CN116267669A - A blanking method, device, feeding mechanism and computer-readable storage medium - Google Patents

Abstract

The application relates to the technical field of cultivation equipment, and discloses a feeding mechanism's unloading method, device, feeding mechanism and computer-readable storage medium, feeding mechanism's unloading method includes: acquiring a pulse value of an encoder motor; wherein each pulse value corresponds to the stroke of an encoder motor; identifying weight information of a weighing sensor in the feeding equipment; a discharging opening size adjustment strategy corresponding to the weight information is called; and controlling the stroke of the encoder motor according to the regulation strategy and executing the blanking action. Therefore, the embodiment of the application can cooperate with the weighing sensor in the feeding equipment after the pulse value of the encoder motor is obtained by the feeding mechanism, the movement of the valve is automatically controlled, the automatic control of the size of the feeding opening of the stockline is realized, and the feeding precision of the equipment is improved.

Description

A blanking method, device, feeding mechanism and computer-readable storage medium

technical field

The invention relates to the technical field of breeding equipment, in particular to a feeding method, device, feeding mechanism and computer-readable storage medium for a feeding mechanism.

Background technique

In the feeding mechanism of traditional feeding equipment, the valve of the feeding port is manually operated, which is not only intensive in operation, but also inaccurate in feeding.

Contents of the invention

In order to solve the above technical problems, the present invention provides a feeding method, device, feeding mechanism and computer-readable storage medium for automatically controlling the size of the feeding opening of the feeding mechanism and ensuring the feeding accuracy.

In the first aspect, the embodiment of the present application provides a method for unloading the feed mechanism. A valve is movably arranged on the feed opening of the feed mechanism. The valve is driven by an encoder motor. The unloading method includes:

Obtain the pulse value of the encoder motor; where each pulse value corresponds to the stroke of an encoder motor;

Identify the weight information of the weighing sensor in the feeding equipment;

Retrieving the size adjustment strategy of the feeding opening corresponding to the weight information;

According to the adjustment strategy, the stroke of the encoder motor is controlled and the blanking action is performed.

Preferably, the pulse value of the encoder motor is in one-to-one correspondence with the stroke of the encoder motor, and the specific correspondence is as follows:

S ₁ =P ₁ *(S/P);

Among them, S ₁ is the current valve opening operation stroke, P ₁ is the pulse value captured by the valve opening motor, S is the total stroke, and P is the total number of pulses required for the total stroke.

Preferably, the size of the discharge opening is coordinated with the weight information of the load cell required, and its specific correspondence is:

W ₂ =WW ₁ ;

Among them, W is the weighing value captured by the weighing sensor before feeding, W ₁ is the weighing value captured by the weighing sensor after feeding, and W ₂ is the set cutting weight.

Preferably, controlling the stroke of the encoder motor according to the adjustment strategy includes:

Obtain an adjustment request sent by the user terminal;

in response to the adjustment request, modifying the configuration parameter according to the adjustment request;

Wherein, the configuration parameters are based on various data collected to understand the usage of different usage scenarios and the bias of usage patterns, and synchronize the data to the cloud.

In the second aspect, the embodiment of the present application provides a feeding device for a feeding mechanism, including:

The first obtaining module is used to obtain the pulse value of the encoder motor; wherein, each pulse value corresponds to a stroke of the encoder motor;

The identification module is used to identify the weight information of the weighing sensor in the feeding equipment;

The calling module is used to call the size adjustment strategy of the feeding opening corresponding to the weight information;

The execution module is used for controlling the stroke of the encoder motor and executing the material-feeding action according to the adjustment strategy.

Preferably, the pulse value of the encoder motor is in one-to-one correspondence with the stroke of the encoder motor, and the specific correspondence is as follows:

S ₁ =P ₁ *(S/P);

Among them, S ₁ is the current valve opening operation stroke, P ₁ is the pulse value captured by the valve opening motor, S is the total stroke, and P is the total number of pulses required for the total stroke.

Preferably, the size of the discharge opening is coordinated with the weight information of the load cell required, and its specific correspondence is:

W ₂ =WW ₁ ;

Among them, W is the weighing value captured by the weighing sensor before feeding, W ₁ is the weighing value captured by the weighing sensor after feeding, and W ₂ is the set cutting weight.

Preferably, the identification device further includes:

A second acquiring module, configured to acquire the adjustment request sent by the user terminal;

a modification module, configured to modify the configuration parameters according to the adjustment request in response to the adjustment request;

Wherein, the configuration parameters are based on various data collected to understand the usage of different usage scenarios and the bias of usage patterns, and synchronize the data to the cloud.

In a third aspect, an embodiment of the present application provides a feeding mechanism, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the computer program When implementing the method as described in the first aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the above-mentioned first aspect is implemented.

Compared with the prior art, the embodiments of the present application have the following beneficial effects:

In the embodiment of the present application, by obtaining the pulse value of the encoder motor; wherein, each pulse value corresponds to the stroke of an encoder motor; identifying the weight information of the weighing sensor in the feeding equipment; Adjustment strategy for the size of the material opening; control the stroke of the encoder motor and perform the blanking action according to the adjustment strategy. It can be seen that in the embodiment of the present application, the feeding mechanism can cooperate with the weighing sensor in the feeding equipment after obtaining the pulse value of the encoder motor to automatically control the movement of the valve, realize the automatic control of the size of the feeding port of the feeding line, and improve the efficiency of the equipment. feed accuracy.

Description of drawings

Fig. 1 is a schematic flow chart of a blanking method provided in the embodiment of the present application;

Fig. 2 is a schematic structural view of a blanking device provided in an embodiment of the present application;

Fig. 3 is a schematic structural view of the feeding mechanism provided by the embodiment of the present application.

Fig. 4 is a schematic diagram of the mechanical structure of the feeding mechanism provided by the embodiment of the present application.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

As used in this specification and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

The specific technical solutions of the embodiments of the present application are introduced below.

The feeding mechanism corresponding to the present application is shown in Figure 4, and a valve 1 is movably arranged on its feeding port, and the valve 1 is driven by an encoder motor 2. The mechanical structure of the feeding mechanism is the prior art, but the motor does not use coding machine motor, this application will not repeat them. This application can realize the automatic feeding function of traditional automation equipment. The core part is the application of the encoder motor, which realizes the transformation from the traditional manual valve to the automatic switch valve. The motor rotates once, corresponding to the output pulse of 1200 pulses, and the internal CPU real-time Monitor the motor output pulse value. By calculating the output pulse value corresponding to the motor stroke, the running distance of the motor can be monitored in real time, the size of the opening of the feeding port can be controlled, the opening size of the feeding port of the material line can be controlled, and the feeding speed can be controlled. Cooperating with the weighing sensor of the equipment itself, the greatly improved To ensure the feeding accuracy of the equipment, it can be achieved within 100g.

Referring to Figure 1, it is a schematic flow chart of a feeding method for a feeding mechanism provided in the embodiment of the present application. As an example and not a limitation, the method can be applied to a feeding mechanism, and the method includes the following steps:

Step S1, acquiring the pulse value of the encoder motor.

Among them, each pulse value corresponds to the stroke of an encoder motor. That is, the pulse value of the encoder motor corresponds to the stroke of the encoder motor one by one, and the corresponding stroke can be obtained through the pulse value of the detector, so as to realize the purpose of controlling the size of the feeding opening. The specific corresponding relationship is:

S1=P1*(S/P);

Among them, S1 is the current valve opening operation stroke, P1 is the pulse value captured by the valve opening motor, S is the total stroke, and P is the total number of pulses required for the total stroke.

Step S2, identifying the weight information of the weighing sensor in the feeding equipment.

The weight information corresponds to the feeding amount and feeding speed of the feeding mechanism, and can be monitored in real time to provide a reference basis for subsequent adjustments.

In step S3, the strategy for adjusting the size of the feeding port corresponding to the weight information is retrieved.

The size of the feeding opening is coordinated with the weight information of the load cell required, and its specific corresponding relationship is:

W2=W-W1;

Among them, W is the weighing value captured by the weighing sensor before feeding, W1 is the weighing value captured by the weighing sensor after feeding, and W2 is the set cutting weight.

Step S4, controlling the stroke of the encoder motor according to the adjustment strategy and performing the unloading action.

In a specific application, the user may operate a corresponding button on the user terminal APP to generate an adjustment request.

In response to the adjusted request, a configuration parameter is modified according to the adjusted request.

It can be understood that the user can operate the configuration parameters corresponding to the barcode on the user terminal APP to adjust, so as to realize personalized configuration.

Preferably, the configuration parameters are collected to understand the usage of different usage scenarios and the bias of usage patterns, and synchronize the data to the cloud. That is, animals in different stages have different feed amounts and feeding methods, and can be collected before use.

In the embodiment of the present application, by obtaining the pulse value of the encoder motor; wherein, each pulse value corresponds to the stroke of an encoder motor; identifying the weight information of the weighing sensor in the feeding equipment; Adjustment strategy for the size of the material opening; control the stroke of the encoder motor and perform the blanking action according to the adjustment strategy. It can be seen that in the embodiment of the present application, the feeding mechanism can cooperate with the weighing sensor in the feeding equipment after obtaining the pulse value of the encoder motor to automatically control the movement of the valve, realize the automatic control of the size of the feeding port of the feeding line, and improve the efficiency of the equipment. feed accuracy.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Corresponding to the identification method described in the above embodiment, Fig. 2 shows a structural block diagram of a cutting device provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown.

Referring to Figure 2, the identification device includes:

The first obtaining module 21 is used to obtain the pulse value of the encoder motor; wherein, each pulse value corresponds to the stroke of an encoder motor;

Wherein, the pulse value of the encoder motor is in one-to-one correspondence with the stroke of the encoder motor, and its specific correspondence is:

S1=P1*(S/P);

Among them, S1 is the current valve opening operation stroke, P1 is the pulse value captured by the valve opening motor, S is the total stroke, and P is the total number of pulses required for the total stroke.

The identification module 22 is used to identify the weight information of the weighing sensor in the feeding equipment;

The calling module 23 is used to call the size adjustment strategy of the feeding opening corresponding to the weight information;

Wherein, the size of the feeding opening is coordinated with the weight information of the required load cell, and its specific corresponding relationship is:

W ₂ =WW ₁ ;

Among them, W is the weighing value captured by the weighing sensor before feeding, W ₁ is the weighing value captured by the weighing sensor after feeding, and W ₂ is the set cutting weight.

The execution module 24 is used to control the stroke of the encoder motor and execute the unloading action according to the adjustment strategy.

In an optional implementation manner, the identification device further includes:

A second acquiring module, configured to acquire the adjustment request sent by the user terminal;

a modification module, configured to modify the configuration parameters according to the adjustment request in response to the adjustment request;

Wherein, the configuration parameters are based on various data collected to understand the usage of different usage scenarios and the bias of usage patterns, and synchronize the data to the cloud.

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.

Fig. 3 is a schematic structural diagram of a feeding mechanism provided by an embodiment of the present application. As shown in Figure 3, the feeding mechanism 3 of this embodiment includes: at least one processor 30, a memory 31, and a computer program 32 stored in the memory 31 and operable on the at least one processor 30, so When the processor 30 executes the computer program 32, the steps in any of the foregoing method embodiments are implemented.

The so-called processor 30 can be a central processing unit (Central Processing Unit, CPU), and the processor 30 can also be other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The memory 31 may be an internal storage unit of the feeding mechanism 3 in some embodiments, such as a hard disk or a memory of the feeding mechanism 3 . The memory 31 may also be an external storage device of the feeding mechanism 3 in other embodiments, such as a plug-in hard disk equipped on the feeding mechanism 3, a smart memory card (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the storage 31 may also include both an internal storage unit of the feeding mechanism 3 and an external storage device. The memory 31 is used to store operating system, application program, boot loader (BootLoader), data and other programs, such as the program code of the computer program. The memory 31 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above system, reference may be made to the corresponding processes in the aforementioned method embodiments, and details will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be realized.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the procedures in the method of the above-mentioned embodiments in the present application can be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program codes to the sweeping robot, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random-access memory (RAM, Random AccessMemory), electrical carrier signals, telecommunication signals, and software distribution media. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/network device and method may be implemented in other ways. For example, the device/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims (10)

1. The blanking method of the feeding mechanism is characterized in that a valve is movably arranged on a blanking opening of the feeding mechanism, the valve is driven by an encoder motor, and the blanking method comprises the following steps:

acquiring a pulse value of an encoder motor; wherein each pulse value corresponds to the stroke of an encoder motor;

identifying weight information of a weighing sensor in the feeding equipment;

a discharging opening size adjustment strategy corresponding to the weight information is called;

and controlling the stroke of the encoder motor according to the regulation strategy and executing the blanking action.

2. The feeding mechanism blanking method of claim 1, wherein the pulse value of the encoder motor corresponds to the stroke of the encoder motor one by one, and the specific correspondence is:

S ₁ ＝P ₁ *(S/P)；

wherein S is ₁ For the current valve opening running stroke, P ₁ The pulse value is captured for the valve opening motor, S is the total stroke, and P is the total number of pulses required for the total stroke.

3. The method for blanking a feeding mechanism according to claim 1, wherein the size of the blanking opening is coordinated with the weight information of the required weighing sensor, and the specific corresponding relation is as follows:

W ₂ ＝W-W ₁ ；

wherein W is the weight value captured by a weighing sensor before feeding, W is the weight value ₁ For the weighing sensor to capture the weighing value after feeding, W ₂ To set the blanking weight.

4. The method of feeding a mechanism according to claim 1, wherein controlling the stroke of the encoder motor according to the adjustment strategy comprises:

acquiring an adjustment request sent by the user terminal;

responding to the adjustment request, and modifying the configuration parameters according to the adjustment request;

and the configuration parameters are used for collecting various data for knowing the using amount and the using mode bias of different using scenes and synchronizing the data to the cloud.

5. The utility model provides a feed mechanism's unloader which characterized in that includes:

the first acquisition module is used for acquiring a pulse value of the encoder motor; wherein each pulse value corresponds to the stroke of an encoder motor;

the identification module is used for identifying weight information of a weighing sensor in the feeding equipment;

the adjusting module is used for adjusting a size adjusting strategy of the feed opening corresponding to the weight information;

and the execution module is used for controlling the stroke of the encoder motor according to the regulation strategy and executing the blanking action.

6. The feeding mechanism blanking device of claim 5, wherein the pulse value of the encoder motor corresponds to the stroke of the encoder motor one by one, and the specific correspondence is:

S ₁ ＝P ₁ *(S/P)；

wherein S is ₁ For the current valve opening running stroke, P ₁ The pulse value is captured for the valve opening motor, S is the total stroke, and P is the total number of pulses required for the total stroke. .

7. The feeding mechanism blanking device of claim 5, wherein the size of the blanking opening is coordinated with the weight information of the needed weighing sensor, and the specific corresponding relation is:

W ₂ ＝W-W ₁ ；

wherein W is the weight value captured by a weighing sensor before feeding, W is the weight value ₁ For the weighing sensor to capture the weighing value after feeding, W ₂ To set the blanking weight.

8. The feeder mechanism blanking device of claim 5 wherein said identification means further comprises:

the second acquisition module is used for acquiring the adjustment request sent by the user terminal;

the modification module is used for responding to the adjustment request and modifying the configuration parameters according to the adjustment request;

and the configuration parameters are used for collecting various data for knowing the using amount and the using mode bias of different using scenes and synchronizing the data to the cloud.

9. A feeding mechanism comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 4 when executing the computer program.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 4.

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