A breeding device and method with dynamic deviation correction for cleaning feces
By installing deviation detection devices and control systems in poultry farming equipment, the automatic correction of the manure cleaning belt is achieved, solving the problem of low efficiency of manual correction, reducing labor intensity and wear on the manure cleaning belt.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUAZHONG AGRI UNIV
- Filing Date
- 2024-06-26
- Publication Date
- 2026-08-04
AI Technical Summary
In existing technologies, the correction of manure cleaning belts in poultry farming equipment mainly relies on manual labor, which is inefficient and labor-intensive. The failure to correct deviations in a timely manner often leads to severe wear and tear on the manure cleaning belts.
A dynamic correction device for a manure cleaning belt is designed. By installing deviation detection devices on both side baffles and using pressure sensors to monitor the status of the manure cleaning belt, combined with a control system and an actuator, the sliding pull plate is automatically adjusted to move along the slide rail to correct the deviation, thereby realizing automatic correction of the manure cleaning belt.
It improved the automation level of the breeding equipment, reduced the labor intensity of personnel, reduced the wear and tear on the manure removal belt, and improved work efficiency.
Smart Images
Figure CN118542261B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of poultry farming technology, and specifically relates to a farming device and method with dynamic correction of manure removal. Background Technology
[0002] With the continuous expansion of poultry cage farming, the problem of manure removal belts shifting off course in the farming equipment has become increasingly prominent. Currently, the correction of these belts mainly relies on manual labor. A typical poultry shed has about 20 manure removal belts; due to this large number, this method is slow, labor-intensive, and inefficient, often resulting in severe wear and tear on the belts due to untimely correction. Therefore, designing an automatic correction device to replace manual labor is one of the key research focuses in this field.
[0003] Chinese patent "A Dynamic Adjustment Device for Manure Cleaning Belt in Cage Rearing," publication number CN109329109A, publication date 2019-02-15, discloses a dynamic adjustment device for manure cleaning belt in cage rearing, including a motor, screw, nut, sliding plate, correction sensor, controller, etc. The correction sensor detects the deflection data of the manure cleaning belt and uploads it to the controller. The controller controls the motor to rotate according to the deflection data to achieve dynamic correction. However, the installation and detection method of the correction sensor is not given, nor is the control process described. Chinese patent "A Stacked Poultry Farming Anti-Deviation Device," publication number CN111115153A, publication date 2020-05-08, discloses a stacked poultry farming anti-deviation device. It uses spiral blades fixed to the outer ring of the anti-deviation roller. During the conveyor belt transport process, the conveyor belt drives the anti-deviation roller to rotate, and thus the debris in the conveyor belt is driven by the spiral blades to move along the axial direction of the anti-deviation roller, preventing it from sticking to the roller and preventing the conveyor belt from deviating during operation. However, this method can only slow down the deviation and needs improvement. Summary of the Invention
[0004] This invention provides a livestock farming device and method for dynamic correction of manure removal belts. The device monitors the operating status of the manure removal belt by means of a deviation detection device installed on both side baffles. When the control system determines that the belt is deviating, the actuator moves the two sliding plates back and forth along the slide rail to correct the deviation. This invention can realize automatic correction of the manure removal belt, improve the automation level of the livestock farming device, and reduce the labor intensity of personnel.
[0005] To solve the above problems, the technical solution provided by the present invention is as follows:
[0006] This invention proposes a breeding device with dynamic correction of manure removal belt, which includes a cage frame structure. The cage frame structure includes two rows of columns (11) and three layers of rectangular beams (10) set on the two rows of columns. Three layers of duck cages (14) are set on the three layers of rectangular beams (10). A manure removal belt (13) is set below each layer of duck cages (14). The front end of the manure removal belt (13) is connected to a roller (12). The side of the manure removal belt (13) is provided with a side baffle (17). Two manure removal belt dynamic correction devices with the same structure are set on both sides of each layer of duck cages (14). The first row of columns are, in order, the first column (11-1), the second column (11-2), the third column (11-3), and the fourth column (11-4).
[0007] Each manure cleaning belt dynamic correction device includes a slide rail (15), three deviation detection devices (2), an execution device (3) and a control system (4); the slide rail (15) is set between the first column (11-1) and the second column (11-2); the slide rail (15) is provided with a sliding pull plate (16) that can move back and forth;
[0008] The deviation detection device (2) includes a mounting plate (21), a pressure sensor (22), a pressing rod (23), a return spring (24), a sliding plate (25), an anti-deviation device (26), a roller (27), and a pin (28). The mounting plate (21) is mounted on the side baffle (17). The sliding plate (25), the anti-deviation device (26), and the roller (27) are arranged at the front end of the mounting plate (21). The sliding plate (25) can slide back and forth through the return spring (24). The pressing rod (23) is mounted on the sliding plate (25) through the rear end hole of the sliding plate (25). The pressure sensor (22) is placed in the rear end slot of the mounting plate (21). The anti-deviation device (26) and the roller (27) are connected by the pin (28). The roller (27) has protruding edges on both sides of the axial direction to limit the vertical deviation of the manure belt during movement. The roller (27) rolls to unload the oblique pressure when the manure belt deviates horizontally, so as to avoid pressure detection error caused by the sliding plate (25) jamming.
[0009] The actuator (3) includes a sprocket (31), a worm gear (32), a base (33), a stepper motor (34), a chain (35), and a displacement sensor (36). The sprocket (31) and the worm gear (32) are meshed and are both mounted on the same hexagonal steel on the first column (11-1). The sprocket (31) drives the sliding plate (16) to move along the slide rail (15) through the chain (35). The base (33) is fixed on the first column (11-1) and is connected to the slide rail (15) by bolts. The stepper motor (34) is fixed on the base (33) and is connected to the worm gear (32) transmission mechanism through a coupling, so that the stepper motor (34) drives the worm gear (32) to move, thereby driving the sprocket (31) to drive the chain (35) for transmission.
[0010] The control system (4) is used to collect the pressure values of each pressure sensor (22). When the pressure sensor (22) in the dynamic correction device of the manure cleaning belt on one side increases significantly, it is determined that the manure cleaning belt (17) is deviating to that side. The control system (4) issues a command to drive the stepper motor (34) in the deviation detection device (2) on both sides to move according to the set program, so that the stepper motors on both sides rotate in opposite directions and the sliding plates on both sides return to the initial position, thereby realizing the dynamic correction of the manure cleaning belt.
[0011] According to an optional embodiment of the present invention, the three deviation detection devices (2) in the manure removal belt dynamic deviation correction device are equally spaced on the side baffle (17).
[0012] According to an optional embodiment of the present invention, the control system (4) includes a microcontroller (44), a first stepper motor, a second stepper motor, six pressure sensors, a displacement sensor module (42), a through-beam photoelectric sensor module (43), a human-machine interaction module (41), and a power supply module; the first stepper motor is the stepper motor in the actuator 3 of the dynamic correction device for the manure cleaning belt on one side, and the second stepper motor is the stepper motor in the actuator 3 of the dynamic correction device for the manure cleaning belt on the opposite side; the six pressure sensors are the six pressure sensors in the deviation detection device 2 of the dynamic correction devices for the manure cleaning belt on both sides;
[0013] The first stepper motor, the second stepper motor, the six pressure sensors, the displacement sensor module (42), the through-beam photoelectric sensor module (43), and the human-machine interaction module (41) are respectively connected to the microcontroller (44). The displacement sensor (42) is used to provide feedback on the position of the sliding plate and realize the feedback function. The through-beam photoelectric sensor module (43) is used for abnormal detection. The power supply module provides the required power to the control system. The human-machine interaction module (41) provides the interface for human-machine interaction.
[0014] According to an optional embodiment of the present invention, the pressure sensor is an RP-C18.3-ST comb-shaped thin-film pressure sensor.
[0015] This invention also provides a method for aquaculture with dynamic correction of manure removal belts, implemented using an aquaculture device with dynamic correction of manure removal belts as described in the above embodiments. The aquaculture method includes:
[0016] Step S1: The operating status of the manure removal belt is monitored by 6 pressure sensors in the dynamic correction device of the manure removal belt on both sides.
[0017] In step S2, the values of the three pressure sensors in the dynamic correction device of one side of the manure removal belt increase, and the control system determines that it is deviating to that side.
[0018] Step S3: The control system sends a command to drive the stepper motors on both sides of the dynamic correction device of the manure cleaning belt. The stepper motor on the side that is deviating rotates forward to move the sliding plate forward and tighten the manure cleaning belt on that side. The stepper motor on the other side rotates in reverse to move the sliding plate backward and loosen the manure cleaning belt on that side.
[0019] Step S4: During the correction process, the displacement sensor feeds back the position of the sliding plate to the microcontroller until the two sliding plates move to their positions.
[0020] Step S5: After the correction is completed, the two stepper motors rotate in opposite directions to return the two sliding plates to their initial positions, thus realizing dynamic correction of the manure cleaning belt.
[0021] Beneficial effects: The present invention provides a breeding device and method for dynamic correction of manure removal belt. The overall design of the breeding device for dynamic correction of manure removal belt is simple and the structure is reasonable. It can effectively solve the problem of manure removal belt deviation in poultry breeding, reduce production costs and reduce labor intensity. Attached Figure Description
[0022] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 This is a schematic diagram of the structure of a livestock breeding device with dynamic correction of manure removal belt provided in an embodiment of this application.
[0024] Figure 2 This is a schematic diagram of a deviation detection device provided in an embodiment of this application.
[0025] Figure 3This is a schematic diagram of the structure of an execution device provided in an embodiment of this application.
[0026] Figure 4 This is a schematic diagram showing the functional module connections of a control device provided in an embodiment of this application.
[0027] Figure 5 This is a flowchart illustrating a livestock farming method with dynamic correction via a manure removal belt, provided as an embodiment of this application.
[0028] Figure 6 A flowchart of a Fuzzy-PID control system provided in an embodiment of this application.
[0029] Figure 7 A flowchart of a fuzzy control scheme provided in an embodiment of this application. Detailed Implementation
[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0031] like Figure 1 As shown in the diagram, this invention provides a structural schematic of a livestock breeding device with dynamic correction of manure removal belts. The device includes a cage frame structure with two rows of uprights and three layers of rectangular beams 10 mounted on the uprights. Three layers of duck cages 14 are mounted on the three rectangular beams 10. A manure removal belt 13 is positioned below each duck cage 14. A roller 12 is connected to the front end of the manure removal belt 13, and side baffles 17 are provided on the sides of the manure removal belt 13. Two dynamic correction devices for the manure removal belt are installed on each side below the three duck cages 14, and the two devices have identical structures; that is, two identical dynamic correction devices are installed on each side of each duck cage 14. The first column consists of column 11-1, column 11-2, column 11-3, and column 11-4; the second column consists of column 11-5, column 11-6, column 11-7, and column 11-8.
[0032] Each manure removal belt dynamic correction device includes a slide rail 15, three deviation detection devices 2, an actuator 3, and a control system 4. The actuator 3 is used for correction. The three deviation detection devices 2 in the dynamic correction device of one side of the manure removal belt are equally spaced on the side baffle 17.
[0033] The slide rail 15 is located between the first column 11-1 and the second column 11-2; the slide rail 15 is equipped with a sliding pull plate 16 that can move back and forth. The actuator 3 adjusts the back and forth movement of the sliding pull plate 16 via the chain 35.
[0034] like Figure 2 As shown, each deviation detection device 2 includes a mounting plate 21, a pressure sensor 22, a pressing rod 23, a return spring 24, a sliding plate 25, an anti-deviation device 26, a roller 27, and a pin 28. The mounting plate 21 is mounted on the side baffle 17. The sliding plate 25 and the anti-deviation device 26 are arranged at the front end of the mounting plate 21. The sliding plate 25 can slide back and forth through the return spring 24. The pressing rod 23 is mounted on the sliding plate 25 through the rear end hole of the sliding plate 25. The pressure sensor 22 is placed in the rear end slot of the mounting plate 21. When the manure removal belt 17 deviates, its side will push the roller 27, the anti-deviation device 26, and the sliding plate 25 to the left, compressing the return spring 24. The pressure of the pressing rod 23 on the pressure sensor 22 increases. For the three pressure sensors 22 on the same side, the closer to the roller 12, the greater the pressure value. In this embodiment, the structure of the anti-deviation device 26 with the roller 27 and the pin 28 is added to change to rolling friction, avoiding jamming and wear.
[0035] like Figure 3 As shown, the actuator 3 includes a sprocket 31, a worm gear 32, a base 33, a stepper motor 34, a chain 35, and a displacement sensor 36. The sprocket 31 and the worm gear 32 are meshed and both are mounted on the same hexagonal steel on the first column 11-1. The sprocket 31 drives the sliding plate 16 to move along the slide rail 15 via the chain 35. The base 33 is fixed to the first column 11-1 and is connected to the slide rail 15 by bolts. The stepper motor 34 is fixed to the base 33 and is connected to the worm gear 32 transmission mechanism via a coupling, so that the stepper motor 34 drives the worm gear 32 to move, thereby causing the sprocket 31 to drive the chain 35.
[0036] The control system is used to collect the pressure values of each pressure sensor 22. When the pressure sensor 22 in the dynamic correction device of the manure cleaning belt on one side increases significantly, it is determined that the manure cleaning belt 17 is deviating to that side. The control system 4 issues a command to drive the stepper motors 34 in the deviation detection devices 2 on both sides to move according to the set program, so that the stepper motors on both sides rotate in opposite directions and the sliding plates on both sides return to the initial position, thereby realizing the dynamic correction of the manure cleaning belt.
[0037] Specifically, such as Figure 4As shown, the control system includes a microcontroller, a first stepper motor, a second stepper motor, six pressure sensors, a displacement sensor module, a through-beam photoelectric sensor module, a human-machine interface module, and a power supply module. The first stepper motor is the stepper motor in the actuator 3 of the dynamic correction device for the manure cleaning belt on one side, and the second stepper motor is the stepper motor 34 in the actuator 3 of the dynamic correction device for the manure cleaning belt on the opposite side. The six pressure sensors are the six pressure sensors 22 in the deviation detection device 2 of the dynamic correction device for the manure cleaning belt on both sides. The first stepper motor, the second stepper motor, the six pressure sensors, the displacement sensor module 42, the through-beam photoelectric sensor module 43, and the human-machine interface module 41 are all connected to the microcontroller 44. The displacement sensor 42 is used to provide feedback on the position of the sliding plate, realizing the feedback function. The through-beam photoelectric sensor module 43 is used for anomaly detection. The power supply module provides the necessary power to the control system. The human-machine interface module 41 provides the interface for human-machine interaction. The pressure sensor is preferably an RP-C18.3-ST comb-shaped thin film pressure sensor.
[0038] This invention also provides a method for dynamic correction of manure removal belts in aquaculture, implemented using an aquaculture device for dynamic correction of manure removal belts as described in the above embodiments. Figure 5 As shown, the breeding methods include:
[0039] Step S1: The operating status of the manure removal belt is monitored by 6 pressure sensors in the dynamic correction device of the manure removal belt on both sides.
[0040] In step S2, the values of the three pressure sensors in the dynamic correction device of one side of the manure removal belt increase, and the control system determines that it is deviating to that side.
[0041] Step S3: The control system sends a command to drive the stepper motors on both sides of the dynamic correction device of the manure cleaning belt. The stepper motor on the side that is deviating rotates forward to move the sliding plate forward and tighten the manure cleaning belt on that side. The stepper motor on the other side rotates in reverse to move the sliding plate backward and loosen the manure cleaning belt on that side.
[0042] Step S4: During the correction process, the displacement sensor feeds back the position of the sliding plate to the microcontroller until the two sliding plates move to their positions.
[0043] Step S5: After the correction is completed, the two stepper motors rotate in opposite directions to return the two sliding plates to their initial positions, thus realizing dynamic correction of the manure cleaning belt.
[0044] The present invention provides a method for dynamic correction of manure removal in aquaculture, employing a Fuzzy-PID control system and a fuzzy control processing method. For example... Figure 6As shown in the diagram, the designed Fuzzy-PID control system first compares the data fed back from the displacement sensor with the desired displacement to obtain the error e and the error rate of change ec. Then, quantization factors KE and KEC are used to map e and ec to the fuzzy domain [-3,3]. Subsequently, after fuzzification, fuzzy inference, and defuzzification, the three output quantities ΔKP, ΔKI, and ΔKD of the fuzzy controller are calculated. Finally, feedback control is achieved under the action of the controller, transmission, and actuator mechanisms. Figure 7 As shown, the fuzzy control processing scheme considered in this invention is as follows: Start; System and parameter initialization; Start automatic control; Acquire pressure signal and perform A / D conversion; State analysis and judgment; Check for deviation; Generate PWM wave in the corresponding timer channel; Call the Fuzzy-PID control algorithm; Drive the corresponding stepper motor to move; Displacement sensor feedback data; Check if the operation is normal; Abnormal alarm; End.
[0045] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.
Claims
1. A livestock farming device with dynamic correction for manure removal, characterized in that, The cage includes a cage frame structure, which includes two rows of uprights (11) and three layers of rectangular beams (10) set on the two rows of uprights. Three layers of duck cages (14) are set on the three layers of rectangular beams (10). A manure removal belt (13) is set below each layer of duck cages (14). A roller (12) is connected to the front end of the manure removal belt (13). Side baffles (17) are set on the side of the manure removal belt (13). Two manure removal belt dynamic correction devices with the same structure are set on both sides of each layer of duck cages (14). The first row of uprights consists of the first upright (11-1), the second upright (11-2), the third upright (11-3), and the fourth upright (11-4). Each manure cleaning belt dynamic correction device includes a slide rail (15), three deviation detection devices (2), an execution device (3) and a control system (4); the slide rail (15) is set between the first column (11-1) and the second column (11-2); the slide rail (15) is provided with a sliding pull plate (16) that can move back and forth. The deviation detection device (2) includes a mounting plate (21), a pressure sensor (22), a pressing rod (23), a return spring (24), a sliding plate (25), an anti-deviation device (26), and a roller (27). The mounting plate (21) is mounted on the side baffle (17). The sliding plate (25) and the anti-deviation device (26) are arranged at the front end of the mounting plate (21). The sliding plate (25) can slide back and forth through the return spring (24). The pressing rod (23) is mounted on the sliding plate (25) through the rear end hole of the sliding plate (25). The pressure sensor (22) is placed in the rear end slot of the mounting plate (21). The anti-deviation device (26) and the roller (27) are connected by a pin (28). The roller (27) has protruding edges on both sides of the axis to limit the vertical displacement of the cleaning belt (13) during movement, and the roller (27) rolls to unload the oblique pressure when the cleaning belt (13) deviates in the horizontal direction. The actuator (3) includes a sprocket (31), a worm gear (32), a base (33), a stepper motor (34), and a chain (35). The sprocket (31) and the worm gear (32) are meshed and are both mounted on the same hexagonal steel on the first column (11-1). The sprocket (31) drives the sliding plate (16) to move along the slide rail (15) through the chain (35). The base (33) is fixed on the first column (11-1) and is connected to the slide rail (15) by bolts. The stepper motor (34) is fixed on the base (33) and is connected to the worm gear (32) transmission mechanism through a coupling, so that the stepper motor (34) drives the worm gear (32) to move, thereby driving the sprocket (31) to drive the chain (35). The control system (4) is used to collect the pressure values of each pressure sensor (22). When the pressure sensor (22) in the dynamic correction device of the manure cleaning belt on one side increases significantly, it is determined that the manure cleaning belt (13) is deviating to that side. The control system (4) issues a command to drive the stepper motor (34) in the deviation detection device (2) on both sides to move according to the set program, so that the stepper motors on both sides rotate in opposite directions and the sliding pull plates on both sides return to the initial position, thereby realizing the dynamic correction of the manure cleaning belt. The control system (4) includes a microcontroller (44), a first stepper motor, a second stepper motor, six pressure sensors, a displacement sensor (42), a through-beam photoelectric sensor module (43), a human-machine interaction module (41), and a power supply module; the first stepper motor is the stepper motor in the actuator (3) of the dynamic correction device for the manure cleaning belt on one side, and the second stepper motor is the stepper motor in the actuator (3) of the dynamic correction device for the manure cleaning belt on the opposite side; the six pressure sensors are the six pressure sensors in the deviation detection device (2) of the dynamic correction device for the manure cleaning belt on both sides; The first stepper motor, the second stepper motor, the six pressure sensors, the displacement sensor (42), the through-beam photoelectric sensor module (43), and the human-machine interaction module (41) are respectively connected to the microcontroller (44). The displacement sensor (42) is used to provide feedback on the position of the sliding plate and realize the feedback function. The through-beam photoelectric sensor module (43) is used for abnormal detection. The power supply module provides the required power to the control system. The human-machine interaction module (41) provides the interface for human-machine interaction.
2. The livestock farming device with dynamic correction of manure removal belt according to claim 1, characterized in that, The three deviation detection devices (2) in each manure cleaning belt dynamic correction device are equally spaced on the side baffle (17).
3. The livestock farming device with dynamic correction of manure removal belt according to claim 2, characterized in that, The pressure sensor is an RP-C18.3-ST comb-shaped thin-film pressure sensor.
4. A method for dynamic correction of manure removal belts in aquaculture, implemented using an aquaculture device for dynamic correction of manure removal belts as described in claim 1 or 2, characterized in that, The breeding method includes: Step S1: The operating status of the manure removal belt is monitored by 6 pressure sensors in the dynamic correction device of the manure removal belt on both sides. In step S2, the values of the three pressure sensors in the dynamic correction device of one side of the manure removal belt increase, and the control system determines that it is deviating to that side. Step S3: The control system sends a command to drive the stepper motors on both sides of the dynamic correction device of the manure cleaning belt. The stepper motor on the side that is deviating rotates forward to move the sliding plate forward and tighten the manure cleaning belt on that side. The stepper motor on the other side rotates in reverse to move the sliding plate backward and loosen the manure cleaning belt on that side. In step S4, during the correction process, the displacement sensor feeds back the position of the sliding plate to the microcontroller until the two sliding plates move to their initial positions. Step S5: After the correction is completed, the two stepper motors rotate in opposite directions to return the two sliding plates to their initial positions, thus realizing dynamic correction of the manure cleaning belt.