Method for controlling traveling position of stacked breeding coop traveling crane

Abstract

The invention relates to a stacked breeding coop travelling crane walking position control method which comprises the following steps: S1, dividing a breeding coop stacked breeding coop into X sections, and arranging a metal baffle at the tail end of each section of coop as a mark point; a sensor matched with the metal separation blade is arranged on the travelling crane; s2, writing the distance S of each section of coop, the arrival time T0, the driving initial speed V0 and the initial rotating speed N0 into a controller; and S3, in the traveling process of the traveling crane, when the traveling crane reaches the mark point of each section of coop, a sensor on the traveling crane acts with a metal baffle to generate a trigger signal, the trigger signal is transmitted to a main controller, the actual running arrival time T1 is recorded, the time difference delta T = T0-T1 is calculated, and the traveling crane runs according to the corrected speed V01 = S / (T0 + delta T) until the traveling crane reaches the next mark point. The multi-section marking device has the beneficial effects that a long-distance walking part is divided into a plurality of sections for marking, so that the comprehensive error caused by equipment operation is reduced, and the feeding accuracy is improved.

Description

Technical Field

[0001] The invention relates to the field of industrialized poultry automatic breeding, and in particular to a method for controlling the feeding of a stacked breeder cage crane. Background Art

[0002] Poultry feeding is the basis for maintaining growth, development and production, and feed intake is an important indicator for evaluating poultry nutritional needs and energy metabolism. During the breeding process, feed intake is strictly controlled. The main purpose is to strictly control the growth rate of breeders in the early stage, effectively prevent fat formation, and prevent health problems caused by excessive growth of breeders. After sexual maturity, breeders have the best production and reproduction conditions. Controlling body weight can increase the egg production and continuous egg-laying capacity of hens, and improve the semen quality of roosters, maximizing the reproductive performance of breeders. Restricted feeding can improve the survival rate and weight uniformity of breeders by formulating a feeding plan, which directly affects the production performance of breeders.

[0003] For breeder chicken stacked cages with fixed feeding windows, if the feed falling into the trough deviates far from the fixed feeding opening, the chickens will not be able to eat the feed, or adjacent chickens will feed each other, resulting in a large deviation in the actual feed intake. Summary of the invention

[0004] The purpose of the present invention is to solve the defect that the actual feed intake of chickens in the existing stacked breeder cage device with fixed feeding windows has a large deviation, and to improve the feeding control method of a stacked breeder cage driving vehicle.

[0005] The present invention relates to the feeding position deviation caused by the traveling position deviation of the crane: Assume that the length of each section of the cage is L, the width of the fixed feeding window is l, the cage installation gap is €, the length of the equipment installed in the middle of the cage is S1, the travel speed of the crane is V, the speed of the stepper motor driving the auger is Vt, the total feeding time of a single feeding is T, the feeding feed density is ρ, the number of chickens in each cage is N, each row of cages has M cages, and the comprehensive error of the travel of the crane to the mth cage is , the feeding operation error of the stepper motor in the mth cage is .

[0006] According to the above-mentioned setting variables, the ideal driving distance is: However, there is a comprehensive walking error in driving , so the actual driving distance is: .

[0007] Due to the cumulative driving error, the feeding position error of the last chicken cage is: The factors that affect the comprehensive error of the crane include the servo motor control accuracy error, the reducer accuracy error, the master / slave sprocket gap error, the crane travel wheel slip error, equipment installation, etc. Based on the calculation of the crane travel servo speed of 1000 rpm, the reduction ratio of the reducer motor of 50:1, the active / slave wheel gear ratio of 1.5:1, and the crane travel wheel diameter of 120mm, the actual travel speed of the crane without considering the error is: Taking into account the driving error, the actual driving distance per minute is: According to the common application of industry products, select ordinary precision reducer, servo motor, reducer, sprocket gap and other transmission comprehensive error values ​​are assumed to be Within.

[0008] Assuming that a single chicken cage is 0.5 meters long and the feeding window is 0.05 meters wide, the total length of the breeding poultry house is usually 80-100 meters. If we calculate it based on 100 meters, the total driving distance (excluding the gap between the equipment) is: Chicken cages, total maximum error: Meters, the crane feeds once, there is a position error that deviates from the length of a chicken cage, and the actual feeding position has seriously deviated from the feeding window. Although the above errors are assumed, they are in line with the actual situation of industry applications.

[0009] Based on this situation, the error between the position of the driving machine and the preset arrival position should be reduced. In view of the long distance of the driving machine for single feeding, the segmented position calibration and walking calibration method are adopted, such as Figure 1 As shown, the longer running distance is divided into multiple sections (for example, 10 chicken coops are used as one section), and a marking point is set at the position of each section. Before the crane is running, the position of each marking point is calibrated first.

[0010] The technical solution adopted by the present invention is: A method for controlling the traveling position of a stacked chicken cage crane comprises a plurality of stacked chicken cages for chickens connected in sequence, the stacked chicken cages are provided with tracks and a crane moving on the tracks, the crane is provided with a feeding device corresponding to each layer of chicken cages, a main controller on the crane controls the running speed of the crane and feeds when reaching the feeding window of each chicken cage, and is characterized in that it comprises the following steps: S1. Divide all the stacked chicken cages connected in sequence into one section according to X sections of chicken cages, and set a metal baffle as a marking point at the end of each section of the chicken cage. The number of sections X in each section of the chicken cage needs to be determined based on the length of the single-section chicken cage, the width of the feeding window, and the comprehensive transmission error, and shall not exceed 12 sections; A corresponding sensor is provided on the vehicle. When the sensor reaches the marking point, the sensor approaches or contacts the detection metal baffle, causing the sensor to generate a trigger signal and transmit it to the main controller. S2, according to the distance S of each chicken coop and the time T0 reached, determine the initial speed V0 of the crane and the initial speed N0 of the servo motor driving the crane, and write the initial speed V0, initial speed N0 and initial time T0 of the servo motor into the controller; S3. During the driving process, each chicken cage is used as a driving and feeding unit to correct the actual running speed of the driving. When the driving reaches the marking point of each chicken cage, the sensor on the driving and the metal baffle at the marking point will generate a trigger signal and transmit it to the main controller. The main controller receives the trigger signal and records the actual arrival time as T1. The main controller calculates the driving time difference ΔT = T0-T1 and corrects the running speed V of the driving servo motor. 01 =S / (T0+ΔT), driving at the corrected speed V 01 Continue running until you reach the next marked point.

[0011] A further technical solution is: if an intermediate installation device is provided in the stacked breeder cage device, a marking point should be provided at the end of the intermediate installation device, and the end of the intermediate device should be used as the starting point of the driving, and this position is also the starting end of a new chicken cage.

[0012] A further technical solution is: in the position marking process, a capacitive proximity sensor is selected, the sensor is installed and fixed on the traveling vehicle, and a metal object baffle to be detected is fixed at each marking point on the cage. The detection contact distance is adjusted according to the selection of the sensor (usually 5-10mm is appropriate). When the traveling vehicle moves and passes through the marking point, the sensor contacts the detected metal object, generates a signal, and transmits it to the main controller for identification. The main controller identifies the signal, records the position of the point, calculates the deviation distance from the actual position, and compensates for the walking distance.

[0013] The beneficial effects of the present invention are as follows: by dividing a long distance of travel into multiple sections for marking, the comprehensive error caused by the operation of the equipment is reduced, and the accuracy of feeding is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the segmented markings of the stacked breeder chicken cage device of the present invention and the marking points of the intermediate installation equipment. DETAILED DESCRIPTION

[0015] 1. Take a 100-meter-long stacked breeder cage device as an example. The single-section chicken cage is 0.5 meters, the feeding window width is 0.05 meters, the travel servo motor speed is 1000 rpm, the reduction ratio of the reduction motor is 50:1, the active / driven gear ratio is 1.5:1, the travel wheel diameter is 120mm, and the transmission comprehensive error value of the travel servo motor, reducer, sprocket gap, etc. is . Then the operation error of each chicken cage is: Meters. According to the feeding habits of chickens, the feeding position can usually cover 60% of the feeding window in each chicken cage, that is, the interval is: Meters, this feeding interval meets The walking error of the chicken cage is reduced. The walking speed of the crane is: m / s. At the initial speed of the vehicle V0=5.024 m / s, the distance between the 10 chicken cages in this section is S=5 m, and the initial time of this section is T0=S / V0=0.995 s; During actual operation, the actual time when the driving sensor detects that it reaches the end mark of the segment is T1=1.02 seconds. The main controller calculates the driving time difference ΔT= T0-T1=0.995-1.02=-0.025 seconds, and corrects the driving servo motor running speed V 01 =S / (T0+ΔT)=5 / (0.995-0.025)=5.154 m / s, the vehicle is driven at the corrected speed V 01 Continue running until reaching the next marking point, and recalculate the arrival time to execute the run between the next marking points at the corrected speed.

[0016] Since there are many influencing factors during the driving process, the solution of calibrating the actual position at indefinite intervals can solve the problem of feeding within the feeding window and the problem of randomly inserting intermediate equipment between chicken cages. In specific implementation, general scientific researchers can usually complete product design according to this method, which is not described in this article.

[0017] This control method is mainly aimed at cage products with fixed feeding windows. It incorporates multiple factors that affect the feeding position into the multivariate regression algorithm model, and uses multi-point self-adjustment, multi-point adaptation, and multi-point self-optimization methods to solve the problem of accurate feeding and provide guarantee for the efficient production of breeding chickens.

Claims

1. A method for controlling the position of a crane in a stacked chicken cage, comprising a plurality of stacked chicken cages for chickens connected in sequence, a track and a crane moving on the track are provided on the stacked chicken cages, a feeding device corresponding to each layer of chicken cages is provided on the crane, a main controller on the crane controls the running speed of the crane and feeds when it reaches the feeding window of each chicken cage, characterized in that The following steps are involved: S1. Divide all the stacked chicken cages connected in sequence into one section according to the X-section chicken cages, and set a metal baffle as a marking point at the end of each section of the chicken cage. The number of sections in each section of the chicken cage shall not exceed 12; A corresponding sensor is provided on the vehicle. When the sensor reaches the marking point, the sensor approaches or contacts the detection metal baffle, causing the sensor to generate a trigger signal and transmit it to the main controller. S2, according to the distance S of each chicken coop and the time T0 reached, determine the initial speed V0 of the crane and the initial speed N0 of the servo motor driving the crane, and write the initial speed V0, initial speed N0 and initial time T0 of the servo motor into the controller; S3. During the driving process, each chicken cage is used as a driving and feeding unit to correct the actual running speed of the driving. When the driving reaches the marking point of each chicken cage, the sensor on the driving and the metal baffle at the marking point will generate a trigger signal and transmit it to the main controller. The main controller receives the trigger signal and records the actual arrival time as T1. The main controller calculates the driving time difference ΔT = T0-T1 and corrects the running speed V of the driving servo motor. 01 =S / (T0+ΔT), driving at the corrected speed V 01 Continue running until you reach the next marked point.

2. A stacked chicken cage driving feeding control method according to claim 1, characterized in that: If there is an intermediate installation device in the stacked breeder cage device, a marking point should be set at the end of the intermediate installation device.

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