JPH1156150A - Feeding facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a feeding facility capable of properly supplying a feed at a feeding point while giving little undesirable effects on domestic animals. SOLUTION: This feeding facility is provided with a feeding vehicle V freely traveling with a traveling means 1 and furnished with a storage means 4 for storing feed and a feed discharging means B to discharge the feed stored in the storage means 4 from the machine. The feeding vehicle V is subjected to a feeding operation to discharge and supply the feed at the feeding points KT installed along a barn while traveling along a prescribed path S. The prescribed path S is composed of a feeding path section S2 corresponding to the feeding point KT and a circulation path composed of serially connected by-pass parts SU extending from the end part of the feeding point to the starting part of the feeding point at a position different from the feeding path section S2 . The feeding vehicle V travels along the prescribed path S and performs the feeding operation in the course of traveling along the feeding path section S2 .

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a feeder which can be moved by a traveling means and has a storage means for storing feed and a feed discharge means for discharging the feed stored in the storage means outside the machine. The present invention also relates to a feeding facility configured to perform a feeding operation for discharging and feeding feed to a feeding target place provided along a barn while the feeding truck travels along a set route.

[0002]

2. Description of the Related Art Conventionally, as described in Japanese Patent Application Laid-Open No. 54-20878, for example, when the feeding truck performs the feeding operation, a set length is set on the ground side along a livestock barn. The feeder truck is configured to move and travel along the rail laid across, and feed is supplied at one end side (outside of the barn) of the rail, and the feeder performs a feeding operation while traveling along the rail, In some cases, when it reaches the other end, it moves in the opposite direction and returns to its original position outside the barn.

[0003]

In the feeding facility having the above-mentioned structure, the feeder is configured to discharge and feed the feed to a feeding target provided along the barn while moving and running. When cats are supplied, livestock such as cows in the barn tend to eat the feed immediately after passing through the feeding truck. However, in the above-described conventional configuration, when the feeding operation accompanying the traveling traveling to the other end of the rail is completed and reaches the end on the other end of the rail, the rail moves in the opposite direction and then returns. However, at that time, since the vehicle travels on the same route as the feeding operation, the feeding truck passes nearby the livestock eating the feed, which may obstruct the livestock from eating the feed. . If such an operation state is repeatedly executed, there is a possibility that the amount of feed consumed by the livestock may be reduced, which may adversely affect the breeding state of the livestock, and there is room for improvement in this respect.

The present invention has been made in view of such a point, and an object of the present invention is to provide an appropriate feed to a feeding target place, while having a low possibility of adversely affecting livestock. The point is to provide a feeding facility.

[0005]

According to the first aspect of the present invention, the setting route includes a feeding route portion corresponding to a feeding target location and a feeding route at a position different from the feeding route portion. Each of the bypass routes from the end of the location to the beginning of the feed target location is constituted by a continuous circulation path, and the feed truck travels along the set route and travels along the feeding route portion. It is configured to execute a feeding operation that sometimes discharges the feed to a feeding target location.

Therefore, the feeding vehicle can discharge and supply the feed to the feeding target portion while traveling along the feeding route portion corresponding to the feeding target portion. Can travel along a detour path provided at a position different from the feeding path and travel to the starting end of the feeding target location to prepare for the next feeding operation.

[0007] As a result, while the feed can be appropriately supplied by the feeding operation performed as the vehicle travels along the feeding route, when the livestock is eating the feed, Do not frighten livestock or damage livestock by contacting the livestock in a location close to the feeding target where the food was supplied. Is less likely to be provided.

According to a second aspect of the present invention, in the first aspect, there is provided a control means for controlling the operation of the running means and the feed discharging means. The operation of the running means is controlled so as to run, and the operation of the feed discharging means is controlled so as to automatically discharge and feed the feed when running along the feeding route.

[0009] Therefore, it is possible to perform the feeding operation while the feeding truck is running unattended automatically, while reducing the possibility of adversely affecting the breeding state of the livestock and the like, thereby saving labor.

According to a third aspect of the present invention, in the second aspect, the guide index is provided on the ground side along the set route, and the feed vehicle has a positional deviation amount in the vehicle width direction with respect to the guide index. Lateral displacement amount detecting means for detecting
The control means controls the traveling state of the traveling means so that the amount of displacement in the vehicle width direction detected by the lateral displacement amount detection means is reduced.

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

According to a fourth aspect of the present invention, the feeder is provided so as to be able to run by manual operation and guided to the ground side along a set route. A feeding index is provided, and the feeding vehicle is provided with a lateral displacement amount detecting means for detecting a positional deviation amount in the vehicle width direction with respect to the guidance index, and the positional deviation amount in the vehicle width direction detected by the lateral displacement amount detecting means is displayed. Display means is provided.

When the feeding truck travels along the set route,
The lateral displacement amount detecting means detects the amount of positional deviation of the feed vehicle in the vehicle width direction with respect to the guidance index, and the positional deviation amount is displayed by the display means.

Therefore, when the feed truck is manually operated, the pilot performs the steering operation so as to reduce the amount of positional deviation displayed on the display means, thereby ensuring that the feed truck follows the set route. For example, when starting the feeding operation, moving from another place to the set route, or when performing the feeding operation by manual operation, it is set appropriately. The feed truck can be run along the route.

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

[0016] With such a tow-type configuration, for example,
Even if the set route is bent, the turning radius can be reduced, making it easy to travel, and the existing vehicle such as an agricultural tractor is effectively used to realize a low-cost feeding facility. There is also an advantage that can be performed.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a feeding facility according to the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of the feeding facility. The feeding facility is configured to perform a feeding operation for feeding and discharging feed to a feeding target point KT provided along a barn (an example of a barn) while the feeding vehicle V travels along the set route S. I have. As shown in FIG. 3, the feed truck V is configured such that a feed truck 2 constituting a feed supply unit is connected to a rear portion of the agricultural tractor 1 constituting the traveling means and is towed by the agricultural tractor 1. The tractor 1 is configured to be guided and controlled along the set route S by an unmanned person, as described later.
In addition, the vehicle can be driven by manual operation.

The feeder truck V stands by at a position surrounded by the building 3 during standby for driving. Inside the building 3, the feed storage section 4 of the feeder truck V (an example of storage means) For this purpose, a first feed supply device 5 for supplying and supplying a plurality of types of feed (eg, cereals and concentrated feed for replenishing nutrients) is provided, so that the feed can be supplied to the feed truck V at the standby position. ing. Further, on the outer side of the building 3, there is provided a second feed supply device 6 for charging silage (fermented grass in a silo) into the feed storage unit 4 of the feed truck V. The set route S on which the feeding vehicle V moves and travels is a traveling route portion extending from the standby position through the silage supply position by the second feed supply device 6 to the starting end of the feeding target point KT, inside and outside the building 3. S ₁ , a feeding route portion S ₂ corresponding to the feeding target location KT, and a return route portion S ₃ from the end of the feeding target location KT to the standby position at a position different from the outgoing route portion S ₁ are each a series. It is constituted by a circulation path connected to. The respective forward path portion S ₁ and the return path portion S _3, which is set at a position different from the feed for the path portion S _2, when the cows are eating feed after being fed, the traveling of the feeding vehicle V To prevent them from getting in the way. Thus, the forward path portion S ₁ and the return path portion S _3, constitutes the bypass route portion SU leading to the starting end of the feed target portion from the end portion of the feeding target portion.

As shown in FIG. 2, the feed cart 2 is a feed cart having a well-known configuration, in which a feed storage section 4 is provided as storage means having an open upper side. At the bottom of 4, a plurality of screw augers 7 are arranged in parallel so that the fed feed can be stirred and mixed. The feed to be fed includes silage, cereals, and concentrated feed for nutrient replenishment. The feed mixed and stirred in this manner is discharged to a feed target location KT by a discharge conveyor 8 (corresponding to a feed discharge means) provided on the lateral side. It can be opened and closed by a discharge gate 10 operated by a discharge cylinder 9 of the type. 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 able to swing up and down around an axis X along the vehicle body front-rear direction on the base end side, and a feed discharge position protruding laterally outward by a hydraulic lifting cylinder 13; The posture is freely switchable between a storage position where the robot swings upward toward and retracts. In the case where the cattle feeds the feed supplied to the feeding target point KT and runs off to the side of the traveling route when the cattle feeds, the protruded feed is again rejected to the feeding conveyor 8 below. A sweeping tool 14 for sweeping to the location KT is provided in a state of being integrally supported by the discharge conveyor 8 to swing up and down in conjunction with the discharge conveyor 8.

The feeding vehicle V is configured such that the running operation of the agricultural tractor 1 and the feeding operation of the feeding truck 2 are automatically controlled. More specifically, the start / stop operation and the start / stop operation of the engine are automatically controlled, and the vehicle is guided and controlled to run unmanned along the set path S. The operation of the discharge conveyor 8, the operation of the lifting cylinder 13, and the operation of opening and closing the discharge gate 10 are automatically controlled. In addition, the operation state of the feeding operation of the feeding vehicle V is configured to be managed by the management device 15 installed in a fixed position inside the building 3, that is, installed outside the feeding vehicle V. The management device 15 is connected to the feeding vehicle V by the wireless modem 1.
6 so that information can be communicated.

The management device 15 is, as shown in FIG.
Not only the feed truck V but also a shutter device 1 that can open and close the entrance of the building 3 through which the feed truck V passes as the external device G
7. Information to be communicated between the first feed supply device 5, the second feed supply device 6, and the ventilation fan 18 provided in the building 3 via the wireless modem 16, and the information to be communicated. It is configured so that each operation can be managed based on the.

Next, the control configuration of the feed truck V will be described in detail. As shown in FIG. 5, the feeding vehicle V has an engine starting device 19 for starting the engine, an engine stopping device 20 for stopping the engine, a traveling clutch 21 for turning on and off the transmission state to the wheels, and a braking device 22 for braking the vehicle running. A steering electric motor 23 that steers left and right front wheels that can be turned left and right, a transmission 24 that can change the running speed, a PTO clutch 25 that turns on and off the state of transmission to the PTO shaft 11, and the discharge motor 12 , A control device 26 as a control means on the feed vehicle V side, which is composed of a microcomputer for controlling the operation of each of the discharge cylinder 9 and the lifting cylinder 13. Feeding vehicle V
Include a pair of left and right magnetic field sensors 27R, 27R for guidance traveling.
L, a load cell 28 for detecting the amount of feed fed to the feed storage unit 4, an obstacle sensor 29 for detecting whether there is an obstacle in front of the moving direction, and an appropriate place on the ground side in the set route S Is provided with a position sensor 31 for determining the position of the feeding vehicle V based on position identification information transmitted by wireless information from a tag (index for position identification) 30 installed in the control device 26. It is configured to be inputted 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 the operation abnormality detecting device 33 detects an operation abnormality such as runaway of the control program, a signal for switching the relays 32 and returning the operation devices to the initial state is provided. Further, when the operation is abnormal, the engine stop device 20 is operated.

The management device 15 has a dot-matrix liquid crystal 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. FIG. 6 shows an initial screen of the display device 34, and FIG. 7 shows a feed adjustment screen for adjusting the content of the feed.
FIG. 8 shows respective driving screens showing the driving state.
When starting the feeding operation, the work manager switches from the initial screen to the feeding adjustment screen, and adjusts the contents of feeding on the feeding adjustment screen. That is, based on the operation of the key input unit 34a, while checking the display contents of the data display unit 34b, the input amounts of a plurality of feeds, the loosening time for feed adjustment, the feeding start time, and the sweeping of the feeds The time for executing the approaching operation and the like are input and set.
In general, cattle are fed a plurality of times a day at set time intervals, so that information can be set four times. Then, the management information for feeding is set in the management device 15 as described above, and based on the transmission command, the management information is provided to the feeding vehicle V side via the wireless modem 16 by communication. When communication is performed with the feeding vehicle V, the display is switched to an operation screen, and various setting contents are displayed on the operation screen.

On the feeding vehicle V side, control is performed based on the management information transmitted from the management device 15 so that the feeding operation is automatically performed. 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), the feeder vehicle V is stopped at a predetermined position surrounded by the building 3 and all functions other than the timer function (time management function) are stopped. A standby mode is set in the sleep mode (step 1). When the time becomes a set time (20 minutes) earlier than the feed start time set in the management information, the control device 26 on the feed vehicle V side activates 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
Transmits an operation command to the first feed supply device 5 to operate the first feed supply device 5. At this time, while the control device 26 sequentially communicates the detection information of the load cell 28 to the management device 15 side, the operation is performed such that a plurality of feeds are sequentially input to the feed storage unit 4 so as to reach the set input amounts. It will be controlled (steps 4 and 5). At this time, the control device 26 turns on the PTO clutch 25 and
Then, the screw auger 7 is driven to rotate and the fed feed is stirred and mixed (step 6). The management device 15 opens the shutter device 17 located on the lower side in the traveling direction of the feeding truck V in advance.

When the feeding of the feed is completed, the feed truck V is started to run and guided along the set route S (steps 7 and 8). In addition, the traveling speed adjusts the transmission 24 so as to travel at a low speed of about 30 cm per second.

The guidance control configuration of the feeding truck V will be described. A guide line 35 (an example of a guide index) to which a current is supplied along the set path S on the traveling road surface of the feeding truck V is provided, and a pair of left and right magnetic field sensors 27R, At 27L, the strength of the magnetic field formed by the current supplied to the induction wire 35 is detected, and the detected values of the magnetic field sensors 27R, 27L are the same, that is, the right and left of each magnetic field sensor 27R, 27L. The steering electric motor 2 is positioned so that the guide wire 35 is located at the center.
The steering control is executed so that the vehicle 3 is operated to be guided along the guidance line 35. Therefore, the pair of left and right magnetic field sensors 27R and 27L
5 constitutes a lateral shift amount detecting means for detecting a positional shift amount in the vehicle body width direction with respect to the position 5.

In the set route S, the predetermined position for standby, the turning route position, the operation position of the second feed supply device 6, the entrance portion of the building 3, and the feeding target position KT from the start end to the end. Set interval before reaching the part (5m)
The tag 30 is installed every other, and the detection result of the position sensor 31 for the information of each tag 30, that is,
The current position of the feeding vehicle V is displayed on the monitor 34 of the management device 15 as appropriate (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 on an indicator 36 provided in a control section of the agricultural tractor 1. When the vehicle is operated by manual operation, for example, dust and Even when the guidance line 35 is not visible due to snow or the like, the operator can determine the distance information from the guidance line 35, and even if the guidance line 35 is greatly displaced from the guidance line 35, the position of the guidance line 35 can be determined. It is configured so that the deviation can be properly determined. That is, FIG.
As shown in the figure, the indicator 36 is configured to be displayed as a pair of left and right bar graphs that expand and contract from the center side toward the left and right outer sides. The larger the value, the larger the value. In order to obtain such a display form, the detection values S _L and S _R of the left and right magnetic field sensors 27R and 27L are
The display amount is obtained by the absolute value of [Equation 1] Δe, and the left and right are selected by positive and negative signs.

[0031]

[Number 1] _{Δe = (S L -S R)} / (S L + S R)

By doing so, the display state of each of the positional relationship between the magnetic field sensors 27R and 27L and the guide wire 35 as shown in FIG. In addition, the position shift state becomes a display state suitable for human sense.

When the feed position of the second feed supply device 6 is reached, the feed vehicle V is stopped running, and when the position is reached and communicated to the management device 15, the management device 15 transmits the second feed. By operating the supply device 6, the silage is supplied to the feed storage unit 4 by a set amount based on the detection information of the load cell 28. When the feeding is completed, the vehicle starts traveling toward the feeding target location KT (steps 9 to 12).

When the feed point KT reaches the starting point,
The discharge gate 9 is opened by the discharge cylinder 9, and 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 to the feed target location KT is started. The running is continued while executing the feeding operation, and the feeding operation is executed (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 changing the traveling speed by the transmission 24 so that the feed in the feed storage section 4 is exhausted when the terminal reaches the end. (Step 15). When reaching the end of the feeding target point 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 the feeder V reaches the entrance of the building 3 after the feed discharging operation is completed and is communicated to the management device 15, the management device 15 operates the shutter device 17 to open. When the feeding vehicle V reaches the predetermined standby position in the building 3, the vehicle stops running, stops the engine, ends the feeding operation, and waits in the sleep mode (steps 18 and 19).

Thereafter, 20 minutes before the sweeping time, the engine is started and the warm-up operation is started (steps 2, 3, and 20). When the sweeping time is reached (steps 2, 3, and 20), the set route S without feed is supplied. The feeding truck V is driven along (step 21). At this time, when reaching the start end of the feeding target point KT, the discharge conveyor 8 is switched from the storage position to the feed discharge position by the lifting cylinder 13 and the discharge conveyor 8 is moved.
A sweeping operation of sweeping the feed that has protruded to the running path side when the cow eats at the feeding target location KT by the sweeping tool 14 provided below the feeding target location KT is executed again (step 22). , 23). Feeding location K
When reaching the end of T, the discharge conveyor 8 is switched to the storage position by the lifting cylinder 13 and returns to the predetermined standby position to wait in the sleep mode (steps 24 to 2).
7).

Thereafter, based on the time management content of the management information set in advance, the above-described feeding operation and sweeping operation are appropriately executed. When the feeding vehicle V is running and an obstacle is detected ahead of the vehicle body by the obstacle sensor 29, the running is stopped in an emergency.

[Other Embodiments] (1) In the above embodiment, the feed truck is controlled to run automatically over the entire area of the set route. However, instead of such a configuration, the feed truck is driven by manual operation. You may do so. In this case, the feed discharging operation may be automatically switched based on the position determination information, or the operation may be switched on and off based on a manual command of an operation lever or the like.

(2) In the above embodiment, the feed supply to the feeding cart is set at a different location from the feeding target location, and the feed route and the return route are configured as the bypass route. In place of such a configuration, the end portion and the start end of the feeding target location are connected by a linear route parallel to the feeding route portion, and a feed feeding position is set in the middle thereof, in other words, a detour is performed. It is sufficient that the route is provided at a position different from the feeding route, and the configuration of the set route may be appropriately changed and implemented.

(3) In the above embodiment, a magnetic field sensor for detecting the strength of a magnetic field formed by a current is used as the lateral displacement amount detecting means. However, the present 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 displacement may be detected in various configurations, such as a configuration in which a light reflector is laid and the amount of lateral displacement is detected using reflection of light. You may.

(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 , But instead of such a configuration, a so-called GPS (Global-P
oSitioning-SyStem) (a system that measures position based on radio signals from multiple artificial hygiene)
And a configuration in which the feeding truck V is guided and guided along the set route S, or a magnetic tape is laid instead of the guide wire 35 and guided based on the magnetic detection information. Guidance system can be used.

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

(6) In the above embodiment, the feeding trolley 1 is pulled by the agricultural tractor 1 as the running means. However, the feeding trolley 2 itself is provided with a running device such as running wheels so as to be self-propelled. Alternatively, the present invention may be implemented in various forms, such as a configuration in which the vehicle is towed by an electric moving vehicle instead of the agricultural tractor 1.

[Brief description of the drawings]

FIG. 1 is a plan view of a feeding facility.

FIG. 2 is a front view of a feeding cart.

FIG. 3 is a side view of the feeding cart.

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

FIG. 5 is a control block diagram of a feeding truck.

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

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

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

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

FIG. 10 is a flowchart of a control operation.

[Explanation of symbols]

1 traveling means 2 feed supply unit 4 storing means 8 feed discharge means 26 control means 27R, 27L lateral deviation amount detecting means 35 guiding indicators 36 display means KT fed target position S set path S ₂ feed for path portion SU detour route portion V Feeding truck

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshiyuki Matsumoto 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (5)

[Claims] 1. A feed truck that can be moved and traveled by a traveling device is provided with storage means for storing feed and feed discharge means for discharging feed stored in the storage means outside the machine. A feeding facility configured to perform a feeding operation of discharging feed to a feeding target location provided along a livestock bar while traveling along a set route, wherein the setting route is located at the feeding target location. The corresponding feeding route portion, and a detour route portion from the end of the feeding target location to the starting end of the feeding target location at a position different from the feeding route portion are each configured by a circulation path that is continuous. A feeding facility configured to execute the feeding operation when the feeding truck runs along the set route and runs along the feeding route portion. 2. A control means for controlling the operation of the running means and the feed discharging means, wherein the control means controls the operation of the running means so that the feed truck automatically runs along the set route. 2. The feeding facility according to claim 1, wherein the feeding apparatus is configured to control and to control the operation of the feed discharging means so as to automatically discharge and feed the feed when traveling along the feeding path portion. 3. A guide indicator is provided on the ground side along the set route, and the feed vehicle is provided with a lateral shift amount detecting means for detecting a positional shift amount of the guide indicator in the vehicle width direction, 3. The feed facility according to claim 2, wherein the control unit is configured to control a traveling state of the traveling unit so that a displacement amount in the vehicle width direction detected by the lateral displacement amount detection unit is reduced. 4. 4. The feed truck is provided so as to be able to be operated by manual operation, and a guide index is provided on the ground side along the set route, and the feed truck has a vehicle width direction with respect to the guide index. 4. A lateral displacement amount detecting means for detecting the positional deviation amount of the vehicle, and display means for displaying a positional deviation amount in the vehicle width direction detected by the lateral deviation amount detecting means.
3. The feeding facility according to any one of 3. 5. The feeder truck comprises: a self-propelled vehicle as the traveling unit; and a feed supply unit including the storage unit and the feed discharge unit. The vehicle according to any one of claims 1 to 4, wherein the vehicle is configured to be moved by being towed.
Feeding equipment according to the item.