CN110839562A - Intelligent lifting type goose breeding egg laying platform and control method - Google Patents
Intelligent lifting type goose breeding egg laying platform and control method Download PDFInfo
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- CN110839562A CN110839562A CN201911276291.6A CN201911276291A CN110839562A CN 110839562 A CN110839562 A CN 110839562A CN 201911276291 A CN201911276291 A CN 201911276291A CN 110839562 A CN110839562 A CN 110839562A
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- 241000272814 Anser sp. Species 0.000 title claims abstract description 119
- 238000009395 breeding Methods 0.000 title claims abstract description 22
- 230000001488 breeding effect Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000017448 oviposition Effects 0.000 title claims abstract description 14
- 239000012528 membrane Substances 0.000 claims abstract description 19
- 239000011159 matrix material Substances 0.000 claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 3
- 235000013601 eggs Nutrition 0.000 claims description 100
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000000630 rising effect Effects 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 241000272808 Anser Species 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000001174 ascending effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 244000144977 poultry Species 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K31/00—Housing birds
- A01K31/14—Nest-boxes, e.g. for singing birds or the like
- A01K31/16—Laying nests for poultry; Egg collecting
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K31/00—Housing birds
- A01K31/14—Nest-boxes, e.g. for singing birds or the like
- A01K31/16—Laying nests for poultry; Egg collecting
- A01K31/165—Egg collecting or counting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/80—Food processing, e.g. use of renewable energies or variable speed drives in handling, conveying or stacking
- Y02P60/87—Re-use of by-products of food processing for fodder production
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
An intelligent lifting type goose breeding egg laying platform and a control method thereof comprise a platform body, a camera, a lifting rod, a membrane pressure sensor, a servo electric cylinder, a PLC and a computer, wherein the servo electric cylinder is arranged on the platform body in a dot matrix manner; the lifting rods correspond to the servo electric cylinders one to one and are connected with the servo electric cylinders and are positioned at the upper ends of the corresponding servo electric cylinders, the membrane pressure sensors correspond to the lifting rods one to one and are positioned on the upper surfaces of the corresponding lifting rods, and the camera is installed above the platform body; goose egg and membrane pressure sensor contact and produce the signal, give PLC with position information transfer, PLC control camera displacement, give the computer on the goose egg image that will shoot, whether the computer judges the lifter to be located the goose egg profile, then the lifter that is located the goose egg profile through PLC control rises, accomplish the conveying to the goose egg through the lift of control lifter, guaranteed the stability of goose egg conveying and reduced the damage that the collision brought.
Description
Technical Field
The invention belongs to the field of livestock and poultry breeding, and particularly relates to an intelligent lifting type goose breeding egg laying platform and a control method.
Background
With the continuous development and improvement of scientific technology, the aim of poultry breeding is to realize the automatic and intelligent operation of mechanical equipment. At present breed the goose and breed, after kind goose laid eggs, the collection of goose egg often lets its freedom roll to transfer passage through the class of an slope is hourglass hopper-shaped's baffle, and the in-process that the goose egg rolled and falls can cause the damage with the baffle wall collision easily, and through the planar roll of slope, and the speed when rolling to the pipeline is great, is unfavorable for the stationarity of goose egg conveying. Therefore, a dot-matrix platform is designed, and the effect that the goose eggs roll through the lifting of the lifting rods is particularly important.
Disclosure of Invention
The invention aims to provide an intelligent lifting type goose breeding egg laying platform and a control method, aiming at the defects that the existing goose breeding egg conveying process is easy to collide, high in speed and the like after laying eggs. The lifting rods arranged in a lattice manner are adopted, the lifting is controlled by the servo cylinder to form a groove adaptive to the volume of the goose eggs, the goose eggs advance through the lifting of the lifting rods, the speed of the goose eggs rolling out of the platform is reduced, the collision of the traditional goose eggs during rolling is avoided, and the integrity of the goose eggs is ensured.
The technical scheme of the invention is as follows:
the invention provides an intelligent lifting type goose breeding and egg laying platform which is characterized by comprising a platform body, a camera, a plurality of lifting rods, a plurality of membrane pressure sensors, a plurality of servo electric cylinders, a PLC and a computer, wherein the servo electric cylinders are arranged on the platform body in a dot matrix manner; the lifting rods correspond to the servo electric cylinders one to one and are connected with the servo electric cylinders and are positioned at the upper ends of the corresponding servo electric cylinders, the membrane pressure sensors correspond to the lifting rods one to one and are positioned on the upper surfaces of the corresponding lifting rods, and the camera is installed above the platform body; the PLC is respectively connected with the membrane pressure sensors, the camera and the computer and is connected with the servo electric cylinders through the servo drivers; goose egg and membrane pressure sensor contact and produce the signal, give PLC with positional information transfer, PLC control camera displacement, give the computer on the goose egg image that will shoot, whether the computer judges the lifter to be located the goose egg profile, then rises through the lifter that PLC control is located the goose egg profile, accomplishes the conveying to the goose egg through the lift of control lifter.
Preferably, the platform body is equipped with the baffle of silica gel material respectively in goose egg direction of transfer's both sides.
Preferably, the maximum rising height of the lifting rod is 5 cm.
Preferably, the lifting rod is externally coated with a silica gel material.
Preferably, the guide rail and have motor drive's hold-in range are installed to platform body top, the camera is connected with guide rail, hold-in range respectively, and PLC control motor drive drives the hold-in range, makes the camera slide (remove about) along the guide rail on the perpendicular to goose egg conveying direction.
The second purpose of the invention is to provide a control method of the intelligent lifting type goose breeding egg laying platform, which is characterized by comprising the following steps:
1) after the breeding geese lay eggs, the goose eggs enter the dot matrix platform, because the goose eggs are in contact with the membrane pressure sensor on the surface of the lifting rod to generate signals, and the signals are transmitted to the PLC, the positioning of the positions of the goose eggs is realized;
2) at the moment, the PLC controls the camera positioned above the platform body to move to the position above the goose eggs for shooting, the shot image data are transmitted to the computer, and the computer simulates and calculates the contours of the goose eggs;
3) then the computer detects whether the center point of the lifting rod is in the contour by using the pointPolygontest of the OpenCV visual library, and then the PLC controls the servo electric cylinder to lift the lifting rod in the contour;
4) when the lifting rod rises to be in contact with the surface of a goose egg, the corresponding membrane pressure sensor generates a signal to the PLC, the PLC controls the lifting rod to stop rising, and a groove adaptive to the volume of the goose egg is formed below the goose egg;
5) determining the forward direction of the goose eggs, descending the lifting rod at the front part of the goose eggs, starting the goose eggs to roll in the forward direction, descending the lifting rod at the rear part of the goose eggs after the goose eggs start to roll, ascending the lifting rod at the front part, and sequentially lifting to form a lifting flow state, so that the goose eggs continuously roll forwards; the PLC controls the servo electric cylinder to move forward in a flowing state through the lifting of the lifting rod and the lifting of the lifting rod in the forward direction of the goose eggs, and the goose eggs are conveyed.
Preferably, the steps of determining the lifting rod in the goose egg profile are as follows:
the first step is as follows: taking a goose egg picture, and transmitting the picture to a calculator;
the second step is that: preprocessing by a computer, and denoising the connected region;
the third step: performing linear fitting and Hough linear detection on the image, and determining the contour of the overlooking visual angle of the goose egg on the dot matrix platform;
the fourth step: whether the center point of the lifting rod is in the goose egg outline is judged through pointPolygontest in an OpenCV vision library.
Preferably, the mathematical model corresponding to the lattice platform is m × n aijA matrix of 1. ltoreq. i.ltoreq.m, 1. ltoreq. j.ltoreq.n, 0. ltoreq. aij≤1。
The invention has the beneficial effects that: the intelligent lifting type goose breeding and laying platform and the control method have the advantages that the structure is novel, the working principle is clear, the positioning of goose eggs on the platform is realized by utilizing the mulching film pressure sensors arranged on the surfaces of the lifting rods, the lifting rods of the goose eggs located in the goose egg outline are determined through image transmission and OpenCV visual library functions, the function of lifting movement of the lifting rods where the goose eggs are located is realized by adopting a PLC (programmable logic controller) to control the servo motors, the goose eggs are stably conveyed, the stability of conveying the goose eggs is ensured, the damage caused by collision is reduced, and the transmission efficiency of the goose eggs is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the lattice platform of the present invention;
FIG. 2 is a schematic representation of the progression of goose eggs according to the present invention;
FIG. 3 is a process flow diagram of the present invention;
FIG. 4 is a schematic diagram of a system of the present invention;
in the figure: the device comprises a platform body 1, a baffle 2, a camera 3, a lifting rod 4, a membrane pressure sensor 5 and a servo electric cylinder 6.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, an intelligent lifting type goose breeding and egg laying platform comprises a dot matrix platform, a platform body 1, a camera 3, a lifting rod 4, a membrane pressure sensor 5, a servo electric cylinder 6 and a baffle 2; the baffle 2 is connected with the platform body 1 and is positioned at two sides of the platform body 1; the lifting rod 4 is connected with the servo electric cylinder 6 and is positioned at the upper end of the servo electric cylinder 6; the film pressure sensor 5 is located on the upper surface of the lifting rod 4.
As shown in fig. 3 and 4, a control method of an intelligent lifting type goose breeding egg laying platform comprises the following steps:
after the breeding geese lay eggs, the goose eggs enter the dot matrix platform, and the goose eggs are contacted with the membrane pressure sensor 5 on the surface of the lifting rod 4 to generate signals, so that the positions of the goose eggs are positioned; at the moment, the camera 3 positioned above the dot matrix platform moves to the position above the goose eggs to pick up the images, the shot image data are transmitted to a computer, and the computer simulates and calculates the contours of the goose eggs; then, detecting whether the center point of the lifting rod is in the contour by using pointPolygontest of an OpenCV vision library, and then controlling a servo electric cylinder to lift the lifting rod in the contour through a PLC; and stop rising when the lifter rises to contacting with goose egg surface, can form a recess that adapts to the goose egg volume below the goose egg, PLC control servo electric jar accomplishes the conveying to the goose egg through the lift of lifter at last.
Specifically, the mathematical model corresponding to the lattice platform is m × n aijA matrix of 1. ltoreq. i.ltoreq.m, 1. ltoreq. j.ltoreq.n, 0. ltoreq. aij≤1。
Specifically, a servo cylinder 6 is arranged below each lifting rod 4, so that the lifting function of each lifting rod can be realized.
Specifically, the lifting rod 4 is in a cylindrical shape.
Specifically, the maximum rising height of the lifting rod 4 is 5 cm. The lifting of the lifting rod controls the servo electric cylinder through a lifting instruction of the PLC, and the feedback position signal of the encoder is combined to control the mechanical actuating mechanism to operate.
Specifically, membrane pressure sensor 5 sets up on the lifter surface, and every lifter surface all is equipped with membrane pressure sensor, through the response have whether goose egg rolls on the platform, and transmission signal gives PLC control center, realizes the locate function to needs lift platform.
Specifically, the PLC is of a DVP-32EH model, has 16 input points and 16 output points, and is communicated with a computer through an RS232 serial port to transmit images and determine lifting rods in the outline.
Specifically, the steps of determining the lifting rod in the profile are as follows:
the first step is as follows: taking a goose egg picture, and transmitting the picture to a calculator;
the second step is that: preprocessing by a computer, and denoising the connected region;
the third step: performing linear fitting and Hough linear detection on the image, and determining the contour of the overlooking visual angle of the goose egg on the dot matrix platform;
the fourth step: whether the center Point of the lifting rod is in the goose egg outline or not is judged by a pointpolyGonTest in an OpenCV visual library and a doubtopointpolyGonTest (InputAlraycontour, Point2fpt, boolmeasureDist), and when the measureDist is set to be false, three fixed values of-1, 0 and 1 are returned. If the return value is +1, the point is shown to be inside the goose egg outline, the return value is-1, the point is shown to be outside the goose egg outline, and the return value is 0, and the point is shown to be on the goose egg outline.
Specifically, the type of the servo driver used in the example is LS-10520BK, and the transmission of the lifting command is realized by communicating with the PLC through RS 232.
Specifically, the type of the servo electric cylinder used in the present example is CSJ20, and the servo electric cylinder has the characteristics of small volume, accurate control and the like, and can realize accurate lifting of the lifting rod.
Specifically, baffle 2 adopts the silica gel material, avoids the goose egg to drop the damage that the platform caused by careless when dropping into the platform at first.
The positioning device has a novel structure and a clear working principle, realizes the positioning of goose eggs on a platform by utilizing the mulching film pressure sensor arranged on the surface of each lifting rod, determines the lifting rod of the goose egg positioned in the goose egg outline through image transmission and an OpenCV visual library function, realizes the function of lifting movement of the lifting rod of the goose egg by adopting a PLC (programmable logic controller) to control a servo motor, ensures the stable transmission of the goose egg, ensures the stability of the transmission of the goose egg, reduces the damage caused by collision and improves the transmission efficiency of the goose egg. Every lifter below all is furnished with a servo cylinder, ensures that every lifter can both realize raising and lowering functions.
Claims (6)
1. An intelligent lifting type goose breeding and egg laying platform is characterized by comprising a platform body, a camera, a plurality of lifting rods, a plurality of membrane pressure sensors, a plurality of servo electric cylinders, a PLC and a computer, wherein the servo electric cylinders are arranged on the platform body in a dot matrix manner; the lifting rods correspond to the servo electric cylinders one to one and are connected with the servo electric cylinders and are positioned at the upper ends of the corresponding servo electric cylinders, the membrane pressure sensors correspond to the lifting rods one to one and are positioned on the upper surfaces of the corresponding lifting rods, and the camera is installed above the platform body; goose egg and membrane pressure sensor contact and produce the signal, give PLC with positional information transfer, PLC control camera displacement, give the computer on the goose egg image that will shoot, whether the computer judges the lifter to be located the goose egg profile, then rises through the lifter that PLC control is located the goose egg profile, accomplishes the conveying to the goose egg through the lift of control lifter.
2. The intelligent lifting type goose breeding and egg laying platform as claimed in claim 1, wherein the platform body is provided with silica gel baffles on two sides of the goose egg conveying direction.
3. The intelligent lifting type goose breeding and egg laying platform as claimed in claim 1, wherein the maximum lifting height of the lifting rods is 5 cm.
4. The control method of the intelligent lifting type goose breeding egg laying platform is characterized by comprising the following steps of:
1) after the breeding geese lay eggs, the goose eggs enter the dot matrix platform, because the goose eggs are in contact with the membrane pressure sensor on the surface of the lifting rod to generate signals, and the signals are transmitted to the PLC, the positioning of the positions of the goose eggs is realized;
2) at the moment, the PLC controls the camera positioned above the platform body to move to the position above the goose eggs for shooting, the shot image data are transmitted to the computer, and the computer simulates and calculates the contours of the goose eggs;
3) then the computer detects whether the center point of the lifting rod is in the contour by using the pointPolygontest of the OpenCV visual library, and then the PLC controls the servo electric cylinder to lift the lifting rod in the contour;
4) when the lifting rod rises to be in contact with the surface of a goose egg, the corresponding membrane pressure sensor generates a signal to the PLC, the PLC controls the lifting rod to stop rising, and a groove adaptive to the volume of the goose egg is formed below the goose egg;
5) determining the forward direction of the goose eggs, descending the lifting rod at the front part of the goose eggs, starting the goose eggs to roll in the forward direction, descending the lifting rod at the rear part of the goose eggs after the goose eggs start to roll, ascending the lifting rod at the front part, and sequentially lifting to form a lifting flow state, so that the goose eggs continuously roll forwards; the PLC controls the servo electric cylinder to move forward in a flowing state through the lifting of the lifting rod and the lifting of the lifting rod in the forward direction of the goose eggs, and the goose eggs are conveyed.
5. The control method of the intelligent lifting type goose breeding laying platform as claimed in claim 4, wherein the step of determining the lifting rods in the goose egg outline comprises the following steps:
the first step is as follows: taking a goose egg picture, and transmitting the picture to a calculator;
the second step is that: preprocessing by a computer, and denoising the connected region;
the third step: performing linear fitting and Hough linear detection on the image, and determining the contour of the overlooking visual angle of the goose egg on the dot matrix platform;
the fourth step: whether the center point of the lifting rod is in the goose egg outline is judged through pointPolygontest in an OpenCV vision library.
6. The method for controlling the intelligent lifting type goose breeding and egg laying platform according to claim 5, wherein the mathematical models corresponding to the dot matrix platform are m x n aijA matrix of 1. ltoreq. i.ltoreq.m, 1. ltoreq. j.ltoreq.n, 0. ltoreq. aij≤1。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276291.6A CN110839562B (en) | 2019-12-12 | 2019-12-12 | Intelligent lifting type breeding goose egg laying platform and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911276291.6A CN110839562B (en) | 2019-12-12 | 2019-12-12 | Intelligent lifting type breeding goose egg laying platform and control method |
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| CN110839562A true CN110839562A (en) | 2020-02-28 |
| CN110839562B CN110839562B (en) | 2023-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| EP0351022A1 (en) * | 1988-07-13 | 1990-01-17 | Terpa Poultry B.V. | Apparatus for catching, and laterally removing, vertically supplied vulnerable products, such as eggs |
| KR960035948U (en) * | 1995-05-17 | 1996-12-16 | 혁 윤 | Concentrator |
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| CN209120971U (en) * | 2019-05-06 | 2019-07-19 | 中国农业大学烟台研究院 | A kind of chicken farm takes egg device |
| CN211241296U (en) * | 2019-12-12 | 2020-08-14 | 扬州大学 | Intelligent lifting type goose breeding and egg laying platform |
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2019
- 2019-12-12 CN CN201911276291.6A patent/CN110839562B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4846337A (en) * | 1985-07-17 | 1989-07-11 | Kuehlmann Josef | Arrangement for manipulating eggs |
| EP0351022A1 (en) * | 1988-07-13 | 1990-01-17 | Terpa Poultry B.V. | Apparatus for catching, and laterally removing, vertically supplied vulnerable products, such as eggs |
| KR960035948U (en) * | 1995-05-17 | 1996-12-16 | 혁 윤 | Concentrator |
| CN103213802A (en) * | 2013-04-22 | 2013-07-24 | 金红叶纸业集团有限公司 | Transporter of coiled materials |
| CN204305847U (en) * | 2014-11-24 | 2015-05-06 | 福州闽台机械有限公司 | The roller weighing device of birds, beasts and eggs |
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| CN107402098A (en) * | 2017-09-07 | 2017-11-28 | 青岛理工大学 | A kind of different sliding rollings are than lower composite lubricating film frictional force and wear process measurement apparatus |
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| CN110839562B (en) | 2023-06-23 |
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