JPH1156152A - Feeding device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To enable a sweeping device to be mounted close to a discharge conveyor side with a simple mounting structure. SOLUTION: While moving along a set route, a discharge conveyor 8 is provided for supplying and discharging the feed discharged from the feed storage unit 4 at a feeding target location KT provided along the livestock barn. Accordingly, a sweeping device 14 for sweeping the feed supplied to the feeding target portion toward the barn side is provided in a state supported by the discharge conveyor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method for transporting a feed discharged from a feed storage unit while traveling along a set route.
The present invention relates to a feeder provided with a discharge conveyor that discharges and supplies to a feeding target place provided along a livestock barn.

[0002]

2. Description of the Related Art As a prior art of a feeding apparatus, for example, as described in Japanese Patent Application Laid-Open No. 54-20878, a work vehicle moving and traveling along a set route is provided with a feed storage section and a discharge conveyor. And a sweeping tool that sweeps the feed supplied to the feeding target location along with the traveling traveling toward the livestock barn, and moves the work vehicle while traveling to discharge the feed discharged from the feed storage unit. It is configured to discharge and feed toward the feeding target location at, and when the discharged feed protrudes from the feeding target location, it can sweep the protruding feed toward the barn side There is. In the prior art, when the discharge conveyor and the sweeping tool are provided in the work vehicle, they are separately mounted on the body frame of the work vehicle.

[0003]

According to the prior art, since the discharge conveyor and the sweeping device are separately mounted on the vehicle body frame, the sweeping position by the sweeping device is set closer to the feed discharge position by the discharge conveyor. If you want to install the sweeping tool close to the discharge conveyor side so that it can be swept efficiently at the appropriate relative position located in It is necessary to mount the sweeping device and the discharge conveyor so as not to interfere with each other, and there is a disadvantage that the mounting structure of the sweeping device is complicated. The present invention has been made in view of the above circumstances, and by devising the mounting position of the sweeping device, the sweeping device can be mounted close to the discharge conveyor side with a simple mounting structure. The purpose is to do.

[0004]

According to a first aspect of the present invention, there is provided a feeder comprising a discharge conveyor as a mounting frame of a sweeping tool for sweeping feed supplied to a location to be fed along with traveling and traveling toward a barn. Since it is utilized, a special mounting frame or the like is not required when the sweeping tool is mounted close to the discharge conveyor side. Therefore, with a simple mounting structure, the sweeping tool can be mounted close to the discharge conveyor side. In the feeding device according to the second aspect, when sweeping the feed is performed, the sweeping device is switched to the sweeping action state, and when the feed is not sweeping, the sweeping device is switched to the non-working state. Therefore, the feed can be swept at a desired timing. In the feeding device according to the third aspect, when the feed is discharged and supplied to the feeding target location, the discharging conveyor is switched to an outwardly protruding posture in which the distal end discharging portion is close to the feeding target location, and the feed is fed from the distal discharging portion. Discharge and supply
When traveling without feeding and feeding the feed to the feeding target location, the discharge end can be switched to the retirement position in which the tip discharge section retreats to the inside of the device so that the discharge conveyor does not interfere with running. It is easy to run so that the conveyor does not collide with other objects. In addition, the sweeping tool is switched to the sweeping action state when the discharge conveyor is switched to the outwardly protruding attitude, and is switched to the non-operating state when the discharge conveyor is switched to the retreating attitude, in conjunction with the switching of the attitude of the discharge conveyor. Therefore, when the feeder can be swept at a desired timing, it is not necessary to separately provide special switching means for switching the sweeper between the sweeping action state and the non-working state. In addition to simplifying the mounting structure, the feed can be reliably swept toward the barn when the feed is discharged and supplied to the feeding target location. In the feeding device according to the fourth aspect, the discharging conveyor can be switched between the outwardly protruding position and the retreating position by swinging the discharging conveyor up and down. Therefore, for example, the discharging conveyor is slidably supported by a guide member or the like, and the sliding thereof is performed. As compared with the case where the movement is switched between the outwardly protruding posture and the retreating posture, the mounting structure of the discharge conveyor can be simplified. The feeding device according to claim 5,
When the discharge conveyor is switched to the retreat position and the sweeping implement is switched to the non-operating state and travels, along the bottom side of the discharge conveyor so that the sweeping implement does not interfere with traveling. Since it can be stored in a state in which it is made to slide, it is easy to run so that the sweeping tool does not collide with another object. In addition, when the discharge conveyor is switched to the outwardly protruding position and the feed is discharged and supplied to the feeding target location, the sweeping device is stored along the bottom side of the discharge conveyor, and the sweeping is performed. It is possible to travel without performing, and it is possible to efficiently perform the sweeping operation as needed.
The feeding device according to claim 6 can automatically switch the posture of the discharge conveyor or automatically turn on and off the discharge operation of the discharge conveyor if the command information is provided to the control unit as necessary. Labor saving can be achieved. The feeding device according to claim 7, when the command information is provided to the control means as needed, the feeding device is automatically driven along the set route, and the feed is discharged and supplied to the feeding target location,
Since the feed can be swept, the labor can be further saved.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a feeding facility equipped with a feeding truck V as a feeding device according to the present invention will be described 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 feed truck V discharges and feeds a feed to a feeding target point KT provided along a cow barn (an example of a barn) while the feeding vehicle V travels along the set route S. Have been. As shown in FIG. 2 to FIG. 4, the feed truck V has a configuration in which a feed truck 2 is connected to the rear of the agricultural tractor 1 and is towed by the agricultural tractor 1. The vehicle is configured such that the vehicle is guided and controlled along the set route S by an unmanned person, and the vehicle can be manually driven.

[0006] The feed truck V is arranged to stand by at a position surrounded by the building 3 while waiting for driving. Inside the building 3, a plurality of types of feed storage units 4 of the feed truck V are provided. Feeder 5 for feeding and feeding the feed (eg, cereals and concentrated feed for replenishing nutrients) is provided, and the feeder vehicle V at the standby position is provided.
Feed can be fed to 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.

[0007] The feed cart 2 is provided with a feed storage section 4 having an open upper side therein.
A plurality of screw augers 7 are arranged in parallel at the bottom of
It is configured so that the fed feed can be stirred and mixed. The feed to be fed includes silage, cereals, and concentrated feed for nutrient replenishment. Then, the feed mixed and stirred in this manner is fed to the feed storage unit 4.
Is discharged from the feeding target point KT by a discharge conveyor 8 provided on the side of the feeder,
The feed outlet for the discharge conveyor 8 can be opened and closed by a discharge gate 10 operated by a hydraulic discharge cylinder 9. The screw auger 7 is driven by a PTO shaft 11 of the agricultural tractor 1, and the discharge conveyor 8 is driven by a hydraulic discharge motor 12. Therefore, the discharge motor 12 is configured as a discharge state switching unit that switches the discharge operation of the discharge conveyor 8 on and off.
The discharge conveyor 8 is provided at the base end portion thereof as a fulcrum, and is provided on the lateral side portion of the feeding cart 2 so as to be able to swing up and down around an axis X along the vehicle body front-rear direction, as shown by a solid line in FIG.
Feeding path portion S ₂ by hydraulic lifting cylinder 13
While traveling, the tip discharge portion 8a protrudes outward in the lateral direction and the feed projecting portion protrudes outward in the vicinity of the feeding target location KT, and as shown by a virtual line in FIG. The lifting cylinder 13 is provided so as to be able to switch the attitude between the retracting attitude for storage swinging upward and the retracting attitude for storage.
However, the discharging conveyer 8 is configured to be a discharging posture switching means that can be operated to switch between an outwardly protruding posture and a retreating posture.

When the feed discharged from the discharge conveyor 8 falls to the feeding target location KT, or when the cattle eats the supplied feed, the feed is supplied to the lower side of the discharge conveyor 8 at the feeding target location. If the KT side as protruding in the traveling path side, along with the movement travel along the protruding diet fed for path portion S ₂ of the feeding wheel V, again, towards the feeding target portion KT of barn side A plate-like sweeping tool 14 for sweeping the wafer is provided in a state of being integrally supported by the discharge conveyor 8. The sweeping tool 14 is further moved around the pivot axis Y along the lower surface side of the discharge conveyor 8 by the expansion and contraction operation of a hydraulic rocking cylinder 40 provided between the sweeping tool 14 and the discharge conveyor 8. As shown in FIG. 5 (a), the discharge conveyor 8 is located on the rear side in the running direction of the swing axis Y.
FIG. 5 shows the storage posture for storing along the bottom side of
As shown in (b), the swinging cylinder 40 is provided so as to be switchable between an upright posture and an upright posture that stands on the bottom surface side of the discharge conveyor 8, and the swinging cylinder 40 is operable to switch between the upright posture and the storage posture. The sweeping tool attitude switching means is configured. The sweeping tool 14 is connected to the discharge conveyor 8.
When the discharge conveyor 8 is switched to the outwardly protruding position in a state where the sweeping device 14 is held in the upright position, the discharge conveyor 8 is provided so as to swing up and down integrally with the discharge conveyor 8 in conjunction with the switching of the position. Is switched to a sweeping action state in which the feed is swept with the traveling travel, and
When the discharge conveyer 8 is switched to the retreating position in a state in which the discharge conveyor 8 is held in the upright position, the state is switched to a non-operating state in which sweeping is not performed. It is configured to be switched to a storage posture for storing the same.

The feed truck V has a configuration in which the running operation of the agricultural tractor 1 and the feeding operation of the feeding truck 2 are automatically controlled. Specifically, engine start / stop operations,
The running start / stop operation is automatically controlled, and the vehicle is automatically guided and controlled to travel unmanned along the set path S. The screw auger 7, the discharge conveyor 8, the swing cylinder 40, Each operation of the cylinder 13 and the opening / closing operation of 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. In addition, the management device 15 is configured to be able to communicate information with the feeding vehicle V via the wireless modem 16.

[0010] As shown in FIG.
Not only the feed truck V, but also a shutter device 17 capable of opening and closing the entrance of the building 3 through which the feed truck V passes, the first feed feed device 5, the second feed feed device 6, and a ventilation fan 18 provided in the building 3 Is configured to be able to communicate information via the wireless modem 16 so that the respective operations can be managed based on the information to be communicated.

Next, the control configuration of the feed truck V will be described in detail. As shown in FIG. 7, 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 as a steering operation means capable of changing the moving direction by steering the left and right front wheels which can be changed left and right, and a transmission 2 which can change the traveling speed
4. PT for turning on / off the transmission state to the PTO shaft 11
A control device 26 is provided as control means on the feeder truck V side, which is a microcomputer that controls the operation of each of the O clutch 25, the discharge motor 12, the discharge cylinder 9, the lifting cylinder 13, and the swing cylinder 40. ing. Further, the feeding vehicle V has a pair of left and right magnetic field sensors 27R and 27L for guiding traveling, a load cell 28 for detecting an amount of feed fed to the feed storage unit 4, and whether there is an obstacle in front of the moving direction. Based on the obstacle sensor 29 to be detected and the position identification information transmitted by wireless information from a tag (position identification index) 30 installed at an appropriate place on the ground side in the set route S, the feeding vehicle V Position sensor 31 for determining the position
The detection information is input to the control device 26.

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 is detected by the operation abnormality detection device 33, such as a 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. 8 shows an initial screen of the display device 34, and FIG. 9 shows a feed adjustment screen for adjusting the content of feeding.
FIG. 10 shows operation screens each showing a driving state. Then, when the work manager starts the feeding operation, first, the initial screen is switched to the feeding adjustment screen, and the content of the feeding is adjusted 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 the plurality of feeds, the loosening time for feed adjustment, the feeding start time, and the feeding operation are not performed. In this state, the time for executing the sweeping operation for sweeping the feed is 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 the management information is communicated to 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 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
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
The screw auger 7 is driven to rotate via the, 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. Then, when the feeding of the feed is completed, the running of the feed truck V is started, and the feeding is performed along the set route S (step 7, step 7).
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 structure of the feeding vehicle V will be described. A guiding line 35 (an example of a guiding index) to which a current is supplied along the set path S on the road surface of the feeding vehicle V is provided. The pair of left and right magnetic field sensors 27R and 27L provided on the feeding vehicle V detect the strength of the magnetic field formed by the current supplied to the guide wire 35, and the detected values of the magnetic field sensors 27R and 27L are the same. In other words, the steering electric motor 2 is positioned so that the guide wire 35 is positioned at the left and right central portions of the magnetic field sensors 27R and 27L.
The automatic guidance control for operating the vehicle 3 and guiding the vehicle along the guidance line 35 is performed.

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 truck V is displayed on the display device 34 of the management device 15 as appropriate on the monitor (see the display positions "1" to "16" in FIG. 10).

The information detected by the magnetic field sensors 27R and 27L is displayed by an indicator 36 provided on the operation 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 FIG. 1, 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 display amount is obtained by the absolute value of [Equation 1] Δe with respect to the detection values S _L and S _R of the left and right magnetic field sensors 27R and 27L, and the left and right are determined by positive and negative signs. To choose.

[0019]

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

In this manner, the display state of each of the magnetic field sensors 27R and 27L and the positional relationship between the guide wire 35 as shown in FIG.
As shown in (b), the misalignment state becomes a display state suitable for human senses.

When the feeder V reaches the silage input position by the second feed feeding device 6, the feeder V stops running, and when the feeder V is reached to the position, it is communicated to the management device 15. By operating the two feed supply device 6, silage is supplied to the feed storage unit 4 by a set amount based on the detection information of the load cell. 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 retracted position to the outwardly protruded position by the lifting cylinder 13 to start the feed discharge operation by the discharge motor 12 and to the feed target location KT. The running is continued while executing the feeding operation, and the feeding operation is executed (steps 13 and 14). Therefore, when the discharge conveyor 8 is switched to the outwardly protruding posture, if the sweeping device 14 is held in the upright position by the swing cylinder 40, the sweeping device 14 switches to the sweeping action state, While performing the feeding operation to the feeding target location KT, the sweeping operation is performed at the same time, and when the sweeping device 14 is held in the storage position, only the feeding operation is performed without performing the sweeping operation. become. In this feeding operation, the detection value of the load cell 28 is detected each time the vehicle travels 5 m based on the detection information of the tag 30 by the position sensor 31, and the feed in the feed storage unit 4 is exhausted when reaching the terminal end. Thus, the control is performed such that the feed rate is adjusted while changing and adjusting the running speed by the transmission 24 (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, the discharge conveyor 8 is switched to the retired posture by the lifting cylinder 13, and the feed discharge operation is stopped (steps 16 and 17). If the sweeping operation is being performed at the same time as the feeding operation is being performed, the sweeping device 14 is switched to the non-operating state as the discharging conveyor 8 switches to the retreating posture, and the swing cylinder 40 is further moved. It is configured to be able to be switched to the storage posture by.

When the feeder V has reached the entrance of the building 3 after the feed discharging operation has been completed and is communicated to the management device 15, 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 vehicle stops running, stops the engine, ends the feeding operation, and waits in the sleep mode (steps 18 and 19).

Then, 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 retreat position to the outward protruding position by the lifting cylinder 13, and the sweeping tool 14 is moved from the storage position to the upright position by the swing cylinder 40. To switch to the sweeping action state, and perform a sweeping operation in which the feed that has protruded to the running route side when the cow eats at the feeding target location KT is again swept to the feeding target location KT (steps 22 and 23). . Feeding location KT
Is reached, the discharge conveyor 8 is switched to the retreat position by the lifting cylinder 13 and the swing cylinder 40
To return to the predetermined standby position and wait in the sleep mode (steps 24 to 2).
7). Thereafter, the above-described feeding operation and sweeping operation are appropriately executed based on the time management content of the management information set in advance. As described above, even in the even sweeping operation in feeding operation, except when traveling the feed for path portion S ₂ corresponding to the fed target portion KT is that the discharge conveyor 8 is switched to the outwardly projecting position without therefore, there is no possible sweeping device 14 is switched to the sweeping action state, during the running of the forward path portion S ₁ and the return path portion S _3, sweeping dust and sand, snow or the like in the travel path side There is no danger of it.

Therefore, the control device 26 can control the operations of the lifting cylinder 13 and the discharge motor 12 individually based on the command information, and move and move the feed truck V along the set route S. The controller is configured to execute automatic guidance control for controlling the operation of the steering electric motor 23. When the feeding truck V is running, the obstacle sensor 2
When an obstacle is detected in front of the vehicle body at 9, the traveling is stopped in an emergency.

[Another Embodiment] When the sweeping device is fixed in a fixed posture with respect to the discharge conveyor, and when the discharge conveyor is switched to the outwardly protruding position and the feed is discharged and supplied to the feeding target position, the sweeping device is simultaneously switched to the sweeping operation state, and the discharge conveyor is switched. May be configured to switch the sweeping tool to the non-operating state at the same time when the feeder is switched to the retired posture and the feed is not discharged and supplied. 2. The discharge conveyor may be configured to be freely switchable between an outwardly projecting position and a retreating position by sliding movement along a horizontal direction or swinging movement along a traveling direction. 3. In the above-described embodiment, the feeder truck is configured to be controlled so as to run automatically over the entire area of the set route. However, instead of such a configuration, the feeder truck may be driven manually. In this case, the sweeping tool may be automatically switched between the sweeping action state and the non-working state based on the position determination information, or may be switched based on a manual command of an operation lever or the like. 4. In the above embodiment, the feeding device for cows has been exemplified,
The present invention can also be applied as a feeding device for pigs and other livestock. 5. In the above-described embodiment, the feeding device having the configuration in which the feeding trolley 2 is pulled by the agricultural tractor 1 has been described, but the feeding trolley 2 itself is provided with a traveling device such as running wheels, and is configured to be self-propelled. Instead, the present invention may be implemented in various forms, such as a configuration in which the vehicle is towed by an electric moving vehicle or the like.

[Brief description of the drawings]

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

FIG. 2 is a front view of a main part of a feeding truck.

FIG. 3 is a side view of a main part of a feeding truck.

FIG. 4 is a plan view of a main part of a feeding truck.

FIG. 5 is a side view of a main part showing a state in which the posture of the sweeping tool is switched.

FIG. 6 is a block diagram showing a management configuration.

FIG. 7 is a control block diagram of a feeding truck.

FIG. 8 is a diagram showing an initial screen of a display 8;

FIG. 9 is a diagram showing a feed adjustment screen of the display device 34;

FIG. 10 is a diagram showing an operation screen of the display device.

FIG. 11 is a diagram showing the operation of an indicator.

FIG. 12 is a flowchart of a control operation.

[Explanation of symbols]

 Reference Signs List 4 Feed storage unit 8 Discharge conveyor 8a Tip discharge unit 12 Discharge state switching means 13 Discharge attitude switching means 14 Sweeper 23 Steering operation means 26 Control means KT Feeding target area S Setting route

Claims (7)

[Claims] 1. A feeding device provided with a discharge conveyor for discharging feed discharged from a feed storage unit to a feeding target provided along a barn while moving and traveling along a set route. A feeder provided with a sweeping device that sweeps feed supplied to the feeding target portion along with the traveling traveling toward the barn side while being supported by the discharge conveyor. 2. The feeding device according to claim 1, wherein the sweeping device is configured to switch between a sweeping operation state in which the feed is swept with the traveling travel and a non-operation state in which the sweeping is not performed. apparatus. 3. The discharge conveyor is configured to be capable of switching its posture between an outwardly protruding posture in which a distal end discharge portion is close to the feeding target position and a retreating posture in which the distal end discharge portion retreats inward of the apparatus. The feeding device according to claim 2, wherein the sweeping device is configured to switch between the sweeping operation state and the non-operation state in conjunction with switching of the attitude of the discharge conveyor. 4. The discharge conveyor is provided on a lateral side of the apparatus so as to be vertically swingable with a base end as a fulcrum, and is switched between the outwardly protruding posture and the retreating posture with the vertical swing. The feeding device according to claim 3, wherein the feeding device is configured as follows. 5. The feeding device according to claim 4, wherein the sweeping device is provided so as to be stowable along a bottom surface of the discharge conveyor. 6. A discharge posture switching means operable to switch the discharge conveyor between the outwardly projecting posture and the retreat posture, a discharge state switching means for turning on / off a discharge operation of the discharge conveyor, and the discharge posture. 6. A control device according to claim 3, further comprising switching means and control means capable of individually controlling each operation of said discharge state switching means based on the command information.
Feeding device according to item. 7. A steering operation means capable of changing a moving direction is provided. The control means controls the operation of the steering operation means to move and travel along the set route based on command information. The feeding device according to claim 6, wherein the feeding device is configured to execute an automatic guidance control.