CN115191365A - Feeding machine and navigation deviation rectifying method - Google Patents
Feeding machine and navigation deviation rectifying method Download PDFInfo
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- CN115191365A CN115191365A CN202210506535.0A CN202210506535A CN115191365A CN 115191365 A CN115191365 A CN 115191365A CN 202210506535 A CN202210506535 A CN 202210506535A CN 115191365 A CN115191365 A CN 115191365A
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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
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses a feeding machine, which relates to the field of breeding and feeding machinery and comprises a machine body, wherein a direction wheel driving mechanism, a driving wheel power mechanism and a deflection angle detection mechanism are also arranged in the machine body. Through the mutual matching of all the mechanisms, the automatic navigation walking of the feeding machine is completed. The invention adopts simple sensor technology and electrical appliance control technology, can finish unmanned self-walking by adopting certain mechanical assistance, does not need network, visual identification and the like, is not restricted by pasture environment, and has relatively low cost. The requirements on infrastructure of new and old pastures are not high, the performance is stable, and the method is convenient for wide popularization.
Description
Technical Field
The invention relates to the field of feeding machinery, in particular to a feeding machine and a navigation deviation rectifying method.
Background
In a modern pasture, the feeding process of the total daily ration of livestock is basically that the livestock is fed by manually driving a feeding machine. The feeding machine mostly feeds by using a tractor driven by a person to pull feed stirring equipment, or feeds by using a self-propelled spreader special for driving by a person or feeds in a completely self-propelled navigation mode.
The self-propelled feeding mode is that a track is preset on each path where the feeding machine travels in advance, and the feeding machine self-propels along the track to complete feeding operation, similar to a train track type feeding machine. However, the feeding channel in the common pasture is basically smaller than 4 m in width, the self-walking is guided in a way similar to a train track, the track is arranged in the feeding channel, and the livestock eating the residual feed is difficult to clean.
The steel construction crane span structure formula structure is installed to the passageway top of walking at the machine of feeding in addition, and whole machine of feeding is hung on the crane span structure, and similar sightseeing cable car formula, the operation of feeding is accomplished along the self-walking of steel construction crane span structure to the car of feeding. However, the navigation self-walking mode of the sightseeing cable car has relatively high requirement on infrastructure, and the infrastructure needs to be reinforced in a pasture, so that the investment is relatively large; is a significant investment in the underlying cost.
The feeding operation is completed by self-walking of high-tech sensing systems such as magnetic nail navigation, code pasting navigation and laser navigation, and the feeding operation is not suitable for popularization in the pasture breeding industry.
Take magnetic nail navigation self-walking as an example. Its scheme requires highly to the environment in pasture, and the navigation of magnetism nail needs pre-buried a plurality of magnetism nails in the passageway of feeding, and there is the phenomenon that the magnetism nail is covered by the fodder on the passageway ground of feeding, and when the machine of feeding was self-propelled the magnetism nail region that is covered by the fodder, the navigation will also become invalid.
For example, laser navigation is to install laser generators at two ends of a feeding channel in advance, but flies and mosquitoes are more in a pasture, a laser head is covered by flies and mosquitoes, or the head of livestock in the channel extends out of the feeding fence to block the laser beam, so that navigation is seriously influenced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a novel navigation structure and a navigation mode which are arranged on a feeding machine, so as to realize automatic navigation and walking in the feeding process.
The specific scheme provided by the invention is as follows:
a feeding machine comprises a machine body and also comprises a deflection angle detection mechanism arranged at the front upper end and the rear upper end of the machine body; the deflection angle detection mechanism comprises a fixed sleeve, a main shaft, a connecting rod, a guide rod, an angle sensor and a first bracket;
the fixed sleeve is fixed with the machine body through a connecting plate; bearings are arranged in the upper end and the lower end of the fixed sleeve;
the main shaft is in interference fit in the inner holes of the two bearings, and the upper end and the lower end of the main shaft respectively penetrate through the corresponding bearings;
the connecting rod is vertically fixed with the main shaft; the guide rod is perpendicular to the connecting rod and is parallel to the main shaft; the upper end of the guide rod is positioned in the guide slideway;
the first support is of a Z-shaped structure, one end of the first support is fixed on the connecting plate, and the other end of the first support is positioned right above the main shaft; the angle sensor is fixed on the first support, and a central rotating shaft of the angle sensor is fixed with the upper end of the main shaft through a coupler;
the machine body is deviated in position during walking to cause a deflection angle between the first support and the connecting rod, and the angle sensor is configured to monitor the deflection angle in real time.
Furthermore, the device also comprises a second bracket and a position changer;
the second support is also of a Z-shaped structure, one end of the second support is fixed on the connecting plate, and the other end of the second support is positioned right below the spindle; the position changer is fixed on the second bracket, and a central rotating shaft of the position changer is fixed with the lower end of the main shaft through a coupler;
the positioner is configured to be able to correct the reference data to facilitate setting of a range of values of the declination.
Further, the power distribution control assembly comprises a power distribution box, a conductive device, a PLC (programmable logic controller) encoder, a frequency converter and an electrical control element;
the distribution box is fixedly arranged in the machine body, and the conductive device is connected with the guide slideway and the electrical control part and used for providing electrical support; the PLC encoder and the frequency converter are installed in the power distribution box, and the PLC encoder is configured to receive the deflection angle signal output by the angle sensor and transmit the deflection angle signal to an electrical control element to adjust the steering adjustment of the machine body;
the frequency converter is configured to receive the instruction of the PLC encoder so as to control the walking speed of the machine body.
Furthermore, a hub steering mechanism and a direction driving mechanism which are electrically connected are also arranged in the machine body, and the direction driving mechanism is electrically connected with the PLC encoder; and the PLC encoder receives a deflection angle signal sent by the angle sensor so as to drive the direction driving mechanism to send a direction adjusting signal to the hub steering mechanism.
Further, still install drive wheel and power component in the quick-witted body, power component includes driving source and speed reducer, the driving source passes through the speed reducer drives the drive wheel is advanced or is retreated.
By adopting the technical scheme, the feeding machine is monitored in real time particularly by utilizing the angle sensor, and whether the feeding machine deviates in position is judged by utilizing the physical property of rotation of the central rotating shaft of the angle sensor. Compare in present satellite navigation, magnetism nail navigation, such kind of monitoring walking skew's modes such as laser navigation and sign indicating number navigation, this scheme can stop effectively and come from the interference of external environment, has great promotion effect to the walking precision that promotes the machine of feeding.
Meanwhile, aiming at the scheme, the navigation deviation correcting method of the feeding machine is also provided, the feeding machine is the feeding machine, and the navigation deviation correcting method specifically comprises the following steps:
s1, moving a machine body until guide rods at the front upper end and the rear upper end of the machine body are positioned in a guide slideway, and defining a feeding starting point;
s2, starting a power supply at the feeding starting point, so that a driving source drives a driving wheel to travel; meanwhile, the positioner starts working, the PLC encoder respectively reads the data of the front and the rear positioners, when the data of the positioners at the two ends are closest, the data is preset as reference data, and a maximum deflection angle and a minimum deflection angle are set according to the reference data;
s3, in the walking process of the machine body, the guide rod moves under the guidance of the guide slide way; the deflection angle generated by the connecting rod and the first support is monitored by the angle sensor in real time, and whether the deflection angle is between the maximum deflection angle and the minimum deflection angle is judged;
s4, when the deflection angle is larger than the maximum deflection angle or smaller than the minimum deflection angle, the PLC encoder automatically outputs a forward rotation or reverse rotation signal to the direction driving mechanism, so that the machine body is corrected when being started;
s5, when the deflection angle is in the maximum deflection angle and the minimum deflection angle, the driving source drives the driving wheel to continuously work, and the position changer does not output signals; until the feeding vehicle finishes walking.
Furthermore, when the power assembly is started each time, the position shifters are restarted until the PLC encoder reads the data of the front position shifter and the rear position shifter respectively, and when the data of the position shifters at the two ends are closest, optimized reference data are obtained.
Drawings
Fig. 1 is a schematic plane structure diagram of the feeding machine.
Fig. 2 is a schematic plan view of the deflection angle detection mechanism.
Fig. 3 is a schematic view of the guide bar and the guide chute.
Wherein: the device comprises a machine body 10, a deflection angle detection mechanism 20, a fixed sleeve 21, a main shaft 22, a connecting rod 23, a guide rod 24, an angle sensor 25, a first support 26, a second support 27, a positioner 28, a distribution box 31, a conductive device 32, a direction driving mechanism 41, a direction wheel 42, a driving wheel 51, a power assembly 52 and a guide slideway 100.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
This embodiment provides a machine of feeding, can be when feeding the operation through adopting this machine of feeding, can be more accurate carry out automatic navigation, can effectively stop simultaneously and come from the various interference of external environment.
In the scheme, referring to fig. 1-2, the proposed feeding machine comprises a machine body 10, wherein stirring equipment is arranged in the machine body 10 to stir the feed; meanwhile, a direction wheel driving mechanism, a driving wheel power mechanism and a deflection angle detection mechanism are also arranged in the machine body 10. The automatic navigation walking of the feeding machine is completed through the mutual matching of all the mechanisms. The respective mechanisms described above will be described in detail below.
In the scheme, the provided deflection angle detection mechanism 20 is arranged at the front upper end and the rear upper end of the machine body 10; the deflection angle detection mechanism 20 comprises a fixed sleeve 21, a main shaft 22, a connecting rod 23, a guide rod 24, an angle sensor 25 and a first bracket 26; wherein the fixed sleeve 21 is fixed with the machine body 10 through a connecting plate; meanwhile, bearings are arranged in the upper end and the lower end of the fixed sleeve 21; the main shaft 22 is in interference fit in the inner holes of the two bearings, and the upper end and the lower end of the main shaft 22 respectively penetrate through the corresponding bearings; it will be appreciated that the main shaft 22 here can be rotated relative to the fixing sleeve 21 with the aid of bearings, because of the bearings at the two ends of the fixing sleeve 21.
The mentioned connecting rod 23 is fixed perpendicular to the main shaft 22; the guide rod 24 is perpendicular to the connecting rod 23 and parallel to the main shaft 22; the upper end of the guide bar 24 is within the guide chute 100. The guide chute 100 proposed here is essentially identical to the reference chute, and only with the reference chute is the guide rod 24 able to move in the guide chute in its direction of extension, so that the correction of the solution is only possible in the event of a deviation of the feeder car.
In the scheme, referring to fig. 3, the guide slide way is formed by parallelly mounting two structural steels which are relatively light in weight and difficult to generate plastic deformation on a steel structure above a self-walking path of the feeding machine, and the two structural steels are equidistantly and parallelly mounted to form a hollow groove-shaped slide way with the same width, so that the guide rod 24 can move back and forth along the groove-shaped slide way. It should be noted that the slotted chute is designed to have a certain width, and the guide rod 24 has a certain range of motion in the slotted chute and can move back and forth in the extending direction.
Referring to fig. 2, the first bracket 26 is a Z-shaped structure, one end of which is fixed on the connecting plate, and the other end of which is located right above the spindle 22; the above-mentioned angle sensor 25 is fixed to the first bracket 26 here, and the central rotating shaft of the angle sensor 25 is fixed to the upper end of the main shaft 22 by a coupling; the central rotating shaft of the angle sensor 25 can be kept synchronous with the main shaft 22 through the coupling, that is, as long as the rotation of the main shaft 22 and the keeping of the first bracket 26 are met, or the main shaft 22 and the keeping of the first bracket 26 are both kept motionless, the central rotating shaft of the angle sensor 25 can be relatively rotated, and the angle sensor 25 can monitor the declination angle in real time. It can be understood that, during the walking of the machine body 10, the position deviation is caused by various reasons, the position deviation of the machine body 10 will cause the guide rod 24 to move left and right in the guide slideway, for example, the guide rod 24 moves to the rightmost side of the guide slideway to abut against the right side wall of the guide slideway, the guide rod 24 at this time cannot move continuously, then the machine body 10 continues to deviate at this time, such deviation will cause the first bracket 26 to rotate with the main shaft 22 as the reference, that is, the main shaft 22 is stationary and the first bracket 26 rotates relatively, at this time, the first bracket 26 and the connecting rod 23 will generate a deviation angle compared with the initial state, and because the angle sensor 25 is fixed on the first bracket 26, the central rotating shaft of the angle sensor 25 rotates, and the angle sensor 25 can monitor the deviation angle state generated by the rotation in real time.
The detection of the deflection angle state is realized in a physical rotation mode, namely, a guide slide way is used as a reference slide way at first, and the left and right movement range of the guide rod 24 is limited, so that the connecting rod 23 is always positioned in a reasonable direction; as long as the position of the machine body 10 is severely deviated, the first support 26 is caused to rotate by taking the main shaft 22 as an axis, the rotation of the first support 26 tends to bring the central rotating shaft of the angle sensor 25 to relatively rotate, and as long as the central rotating shaft of the angle sensor 25 rotates, the angle sensor 25 can accurately and stably monitor the rotation deviation angle value.
It can be understood that the important idea of the present solution is that through reasonable cooperation of the rest of the auxiliary structures, the central rotating shaft of the angle sensor 25 physically rotates, so as to achieve the purpose of accurately monitoring the rotational deflection angle. Compared with the current common wireless modes such as navigation is realized by measuring the deflection angle by a satellite, navigation is realized by measuring the deflection angle by a magnetic nail, navigation is realized by measuring the deflection angle by laser, navigation and navigation is realized by measuring the deflection angle by a code, the scheme can achieve the aims of being more accurate, more reducing the influence of the external environment and more reducing the investment of enterprise cost by a physical mode (namely, the deflection angle can be measured by rotating the central rotating shaft of the angle sensor 25).
Optionally, a second bracket 27 and a shifter 28 are also included; here again, the second bracket 27 is Z-shaped and has one end fixed to the connecting plate and the other end located directly below the spindle 22; the position changer 28 is fixed on the second bracket 27, and the central rotating shaft of the position changer 28 is fixed with the lower end of the main shaft 22 through a coupler; it will be appreciated that the index 28 is attached in the same manner as the angle sensor 25 and that the second bracket 27 is also fixed to the attachment plate.
The deflector 28 is one of the sensors, and mainly functions as a deviation corrector in the present invention. The working principle of the positioner 28 is as follows: after the feeding vehicle is well adjusted in position of the self-walking channel during initial assembly, the position shifters 28 arranged at the front end and the rear end of the feeding vehicle roof are adjusted, so that data of the position shifters at the two ends are closest to each other, and the data are respectively read by a PLC (programmable logic controller) encoder (described later), and the value range of the deflection angle is defined.
Optionally, the power distribution control system further comprises a power distribution control assembly, wherein the power distribution control assembly comprises a power distribution box 31, a conductive device 32, a PLC encoder, a frequency converter and an electrical control element; wherein the distribution box 31 is fixedly arranged in the machine body 10, and the conductive device 32 is connected with the guide slideway and the electric control part for providing electric support; a PLC encoder, a frequency converter, is installed in the distribution box 31, the PLC encoder being configured to receive the deflection angle signal output by the angle sensor 25 and transmit the deflection angle signal to the electrical control member to adjust the steering adjustment of the machine body 10; the frequency converter is configured to receive an instruction of the PLC encoder to control the traveling speed of the machine body 10.
Optionally, the machine body 10 is further provided with a hub steering mechanism and a direction driving mechanism 41 which are electrically connected, and the direction driving mechanism 41 is electrically connected with the PLC encoder; the PLC encoder receives the deflection angle signal from the angle sensor 25 to drive the direction driving mechanism 41 to send a direction adjusting signal to the hub steering mechanism, so as to rotate the direction wheel 42 mounted on the machine body 10 to adjust the direction.
Optionally, a driving wheel 51 and a power assembly 52 are further installed in the machine body 10, and the power assembly includes a driving source and a speed reducer, and the driving source drives the driving wheel to move forward or backward through the speed reducer.
The following is a detailed description of the automatic deviation rectifying mode of the whole feeding machine in the automatic walking process.
S1, moving a machine body 10 until guide rods at the front upper end and the rear upper end of the machine body 10 are positioned in a guide slideway, and defining the position at the moment as a feeding starting point; it is noted at this step that only the upper end portion of the guide bar is located in the guide chute and is not in any connected relationship with the guide chute to prevent the wire guide bar from having a proper range of motion in the guide chute.
S2, starting a power supply at the feeding starting point, and providing power for the whole feeding cart through the conductive device 32, so that the driving source drives the driving wheel 51 to move; of course, when the driving wheel 51 is running and the positioner 28 is started, the PLC encoder reads the data of the front and rear two positioners 28, respectively, and when the data of the positioners 28 at both ends are closest to each other, the PLC encoder sets the data as reference data in advance, and sets the maximum deflection angle and the minimum deflection angle according to the reference data.
The maximum slip angle and the minimum slip angle are equivalent to the allowable slip angle range, that is, as long as the machine body 10 is within the slip angle range, if the slip angle range is exceeded, the cooperation of the hub steering mechanism and the direction driving mechanism 41 is required to adjust the direction.
S3, in the walking process of the machine body 10, the guide rod moves under the guide of the guide slide way; and a deflection angle generated by the connecting rod and the first support in the walking process is monitored by the angle sensor in real time, and whether the deflection angle is between the maximum deflection angle and the minimum deflection angle is judged through the PLC encoder.
There are of course two different configurations, i.e. within and beyond the range of declination.
And S4, when the deflection angle is larger than the maximum deflection angle or smaller than the minimum deflection angle, namely exceeds the inside of the deflection angle valve, the PLC encoder automatically outputs a forward rotation signal or a reverse rotation signal to the direction driving mechanism, so that the direction wheel is adjusted adaptively, and the machine body is corrected first when being started.
S5, when the deflection angle is in the maximum deflection angle and the minimum deflection angle, namely in the deflection angle range, the driving source drives the driving wheel to continuously work, and the position changer does not output signals; until the feeding vehicle finishes walking.
It should be noted that, when the power assembly is started each time, the positioner is restarted until the PLC encoder reads the data of the front and rear positioners, respectively, and when the positioner data at both ends are closest, the optimized reference data is obtained. It will be appreciated that each time the drive source is started, the reference data is reset and the PLC encoder then re-detects and derives new reference data. The design can guarantee the accuracy of the reference data in each automatic walking to the maximum extent.
By adopting the technical scheme, the feeding machine is monitored in real time in the advancing direction by utilizing the angle sensor, and whether the feeding machine deviates in position is judged by utilizing the physical attribute of rotation of the central rotating shaft of the angle sensor. Compare in present satellite navigation, magnetism nail navigation, such kind of monitoring walking skew's modes such as laser navigation and sign indicating number navigation, this scheme can stop effectively and come from the interference of external environment, has great promotion effect to the walking precision that promotes the machine of feeding. The invention adopts simple sensor technology and electrical appliance control technology, can finish unmanned self-walking by adopting certain mechanical assistance, does not need network, visual identification and the like, is not restricted by pasture environment, and has relatively low cost. The requirements on infrastructure of new and old pastures are not high, the performance is stable, and the method is convenient for wide popularization.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A feeding machine comprises a machine body (10) and is characterized by further comprising deflection angle detection mechanisms (20) arranged at the front and rear upper ends of the machine body (10); the deflection angle detection mechanism (20) comprises a fixed sleeve (21), a main shaft (22), a connecting rod (23), a guide rod (24), an angle sensor (25) and a first support (26);
the fixed sleeve (21) is fixed with the machine body (10) through a connecting plate; bearings are arranged in the upper end and the lower end of the fixed sleeve (21);
the main shaft (22) is in interference fit in inner holes of the two bearings, and the upper end and the lower end of the main shaft (22) penetrate out of the corresponding bearings respectively;
the connecting rod (23) is vertically fixed with the main shaft (22); the guide rod (24) is perpendicular to the connecting rod (23) and is arranged in parallel with the main shaft (22); the upper end of the guide rod (24) is positioned in the guide slideway (100);
the first support (26) is of a Z-shaped structure, one end of the first support is fixed on the connecting plate, and the other end of the first support is positioned right above the main shaft (22); the angle sensor (25) is fixed on the first support (26), and a central rotating shaft of the angle sensor (25) is fixed with the upper end of the main shaft (22) through a coupler;
the machine body (10) is deviated in position during walking to generate a deviation angle between the first bracket (26) and the connecting rod (23), and the angle sensor (25) is configured to monitor the deviation angle in real time.
2. The feeding machine as claimed in claim 1, characterized in that it further comprises a second carriage (27) and a displacer (28);
the second bracket (27) is also of a Z-shaped structure, one end of the second bracket is fixed on the connecting plate, and the other end of the second bracket is positioned right below the main shaft (22); the position shifter (28) is fixed on the second support (27), and a central rotating shaft of the position shifter (28) is fixed with the lower end of the main shaft (22) through a coupler;
the positioner (28) is configured to be able to correct the reference data in order to facilitate setting of a range of values of the deflection angle.
3. The feeding machine of claim 2, further comprising a power distribution control assembly comprising a power distribution box (31), a conductive device (32), a PLC encoder, a frequency converter, and an electrical control;
the distribution box (31) is fixedly arranged in the machine body (10), and the conductive device (32) is connected with a guide slideway and an electric control part and used for providing electric support; the PLC encoder and the frequency converter are installed in the distribution box (31), and the PLC encoder is configured to receive the deflection angle signal output by the angle sensor (25) and transmit the deflection angle signal to an electrical control component to adjust the steering adjustment of the machine body (10);
the frequency converter is configured to receive the instruction of the PLC encoder so as to control the walking speed of the machine body (10).
4. The feeding machine according to claim 3, wherein a hub steering mechanism and a direction driving mechanism (41) which are electrically connected are further arranged in the machine body (10), and the direction driving mechanism (41) is electrically connected with the PLC encoder; the PLC encoder receives a deflection angle signal sent by the angle sensor (25) to drive a direction driving mechanism to send a direction adjusting signal to the hub steering mechanism.
5. The feeding machine according to claim 4, characterized in that a driving wheel (51) and a power assembly (52) are further installed in the machine body (10), wherein the power assembly (52) comprises a driving source and a speed reducer, and the driving source drives the driving wheel (51) to move forward or backward through the speed reducer.
6. A navigation deviation rectifying method of a feeding machine, which is characterized in that the feeding machine is the feeding machine of claim 5, and the navigation deviation rectifying method specifically comprises the following steps:
s1, moving a machine body (10) until guide rods (24) at the front upper end and the rear upper end of the machine body (10) are positioned in a guide slideway, and defining a feeding starting point;
s2, starting a power supply at the feeding starting point, so that a driving source drives a driving wheel (51) to move; meanwhile, the positioner (28) starts to work, the PLC encoder respectively reads the data of the front and the rear positioners (28), when the data of the positioners (28) at the two ends are closest, the data is preset as reference data, and the maximum deflection angle and the minimum deflection angle are set according to the reference data;
s3, in the walking process of the machine body (10), the guide rod (24) moves under the guidance of the guide slide way; the deflection angle generated by the connecting rod (23) and the first bracket (26) is monitored by the angle sensor (25) in real time, and whether the deflection angle is between the maximum deflection angle and the minimum deflection angle is judged;
s4, when the deflection angle is larger than the maximum deflection angle or smaller than the minimum deflection angle, the PLC encoder automatically outputs a forward rotation or reverse rotation signal to the direction driving mechanism (41), so that the machine body (10) is corrected when being started;
s5, when the deflection angle is in the maximum deflection angle and the minimum deflection angle, the driving source drives the driving wheel (51) to continuously work, and the position changer (28) does not output signals; until the feeding vehicle finishes walking.
7. The navigation deviation rectifying method of the feeding machine according to claim 6, wherein each time the power assembly (52) is started, the position shifters (28) are restarted until the PLC encoder reads the data of the front and the rear position shifters (28), and when the data of the position shifters (28) at the two ends are closest, the optimized reference data is obtained.
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| CN111699997A (en) * | 2020-07-15 | 2020-09-25 | 宁夏新大众机械有限公司 | Intelligent feeding machine and pasture unmanned intelligent feeding method |
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