDA).

9. A vehicle (f) according to any of the preceding claims, wherein said vehicle (f) comprises a reader arrangement (IDA), preferably comprising one or more readers (IDAS), for receiving input from identification units (IU, IUal-IUan), which identification units (IU, IUal-IUan) are placed stationary with respect to said cages and are configured to provide information to enable identification of one or more cages containing animals to be fed by the vehicle (1), and wherein said control system is configured to control the feeding of animals based on said information from the reader arrangement (IDA) so as to select and provide an individual dosage of feed to said one or more animals of said cages in accordance with said dosage data (DD).

10. A vehicle (1) according to any of the preceding claims, wherein said control system is configured to select a feeding order for providing feed to predefined groups of cages, preferably based on said input from identification units (IU, IUal-IUan).

11. A vehicle (1) according to any of the preceding claims wherein said control system is configured to select which feed distribution arrangement (3 a, 3b) that should be used for providing feed to animals in a first predefined group of cages, and which feed distribution arrangement that should be used for providing feed to animals in a second group of cages (3a, 3b), preferably based on said input from identification units (IU, IUal-IUan) according to claim 9 or 10.

12. A vehicle (1) according to any of the preceding claims, wherein said dosage data (DD) comprises a plurality of dosage information (D al, D_nn, DDSl-DDSn) associated with different cages.

13. A vehicle (1) according to any of the preceding claims, wherein said control system is configured to identify first dosage data (DD) associated with a first row of cages (1 la-1 In), and second dosage data associated with a second row of cages (lla-lln), and wherein said control system is configured to control said supply arrangement (5) so as to individually supply feed to said first and second rows of cages in accordance with said identified first and second dosage data (DD).

14. A vehicle (1) according to any of the preceding claims, wherein one or more of said at least two feed distribution arrangements (3a, 3b) are adjustable and preferably comprises an adjustable arm.

15. A vehicle (1) according to any of the preceding claims, wherein one or more of said feed distribution arrangements (3 a, 3b) comprises a robotic arm with two or more such as three, four or five movement axes.

16. A vehicle (1) according to any of the preceding claims, wherein one or more of said feed distribution arrangements (3 a, 3b) comprises one or more telescopic structures for adjusting the height of the respective feed distribution arrangement and/or for adjusting the length of a part of the respective feed distribution arrangement with said outlet (4a, 4b).

17. A vehicle (1) according to any of the preceding claims, wherein said feed distribution arrangements (3 a, 3b) each comprises a hollow structure such as a pipe and/or hose for guiding said feed to said outlets (4a, 4b).

18. A vehicle (1) according to any of the preceding claims, wherein said vehicle (1) comprises one or more separation units (18) such as mechanical separation units, e.g. including a movable part (19), which one or more separation units (18) are configured to separate a feed portion from said feed distribution arrangements in response to a control signal from said control system.

19. A vehicle (1) according to any of the preceding claims, wherein said vehicle (1) comprises a feeding position detection arrangement (FPDA) configured to determine and/or estimate the position of the vehicle (1) along a row of cages (1 la-1 In), and wherein said control system is configured to determine when feed portions should be delivered according to information (CSI) from said feeding position detection arrangement (FPDA).

20. A vehicle (1) according to claim 19, wherein said information (CSI) comprises distance information relating to the distance between cages in a row (1 la-1 In)

21. A vehicle (1) according to any of the preceding claims, wherein said feeding position detection arrangement (FPDA) comprises a position determination part (PDP) such as a sensor or a tachometer, for determining the position of the vehicle during a feeding session.

22. A vehicle (1) according to any of the preceding claims, wherein said control system of said vehicle comprises an adjustment system (30), which adjustment system (30) is configured for estimating the distance (D82) between a part of said vehicle (1) and one or more cages and/or another cage position representative structure during feeding, and adjust the position of said outlets (4a, 4b) towards and/or away from said cages during feeding.

23. A vehicle (1) according to claim 22, wherein said adjustment system (30) comprises: a sensor (26) for estimating the actual distance (D82) between said vehicle (1) and one or more cages and/or another cage position representative structure during feeding, and information regarding the desired predefined distance (D83), wherein said adjustment system (30) is configured to adjust the position of said outlets (4a, 4b) based on the actual distance (D82) and said desired, predefined distance (D83).

24. A vehicle (1) according to any of the preceding claims, wherein said control system is configured to control the supply of feed so as to deliver feed portions according to dosage data (DD) at a plurality of feeding locations (FL) which feed supply is configured to be provided based on input from a feeding position detection arrangement (FPDA).

25. A vehicle (1) according to any of the preceding claims, wherein at least said outlets (4a, 4b) of the respective feed distribution arrangement (3 a, 3b) are configured to be arranged ahead of an operator location (9) of said vehicle, at least during feeding.

26. A vehicle (1) according to any of the preceding claims, wherein said vehicle (1) comprises an operator location (7), such as a seat or standing place, and wherein said vehicle (1) comprises one or more operator controllable parts (8) wherein at least one of said one or more operator controllable parts (8a) comprises a part for starting and/or stopping the feed supply.

27. A vehicle (1) according to any of the preceding claims, wherein said control system (CS) is configured to register when feed has been supplied to a cage or cage row, and wherein, if an operator tries to provide feed to the same cage or cage row by the vehicle within a predetermined time period, the feed supply is rejected.

28. A vehicle (1) according to any of the preceding claims, wherein said vehicle is a full automatic feeding vehicle configured for providing feed to animals in a plurality of cages without an operator controlling the movement of the vehicle during feeding.

29. A method of feeding animals in a plurality of cages, such as minks in cages by means of a vehicle (1), wherein the method comprises: providing feed (6) to a feed storage (2) of said vehicle (1), by means of a control system controlling the supply of feed to at least a first and a second feed distribution arrangement (3a, 3b) of said vehicle (1), wherein each of said feed distribution arrangements (3 a, 3b) is configured for guiding feed of said feed storage (2) to an outlet (4a, 4b) of the respective feed distribution arrangement (3 a, 3b) so as to supply feed to said plurality of cages, wherein said control system controls a supply arrangement (5) so as to individually supply feed to said plurality of cages in accordance with dosage data (DD).

30. The method of feeding animals according to claim 29, wherein said vehicle (1) is a vehicle (1) according to any of claims 1-28.