An egg picking machine for stacked farming based on OpenMV

Abstract

The present invention provides an egg picking machine for stacked farming based on OpenMV, which relates to the technical field of poultry farming. It aims to solve the problem that in stacked farming, when the eggs on the upper layer enter the egg collecting device, due to the lack of reserved empty claws, there is a risk of egg accumulation, collision, and dropping. The egg picking machine includes: an egg picking machine frame; the egg picking machine frame is composed of two vertical frame structures on the left and right. The upper and lower ends of the frame structure are respectively rotatably installed with egg picking belts; at the upper and lower ends of the inner side of the left vertical frame of the egg picking machine frame, egg collecting belt motors are respectively fixedly installed. At the lower end of the inner side wall of the right vertical frame of the egg picking machine frame, an egg picking belt motor is fixedly installed. The end of the rotating shaft of the egg picking belt motor is rotationally connected to the egg picking belt roller shaft through a chain. The rollers of the two egg picking belts on the left and right are fixedly connected by a connecting rod. The present invention uses the OpenMV camera module to judge the accumulation situation of the egg collecting belt, adjust the egg picking speed and weighted channels.

Description

Technical Field

[0001] The present invention relates to the technical field of poultry farming, and particularly to an egg picking machine for stacked farming based on OpenMV. Background Art

[0002] In the stacked laying hen / duck farming, due to the unstable egg laying time, the change of egg laying rate, and the frequent occurrence of the peak egg laying period of laying hens / ducks, collisions, stacking, and dropping of chicken / duck eggs occur when the eggs enter the egg claw module from the egg collecting belt. Only this egg picking link results in a broken egg rate of about 2%.

[0003] Currently, it is inevitable that eggs are broken during mechanical egg collection and picking. Controlling the feed ratio to strengthen the eggshell strength is a relatively common method at present. However, during the peak egg laying period, the method of enhancing the eggshell by controlling feed and diet will be outshone. In addition, in intensive farming, an average of ten thousand eggs are laid in a single house, making the egg collection work not suitable to be completed by manpower. The prior art still cannot solve the problem that when the upper-layer eggs enter the egg collector in stacked farming, due to the lack of reserved empty claws, there is a risk of egg accumulation, collision, and dropping. In addition, it is still necessary to observe on-site by personnel to start and stop the egg collection work, which is still a labor-intensive task. The egg picking time and speed are still adjusted according to human experience, and the broken egg rate is affected by the professional level of personnel. Summary of the Invention

[0004] In view of this, the present invention provides an egg picking machine for stacked farming based on OpenMV to solve the problem that when the upper-layer eggs enter the egg collector in stacked farming, due to the lack of reserved empty claws, there is a risk of egg accumulation, collision, and dropping.

[0005] The present invention provides an egg picking machine for stacked farming based on OpenMV, specifically including: an egg picking machine frame; the egg picking machine frame is a structure of two vertical standing frames on the left and right, and egg picking belts are rotatably installed at the upper and lower ends of the standing frame structure respectively; at the upper and lower ends of the inner side of the left standing frame of the egg picking machine frame, egg collecting belt motors are fixedly installed respectively, and at the lower end of the inner side wall of the right standing frame of the egg picking machine frame, an egg picking belt motor is fixedly installed. The end of the rotating shaft of the egg picking belt motor is rotationally connected to the egg picking belt roller shaft through a chain, and the roller shafts of the two egg picking belts on the left and right are fixedly connected through a connecting rod; at the middle of the front end of the egg picking machine frame near the right standing frame, a control box is fixedly installed; at the lower middle part of the front end of the egg picking machine frame, an egg picking tray is fixedly installed vertically forward; at the rear end of the egg picking machine frame, four mutually parallel egg collecting belts are butted, and a blocking egg mechanism push rod mechanism is provided at one end of the egg collecting belt close to the egg picking machine frame; on the egg picking belt, there is an egg claw mechanism arranged side by side at uniform intervals; at the upper end of the back of the egg picking machine frame, an OpenMV detection unit extending backward is provided; on the egg picking machine frame below the egg picking tray, a photoelectric sensor unit is fixedly installed; at one end of the top of the egg collecting belt close to the egg picking machine frame, an inclined egg collecting belt guiding plate is provided, and a driven rubber roller of the egg collecting belt is horizontally rotatably installed in the egg collecting belt below the egg collecting belt guiding plate. The driven rubber roller of the egg collecting belt is rotationally connected to the rotating shaft of the egg collecting belt motor through a chain, and each egg collecting belt motor drives two driven rubber rollers of the egg collecting belt up and down.

[0006] Optionally, the blocking egg mechanism push rod mechanism is composed of a push rod mounting plate, a switch-type electromagnetic push rod, and an egg collecting belt execution baffle. The push rod mounting plate is horizontally fixed on the frame bodies at the left and right ends of the egg collecting belt. A vertical switch-type electromagnetic push rod is provided in the middle of the push rod mounting plate. The upper end of the switch-type electromagnetic push rod is fixedly connected with an egg collecting belt execution baffle. The egg collecting belt execution baffle is a single egg collecting belt execution baffle, and the material is PP injection molded and bolted to the switch-type electromagnetic push rod.

[0007] Optionally, the OpenMV detection unit is composed of a camera mounting plate, a camera adjustment plate, and an OpenMV camera. The camera mounting plate is fixedly connected to the rear end frame body of the back of the egg picking machine frame. A camera adjustment plate is fixedly installed on the back of the camera mounting plate. The lower end of the camera adjustment plate is provided with an OpenMV camera. The OpenMV camera integrates an MCU and uses a 24mm - 35mm variable focal length wide-angle lens. After the OpenMV camera is installed and adjusted, it can clearly photograph the egg storage state of the egg collecting belt guiding plates of 2 - 4 layers, and can vaguely distinguish the stacking situation of the egg collecting belt of 1 layer. After the sensor obtains the image, through algorithms such as cropping, masking, and recognition, the stacking situation of eggs on 1 - 4 layers is transmitted through the first 4-bit data frame of the CAN bus.

[0008] Optionally, the photoelectric sensor unit can be used for opposed beam and diffuse reflection according to the on-site situation. When the sensor is blocked by the egg claw mechanism, it is connected to the controller in the control box through a cable to transmit a switch signal. There are 52 groups of egg claw mechanisms in total. The controller calculates the running speed and the position of the egg claws by capturing the signals of the photoelectric sensor unit. Denote the number of captured signals as X, and its position signal as A = X mod 52.

[0009] Optionally, when operating under the default working condition, the egg blocking pusher mechanism is controlled by the photoelectric signals of the photoelectric sensor unit. The egg claw mechanism gets points strictly in the order of 4321. Denote the number of captured signals as X. When X mod 12 = 2|1|0, the 4-layer egg blocking pusher mechanism is released. When X mod 12 = 5|4|3, the 3-layer egg blocking pusher mechanism is released. When X mod 12 = 8|7|6, the 2-layer egg blocking pusher mechanism is released. When X mod 12 = 11|10|9, the 1-layer egg blocking pusher mechanism is released. During the blocking process, the egg blocking pusher mechanism sorts and queues the eggs through the driven rubber roller of the egg collecting belt, and enters the egg claws as a whole when released.

[0010] Optionally, during the stacking working condition, when entering the peak egg production period, the OpenMV detection unit detects crowded egg layers through image recognition area cutting and recognition, changes the sending value according to the queue length. The controller controls the frequency converter to increase the rotational speed of the egg picking belt motor according to the value obtained from the bus and based on the preset control rules, and gives the crowded layer more continuous release opportunities of the egg blocking pusher mechanism through release weighting.

[0011] Optionally, during the fault working condition, the controller issues an alarm and switches to the release state of the egg blocking pusher mechanism to ensure operation under faults.

[0012] Optionally, at the docking position between the rear edge of the egg picking tray and the egg picking belt, there are evenly spaced egg guiding tongue strips that slope upward.

[0013] Beneficial effects

[0014] 1. The present invention judges the stacking situation of the egg collecting belt through the OpenMV camera module, and adjusts the egg picking speed and weighted channels.

[0015] 2. The present invention realizes the preliminary sorting of eggs through the egg blocking mechanism and the driven rubber wheel mechanism, and improves the saturation of the egg claws.

[0016] 3. The present invention cooperates with the photoelectric switch and the egg blocking mechanism to ensure that eggs enter the designated egg claws correspondingly under the working conditions, without the risks of collision, stacking and falling off by wrong layers, and reduces the breakage rate.

[0017] 4. The present invention cooperates with the egg blocking mechanism and the photoelectric switch to completely realize the layered entry of the egg claws, and avoids the high breakage rate caused by stacking due to wrong-layer entry.

[0018] 5. By introducing the OpenMV device, the present invention determines the accumulation situation of the egg collection belt through image recognition, automatically adjusts the egg picking speed and the egg picking weight of the egg production rate explosion layer, so as to optimize the problem of empty rows of the egg claws under the default 4321 default rule. The egg picking efficiency is improved, and the breakage problem caused by congestion during the peak egg production period is prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below.

[0020] The drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0021] In the drawings:

[0022] Figure 1 is a right front upper axonometric structural schematic diagram of an embodiment of the present invention.

[0023] Figure 2 is an embodiment of the present invention Figure 1 partial enlarged structural schematic diagram of part A.

[0024] Figure 3 is a left rear upper axonometric structural schematic diagram of an embodiment of the present invention.

[0025] Figure 4 is an embodiment of the present invention Figure 3 partial enlarged structural schematic diagram of part B.

[0026] Figure 5 is a right view state egg picking machine frame side plate removed state and partial enlarged structural schematic diagram of an embodiment of the present invention.

[0027] Figure 6 is a schematic diagram of the composition structure of the execution system of an embodiment of the present invention.

[0028] Figure 7 is a schematic diagram of two working states of the blocker assembly of an embodiment of the present invention.

[0029] Figure 8 is a top view structural schematic diagram of an embodiment of the present invention.

[0030] Figure 9 is a structural schematic diagram of the OpenMV camera view of an embodiment of the present invention.

[0031] LIST OF REFERENCE NUMERALS

[0032] 101, Egg picking machine frame; 102, Egg picking tray; 10201, Egg guiding tongue strip; 201, Egg collecting belt motor; 202, Egg picking belt motor; 301, Control box; 302, Egg blocking pusher mechanism; 3021, Pusher mounting plate; 3022, Digital electromagnetic pusher; 3023, Egg collecting belt execution baffle; 303, OpenMV detection unit; 3031, Camera mounting plate; 3032, Camera adjustment plate; 3033, OpenMV camera; 304, Photoelectric sensor unit; 401, Egg claw mechanism; 402, Egg collecting belt guiding plate; 403, Egg collecting belt driven rubber roller; 405, Egg collecting belt. Detailed implementation mode

[0033] In order to make the objectives, solutions, and advantages of the technical solutions of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the specific embodiments of the present invention.

[0034] Embodiment 1: Please refer to Figures 1 to 9 as shown:

[0035] The present invention provides an egg picking machine for stacked breeding based on OpenMV, including an egg picking machine frame 101; the egg picking machine frame 101 is a vertical frame structure on the left and right, and egg picking belts are rotatably installed at the upper and lower ends of the frame structure respectively; at the upper and lower ends of the inner side of the left vertical frame of the egg picking machine frame 101, an egg collecting belt motor 201 is fixedly installed respectively, and at the lower end of the inner side wall of the right vertical frame of the egg picking machine frame 101, an egg picking belt motor 202 is fixedly installed. The end of the rotating shaft of the egg picking belt motor 202 is rotationally connected to the egg picking belt roller shaft through a chain, and the roller shafts of the left and right egg picking belts are fixedly connected by a connecting rod; at the middle of the front end of the egg picking machine frame 101, near the right vertical frame, a control box 301 is fixedly installed; at the middle and lower part of the front end of the egg picking machine frame 101, an egg picking tray 102 is vertically and forwardly fixedly installed; at the back end of the egg picking machine frame 101, four mutually parallel egg collecting belts 405 are butted, and an egg blocking pusher mechanism 302 is provided at one end of the egg collecting belt 405 close to the egg picking machine frame 101; on the egg picking belt, an egg claw mechanism 401 arranged side by side at equal intervals is provided; at the upper end of the back of the egg picking machine frame 101, an OpenMV detection unit 303 extending backward is provided; on the egg picking machine frame 101 below the egg picking tray 102, a photoelectric sensor unit 304 is fixedly installed; at one end of the top of the egg collecting belt 405 close to the egg picking machine frame 101, an inclined egg collecting belt guiding plate 402 is provided, and a horizontally rotating egg collecting belt driven rubber roller 403 is installed in the egg collecting belt below the egg collecting belt guiding plate 402. The egg collecting belt driven rubber roller 403 is rotationally connected to the rotating shaft of the egg collecting belt motor 201 through a chain, and each egg collecting belt motor 201 drives the upper and lower two egg collecting belt driven rubber rollers 403.

[0036] Among them, as Figure 6As shown in the figure, the egg blocking pusher mechanism 302 consists of a pusher mounting plate 3021, a digital electromagnetic pusher 3022, and an egg collecting belt actuating baffle 3023. The pusher mounting plate 3021 is horizontally fixed on the frames at the left and right ends of the egg collecting belt 405. A vertical digital electromagnetic pusher 3022 is provided in the middle of the pusher mounting plate 3021. The upper end of the digital electromagnetic pusher 3022 is fixedly connected to the egg collecting belt actuating baffle 3023. The egg collecting belt actuating baffle 3023 is an egg collecting belt actuating baffle, made of PP injection molding and bolted to the digital electromagnetic pusher 3022. The digital electromagnetic pusher 3022 is driven by 24V electromagnetic, and the controller controls it through a relay on and off. Figure 7 These are two working states of the egg blocking pusher mechanism 302.

[0037] Among them, as Figure 4 shown, the OpenMV detection unit 303 consists of a camera mounting plate 3031, a camera adjustment plate 3032, and an OpenMV camera 3033. The camera mounting plate 3031 is fixedly connected to the rear end frame of the back of the egg picking machine frame 101. The camera adjustment plate 3032 is fixedly installed on the back of the camera mounting plate 3031. The OpenMV camera 3033 is installed at the lower end of the camera adjustment plate 3032. The OpenMV camera 3033 integrates an MCU and uses a 24mm - 35mm variable focal length wide - angle lens. After the OpenMV camera 3033 is installed and adjusted, it can clearly photograph the egg storage state of the guiding plates of the 2 - 4 - layer egg collecting belt 405, and can vaguely distinguish the stacking situation of the 1 - layer egg collecting belt 405. After the sensor obtains the image ( Figure 9 ), through algorithms such as cropping, masking, and recognition, the stacking situation of eggs on the 1 - 4 layers is transmitted through the first 4 - bit data frame of the CAN bus.

[0038] Among them, as Figure 2 shown, the photoelectric sensor unit 304 can be selected as opposed or diffuse reflection according to the site conditions. When the sensor is blocked by the egg claw mechanism 401, it is connected to the controller in the control box 301 through a cable to transmit a switch signal. There are 52 groups of egg claw mechanisms 401 in total. The controller calculates the running speed and the position of the egg claws by capturing the signals of the photoelectric sensor unit 304. Denote the number of captured signals as X, and its position signal is A = X mod 52.

[0039] Among them, when operating under the default condition, the egg blocking push rod mechanism 302 is controlled by the optoelectronic signal of the optoelectronic sensor unit 304. The egg claw mechanism 401 is energized strictly in the order of 4321. Denote the number of captured signals as X. When X mod 12 = 2|1|0, the 4-layer egg blocking push rod mechanism 302 is released. When X mod 12 = 5|4|3, the 3-layer egg blocking push rod mechanism 302 is released. When X mod 12 = 8|7|6, the 2-layer egg blocking push rod mechanism 302 is released. When X mod 12 = 11|10|9, the 1-layer egg blocking push rod mechanism 302 is released. During the blocking process, the egg blocking push rod mechanism 302 arranges and queues the eggs through the driven rubber roller 403 of the egg collecting belt. When released, it enters the egg claw as a whole.

[0040] Among them, during the stacking condition, when entering the peak egg production period, the OpenMV detection unit 303 detects and judges crowded egg layers through image recognition area cutting and recognition, changes the sending value according to the queue length. The controller obtains the numerical value through the bus and controls the frequency converter to increase the rotation speed of the egg picking belt motor 202 according to the preset control rules. Through release weighting, the crowded layer is given more continuous release opportunities of the egg blocking push rod mechanism 302 to increase the egg picking amount of this layer to cope with the risks of collision and wrong layer caused by congestion during the peak egg production period.

[0041] Among them, during the fault condition, the controller issues an alarm and switches to the release state of the egg blocking push rod mechanism 302 to ensure operation under fault. After cleaning the OpenMV detection unit 303, it automatically returns to the default condition.

[0042] Embodiment 2: Change the position of the optoelectronic sensor unit 304, and obtain the position information of the egg claw mechanism 401 by counting the gears.

[0043] Embodiment 3: The switch electromagnetic push rod 3022 can be replaced by a motor push rod.

[0044] The specific usage mode and function of this embodiment: The OpenMV detection unit 303 obtains the stacking situation of the egg collecting belt 405 through recognition and uploads it to the ARM controller via the CAN bus. The optoelectronic sensor unit 304 judges the speed and position of the egg claw mechanism 401 by counting the egg claw mechanism 401. By using the damping egg blocking push rod mechanism 302 as an actuator, the controller in the control box 301 controls the egg blocking push rod mechanism 302 to realize the blocking and release of eggs in the egg collecting belt 405, and realizes the ability to cope with sudden peak egg production periods by changing the rotation speed of the egg picking belt motor 202.

Claims

1. An egg-picking machine for stacked farming based on OpenMV, characterized in that Including: An egg picking machine frame (101); the egg picking machine frame (101) is composed of two vertical frame structures on the left and right. The upper and lower ends of the vertical frame structures are respectively rotatably installed with egg picking belts; on the upper and lower ends of the inner side of the left vertical frame of the egg picking machine frame (101), egg collecting belt motors (201) are respectively fixedly installed. On the lower end of the inner side wall of the right vertical frame of the egg picking machine frame (101), an egg picking belt motor (202) is fixedly installed. The end of the rotating shaft of the egg picking belt motor (202) is rotationally connected to the egg picking belt roller shaft through a chain. The roller shafts of the two egg picking belts on the left and right are fixedly connected by a connecting rod; in the middle of the front end of the egg picking machine frame (101) near the right vertical frame, a control box (301) is fixedly installed; at the lower part in the middle of the front end of the egg picking machine frame (101), an egg picking tray (102) is vertically and forwardly fixedly installed; at the back end of the egg picking machine frame (101), four mutually parallel egg collecting belts (405) are docked. At one end of the egg collecting belt (405) close to the egg picking machine frame (101), there is an egg blocking device push rod mechanism (302); on the egg picking belt, there are egg claw mechanisms (401) arranged side by side at equal intervals; at the upper end of the back of the egg picking machine frame (101), an OpenMV detection unit (303) is extended backward; on the egg picking machine frame (101) below the egg picking tray (102), a photoelectric sensor unit (304) is fixedly installed; at one end of the top of the egg collecting belt (405) close to the egg picking machine frame (101), there is an inclined egg collecting belt guiding plate (402). In the egg collecting belt below the egg collecting belt guiding plate (402), an egg collecting belt driven rubber roller (403) is horizontally rotatably installed. The egg collecting belt driven rubber roller (403) is rotationally connected to the rotating shaft of the egg collecting belt motor (201) through a chain. Each egg collecting belt motor (201) drives two upper and lower egg collecting belt driven rubber rollers (403).

2. The egg-picking machine for stacked farming based on OpenMV according to claim 1, characterized in that: The egg blocking device push rod mechanism (302) is composed of a push rod mounting plate (3021), a switch-type electromagnetic push rod (3022) and an egg collecting belt execution baffle (3023). The push rod mounting plate (3021) is horizontally fixed on the frame bodies at the left and right ends of the egg collecting belt (405). In the middle of the push rod mounting plate (3021), there is a vertical switch-type electromagnetic push rod (3022). The upper end of the switch-type electromagnetic push rod (3022) is fixedly connected with an egg collecting belt execution baffle (3023). The material of the egg collecting belt execution baffle (3023) is PP, and the egg collecting belt execution baffle (3023) is bolted to the switch-type electromagnetic push rod (3022).

3. The egg picking machine for stacked farming based on OpenMV according to claim 1, characterized in that: The OpenMV detection unit (303) consists of a camera mounting plate (3031), a camera adjustment plate (3032), and an OpenMV camera (3033). The camera mounting plate (3031) is fixedly connected to the rear-end frame of the egg picking machine frame (101). The camera adjustment plate (3032) is fixedly mounted on the back of the camera mounting plate (3031), and the OpenMV camera (3033) is installed at the lower end of the camera adjustment plate (3032). The OpenMV camera (3033) integrates an MCU and uses a 24mm - 35mm variable focal length wide-angle lens. After installation and adjustment, the OpenMV camera (3033) can clearly capture the egg storage state of the guiding plate of the 2 - 4 layer egg collecting belt (405), and can vaguely distinguish the stacking situation of the 1 layer egg collecting belt (405). After the sensor in the OpenMV camera (3033) obtains an image, through algorithms such as cropping, masking, and recognition, the stacking situation of eggs on the 1 - 4 layers is transmitted through the first 4 - bit data frame of the CAN bus.

4. The egg picking machine for stacked farming based on OpenMV according to claim 1, characterized in that: The photoelectric sensor unit (304) can be selected as opposed or diffuse reflection according to the site conditions. When the sensor is blocked by the egg claw mechanism (401), it is connected to the controller in the control box (301) through a cable to transmit a switch signal. There are a total of 52 groups of egg claw mechanisms (401). The controller calculates the running speed and the position of the egg claws by capturing the signals of the photoelectric sensor unit (304). Denote the number of captured signals as X, and its position signal is: A = X mod 52.

5. The egg picking machine for stacked farming based on OpenMV according to claim 1, characterized in that: During the operation under default conditions, the egg blocking device push rod mechanism (302) is controlled by the photoelectric signals of the photoelectric sensor unit (304). The egg claw mechanism (401) gets points strictly in the order of 4321. Denote the number of captured signals as X. When X mod 12 = 2|1|0, the 4 - layer egg blocking device push rod mechanism (302) is released. When X mod 12 = 5|4|3, the 3 - layer egg blocking device push rod mechanism (302) is released. When X mod 12 = 8|7|6, the 2 - layer egg blocking device push rod mechanism (302) is released. When X mod 12 = 11|10|9, the 1 - layer egg blocking device push rod mechanism (302) is released. During the blocking process, the egg blocking device push rod mechanism (302) sorts and queues the eggs through the driven rubber roller (403) of the egg collecting belt, and enters the egg claws as a whole when released.

6. The egg picking machine for stacked farming based on OpenMV according to claim 1, characterized in that: During the stacking condition, when entering the peak egg production period, the OpenMV detection unit (303) judges the crowded egg layers through image recognition area cropping and recognition, changes the sending value according to the queue length. The controller, based on the value obtained from the bus and according to the preset control rules, controls the frequency converter to increase the speed of the egg picking belt motor (202), and through release weighting, gives the crowded layer more continuous release opportunities of the egg blocking device push rod mechanism (302).

7. The egg picking machine for stacked farming based on OpenMV according to claim 1, characterized in that: During the fault condition, the controller issues an alarm and switches to the release state of the egg blocking device push rod mechanism (302) to ensure operation under faults.

8. The egg picking machine for stacked farming based on OpenMV according to claim 1, characterized in that: At the docking position between the rear edge of the egg picking tray (102) and the egg picking belt, there are evenly spaced guiding egg tongue strips (10201) that slope upward.

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