Development and simulation of the Feed Pusher Robot software and hardware system for the maintenance of the feed table at livestock facilities

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Abstract

BACKGROUND: Analysis of trends in the development of industrial technologies in the field of agriculture showed that manufacturers of technological equipment used on farms turn to robotics to exclude human labor when performing labor-intensive cyclical operations that are accompanied by a high degree of tension. To perform operations for the preparation and distribution of feed on a farm, maintenance of the feed table, as well as for manure harvesting, it is necessary to use a wheeled robotic platform with an automatic positioning system.

AIMS: Development and testing of the software and hardware system of the Feed Pusher robot for the autonomous execution of operations for the maintenance of the feed table at livestock facilities.

METHODS: Wheeled robot motion simulation, as well as a mathematical description of the kinematic and dynamic properties of the wheeled robot motion was carried out using the MATLAB software and the Simscape library and the Simulink application. The Figma graphic design software was used to develop layouts of mobile software interfaces for the wheeled robot remote control.

RESULTS: During the wheeled robot motion simulation, direct and inverse kinematics problems were solved, consisting in finding the ω1, ω2,  vectors with the input parameters x0, y0, φ0, x, y, φ, as well as the final angle of the path (relative to the horizontal). Layouts of the robot remote control software interfaces have been developed, as well as the frontend and backend development of the program adapted to the use at a smartphone has been carried out. The testing of the wheeled robot was carried out at a livestock facility, during the maintenance of the feed table and the simultaneous execution of operations to push the feed to the fence and dosing of feed additives.

CONCLUSIONS: The practical value of the research lies in the possibility of using the results of the wheeled robot motion simulation to adjust the operation of the automatic positioning system. At the same time, the farmer using the proposed Feed Pusher robot will ensure an increase in the technological efficiency of cattle keeping, in particular dairy cattle, with an increase in milk yields up to 1 liter per day per head, which was determined during the tests on the farm.

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About the authors

Evgeniy A. Nikitin

Federal Agroengineering Center VIM

Author for correspondence.
Email: evgeniy.nicks@yandex.ru
ORCID iD: 0000-0003-0918-2990

Senior Researcher of the Laboratory for Innovative Technologies and Technical Tools of Feeding in Animal Husbandry

Russian Federation, Moscow

Denis V. Shilin

Federal Agroengineering Center VIM

Email: deninfo@mail.ru

Cand. Sci. (Tech.), Senior Researcher of the Laboratory for Digital Systems and Robotic Technical Tools in Dairy Farming

Russian Federation, Moscow

Yuriy G. Ivanov

Russian State Agrarian University – Moscow Timiryazev Agricultural Academy

Email: iy.electro@mail.ru
ORCID iD: 0000-0002-4766-9532

Professor, Dr. Sci. (Tech.), Acting Head of the Agricultural Machines Department

Moscow

Stanislav M. mikhailichenko

Russian State Agrarian University – Moscow Timiryazev Agricultural Academy

Email: s.m.mikhailichenko@yandex.ru
ORCID iD: 0000-0002-2305-2909

Cand. Sci. (Tech.), Associate Professor of the Agricultural Machines Department

Russian Federation, Moscow

Dmitriy A. Blagov

Federal Agroengineering Center VIM

Email: aspirantyra2013@gmail.com

Cand. Sci. (Bio.), Senior Researcher of the Laboratory for Innovative Technologies and Technical Tools of Feeding in Animal Husbandry

Russian Federation, Moscow

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Supplementary files

Supplementary Files
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2. Fig. 1. Results of the survey of using of popular systems.

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3. Fig. 2. Scheme of the Feed Pusher robot: 1 ― right driving wheel; 2 ― left driving wheel; 3 ― a supporting wheel; 4 ― a feed fluffing auger; 5 ― the robot’s center of gravity.

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4. Fig. 3. Robot’s starting position: 1 ― right driving wheel; 2 ― left driving wheel; 3 ― the path vector.

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5. Fig. 4. The path angle.

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6. Fig. 5. The 1 2 ω , ω , ϕ characteristics depending on t at all sections of the path.

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7. Fig. 6. The robot’s motion path.

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8. Fig. 7. The robot’s motion path.

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9. Fig. 8. The 1 2 ω , ω , ϕ characteristics depending on t at all sections of the path.

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10. Fig. 9. The robot’s motion path.

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11. Fig. 10. The technology level at the implementation of the system.

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12. Fig. 11. The process of testing of the Feed Pusher robot: a) robot testing process; b) schematic diagram of the feeding table servicing process; 1 ― the Feed Pusher robot; 2 ― the automatic station of battery charging and feeder tank refilling; 3 ― front of feeding to be maintained.

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13. Fig. 12. Layouts of interfaces of the mobile software for the Feed Pusher robot remote control.

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