CN110146147B - Poultry online weighing and grading system and method - Google Patents
Poultry online weighing and grading system and method Download PDFInfo
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- CN110146147B CN110146147B CN201810147281.1A CN201810147281A CN110146147B CN 110146147 B CN110146147 B CN 110146147B CN 201810147281 A CN201810147281 A CN 201810147281A CN 110146147 B CN110146147 B CN 110146147B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
- G01G17/08—Apparatus for or methods of weighing material of special form or property for weighing livestock
Abstract
An on-line poultry weighing and grading system and method comprises a bracket, a power conveying chain, a circulating turntable weighing device, a lifting ring and a pneumatic grading device, wherein the circulating turntable weighing device comprises: multiunit force transmission lever, the equipartition is on this circulation carousel weighing device's base, the one end and this rings of this force transmission lever of every group are connected, the gyro wheel is installed to the other end of this force transmission lever of every group, this gyro wheel and the weighing sensor butt of installing on this circulation carousel weighing device, all be provided with set nut on this force transmission lever of every group, set nut on all this force transmission levers is the same circle, be provided with the circular arc groove corresponding to this set nut on this circulation carousel weighing device's the top support crossbeam, set sensor is installed to this circular arc inslot, when this gyro wheel rolls to this weighing sensor's central point and puts, this set sensor is triggered to this set nut. The invention also discloses an online poultry weighing and grading method of the system.
Description
Technical Field
The invention relates to an online data processing technology, in particular to a system and a method for online weighing and grading of poultry by using an impact data optimization method.
Background
The poultry on-line weighing and grading technology realizes grading according to weight through on-line detection of the weight of the poultry, so that the specifications of products at the same level tend to be consistent, and subsequent processing and sale are facilitated. Compared with the traditional manual sorting, the automatic sorting machine is high in production efficiency, low in labor cost, low in labor intensity and high in reliability.
Because the time that the poultry carries out weight transfer through the lever is short, and the whole weighing process, the poultry is again along with the production line forward, so, how to obtain reliable and stable dynamic weight information in the short time is the key that improves weighing accuracy and hierarchical precision.
Disclosure of Invention
The invention aims to solve the technical problem of providing a poultry online weighing and grading system and method aiming at dynamic weighing in a poultry online weighing and grading technology so as to achieve the purposes of optimizing weighing data and improving weighing precision and grading precision.
In order to achieve the above object, the present invention provides an online poultry weighing and grading system, which comprises a support, a power transmission chain mounted on the support, a circulating turntable weighing device, a lifting ring and a pneumatic grading device, wherein the circulating turntable weighing device and the pneumatic grading device are respectively connected with the power transmission chain, one end of the lifting ring is mounted on the power transmission chain, and the other end of the lifting ring is used for hanging poultry, wherein the circulating turntable weighing device comprises:
multiunit power transmission lever, the equipartition is in on the base of circulation carousel weighing device, every group the one end of power transmission lever with rings are connected, every group the gyro wheel is installed to the other end of power transmission lever, the gyro wheel with install weighing sensor butt on the circulation carousel weighing device, every group all be provided with set nut, all on the power transmission lever set nut on the semicircle, correspond to on the top support crossbeam of circulation carousel weighing device set nut is provided with the circular arc groove, install set sensor in the circular arc inslot, the gyro wheel rolls extremely during weighing sensor's central point puts, set nut triggers set sensor.
The above poultry on-line weighing and grading system, wherein the rollers are copper rollers.
In the above online poultry weighing and grading system, the middle part of each group of force transmission levers is fixed to the base through a sealing bearing.
In the online poultry weighing and grading system, one end of each group of force transmission levers is abutted to the lifting ring through the weighing support of the circulating turntable weighing device.
In order to better achieve the above object, the present invention further provides an on-line poultry weighing and grading method, wherein the poultry is weighed and graded by using the on-line poultry weighing and grading system, comprising the following steps:
s100, determining a primary central point and sampling weighing data of the primary central point:
the weight of the poultry from the hanging ring is transmitted to the roller wheel through the force transmission lever, when the roller wheel rolls to the initial central point of the weighing sensor, the positioning nut triggers the positioning sensor to record weighing sampling data W of a coordinate c1 corresponding to the initial central pointc1As a cyclic array W of the birds on said load celliThe sampling value of the weighing data of the primary central point is obtained;
s200, identifying singular points by taking the preliminary central point as an origin:
with the initial central point as an origin, respectively searching two singular points s1 and s2 when the force transmission lever is in contact with and separated from the weighing sensor;
s300, determining an accurate central point according to singular points S1 and S2, and determining a weighing data group to be processed according to the accurate central point:
taking the center of a connecting line of the two singular points s1 and s2 as an accurate central point of the weighing sensor, and selecting a plurality of sampling data of the weighing sensor within a weighing data value radius range of the accurate central point as a weighing data group to be processed;
s400, filtering all data in the weighing data group to be processed to obtain a poultry weight value weighed at the current time;
and S500, grading the poultry according to a grading standard according to the poultry weight value.
The method for weighing and grading poultry online, wherein the determination of the singular points s1 and s2 comprises:
calculating the maximum difference point Max (Abs (Wp +1-Wp)) of the front part (0, c1) of the sampling data cycle array of the weighing sensor, wherein 0< p < c1, and s1 is equal to p;
obtaining the maximum difference point of the sampling data cycle array rear part (c1, n) of the weighing sensor, namely Max (Abs (Wq +1-Wq)), c1< q < n, and s2 ═ q;
wherein Abs is an absolute value function, c1 is a preliminary central point, s1 is a singular point when the force transfer lever is in contact with the load cell, and s2 is a singular point when the force transfer lever is disengaged from the load cell.
The poultry online weighing and grading method comprises the following steps:
wherein, c is (s1+ s2)/2, R is Abs ((s2-s1)/2) × k%;
In the method for weighing and grading poultry on line, the preliminary central point is located at a position where the roller rolls to a half of the total contact stroke with the weighing sensor.
In the above method for weighing and grading poultry on line, the radius of the weighing data is less than half of the total sampling length distance of the whole contact process of the force transmission lever and the weighing sensor.
In the above method for online weighing and grading of poultry, the signal of the weighing sensor is sampled and analyzed by the single chip via the AD converter.
The invention has the technical effects that:
according to the invention, the rough AD sampling central point is determined by the positioning sensor, the contact point and the separation point of the weighing sensor and the force transmission lever in the AD sampling data are determined by singular point identification, and the centers of the contact point and the separation point are taken as the precise weighing central point. And a reasonable radius is selected, so that impact data at the moment of mechanical contact and disengagement of the force transmission lever and the weighing sensor are excluded, and interference of the force transmission lever and the weighing sensor is prevented. And then filtering the interested data to improve the measurement precision.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1A is a schematic diagram of a poultry on-line weighing and grading system according to an embodiment of the present invention;
FIG. 1B is a top view of FIG. 1A;
FIG. 2 is a schematic diagram of a force transmission lever according to an embodiment of the present invention;
FIG. 3 is a schematic view of a force transmission lever mounting according to one embodiment of the present invention;
FIG. 4 is a flow chart of a method for weighing and grading poultry on-line according to an embodiment of the present invention.
Wherein the reference numerals
1 support
2 circulation carousel weighing device
3 power conveying chain
4 hanging ring
5 pneumatic grading plant
6 tray
7 force transmission lever
8 one end of the lever
9 fulcrum
10 roller
11 weighing sensor
12 weighing sensor mounting rack
S100-S500 steps
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
referring to fig. 1A and 1B, fig. 1A is a schematic structural view of a poultry on-line weighing and grading system according to an embodiment of the present invention, and fig. 1B is a top view of fig. 1A. The poultry online weighing and grading system comprises a support 1, a power conveying chain 3, a circulating turntable weighing device 2, a hanging ring 4 and a pneumatic grading device 5, wherein the power conveying chain 3 is installed on the support 1, the circulating turntable weighing device 2 and the pneumatic grading device 5 are respectively connected with the power conveying chain 3, one end of the hanging ring 4 is installed on the power conveying chain 3, the other end of the hanging ring 4 is used for hanging poultry, and the circulating turntable weighing device 2 comprises: a plurality of groups of force transmission levers 7, preferably ten groups of force transmission levers 7 in this embodiment, are uniformly distributed on the base of the circulating turntable weighing device 2, one end 8 of each group of force transmission levers 7 is connected with the hanging ring 4, the other end of each group of force transmission levers 7 is provided with a roller 10, the roller 10 is abutted against a weighing sensor 11 installed on the circulating turntable weighing device 2, the weighing sensor 11 is installed on the circulating turntable weighing device 2 through a weighing sensor installation frame 12, each group of force transmission levers 7 is provided with positioning nuts, all the positioning nuts on the force transmission levers 7 are in a common circle, namely all the positioning nuts are uniformly distributed on one circle, an arc groove is arranged on the top bracket beam of the circulating turntable weighing device 2 corresponding to the positioning nuts, and is arranged right above the common circle of the positioning nuts, and a positioning sensor is arranged in the arc groove, and when the roller 10 rolls to the central position of the weighing sensor 11, the positioning nut triggers the positioning sensor.
Referring to fig. 2 and 3, fig. 2 is a schematic diagram illustrating a structure of a force transmission lever according to an embodiment of the invention, and fig. 3 is a schematic diagram illustrating an installation of the force transmission lever according to the embodiment of the invention. The roller 10 is preferably a copper roller. The middle fulcrum 9 of each group of force transmission levers is fixed with the base through a sealing bearing. One end 8 of each group of force transmission levers 7 is abutted against the lifting ring 4 through a weighing support of the circular turntable weighing device 2.
During weighing, one end 8 of the force transmission lever 7 is in contact with the hanging ring 4 through a weighing support, the lever fulcrum 9 in the middle is fixed with a base of the circular turntable weighing device 2 through a sealing bearing, and the copper roller 10 at the other end is in contact with the weighing sensor 11, so that the transmission of the gravity is realized. Rotating the turntable of the circulating turntable weighing device 2 when the copper roller 10 rolls to the weighing sensorAnd 11, stopping the machine, and adjusting the positioning sensor to align the positioning sensor to any one positioning nut. Along with the rotation of the circular turntable weighing device 2, because of the symmetrical structure, when the positioning nut of each group of force transmission levers 7 triggers the positioning sensor, the copper rollers 10 of the force transmission levers 7 roll right to the middle position close to the weighing sensor 11, namely the sampling initial central point c1, and the weighing sampling data of the point is Wc1This is used as the cyclic array WiPreliminary central point weighing sampling data Wc1Then, weighing sampling data W of two singular points s1 and s2 before and after the initial central point c1 in the sampling array is determined through a singular point identification technologys1、Ws2The center of the line connecting the two singular points s1 and s2 is the precise center point c of the AD value of the load cell 11 at the two times of contact and separation of the load cell 11 with the force transmission lever 7, and the weight sample data W corresponding to the precise center point c is the weight sample data WcAnd selecting data within a certain radius R (less than half of the total sampling times in the contact process of the lever and the sensor) as the data to be processed in the weighing.
The data relationship is as follows: 0<s1<c1<s2<n，(0<i<n)。Ws1Weighing sampling data, W, corresponding to the moment of contact of the load cell 11 with the force transmission lever 7s2Weighing sample data, W, corresponding to the moment when the load cell 11 is disengaged from the force transmission lever 7c1Weighing and sampling data corresponding to the moment of triggering the position sensor, WcWeighing sampling data corresponding to the accurate central point.
Referring to fig. 4, fig. 4 is a flow chart of a poultry online weighing and grading method according to an embodiment of the invention. The poultry on-line weighing and grading method adopts the poultry on-line weighing and grading system to weigh and grade the poultry, and comprises the following steps:
s100, determining a primary central point and sampling weighing data of the primary central point:
the weight of the birds coming from the slinger 4 is transferred to the roller 10 via the force transfer lever 7, and when said roller 10 rolls to the preliminary central point, the positioning nut triggers the positioning sensor, recording the cyclic array W at that timeiIn the step (2), the coordinate c1 of the current AD sampling value is saved, and the weighing data Wc1I.e. the poultry is in the circulation array WiThe AD sampling value of the primary central point; wherein the preliminary center point is located approximately at a half of the total travel of the roller 10 rolling into contact with the load cell 11;
in this embodiment, when the whole system is started, after the single chip microcomputer is initialized by the AD, the AD (analog-to-digital converter) is started to continuously sample, and the AD data is always stored in the cyclic array W in a cyclic manneriIn the method, i is more than or equal to 0 and less than or equal to m, the value of m is related to the number of the poultry weighing sampling data at one time, and the values can be obtained through tests:
for example, typically 2 times the number of data points between two singular points may be taken for a poultry weight. W is generated when a proximity switch of the position sensor is triggeredc1Because of cyclic storage, c1 may be any value between 0 and m, and consecutive k data sampled before c1 may be obtained according to the magnitude relationship between c1 and k (k equals m/2, rounded):
when 0 is less than or equal to c1<When k is needed, the k values are selected in sequence as follows: [ W ]m-(k-c1),Wm]，[W0～Wc1]
When k is less than or equal to c1, the k values are selected in sequence as follows: [ W ]c1-k,Wc1]。
The data can be sequentially stored into a new array Q, the coordinates can be started from 0, and k data after c1 are also stored into Q, so that the programming calculation of the single chip microcomputer is facilitated;
the positioning sensor is mainly used for determining the approximate central position of the sampled data, ensuring that singular points are distributed in the front and at the back of the initial central point respectively by 1, and facilitating the target to definitely search the singular points. The positioning sensor has another function that the grading knocking-down station and the weighing station are at a certain distance, so that the grading can be immediately pre-graded after the weighing is finished, but at the moment, the poultry can not be knocked down to the tray 6 immediately because the poultry is not transferred to the pneumatic grading device 5, and therefore the currently weighed poultry needs to be numbered, so that the pneumatic grading device 5 can determine whether the poultry arriving at the grading knocking-down station is knocked down to the corresponding graded tray 6 according to the weighed poultry number and grading information;
s200, determining singular points by taking the preliminary central points as original points:
with the initial central point as an origin, respectively searching two singular points s1, s2 when the force transmission lever 7 is in contact with and separated from the load cell 11;
s300, determining an accurate central point according to singular points S1 and S2, and determining a weighing data group to be processed according to the accurate central point:
taking the center of a connecting line of the two singular points s1 and s2 as an accurate central point of the weighing sensor 11, and selecting a plurality of sampling data of the weighing sensor 11 within a weighing data value radius range of the accurate central point as a weighing data group to be processed; wherein, the radius of the weighing data is less than half of the distance of the total sampling length of the whole contact process of the force transmission lever 7 and the weighing sensor 11;
s400, filtering all data in the weighing data group to be processed to obtain a poultry weight value weighed at the current time; the filtering processing of this embodiment may be simply taking an arithmetic average, or may be performed in other weighted average manners, which is not limited to this;
and S500, classifying the poultry according to classification standards by the pneumatic classification device 5 according to the poultry weight value, and pushing the poultry into the corresponding tray 6.
The singular point can be determined by the following method:
obtaining the maximum difference point Max (Abs (W) of the front part (0, c1) of the sampling data cycle array of the weighing sensor 11p+1-Wp))，0<p<c1, then s1 ═ p;
obtaining the maximum difference point of the part (c1, n) of the sampling data cycle array of the weighing sensor 11, namely Max (Abs (W)q+1-Wq))，c1<q<n, then s2 ═ q;
wherein Abs is an absolute value function, c1 is a preliminary center point coordinate, Wp+1，Wp，Wq+1,WqIs a member of the set of loop numbers at the coordinates corresponding to its subscript, p is the loopAnd (3) calculating the coordinate of the contact singular point in the array, and q is the coordinate of the departure singular point in the cyclic array.
In this embodiment, the poultry weight value is preferably calculated by using the following formula:
wherein, c is (s1+ s2)/2, R is Abs ((s2-s1)/2) × k%;
The signal of the weighing sensor 11 is preferably sampled and analyzed by a single chip microcomputer through an AD converter. The principles and methods for acquiring and processing AD signals are well established prior art, and thus are not described herein again.
The poultry weight-transmission device is characterized in that poultry are hung at one end of the force transmission lever through the hanging ring, and then the poultry is contacted with the weighing sensor through the roller at the other end of the force transmission lever, so that the weight transmission is realized. The power transmission chain drives the circular turntable weighing device to rotate at a constant speed, and in the process that the idler wheel of the force transmission lever passes through the end face of the weighing sensor at a constant speed, the single chip microcomputer samples and analyzes signals of the AD converter weighing sensor to obtain the weight value of the poultry, and then the poultry is subjected to classification processing according to classification standards to realize dynamic weighing. The detection precision of the poultry weight is improved by means of rough hardware positioning, singular point determination, accurate central point determination and data optimization, so that mechanical contact interference between a force transmission lever and a weighing sensor is avoided.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an online grading system that weighs of poultry, includes the support and installs power transmission chain on the support, and circulation carousel weighing device, rings and pneumatic grading plant, circulation carousel weighing device and pneumatic grading plant respectively with power transmission chain connects, the one end of rings is installed on the power transmission chain, the other end of rings is used for hanging dress poultry, its characterized in that, circulation carousel weighing device includes:
multiunit power transmission lever, the equipartition is in on the base of circulation carousel weighing device, every group the one end of power transmission lever with rings are connected, every group the gyro wheel is installed to the other end of power transmission lever, the gyro wheel with install weighing sensor butt on the circulation carousel weighing device, every group all be provided with set nut, all on the power transmission lever set nut on the semicircle, correspond to on the top support crossbeam of circulation carousel weighing device set nut is provided with the circular arc groove, install set sensor in the circular arc inslot, the gyro wheel rolls extremely during weighing sensor's central point puts, set nut triggers set sensor.
2. The poultry on-line weighing and grading system of claim 1, wherein said rollers are copper rollers.
3. The poultry on-line weighing and grading system of claim 1, wherein the middle portion of each set of force transmission levers is fixed to the base by a sealed bearing.
4. An in-line poultry weighing and grading system as in any of claims 1 to 3 wherein one end of each set of said force transmission levers is in abutment with said suspension ring through a weighing abutment of said endless turntable weighing device.
5. An on-line poultry weighing and grading method, characterized in that the poultry is weighed and graded by the on-line poultry weighing and grading system of any one of the claims 1-4, comprising the following steps:
s100, determining a primary central point and sampling weighing data:
the weight of the poultry from the hanging ring is transmitted to the roller wheel through the force transmission lever, when the roller wheel rolls to the initial central point of the weighing sensor, the positioning nut triggers the positioning sensor to record weighing sampling data W corresponding to the coordinate of the initial central point c1c1As a cyclic array W of the birds on said load celliThe sampling value of the weighing data of the primary central point is obtained;
s200, identifying singular points by taking the preliminary central point as an origin:
with the initial central point as an origin, respectively searching two singular points s1 and s2 when the force transmission lever is in contact with and separated from the weighing sensor;
s300, determining an accurate central point according to singular points S1 and S2, and determining a weighing data group to be processed according to the accurate central point:
taking the center of a connecting line of the two singular points s1 and s2 as an accurate central point of the weighing sensor, and selecting a plurality of sampling data of the weighing sensor within a weighing data value radius range of the accurate central point as a weighing data group to be processed;
s400, filtering all data in the weighing data group to be processed to obtain a poultry weight value weighed at the current time;
and S500, grading the poultry according to a grading standard according to the poultry weight value.
6. The poultry online weighing and grading method of claim 5, wherein the determination of the singular points s1, s2 comprises:
obtaining the maximum difference point Max (Abs (W) of the front part (0, c1) of the sampling data cyclic array of the weighing sensorp+1-Wp))，0<p<c1, then s1 ═ p;
and solving the maximum difference point of the rear part (c1, n) of the sampling data cyclic array of the weighing sensor, namely Max (Abs (W)q+1-Wq))，c1<q<n, then s2 ═ q;
wherein Abs is an absolute value function, c1 is a preliminary central point coordinate, s1 is a singular point coordinate when the force transfer lever is in contact with the weighing cell, s2 is a singular point coordinate when the force transfer lever is separated from the weighing cell, and W is a singular point coordinate when the force transfer lever is separated from the weighing cellp+1，Wp，Wq+1,WqAnd n is the length of the cyclic array, p is the contact singular point coordinate obtained by calculation in the cyclic array, and q is the departure singular point coordinate obtained by calculation in the cyclic array.
7. The method for weighing and grading poultry on line as claimed in claim 6, wherein the poultry weight values are:
wherein, c is (s1+ s2)/2, R is Abs ((s2-s1)/2) × k%;
8. The method of claim 7 wherein the preliminary center point is located at half of the total travel of the roller rolling into contact with the load cell.
9. An on-line poultry weighing and grading method as claimed in claim 7 or 8, characterized in that the radius of the weighing data is less than half of the total sampling length distance of the whole contact of the force transmission lever and the weighing sensor.
10. The poultry online weighing and grading method as claimed in claim 7 or 8, wherein the signal of the weighing sensor is sampled and analyzed by a single chip microcomputer through an AD converter.
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