CN-121986726-A - Continuous feeding system and method for dynamic feeding and vibration-resistant weighing

CN121986726ACN 121986726 ACN121986726 ACN 121986726ACN-121986726-A

Abstract

The invention discloses a continuous feeding system and method for dynamic feeding and anti-vibration weighing, comprising the steps of obtaining a multisource sensing data set, extracting vibration frequency and amplitude data, optimizing an elastic coefficient and a damping coefficient, damping vibration through an elastic damping structure, constructing a three-stage pushing type feeding link, generating a first execution instruction, controlling a cage-rearing vehicle to drive to a target feeding point, carrying out position error calibration when a reflector mark point is identified by positioning, calculating the corrected position error to judge the calibration effectiveness, continuing calibration until reaching standards if invalid, calculating a vibration compensation factor to compensate weighing errors, calculating the residual amount of feed, starting a third-stage link feeding when the residual amount of feed is smaller than the required amount of feed, stopping feeding when the accumulated feeding weight reaches the target feeding weight, generating a second execution instruction, carrying out storage quantity evaluation, and triggering the first-stage link feeding if the total storage quantity is smaller than the storage threshold value, so as to realize anti-vibration weighing, continuous feeding, accurate positioning and dynamic feeding.

Inventors

HAN GUOFENG
BAI ZONGCHUN
DUAN HUIYI
WANG HUIXIN
DUAN ENZE
Huo Lianfei
LI MINGYANG
WU ZHEN
CAI JIAWEN

Assignees

江苏省农业科学院
济宁鸿邦机械有限公司

Dates

Publication Date: 20260508
Application Date: 20260211

Claims (10)

1. The continuous feeding method for dynamic feeding and vibration-resistant weighing is characterized by comprising the following steps of: Acquiring a multisource perception data set, extracting vibration frequency and amplitude data, optimizing an elastic coefficient and a damping coefficient, splitting a first group of bins and a second group of bins, and damping vibration through an elastic damping structure; Constructing a three-stage pushing type material conveying link, wherein the first-stage link executes initial quantitative feeding, the second-stage link quantitatively transfers to a second group of storage bins for the second time, and the third-stage link carries out continuous operation of feeding and receiving materials by double containers to generate a first executing instruction; receiving the first execution instruction to control the cage-rearing vehicle to drive to a target feeding point, performing position error calibration when the reflector mark point is identified in a positioning manner, calculating the corrected position error to judge whether the calibration is effective, and continuing the calibration until reaching the standard if the calibration is ineffective; calculating a vibration compensation factor to compensate weighing errors, calculating the residual amount of the feed, starting a third-stage link feeding when the residual amount of the feed is smaller than the required amount of the feed, stopping feeding when the accumulated feeding weight reaches the target feeding weight, generating a second execution instruction, performing storage amount assessment, and triggering a first-stage link feeding if the total storage amount is smaller than a storage threshold value.
2. The continuous feeding method of dynamic feeding and vibration-resistant weighing according to claim 1, wherein the specific step of generating the first execution instruction comprises: extracting vibration frequency and amplitude data, establishing a comprehensive vibration spectrum, extracting vibration characteristics, and matching the vibration characteristics with a dynamic model of an automatic stabilizing device; Taking the energy of the minimized weighing signal in the vibration frequency band as an optimization target, calculating an optimized elastic coefficient and a damping coefficient, acquiring initial energy before optimization and optimized target energy, and calculating an energy attenuation rate; setting an attenuation threshold, judging that the optimization is effective if the energy attenuation rate is greater than or equal to the attenuation threshold, otherwise, re-optimizing; based on optimizing effective elastic coefficient and damping coefficient, disassemble first group's feed bin, second group's feed bin into three integrated weighing sensor respectively and optimize back automatic stabilization device's little feed bin, make high-frequency vibration in time through elastic damping structure Internal decay to steady-state amplitude; and constructing a three-stage pushing type material conveying link, and generating a first execution instruction by combining the target feeding weight, the feed density, the feed characteristic data and the material conveying time sequence parameters of the three-stage link.
3. The continuous feeding method for dynamic feeding and vibration-resistant weighing according to claim 2, wherein the specific step of constructing a three-stage push type feeding link comprises the following steps: Constructing a three-level pushing type material conveying link, wherein the three-level pushing type material conveying link comprises a first-level link, a second-level link and a third-level link; The first-stage link selects a first electric telescopic rod, a first discharging container is arranged below a discharging hole at the bottom of the upper bin, and the first electric telescopic rod is connected with the side wall of the first discharging container to drive the first discharging container to perform initial quantitative feeding; The second-stage link selects a second electric telescopic rod, a second discharging container is arranged below a discharging hole at the bottom of the first group of bins, and based on initial quantitative feeding, the second discharging container is driven by the second electric telescopic rod to transport feed to the second group of bins.
4. A continuous feeding method for dynamic feeding and vibration-resistant weighing according to claim 3, wherein the specific step of constructing a three-stage push type feeding link further comprises: The third-stage link selects a third electric telescopic rod, a double-container circulating structure is built in a second group of storage bins, and a container A and a container B are symmetrically arranged on two sides of the rotating bracket; the receiving port of the container A is aligned with the discharging port of the second-stage link, and the continuous operation of synchronous feeding of the receiving port of the container A and the container B is driven by the third electric telescopic rod; the switching interval time of the A container and the B container is less than or equal to And reserving standby material receiving and buffering amounts of the container A and the container B.
5. The continuous feeding method for dynamic feeding and vibration-resistant weighing according to claim 4, wherein the specific step of performing the position error calibration comprises: Receiving the first execution instruction to drive the cage-raising crane to drive to a target feeding point along a track, determining real-time position coordinates, and obtaining the position distance calculated by the target feeding point coordinates; Setting a distance threshold, and controlling the cage-raising traveling crane to slow down until reaching a target feeding point and stopping preliminarily when the position distance is smaller than or equal to the distance threshold; locating and identifying a reflector mark point, receiving a reflector reflection signal, setting a signal intensity threshold, screening effective mark points with the reflector reflection signal being greater than or equal to the signal intensity threshold, and performing target matching with a reflector mark point distribution table; Calculating target matching rate and screening in descending order Continuous effective reflector mark points matched with the target feeding points are fitted with the track straight line; Acquiring preliminary stopping coordinates, calculating transverse errors and longitudinal errors of the cage-rearing vehicle relative to the target feeding point, and performing position error calibration; The transverse error is corrected by the telescopic action of the lateral motor, the corrected transverse error is calculated, the longitudinal error is corrected by the forward and reverse rotation action of the variable frequency driving motor, and the corrected longitudinal error is calculated.
6. The continuous feeding method of dynamic feeding and vibration-resistant weighing according to claim 5, wherein the specific step of determining whether calibration is effective comprises: setting a transverse error threshold and a longitudinal error threshold; combining the corrected lateral error with the corrected longitudinal error to determine whether a calibration is valid; if the corrected transverse error is less than or equal to the transverse error threshold and the corrected longitudinal error is less than or equal to the longitudinal error threshold, judging that the calibration is effective; Otherwise, judging that the calibration is invalid, and continuing the calibration until reaching the standard.
7. The continuous feeding method of dynamic feeding and vibration-resistant weighing according to claim 6, wherein the specific step of generating the second execution instruction comprises: after positioning calibration is completed, acquiring dynamic weight data in real time to form a dynamic weight data sequence; extracting vibration frequency and amplitude data, calculating a vibration compensation factor by combining the coupling relation of the vibration frequency and the amplitude, and carrying out weighing error compensation; Calculating compensated weight data according to the vibration compensation factors and the dynamic weight data sequence to form a compensated weight data sequence; Taking the average value of the compensation weight data sequence as the current real-time weight, acquiring the initial reserve weight of the feed of the second group of bins corresponding to the current target feeding point, and calculating the accumulated consumption weight; Calculating the residual amount of the feed according to the initial reserve weight and the accumulated consumption weight, and determining the required amount of the feed; And when the residual feed amount is smaller than the feed required amount, judging that the current feed amount is insufficient, and starting the third-stage link feeding.
8. The continuous feeding method of dynamic feeding and vibration-resistant weighing according to claim 7, wherein the specific step of generating the second execution instruction further comprises: The PLC control system controls the third electric telescopic rod rotating support to act so as to ensure that the container A and the container B are positioned at initial receiving positions; the container A receives the discharge of the second group of bins, and pauses receiving when the receiving amount reaches the preset feed weight, and simultaneously, the container B feeds the current target feeding point and accumulates the total weight of the current feeding point in real time; When the feeding of the container B is finished, switching to the feeding of the container A and the receiving of the container B for circulation and alternation, and updating the feed residual quantity of the second group of feed bins every time the container switching is finished; When the current feeding total weight is greater than or equal to the target feeding weight, controlling a second group of bin discharging ports to be closed, and driving the container A and the container B to reset to the initial receiving level by the third electric telescopic rod and stopping feeding operation; and integrating the stopping signal, the total weight of the current feeding and the completion state of the current target feeding point to generate a second execution instruction.
9. The continuous feeding method for dynamic feeding and vibration-resistant weighing according to claim 8, wherein the specific step of performing the reserve amount evaluation comprises: after receiving the second execution instruction, invoking weighing sensor data of the feeding bin, the first group of bins and the second group of bins, and calculating the total storage quantity of the feed; Setting a reserve threshold value, and evaluating the reserve quantity; If the total reserve quantity is smaller than the reserve threshold, judging that the reserve quantity is insufficient, triggering a first-stage link to start, and controlling the first electric telescopic rod to drive the feeding bin to feed the first group of feeding bins until the total reserve quantity is larger than or equal to the reserve threshold, and feeding reserved feed for the next target feeding point; otherwise, the material supplementing is not triggered, and the storage state is maintained.
10. A continuous feeding system for dynamic feeding and vibration-resistant weighing, which is used for realizing the continuous feeding method for dynamic feeding and vibration-resistant weighing according to any one of claims 1-9, and is characterized by comprising a multi-source sensing module, a three-stage vibration-resistant feeding module, a positioning calibration module and a dynamic feeding module; The multi-source sensing module is used for collecting vibration frequency, amplitude data, initial weight value and position deviation data, recording influence data of feed density and humidity on the feed delivery, and generating a multi-source sensing data set; The third-stage vibration-resistant material conveying module is used for extracting vibration frequency and amplitude data, optimizing an elastic coefficient and a damping coefficient, splitting a first group of bins and a second group of bins, rapidly attenuating vibration through an elastic damping structure, constructing a third-stage pushing type material conveying link, performing initial quantitative feeding on the first-stage link, performing secondary quantitative transportation on the second-stage link to the second group of bins, and performing continuous operation of feeding and receiving materials by using double containers on the third-stage link to generate a first execution instruction; the positioning calibration module is used for receiving the first execution instruction to control the cage-rearing vehicle to drive to a target feeding point, performing position error calibration when the reflective sheet identification point is identified in a positioning manner, calculating the corrected position error to judge whether the calibration is effective or not, and continuing the calibration until the calibration reaches the standard if the calibration is ineffective; The dynamic feeding module is used for calculating a vibration compensation factor to compensate weighing errors, calculating the residual amount of the feed, starting a third-stage link feeding when the residual amount of the feed is smaller than the required amount of the feed, stopping feeding when the accumulated feeding weight reaches the target feeding weight, generating a second execution instruction, performing storage amount assessment, and triggering the first-stage link feeding if the total storage amount is smaller than a storage threshold value.

Description

Continuous feeding system and method for dynamic feeding and vibration-resistant weighing Technical Field The invention relates to a continuous feeding system and a method for dynamic feeding and vibration-resistant weighing, and belongs to the technical field of intelligent feeding control for livestock and poultry cultivation. Background In modern large-scale livestock and poultry cultivation, automatic and efficient feed feeding is important. Most of traditional weighing and feeding systems adopt a static weighing or open-loop control mode, so that high precision and continuity are difficult to achieve, particularly in industrial sites with frequent vibration interference, such as stirring and conveying equipment operation, a weighing sensor is easily affected by mechanical vibration, and weighing fluctuation is large, feedback data is distorted, and excessive or insufficient feeding is caused. Meanwhile, in the prior art, a fixed period or a threshold is usually adopted to trigger feeding, and a feeding strategy cannot be dynamically adjusted according to a real-time consumption rate, so that material waste or feeding interruption is caused. In addition, vibration-resistant weighing and feeding processes are often performed step by step, and the cooperative requirements of dynamic feeding and vibration-resistant weighing in different scenes are difficult to meet. The prior patent with the publication number of CN118216464A discloses a feed feeding method, a device, equipment and a readable storage medium, wherein the feed feeding method comprises the steps of obtaining a feeding demonstration data set, determining an imitation output speed based on the feeding demonstration data set, determining a feeding output speed based on the energy function and the imitation output speed, controlling a mechanical arm to feed according to the imitation output speed, and enabling the mechanical arm to feed according to the imitation output speed to be accurate, and further enabling the feeding output speed determined based on the energy function and the imitation output speed to be the intelligent feeding output speed of the mechanical arm obtained after the imitation output speed is corrected. Although the existing feed feeding method, device, equipment and readable storage medium determine the simulated output speed through a Gaussian regression process algorithm, construct an energy function and constraint conditions, correct the obtained feed feeding output speed and control the action of a mechanical arm, realize the feeding of feed to a target point, reproduce the feeding track of an expert, reduce the dependence of manual experience and improve the feeding efficiency and the feed utilization rate, but do not consider the interference of vibration generated by equipment operation and material impact on feeding precision, and further cause the problems of dynamic weighing misalignment, deviation of feeding drop points from a target area and discontinuous feeding. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide a continuous feeding system and method for dynamic feeding and vibration-resistant weighing, which are used for realizing vibration-resistant weighing by acquiring a multisource sensing dataset, optimizing the elastic coefficient and damping coefficient of an automatic stabilizing device, constructing a three-stage pushing type material conveying link to ensure the material conveying continuity, positioning and calibrating a cage-rearing vehicle by combining a reflector mark point, calculating a vibration compensation factor to correct a weighing error and dynamically evaluating quantity survey bin storage quantity, forming closed-loop control of quantitative feeding and timely feeding, and effectively improving feeding precision, operation efficiency, positioning accuracy and feeding continuous stability. In order to achieve the above purpose, the present invention provides the following technical solutions: a continuous feeding method of dynamic feeding and vibration-resistant weighing, comprising: Acquiring a multisource perception data set, extracting vibration frequency and amplitude data, optimizing an elastic coefficient and a damping coefficient, splitting a first group of bins and a second group of bins, and damping vibration through an elastic damping structure; Constructing a three-stage pushing type material conveying link, wherein the first-stage link executes initial quantitative feeding, the second-stage link quantitatively transfers to a second group of storage bins for the second time, and the third-stage link carries out continuous operation of feeding and receiving materials by double containers to generate a first executing instruction; receiving the first execution instruction to control the cage-rearing vehicle to drive to a target feeding point, performing position error calibration when the reflector mark point is identified in a positi