5.2011.8583.0 C
Description 4-17
the direction of the feed alley. Outdoors the Feeding Robot must follow the metal strip on the floor using
the inductive sensors. During driving the skirt is usually lifted.
Measuring and feed pushing
Inside the barn the Mixing and Feeding Robot lowers the skirt. The Mixing and Feeding Robot starts to
drive and uses the ultrasonic sensor to keep at a fixed distance from the fence. The Mixing and Feeding
Robot drives to the location of animals that need to be fed and on the route:
• The skirt rotates and pushes feed toward the fence of all locations with animals.
• The laser measures the height of the feed of other locations with animals.
Feeding
The Mixing and Feeding Robot stops when it arrives at the (first) location on the feed fence of the animals
that need to be fed. The feed door opens. When the door is completely open:
• The dosing roll starts to dose the feed.
• The mixer starts turning.
• The Feeding Robot starts to drive.
During dosing the Feeding Robot pushes the feed toward the fence and measures the height of the feed.
At the end of the location the mixing bin is empty and the dosing roll spins fast to dose the last feed
remains, after that it stops rotating. The Mixing and Feeding Robot stops driving and the feed door closes.
After the feed door is closed, the Mixing and Feeding Robot continues the route in the barn. On the way
to finish the route the Mixing and Feeding Robot will again measure and push the feed of other locations
with animals.
If more locations need the same ration the distribution can be combined but only if:
• The Mixing and Feeding Robot can drive with an open feed door from one location to the next (fences
are in the same feeding section).
• The feed request for one fence is lower than the ration limit (calculations are made to combine feed
tasks for two or more fences).
4.3.3 Drive to the Feed Loading Point and Connect to the Charger
When the Feeding Robot drives away from the feed fence the skirt is usually lifted. The Feeding Robot
uses the inductive sensors to find the metal strips on the floor and to follow them toward the charger. On
the way to the charger there are one or more reset points where the metal strip is interrupted for a short
distance.
The AGS zone is a zone near the feed kitchen (on the Vector type plate usually marked
yellow), just before the Mixing and Feeding Robot enters the feed kitchen. In the AGS
zone the Mixing and Feeding Robot asks permission before it starts to drive the next
route action. This makes sure the Feeding Robot only enters and moves in the area near
the feed kitchen when it is safe. In the AGS zone the Feeding Robot must be able to
communicate via Bluetooth with the power distribution box.
in n o vato rs in agriculture
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