NL2017042B1 - Dispensing system for animal feed - Google Patents
Dispensing system for animal feed Download PDFInfo
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- NL2017042B1 NL2017042B1 NL2017042A NL2017042A NL2017042B1 NL 2017042 B1 NL2017042 B1 NL 2017042B1 NL 2017042 A NL2017042 A NL 2017042A NL 2017042 A NL2017042 A NL 2017042A NL 2017042 B1 NL2017042 B1 NL 2017042B1
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- Prior art keywords
- feed
- animal feed
- dispensing
- images
- camera
- Prior art date
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- 241001465754 Metazoa Species 0.000 title claims abstract description 166
- 238000003860 storage Methods 0.000 claims abstract description 24
- 239000006052 feed supplement Substances 0.000 claims abstract description 11
- 229910052500 inorganic mineral Inorganic materials 0.000 claims abstract description 11
- 239000011707 mineral Substances 0.000 claims abstract description 11
- 239000000843 powder Substances 0.000 claims abstract description 11
- 239000008267 milk Substances 0.000 claims abstract description 10
- 210000004080 milk Anatomy 0.000 claims abstract description 10
- 235000013336 milk Nutrition 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 4
- 235000008733 Citrus aurantifolia Nutrition 0.000 claims 2
- 235000011941 Tilia x europaea Nutrition 0.000 claims 2
- 239000004571 lime Substances 0.000 claims 2
- OYPRJOBELJOOCE-UHFFFAOYSA-N Calcium Chemical compound [Ca] OYPRJOBELJOOCE-UHFFFAOYSA-N 0.000 abstract description 8
- 239000011575 calcium Substances 0.000 abstract description 8
- 229910052791 calcium Inorganic materials 0.000 abstract description 8
- 238000000105 evaporative light scattering detection Methods 0.000 description 20
- 238000009826 distribution Methods 0.000 description 6
- 238000002360 preparation method Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 5
- 238000001454 recorded image Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000005303 weighing Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
- A01K5/0266—Automatic devices with stable trolleys, e.g. suspended
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
- A01K5/0275—Automatic devices with mechanisms for delivery of measured doses
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
Description
OctrooicentrumPatent center
NederlandThe Netherlands
© 2017042 (21) Aanvraagnummer: 2017042 © Aanvraag ingediend: 24/06/2016© 2017042 (21) Application number: 2017042 © Application submitted: 24/06/2016
BI OCTROOI (51) Int. Cl.:BI PATENT (51) Int. Cl .:
A01K 5/02 (2016.01)A01K 5/02 (2016.01)
© Dispensing system for animal feed © The invention provides a system to dispense animal feed, in particular pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container. The system comprises a storage for containing the animal feed, a dispensing device to dispense the animal feed from the storage into the feed collecting container, and a control unit to control the dispensing device, wherein the control unit is configured to provide an actuation signal to the dispensing device to dispense the animal feed.© Dispensing system for animal feed © The invention provides a system to dispense animal feed, in particular pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container. The system comprises a storage for containing the animal feed, a dispensing device to dispense the animal feed from the storage to the feed collecting container, and a control unit to control the dispensing device, the control unit is configured to provide an actuation signal to the dispensing device to dispense the animal feed.
The system further comprises a camera to record one or more images on the basis of which actual dispensing of the animal feed can be determined.The system further comprises a camera to record one or more images on the basis of which actual dispensing of the animal feed can be determined.
NL BI 2017042NL BI 2017042
Dit octrooi is verleend ongeacht het bijgevoegde resultaat van het onderzoek naar de stand van de techniek en schriftelijke opinie. Het octrooischrift komt overeen met de oorspronkelijk ingediende stukken.This patent has been granted regardless of the attached result of the research into the state of the art and written opinion. The patent corresponds to the documents originally submitted.
Dispensing system for animal feedDispensing system for animal feed
The present invention relates to a system to dispense animal feed, in particular pulverulent animal feed, such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container.The present invention relates to a system to dispense animal feed, in particular pulverulent animal feed, such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container.
Such system is for example disclosed in WO2013141696. The system of WO2013141696 may be used in a filling station of an automatic feeding system comprising autonomous vehicles that collect different feed components in the filling station and distribute these feed components to feeding locations, for example in a feed alley of a stable for animals. The vehicles comprise a feed collecting container to receive the feed components when positioned in the filling station.Such a system is disclosed for example in WO2013141696. The system of WO2013141696 may be used in a filling station or an automatic feeding system including autonomous vehicles that collect different feed components in the filling station and distribute these feed components to feeding locations, for example in a feed alley or a stable for animals. The vehicles include a feed collecting container to receive the feed components when positioned at the filling station.
Usually, the filling station comprises several devices that are each configured to provide different types of feed components into the feed collecting container of the vehicle. In this way, in dependence on the needs of the animal or group of animals to be fed, a feed mixture may be composed by dispensing the different types of feed components in desired quantities into the feed collecting container. The feed collecting container preferably comprises a mixer unit to mix the different feed components to a more homogeneous feed mixture.Usually, the filling station includes several devices that are each configured to provide different types of feed components into the feed collecting container or the vehicle. In this way, in dependence on the needs of the animal or group of animals to be fed, a feed mixture may be composed by dispensing the different types of feed components in desired quantities into the feed collecting container. The feed collecting container preferably comprises a mixer unit to mix the different feed components to a more homogeneous feed mixture.
One of the type of feed components to be dispensed into the feed collecting container is pulverulent animal feed, such as ground calcium or other mineral feed supplements or milk powder. Since in a relatively large volume of feed mixture, often only a small quantity of pulverulent animal feed is required, the dispensing device to dispense the pulverulent animal feed must be able to dispense these small quantities.One of the type of feed components to be dispensed into the feed collecting container is pulverulent animal feed, such as ground calcium or other mineral feed supplements or milk powder. Since in a relatively large volume or feed mixture, often only a small quantity or pulverulent animal feed is required, the dispensing device to dispense the pulverulent animal feed must be able to dispense these small quantities.
However, in practice, dispensing small quantities of pulverulent animal feed, in particular ground calcium or other mineral feed supplements or milk powder, may be challenging. For example, the free flow of pulverulent animal feed may be impeded by, in particular, the formation of bridges across smaller openings in the dispensing channel or by encrustations on the wall of the storage container. The known dispensing device, for example an auger in a tube, is not configured to detect the actual dispensing of pulverulent animal feed from the dispensing opening of the dispensing system.However, in practice, dispensing small quantities or pulverulent animal feed, in particular ground calcium or other mineral feed supplements or milk powder, may be challenging. For example, the free flow of pulverulent animal feed may be impeded by, in particular, the formation of bridges across narrower opening in the dispensing channel or by encrustations on the wall of the storage container. The known dispensing device, for example an auger in a tube, is not configured to detect the actual dispensing or pulverulent animal feed from the dispensing opening or the dispensing system.
Thereby, the relatively small quantities of pulverulent animal feed have a relatively low mass that may be hard to detect by a mass detection system of the vehicle.Thereby, the relatively small quantities of pulverulent animal feed have a relatively low mass that may be hard to detect by a mass detection system of the vehicle.
A resulting drawback of the known dispensing system to dispense pulverulent.A resulting drawback or the known dispensing system to dispense pulverulent.
animal feed is that the actual dispensing of the pulverulent animal feed cannot be determined with high certainty. In particular, malfunctioning of the dispensing device, for example caused by the formation of bridges or encrustations, cannot be properly detected.animal feed is the current dispensing of the pulverulent animal feed cannot be determined with high certainty. In particular, malfunctioning of the dispensing device, for example caused by the formation of bridges or encrustations, cannot be properly detected.
More generally, it may be difficult to detect animal feed dispensed into a feed collecting container in quantities having a relatively low weight, since the mass detection systems in the feed collecting containers are not suitable to detect these quantities having a relatively low weight. This is typically caused by the need of the mass detection systems to be capable of measuring weight over a large range resulting in a lower weighing accuracy. In practice, embodiments of weight cells used for weighing the amount of animal feed in the feed collecting container of an autonomous vehicle have an accuracy of for example +/- 1.5 kg with the result that quantities of animal feed having a weight substantially lower than 1.5 kg loaded into the feed collecting container may not be detected.More generally, it may be difficult to detect animal feed dispensed into a feed collecting container in quantities having a relatively low weight, since the mass detection systems in the feed collecting containers are not suitable for detecting these quantities having a relatively low weight. This is typically caused by the need for mass detection systems to be capable of measuring weight over a large range resulting in a lower weighing accuracy. In practice, weigh of weight cells used for weighing the amount of animal feed in the feed collecting container or an autonomous vehicle have an accuracy of for example +/- 1.5 kg with the result that quantities of animal feed having a weight substantially lower than 1.5 kg loaded into the feed collecting container may not be detected.
Therefore, also other types of animal feed to be dispensed into a feed collecting container in quantities having a relatively low weight, such as animal feed dispensed in small quantities and/or animal feed having a low specific weight, may be difficult to detect by a mass detection system of the feed collecting container.Therefore, also other types of animal feed to be dispensed into a feed collecting container in quantities having a relatively low weight, such as animal feed dispensed in small quantities and / or animal feed having a low specific weight, may be difficult to detect by a mass detection system or the feed collecting container.
As a further consequence, a control unit monitoring the feed loading process of loading animal feed into the feed collecting container may provide an error signal, since the dispensing device indicates dispensing of animal feed into the feed collecting container, while the mass detection system of the feed collecting container does not register a change in weight of the animal feed in the feed collecting container.As a further consequence, a control unit monitoring the feed loading process of loading animal feed into the feed collecting container may provide an error signal, since the dispensing device indicates dispensing of animal feed into the feed collecting container, while the mass detection system of the feed collecting container does not register a change in weight of the animal feed in the feed collecting container.
It is an object of the invention to provide a system in which the actual dispensing of animal feed can be monitored more accurately.It is an object of the invention to provide a system in which the current dispensing or animal feed can be monitored more accurately.
The invention provides a system to dispense animal feed, in particular pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container, comprising:The invention provides a system to dispense animal feed, in particular pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container, including:
- a storage for containing the animal feed,- a storage for containing the animal feed,
- a dispensing device to dispense the animal feed from the storage into the feed collecting container, and- a dispensing device to dispense the animal feed from the storage into the feed collecting container, and
- a control unit to control the dispensing device, wherein the control unit is configured to provide an actuation signal to the dispensing device to dispense the animal feed, characterized in that, the system comprises a camera to record one or more images on the basis of which actual dispensing of the animal feed can be determined.- a control unit to control the dispensing device, the control unit is configured to provide an actuation signal to the dispensing device to dispense the animal feed, characterized in that, the system comprises a camera to record one or more images on the basis of which actual dispensing or the animal feed can be determined.
According to the invention a camera is provided to record one or more images that can be used to determine whether actual dispensing of pulverulent animal feed takes place when the dispensing device is actuated by the control unit.According to the invention a camera is provided to record one or more images that can be used to determine whether actual dispensing or pulverulent animal feed takes place when the dispensing device is actuated by the control unit.
By using a camera to monitor that actual dispensing of animal feed takes place, an independent monitoring is provided that can be used to ensure that the dispensing of animal feed is successful, i.e. that actual dispensing into the feed collecting container takes place.By using a camera to monitor that current dispensing or animal feed takes place, an independent monitoring is provided that can be used to ensure that the dispensing or animal feed is successful, i.e. that current dispensing into the feed is taking container.
The camera may be a camera system having two or more cameras. The cameras may be arranged to record the images from different viewing angles. Preferably, the camera is a 3D camera system.The camera may be a camera system having two or more cameras. The cameras may be arranged to record the images from different viewing angles. Preferably, the camera is a 3D camera system.
In an embodiment, the camera is configured to record one or more images in which actual dispensing of the animal feed into the feed collecting container is visible. When the animal feed is released by the dispensing device, for example dispensed through a dispensing opening, the animal feed will fall downwards towards and into the feed collecting container that is arranged in a filling location below the dispensing location of the dispensing device. During this falling down of the animal feed, the animal feed can be recognized on one or more images that are recorded by the camera.In an embodiment, the camera is configured to record one or more images in which current dispensing of the animal feed into the feed collecting container is visible. When the animal feed is released by the dispensing device, for example dispensed through a dispensing opening, the animal feed will fall downwards towards and into the feed collecting container that is arranged in a filling location below the dispensing location of the dispensing device. During this falling down of the animal feed, the animal feed can be recognized on one or more images that are recorded by the camera.
For example, dispensing pulverulent animal feed falling down will be visible as a cloud of pulverulent particles. This cloud can be recognized on one or more images that are taken, by the camera, from the dispensing opening or the area between the dispensing opening and the feed collecting container.For example, dispensing pulverulent animal feed falling down will be visible as a cloud or pulverulent particles. This cloud can be recognized on one or more images that are tasks, by the camera, from the dispensing opening or the area between the dispensing opening and the feed collecting container.
When no cloud is visible in the recorded images, while the dispensing device is actuated to dispense pulverulent animal feed through the dispensing opening, it may be determined that the dispensing device does not properly function, since no actual dispensing of pulverulent animal feed has been determined on the basis of the one or more images recorded by the camera. When a cloud of pulverulent animal feed is visible in the one or more images, but no mass increase is measured by the mass detection system of a feed collecting container, a resulting error signal of the mass detection system may be ignored since actual dispensing of the pulverulent animal feed has been determined on the basis of the images.When no cloud is visible in the recorded images, while the dispensing device is actuated to dispense pulverulent animal feed through the dispensing opening, it may be determined that the dispensing device does not function properly, since no actual dispensing or pulverulent animal feed has been determined on the basis of the one or more images recorded by the camera. When a cloud or pulverulent animal feed is visible in the one or more images, but no mass increase is measured by the mass detection system or a feed collecting container, a resulting error signal or the mass detection system may be ignored since actual dispensing of the pulverulent animal feed has been determined on the basis of the images.
In another embodiment, the camera is configured to record one or more images of an indicator device configured to indicate that actual dispensing of the animal feed takes place. Instead of determining actual dispensing of animal feed on the basis of looking at the animal feed itself, also use can be made of an indicator device that indicates actual dispensing of the animal feed.In another embodiment, the camera is configured to record one or more images or an indicator device configured to indicate that current dispensing or the animal feed takes place. Instead of determining current dispensing or animal feed on the basis or looking at the animal feed itself, also use can be made of an indicator device that indicates current dispensing of the animal feed.
The indicator device is for example a flag device that is positioned in or near a dispensing opening of a dispensing device for dispensing pulverulent animal feed. The flag device is movable between a first position and a second position. When no pulverulent animal feed is dispensed through the dispensing opening, the flag device will be positioned in the first position and when pulverulent animal feed is dispensed through the dispensing opening, the flag device will be positioned in the second position. In images recorded by the camera the position of the flag device, either the first position or the second position, can be distinguished, for instance a difference in position or a difference in colour or such.The device indicator is for example a flag device that is positioned in or near a dispensing opening or a dispensing device for dispensing pulverulent animal feed. The flag device is movable between a first position and a second position. When no pulverulent animal feed is dispensed through the dispensing opening, the flag device will be positioned in the first position and when pulverulent animal feed is dispensed through the dispensing opening, the flag device will be positioned in the second position. In images recorded by the camera the position of the flag device, either the first position or the second position, can be distinguished, for instance a difference in position or a difference in color or such.
In an embodiment, the camera is configured to provide the recorded one or more images to a processing unit, wherein the processing unit is configured to process the one or more images to determine whether actual dispensing takes places, when an actuation signal has been provided to the dispensing device.In an embodiment, the camera is configured to provide the recorded one or more images to a processing unit, the processing unit is configured to process the one or more images to determine whether actual dispensing takes places, when an actuation signal has been provided to the dispensing device.
The processing unit may be a part of the control unit or a separate device. In order to accurately determine in the one or more whether actual dispensing takes place processing of the images may be needed. The processing may for example comprise determining the feed collecting container and the dispensing device, or at least a relevant part thereof, and determining whether a dispensed quantity of animal feed is present between a dispensing location of the dispensing device and the feed collecting container.The processing unit may be a part of the control unit or a separate device. In order to accurately determine the one or more whether actual dispensing takes place processing of the images may be needed. The processing may for example include determining the feed collecting container and the dispensing device, or at least a relevant part, and determining whether a dispensed quantity of animal feed is present between a dispensing location of the dispensing device and the feed collecting container.
In an embodiment, the processing unit is configured to provide a warning signal, if it is determined on the basis of the one or more images that no actual dispensing takes place, when an actuation signal is provided to the dispensing device.In an embodiment, the processing unit is configured to provide a warning signal, if it is determined on the basis of the one or more images that no current dispensing takes place, when an actuation signal is provided to the dispensing device.
When an actuation signal has been sent to the dispensing device, but the actual dispensing cannot be recognized in the one or more images provided by the camera, the dispensing of animal feed may not function properly. In such case, the processing unit may provide a warning signal that may be sent to any suitable device, such as a computer and/or mobile device, to warn a farmer to check the functioning of the dispensing device.When an actuation signal has been sent to the dispensing device, but the actual dispensing cannot be recognized in the one or more images provided by the camera, the dispensing or animal feed may not function properly. In such a case, the processing unit may provide a warning signal that may be sent to any suitable device, such as a computer and / or mobile device, to warn a farmer to check the functioning of the dispensing device.
In addition, or as an alternative, the warning signal may be used to activate a device configured to remedy malfunctioning of the dispensing device. For example, in a dispensing device for dispensing pulverulent animal feed, the warning signal may be used to activate a vibrating device to take apart bridges or encrustations formed in the dispensing device to therewith promote the outflow of pulverulent animal feed out of the dispensing device. Such dispensing device having vibrating means to promote the outflow of pulverulent animal feed is for example disclosed in WO2013141696.In addition, or as an alternative, the warning signal may be used to activate a device configured to remedy malfunctioning or the dispensing device. For example, in a dispensing device for dispensing pulverulent animal feed, the warning signal may be used to activate a vibrating device to take separate bridges or encrustations formed in the dispensing device to therewith promote the outflow or pulverulent animal feed out of the dispensing device. Such a dispensing device having vibrating means to promote the outflow or pulverulent animal feed is disclosed for example in WO2013141696.
In an embodiment, the processing unit is configured to determine on the basis of the one or more images a flow rate and/or a volume of animal feed dispensed into the feed collecting container. The one or more recorded images may not only be used to determine whether or not actual dispensing takes place, but also to determine a flow rate and/or volume of animal feed that is dispensed by the dispensing device.In an embodiment, the processing unit is configured to determine on the basis of the one or more images a flow rate and / or a volume or animal feed dispensed into the feed collecting container. The one or more recorded images may not only be used to determine whether or not current dispensing takes place, but also to determine a flow rate and / or volume or animal feed that is dispensed by the dispensing device.
In such embodiment, the flow rate and/or volume as determined on the basis of the one or more images, may be compared with the quantity of animal feed that is desired to be dispensed with the dispensing device and/or the mass detected by the mass detection system of the feed collecting container. The possibility to check the flow rate and/or volume of dispensed animal feed may further increase the accuracy with which the animal feed may be dispensed by the dispensing device into the feed collecting container. In particular the determination of the actual dispensed quantity on the basis of the one or more images may be used to confirm dispensing of a correct small quantity or mass of animal feed, when the dispensing of this small quantity or mass of animal feed is not measurable by the mass detection system of the feed collecting container. In order to properly determine flow rate and/or volume the system may be calibrated with a known quantity of animal feed being dispensed at a known rate from which images are recorded. This allows to determine the flow rate and/or volume of the actually dispensed feed by comparing the calibration images with actual images.In such an embodiment, the flow rate and / or volume as determined on the basis of the one or more images, may be compared with the quantity of animal feed that is desired to be dispensed with the dispensing device and / or the mass detected by the mass detection system or the feed collecting container. The possibility to check the flow rate and / or volume of dispensed animal feed may further increase the accuracy with which the animal feed may be dispensed by the dispensing device into the feed collecting container. In particular the determination of the actual dispensed quantity on the basis of the one or more images may be used to confirm dispensing or a correct small quantity or mass or animal feed, when the dispensing of this small quantity or mass or animal feed is not measurable by the mass detection system or the feed collecting container. In order to properly determine flow rate and / or volume the system may be calibrated with a known quantity of animal feed being dispensed at a known rate from which images are recorded. This allows to determine the flow rate and / or volume of the actually dispensed feed by comparing the calibration images with actual images.
In an embodiment, the animal feed is pulverulent animal feed, the storage is a storage container for containing the pulverulent animal feed, and the dispensing device is configured to dispense the pulverulent animal feed from the storage container through a dispensing opening, wherein the dispensing opening is arranged above a filling location in which feed collecting container is arranged during dispensing of the pulverulent animal feed. When a dispensing opening is provided to dispense a quantity of pulverulent animal feed, this dispensing opening can be relatively easily be recognized in the one or more images, for example by characteristic features of the dispensing opening and/or markers provided on or near the dispensing opening. Therefore, it is desirable to use a dispensing opening being at a fixed location and being recognizable in the one or more images recorded by the camera.In an embodiment, the animal feed is pulverulent animal feed, the storage is a storage container for containing the pulverulent animal feed, and the dispensing device is configured to dispense the pulverulent animal feed from the storage container through a dispensing opening, with the dispensing opening is arranged above a filling location in which feed collecting container is arranged during dispensing of the pulverulent animal feed. When a dispensing opening is provided to dispense a quantity of pulverulent animal feed, this dispensing opening can be relatively easily recognized in the one or more images, for example by characteristic features of the dispensing opening and / or markers provided on or near the dispensing opening. Therefore, it is desirable to use a dispensing opening being at a fixed location and being recognizable in the one or more images recorded by the camera.
In an embodiment, the dispensing device comprises:In an embodiment, the dispensing device comprises:
- a collecting bin operatively placed under an outlet opening of the storage container for collecting pulverulent animal feed dispensed from the outlet opening, and- a collecting bin operatively placed under an outlet opening of the storage container for collecting pulverulent animal feed dispensed from the outlet opening, and
- a metering device, comprising a pipe containing a rotating screw or auger, which screw or auger operatively extends into the collecting bin in order to be able to convey pulverulent animal feed from it to a dispensing opening arranged at a dispensing end of the pipe.- a metering device, including a pipe containing a rotating screw or auger, which screw or auger operatively extends into the collecting bin in order to be able to convey pulverulent animal feed from it to a dispensing opening arranged at a dispensing end of the pipe.
A dispensing device having a collecting bin and a metering device is for example disclosed in WO2013141696.A dispensing device having a collecting bin and a metering device is disclosed for example in WO2013141696.
In an embodiment, the system comprises an autonomous vehicle, wherein the vehicle comprises or supports the feed collecting container, wherein the camera is preferably mounted on the vehicle.In an embodiment, the system comprises an autonomous vehicle, the vehicle comprises or supports the feed collecting container, the camera is preferably mounted on the vehicle.
The system of the invention can in particular be used in automatic feed preparation and distribution system in which the preparing and distributing of feed mixtures is automatically carried out using feed collecting containers that are provided on autonomous vehicles configured to distribute the animal feed to one or more feeding locations. In such automatic feed system there is no continuous monitoring by a farmer of the animal feed dispensed by the dispensing device. By using a camera to monitor the actual dispensing of animal feed, in particular by determining the actual dispensing on the basis of one or more images recorded by the camera, the certainty with which animal feed is actually dispensed by the dispensing device can be increased.The system of the invention can be used in particular in automatic feed preparation and distribution system in which the preparing and distributing or feed mixtures is automatically carried out using feed collecting containers that are provided on autonomous vehicles configured to distribute the animal feed to one or more feeding locations. In such an automatic feed system there is no continuous monitoring by a farmer or the animal feed dispensed by the dispensing device. By using a camera to monitor the current dispensing of animal feed, in particular by determining the current dispensing on the basis of one or more images recorded by the camera, the certainty with which animal feed is actually dispensed by the dispensing device can be increased.
The invention further provides a method to monitor actual dispensing of animal feed, in particular pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container, comprising the steps of:The invention further provides a method to monitor current dispensing of animal feed, in particular pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder, into a feed collecting container, including the steps of:
providing, by a control unit, an actuation signal to a dispensing device to dispense the animal feed into a feed collecting container, characterized by, recording one or more images of the system, and determining on the basis of the one or more images whether actual dispensing of the animal feed into the feed collecting container takes place.providing, by a control unit, an actuation signal to a dispensing device to dispense the animal feed into a feed collecting container, characterized by, recording one or more images of the system, and determining on the basis of the one or more images whether actual dispensing of the animal feed into the feed collecting container takes place.
In an embodiment, recording the one or more images of the system comprises recording of one or more images in which actual dispensing of the animal feed is visible.In an embodiment, recording the one or more images of the system comprises recording of one or more images in which actual dispensing of the animal feed is visible.
In an embodiment, recording the one or more images of the system comprises recording of one or more images of an indicator device configured to indicate whether actual dispensing of the animal feed takes place.In an embodiment, recording the one or more images of the system comprises recording of one or more images or an indicator device configured to indicate whether current dispensing or the animal feed takes place.
In an embodiment, the method comprises processing, by a processing unit, the one or more images to determine whether actual dispensing takes places, when the actuation signal has been provided to the dispensing device.In an embodiment, the method comprises processing, by a processing unit, the one or more images to determine whether actual dispensing takes places, when the actuation signal has been provided to the dispensing device.
In an embodiment, the method comprises providing a warning signal, if it is determined on the basis of the one or more images that no actual dispensing takes place, when an actuation signal has been provided to the dispensing device.In an embodiment, the method comprises providing a warning signal, if it is determined on the basis of the one or more images that no current dispensing takes place, when an actuation signal has been provided to the dispensing device.
In an embodiment, the method comprises determining on the basis of the one or more images a flow rate and/or a volume of dispensed animal feed.In an embodiment, the method comprises determining on the basis of the one or more images a flow rate and / or a volume or dispensed animal feed.
Embodiments of a system and method according to the invention will now be described in further detail, by way of example only, with reference to the accompanying drawings, in which:Embodiments of a system and method according to the invention will now be described in further detail, by way of example only, with reference to the accompanying drawings, in which:
- Figure 1 shows schematically a first embodiment of a system according to the invention; and- Figure 1 shows schematically a first embodiment or a system according to the invention; and
- Figures 2 and 3 show schematically a second embodiment of a system according to the invention.- Figures 2 and 3 show schematically a second embodiment or a system according to the invention.
Figure 1 shows schematically a first embodiment of an automatic feed preparation and feed distribution system for the automatic preparation and distribution of animal feed.Figure 1 shows schematically a first edition of an automatic feed preparation and feed distribution system for the automatic preparation and distribution of animal feed.
The system comprises a storage container 1 to store in dry powder form, pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder. Below the storage container 1, a dispensing device 2 is provided. The dispensing device 2 is configured to dispense pulverulent animal feed from the storage 1 into a feed collecting container 51.The system comprises a storage container 1 to store in dry powder form, pulverulent animal feed such as ground calcium or other mineral feed supplements or milk powder. Below the storage container 1, a dispensing device 2 is provided. The dispensing device 2 is configured to dispense pulverulent animal feed from the storage 1 into a feed collecting container 51.
The dispensing device 2 comprises a collecting bin 3 operatively placed under an outlet opening of the storage container 1 for collecting pulverulent animal feed flowing out of the outlet opening. The dispensing device 2 further comprises a metering device 4, comprising a pipe containing a rotating screw or auger, which screw or auger operatively extends into the collecting bin in order to be able to convey pulverulent animal feed from it to a dispensing opening 5 arranged at a dispensing end of the pipe.The dispensing device 2 comprises a collecting bin 3 operatively placed under an outlet opening of the storage container 1 for collecting pulverulent animal feed flowing out of the outlet opening. The dispensing device 2 further comprises a metering device 4, including a pipe containing a rotating screw or auger, which screw or auger operatively extends into the collecting bin in order to be able to convey pulverulent animal feed from it to a dispensing opening 5 arranged at a dispensing end of the pipe.
An embodiment of such dispensing device 2 is for example disclosed WO2013141696.An embodiment of such dispensing device 2 is for example disclosed WO2013141696.
The system, shown in Figure 1, further comprises a second storage 10, for example to store hay, and a feed loading device 11 configured to load the hay, or other animal feed stored in the second storage 10, into the feed collecting container 51. The feed loading device 11 may also be configured to take animal feed from further storages, for example for ensilage or grass products, and to dispense this animal feed into the feed collecting container 51. The system further comprises a control unit 15 to control the quantities of different feed components dispensed into the feed collecting container 51 using the dispensing device 2 or the feed loading device 11, or any other suitable dispensing device to dispense animal feed into the feed collecting container 51.The system, shown in Figure 1, further comprises a second storage 10, for example to store hay, and a feed loading device 11 configured to load the hay, or other animal feed stored in the second storage 10, into the feed collecting container 51 The feed loading device 11 may also be configured to take animal feed from further storages, for example for ensilage or grass products, and to dispense this animal feed into the feed collecting container 51. The system further comprises a control unit 15 to control the quantities of different feed components dispensing into the feed collecting container 51 using the dispensing device 2 or the feed loading device 11, or any other suitable dispensing device to dispense animal feed into the feed collecting container 51.
The feed collecting container 51 is arranged on an autonomously displaceable vehicle 50 comprising wheels 52 and an operating device 53 to operate the vehicle 50.The feed collecting container 51 is arranged on an autonomously displaceable vehicle 50 including wheels 52 and an operating device 53 to operate the vehicle 50.
The feed collecting container 51 has an open top in order to allow the feed collecting container 51 to be filled through the open top. To fill the feed collecting container 51, the vehicle 50 is arranged in a filling location shown in Figure 1. This filling location is determined by a filling station, in which the vehicle 50 for example may be connected to a power source to charge one or more batteries of the vehicle and connected to a computer network to exchange data.The feed collecting container 51 has an open top in order to allow the feed collecting container 51 to be filled through the open top. To fill the feed collecting container 51, the vehicle 50 is arranged in a filling location shown in Figure 1. This filling location is determined by a filling station, in which the vehicle 50 for example may be connected to a power source to charge one or more batteries of the vehicle and connected to a computer network to exchange data.
The feed collecting container 51 comprises a mass detection system 54 configured to measure the mass of animal feed that is loaded into the feed collecting container 51. In the feed collecting container 51 a mixing device may be provided to mix different feed components into the feed collecting container 51.The feed collecting container 51 comprises a mass detection system 54 configured to measure the mass of animal feed that is loaded into the feed collecting container 51. In the feed collecting container 51 a mixing device may be provided to mix different feed components into the feed collecting container 51.
When the feed collecting container 51 has been filled with animal feed, possibly comprising different feed components in a predetermined quantity and ratio, the vehicle 50 may autonomously move from the filling location, shown in Figure 1, to one or more feeding locations, for example in a feed alley, to distribute the animal feed at the one or more feeding locations.When the feed collecting container 51 has been filled with animal feed, possibly including different feed components in a predetermined quantity and ratio, the vehicle 50 may autonomously move from the filling location, shown in Figure 1, to one or more feeding locations, for example in a feed alley, to distribute the animal feed at the one or more feeding locations.
When dispensing of a pulverulent animal feed into the feed collecting container 51 is desired, the control unit 15 sends an actuation signal to the dispensing device 2 to actuate the dispensing device 2, in particular the metering device 4 to dispense a desired quantity of pulverulent animal feed from the dispensing opening 5. When the pulverulent animal feed flows out of the dispensing opening 5, it will fall down into the feed collecting container 51. The control unit 15 may also send a corresponding signal to the operating device 53 of the vehicle 50 allowing the vehicle 50, using the mass detection system 54, to determine whether the requested quantity of pulverulent animal feed has been actually received by the feed collecting container 51.When dispensing of a pulverulent animal feed into the feed collecting container 51 is desired, the control unit 15 sends an actuation signal to the dispensing device 2 to actuate the dispensing device 2, in particular the metering device 4 to dispense a desired quantity of pulverulent animal feed from the dispensing opening 5. When the pulverulent animal feed flows out of the dispensing opening 5, it will fall down into the feed collecting container 51. The control unit 15 may also send a corresponding signal to the operating device 53 of the vehicle 50 allowing the vehicle 50, using the mass detection system 54, to determine whether the requested quantity of pulverulent animal feed has been actually received by the feed collecting container 51.
However, the dispensing of the pulverulent animal feed is not always reliable. As described above, malfunctioning of the dispensing device, for example caused by the formation of bridges or encrustations, may not be determined by the control unit 15. Also, the mass detection system 54 of the feed collecting container may not be capable of determining the weight of animal feed loaded in the feed collecting container 51 with great accuracy. In particular, small changes in weight of animal feed loaded in the feed collecting container 51 may not always be determined by the mass detection system 54. As a consequence, malfunctioning of a dispensing device 2 may not properly be detected and/or the pulverulent animal feed loaded into the feed collecting container 51 may not be detected by the mass detection system 54 resulting in an error signal of the operating device 53.However, the dispensing of the pulverulent animal feed is not always reliable. As described above, malfunctioning of the dispensing device, for example caused by the formation of bridges or encrustations, may not be determined by the control unit 15. Also, the mass detection system 54 of the feed collecting container may not be capable of determining the weight of animal feed loaded in the feed collecting container 51 with great accuracy. In particular, small changes in weight of animal feed loaded in the feed collecting container 51 may not always be determined by the mass detection system 54. As a consequence, malfunctioning of a dispensing device 2 may not be properly detected and / or the pulverulent animal feed loaded into the feed collecting container 51 may not be detected by the mass detection system 54 resulting in an error signal of the operating device 53.
In order to more accurately monitor the actual dispensing of the pulverulent animal feed from the dispensing opening 5, a camera 20 is provided. The camera 20 is mounted on the vehicle 50. In alternative embodiments, the camera 20 may be mounted on any other suitable location, for example on a fixed construction frame. Also multiple cameras may be provided, for example a first camera mounted on the vehicle 50 and a second camera mounted on a static location. Preferably, the at least one camera 20 is a 3D camera system.In order to more accurately monitor the current dispensing or the pulverulent animal feed from the dispensing opening 5, a camera 20 is provided. The camera 20 is mounted on the vehicle 50. In alternative, the camera 20 may be mounted on any other suitable location, for example on a fixed construction frame. Also multiple cameras may be provided, for example a first camera mounted on the vehicle 50 and a second camera mounted on a static location. Preferably, the least one camera 20 is a 3D camera system.
The camera 20 is arranged to record one or more images of the dispensing opening 5 and the space between the dispensing opening 5 and the top side of the feed collecting container 51.The camera 20 is arranged to record one or more images of the dispensing opening 5 and the space between the dispensing opening 5 and the top side of the feed collecting container 51.
When the control unit 15 has sent an actuation signal to the dispensing device 2, dispensing of pulverulent animal feed from the dispensing opening 5 is expected. The camera 20 is configured to record, at least when an actuation signal has been provided to the dispensing device 2, one or more images. The camera 20 is configured to provide the recorded one or more images to a processing unit, in the shown embodiment incorporated in the control unit 15. The processing unit is configured to process the one or more images to determine whether actual dispensing takes places.When the control unit 15 has sent an actuation signal to the dispensing device 2, dispensing or pulverulent animal feed from the dispensing opening 5 is expected. The camera 20 is configured to record, at least when an actuation signal has been provided to the dispensing device 2, one or more images. The camera 20 is configured to provide the recorded one or more images to a processing unit, in the shown embodiment incorporated in the control unit 15. The processing unit is configured to process the one or more images to determine whether actual dispensing takes places.
In the shown embodiment, the camera 20 is arranged to take a number of images of the space between the dispensing opening 5 and the top side of the feed collecting container 51. When pulverulent animal feed is dispensed from the dispensing opening 5, pulverulent animal feed will fall down and form a cloud that moves down into the feed collecting container 51. This cloud of pulverulent animal feed will be visible in the one or more images recorded by the camera 20. Thus, by proper processing of the images recorded by the camera 20, the cloud of pulverulent animal feed can be recognized in the images. As a result, it can be determined whether actual dispensing of pulverulent animal feed from the dispensing opening 5 takes place.In the shown embodiment, the camera 20 is arranged to take a number of images of the space between the dispensing opening 5 and the top side of the feed collecting container 51. When pulverulent animal feed is dispensed from the dispensing opening 5, pulverulent animal feed will fall down and form a cloud that moves down into the feed collecting container 51. This cloud of pulverulent animal feed will be visible in the one or more images recorded by the camera 20. Thus, by proper processing of the images recorded by the camera 20, the cloud or pulverulent animal feed can be recognized in the images. As a result, it can be determined whether actual dispensing or pulverulent animal feed from the dispensing opening 5 takes place.
This determination of the actual dispensing of pulverulent animal feed from the dispensing opening 5 and into the feed collecting container 51 can be used to monitor whether there is actually a quantity of animal feed dispensed from the dispensing opening 5. In this way malfunctioning of the dispensing device 2 can be determined quickly.This determination of the actual dispensing of pulverulent animal feed from the dispensing opening 5 and into the feed collecting container 51 can be used to monitor whether there is actually a quantity of animal feed dispensed from the dispensing opening 5. In this way malfunctioning of the dispensing device 2 can be determined quickly.
For example, when an actuation signal has been sent to the dispensing device, but the actual dispensing cannot be recognized in the one or more images provided by the camera 20, the dispensing of animal feed through the dispensing opening 5 does not function properly. In such case, the control unit 15 may provide a warning signal that may be send to any suitable device, such as a computer and/or mobile device, to warn a farmer to check the functioning of the dispensing device. In addition, or as an alternative, the warning signal may be used to activate a vibrating device to take apart bridges or encrustations formed in the dispensing device 2 to therewith promote the outflow of pulverulent animal feed out of the dispensing device 2.For example, when an actuation signal has been sent to the dispensing device, but the current dispensing cannot be recognized in the one or more images provided by the camera 20, the dispensing of animal feed through the dispensing opening 5 does not function properly. In such a case, the control unit 15 may provide a warning signal that may be sent to any suitable device, such as a computer and / or mobile device, to warn a farmer to check the functioning of the dispensing device. In addition, or as an alternative, the warning signal may be used to activate a vibrating device to take separate bridges or encrustations formed in the dispensing device 2 to therewith promote the outflow or pulverulent animal feed out of the dispensing device 2.
Also, when the mass detection system 54 of the feed collecting container 51 does not measure a change in weight of animal feed loaded into the feed collecting container 51, it can be checked on the basis of the recorded images whether or not animal feed has been dispensed into the feed collecting container 51. This is in particular useful when quantities of animal feed having a relatively small weight are dispensed into the feed collecting container 51, since the mass detection system 54 itself is not always capable of accurately determining these quantities of animal feed having a relatively small weight when loaded into the feed collecting container 51.Also, when the mass detection system 54 of the feed collecting container 51 does not measure a change in weight of animal feed loaded into the feed collecting container 51, it can be checked on the basis of the recorded images whether or not animal feed has been dispensed into the feed collecting container 51. This is particularly useful when quantities of animal feed have a relatively small weight are dispensed into the feed collecting container 51, since the mass detection system 54 itself is not always capable of accurately determining these quantities of animal feed having a relatively small weight when loaded into the feed collecting container 51.
For example, when the operating device 53 of the vehicle 50 provides an error signal since the mass detection system 54 does not measure a change in weight of animal feed loaded into the feed collecting container 51, while an actuation signal has been provided to the dispensing device 2, the control unit 15 may first check whether actual dispensing has been recognized in the images recorded by the camera 20. When the actual dispensing has been recognized in the images, the error signal may for example be ignored as long as the dispensed quantity is below the measurement accuracy of the mass detection system 54 of the feed collecting container 51.For example, when the operating device 53 or the vehicle 50 provides an error signal since the mass detection system 54 does not measure a change in weight of animal feed loaded into the feed collecting container 51, while an actuation signal has been provided to the dispensing device 2, the control unit 15 may first check whether actual dispensing has been recognized in the images recorded by the camera 20. When the actual dispensing has been recognized in the images, the error signal may for example be ignored as long as the dispensed quantity is below the measurement accuracy of the mass detection system 54 or the feed collecting container 51.
The control unit 15 may also be used to determine on the basis of the recorded images a flow rate and/or a volume of animal feed dispensed into the feed collecting container. This information can advantageously be used to monitor the dispensing of animal feed into the container even more accurately.The control unit 15 may also be used to determine on the basis of the recorded images a flow rate and / or a volume of animal feed dispensed into the feed collecting container. This information can advantageously be used to monitor the dispensing of animal feed into the container even more accurately.
It is further remarked that the camera 20 may also be used to monitor actual dispensing of other types of animal feed to be dispensed into the feed collecting container 51, in particular when dispensed in quantities having a relatively low weight.It is further remarked that the camera 20 may also be used to monitor actual dispensing or other types of animal feed to be dispensed into the feed collecting container 51, in particular when dispensed in quantities having a relatively low weight.
Animal feed dispensed in small quantities and/or animal feed having a low specific weight may be difficult to detect by a mass detection system of the feed collecting container. When the camera 20 is used to monitor actual dispensing of the animal feed, more accurate control of the feed loading process is possible.Animal feed dispensed in small quantities and / or animal feed having a low specific weight may be difficult to detect by a mass detection system or the feed collecting container. When the camera 20 is used to monitor current dispensing of the animal feed, more accurate control of the feed loading process is possible.
For example, when the feed loading device 11 is actuated to take a small quantity of hay, for example having a weight less than 1 kg, from the storage 10 and to dispense it into the feed collecting container 51, the mass detection system 54 may not detect the receipt of this hay. When images are recorded by the camera 20 on the basis of which the actual dispensing of hay into the feed collecting container 51 can be determined, the actual dispensing of the hay can be verified and an associated error signal of the operating device 53 can be ignored.For example, when the feed loading device 11 is actuated to take a small quantity of hay, for example having a weight less than 1 kg, from the storage 10 and to dispense it into the feed collecting container 51, the mass detection system 54 may not detect the receipt of this hay. When images are recorded by the camera 20 on the basis of which the current dispensing of hay into the feed collecting container 51 can be determined, the current dispensing of the hay can be verified and an associated error signal of the operating device 53 can be ignored .
Figures 2 and 3 show an alternative embodiment of the system shown in Figure 1. In the system of Figures 2 and 3, a camera 20 is provided on a fixed location with respect to the dispensing device 2. Further, the dispensing device 2 comprises an indicator device 21 which is connected to a passive valve arranged in the dispensing opening 5 and movable between a first position and a second position.Figures 2 and 3 show an alternative embodiment of the system shown in Figure 1. In the system of Figures 2 and 3, a camera 20 is provided on a fixed location with respect to the dispensing device 2. Further, the dispensing device 2 comprises an indicator device 21 which is connected to a passive valve arranged in the dispensing opening 5 and movable between a first position and a second position.
The camera 20 is arranged to record one or more images on the basis of which the position of an indicator device 21 can be determined. When no actual dispensing of pulverulent animal feed through the dispensing opening 5 takes place, the indicator device 21 will be in the first position shown in Figure 2. However, when actual dispensing of pulverulent animal feed through the dispensing opening 5 takes place, the indicator device 21 will move to the second position, shown in Figure 3.The camera 20 is arranged to record one or more images on the basis of which the position of an indicator device 21 can be determined. When no actual dispensing or pulverulent animal feed through the dispensing opening 5 takes place, the indicator device 21 will be in the first position shown in Figure 2. However, when actual dispensing or pulverulent animal feed through the dispensing opening 5 takes place, the indicator device 21 will move to the second position, shown in Figure 3.
Thus, the position of the indicator device 21 indicates whether actual dispensing of pulverulent animal feed takes place. Similar to the embodiment of Figure 1, on the basis of the images recorded by the camera, the control unit 15 may determine whether actual dispensing through the dispensing opening 5 takes place. This information can be used to monitor the functioning of the dispensing device 2 and/or verify error signals of the operating device 53 the vehicle 50. The information may also be used for any other suitable reason.Thus, the position of the indicator device 21 indicates whether actual dispensing or pulverulent animal feed takes place. Similar to the embodiment of Figure 1, on the basis of the images recorded by the camera, the control unit 15 may determine whether actual dispensing through the dispensing opening 5 takes place. This information can be used to monitor the functioning of the dispensing device 2 and / or verify error signals of the operating device 53 the vehicle 50. The information may also be used for any other suitable reason.
It is remarked that any other type of indicator device that indicates actual dispensing of animal feed into the feed collecting container may also be used.It is remarked that any other type of indicator device that indicates current dispensing or animal feed into the feed collecting container may also be used.
Hereinabove, an automatic feed preparation and feed distribution system for the automatic preparation and distribution of animal feed has been described. It is remarked that the system according to the invention, i.e. a system comprising a storage container and a dispensing device configured to dispense the mineral feed supplements 5 in a mixture with a liquid, may also be applied in automatic feed preparation systems configured to automatically prepare feed rations for animals, whereby the distribution of the feed is carried out by another system which may be a semi-automatic or a manual system.Hereinabove, an automatic feed preparation and feed distribution system for the automatic preparation and distribution of animal feed has been described. It is remarked that the system according to the invention, ie a system including a storage container and a dispensing device configured to dispense the mineral feed supplements 5 in a mixture with a liquid, may also be applied in automatic feed preparation systems configured to automatically prepare feed rations for animals, the distribution of the feed is carried out by another system which may be a semi-automatic or a manual system.
Claims (15)
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| NL2017042A NL2017042B1 (en) | 2016-06-24 | 2016-06-24 | Dispensing system for animal feed |
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| NL2017042A NL2017042B1 (en) | 2016-06-24 | 2016-06-24 | Dispensing system for animal feed |
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| NL2017042A NL2017042A (en) | 2018-01-08 |
| NL2017042B1 true NL2017042B1 (en) | 2018-01-19 |
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| NL1033589C2 (en) * | 2007-03-26 | 2008-09-29 | Maasland Nv | Assembly of a milking robot with a milking robot feeding place, and device for gripping and moving material. |
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