A control method for the traveling position of a stack-type breeding chicken cage traveling crane

Abstract

The present invention relates to a method for controlling the traveling position of a traveling crane for a stacked breeding chicken cage, comprising the following steps: S1. Divide the stacked breeding chicken cage into sections according to X cages, and set a metal baffle at the end position of each section of the cage as a marking point; a sensor cooperating with the metal baffle is provided on the traveling crane; S2. Write the distance S of each cage and the arrival time T0, the initial speed V0 and the initial rotation speed N0 of the traveling crane into the controller; S3. During the traveling of the traveling crane, when the traveling crane reaches the marking point of each section of the cage, the sensor on the traveling crane acts with the metal baffle to generate a trigger signal and transmits it to the main controller, record the actual running arrival time T1, calculate the time difference ΔT = T0 - T1, and the traveling crane runs at the corrected speed V 01 = S / (T0 + ΔT) until it reaches the next marking point. The beneficial effect of the present invention is that by dividing the long-distance travel into multiple sections for marking, the comprehensive error caused by the operation of the equipment is reduced, and the feeding accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of industrialized automatic poultry farming, and particularly to a control method for traveling and feeding of a stacked breeding chicken cage Background Art

[0002] Poultry feeding is the basis for maintaining growth and production, and the feed intake is an important indicator for evaluating the nutritional requirements and energy metabolism of poultry. During the breeding process of breeding chickens, strict control of the feed intake is required. The main purpose is to strictly control the growth rate of breeding chickens in the early stage, effectively prevent fat formation, and prevent health problems caused by excessive growth of breeding chickens. After breeding chickens reach sexual maturity and have the best production and reproduction conditions, controlling the weight can increase the egg production and continuous egg production ability of hens, and improve the semen quality of roosters, giving full play to the reproductive performance of breeding chickens. Restricted feeding can improve the survival rate and weight uniformity of breeding chickens by formulating feeding and intake plans, directly affecting the production performance of breeding chickens

[0003] For a stacked cage breeding device for breeding chickens with a fixed feeding window, if the feed falling into the feed trough is far from the fixed feeding port, the chickens will not be able to eat the feed, or adjacent chickens will eat from 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 of large deviation in the actual feed intake of chickens in the existing stacked cage breeding device for breeding chickens with a fixed feeding window, and to provide a control method for traveling and feeding of a stacked breeding chicken cage

[0005] The present invention relates to the deviation of the feeding position caused by the deviation of the traveling position of the traveling crane

[0006] Let the length of each section of the chicken cage be L, the width of the fixed feeding window be l, the installation gap of the chicken cage be €, the length of the equipment installed in the middle of the cage be S1, the traveling speed of the traveling crane be V, the rotation speed of the screw conveyor driven by the stepping motor be Vt, the total feeding duration per time be T, the feeding density of the fed feed be ρ, the number of chickens raised in each section of the chicken cage be N, the number of sections of chicken cages in each row be M, the comprehensive running error of the traveling crane when traveling to the mth section of the cage and the feeding operation error of the stepping motor in the mth section of the cage be .

[0007] According to the foregoing set variables, the ideal traveling distance of the traveling crane is , however, there is a comprehensive traveling error of the traveling crane, so the actual traveling distance of the traveling crane is .

[0008] Due to the accumulation of the traveling error of the traveling crane, the feeding position error of the last section of the chicken cage is . The factors affecting the comprehensive error of the traveling crane's movement include the control precision error of the servo motor, the precision error of the reduction gearbox, the clearance error between the main / driven sprockets, the slipping error of the traveling wheels of the crane, equipment installation, etc. Calculated based on the traveling crane's servo speed of 1000 revolutions per minute, the reduction ratio of the reduction motor of 50:1, the tooth ratio of the driving / driven wheels of 1.5:1, and the diameter of the traveling wheels of the crane of 120 mm, the actual traveling speed of the crane without considering errors is: When considering the traveling error of the crane, the actual traveling distance of the crane per minute is: . According to the general application situation of industry products, a general-precision reduction gearbox is selected, and the assumed value of the comprehensive transmission error of the servo motor, reduction gearbox, sprocket clearance, etc. is within.

[0009] Assume that the length of a single-layer chicken cage is 0.5 meters and the width of the feeding window is 0.05 meters. Usually, the total length of a breeding poultry house is 80 - 100 meters. Calculated based on 100 meters, the total number of chicken cages that the crane travels (without considering the intermediate equipment clearance) is: chicken cages, and the total maximum error is: meters. When the crane feeds and runs once, there is a position error that deviates from the length of one chicken cage, and the actual feeding position has seriously deviated from the feeding window. Although the above errors are assumed, they conform to the actual industry application situation.

[0010] Based on this situation, the error between the position of the crane during movement and the preset arrival position should be reduced. Considering the long single - feeding traveling distance of the crane, a segmented position calibration and traveling calibration method is adopted. As Figure 1 shown, that is, the long running distance is divided into multiple segments (for example, 10 chicken cages as a segment), and a marking point is set at the position of each segment. Before the crane runs, the position of each segment's marking point is calibrated first.

[0011] The technical solution adopted by the present invention is:

[0012] A method for controlling the traveling position of a traveling crane for a stacked breeding chicken cage, including a number of sequentially connected stacked breeding chicken cages. There are tracks on the stacked chicken cages and a traveling crane that moves in cooperation with the tracks. A feeding device corresponding to each layer of chicken cages is provided on the traveling crane. The main controller on the traveling crane controls the running speed of the traveling crane and feeds when reaching the feeding window of each chicken cage. It is characterized by including the following steps:

[0013] S1. Divide all the sequentially connected stacked breeding chicken cages into segments according to X chicken cages, and set a metal baffle at the position at the end of each segment of chicken cages as a marking point. The number of chicken cages X in each segment needs to be determined comprehensively according to the length of a single chicken cage, the width of the feeding window, and the comprehensive transmission error, and does not exceed 12 cages;

[0014] Sensors are installed on the traveling crane. When the sensors reach the marked points, the sensors approach or contact the detection metal shims, causing the sensors to generate trigger signals and transmit them to the main controller;

[0015] S2. According to the distance S of each chicken cage and the arrival time T 0 , determine the initial speed V of the traveling crane 0 and the initial rotational speed N of the servo motor driving the traveling crane 0 , and write the initial speed V of the vehicle servo motor 0 , the initial rotational speed N 0 and the initial time T 0 into the controller;

[0016] S3. During the traveling process of the traveling crane, taking each section of the chicken cage as a traveling and feeding unit for the traveling crane, the actual running speed is corrected and calculated. When the traveling crane reaches the marked point of each section of the chicken cage, the sensor on the traveling crane acts with the marked point metal shim to generate a trigger signal and transmit it to the main controller. The main controller receives the trigger signal and records the actual running arrival time as T 1 , the main controller calculates the running time difference ΔT = T 0 -T 1 , and corrects the running speed V of the traveling crane servo motor 01 =S / (T 0 +ΔT), and the traveling crane continues to run at the corrected speed V 01 until it reaches the next marked point.

[0017] A further technical solution is that when there is an intermediate installation device in the stacked breeding chicken cage device, a marked point should be provided at the end of the intermediate installation device, and the end of the intermediate device is used as the starting endpoint for the traveling crane to travel. At the same time, this position is also the starting end of a new chicken cage.

[0018] A further technical solution is that during the position marking process, a capacitive proximity sensor is selected. The sensor is installed and fixed on the traveling crane. A detected metal shim is respectively fixed at the marked points on the cage. The detection contact distance is adjusted according to the selected sensor (usually 5 - 10 mm is appropriate). When the traveling crane travels and passes through this marked point, the sensor contacts the detected metal object, generates a signal, and transmits it to the main controller for identification. The main controller identifies this signal, records the position of this point, calculates the deviation distance from the actual position, and performs walking distance compensation.

[0019] The beneficial effect of the present invention is that by dividing the long - distance travel into multiple segments for marking, the comprehensive error caused by equipment operation is reduced, and the feeding accuracy is improved. Description of the Drawings

[0020] Figure 1It is a schematic diagram of the sectional marking of the stacked breeding chicken cage device of the present invention and the marking points provided on the intermediate installation equipment. Detailed implementation manners

[0021] 1. Taking the stacked breeding chicken cage device with a length of 100 meters as an example, the length of a single chicken cage is 0.5 meters, the width of the feeding window is 0.05 meters, the rotational speed of the traveling servo motor is 1000 revolutions per minute, the reduction ratio of the reduction motor is 50:1, the tooth ratio of the driving / driven wheel is 1.5:1, and the diameter of the traveling wheel of the traveling crane is 120 mm. The comprehensive transmission error values such as the clearance between the traveling servo motor, the reducer, and the sprocket of the traveling crane are . Then the running error of each chicken cage is: meters. According to the feeding habits of chickens, usually, the feeding position can cover 60% of the range centered on the feeding window of each chicken cage, that is, the adopted interval is: meters, and this feeding interval satisfies the traveling error of the chicken cages. The traveling speed of the traveling crane is: m / s. At the initial speed V 0 = 5.024 m / s of the traveling crane, the distance S of this section of 10 chicken cages is 5 meters, and the initial time T 0 = S / V 0 = 0.995 s;

[0022] When actually running, the actual time T 1 detected by the traveling crane sensor when reaching the end marking point of this section is 1.02 s. Then the main controller calculates the running time difference ΔT of the traveling crane = T 0 - T 1 = 0.995 - 1.02 = -0.025 s, and corrects the running speed V 01 of the traveling servo motor = S / (T 0 + ΔT) = 5 / (0.995 - 0.025) = 5.154 m / s. The traveling crane continues to run at the corrected speed V 01 until it reaches the next marking point, and recalculates the arrival time to execute the running between the next marking points at the corrected speed.

[0023] Due to many influencing factors during the traveling process of the traveling crane, the scheme of calibrating at the actual positions with indefinite intervals can solve the problem that the feeding is within the feeding window range, and can also solve the problem of randomly inserting intermediate equipment between the chicken cages. For the specific implementation, usually, general scientific research personnel can complete the product design according to this method, and this will not be described in this article.

[0024] This control method is mainly aimed at the cage products with fixed feeding windows. It incorporates multiple factors affecting the feeding position into a multiple regression algorithm model and uses the methods of multi-point self-adjustment, multi-point self-adaptation, and multi-point self-optimization to solve the problem of precise feeding, providing 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 method for controlling the traveling position of a stacked chicken cage crane 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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