Patent ID: 9095116
Filing Date: 2015-08-04
Classification: A01K

Abstract:
1. An unmanned self-propelled and self-steering device for removing manure present on a floor, comprising a housing, a frame, a manure slide and a drive for moving the device over the floor, wherein the drive comprises two individually drivable drive wheels arranged parallel on the frame and being located completely behind the manure slide with respect to the direction of travel of the vehicle, and a control unit for controlling the drive, wherein the device is provided with at least one load cell, which at least one load cell is functionally connected to the control unit and to at least a first, a second, and a third contact surfaces being provided on a bumper member that is fastened to the frame separately from the manure slide, the first and second contact surfaces at least partially oriented laterally in opposite directions and having portions ending on the load cell, and the third contact surface being at least partially oriented forwardly, wherein the at least one load cell measures the force exerted on the at least first, second and third contact surfaces; wherein the bumper member is mechanically connected to the frame via a longitudinal girder in or near a central longitudinal plane of the device; wherein the longitudinal girder separates the housing from the manure slide, the longitudinal girder being rigidly connected to the housing, and the at least first and second contact surfaces being located on opposite sides of the longitudinal girder, wherein the longitudinal girder is mechanically connected to the bumper member via a deformable connection, wherein the at least one load cell is rigidly connected to the longitudinal girder, and wherein the control unit is configured to control the drive so that, when one of the at least first and second contact surfaces is in contact with a wall, the contact surface which is in contact with the wall remains in contact with the wall when the measured value of the force exerted by the wall on the contact surface is within a preset range of a reference value.