Automatic Control System, Method, Device and Storage Medium for Feeding Crane

Abstract

The present application relates to an automatic control system, method, device and storage medium for a feeding gantry crane. Among them, the automatic control system for the feeding gantry crane includes: a gantry crane drive motor; the gantry crane drive motor includes a gantry crane traveling motor for connecting the feeding gantry crane, and each gantry crane feeding motor respectively arranged in each layer of feed bins; a gantry crane operation control cabinet, which outputs control instructions; a gantry crane main control cabinet, the gantry crane main control cabinet includes a controller and a driving device; among them, the driving device includes a first driver and a second driver; the controller receives the control instructions, controls the action of the gantry crane traveling motor through the first driver to adjust the traveling speed of the feeding gantry crane, and controls the action of the gantry crane feeding motor through the second driver to adjust the feeding speed of the feed bin. The present application has a high degree of automation, the overall system is stable and reliable, improves the production efficiency of caged poultry, and can reduce the feed cost and improve the production benefit due to accurate feed control.

Description

Technical Field

[0001] This application relates to the technical field of equipment control, and particularly to an automatic control system, method, device and storage medium for a feeding gantry crane. Background Art

[0002] At present, the livestock and poultry breeding industry is vigorously developing in China. According to the current feeding process, for caged poultry such as breeding chickens and broiler chickens, it is necessary to control and manage their feeding amounts. If manual control is adopted, it is very difficult to increase the per capita breeding amount and the per capita efficiency is low.

[0003] With the vigorous development of the domestic caged poultry equipment industry, the mechanization and automation levels of the feeding equipment adopted are getting higher and higher. Although the domestic poultry farms have basically achieved mechanization and simple automation at present, in the process of implementation, the inventor found that there are at least the following problems in the traditional technology: the automation level of the feeding equipment system in the poultry farm is relatively low, and there are problems such as uncontrollable feeding amount, unstable falling amount and low feeding accuracy. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide an automatic control system, method, device and storage medium for a feeding gantry crane that can improve the automation level.

[0005] In order to achieve the above object, on the one hand, an embodiment of the present invention provides an automatic control system for a feeding gantry crane, including:

[0006] A gantry crane driving motor; the gantry crane driving motor includes a gantry crane traveling motor for connecting the feeding gantry crane, and each gantry crane feeding motor respectively arranged in each layer of feed bin;

[0007] A gantry crane operation control cabinet, which outputs control instructions;

[0008] A gantry crane main control cabinet, which includes a controller and a driving device; wherein, the driving device includes a first driver and a second driver; one end of the controller is connected to the gantry crane operation control cabinet, and the other end is connected to the gantry crane traveling motor through the first driver and is respectively connected to each gantry crane feeding motor through the second driver;

[0009] Wherein, the controller receives the control instructions, controls the action of the gantry crane traveling motor through the first driver to adjust the traveling speed of the feeding gantry crane, and controls the action of the gantry crane feeding motor through the second driver to adjust the feeding speed of the feed bin.

[0010] In one of the embodiments,

[0011] The gantry crane traveling motor is a servo motor; the gantry crane feeding motor includes stepping motors arranged at both ends of the output shaft of the blanking auger in the feed bin;

[0012] The first driver is a servo driver; the second driver is a stepper motor driver;

[0013] Among them, the controller, based on the control instruction, controls the rotation speed of each stepper motor through the stepper motor driver to respectively adjust the feeding amount of each feed bin.

[0014] In one embodiment, the traveling crane operation control cabinet is connected to the controller through a 485 interface.

[0015] In one embodiment, the traveling crane operation control cabinet is an operation control electric box with a touch screen.

[0016] In one embodiment, it further includes a traveling crane power control cabinet; the traveling crane power control cabinet is connected to the traveling crane main control cabinet.

[0017] In one embodiment, the traveling crane power control cabinet is used to provide a DC 48V power supply voltage; the traveling crane power control cabinet includes a voltage monitoring module and a fault alarm output module.

[0018] In one embodiment, the controller is a PLC controller.

[0019] A method for automatically controlling a feeding traveling crane, which is applied to the traveling crane operation control cabinet in the above-mentioned automatic control system of the feeding traveling crane; the method includes:

[0020] When a start instruction is received, confirm the current working mode;

[0021] If it is confirmed that the current working mode is the self-set mode, output a control instruction according to the obtained feeding speeds;

[0022] If it is confirmed that the current working mode is the curve mode, output a control instruction based on the motor setting parameters in the automatic operation curve; among them, the motor setting parameters include the motor speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.

[0023] A device for automatically controlling a feeding traveling crane, including:

[0024] A mode confirmation module, used to confirm the current working mode when a start instruction is received;

[0025] An instruction output module, used to output a control instruction according to the obtained feeding speeds if it is confirmed that the current working mode is the self-set mode; and used to output a control instruction based on the motor setting parameters in the automatic operation curve if it is confirmed that the current working mode is the curve mode; among them, the motor setting parameters include the motor speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.

[0026] A computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, the steps of the above method are implemented.

[0027] One of the above technical solutions has the following advantages and beneficial effects:

[0028] In this application, the traveling driving motor of the feeding trolley includes a traveling motor for connecting the feeding trolley and a feeding motor for each layer of the bin. The main control cabinet of the trolley includes a controller, a first driver, and a second driver. After receiving the control instruction from the operation control cabinet of the trolley, it can achieve precise control of the speed of the traveling motor and each feeding motor of the trolley, thereby changing the feeding speed, controlling the feeding amount of each layer of the bin, and realizing precise feeding of the trolley. In this application, by controlling the traveling speed and the precise speed of each feeding motor, the precise control of the final feeding amount of each bin can be achieved. This application has a high degree of automation, the overall system is stable and reliable, improving the production efficiency of caged poultry. Since the feeding can be precisely controlled, the feed cost can be reduced and the production benefit can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 It is an application environment diagram of the automatic control system of the feeding trolley in an embodiment;

[0031] Figure 2 It is a structural block diagram of the automatic control system of the feeding trolley in an embodiment;

[0032] Figure 3 It is a structural schematic diagram of the automatic control system of the feeding trolley in an embodiment;

[0033] Figure 4 It is a structural block diagram of the automatic control system of the feeding trolley in another embodiment;

[0034] Figure 5 It is a specific structural schematic diagram of the automatic control system of the feeding trolley in an embodiment;

[0035] Figure 6 It is an interface schematic diagram of the operation control cabinet of the feeding trolley in an embodiment;

[0036] Figure 7 It is a flow schematic diagram of the automatic control method of the feeding trolley in an embodiment;

[0037] Figure 8 Schematic diagram of the self - set mode interface of the driving operation control cabinet in an embodiment

[0038] Figure 9 Schematic diagram of the curve mode interface of the driving operation control cabinet in an embodiment

[0039] Figure 10 Structural block diagram of the automatic control device for the feeding crane in an embodiment Detailed implementation manners

[0040] To facilitate the understanding of this application, the following will give a more comprehensive description of this application with reference to the relevant drawings. Embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of this application more thorough and comprehensive.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0042] It can be understood that the terms "first", "second", etc. used in this application can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0043] Spatial relationship terms such as "under", "below", "lower", "beneath", "above", "upper", etc. can be used herein to describe the relationship between an element or feature shown in the figure and other elements or features. It should be understood that in addition to the orientation shown in the figure, spatial relationship terms also include different orientations of the device during use and operation. For example, if the device in the drawing is flipped, an element or feature described as "under other elements" or "beneath it" or "under it" will be oriented "above" other elements or features. Therefore, the exemplary terms "under" and "below" can include both the upper and lower orientations. In addition, the device can also have other orientations (such as rotating 90 degrees or other orientations), and the spatial description terms used herein are accordingly interpreted.

[0044] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In addition, in the following embodiments, "connection", if there is a transmission of electrical signals or data between the connected objects, should be understood as "electrical connection", "communication connection", etc.

[0045] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprises / comprising" or "has / have" etc. specify the presence of the stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the related listed items.

[0046] The automation level of the feeding equipment system in traditional poultry farms is relatively low. If traditional general traveling feeding is adopted and the feeding rate is adjusted by means of a leveling device, the control is not precise enough to achieve the effect of feed control. In some cases, the feed amount cannot even be controlled, which has a great impact on the feed-to-meat ratio required for poultry breeding and greatly affects the production efficiency and production and operation benefits of poultry farms. Traditional technologies at least have problems such as uncontrollable feeding amount, unstable falling amount, and low feeding accuracy. At the same time, there are also problems such as low automation level, high cost, unstable system, inconvenient operation, and poor practicability.

[0047] However, the present application provides an automatic control system that can achieve precise feeding. Based on the present application, the automation level is relatively high, the feeding amount can be precisely controlled, and the control system is stable. In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] The feeding trolley automatic control system provided by the present application can be applied to, for example, Figure 1 the application environment shown. Among them, each column of feeding trolleys corresponds to multiple layers of feed bins, and a feeding auger is provided on the feed bin. In one example, the present application can be applied to a feeding device with 4 layers in one column.

[0049] In one embodiment, as Figure 2 shown, a feeding trolley automatic control system is provided. Taking the application of the system to the Figure 1 feeding device as an example, it includes:

[0050] A trolley drive motor 110; the trolley drive motor 110 includes a trolley traveling motor for connecting the feeding trolley, and trolley feeding motors respectively provided on each layer of the feed bin;

[0051] A trolley operation control cabinet 120, and the trolley operation control cabinet 120 outputs control instructions;

[0052] The main control cabinet 130 of the traveling crane, and the main control cabinet 130 of the traveling crane includes a controller and a driving device; wherein, the driving device includes a first driver and a second driver; one end of the controller is connected to the traveling crane operation control cabinet 120, and the other end is connected to the traveling crane running motor through the first driver and is respectively connected to each traveling crane feeding motor through the second driver;

[0053] Wherein, the controller receives control instructions, controls the action of the traveling crane running motor through the first driver to adjust the running speed of the feeding traveling crane, and controls the action of the traveling crane feeding motor through the second driver to adjust the feeding speed of the feed box.

[0054] Specifically, the traveling crane driving motor 110 proposed in this application includes a traveling crane running motor for connecting the feeding traveling crane, and each traveling crane feeding motor respectively arranged in each layer of the feed box; that is, this application can use the traveling crane running motor to control the running speed of each column of feeding traveling cranes, and use each traveling crane feeding motor to control the feeding auger of each layer of the feed box of the feeding traveling crane, achieving the function of changing the feeding speed, thereby controlling the falling material amount of each layer of the feed box and realizing the precise feeding of the traveling crane.

[0055] Further, the main control cabinet 130 of the traveling crane includes a controller and a driving device; wherein, the driving device includes a first driver and a second driver; in this application, the main control cabinet 130 of the traveling crane is the control center of the whole system. This application proposes that the control cabinet internally includes three control units: a controller, a first driver, and a second driver. After receiving the control instructions from the traveling crane operation control cabinet 120, it realizes the precise control of the speeds of the traveling crane running motor and each traveling crane falling material motor. For example, through the speed of the running speed and the precise control of the speed of each falling material motor, the precise control of the final falling material amount of each feed box can be realized.

[0056] Specifically, after the controller receives the control instructions from the traveling crane operation control cabinet 120, it can control the action of the traveling crane running motor through the first driver to adjust the running speed of the feeding traveling crane, and can also control the action of the traveling crane feeding motor through the second driver to adjust the feeding speed of the feed box.

[0057] In addition, as Figure 3 shown, this application includes the main control cabinet of the traveling crane, the traveling crane operation control cabinet, and the traveling crane driving motor. Among them, the traveling crane driving motor can include a traveling crane running motor for connecting the feeding traveling crane, and each traveling crane feeding motor respectively arranged in each layer of the feed box; the main control cabinet of the traveling crane can be arranged on the top of the feeding equipment, the traveling crane running motor can be arranged on the corresponding driving component of the feeding traveling crane, and the traveling crane feeding motors are respectively arranged on the driving components of each layer of the feed box. In one example, for a column of 4-layer feeding traveling cranes (that is, there are 4 feed boxes), this application proposes that 8 traveling crane feeding motors can be used.

[0058] In a specific embodiment, the traveling motor of the gantry crane can be a servo motor; the feeding motor of the gantry crane can include stepper motors provided at both ends of the output shaft of the feeding auger of the hopper.

[0059] The first driver can be a servo driver; the second driver can be a stepper motor driver.

[0060] Among them, based on the control instruction, the controller controls the rotation speed of each stepper motor through the stepper motor driver to respectively adjust the feeding amount of each hopper.

[0061] Specifically, the present application proposes that a servo motor can be used to control the traveling speed of each row of feeding gantry cranes, and a stepper motor can be used to control the feeding augers of each layer of hoppers of the feeding gantry crane. The rotation speed of the stepper motor is controlled through the stepper motor driver to achieve the function of changing the feeding speed, thereby controlling the falling amount of each layer of hoppers and realizing accurate feeding of the gantry crane. Among them, the stepper motor can be implemented by using a high-precision stepper motor.

[0062] In the present application, a servo motor is selected to control the action amount of the feeding gantry crane, so that the entire row of feeding gantry cranes can achieve accurate positioning (high-precision positioning, with speed feedback function), accurate stopping (servo drive with brake control function), while reducing the influence of vibration and other factors brought by other drive motors, avoiding other unpredictable factors, and further enabling the traveling motor of the present application to achieve high control accuracy, good high-speed performance, strong anti-overload ability, good adaptability, stable low-speed operation, and fast response speed, thus meeting the timeliness requirements and facilitating the realization of the control effect of accurate positioning. It should be noted that the traveling motor of the present application can also be implemented by using other asynchronous motors, stepper motors, DC permanent magnet motors, etc.

[0063] Furthermore, for each layer of hoppers, the present application proposes that the feeding motor of the gantry crane can use stepper motors provided at both ends of the output shaft of the feeding auger of the hopper, thereby achieving accurate speed control function; at the same time, it can achieve less vibration influence during operation, small volume, and less requirement for installation space, thereby reducing the overall cost. It should be noted that the feeding motor of the gantry crane in the present application can also be implemented by using servo motors, other asynchronous motors, DC permanent magnet motors, etc.

[0064] The present application proposes to use a stepper motor as the feeding motor of the gantry crane. In practical applications, its step value is not affected by various interference factors, the error does not accumulate over time, the control performance is good (starting, stopping, and reversing are all completed within a few pulses, and any motion mode will not be lost when operating within a certain frequency range), the cost is low, and the response speed is fast, which can meet the timeliness requirements, thereby realizing the control effect of accurate positioning.

[0065] Correspondingly, the first driver can be a servo driver; the second driver can be a stepper motor driver, so as to achieve corresponding precise feeding control. The traveling driving motor is mainly divided into a servo motor for controlling the traveling speed of the traveling crane and a stepper motor for controlling the material dropping amount of each layer of the traveling crane bins, and can belong to the terminal load device.

[0066] In a specific embodiment, the controller can be a PLC (Programmable Logic Controller) controller.

[0067] Specifically, the main control cabinet of the traveling crane in this application can include three control units: a PLC controller, a servo driver, and a stepper motor driver. After receiving the control instructions from the traveling crane operation control cabinet, it can achieve precise speed control of the traveling crane traveling motor and each traveling crane material dropping motor. By controlling the traveling speed and the precise speed of each material dropping stepper motor, the precise control of the final material dropping amount of each bin can be realized.

[0068] As mentioned above, the traveling crane driving motor proposed in this application includes a traveling crane traveling motor for connecting the feeding traveling crane and each traveling crane feeding motor respectively arranged in each layer of the bin. The main control cabinet of the traveling crane includes a controller, a first driver, and a second driver. After receiving the control instructions from the traveling crane operation control cabinet, it can achieve precise speed control of the traveling crane traveling motor and each traveling crane material dropping motor, and then change the feeding speed, so as to control the material dropping amount of each layer of the bin and achieve precise feeding of the traveling crane. In this application, by controlling the traveling speed and the precise speed of each material dropping motor, the precise control of the final material dropping amount of each bin can be realized. This application has a high degree of automation, the overall system is stable and reliable, which can improve the production efficiency of caged poultry. Since the feeding can be precisely controlled, the feed cost can be reduced and the production benefit can be improved.

[0069] In one embodiment, as Figure 4 shown, a feeding traveling crane automatic control system is provided. Taking the application of this system to the Figure 1 feeding equipment as an example for illustration, it includes:

[0070] A traveling crane driving motor; the traveling crane driving motor includes a traveling crane traveling motor for connecting the feeding traveling crane and each traveling crane feeding motor respectively arranged in each layer of the bin;

[0071] A traveling crane operation control cabinet, which outputs control instructions;

[0072] A main control cabinet of the traveling crane, the main control cabinet of the traveling crane includes a controller and a driving device; wherein, the driving device includes a first driver and a second driver; one end of the controller is connected to the traveling crane operation control cabinet, and the other end is connected to the traveling crane traveling motor through the first driver and is respectively connected to each traveling crane feeding motor through the second driver;

[0073] It also includes a traveling crane power control cabinet; the traveling crane power control cabinet is connected to the traveling crane main control cabinet;

[0074] Among them, the controller receives control instructions, controls the action of the traveling crane running motor through the first driver to adjust the running speed of the feeding traveling crane, and controls the action of the traveling crane feeding motor through the second driver to adjust the feeding speed of the feed bin.

[0075] Specifically, the present application may include a traveling crane main control cabinet, a traveling crane operation control cabinet, a traveling crane power control cabinet, and a traveling crane drive motor. Among them, the traveling crane drive motor can be implemented by using a high-precision servo motor and a stepper motor; in one example, the traveling crane power control cabinet can be used to provide a DC 48V power supply voltage; the traveling crane power control cabinet includes a voltage monitoring module and a fault alarm output module.

[0076] In the present application, the traveling crane power control cabinet can provide a DC 48V voltage to the traveling crane main control cabinet, and is built-in with a voltage monitoring module and a fault alarm output to ensure the safe and normal operation of the overall system. In addition, the DC 48V voltage provided by the traveling crane power control cabinet is a safe voltage, which can ensure the safety of the personnel in the breeding farm and the safety of the poultry. Further, as Figure 5 shown, the traveling crane power control cabinet can be arranged on the top of the feeding equipment and connected to the traveling crane main control cabinet.

[0077] In a specific embodiment, the traveling crane operation control cabinet can be connected to the controller through a 485 interface.

[0078] Specifically, the controller of the traveling crane operation control cabinet and the traveling crane main control cabinet can perform MODBUS bus communication through a 485 interface; as Figure 5 shown, the installation height of the traveling crane operation control cabinet in the present application is appropriate, which is convenient for the breeding personnel to operate and improves the convenience of the system.

[0079] In a specific embodiment, the traveling crane operation control cabinet is an operation control electric box with a touch screen.

[0080] Specifically, the traveling crane operation control cabinet can be an operation control electric box with a touch screen; among them, the touch screen can adopt a capacitive touch screen, and the control program has high practicability and is convenient to operate; further, the traveling crane operation control cabinet can adopt an industrial capacitive touch screen to facilitate timely acquisition and execution of the corresponding feeding control program. Also, the traveling crane operation control cabinet can adopt an HMI (Human Machine Interface) touch screen.

[0081] Taking the traveling crane operation control cabinet as an operation control electric box with an HMI touch screen as an example, the solution of the present application will be further described below.

[0082] The touch screen can communicate with the PLC controller of the main control cabinet of the traveling crane through the 485 interface via the MODBUS bus, and the operating control cabinet of the traveling crane is installed at an appropriate height for easy operation by the breeding personnel.

[0083] In one example, the touch screen of the present application can be implemented using a capacitive color touch screen; the touch screen of the present application is sensitive and convenient to touch and can be used to set various control instructions. For example, the touch screen program can include multiple operation interfaces, which can be the main screen, self-set mode, curve mode, historical alarm record, password modification, and user login interface, etc.

[0084] Among them, on the main screen, the rotational speed of the blanking motor of each feed bin can be set individually, or the rotational speed can be set all at once with one key, and functions such as automatic round-trip can be set, with powerful control functions; specifically, as Figure 6 shown, on the main screen, there can be setting buttons for the "given speed" of the traveling crane traveling motor (servo motor), a "traveling crane forward" button, and a "traveling crane backward" button, etc. When starting, first confirm that the given speed value of the servo motor is set, and the unit can be RPM (Revolutions Per Minute), and then click the "traveling crane forward" start button to control the traveling crane to move forward (at this time, the button can turn green), and when it is necessary to stop the traveling crane, press the "traveling crane forward" button again to stop (at this time, the button can turn back to gray); similarly, the control of the traveling crane backward is also to click the "traveling crane backward" button for similar operations.

[0085] As above, the present application has a high degree of automation, can achieve precise feeding, and the traveling speed and blanking speed of the feeding traveling crane are controllable, with high blanking accuracy, and at the same time, it has stable performance and high reliability; the present application realizes precise control of the final blanking amount of each feed bin through the speed of the traveling speed and the precise control of the speed of each blanking motor. The present application has a high degree of automation, the overall system is stable and reliable, improving the production efficiency of caged poultry, and reducing the feed cost and improving the production benefit due to precise feed control.

[0086] In one embodiment, as Figure 7 shown, a method for automatically controlling a feeding traveling crane is provided. Taking the application of this method to the operating control cabinet of the traveling crane of the present application as an example, it includes:

[0087] Step S710, when a start instruction is received, confirm the current working mode;

[0088] Step S720, if it is confirmed that the current working mode is the self-set mode, then output a control instruction according to the obtained feeding speeds;

[0089] Step S730: If it is confirmed that the current working mode is the curve mode, output a control instruction based on the motor setting parameters in the automatic operation curve; wherein, the motor setting parameters include the motor speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.

[0090] Specifically, in this application, the traveling crane operation control cabinet can be an operation control electric box with an HMI touch screen, which can quickly receive manual instructions and achieve precise operation. Among them, the traveling crane operation control cabinet can confirm the current working mode when receiving a start instruction. The current working mode in this application can include a self-set mode and a curve mode.

[0091] As Figure 8 shown, it is a self-set mode interface diagram. The self-set mode in this application can be used to set the speed parameters individually each time or in the preliminary feeding exploration stage. After determining each control speed through exploration, it can be switched to the curve mode. When switched to the curve mode, it enters the pre-set parameters in the automatic operation curve, thereby realizing full automation. It should be noted that for the traveling motor and the blanking motor in the self-set mode, relevant parameters can be set. For example, as Figure 8 shown, when it is confirmed that the current working mode is the self-set mode, the feeding speeds can be obtained, and then corresponding control instructions can be output.

[0092] In addition, as Figure 9 shown, the curve mode proposed in this application can further improve the precise control of feeding. Among them, the motor setting parameters can include the motor speed; the automatic operation curve in the curve mode of this application can be obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount. In one example, the preliminary feeding test stage can be completed through the self-set mode. During the preliminary stage, continuously test the speed setting values and blanking amount values of the traveling crane traveling motor (servo motor) and each layer of blanking motors, and then take out the final blanking amount on the cage feed trough for weighing and recording, so as to inversely deduce and find various motor setting parameters suitable for the chicken breed itself. This application can meet the feeding requirements for the growth of different chicken breeds and achieve high-precision feeding control.

[0093] The automatic operation curve in this application can be a linear relationship between the motor setting parameters and the final blanking amount; at the same time, the more the sample of the setting parameters tested in the early stage, the more accurate the motor setting parameters in the automatic operation curve in the obtained curve mode.

[0094] Further, the final blanking amount can be continuously and repeatedly weighed and measured on the cage feeder trough, and then compared with the theoretical feeding amount required by the breeding variety, and it is required that the actual final blanking amount is equal to or close to the theoretical feeding amount; for this purpose, the present application proposes a weighing and comparison method: the actual final blanking amount corresponding to the feeder trough of each cage can be obtained, and the total weight obtained is divided by the number of chickens raised in each cage to obtain the actual feeding amount required for a single chicken, and then compared with the theoretical value. If it is equal to the theoretical feeding amount value, it can be determined that the current set motor setting parameters are available. The above process is repeated continuously to adjust the parameters, so as to determine each motor setting parameter value in the automatic operation curve.

[0095] It should be noted that the automatic control method of the feeding trolley in the present application can be applied to the automatic control system of the feeding trolley mentioned in each embodiment of the present application, thereby providing a precise automatic control system for the feeding trolley. The present application has a relatively high automation level, the feeding amount can be precisely controlled, and the control system is stable.

[0096] It should be understood that although Figure 7 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 7 at least a part of the steps in

[0097] In one embodiment, as Figure 10 shown, an automatic control device for a feeding trolley is provided. Taking the application of this device to the operation control cabinet of the trolley in the present application as an example, it includes:

[0098] A mode confirmation module 810, configured to confirm the current working mode when a start instruction is received;

[0099] An instruction output module 820, configured to output a control instruction according to the obtained feeding speeds if it is confirmed that the current working mode is the self-set mode; and configured to output a control instruction based on the motor setting parameters in the automatic operation curve if it is confirmed that the current working mode is the curve mode; wherein, the motor setting parameters include the motor speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.

[0100] For the specific limitations of the automatic control device of the feeding crane, reference can be made to the limitations of the automatic control method of the feeding crane in the above text, which will not be elaborated here. Each module in the above automatic control device of the feeding crane can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0101] In one embodiment, the crane operation control cabinet in the present application can be implemented by a corresponding computer device. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as motor setting parameters. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes an automatic control method for a feeding crane.

[0102] In one embodiment, the crane operation control cabinet in the present application can be implemented by a corresponding computer device. The computer device can be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes an automatic control method for a feeding crane. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0103] Those skilled in the art can understand, Figures 1 - 5The structure shown is merely a block diagram of some of the structures related to the solution of this application, and does not constitute a limitation on the devices to which the solution of this application is applied. The specific devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0104] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, each step in the above-mentioned automatic control method of the feeding traveling crane is implemented.

[0105] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0106] In the description of this specification, the descriptions referring to terms such as "some embodiments", "other embodiments", "ideal embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0107] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0108] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. An automatic control system for a feeding overhead crane, characterized in that, Including: A traveling driving motor; the traveling driving motor includes a traveling motor for connecting the feeding traveling crane, and traveling feeding motors respectively arranged in each layer of the feed bin; The traveling motor is a servo motor; the traveling feeding motor includes a stepping motor arranged at both ends of the output shaft of the feeding auger in the feed bin; A traveling operation control cabinet, which outputs control instructions; the traveling operation control cabinet is further configured to confirm the current working mode when receiving a start instruction; if it is confirmed that the current working mode is a self-set mode, the control instructions are output according to the obtained feeding speeds; and if it is confirmed that the current working mode is a curve mode, the control instructions are output based on the motor setting parameters in the automatic operation curve; wherein, the motor setting parameters include the motor speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount; the motor setting parameters are determined by the weighing comparison method, and the weighing comparison method includes: obtaining the actual final falling amount on the feed trough corresponding to each cage, dividing the total weight obtained by the number of chickens raised in each cage to obtain the actual feeding amount required for a single chicken, comparing the actual feeding amount with the theoretical value, and if the actual feeding amount is equal to the theoretical feeding amount, determining the currently set motor setting parameters as the motor setting parameters required for the automatic operation curve; A traveling main control cabinet, the traveling main control cabinet includes a controller and a driving device; wherein, the driving device includes a first driver and a second driver; one end of the controller is connected to the traveling operation control cabinet, and the other end is connected to the traveling motor through the first driver and is respectively connected to each traveling feeding motor through the second driver; Wherein, the controller receives the control instructions, controls the traveling motor to act through the first driver to adjust the traveling speed of the feeding traveling crane, and controls the traveling feeding motor to act through the second driver to adjust the feeding speed of the feed bin.

2. The automatic control system for a feeding traveling crane according to claim 1, wherein The first driver is a servo driver; the second driver is a stepping motor driver; Wherein, the controller controls the rotation speed of each stepping motor through the stepping motor driver based on the control instructions to respectively adjust the feeding amounts of the feed bins.

3. The automatic control system of the feeding overhead crane according to claim 1, wherein The traveling operation control cabinet is connected to the controller through a 485 interface.

4. The automatic control system of the feeding crane according to claim 3, wherein The traveling operation control cabinet is an operation control electric box with a touch screen.

5. The automatic control system for the feeding crane according to any one of claims 1 to 4, characterized in that, It further includes a traveling power control cabinet; the traveling power control cabinet is connected to the traveling main control cabinet.

6. The automatic control system of the feeding crane according to claim 5, characterized in that, The traveling power control cabinet is used to provide a DC 48V power supply voltage; the traveling power control cabinet includes a voltage monitoring module and a fault alarm output module.

7. The automatic control system for the feeding overhead crane according to any one of claims 1 to 4, characterized in that, The controller is a PLC controller.

8. An automatic control method for a feeding overhead crane, characterized in that, The method is applied to the traveling operation control cabinet in the automatic control system for a feeding traveling crane according to any one of claims 1 to 7; the method includes: When receiving a start instruction, confirm the current working mode; If it is confirmed that the current working mode is the self-set mode, the control instruction is output according to the obtained feeding speeds. If it is confirmed that the current working mode is the curve mode, the control instruction is output based on the motor setting parameters in the automatic operation curve; wherein, the motor setting parameters include the motor speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.

9. An automatic control device for a feeding overhead crane, characterized in that, The device is applied to the traveling crane operation control cabinet in the feeding traveling crane automatic control system according to any one of claims 1 to 7; the device includes: A mode confirmation module, configured to confirm the current working mode when receiving a start instruction. An instruction output module, configured to output the control instruction according to the obtained feeding speeds if it is confirmed that the current working mode is the self-set mode; and configured to output the control instruction based on the motor setting parameters in the automatic operation curve if it is confirmed that the current working mode is the curve mode; wherein, the motor setting parameters include the motor speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method according to claim 8 are implemented.

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