CN115072269A - Automatic excrement belt deviation rectifying system for breeding based on linear CCD - Google Patents
Automatic excrement belt deviation rectifying system for breeding based on linear CCD Download PDFInfo
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- CN115072269A CN115072269A CN202210804599.9A CN202210804599A CN115072269A CN 115072269 A CN115072269 A CN 115072269A CN 202210804599 A CN202210804599 A CN 202210804599A CN 115072269 A CN115072269 A CN 115072269A
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- 238000009395 breeding Methods 0.000 title abstract description 13
- 230000001488 breeding effect Effects 0.000 title abstract description 13
- 210000003608 fece Anatomy 0.000 claims abstract description 35
- 239000010871 livestock manure Substances 0.000 claims abstract description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000002550 fecal effect Effects 0.000 abstract description 9
- 230000000630 rising effect Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 244000144977 poultry Species 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
- B65G15/64—Arrangements for supporting or guiding belts, e.g. by fluid jets for automatically maintaining the position of the belts
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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
- A01K31/04—Dropping-boards; Devices for removing excrement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/44—Belt or chain tensioning arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Birds (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
The invention discloses a linear CCD (charge coupled device) -based automatic fecal tape deviation correcting system for breeding, which relates to the technical field of the fecal tape automatic deviation correcting system and comprises a rack, wherein two positions are correspondingly arranged in front and back of the rack, two rows of vertical support rods are welded between the two positions of the rack at equal intervals in a bilaterally symmetrical mode, eight longitudinal support rods are symmetrically fixed on the four positions of the two rows of vertical support rods at equal intervals in an up-and-down equidistant mode, the front ends of the eight longitudinal support rods are symmetrically and fixedly connected with eight longitudinal mounting plates, and the front ends of the eight longitudinal mounting plates are fixedly connected with a front side rack; eight longitudinal supporting connecting plates are symmetrically and fixedly arranged at the rear ends of the eight longitudinal supporting rods. According to the invention, the manure belt is controlled to move left and right slowly through tension force control, the manure belt is not damaged, the manure belt is locked in the middle through the PID control ring, the synchronism of double-side adjusting plates is ensured through high rotating speed ratio and built-in coding signal feedback, readjustment in each cultivation is not needed, and the total tension of the manure belt can be automatically adjusted in each cultivation stage to protect the manure belt and a frame structure.
Description
Technical Field
The invention relates to the technical field of dung belt automatic deviation rectifying systems, in particular to a dung belt automatic deviation rectifying system for breeding based on a linear CCD.
Background
Along with the development of agricultural science and technology, the breeding industry rapidly moves to scientification, poultry house breeding is more and more automatic, scientification and large-scale, and therefore poultry house breeding equipment is more and more concerned by breeders, and in the poultry breeding process, excrement discharging is also an important operation step.
Disclosure of Invention
The invention aims to provide an automatic dung belt deviation rectifying system for breeding based on a linear CCD (charge coupled device), which aims to solve the problems that unattended operation cannot be realized in dung cleaning operation of a poultry house, breeding personnel need to observe the dung belt deviation situation constantly to adjust a dung belt tensioning shaft, and the dung belt needs to be balanced again after being loosened after breeding is finished every time, so that manpower and property waste is caused, and the use is troublesome and inconvenient.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic manure belt deviation rectifying system for breeding based on a linear CCD (charge coupled device), which comprises a rack, wherein two positions are correspondingly arranged in the front and the back of the rack, two rows of vertical support rods are welded between the two positions of the rack at intervals in a bilateral symmetry mode, and eight longitudinal support rods are symmetrically fixed on the four positions of the two rows of vertical support rods at intervals in an up-down equidistant mode; eight longitudinal supporting plates are symmetrically and fixedly arranged at the rear ends of the eight longitudinal supporting rods, and the rear ends of the eight longitudinal supporting plates are fixedly connected with the rear side rack; a three-dimensional cage culture frame is arranged between the eight longitudinal supporting and connecting plates, and four excrement belts are arranged between the eight longitudinal supporting and connecting plates and are close to and positioned below blocking nets at the bottom sides of the four three-dimensional cage culture frames; the front end and the rear end of the excrement belt are rotatably provided with a driven shaft and a driving shaft; the left and right corresponding longitudinal mounting plates are respectively provided with a sliding chute, two tension adjusting connecting plates are symmetrically and slidably mounted in the two sliding chutes, and bearing seats at the left and right ends of the driven shaft are fixedly connected with the two tension adjusting connecting plates; the top ends of the rear sides of the two corresponding left and right longitudinal mounting plates are respectively provided with a detection unit; a control box is arranged on the top end section of the right vertical support rod of the rack on the front side, a switch unit is integrally installed on a box cover of the control box, and a control unit is integrally installed inside the control box; and the left adjusting speed reducing motor and the right adjusting speed reducing motor are arranged on the positions, corresponding to the longitudinal mounting plate, of the left vertical support rod and the right vertical support rod of the rack and are electrically connected with the control unit through control cables.
According to the invention, the manure belt deviation condition is obtained through the linear CCD image sensor, the ARM controller calculates the position information, and the rotation of the left and right speed reducing motors is controlled through the PID control ring to realize tension force balance.
Preferably, the detection unit comprises an angle adjusting frame and two installation frames, the two installation frames are symmetrically installed at the tops of the rear end sections of the two corresponding left and right longitudinal installation plates, and the top ends of the two installation frames are respectively and rotatably installed with one angle adjusting frame.
Preferably, the detection unit further comprises a light screen and a linear CCD image sensor, two linear CCD image sensors are mounted on the two angle adjusting frames, two light screens of a prescribed structure are symmetrically and fixedly arranged on the rear end sections of the two longitudinal mounting plates corresponding to each other at left and right sides, and the positions of the two light screens correspond to the two linear CCD image sensors.
Preferably, two adjusting screws are rotatably arranged on the two corresponding left and right longitudinal mounting plates, two pin shaft connectors are connected to the front end sections of the two adjusting screws, the tail ends of the two pin shaft connectors are respectively in shaft connection transmission with the left adjusting and speed reducing motor and the right adjusting and speed reducing motor, and the two adjusting screws are in threaded penetrating fit with the two tension adjusting connecting plates.
Preferably, the control unit includes that power control is empty to be opened, switching power supply, BHL motor driver and main control unit, power control is empty to be opened, two places BHL motor driver arrange and fix and set up on the lower part of control box backplate, and installs switching power supply and main control unit on the first half of control box backplate side by side, main control unit and two places BHL motor driver electric connection.
Preferably, the two BHL motor drivers are electrically connected with the left adjusting speed reducing motor and the right adjusting speed reducing motor correspondingly, the power supply control air switch is electrically connected with the switching power supply, the switching power supply is used for supplying power to the two BHL motor drivers and the main controller, and the two linear CCD image sensors are in communication connection with the main controller.
Preferably, the switch unit comprises an emergency stop button, a control box lock, a three-position selection knob, a display panel, a left speed reducer manual button and a right speed reducer manual button, the emergency stop button, the control box lock and the display panel are installed on the upper half part of the control box cover in an embedded mode at intervals, and the three-position selection button, the left speed reducer manual button and the right speed reducer manual button are installed on the lower half part of the control box cover in an arrayed mode.
Preferably, scram button, tribit select the knob, left speed reducer hand button and right speed reducer hand button all with main control unit electric connection, and display panel and main control unit and two BHL motor drive electric connection.
Preferably, the left adjusting gear motor, the right adjusting gear motor, the two adjusting screws, the two pin connectors and the two tension adjusting connecting plates form an execution unit together.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the total tension force is controlled by feeding back current through the motor driver, and the automatic centering control of the fecal belt is carried out through the binocular linear CCD sensor, so that the synchronization of tensioning and releasing at two sides is ensured by high speed reduction ratio and pulse signal feedback, and the readjustment of each cultivation is not needed;
2. the left and right deviation of the dung belt is adjusted in a tension control mode without damaging the dung belt, a fault-tolerant control mode is carried out through a monocular CCD sensor, a pure CCD feedback signal is obtained through a shading plate blackened by a shading plate 403, the threshold value can be automatically adjusted, the position information of the PP belt can be sampled in real time under different brightness environments, and the total tension of the dung belt can be automatically released through setting;
3. according to the invention, the manure belt is controlled to move left and right slowly through tension force control, the manure belt is not damaged, the manure belt is locked in the middle through the PID control ring, the synchronism of double-side adjusting plates is ensured through high rotating speed ratio and built-in coding signal feedback, readjustment in each cultivation is not needed, and the total tension of the manure belt can be automatically adjusted in each cultivation stage to protect the manure belt and a frame structure.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic view of a cover structure of the control box of the present invention;
FIG. 4 is a schematic view of the internal structure of the control box of the present invention;
FIG. 5 is a schematic view of a detecting unit according to the present invention;
FIG. 6 is a schematic diagram of a switch unit of the present invention;
FIG. 7 is a schematic diagram of a control unit according to the present invention;
FIG. 8 is a diagram of the RTOS system operation of the present invention;
FIG. 9 is a schematic view of a PID position loop of the invention;
in the drawings, the corresponding relationship between the component names and the reference numbers is as follows:
1. a longitudinal support bar; 2. a vertical supporting rod; 3. a longitudinal bracing plate; 4. a detection unit; 401. an angle adjusting frame; 402. a mounting frame; 403. a visor; 404. a linear CCD image sensor; 5. a longitudinal mounting plate; 6. a frame; 601. a three-dimensional cage culture frame; 602. a fecal zone; 605. a tension adjusting connecting plate; 606. a left adjustment gear motor; 607. a control cable; 608. a control box; 609. a right adjustment gear motor; 611. a driven shaft; 612. adjusting the screw rod; 613. a pin connector; 7. a control unit; 701. the power supply controls the air switch; 702. a switching power supply; 703. a BHL motor driver; 704. a main controller; 8. a switch unit; 801. an emergency stop button; 802. a control box lock; 803. a three-position selection knob; 804. a display panel; 805. a left speed reducer manual button; 806. and a right speed reducer manual key.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 to 8, an embodiment of the present invention includes: an automatic manure belt deviation rectifying system for breeding based on a linear CCD (charge coupled device), which comprises a rack 6, wherein the rack 6 is correspondingly provided with two positions in front and back, two rows of vertical support struts 2 are welded between the two racks 6 at equal intervals in a bilaterally symmetrical mode, eight longitudinal support rods 1 are symmetrically fixed on the four vertical support struts 2 at equal intervals in an up-and-down equidistant mode, the front ends of the eight longitudinal support rods 1 are symmetrically and fixedly connected with eight longitudinal mounting plates 5, and the front ends of the eight longitudinal mounting plates 5 are fixedly connected with a front side rack 6; the rear ends of the eight longitudinal support rods 1 are symmetrically and fixedly provided with eight longitudinal support connecting plates 3, and the rear ends of the eight longitudinal support connecting plates 3 are fixedly connected with the rear side rack 6; a three-dimensional cage culture frame 601 is arranged between the eight longitudinal supporting and connecting plates 3, four excrement belts 602 are also arranged between the eight longitudinal supporting and connecting plates 3, and the four excrement belts 602 are close to the lower parts of the blocking nets at the bottom sides of the four three-dimensional cage culture frames 601; the front end and the rear end of the excrement belt 602 are rotatably provided with a driven shaft 611 and a driving shaft; the left and right corresponding longitudinal mounting plates 5 are respectively provided with a sliding groove, two tension adjusting connecting plates 605 are symmetrically and slidably mounted in the two sliding grooves, and the bearing blocks at the left and right ends of the driven shaft 611 are fixedly connected with the two tension adjusting connecting plates 605; the top ends of the rear sides of the two corresponding left and right longitudinal mounting plates 5 are respectively provided with a detection unit 4; a control box 608 is arranged at the top end section of the right vertical support rod of the front side frame 6, a switch unit 8 is integrally installed on a box cover of the control box 608, and a control unit 7 is integrally installed inside the control box 608; a left adjusting gear motor 606 and a right adjusting gear motor 609 are arranged on the left vertical supporting rod and the right vertical supporting rod of the front side frame 6 corresponding to the longitudinal mounting plate 5, and the left adjusting gear motor 606 and the right adjusting gear motor 609 are electrically connected with the control unit 7 through a control cable 607.
As shown in fig. 5, the detecting unit 4 includes an angle adjusting frame 401 and two mounting frames 402, the two mounting frames 402 are symmetrically mounted on the top of the rear end sections of the two corresponding left and right longitudinal mounting plates 5, and the top ends of the two mounting frames 402 are respectively rotatably mounted with one angle adjusting frame 401.
As shown in fig. 5, the detecting unit 4 further includes a light shielding plate 403 and a linear CCD image sensor 404, two linear CCD image sensors 404 are mounted on the two angle adjusting frames 401, two light shielding plates 403 with a prescription structure are symmetrically and fixedly disposed on the rear end sections of the two corresponding left and right longitudinal mounting plates 5, which face one side of the fecal ribbon 602, the positions of the two light shielding plates 403 correspond to the two linear CCD image sensors 404, and the light shielding plates 403 are made by bending an aluminum plate and then blackening, which provides a high-quality background line for the linear CCD and is beneficial to obtaining a pure CCD feedback signal.
As shown in fig. 2, two adjusting screws 612 are rotatably disposed on two corresponding left and right longitudinal mounting plates 5, two pin connectors 613 are connected to the front end sections of the two adjusting screws 612, the tail ends of the two pin connectors 613 are respectively in shaft transmission with the left adjusting and speed reducing motor 606 and the right adjusting and speed reducing motor 609, and the two adjusting screws 612 are screwed and penetrated with the two tension adjusting connection plates 605.
As shown in fig. 7, the control unit 7 includes a power control idle switch 701, a switching power supply 702, a BHL motor driver 703 and a main controller 704, the power control idle switch 701 and two BHL motor drivers 703 are fixedly arranged on the lower portion of the backplane of the control box 608, the switching power supply 702 and the main controller 704 are installed on the upper half portion of the backplane of the control box 608 side by side, and the main controller 704 is electrically connected to the two BHL motor drivers 703.
As shown in fig. 7, two BHL motor drivers 703 are electrically connected to the left adjustment deceleration motor 606 and the right adjustment deceleration motor 609 correspondingly, the power control switch 701 is electrically connected to the switching power supply 702, the switching power supply 702 is used to supply power to the two BHL motor drivers 703 and the main controller 704, the two linear CCD image sensors 404 are in communication connection with the main controller 704, and the power of the switching power supply 702 is 240W; the BHL motor driver 703 can obtain a motor operation AB pulse signal and a current magnitude signal, and the main controller 704 adopts an ARM architecture.
As shown in fig. 6, the switch unit 8 includes an emergency stop button 801, a control box lock 802, a three-position selection knob 803, a display panel 804, a left speed reducer manual button 805 and a right speed reducer manual button 806, the emergency stop button 801, the control box lock 802 and the display panel 804 are mounted on the upper half portion of the lid of the control box 608 in an embedded manner at intervals, and the three-position selection knob 803, the left speed reducer manual button 805 and the right speed reducer manual button 806 are mounted on the lower half portion of the lid of the control box 608 in an aligned manner.
As shown in fig. 6, the emergency stop button 801, the three-position selection knob 803, the left reducer manual button 805 and the right reducer manual button 806 are electrically connected to the main controller 704, and the display panel 804 is electrically connected to the main controller 704 and the two BHL motor drivers 703.
As shown in fig. 2, the left adjusting gear motor 606, the right adjusting gear motor 609, the two adjusting screws 612, the two pin connectors 613 and the two tension adjusting connection plates 605 together form an execution unit, the execution unit controls the tension adjusting connection plates 605 to perform tension control through the left adjusting gear motor 606, the right adjusting gear motor 609 and the adjusting screws 612, and the reduction ratio 100 of the left adjusting gear motor 606 and the right adjusting gear motor 609: 1, speed range (0.5-30 r/min), output torque of the speed reducer is 13.7-16N/m, and the single-cycle number of the motor is 3000 pulse.
The working principle is as follows: acquiring position information of the fecal ribbon 602 by acquiring CCD signals and comparing double-side signal jumping points, resolving the position information through a main controller 704, inputting an incremental PID planning target, acting on an execution unit through serial multistage PID, adjusting the rotation direction and the rotation speed of a left adjusting speed reduction motor 606 and a right adjusting speed reduction motor 609 through PID preposition action to realize accurate adjustment of the position of the fecal ribbon 602, detecting current information through synchronously tensioning and loosening the fecal ribbon 602, detecting a tensioning state and keeping the fecal ribbon 602 tensioned;
the system comprises a real-time control system (RTOS) system diagram and a specific work flow of a PID position ring: the method comprises the steps of obtaining brightness information of 128 pixel points through a CCD (a black aluminum plate signal is 0 white PP band detection signal and changes according to environment brightness) in an automatic mode, carrying out threshold value adjustment and smooth weighting through software to obtain sudden rising edge positions, detecting a left CCD rising edge signal and no right signal at the moment, carrying out error calculation (setting number-left rising edge signal point number) and alarming through a left rising edge error control number set by a system, detecting a right CCD rising edge signal and no left signal, carrying out error calculation (right rising edge signal point number-setting number) and alarming through a right rising edge error control number set by the system, simultaneously obtaining rising edge signal points by two eyes, carrying out error calculation through calculation (256-right rising edge signal point-left rising edge signal point) and simultaneously having no rising edge signal, judging double CCD shielding, alarming and canceling automatic control, performing PID adjustment on position errors by comparing values of a planner, and keeping the manure belt 602 centered all the time by output of an execution unit;
and controlling the total tension, namely simultaneously tensioning the manure belt 602, keeping the output of the left adjusting speed reducing motor 606 and the output of the right adjusting speed reducing motor 609 at 1400 revolutions per minute, wherein the rotating speed of the speed reducer is 14 revolutions per minute, and performing synchronous tension control by acquiring a current output signal of the BHL motor driver 703 and comparing a set value.
The manual mode is that a three-position selection knob 803 is used to access an optical isolation signal system Px5\ Px6 point, the position of Px5 is connected to 24v to show that the moment is forward control, a left adjusting speed reducing motor 606 and a right adjusting speed reducing motor 609 set the synchronous rotating speed of 24 r/min, and the motor tensioning control is carried out by clicking a left speed reducer manual button 805 and a right speed reducer manual button 806 or synchronously pressing the left speed reducer manual button 805 and the right speed reducer manual button 806. Connecting Px6 to 24v, setting the position to be high to show that the moment is reverse transmission control, setting synchronous rotation speed of 30r/min by a left adjusting speed reducing motor 606 and a right adjusting speed reducing motor 609, and performing motor loosening control by clicking a left speed reducer manual button 805 and a right speed reducer manual button 806 or simultaneously pressing the left and right manual buttons to perform synchronous loosening of the dung belt 602; and when no signal is accessed to Px5/Px6, the control is automatic.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides a breed and take automatic deviation rectification system with excrement based on linear CCD which characterized in that: the rack comprises a rack (6), wherein the rack (6) is correspondingly provided with two positions in front and back, two rows of vertical support struts (2) are welded between the two racks (6) at intervals in a bilateral symmetry manner, the four vertical support struts (2) in the two rows are symmetrically fixed with eight longitudinal support rods (1) at intervals in an up-down equidistant manner, the front ends of the eight longitudinal support rods (1) are symmetrically and fixedly connected with eight longitudinal mounting plates (5), and the front ends of the eight longitudinal mounting plates (5) are fixedly connected with a front side rack (6); eight longitudinal supporting and connecting plates (3) are symmetrically and fixedly arranged at the rear ends of the eight longitudinal supporting rods (1), and the rear ends of the eight longitudinal supporting and connecting plates (3) are fixedly connected with a rear side rack (6); a three-dimensional cage culture frame (601) is arranged between the eight longitudinal supporting and connecting plates (3), four excrement belts (602) are arranged between the eight longitudinal supporting and connecting plates (3), and the four excrement belts (602) are close to and positioned below the blocking nets at the bottom sides of the four three-dimensional cage culture frames (601); the front end and the rear end of the manure belt (602) are rotatably provided with a driven shaft (611) and a driving shaft; two corresponding left and right longitudinal mounting plates (5) are respectively provided with a sliding groove, two tension adjusting connecting plates (605) are symmetrically and slidably mounted in the two sliding grooves, and bearing seats at the left and right ends of a driven shaft (611) are fixedly connected with the two tension adjusting connecting plates (605); the top ends of the rear sides of the two corresponding left and right longitudinal mounting plates (5) are respectively provided with a detection unit (4); a control box (608) is arranged on the top end section of the right vertical support rod of the front side rack (6), a switch unit (8) is integrally installed on a box cover of the control box (608), and a control unit (7) is integrally installed inside the control box (608); and a left adjusting gear motor (606) and a right adjusting gear motor (609) are installed on positions, corresponding to the longitudinal mounting plate (5), of the left vertical supporting rod and the right vertical supporting rod of the machine frame (6) on the front side, and the left adjusting gear motor (606) and the right adjusting gear motor (609) are electrically connected with the control unit (7) through control cables (607).
2. The automatic manure belt deviation rectifying system based on linear CCD cultivation of claim 1, characterized in that: the detection unit (4) comprises an angle adjusting frame (401) and mounting frames (402), the two mounting frames (402) are symmetrically mounted at the tops of the rear end sections of the two corresponding left and right longitudinal mounting plates (5), and the top ends of the two mounting frames (402) are respectively rotatably mounted with one angle adjusting frame (401).
3. The automatic manure belt deviation rectifying system based on linear CCD cultivation of claim 2, characterized in that: the detection unit (4) further comprises light shielding plates (403) and linear CCD image sensors (404), the two linear CCD image sensors (404) are mounted on the two angle adjusting frames (401), the light shielding plates (403) with two prescription-shaped structures are symmetrically and fixedly arranged on the rear end sections of the two longitudinal mounting plates (5) corresponding to the left and the right and towards one side of the excrement belt (602), and the positions of the two light shielding plates (403) correspond to the two linear CCD image sensors (404).
4. The automatic manure belt deviation rectifying system based on linear CCD cultivation of claim 1, characterized in that: two adjusting screw rods (612) are rotatably arranged on the two longitudinal mounting plates (5) corresponding to the left and the right, two pin shaft connectors (613) are connected to the front end sections of the two adjusting screw rods (612), the tail ends of the two pin shaft connectors (613) are respectively in shaft connection transmission with the left adjusting and speed reducing motor (606) and the right adjusting and speed reducing motor (609), and the two adjusting screw rods (612) are in screwed penetrating fit with the two tension adjusting connecting plates (605).
5. The automatic manure belt deviation rectifying system based on linear CCD cultivation of claim 3, characterized in that: the control unit (7) comprises a power control air switch (701), a switching power supply (702), a BHL motor driver (703) and a main controller (704), wherein the power control air switch (701), the two BHL motor drivers (703) are arranged and fixedly arranged on the lower portion of the back plate of the control box (608), the switching power supply (702) and the main controller (704) are arranged on the upper half portion of the back plate of the control box (608) side by side, and the main controller (704) is electrically connected with the two BHL motor drivers (703).
6. The automatic manure belt deviation rectifying system based on linear CCD cultivation as claimed in claim 5, characterized in that: the two BHL motor drivers (703) are correspondingly electrically connected with the left adjusting speed reducing motor (606) and the right adjusting speed reducing motor (609), the power supply control air switch (701) is electrically connected with the switching power supply (702), the switching power supply (702) is used for supplying power to the two BHL motor drivers (703) and the main controller (704), and the two linear CCD image sensors (404) are in communication connection with the main controller (704).
7. The automatic manure belt deviation rectifying system based on linear CCD cultivation of claim 5, characterized in that: the switch unit (8) comprises an emergency stop button (801), a control box lock (802), a three-position selection knob (803), a display panel (804), a left speed reducer manual button (805) and a right speed reducer manual button (806), wherein the emergency stop button (801), the control box lock (802) and the display panel (804) are installed on the upper half portion of a box cover of the control box (608) in an embedded mode at intervals, and the three-position selection knob (803), the left speed reducer manual button (805) and the right speed reducer manual button (806) are installed on the lower half portion of the box cover of the control box (608) in an arrayed mode.
8. The automatic manure belt deviation rectifying system based on linear CCD cultivation of claim 7, characterized in that: the emergency stop button (801), the three-position selection knob (803), the left speed reducer manual button (805) and the right speed reducer manual button (806) are electrically connected with the main controller (704), and the display panel (804) is electrically connected with the main controller (704) and the two BHL motor drivers (703).
9. The automatic manure belt deviation rectifying system based on linear CCD cultivation as claimed in claim 4, characterized in that: the left adjusting speed reducing motor (606), the right adjusting speed reducing motor (609), the two adjusting screw rods (612), the two pin shaft connectors (613) and the two tension adjusting connecting plates (605) jointly form an execution unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210804599.9A CN115072269A (en) | 2022-07-08 | 2022-07-08 | Automatic excrement belt deviation rectifying system for breeding based on linear CCD |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210804599.9A CN115072269A (en) | 2022-07-08 | 2022-07-08 | Automatic excrement belt deviation rectifying system for breeding based on linear CCD |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115072269A true CN115072269A (en) | 2022-09-20 |
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| CN202210804599.9A Pending CN115072269A (en) | 2022-07-08 | 2022-07-08 | Automatic excrement belt deviation rectifying system for breeding based on linear CCD |
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| CN102602681A (en) * | 2012-01-13 | 2012-07-25 | 天津工业大学 | Machine vision based online deviation fault detecting method for conveying belts |
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| CN109329109A (en) * | 2018-12-04 | 2019-02-15 | 青岛大牧人机械股份有限公司 | A kind of cage culture manure clearing band dynamic adjusting device |
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| CN102602681A (en) * | 2012-01-13 | 2012-07-25 | 天津工业大学 | Machine vision based online deviation fault detecting method for conveying belts |
| CN203411129U (en) * | 2013-08-08 | 2014-01-29 | 苏志深 | Novel high-precision high-speed automatic error correction device |
| CN109329109A (en) * | 2018-12-04 | 2019-02-15 | 青岛大牧人机械股份有限公司 | A kind of cage culture manure clearing band dynamic adjusting device |
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