JP3515680B2 - Feeding equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a feeding vehicle which can be freely moved by a traveling means, and a storage means for storing the feed and a feed discharging means for discharging the feed stored in the storage means to the outside of the machine. The present invention relates to a feeding facility configured to perform a feeding operation of discharging and feeding feed to a feeding target portion provided along a livestock building while the feeding vehicle travels along a set route.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned feeding facility, as shown in, for example, Japanese Patent Application Laid-Open No. 54-20878, when the feeding vehicle performs the feeding operation, a set length is set on the ground side along a livestock shed The feeding car is configured to move and run along the rail laid across, and feed is supplied at one end side of the rail (outside the barn), and feeding operation is performed while running along the rail. In some cases, when it reached the other end, it moved in the opposite direction and returned to its original position outside the barn.

[0003]

In the feeding facility having the above-mentioned structure, the feeding vehicle is designed to discharge and feed the feed target portion provided along the barn while the feeding vehicle is traveling. When cattle are supplied, livestock such as cattle in the barn will try to eat the feed immediately after passing the feeding car. However, in the above-mentioned conventional configuration, when the feeding operation accompanying the traveling traveling to the other end side of the rail is completed and the end portion on the other end side of the rail is reached, it will move in the opposite direction and then return. , At that time, since the vehicle travels on the same route as the feeding operation, the feeding vehicle will pass nearby for the livestock eating the feed, which may hinder the livestock from eating the feed. . If such an operating state is repeatedly executed, there is a possibility that the livestock breeding state will be adversely affected, for example, the livestock will eat less, and there is room for improvement in this respect.

The present invention has been made by paying attention to such a point, and an object thereof is to be able to appropriately supply the feed to the feeding target portion, but to reduce the possibility that the livestock is adversely affected. The point is to provide feeding facilities.

[0005]

According to the characteristic configuration of claim 1, the set route has a feeding route portion corresponding to the lateral side of the feeding target portion, and a position different from the feeding route portion. Each of the detour route parts from the end part of the feeding target part to the starting end part of the feeding target part is composed of a series of circulation routes, the feeding vehicle runs along the set route, and along the feeding route part It is configured to execute a feeding operation for discharging and feeding the feed to the feeding target portion when traveling on the traveling road surface .

Therefore, the feeding vehicle can discharge and supply the feed to the feeding target portion while traveling on the traveling road surface along the feeding route portion corresponding to the lateral side of the feeding target portion, and the feeding target portion is terminated. After that, run along the bypass route provided at a position different from the feeding route to the starting end of the feeding target area to prepare for the next feeding operation. it can.

As a result, the traveling path along the feeding path portion
A place that is close to the feeding target place where the feed was supplied while the livestock is eating the feed, though the feed operation can be appropriately performed by the feeding operation that is performed as the vehicle runs on the surface. There is no risk of adversely affecting the breeding condition of the livestock because the animal does not disturb the diet by scaring the livestock or damaging the livestock by contacting the livestock.

According to a second aspect of the present invention, in the first aspect, the control means for controlling the operation of the traveling means and the feed discharging means is provided, and the control means is such that the feeding vehicle is automatically operated along the set route. The operation of the traveling means is controlled so as to travel, and the operation of the feed discharging means is controlled so as to automatically discharge and supply the feed when traveling along the feeding route portion.

Therefore, it is possible to carry out the feeding operation while the feeding vehicle is automatically running unmanned, while it is less likely to have a bad influence on the rearing state of livestock, thereby saving labor.

According to the third aspect of the present invention, in the second aspect, the guide index is attached to the ground side along the set route, and the feeding vehicle is displaced from the guide index in the lateral direction of the vehicle body. Horizontal displacement amount detecting means for detecting
The control means controls the traveling state of the traveling means such that the amount of positional deviation in the vehicle body lateral width direction detected by the lateral displacement amount detecting means becomes small.

Therefore, the feeding vehicle travels while being guided so that the lateral displacement amount with respect to the guiding index is small, that is, along the guiding index, and the feeding vehicle is accurately guided along the set route. Can be automatically driven.

[0012] According to the feature construction of claim 4, in any one of claims 1 to 3, the feeding vehicle is provided so as to be capable of traveling by manual operation, and is guided to the ground side along a set route. The indicator for feeding is provided, and the feeding vehicle is provided with the lateral displacement amount detecting means for detecting the positional displacement amount in the lateral direction of the vehicle body with respect to the guiding index. The display means is provided.

When the feeding vehicle runs along the set route,
The lateral deviation amount detecting means detects the positional deviation amount of the feeding vehicle in the lateral direction of the vehicle body with respect to the guide index, and the positional deviation amount is displayed by the display means.

Therefore, in the case of manually controlling the feeding vehicle, the operator surely moves the feeding vehicle along the set route by performing a steering operation so that the amount of positional deviation displayed on the display means becomes small. It can be moved and run, for example, even when moving to a set route from another place when starting the feeding operation, or when performing the feeding operation by manual operation The feeding vehicle can be run along the route.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the feeding vehicle is a self-propelled vehicle as a traveling means, and a feed provided with a storing means and a feed discharging means. The feed supply unit is configured to be towed by a self-propelled vehicle to travel.

When the traction type is constructed in this way, for example,
Even if the set route is curved, the turning radius can be made small and it has the advantage of being easy to drive, and the existing vehicles such as agricultural tractors can be effectively used to realize feeding equipment at low cost. There is also an advantage that it becomes possible.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION A feeding facility according to the present invention will be described below with reference to the drawings. FIG. 1 shows the overall configuration of the feeding facility. This feeding facility is configured to perform a feeding operation in which the feeding vehicle V travels along the set route S and discharges the feed to the feeding target portion KT provided along the cowshed (an example of a livestock barn). There is. As shown in FIG. 3, the feeding vehicle V has a structure in which a feeding trolley 2 constituting a feed supply unit is connected to a rear portion of an agricultural tractor 1 constituting a traveling means and is pulled by the agricultural tractor 1. As will be described later, the tractor 1 is configured to be guided and controlled unmanned along the set route S,
It is also possible to travel by manual control.

The feeding vehicle V stands by at a position surrounded by the building 3 while the vehicle is on standby, and inside the building 3, the feed storing section 4 of the feeding vehicle V (an example of storing means). In contrast, a first feed supply device 5 is provided for feeding and supplying a plurality of types of feeds (grains, concentrated feeds for feeding nutrients, etc.), and feeds can be fed to the feeding vehicle V in the standby position. ing. Further, on the outside of the building 3, there is provided a second feed supply device 6 for introducing silage (pasture fermented with silo) into the feed storage portion 4 of the feeding vehicle V. The set route S along which the feeding vehicle V moves and runs extends from inside and outside the building 3 from the standby position to the silage supply position by the second feed supply device 6 to the start end of the feeding target point KT. S ₁ , a feeding route portion S ₂ corresponding to the feeding target portion KT, and a return route portion S ₃ that goes from the end portion of the feeding target portion KT to the standby position at a position different from the outgoing route portion S ₁ It is composed of a circulation path connected to. The forward route portion S ₁ and the return route portion S ₃ are set at positions different from those of the feeding route portion S _2, and when the cow eats the feed after feeding, the feeding vehicle V travels. It does not disturb you. Therefore, the forward route portion S ₁ and the return route portion S ₃ constitute a bypass route portion SU from the terminal end portion of the feeding target portion to the starting end portion of the feeding target portion.

As shown in FIG. 2, the feeding trolley 2 is a feeding trolley having a well-known structure. Inside the feeding trolley 2, there is provided a feed storing section 4 as a storing means having an opening on the upper side. A plurality of screw augers 7 are arranged in parallel at the bottom of No. 4 so that the fed feed can be stirred and mixed. The feed to be added may be silage, grains or a concentrated feed for supplementing nutrients. The thus-stirred and mixed agitated feed is discharged to the feeding target location KT by the discharge conveyor 8 (corresponding to a feed discharge means) provided on the lateral side, and the feed outlet to the discharge conveyor 8 is hydraulic. A discharge gate 10 operated by a conventional discharge cylinder 9 can be opened and closed. The screw auger 7 is
It is driven by the PTO shaft 11 of the agricultural tractor 1, and the discharge conveyor 8 is driven by a hydraulic discharge motor 12. The discharge conveyor 8 is provided so as to be vertically swingable around an axis X extending along the vehicle body front-rear direction on the base end side, and by a hydraulic lifting cylinder 13, a feed discharge position protruding laterally outward and a vehicle body inner side. The posture can be switched between the retracted position and the upper retracted swinging position. Further, below the discharge conveyor 8, when the cow feeds the feed supplied to the feeding target portion KT to the running route side, the protruding feed is again fed to the feeding route. A sweep tool 14 for sweeping to the location KT is provided in a state of being integrally supported by the discharge conveyor 8 so as to swing up and down in conjunction with the discharge conveyor 8.

The feeding vehicle V is constructed so that the traveling operation of the agricultural tractor 1 and the feeding operation of the feeding cart 2 are automatically controlled. Specifically, the engine start / stop operation and the travel start / stop operation are automatically controlled, and guidance control is performed so that the engine travels unattended along the set route S. The operation of the discharge conveyor 8, the lifting cylinder 13, and the opening / closing operation of the discharge gate 10 are automatically controlled. Further, the operation state of the feeding operation of the feeding vehicle V is managed by the management device 15 installed inside the building 3 in a fixed position, that is, installed outside the feeding vehicle V. The management device 15 communicates with the feeding vehicle V via the wireless modem 1
Information is communicable via 6.

As shown in FIG. 4, the management device 15 is
Not only the feeding vehicle V but also an external device G, which is a shutter device 1 capable of opening and closing the entrance of the building 3 through which the feeding vehicle V passes
7, the first feed supply device 5, the second feed supply device 6, and the ventilation fan 18 provided in the building 3 are configured to be able to communicate information via the wireless modem 16 and communicated information. It is configured to be able to manage each operation based on the.

Next, the control configuration of the feeding vehicle V will be described in detail. As shown in FIG. 5, the feeding vehicle V includes an engine starting device 19 for starting the engine, an engine stopping device 20 for stopping the engine, a running clutch 21 for turning on and off a transmission state with respect to wheels, and a brake device 22 for braking the vehicle body running. , A steering electric motor 23 that steers left and right front wheels that can be turned to the left and right, a transmission 24 that can change the traveling speed, a PTO clutch 25 that turns on and off the transmission state to the PTO shaft 11, and the discharge motor 12. A control device 26 is provided as a control means on the side of the feeding vehicle V, which includes a microcomputer that controls the operations of the discharge cylinder 9 and the elevating cylinder 13. Also, feeding car V
Includes a pair of left and right magnetic field sensors 27R, 27 for guiding travel.
L, a load cell 28 for detecting the amount of feed fed to the feed reservoir 4, an obstacle sensor 29 for detecting whether or not there is an obstacle ahead of the moving direction, and an appropriate place on the ground side in the set route S. A position sensor 31 for determining the position of the feeding vehicle V is provided based on the position identification information transmitted by wireless information from the tag (position identification index) 30 installed in the control device 26. Is configured to be input to.

An operation command for each operating device whose operation is controlled by the control device 26 is provided from each output terminal of the control device 26 via a relay 32. The relay 32 is connected to the control device 26. When an abnormal operation such as a runaway of the control program is detected by the abnormal operation detecting device 33, a signal for switching each of the relays 32 and returning each operating device to the initial state is given. Further, the engine stop device 20 is operated when the operation is abnormal.

The management device 15 is a dot matrix liquid crystal type display device 34 having a touch panel which also serves as an input means for setting the operation state of the feeding operation by the feeding vehicle V.
Is provided. An initial screen of the display device 34 is shown in FIG. 6, and a feeding adjustment screen for adjusting the feeding content is shown in FIG.
FIG. 8 shows driving screens showing driving states.
When the work manager starts the feeding work, first, the initial screen is switched to the feeding adjustment screen, and the content of feeding is adjusted on the feeding adjustment screen. That is, based on the operation of the key input unit 34a, while confirming the display content of the data display unit 34b, each feed amount of a plurality of feeds, the loosening time for feed adjustment, the feeding start time, and the sweep for sweeping the feeds The time and the like for executing the approaching operation are input and set.
Since it is common to feed cows a plurality of times a day with a set time interval, it is possible to set each piece of information for four times. Then, the management information for feeding is set by the management device 15 in this way, and the management information is given to the feeding vehicle V side by communication via the wireless modem 16 based on the transmission command. When communication is performed with the feeding vehicle V, the operation screen is switched to, and various setting contents are displayed on the operation screen.

On the side of the feeding vehicle V, control is executed so as to automatically execute the feeding operation based on the management information transmitted from the management device 15. In addition, ventilation fan 1
The operation of No. 8 is appropriately executed by the management device 15.

Next, the control operation of the control device 26 will be described with reference to the flowchart of FIG. In the non-operating state (standby state) of the feeding vehicle V, the engine is stopped at a predetermined position surrounded by the building 3, and all the functions other than the timer function (time management function) are stopped. It stands by in sleep mode (step 1). When a time period (20 minutes) before the feeding start time set in the management information comes, the control device 26 on the feeding vehicle V side operates the engine starting device 19 to start the engine (step 2, 3) Perform warm-up operation. When the feeding start time comes, the management device 15
Sends an operation command to the first feed supply device 5 to operate the first feed supply device 5. At this time, the control device 26 sequentially communicates the detection information of the load cell 28 to the management device 15 side, and sequentially operates to feed a plurality of feeds to the feed storage unit 4 so that the set feed amounts are set. It will be controlled (steps 4 and 5). At this time, the control device 26 turns on the PTO clutch 25 to turn on the PTO shaft 11.
The screw auger 7 is rotatably driven through the mixer to stir and mix the fed feed (step 6). In addition, the management device 15 opens the shutter device 17 located on the lower side in the traveling direction of the feeding vehicle V.

When the feeding of the feed is completed, the feeding vehicle V is started to travel and guided along the set route S (steps 7 and 8). The transmission 24 is adjusted so that the vehicle travels at a low speed of about 30 cm per second.

The guidance control configuration of the feeding vehicle V will be described. On the traveling road surface of the feeding vehicle V, a guide wire 35 (an example of an index for guidance) to which current is supplied in a state along the set route S is installed, and a pair of left and right magnetic field sensors 27R provided on the feeding vehicle V, 27L detects the strength of the magnetic field formed by the current supplied to the induction wire 35, and the detection values of the magnetic field sensors 27R and 27L are the same, that is, the left and right of the magnetic field sensors 27R and 27L. The steering electric motor 2 is arranged so that the guide wire 35 is located in the central portion.
The steering control is executed so that the vehicle 3 is operated to guide the vehicle along the guide line 35. Therefore, the pair of left and right magnetic field sensors 27R and 27L are
Lateral displacement amount detecting means for detecting the amount of positional deviation of the vehicle body 5 in the lateral direction of the vehicle body is configured.

It should be noted that, in the set route S, the predetermined positions for waiting, the turning route points, the action points of the second feed feeder 6, the entrance portion of the building 3, and the feeding target point KT end from the start end thereof. Set interval (5m) between parts
Every other time, the tag 30 is installed, and the detection result of the position sensor 31 with respect to the information of each tag 30, that is,
The current position of the feeding vehicle V is appropriately displayed on the monitor of the display device 34 of the management device 15 (see the display positions of "1" to "16" in FIG. 7).

The detection information of each of the magnetic field sensors 27R and 27L is displayed by an indicator 36 provided in the control part of the agricultural tractor 1, and when operating by manual control, for example, dust or Even if the guide wire 35 is invisible due to snow or the like, the operator can determine the distance information from the guide wire 35, and even if the distance from the guide wire 35 is greatly deviated, the position of the guide wire 35 can be determined. It is configured so that the deviation can be properly determined. That is, FIG.
As shown in, the indicator 36 is configured to be displayed as a pair of left and right bar graphs that are expanded and contracted from the center side toward the left and right outward sides, and the bar graphs in the misaligned direction show the misalignment amount. The larger the value, the larger the value. In order to obtain such a display form, with respect to the detection values S _L and S _R of the left and right magnetic field sensors 27R and 27L,
The display amount is obtained by the absolute value of [Equation 1] Δe, and the left and right are selected by the positive and negative signs.

[0031]

[Equation 1] Δe = (S _L −S _R ) / (S _L + S _R ).

By doing so, the display state is as shown in FIG. 9B for each of the positional relationships between the magnetic field sensors 27R and 27L and the guide wire 35 as shown in FIG. 9A. In addition, the misaligned state becomes a display state suitable for human sense.

When the working position of the second feed supply device 6 is reached, the feeding vehicle V is stopped, and when the position is reached is communicated to the management device 15, the management device 15 causes the second feed. The supply device 6 is operated, and the silage is supplied and supplied to the feed reservoir 4 based on the detection information of the load cell 28 in a set amount. When the feeding is completed, the vehicle starts traveling toward the feeding target portion KT (steps 9 to 12).

When the starting end position of the feeding target portion KT is reached,
The discharge gate 9 is opened by the discharge cylinder 9, the discharge conveyor 8 is switched from the storage position to the feed discharge position by the elevating cylinder 13, the feed discharge operation by the discharge motor 12 is started, and the feed target portion KT is fed. While the feeding operation is being executed, traveling is continued to execute the feeding operation (steps 13 and 14). In this feeding operation, 5 m based on the detection information of the tag 30 by the position sensor 31.
Each time the vehicle travels, the detection value of the load cell 28 is detected, and the feed rate is adjusted while the traveling speed is changed and adjusted by the transmission 24 so that the feed in the feed storage section 4 is exhausted when the end point is reached. The control is performed so as to perform (step 15). When reaching the end of the feeding target portion KT, the operation of the discharge motor 12 is stopped, the discharge gate 10 is closed by the discharge cylinder 9, and the lifting cylinder 13 is moved.
Then, the discharge conveyor 8 is switched to the storage position to stop the feed discharge operation (steps 16 and 17).

When it is communicated to the management device 15 that the feeding vehicle V has reached the entrance portion of the building 3 after the feed discharging operation is completed, the management device 15 operates the shutter device 17 to open it. When the feeding vehicle V reaches the predetermined standby position in the building 3, the traveling is stopped and the engine is stopped to end the feeding operation and stand by in the sleep mode (steps 18 and 19).

Then, 20 minutes before the sweeping time, the engine is started to start the warm-up operation, and when the sweeping time comes (steps 2, 3 and 20), the set route S is maintained without feeding the feed. The feeding vehicle V is run along the route (step 21). At this time, when reaching the starting end of the feeding target location KT, the elevating cylinder 13 switches the discharging conveyor 8 from the storage position to the feed discharging position, and the discharging conveyor 8
By the sweeping tool 14 provided on the lower side of the vehicle, the sweeping operation is performed again to sweep the feed that has run off to the traveling route side when the cow eats at the feeding target point KT to the feeding target point KT again (step 22). , 23). Feeding target area K
When the end of T is reached, the elevating cylinder 13 switches the discharge conveyor 8 to the storage position, returns to a predetermined standby position, and stands by in the sleep mode (steps 24 to 2).
7).

After that, the above-described feeding operation and sweeping operation are appropriately executed based on the time management contents of the preset management information. When the feeding vehicle V is traveling, if the obstacle sensor 29 detects an obstacle in front of the vehicle body, the traveling is stopped in an emergency.

[Other Embodiments] (1) In the above embodiment, the feeding vehicle is controlled to automatically travel over the entire set route, but instead of such a configuration, the feeding vehicle travels by manual operation. You can do it. In this case, the feed discharging operation may be automatically switched based on the position determination information, or the operation may be turned on / off based on a manual command from the operation lever or the like.

(2) In the above embodiment, the feed supply to the feeding cart is set at a place different from the feeding target place, and the detour route part has the forward route part and the return route part. Instead of such a configuration, the terminal end and the starting end of the feeding target part are connected by a linear route parallel to the feeding route part, and the feed feeding position is set in the middle part thereof. It suffices that the route portion is provided at a position different from the feeding route portion, and the configuration of the set route may be appropriately changed and implemented.

(3) In the above embodiment, the magnetic field sensor for detecting the strength of the magnetic field formed by the current is used as the lateral deviation amount detecting means, but the invention is not limited to this, and a magnetic tape made of a permanent magnet is laid. Then, the strength of the magnetic field may be detected, or the lateral deviation may be detected by various configurations such as a structure in which a light reflector is laid and the amount of lateral deviation is detected by utilizing the reflection of light. May be.

(4) In the above embodiment, the guide wire 35 to which the current is supplied is laid along the set path S, and based on the detection information of the magnetic field by the pair of left and right magnetic field sensors 27R and 27L, the feeding vehicle V is supplied. Although the vehicle is guided to travel, the so-called GPS (Global-P
oSitioning-SyStem) (a system for measuring the position based on wireless signals from a plurality of artificial hygiene)
Various types such as a configuration in which the feeding vehicle V is guided to travel along the set route S by using, or a magnetic tape is laid in place of the guiding wire 35 and guided based on the magnetic detection information. The guidance system can be used.

(5) In the above embodiment, the case of cattle as an example of livestock has been described, but the present invention can also be applied as a feeding facility for pigs and other livestock.

(6) In the above embodiment, the feeding trolley 1 is towed by the agricultural tractor 1 as the traveling means. However, the feeding trolley 2 itself is provided with a traveling device such as traveling wheels to be self-propelled. Alternatively, instead of the agricultural tractor 1, various configurations such as a configuration in which the vehicle is towed by an electric mobile vehicle or the like may be used.

[Brief description of drawings]

[Figure 1] Plan view of feeding equipment

[Fig. 2] Front view of feeding cart

[Fig. 3] Side view of feeding cart

FIG. 4 is a block diagram showing a management configuration.

[Fig. 5] Control block diagram of feeding vehicle

FIG. 6 is a diagram showing an initial screen of the display device 34.

FIG. 7 is a diagram showing a feeding adjustment screen of the display device 34.

FIG. 8 is a diagram showing an operation screen of the display device.

FIG. 9 is a diagram showing an operation of an indicator.

FIG. 10 is a flowchart of control operation.

[Explanation of symbols]

1 Traveling Means 2 Feed Feeding Unit 4 Storage Means 8 Feed Discharging Means 26 Control Means 27R, 27L Lateral Deviation Detecting Means 35 Guidance Indicators 36 Display Means KT Feeding Target Site S Set Route S ₂ Feeding Route Part SU Detour Route Part V Feeding car

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiyuki Matsumoto 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Plant (56) References: Kaihei 5-44256 (JP, U) 55359 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) A01K 5/02

Claims (5)

(57) [Claims] 1. A feeding vehicle, which can travel on a traveling road surface by a traveling means, is provided with a storing means for storing a feed and a feed discharging means for discharging the feed stored in the storing means to the outside of the machine. A feeding facility configured to perform a feeding operation in which a feeding vehicle is driven along a set route to discharge and feed the feed to a feeding target portion provided along a livestock barn, wherein the set route is the feeding The feeding route portion corresponding to the lateral side of the target location, and each of the detour route portions from the end portion of the feeding target location to the starting end portion of the feeding target location at a position different from this feeding route location A feeding facility configured by a continuous circulation path, configured to execute the feeding operation when the feeding vehicle travels along the set route and also along the feeding path portion. 2. A control means for controlling the operation of the traveling means and the feed discharging means is provided, and the control means controls the operation of the traveling means so that the feeding vehicle automatically travels along the set route. The feeding facility according to claim 1, wherein the feeding equipment is configured to control and to control the operation of the feed discharging means so that the feed is automatically discharged and fed when traveling along the feeding path portion. 3. A guide index is provided along the set route on the ground side, and the feeding vehicle is provided with a lateral displacement amount detection means for detecting a positional deviation amount in the lateral direction of the vehicle body with respect to the guide index. 3. The feeding facility according to claim 2, wherein the control unit is configured to control the traveling state of the traveling unit so that the positional deviation amount in the vehicle body lateral width direction detected by the lateral deviation amount detection unit is reduced. 4. The feeding vehicle is provided so as to be able to travel by manual operation, and a guide index is attached along the set route on the ground side, and the feed vehicle has a vehicle body lateral direction with respect to the guide index. 1 is provided with a lateral deviation amount detecting means for detecting the positional deviation amount, and a display means is provided for displaying the positional deviation amount in the lateral direction of the vehicle body detected by the lateral deviation amount detecting means.
The feeding facility according to any one of 3 above. 5. The feeding vehicle comprises a self-propelled vehicle as the traveling means and a feed supply section including the storage means and the feed discharge means, the feed supply section being provided on the self-propelled vehicle. Any one of claims 1 to 4, which is configured to be towed and moved to travel.
Feeding equipment according to paragraph.