Sheep Feeding Robot Driving System And Its Guidance Control System Design

Sheep feeding robot is a versatile application based on automatic guided vehicle and can be regarded as the extension to the argirculture,which is powered by the lithium phosphate battery and worked by the magnetic guided sensor.This subject belongs to the research project of the College of Mechatronics of Inner Mongolia Agricultural University.Studying and Designing a Magnetic Guided Feeding Robot,this is a very practical research object.The key is to design and adjust the path according to the actual working environment,and then feed along the preconditioning setting path in the prescribed working area.According to the parameters set by the number of sheep and the growth cycle in fixed interval,The automatic feeding is realized at regular intervals.Sheep feeding robots can effectively reduce the labor intensity of feeding and effectively reduce the waste of fodder.The results of the specific work are as follows:(1)Refer to the literature on automatic guidance control and AGV body structure to understand the types and characteristics of automatic guidance and AGV body structure,and choose according to the needs of the subject.(2)The design scheme of sheep feeding robot traveling system and its guidance control system was proposed.This article guides the selection of magnetic induction,which has better flexibility and higher automation.The sheep-only feeding system uses a differential drive scheme because of its simple structure and certain advantages in terms of heavy-duty driving.(3)Using CATIA to design the mechanical structure of the sheep feeding robot driving system,and according to the sheep feeding robot working requirements,the driving system and the hardware required for the guidance control are selected.(4)Considering the adjustability and maintainability of different working conditions,the application scope of sheep feeding robots is improved.In this paper,the driving system of the sheep feeding robot is divided into: obstacle avoidance control module,guidance control module,and fault manual control module according to different execution functions.(5)This article uses STC12C5A60S2 as the control core of each functional block,using the microcontroller timing,interrupt,delay and other characteristics of the editing control program,combined with hardware debugging.The driving system of the sheep feeding robot have seted four test points in the debugging operation.Its error fluctuation range is(±20mm)and the magnetic stripe is 50 mm wide,which can ensure that it completes the self-guided operation.