Автоматическая система позиционирования колёсных роботизированных технических средств, обслуживающих кормовой стол

Abstract

The quality and availability of forage on the feed table increase cow productivity. Feed availability can be ensured by increasing the length of the feed table and using robotic tools. The use of a wheeled robotized device in feed distribution increases labour productivity and reduces the influence of the human factor on the feeding process. To improve the efficiency of the feed distribution process, the author has developed and tested an automatic positioning system and a robotic device for servicing the feed table. The article presents a mathematical description of the kinematic relationships of movement of wheeled robotic devices. The author has developed an algorithm of the automatic positioning system operation, which takes into account the algorithmic connection between the electric drive actuators of the driving wheels and the vision system, where the image is processed according to the intellectual algorithm of the feeding area recognition. The author has developed the principle of constructing the route travelled by the robotic device along the feed table. Tests have confirmed the conformity of output reactions of the robotic device actuators to the input commands of the automatic positioning system.