羊只饲喂机器人控制系统设计与出料试验  

Design and discharge test of control system for sheep feeding robot

作　　者：郭伟豪 李海军[1] 郝文博 王开元 汪仁杰 蔡国星 秦苏波 吴志强 GUO Weihao;LI Haijun;HAO Wenbo;WANG Kaiyuan;WANG Renjie;CAI Guoxing;QIN Subo;WU Zhiqiang(College of Mechanical and Electrical Engineering,Inner Mongolia Agricultural University,Hohhot 010000,China)

机构地区：[1]内蒙古农业大学机电工程学院,呼和浩特010000

出　　处：《黑龙江畜牧兽医》2024年第5期55-60,共6页Heilongjiang Animal Science And veterinary Medicine

基　　金：内蒙古自治区自然科学基金项目(2019MS03069)。

摘　　要：为了节约中小型养殖场在饲喂羊只过程中的人力成本,解决饲料利用率低的问题,试验设计了一套羊只饲喂机器人控制系统。该系统以可编程逻辑控制器(programmable logic controller, PLC)为主控制器,传感器采集数据反馈给PLC,依托SuKon-4G智能网关搭建云平台,用户不仅可以通过触摸屏对饲喂机器人进行近程控制,还可以通过手机或电脑实现对羊只饲喂机器人行走状态和出料状态远程监控。以撒料均匀度和自然残存率为技术指标,使用玉米饲料和颗粒饲料分别验证。结果表明:羊只饲喂机器人控制系统实现了自动和手动的行走控制和饲料的自动输送分配,在行驶转速为15 r/min、出料转速为120 r/min的条件下,颗粒饲料卸载均匀度为95.325%,自然残存率为1.40%;玉米饲料卸载均匀度为97.951%,自然残存率为1.36%。玉米饲料相对颗粒饲料卸载均匀度更好,自然残存率更低,且在出料转速相同的条件下,料斗中饲料量越高羊只饲喂机器人的自然残留率越低。说明羊只饲喂机器人控制系统实现了行走和撒料控制,满足了中小型养殖场羊只饲喂的需要。In order to save the labor cost in the process of feeding sheep and solve the problem of low feed utilization rate,a set of robot control system for feeding sheep was designed.The system use Programmable logic controller(PLC)as the main controller,and the data collected by the sensor was fed back to PLC.Relying on SuKon-4G intelligent gateway to build the cloud platform,users could not only control the feeding robot in short range through the touch screen but also realize the remote monitoring of the walking state and discharging state of the sheep feeding robot through mobile phone or computer browser.Based on the technical indexes of the uniformity of sprinkling and the natural survival rate,corn feed and pellet feed were used for verification.The results showed that sheep feeding robot control system realized automatic and manual walking control and automatic feed delivery and distribution.Under the conditions of 15 r/min travel speed and 120 r/min discharge speed,the unloading uniformity of pellet feed was 95.325%,and the natural retention rate was 1.40%.The unloading uniformity of corn feed was 97.951%,and the natural residual rate was 1.36%.Compared with pellet feed,corn feed had better unloading uniformity and lower natural residual rate,and under the condition of the same discharge speed,the higher the feed quality in the hopper,the lower the natural residual rate of sheep feding robot was.The results indacated that the robot control system of sheep feeding could realize the control of walking and spreading,and meet the needs of sheep feeding in small and medium-sized farms.

关 键 词：羊只 饲喂机器人 远程控制 组态监控 人机交互 传感器 

分 类 号：S817.3[农业科学—畜牧学] TP273[农业科学—畜牧兽医]