Abstract: Aiming at the problems of high cost of individual identification, difficulty in targeted feeding, poor accuracy in feeding amount, and lack of supporting automated feeding equipment for single cage and single feeding animals, a kind of self-propelled precision feeding vehicle for caged animals is designed. The combination of Hall sensor and laser ranging sensor is used to calibrate the position of cages and feeders. The laser ranging sensor is used to automatically determine the cages' position and locate the feeders. The spiral feeding structure is used for feeding amount calibration and precise quantitative feeding. Through the feeding central control system, functions such as caged animal information management, timed feeding, and phased feed intake settings are achieved. The feeding vehicle can automatically determine the dynamic nutritional needs of cage animals during their growth, physiology, and reproduction stages, and complete precise variable feeding. The test results show that under full load, the cage position recognition rate of the feeding vehicle reaches 100%, and the parking positioning deviation is within 3mm. Taking the preset 50 g, 75 g, 100 g, and 125 g as the feeding amounts, the maximum deviation between the actual feeding amount of the feeding vehicle and the set feeding amount is 2.32 g, with an average deviation rate of less than 1%, meeting the requirements for precise feeding of single cage and single feeding animals at designated points.

Key words: caged animals, self-propelled, feeding cart, precise feeding, recognition location

摘要： 针对单笼单饲笼养动物个体识别成本高、定点饲喂难度大、饲喂量精准度差，缺乏配套自动化饲喂设备等问题，设计一种自走式笼养动物定点精准饲喂车。联合应用霍尔传感器与激光测距传感器对笼位、料位进行标定，采用激光测距传感器实现笼位自动判定和料槽认址定位，采用螺旋输料结构进行饲喂量标定和精准定量饲喂；通过饲喂中控系统，实现笼位动物信息管理、定时饲喂和分阶段采食量设置等功能，饲喂车可自动判定笼养动物生长、生理、繁殖阶段动态营养需要，完成精准变量饲喂。结果表明：满载状态下，饲喂车笼位识别率达到100%，停车定位偏差在3 mm以内；以预设的50 g、75 g、100 g、125 g为饲喂量，饲喂车实际饲喂量与设定饲喂量的最大偏差为2.32 g，平均偏差率小于1%，满足单笼单饲动物定点精准饲喂要求。

关键词: 笼养动物, 自走式, 饲喂车, 精准饲喂, 认址定位