CN112119944A - Automatic control system, method and device for feeding travelling crane and storage medium - Google Patents
Automatic control system, method and device for feeding travelling crane and storage medium Download PDFInfo
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- CN112119944A CN112119944A CN202011111390.1A CN202011111390A CN112119944A CN 112119944 A CN112119944 A CN 112119944A CN 202011111390 A CN202011111390 A CN 202011111390A CN 112119944 A CN112119944 A CN 112119944A
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- feeding
- motor
- travelling crane
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K39/00—Feeding or drinking appliances for poultry or other birds
- A01K39/01—Feeding devices, e.g. chainfeeders
- A01K39/012—Feeding devices, e.g. chainfeeders filling automatically, e.g. by gravity from a reserve
- A01K39/0125—Panfeeding systems; Feeding pans therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
Abstract
The application relates to an automatic control system, method and device for a feeding travelling crane and a storage medium. Wherein, feed driving automatic control system includes: a driving motor; the travelling crane driving motor comprises a travelling crane walking motor used for connecting a feeding travelling crane and travelling crane feeding motors respectively arranged on the material boxes of each layer; the traveling crane operation control cabinet outputs a control instruction; the driving main control cabinet comprises a controller and a driving device; wherein the driving device comprises a first driver and a second driver; the controller receives the control instruction, controls the traveling motor of the travelling crane to act through the first driver so as to adjust the traveling speed of the feeding travelling crane, and controls the feeding motor of the travelling crane to act through the second driver so as to adjust the feeding speed of the material box. This application degree of automation is high, and overall system is reliable and stable, promotes the poultry production efficiency of raising in cages, because accurate accuse material can reduce the feed cost, improves the productivity effect.
Description
Technical Field
The application relates to the technical field of equipment control, in particular to an automatic control system, method and device for a feeding travelling crane and a storage medium.
Background
At present, livestock breeding is vigorously developed in China, according to the existing breeding process, feeding amount of cage-bred poultry such as breeding hens and broilers needs to be controlled and managed, if manual control is adopted, the per-person breeding amount is difficult to improve, and per-person efficiency is low.
With the vigorous development of domestic cage poultry equipment industry, the mechanical and automatic degree of the adopted feeding equipment is higher and higher. Although the domestic poultry farm basically realizes mechanization and simple automation at present, in the realization process, the inventor finds that at least the following problems exist in the traditional technology: the automation level of the poultry farm feeding equipment system is low, and the problems of uncontrollable feeding amount, unstable blanking amount, low feeding precision and the like exist.
Disclosure of Invention
In view of the above, there is a need to provide an automatic feeding trolley control system, method, device and storage medium capable of improving the automation level.
In order to achieve the above object, in one aspect, an embodiment of the present invention provides an automatic control system for a feeding travelling crane, including:
a driving motor; the travelling crane driving motor comprises a travelling crane walking motor used for connecting a feeding travelling crane and travelling crane feeding motors respectively arranged on the material boxes of each layer;
the traveling crane operation control cabinet outputs a control instruction;
the driving main control cabinet comprises a controller and a driving device; wherein the driving device comprises a first driver and a second driver; one end of the controller is connected with the travelling crane operation control cabinet, and the other end of the controller is connected with the travelling crane walking motor through a first driver and is respectively connected with the travelling crane feeding motors through second drivers;
the controller receives a control instruction, controls the traveling motor of the traveling crane to act through the first driver so as to adjust the traveling speed of the feeding traveling crane, and controls the feeding motor of the traveling crane to act through the second driver so as to adjust the feeding speed of the material box.
In one of the embodiments, the first and second electrodes are,
the traveling motor is a servo motor; the travelling crane feeding motor comprises stepping motors arranged at two ends of an output shaft of a blanking auger of the material box;
the first driver is a servo driver; the second driver is a stepping motor driver;
the controller controls the rotating speed of each stepping motor through a stepping motor driver based on the control instruction so as to respectively adjust the feeding amount of each material box.
In one embodiment, the traveling crane operation control cabinet is connected with the controller through a 485 interface.
In one embodiment, the driving operation control cabinet is an operation control electronic box with a touch screen.
In one embodiment, the system further comprises a driving power supply control cabinet; the driving power supply control cabinet is connected with the driving main control cabinet.
In one embodiment, the driving power supply control cabinet is used for providing direct current 48V supply voltage; the driving power supply control cabinet comprises a voltage monitoring module and a fault alarm output module.
In one embodiment, the controller is a PLC controller.
A feeding travelling crane automatic control method is applied to a travelling crane operation control cabinet in the feeding travelling crane automatic control system; the method comprises the following steps:
confirming the current working mode under the condition of receiving a starting instruction;
if the current working mode is confirmed to be the self-setting mode, outputting a control instruction according to the obtained feeding speed;
if the current working mode is determined to be the curve mode, outputting a control instruction based on the motor setting parameters in the automatic operation curve; the motor setting parameters comprise motor rotating speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.
An automatic control device for a feeding travelling crane comprises:
the mode confirmation module is used for confirming the current working mode under the condition of receiving the starting instruction;
the instruction output module is used for outputting a control instruction according to the obtained feeding speed if the current working mode is determined to be the self-setting mode; and the control module is used for outputting a control instruction based on the motor setting parameter in the automatic operation curve if the current working mode is determined to be the curve mode; the motor setting parameters comprise motor rotating speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
One of the above technical solutions has the following advantages and beneficial effects:
in this application, driving motor is including the driving walking motor that is used for connecting the feed driving to and locate each driving feed motor of each layer workbin respectively, and driving master control cabinet includes the controller, first driver and second driver, after receiving driving operation control cabinet's control command, realize the accurate control of speed to driving walking motor and each driving blanking motor, and then change unloading speed, thereby control the blanking volume of each layer workbin, realize the accurate feed of driving. This application is through walking speed's speed to and the accurate control of each blanking motor speed, thereby realize the accurate controllable of the final blanking volume of each workbin. This application degree of automation is high, and overall system is reliable and stable, promotes the poultry production efficiency of raising in cages, because accurate accuse material can reduce the feed cost, improves the productivity effect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram of an application environment of an automatic control system of a feeding travelling crane in one embodiment;
FIG. 2 is a block diagram of an embodiment of an automatic control system of a feeding travelling crane;
FIG. 3 is a schematic structural diagram of an automatic control system of a feeding travelling crane in one embodiment;
FIG. 4 is a block diagram of an automatic control system of a feeding vehicle in another embodiment;
FIG. 5 is a schematic diagram showing the detailed structure of an automatic control system of a feeding travelling crane in one embodiment;
FIG. 6 is a schematic interface diagram of a driving operation control cabinet according to an embodiment;
FIG. 7 is a schematic flow chart of an automatic control method of a feeding travelling crane in one embodiment;
FIG. 8 is a schematic diagram of a self-contained mode interface of the operating control cabinet for a vehicle according to an embodiment;
FIG. 9 is a schematic view of a curved mode interface of the operating control cabinet for traveling crane according to an embodiment;
FIG. 10 is a block diagram of an automatic control device of a feeding vehicle in one embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
The automation level of the traditional poultry farm feeding equipment system is low. If adopt the general driving feed of tradition, carry out the regulation of unloading volume through the mode of flat glassware, its control is accurate inadequately, is difficult to reach the effect of accuse material, can not control the fodder volume even a bit, and it is great to the material meat ratio influence that the poultry was raised the requirement, greatly influences the production efficiency and the production operational benefits of poultry plant. The traditional technology has the problems of uncontrollable feeding amount, unstable blanking amount and low feeding precision, and also has the problems of low automation level, high cost, unstable system, inconvenient operation, poor practicability and the like.
And this application provides the automatic control system who can realize accurate feed, and based on this application, the automation level is higher, but feeding volume accurate control, and control system is stable. In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The automatic feeding travelling crane control system can be applied to the application environment shown in figure 1. Wherein, each row of feeding travelling crane corresponds to a plurality of layers of material boxes, and the material boxes are provided with a blanking auger. In one example, the application may be applied to a train of 4-tier feeding apparatus.
In one embodiment, as shown in fig. 2, there is provided an automatic feeding trolley control system, which is illustrated by applying the system to the feeding apparatus in fig. 1, and comprises:
a traveling drive motor 110; the travelling crane driving motor 110 comprises a travelling crane walking motor used for connecting a feeding travelling crane and travelling crane feeding motors respectively arranged on the material boxes of each layer;
the driving operation control cabinet 120 outputs a control instruction;
the driving main control cabinet 130, the driving main control cabinet 130 includes a controller and a driving device; wherein the driving device comprises a first driver and a second driver; one end of the controller is connected with the travelling crane operation control cabinet 120, and the other end of the controller is connected with the travelling crane walking motor through a first driver and is respectively connected with the feeding motors of the travelling cranes through second drivers;
the controller receives a control instruction, controls the traveling motor of the traveling crane to act through the first driver so as to adjust the traveling speed of the feeding traveling crane, and controls the feeding motor of the traveling crane to act through the second driver so as to adjust the feeding speed of the material box.
Specifically, the driving motor 110 provided by the application comprises a driving traveling motor for connecting a feeding traveling crane and a driving feeding motor arranged on each layer of material box; this application can adopt driving walking motor control every row of feed driving walking speed promptly, adopts each driving feed motor control feed driving each layer workbin's unloading auger, reaches the function that can change unloading speed to the blanking volume of each layer workbin is controlled, realizes the accurate feed of driving.
Further, the driving main control cabinet 130 includes a controller and a driving device; wherein the driving device comprises a first driver and a second driver; in this application, the driving main control cabinet 130 is the control center of the whole system, and this application proposes that the inside three big control units including controller, first driver, second driver of switch board, after receiving the control command of driving operation control cabinet 120, realizes the accurate control of speed to driving walking motor and each driving blanking motor. For example, the final blanking amount of each material box can be accurately controlled by the speed of the walking speed and the speed of each blanking motor.
Specifically, after receiving the control instruction of the traveling crane operation control cabinet 120, the controller may control the traveling crane traveling motor to operate through the first driver to adjust the traveling speed of the feeding traveling crane, and may also control the traveling crane feeding motor to operate through the second driver to adjust the feeding speed of the bin.
In addition, as shown in fig. 3, the present application includes a driving main control cabinet, a driving operation control cabinet and a driving motor. The travelling crane driving motor can comprise a travelling crane walking motor used for connecting a feeding travelling crane and travelling crane feeding motors respectively arranged on the material boxes of each layer; the top of feed equipment can be located to the driving master control cabinet, and driving walking motor can locate on the corresponding drive component of feed driving, and on the drive component of each layer workbin was located respectively to the driving feed motor, in an example, to the feed driving of a 4 layers (there are 4 workbins promptly), this application proposes to use 8 driving feed motors.
In a specific embodiment, the traveling motor may be a servo motor; the travelling crane feeding motor can comprise stepping motors arranged at two ends of an output shaft of a blanking auger of the material box;
the first driver may be a servo driver; the second driver may be a stepper motor driver;
the controller controls the rotating speed of each stepping motor through a stepping motor driver based on the control instruction so as to respectively adjust the feeding amount of each material box.
Particularly, this application proposes and to adopt every row of feed driving walking speed of servo motor control to adopt the unloading auger of step motor control feed driving each layer workbin, through step motor driver control step motor's rotation rate, reach the function that can change unloading speed, thereby control the blanking volume of each layer workbin, realize the accurate feed of driving. Wherein, the step motor can be realized by adopting a high-precision step motor.
The action amount that selects servo motor to control the feed driving is proposed in this application for use, and then make whole row feed driving possible accurate location (high accuracy location, take rotational speed feedback function), accurate stopping (take brake control function's servo drive), reduce influences such as vibrations that other driving motor brought simultaneously, other unpredictable factors have been avoided, and then make this application driving walking motor realize that control accuracy is high, high speed performance is good, anti overload capacity strong adaptability is good, low popular operation is steady and response speed is fast etc. thereby can satisfy the timeliness requirement, do benefit to the control effect who realizes accurate location. It should be noted that the traveling motor in the present application can also be implemented by using other asynchronous motors, stepping motors, dc permanent magnet motors, and the like.
Furthermore, aiming at each layer of material box, the application provides that the travelling crane feeding motor can adopt stepping motors arranged at two ends of an output shaft of a blanking auger of the material box, so that the function of controlling the rotating speed is accurate; meanwhile, the vibration influence is small during working, the size is small, the requirement on the installation space is not so high, and the overall cost is reduced. It should be noted that the driving feeding motor in the present application can also be implemented by a servo motor, other asynchronous motors, a dc permanent magnet motor, and the like.
The application proposes to adopt step motor as driving feed motor, and its step value does not receive the influence of various interference factors, the error is long-term accumulation in practical application, control performance is good (start, stop, upset all are accomplished in a few pulses, when operating in certain frequency range, any motion mode can not lose), the cost is lower and response speed is fast, can satisfy the timeliness requirement, and then realize the control effect of accurate location.
Accordingly, the first driver may be a servo driver; the second driver can be a stepping motor driver, so that corresponding accurate feeding control is realized. The driving motor is mainly divided into a servo motor for controlling the traveling speed of the traveling crane and a stepping motor for controlling the blanking amount of the traveling crane material box on each layer, and can belong to terminal load equipment.
In a specific embodiment, the Controller may be a PLC (Programmable Logic Controller) Controller.
Particularly, this application driving master control cabinet can include three big the control unit of PLC controller, servo driver, step motor driver, after receiving the control command of driving operation control cabinet, realizes the accurate control to the speed of driving walking motor and each driving blanking motor. Through the speed of the walking speed and the accurate control of the speed of each blanking stepping motor, the accurate control of the final blanking amount of each material box is realized.
More than, this application proposes driving motor including the driving walking motor that is used for connecting the feed driving to and locate each driving feed motor of each layer workbin respectively, and driving master control cabinet includes the controller, first driver and second driver, after receiving driving operation control cabinet's control command, realize the accurate control to the speed of driving walking motor and each driving blanking motor, and then change unloading speed, thereby control the blanking volume of each layer workbin, realize the accurate feed of driving. This application is through walking speed's speed to and the accurate control of each blanking motor speed, thereby realize the accurate controllable of the final blanking volume of each workbin. This application degree of automation is high, and overall system is reliable and stable, promotes the poultry production efficiency of raising in cages, because accurate accuse material can reduce the feed cost, improves the productivity effect.
In one embodiment, as shown in fig. 4, there is provided an automatic feeding trolley control system, which is illustrated by applying the system to the feeding apparatus in fig. 1, and comprises:
a driving motor; the travelling crane driving motor comprises a travelling crane walking motor used for connecting a feeding travelling crane and travelling crane feeding motors respectively arranged on the material boxes of each layer;
the traveling crane operation control cabinet outputs a control instruction;
the driving main control cabinet comprises a controller and a driving device; wherein the driving device comprises a first driver and a second driver; one end of the controller is connected with the travelling crane operation control cabinet, and the other end of the controller is connected with the travelling crane walking motor through a first driver and is respectively connected with the travelling crane feeding motors through second drivers;
the system also comprises a driving power supply control cabinet; the driving power supply control cabinet is connected with the driving main control cabinet;
the controller receives a control instruction, controls the traveling motor of the traveling crane to act through the first driver so as to adjust the traveling speed of the feeding traveling crane, and controls the feeding motor of the traveling crane to act through the second driver so as to adjust the feeding speed of the material box.
Particularly, this application can include driving vehicle main control cabinet, driving operation control cabinet, driving power supply control cabinet and driving motor. The driving motor can be realized by a high-precision servo motor and a stepping motor; in one example, a vehicle power supply control cabinet may be used to provide a dc 48V supply voltage; the driving power supply control cabinet comprises a voltage monitoring module and a fault alarm output module.
In this application, driving power supply control cabinet can provide direct current 48V voltage and give driving main control cabinet, and built-in voltage monitoring module and malfunction alerting output, guarantee whole system safety normal operating. In addition, the driving power supply control cabinet provides direct current 48V voltage as safe voltage, and the safety of farm personnel and poultry can be guaranteed. Further, as shown in fig. 5, the driving power control cabinet may be disposed on the top of the feeding device and connected to the driving main control cabinet.
In a specific embodiment, the traveling crane operation control cabinet can be connected with the controller through a 485 interface.
Specifically, the controller of the driving operation control cabinet and the controller of the driving master control cabinet can carry out MODBUS bus communication through a 485 interface; as shown in FIG. 5, the installation height of the traveling crane operation control cabinet is suitable for the application, so that the operation of feeding personnel is facilitated, and the convenience of the system is improved.
In a specific embodiment, the driving operation control cabinet is an operation control electronic box with a touch screen.
Specifically, the driving operation control cabinet can be an operation control electronic box with a touch screen; the touch screen can adopt a capacitive touch screen, the control program has high practicability and convenient operation; furthermore, the traveling crane operation control cabinet can adopt an industrial capacitive touch screen so as to timely acquire and execute a corresponding feeding control program. As another example, the driving operation control cabinet may employ an HMI (Human Machine Interface) touch screen.
The following further explains the scheme of the application by taking a driving operation control cabinet as an operation control electronic box with an HMI touch screen as an example.
The touch-sensitive screen can carry out MODBUS bus communication through the 485 interface with the PLC controller of driving master control cabinet, and will drive a vehicle operation control cabinet and install to being suitable for the height, is convenient for raise personnel's operation.
In one example, the touch screen of the present application can be implemented by using a capacitive color touch screen; the touch screen is sensitive and convenient to touch and can be used for setting various control instructions. For example, the touch screen program may include a plurality of operation interfaces, which may be a main screen, a self-setting mode, a curve mode, a history alarm record, a password modification and a user login interface,
the main picture can be independently provided with the rotating speed of each blanking motor of the material box, and can also be provided with the rotating speed by one key, so that the functions of automatic reciprocating and the like can be set, and the control function is strong; specifically, as shown in fig. 6, on the main screen, there may be a setting button for "given speed" of a traveling motor (servo motor), a "traveling forward" button, a "traveling backward" button, and the like. When the vehicle needs to be started, the set given speed value of the servo motor is firstly confirmed, the unit can be the rotating speed RPM (Revolutions Per Minute), then the vehicle can be controlled to move forwards by clicking the starting button of the 'driving forward' (the button can be changed into green at this time), and the vehicle can be stopped by pressing the button of the 'driving forward' again when the vehicle needs to be stopped (the button can be changed into grey at this time); similarly, the control of the driving backward is also realized by clicking the 'driving backward' button to carry out similar operation.
In the method, the automatic degree is high, accurate feeding can be realized, the traveling speed and the blanking speed of the feeding travelling crane are controllable, the blanking precision is high, and meanwhile, the performance is stable and the reliability is high; this application is through walking speed's speed to and the accurate control of each blanking motor speed, thereby realize the accurate controllable of the final blanking volume of each workbin. This application degree of automation is high, and overall system is reliable and stable, promotes the poultry production efficiency of raising in cages, because accurate accuse material can reduce the feed cost, improves the productivity effect.
In one embodiment, as shown in fig. 7, there is provided an automatic control method for a feeding trolley, which is described by taking the method as an example for a trolley operation control cabinet of the present application, and includes:
step S710, confirming the current working mode under the condition of receiving the starting instruction;
step S720, if the current working mode is confirmed to be the self-setting mode, outputting a control instruction according to the obtained feeding speed;
step S730, if the current working mode is confirmed to be the curve mode, outputting a control instruction based on the motor setting parameter in the automatic operation curve; the motor setting parameters comprise motor rotating speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.
Particularly, driving operation control cabinet in this application can be for having the operation control electronic box of HMI touch-sensitive screen, and then can receive artifical instruction fast, realizes accurate operation. The driving operation control cabinet can confirm the current working mode under the condition of receiving a starting instruction. The current operation mode in the present application may include a self-setting mode and a curve mode.
As shown in fig. 8, the self-designed mode in the present application is a self-designed mode interface diagram, and can be used in each single rotation speed parameter setting or early feeding and groping stage, and the control speed can be converted into a curve mode after groping and determining, and after the control speed is converted into the curve mode, the control speed enters an automatic operation curve to preset parameters, so as to implement full automation. It should be noted that, in the self-setting mode, relevant parameters may be set for both the traveling motor and the blanking motor, for example, as shown in fig. 8, when it is determined that the current operating mode is the self-setting mode, each feeding speed may be obtained, and then a corresponding control instruction is output.
In addition, as shown in fig. 9, the curve mode provided by the present application can further improve the precise control of feeding, wherein the motor setting parameters may include the motor rotation speed; the automatic operation curve in the curve mode of the application can be obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount. In one example, the feeding test stage in the previous stage can be completed through a self-setting mode, the rotating speed set value and the blanking quantity value of a travelling motor (servo motor) and each layer of blanking motors are continuously tested in the previous stage, and then the final blanking quantity is automatically taken out on a cage trough for weighing measurement and recording, so that various motor setting parameters suitable for the variety of chickens per se can be found out through reverse deduction. The feeding requirement of the growth of different chicken breeding varieties can be met, and high-precision feeding control is realized.
The automatic operation curve in the application can set a linear relation between parameters and the final blanking amount for the motor; meanwhile, the more the setting parameter samples of the early-stage test are, the more accurate the motor setting parameters in the automatic operation curve in the obtained curve mode are.
Furthermore, the final blanking amount can be measured by continuously and repeatedly weighing the cage trough, and then compared with the theoretical feeding amount required by the variety to be fed, and the actual final blanking amount is required to be equal to or close to the theoretical feeding amount; for this purpose, the present application proposes a weighing comparison method: the actual final blanking amount of each cage on the corresponding trough can be obtained, the weighed total weight is divided by the number of the chickens raised by each cage, so that the actual feeding amount required by each chicken is obtained, then theoretical values are compared, and if the theoretical feeding amount is equal to the theoretical feeding amount, the currently set motor setting parameters can be determined to be available. The above process is repeated continuously, and parameters are adjusted, so that the setting parameter values of each motor in the automatic operation curve are determined.
It should be noted that the automatic control method for the feeding travelling crane can be applied to the automatic control system for the feeding travelling crane mentioned in the embodiments of the application, so that the automatic control system for the precise feeding travelling crane is provided.
It should be understood that, although the steps in the flowchart of fig. 7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 10, there is provided an automatic control device for a feeding trolley, which is described by taking an example of the device applied to a trolley operation control cabinet of the present application, and includes:
a mode confirmation module 810, configured to confirm the current working mode when the start instruction is received;
an instruction output module 820, configured to output a control instruction according to each obtained feeding speed if it is determined that the current working mode is the self-set mode; and the control module is used for outputting a control instruction based on the motor setting parameter in the automatic operation curve if the current working mode is determined to be the curve mode; the motor setting parameters comprise motor rotating speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameters based on the target feeding amount.
For the specific limitations of the feeding trolley automatic control device, reference may be made to the above limitations of the feeding trolley automatic control method, which are not described herein again. All or part of each module in the automatic feeding travelling crane control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
In one embodiment, the driving operation control cabinet in the present application can be implemented by using a corresponding computer device, which includes a processor, a memory, a network interface and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as motor setting parameters and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize an automatic control method of the feeding travelling crane.
In one embodiment, the driving operation control cabinet in the present application may be implemented by using a corresponding computer device, and the computer device may be a terminal; the computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize an automatic control method of the feeding travelling crane. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the configurations shown in fig. 1-5 are merely block diagrams of some configurations relevant to the present teachings and do not constitute a limitation on the devices to which the present teachings may be applied, and that a particular device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned feeding trolley automatic control method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a feed driving automatic control system which characterized in that includes:
a driving motor; the travelling crane driving motor comprises a travelling crane walking motor used for connecting a feeding travelling crane and travelling crane feeding motors respectively arranged on the material boxes of each layer;
the traveling crane operation control cabinet outputs a control instruction;
the driving vehicle main control cabinet comprises a controller and a driving device; wherein the driving device comprises a first driver and a second driver; one end of the controller is connected with the travelling crane operation control cabinet, and the other end of the controller is connected with the travelling crane walking motor through the first driver and is respectively connected with each travelling crane feeding motor through the second driver;
the controller receives the control instruction, controls the traveling crane traveling motor to act through the first driver so as to adjust the traveling speed of the feeding traveling crane, and controls the traveling crane feeding motor to act through the second driver so as to adjust the feeding speed of the material box.
2. A feeding trolley automatic control system according to claim 1,
the traveling motor is a servo motor; the travelling crane feeding motor comprises stepping motors arranged at two ends of an output shaft of a blanking auger of the material box;
the first driver is a servo driver; the second driver is a stepping motor driver;
the controller controls the rotating speed of each stepping motor through the stepping motor driver based on the control instruction so as to respectively adjust the feeding amount of each material box.
3. A feeding trolley automatic control system according to claim 1, characterized in that the trolley operation control cabinet is connected with the controller through 485 interface.
4. A feeding trolley automatic control system as in claim 3 wherein the trolley operation control cabinet is an operation control electronic box with a touch screen.
5. A feeding travelling crane automatic control system according to any one of claims 1 to 4, characterized by further comprising a travelling crane power supply control cabinet; the driving power supply control cabinet is connected with the driving main control cabinet.
6. A feeding travelling crane automatic control system as claimed in claim 5, wherein the travelling crane power supply control cabinet is used for providing a direct current 48V supply voltage; the driving power supply control cabinet comprises a voltage monitoring module and a fault alarm output module.
7. A feeding trolley automatic control system according to any of the claims 1 to 4 characterized in that the controller is a PLC controller.
8. A feeding travelling crane automatic control method is characterized in that the method is applied to a travelling crane operation control cabinet in the feeding travelling crane automatic control system of any one of claims 1 to 7; the method comprises the following steps:
confirming the current working mode under the condition of receiving a starting instruction;
if the current working mode is confirmed to be the self-setting mode, outputting the control instruction according to the obtained feeding speed;
if the current working mode is determined to be the curve mode, outputting the control instruction based on the motor setting parameters in the automatic operation curve; wherein the motor setting parameter comprises a motor rotating speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameter based on the target feeding amount.
9. The utility model provides a feed driving automatic control device which characterized in that includes:
the mode confirmation module is used for confirming the current working mode under the condition of receiving the starting instruction;
the instruction output module is used for outputting the control instruction according to the obtained feeding speeds if the current working mode is determined to be the self-setting mode; and the control device is used for outputting the control instruction based on the motor setting parameter in the automatic operation curve if the current working mode is determined to be the curve mode; wherein the motor setting parameter comprises a motor rotating speed; the automatic operation curve is obtained by testing the final feeding amount and the motor setting parameter based on the target feeding amount.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as claimed in claim 8.
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| CN202011111390.1A CN112119944A (en) | 2020-10-16 | 2020-10-16 | Automatic control system, method and device for feeding travelling crane and storage medium |
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| CN202011111390.1A CN112119944A (en) | 2020-10-16 | 2020-10-16 | Automatic control system, method and device for feeding travelling crane and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115104544A (en) * | 2022-08-05 | 2022-09-27 | 南京陇行智能科技有限公司 | Accurate feeding device for cage-raised animals and control method |
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- 2020-10-16 CN CN202011111390.1A patent/CN112119944A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115104544A (en) * | 2022-08-05 | 2022-09-27 | 南京陇行智能科技有限公司 | Accurate feeding device for cage-raised animals and control method |
| CN115104544B (en) * | 2022-08-05 | 2024-01-30 | 南京陇行智能科技有限公司 | Precise feeding device for cage animals and control method |
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