Deviation correction control system and deviation correction method for multi-track travelling crane feeding device

Abstract

The invention relates to a deviation rectification control system of a multi-track crane feeding device and a deviation rectification method of the deviation rectification control system, a left driving motor and a right driving motor are arranged on two crane units which are symmetrical in the middle, inductive switches are arranged on cranes at the left end and the right end and corresponding tracks, and trigger signals of the inductive switches are sent to an MCU (Microprogrammed Control Unit) to calculate the trigger operation time; the deviation correction method comprises the following steps: S1, setting system safety deviation time St and system deviation correction time Ct; s2, the travelling crane triggers an inductive switch at the X position of the track and triggers a signal, and the MCU receives the signal and records the triggering operation time TX1 or TX2; s3, if TX < 1 >-TX < 2 > gt; 0 and TX2gt; 0, and Stlt; = TX1lt; and if Ct is equal to Ct, the left motor stops and the right motor runs TX1, and then the left motor runs. The system has the advantages that the traveling position is adjusted according to signals of the inductive switch, the problem of abrasion of traveling deviation equipment is solved, traveling intelligence is achieved, and the reliability and safety of the system are improved.

Description

A correction control system and correction method for a multi-track trolley feeding device Technical Field

[0001] This invention relates to a control method for multi-track traveling equipment in aquaculture, and specifically to a correction control system and correction method for a multi-track traveling feeding device. Background Technology

[0002] Currently, large-scale industrial poultry farming equipment typically employs multi-row, stacked cage systems. Each row of stacked cages has a pair of tracks at the top, with each pair of tracks supporting a single traveling unit. These traveling units are connected by a flexible drive system. A single motor drives the other traveling units along the tracks and feeds each layer of cages. Although the motor is located in the middle traveling unit, uneven force distribution or slippage can easily occur due to guide rail installation and infrastructure limitations. This can cause the traveling units on either side to skew or deviate from their designated path, and these deviations cannot be automatically corrected. This deviation can lead to guide rail wear, uneven feed distribution, and even equipment jamming, ultimately affecting poultry farming efficiency and equipment lifespan.

[0003] 1. In multi-track applications, using a single motor can cause the track to wear out, which can lead to the trolley jamming, motor stalling, and reduced equipment lifespan. 2. If the trolley is stuck on the track due to prolonged deviation, the user needs to adjust its position, increasing maintenance costs and safety hazards. Summary of the Invention

[0004] The purpose of this invention is to solve the defect of existing multi-track trains that deviate during operation, and to provide a multi-track train deviation correction control method.

[0005] The technical solution adopted in this invention is as follows: This invention first provides a multi-track trolley feeding device correction control system for feeding multiple rows of breeding cages. Each row of breeding cages is provided with a pair of tracks, and each pair of tracks is provided with corresponding trolley units. The trolley units are connected by a flexible connection device to form a trolley feeding device. The invention is characterized in that: a left drive motor and a right drive motor are respectively provided on the two symmetrical trolley units in the middle. Each drive motor drives the corresponding trolley unit to run on the track. Induction switches are provided at certain intervals on the tracks at the left and right ends, and corresponding left and right induction switches are provided on the trolleys at the left and right ends, respectively. The left and right induction switches are electrically connected to an MCU to send trigger signals. After receiving the trigger signal, the MCU performs logical calculations on the trolley trigger running time, and controls the left and right motors to either turn or stop to correct the deviation of the trolley feeding device according to the calculation results.

[0006] This invention also provides a correction method for a multi-track trolley feeding device correction control system, characterized by the following logical steps: S1. Set the system safe deviation time St and the system deviation correction time Ct in the MCU; S2. When the trolley travels to the Xth position on each pair of tracks at both ends of the multi-column breeding cages, the left or right sensor switch on the trolley at the left and right ends triggers the left or right sensor switch at the Xth position on each pair of tracks, and sends a trigger signal to the MCU. The MCU clears the trigger running time of the previous X-1 position and starts recording the corresponding trigger running time TX1 or TX2; S3. If TX1 - TX2 > 0 and TX2 > 0 (the left sensor switch triggers first, and the right sensor switch triggers later), and St <= TX1 <= Ct, the left motor stops working, waits for the right motor to run for TX1 time, and then the left motor resumes operation, completing the correction; S4. Or TX1 - TX2 < 0 and TX1>0 (right sensor switch triggered first, left sensor switch triggered later), when St<=TX2<=Ct, the right motor stops working and waits for the left motor to run for TX2 time before the right motor resumes operation and completes the correction; S5. If TX1>Ct and TX2=0 (left sensor switch triggered first, right sensor switch not triggered after CT); or TX2>Ct and TX1=0 (right sensor switch triggered first, left sensor switch not triggered after CT), the vehicle stops for maintenance.

[0007] Furthermore, an inductive switch is installed every 1-1.5 meters on the left and right ends of the track; the safe deviation time ST is 400-600 milliseconds, and the deviation correction time CT is 1200-1800 milliseconds.

[0008] Furthermore, sensor devices are installed every 1.25 meters on the tracks where the left and right sensor switches are located; the safe deviation time ST is 500 milliseconds, and the deviation correction time CT is 1500 milliseconds.

[0009] The safe deviation time refers to the time difference between the triggering times of the left and right sensor switches being less than this value during normal driving (including forward and reverse) so that the vehicle does not trigger deviation correction.

[0010] The aforementioned deviation correction time refers to the time difference between the triggering of the left and right sensor switches during normal driving (including forward and reverse) being greater than the "safe deviation time" but less than this time value, at which point the vehicle triggers deviation correction; if it is greater than this time value, it indicates that the deviation correction range has been exceeded, the equipment has a safety hazard, and the vehicle stops.

[0011] The trigger running time refers to the time it takes for the vehicle to run after the trigger signal is issued at position X.

[0012] The aforementioned inductive switch uses existing non-contact proximity switches (inductive, infrared, reed type) with sensing heads arranged on the track at regular intervals. The inductive switch is installed on the trolley, and the triggered signal value serves as the basis for trolley timing.

[0013] Compared with the prior art, the present invention has the following advantages and effects: it improves the traditional driving system by adjusting the driving position mainly based on the feedback of the deviation sensing switch signal, increases the automatic deviation correction capability of the driving system, solves the problems of driving deviation and equipment wear in the case of single motor, realizes intelligent driving, reduces manual maintenance costs, and increases the reliability and safety of the system. Attached Figure Description

[0014] Figure 1 is a structural diagram of a multi-track trolley correction system provided in an embodiment of the present invention; Figure 2 is a schematic diagram (top view) of the arrangement of motors and induction switches in an embodiment of the present invention; Figure 3 is a schematic diagram of a correction control system for a multi-track trolley feeding device. Detailed Implementation

[0015] I. The structure of a multi-track trolley correction system is shown in Figures 1 and 2. The embodiment of the present invention includes five rows of stacked breeding cages 6, each row of stacked breeding cages is provided with a pair of tracks 7-1, and an induction switch 8-1 is set every 1.25 meters on the tracks 7-1 located at the left and right ends; the tracks on the five rows of stacked breeding cages are respectively provided with trolley units 1 to 5, and adjacent trolley units are connected by a flexible drive device 10. A drive motor 9-2 is set on the symmetrical second and fourth trolley units, which together drive the entire trolley unit to move forward or backward along the track.

[0016] The left and right ends of the traveling unit are equipped with a left induction switch 8-1 and a right induction switch 8-2, respectively, which correspond to the induction switches 8-1 and 8-2 on the track to trigger on / off signals.

[0017] The inductive switch uses a non-contact proximity switch (preferably an electromagnetic inductive switch). Sensors are arranged on the track at regular intervals. The inductive switch is installed on the trolley, and the triggered signal value is used as the basis for trolley timing.

[0018] II. As shown in Figure 3, this embodiment has a dual-motor control principle diagram. K1 is the left induction switch, K2 is the right induction switch, S1 is the left motor relay, S2 is the right motor relay, M1 is the left motor, and M2 is the right motor. The left and right induction switches are electrically connected to the MCU. The MCU performs logical calculations on the time after the induction switches are triggered, and controls the left and right motors to turn and stop respectively to correct the deviation based on the calculation results.

[0019] III. The control logic of the above-mentioned multi-track trolley feeding device deviation correction control system includes the following steps: S1. Set the system safe deviation time St and the system deviation correction time Ct in the MCU; S2. When the trolley travels to the X position on each pair of tracks at both ends of the multi-column breeding cages, the left or right sensor switch on the trolley at the left and right ends triggers the left or right sensor switch at the X position on each pair of tracks, and sends a trigger signal to the MCU. The MCU clears the trigger running time of the previous X-1 position and starts recording the corresponding trigger running time TX1 or TX2; S3. If TX1 - TX2 > 0 and TX2 > 0 (the left sensor switch triggers first, and the right sensor switch triggers later), and St <= TX1 <= Ct, the left motor stops working and waits for the right motor to run for TX1 time before the left motor resumes operation, completing the deviation correction; S4. Or TX1 - TX2 < 0 and TX1>0 (right sensor switch triggered first, left sensor switch triggered later), when St<=TX2<=Ct, the right motor stops working and waits for the left motor to run for TX2 time before the right motor resumes operation and completes the correction; S5. If TX1>Ct and TX2=0 (left sensor switch triggered first, right sensor switch not triggered after CT); or TX2>Ct and TX1=0 (right sensor switch triggered first, left sensor switch not triggered after CT), the vehicle stops for maintenance.

[0020] The typical way to apply the control logic in this embodiment is to use C language programming, which is the most common language. Based on the above logic process, relevant variables and calculation formulas are created, and software source code is written. After being compiled or assembled by a compiler, it is linked by a linker to produce an instruction file that can run on a certain CPU chip, thus completing the implementation process.

[0021] As shown in Figure 1, five rows of breeding cages are arranged using five traveling crane units. The traveling crane units are connected by crossbeams and flexible devices. During operation, the motors on both sides drive the traveling cranes through the mechanical structure. During installation, attention must be paid to the consistency of the tracks (including height and verticality) to ensure smooth operation of the traveling cranes. The left drive motor M1 and the right drive motor M2 are installed on the 2nd and 4th traveling cranes, respectively. The track length is 98m (including the front and rear stops and the 1.2m length of the traveling crane). The deviation detection switches are installed on the 1st and 5th traveling cranes, respectively. One detection switch is set every 1.25m on the 1st and 5th tracks corresponding to the 1st and 5th traveling cranes. 75 deviation trigger devices are installed on one side, and a total of 150 deviation trigger devices are installed on both sides.

[0022] During vehicle operation, the vehicle is controlled to correct its deviation by triggering a signal through an electromagnetic induction switch; the "safe deviation time" ST is preferably set to 500ms, the "deviation correction time" CT is preferably set to 1500ms, and the vehicle speed is 11-12cm / s.

[0023] When the "safe deviation time" is set to 500ms, during normal train operation, the train travels synchronously on the track, and both left and right sensor switches are triggered normally with a time difference of less than or equal to 500ms. The train will not correct its deviation and will continue normal operation. When the "deviation correction time" is set to 600ms, a correction action will be triggered every time the train passes a correction trigger device during normal operation. When the "deviation correction time" is set to 800ms, a correction action will be triggered when the train passes the 1st, 4th, 6th, 10th, 13th, 16th, 20th, 23rd, 26th, 30th, 32nd, 35th, 38th, 42nd, 46th, 50th, 52nd, 55th, 58th, 61st, 63rd, 67th, 70th, and 74th correction trigger devices during normal operation. When the "deviation correction time" is set to 1000ms... During normal driving, the vehicle will trigger a correction action when passing the 1st, 10th, 30th, 38th, 46th, 59th, and 70th correction triggers. When the "deviation correction time" is set to 1200ms, the vehicle will trigger a correction action when passing the 15th, 30th, and 58th correction triggers. When the "deviation correction time" is set to 1500ms, the vehicle will trigger a correction action when passing the 40th correction trigger. Analysis and verification show that by using the system's set deviation safety time and deviation correction time parameters, and by segmenting the vehicle's position during operation, analyzing and processing the data, and dynamically adjusting the vehicle's position, a self-correction capability is achieved, increasing the equipment's lifespan and the system's reliability and safety.

Claims

1. A multi-track traveling feeder correction control system for feeding multiple rows of breeding cages, wherein each row of breeding cages is provided with a pair of tracks, and each pair of tracks is provided with corresponding traveling units, the traveling units are connected by a flexible connecting device to form a traveling feeder, characterized in that: A left drive motor and a right drive motor are respectively installed on two symmetrical traveling units in the middle. Each drive motor drives the corresponding traveling unit to run on the track. Induction switches are installed at certain intervals on the tracks at the left and right ends. Corresponding left and right induction switches are installed on the traveling units at the left and right ends. The left and right induction switches are electrically connected to the MCU to send trigger signals. After receiving the trigger signal, the MCU performs logical calculations on the traveling unit's trigger running time. Based on the calculation results, it controls the left and right motors to either turn or stop to correct the deviation of the traveling unit's feeding device.

2. The correction method of the correction control system for a multi-track trolley feeding device according to claim 1, characterized in that... The logic steps include: S1. Set the system safety deviation time St and the system deviation correction time Ct in the MCU; S2. When the trolley travels to position X on each pair of tracks at both ends of the multi-column breeding cages, the left or right sensor switch on the trolley at the left and right ends triggers the left or right sensor switch at position X on each pair of tracks, and sends a trigger signal to the MCU. The MCU clears the trigger running time of the previous position X-1 and starts recording the corresponding trigger running time TX1 or TX2; S3. If TX1 - TX2 > 0 and TX2 > 0, that is, the left sensor switch is triggered first and the right sensor switch is triggered later, and St <= TX1 <= Ct, the left motor stops working and waits for the right motor to run for TX1 time before the left motor resumes operation, completing the deviation correction; S4. Or TX1 - TX2 < 0 and TX1>0, meaning the right sensor switch is triggered first, followed by the left sensor switch. When St<=TX2<=Ct, the right motor pauses operation and waits for the left motor to run for TX2 hours before resuming operation to complete the correction. S5. If TX1>Ct and TX2=0, meaning the left sensor switch is triggered first, and the right sensor switch is not triggered after CT; or TX2>Ct and TX1=0, meaning the right sensor switch is triggered first, and the left sensor switch is not triggered after CT, the vehicle stops for maintenance.

3. The correction method of the correction control system for a multi-track trolley feeding device according to claim 2, characterized in that: An inductive switch is installed every 1-1.5 meters on the left and right ends of the track; the safe deviation time ST is 400-600 milliseconds, and the deviation correction time CT is 1200-1800 milliseconds.

4. The correction method of the correction control system for a multi-track trolley feeding device according to claim 3, characterized in that: Induction switches are installed every 1.25 meters on the tracks where the left and right induction switches are located; the safe deviation time ST is 500 milliseconds, and the deviation correction time CT is 1500 milliseconds.

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