Accurate crane feeding control method for stacked breeding hencoop

Abstract

The invention discloses a travelling accurate feeding method for a stacked breeding coop. The travelling accurate feeding method comprises the following steps: calculating the ratio deviation of the blanking amount of each other motor to the blanking amount of a reference motor as a consistency deviation coefficient K; the corresponding relation between the rotating speed of the reference motor and the feeding weight of the conveyed feed is measured, a corresponding curve is formed, and measured data are input into a parameter information table in the controller; the reference rotating speed corresponding to the reference motor is searched according to the curve, the motor rotating speed of other motors for conveying feed with the same weight is obtained by multiplying the reference rotating speed by the consistency deviation coefficient K of the corresponding other motors, and the controller issues a command to each other motor according to the calculated rotating speed to achieve accurate control over feeding of the motor auger device. Compared with the prior art, the method has the advantages that the curve between the discharging amount and the rotating speed of the reference motor auger and the consistency deviation coefficient are adopted, so that the accuracy of the discharging amount of the crane motor auger of the stacked breeding coop is greatly improved, and the efficiency of adjusting the discharging amount is greatly improved under the condition of not increasing any investment.

Description

Technical Field

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

[0002] Feeding is the basis for animals to maintain growth, development 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, the control of feed intake is very strict. 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 body 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 body weight uniformity of breeding chickens by formulating feeding and feeding plans, directly affecting the production performance of breeding chickens.

[0003] For a stacked breeding chicken cage with a fixed feeding window, there are two technical routes for feeding accuracy. One is the weighing technical route. Under the condition of ensuring the absolute position accuracy of the feed trough for each chicken, a weighing bin is added. During the walking of the traveling crane, the hopper quantitatively conveys feed to the weighing bin by peristalsis. When the traveling crane reaches the feeding window position, feeding is carried out. In this technical route, each feed trough needs to be equipped with a weighing device and a weighing bin opening device. The number of devices is large, the electrical and structural complexity is high. In addition, there are also situations such as narrow installation space and inconvenient maintenance. The second route for precise feeding is to control the rotation speed of the feeding auger in the hopper by using a servo motor or a stepper motor to achieve precise feeding. However, there are system errors in the system of controlling the feeding auger in the hopper by using a servo motor or a stepper motor, and it is difficult to determine the control parameters of the servo motor or the stepper motor, thus affecting the feeding accuracy. Summary of the Invention

[0004] The purpose of the present invention is to solve the defect that the existing system of controlling the feeding auger in the hopper by using a servo motor or a stepper motor has system errors and affects the feeding accuracy, and to propose a precise feeding control method for a traveling crane of a stacked breeding chicken cage.

[0005] The present invention adopts the following technical solutions: A precise feeding method for a traveling crane of a stacked breeding chicken cage, including the stacked breeding chicken cage and the traveling crane that cooperates with it to move. The traveling crane is provided with a motor auger feeding device corresponding to each layer of chicken cage. It is characterized by including the following steps: 1), During the commissioning phase before the use of the stackable breeding chicken cage traveling crane, measure the feeding amount of the feeding motor of all motor auger feeding devices for a certain period of time to convey standard feed. Select one feeding motor as the reference motor, and calculate the ratio deviation of the feeding amount of each other motor to the feeding amount of the reference motor as the consistency deviation coefficient K. The calculation method is: K = 1 - (feeding amount of other motor - feeding amount of reference motor) / feeding amount of reference motor. The traveling crane controller records the consistency deviation coefficient of each other motor; 2), When the stackable breeding chicken cage traveling crane is put into actual use, according to the feed density, measure the corresponding relationship between the reference motor speed and the feeding weight of the conveyed feed and form a corresponding curve, and input the measured data into the controller; 3), Determine the required feed amount according to the growth situation of the chickens, then find the reference speed corresponding to the reference motor according to the curve. The motor speed of other motors to convey the same weight of feed is: reference speed multiplied by the consistency deviation coefficient K of the corresponding other motor. The controller issues commands to each other motor according to the calculated speed to achieve precise control of the motor auger device for feeding.

[0006] Due to the adoption of the above technical solution, the present invention has the following advantages and effects: Adopt the curve between the auger feeding amount and the speed of the reference motor, measure the consistency deviation coefficient between the auger feeding amount of other motors and the auger feeding amount of the reference motor. Without any additional investment, the accuracy of the auger feeding amount of the stackable breeding chicken cage traveling crane motor is greatly improved, and the efficiency of adjusting the feeding amount is greatly improved. Description of the Drawings

[0007] Figure 1 It is a schematic structural diagram of the stackable breeding chicken cage traveling crane of the present invention; Figure 2 It is a curve graph of the theoretical feeding weight and the motor speed of a certain density of feed, where the relationship between the theoretical feeding weight and the motor speed is shown as curve 1. The actual feeding is due to transmission errors, and the actual test is shown as curve 2. Detailed Embodiment

[0008] Such as Figure 1As shown in the figure, the stacked breeding chicken cage of the present invention includes several sections of frames 1. Each section of frame 1 contains multiple layers of horizontal frames 2. Multiple separated chicken coops (omitted here as it is prior art) are arranged in each layer of horizontal frame. Several sections of frames 1 (up to more than 100 sections at most) are connected in sequence to form an overall stacked breeding chicken cage device. Upper guide rails 3 are distributed on both sides of several sections of frames 1. A traveling crane 4 that cooperates for movement is provided on the guide rails. Vertical frames 5 are respectively provided on both sides of the traveling crane. Motor auger feeding devices 6 corresponding to each layer of chicken coops are respectively provided on the vertical frames 5. There is a consistency deviation in the feed conveyed by different feeding motor augers of the same traveling crane, mainly due to reasons such as the consistency of the mechanical processing of the augers and the clearance error with the feed conveying pipes.

[0009] In response to this problem, the technical solution adopted by the present invention is: During the commissioning stage before the stacked breeding chicken cage traveling crane is put into use, measure the feed weight conveyed by the feeding motors when all motors convey standard feed at the same time interval. Select one feeding motor as the reference motor, and use the ratio of the feed quantity conveyed by each other motor to the feed quantity conveyed by the reference motor as the consistency deviation coefficient. The calculation method is: 1 - (feed quantity of other motors - feed quantity of reference motor) / feed quantity of reference motor. The controller records the consistency deviation coefficient of each other motor.

[0010] When actually applied, according to the feed density situation, only need to calibrate the rotation speed and feed weight of the aforementioned reference motor, measure the corresponding relationship between its rotation speed and the feed weight conveyed, and input the measured data into the controller. The rotation speed of other motors conveying the same weight of feed is: the rotation speed of the reference motor multiplied by the consistency deviation coefficient of this motor. The controller issues commands according to the calculated rotation speed commands to complete the precise control of the feeding of each motor.

[0011] I. Measuring the consistency deviation coefficient A precise feeding system for a row of traveling cranes has a total of 6 stepping motor auger feeding devices. When actually testing a certain standard density feed, the feed conveyed by 6 motors within 1 minute is 3 kg, 3.002 kg, 3 kg, 3.001 kg, 3 kg, and 2.999 kg respectively. Select the first motor as the reference motor. The consistency deviation coefficient is: 1 - (feed quantity of other motors - feed quantity of reference motor) / feed quantity of reference motor. The consistency deviation coefficients of other motors are shown in the third row of the following table:

[0012] II. When actually applied, actually measure that the rotation speed of the reference motor is 20 r / min, the feed conveyed is 3 kg, the rotation speed is 60 r / min, the feed conveyed is 9 kg, the rotation speed is 90 r / min, the feed conveyed is 13.5 kg, and the rotation speed is 120 r / min, the feed conveyed is 18 kg.

[0013] When the other 5 feeding motors convey the same weight of feed, the corresponding rotational speed of the motors is the reference motor rotational speed * consistency deviation coefficient. The specific output rotational speed data is as follows:

[0014] The controller can accurately control the rotational speed of each stepping motor according to requirements, so as to obtain an accurate feeding amount.

[0015] III. When the feed density ρ changes, it is only necessary to re-measure the curve relationship between the aforementioned reference motor rotational speed and the feeding amount.

[0016] That is, on the premise that the feed density ρ is constant, by measuring the feeding weight under different rotational speed conditions multiple times and taking the average value of the feeding weights measured multiple times, a curve relationship diagram between the motor rotational speed and the feeding weight is obtained. When it is actually necessary to determine the feeding amount of a fixed amount of feed, the reference motor rotational speed can be determined according to the curve relationship, and the rotational speed of other motors is: the reference motor rotational speed of the feed density ρ * consistency deviation coefficient.

[0017] For a certain density of feed, the theoretical feeding weight and the motor rotational speed are as follows Figure 2 As shown by the curve, the actual feeding is due to transmission errors, and the actual test is as shown by curve 2.

[0018] For example: In actual tests, a certain density of feed is conveyed by driving the auger to rotate through the motor. In a certain period of time, the motor rotates 20 revolutions and conveys 940 g of feed, and when it rotates 40 revolutions, 1850 g of feed is measured. When a total of 1395 g of feed needs to be conveyed, the servo controller can receive a rotational speed command of 30 revolutions.

Claims

1. A precise feeding control method for a traveling crane of a stacked breeding chicken cage, including a stacked breeding chicken cage and a traveling crane that cooperates with it to move. The traveling crane is provided with a motor auger feeding device corresponding to each layer of chicken cages. It is characterized in that It includes the following steps: 1). During the commissioning stage before the stacked breeding chicken cage traveling crane is put into use, measure the feeding amount of the feeding motor for transporting standard feed of all motor auger feeding devices within a certain period of time. Select one feeding motor as the reference motor, and calculate the ratio deviation of the feeding amount of each other motor to the feeding amount of the reference motor as the consistency deviation coefficient K. The calculation method is: K = 1 - (feeding amount of other motor - feeding amount of reference motor) / feeding amount of reference motor. The traveling crane controller records the feeding amount of the reference motor and the consistency deviation coefficient of each other motor; 2). When the stacked breeding chicken cage traveling crane is put into actual use, according to the feed density, measure the corresponding relationship between the reference motor speed and the feeding weight of the transported feed and form a corresponding curve, and input the measured data into the controller; 3). Determine the required feed amount according to the growth situation of the chickens, and then find the reference speed corresponding to the reference motor according to the curve. The motor speeds of other motors for transporting the same weight of feed are: reference speed multiplied by the consistency deviation coefficient K of the corresponding other motor. The controller issues commands to each other motor according to the calculated speeds to achieve precise control of the motor auger device for feeding.

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