Industrial control method and system for automatic rolling, kneading and pickling of marinated pig trotters

Abstract

The invention relates to the technical field of industrial control, in particular to an industrial control method and system for automatic rolling, kneading and pickling of marinated trotters. According to the method, spraying equipment is installed in a tumbling device, the spraying equipment is used for achieving automatic brine spraying, and the initial spraying link is conducted by obtaining the weight of pig feet in a roller; acquiring a vibration signal; according to the vibration signals, collision data generated by mutual collision between the pig feet is determined, and then the tumbling coefficient at the moment is determined; determining the initial rotating speed of the roller and the initial brine spraying speed according to the tumbling coefficient; analyzing all the tumbling coefficients from the initial moment to the current moment, determining tumbling effect indexes, executing a dynamic spraying link, determining a target rotating speed and a target brine spraying speed, or executing a saturated permeation link, so as to realize dynamic regulation and control. According to the invention, the uniformity control of the whole rolling and pickling process is improved, and the stability of regulation and control is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial control, and in particular to an industrial control method and system for automated tumbling and pickling of braised pig's trotters. Background Art

[0002] The food processing industry is accelerating its transformation toward intelligent and energy-efficient processing. Improving curing efficiency and quality stability through technologies such as precise temperature control, dynamic mixing, and vacuum environments is becoming a trend. Against this backdrop, market demand for automated tumble-kneading curing equipment is becoming increasingly urgent.

[0003] Currently, mainstream tumble-kneading marinating devices mostly utilize a cylindrical structure. Pig's trotters, brine, and spices are placed into the drum all at once. The rotating drum mixes the ingredients with the brine. The rotation of the drum causes the ingredients to collide with the drum wall and with each other, disrupting the muscle fiber structure and accelerating the brine's penetration into the meat. The mechanical impact promotes brine penetration and spice adhesion. Some devices also use vacuum pressure to reduce bubbles within the meat, enhancing brine absorption.

[0004] In this way, due to insufficient analysis of the tumbling and kneading effect in the drum, it is impossible to perform reasonable and effective dynamic regulation of the tumbling and kneading process, resulting in poor uniformity in the tumbling and kneading process and insufficient stability of the tumbling and kneading regulation. Summary of the Invention

[0005] In order to solve the technical problems in the related art that insufficient analysis of the tumbling and kneading effect in the drum leads to the inability to reasonably and effectively dynamically control the tumbling and kneading process, resulting in poor uniformity during the tumbling and kneading process and insufficient stability of the tumbling and kneading control, the present invention provides an industrial control method and system for automated tumbling and kneading of braised pig's trotters. The technical solutions adopted are as follows: The present invention proposes an industrial control method for automated tumbling and kneading of braised pig's trotters, wherein a spraying device is installed in a tumbling and kneading device, and the spraying device is used to realize automatic spraying of brine. The method comprises: Obtain the weight of the pig's trotters in the drum of the tumbling device, add the pig's trotters and spices into the drum, and perform the initial spraying of the brine; while the drum is rolling, obtain the vibration signal of the drum operation process; Determine the collision data generated by the collision between the pig's trotters based on the vibration signals in adjacent analysis moments, and determine the tumbling coefficient at the corresponding analysis moment based on the collision data and the weight of the pig's trotters; determine the initial rotation speed and initial brine spraying speed of the drum at the current moment based on the tumbling coefficients at the current moment and a preset number of previous analysis moments; According to all the rolling and kneading coefficients from the initial moment to the current moment, determine the rolling and kneading effect index of the pig's trotter at the current moment; When the tumbling effect index does not reach the completion index, a dynamic spraying step is executed to adjust the initial rotation speed and the initial brine spraying speed according to the tumbling effect index to obtain a target rotation speed and a target brine spraying speed; When the tumbling and kneading effect index reaches the completion index, the saturation penetration step is executed, and all the remaining brine is sprayed into the drum, and the drum speed is fixed.

[0006] Furthermore, according to the vibration signals in adjacent analysis moments, collision data generated by the collision between pig trotters is determined, including: Perform energy analysis on the vibration signals within two adjacent analysis moments to determine the vibration energy; When the vibration energy is greater than a preset energy threshold, the corresponding vibration energy is used as collision data at a later moment in adjacent analysis moments.

[0007] Furthermore, according to the collision data and the weight of the pig's hoof, the tumbling coefficient corresponding to the analysis moment is determined, including: The ratio of the collision data to the weight of the pig's trotter at any analysis moment was normalized and used as the tumbling coefficient.

[0008] Furthermore, the initial rotation speed of the drum and the initial brine spraying speed at the current moment are determined based on the tumbling coefficients at the current moment and a preset number of analysis moments before, including: The average value of the tumbling coefficients of a preset number of analysis moments before the current moment is obtained as the tumbling intensity at the current moment; wherein, the initial brine spraying speed is positively correlated with the tumbling intensity, and the initial rotation speed is negatively correlated with the tumbling intensity.

[0009] Furthermore, the calculation method of the initial rotation speed of the drum and the initial brine spraying speed at the current moment includes: Calculating the product of the tumbling intensity and the preset standard spraying speed as the initial brine spraying speed; The ratio of the preset standard rotation speed to the tumbling intensity is calculated as the initial rotation speed.

[0010] Furthermore, based on all the rolling and kneading coefficients from the initial moment to the current moment, the rolling and kneading effect index of the pig's trotter at the current moment is determined, including: The sum of all rolling and kneading coefficients from the initial moment to the current moment is used as the rolling and kneading effect index of the pig's trotter at the current moment.

[0011] Further, when the tumbling effect index is greater than a preset index threshold, it is determined that the tumbling effect index has reached the completion index; otherwise, it is determined that the tumbling effect index has not reached the completion index.

[0012] Furthermore, the initial rotation speed and the initial brine spraying speed are adjusted according to the tumbling effect index to obtain a target rotation speed and a target brine spraying speed, including: Calculating the ratio of the tumbling effect index to a preset index threshold as an adjustment coefficient; The product of the adjustment coefficient and the initial brine spraying speed is used as the target brine spraying speed; The difference between the unit value 1 and the adjustment coefficient is calculated as the speed analysis index; and the product of the initial speed and the speed analysis index is used as the target speed.

[0013] Furthermore, the total weight of spices and brine was linearly correlated with the weight of pig's trotters.

[0014] On the other hand, an industrial control system for automated tumbling and pickling of braised pig's trotters is also provided. The system includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any of the methods described above are implemented.

[0015] The present invention has the following beneficial effects: In the embodiment of the present invention, brine and spices are proportioned by weight of the pig's trotter, and the brine is added in a spraying manner. The tumbling process is effectively regulated by changing the drum speed and the brine spraying speed. The regulation and analysis process of the specific drum speed and the brine spraying speed is divided into three stages, namely the initial spraying stage, the dynamic spraying stage and the saturated penetration stage. In the dynamic spraying stage, the collision of the pig's trotter during the tumbling process is determined by the vibration signal of the drum operation process, and the collision data is obtained. Then, the corresponding analysis time is determined according to the collision data and the weight of the pig's trotter. The tumbling coefficient is determined; based on the tumbling coefficients at the current moment and the preset number of analysis moments before, the initial rotation speed and initial brine spraying speed of the drum at the current moment are determined; then, the tumbling effect from the initial moment to the current moment is analyzed. When the tumbling effect does not meet the predetermined tumbling requirements, the dynamic spraying link is executed, and the initial rotation speed and initial brine spraying speed are further adjusted to obtain the target rotation speed and target brine spraying speed. When the tumbling effect meets the predetermined tumbling requirements, the saturation penetration link is executed to spray all the remaining brine into the drum and fix the drum rotation speed. In summary, the present invention judges the kneading effect of braised pig's trotters by controlling the drum rotation speed and brine spraying speed at each moment, and dynamically controls the drum rotation speed and brine spraying according to the kneading effect, thereby improving the uniformity control of the overall tumbling and kneading process and enhancing the stability of regulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A flow chart of an industrial control method for automated tumbling and pickling of braised pig's trotters provided by one embodiment of the present invention; Figure 2 A schematic structural diagram of a tumbling and kneading device provided in one embodiment of the present invention; The numbers in the figure are: 1: device main cylinder structure; 2: device cylinder plug cover; 3: brine circulation pipe; 4: spray head; 5: fixed axis; 6: hose; 7: brine pump; 8: base; 9: support device; 10: hydraulic rod; 11: feed pipe; 12: brine box. DETAILED DESCRIPTION

[0018] To further illustrate the technical means and effectiveness of the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the specific implementation, structure, features, and effectiveness of an automated industrial control method and system for tumbling and curing braised pig's trotters proposed by the present invention. In the following description, different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0019] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0020] The specific scheme of the industrial control method for automated tumbling and pickling of braised pig's trotters provided by the present invention is described in detail below with reference to the accompanying drawings.

[0021] See also Figure 1 , which shows a flow chart of an industrial control method for automated tumbling and pickling of braised pig's trotters provided by one embodiment of the present invention, the method comprising: S101: Obtain the weight of the pig's trotter in the drum of the tumbling device, add the pig's trotter and spices into the drum, and perform the initial spraying of the brine; when the drum is rolling, obtain the vibration signal of the drum operation process.

[0022] The control method of the embodiment of the present invention is mainly used in the pig's hoof rolling and kneading scene corresponding to the rolling and kneading device, see Figure 2 , Figure 2This is a schematic structural diagram of a tumbling and kneading device provided in one embodiment of the present invention. 1 is the main cylinder structure of the device, which is mainly used to contain raw materials, brine and spices; 2 is the device cylinder plug cover, which is mainly responsible for the packaging and sealing of the device, and can be connected to 1 through a threaded or external locking device; 3 is the brine circulation pipe, which is installed and fixed through the through hole on the device cylinder plug cover 2, and the brine circulation pipe 3 passes through one end of the device cylinder plug cover 2 and directly enters the interior of the drum; 4 is the spray head, which is fixed on one side of the brine circulation pipe 3, and the brine is passed into the interior of the drum by spraying; 5 is the fixed shaft, which fixes the hose 6 on one side of the brine circulation pipe 3, and the specific connection method is a flange; 6 is the hose, which connects the brine circulation pipe 3 and the brine pump 7; 7 is the brine pump; 8 is the base; 9 is the supporting device, which is responsible for supporting and fixing the cylinder; 10 is the hydraulic rod, which is responsible for adjusting the inclination of the drum when discharging and taking materials; 11 is the feed pipe, which is mainly responsible for transporting spices and other brine materials; 12 is the brine box, which is responsible for storing the brine, and the brine can be pushed into the drum through the feed pipe 11 by air pressure or other driving methods.

[0023] Existing devices for automated tumbling and curing braised pig's trotters typically add a specific weight of raw materials, along with a specific ratio of spices and brine, to the device. After sealing, a motor drives the device's cylinder to roll, achieving automated tumbling and curing. This embodiment of the present invention improves upon conventional devices by using a weight module to determine the number of pig's trotters and adaptively determining the total amount of brine and spices based on the number of pig's trotters, thereby enhancing the device's adaptability.

[0024] In an embodiment of the present invention, a gravity sensor can be configured on the support device 9 to obtain the static weight when no pig's trotters are added and the total weight after the pig's trotters are added, so as to subtract the weight to obtain the net weight of the pig's trotters themselves, that is, the weight of the pig's trotters. It can be understood that since the weight of the brine and spices is related to the weight of the pig's trotters during the rolling and kneading process, the total weight of the spices and the total weight of the brine required can be directly calculated based on the pig's trotter braising recipe and the number of pig's trotters. The total weight of the spices and the total weight of the brine are linearly correlated with the weight of the pig's trotters, and this linear relationship is determined by the corresponding recipe.

[0025] Then, spices corresponding to the total weight of the spices are poured into the marinade box 12, and brine corresponding to the total weight of the brine is connected to the brine circulation pipe 3 to complete the preliminary preparation work.

[0026] It should be noted that the mixing and rolling of pig's trotters and spices can infiltrate the flavor of the spices into the pig's trotters, ensuring the flavor of the trotters. However, when there is less brine, it will affect the moisture of the pig's trotter surface, resulting in insufficient penetration of the spices. When there is more brine, it will reduce the contact between the pig's trotters and the spices, which will also affect the penetration effect of the spices. In the related art, spices and brine are added at one time. Due to the presence of brine, the adhesion effect of spices on the surface of the braised pig's trotters is poor, resulting in poor rolling and kneading effect. In the embodiment of the present invention, brine is added in stages during the rolling and kneading process, and the braised pig's trotters are kept moist during the rolling and kneading process by spraying brine, so that the spices can be better adhered.

[0027] In the embodiment of the present invention, the overall spraying process is divided into three stages. First, the surface of the pig's trotter is moistened by the initial spraying process, then, efficient rolling and kneading is performed through the dynamic spraying process, and finally, static absorption is performed through the saturated penetration process, thereby achieving a sufficient rolling and kneading effect.

[0028] In the embodiment of the present invention, a vibration signal of the drum operation process can be obtained when the drum rolls. The vibration signal includes the vibration of the drum itself and the vibration of the pig hooves colliding with each other. Therefore, it needs to be analyzed in subsequent embodiments.

[0029] S102: Determine the collision data generated by the collision between pig trotters based on the vibration signals in adjacent analysis moments, and determine the rolling and kneading coefficient of the corresponding analysis moment based on the collision data and the weight of the pig trotters; determine the initial rotation speed of the drum and the initial brine spraying speed at the current moment based on the rolling and kneading coefficients at the current moment and a preset number of analysis moments before.

[0030] In the embodiment of the present invention, every 50 ms may be used as an analysis moment to implement vibration analysis within adjacent analysis moments.

[0031] The principle of rolling and kneading marinating of braised pig's trotters is to simulate the kneading of pig's trotters through the collision in the drum. The collision of pig's trotters in the drum can make the trotters taste better, but the one-time addition of brine will cause the collision between the pig's trotters to slow down, thereby reducing the effect of rolling and kneading marinating. Therefore, the embodiment of the present invention judges the kneading effect of the braised pig's trotters by collecting the vibration in the drum, and controls the spraying of brine according to the kneading effect, thereby improving the effect of rolling and kneading marinating of braised pig's trotters.

[0032] Furthermore, in some embodiments of the present invention, collision data generated by the collision between pig trotters is determined based on vibration signals in adjacent analysis moments, including: performing energy analysis on the vibration signals in two adjacent analysis moments to determine the vibration energy; when the vibration energy is greater than a preset energy threshold, using the corresponding vibration energy as the collision data of the latter moment in the adjacent analysis moments.

[0033] Among them, since the rotation of the drum itself generates vibration, the vibration caused by the collision with the pig's hoof will be superimposed. In the embodiment of the present invention, by obtaining the vibration signals within two adjacent analysis moments, the vibration signals within the two adjacent analysis moments are subjected to energy analysis. The corresponding energy analysis formula is:

[0034] Where E represents the vibration energy at the tth moment, Represents the vibration signal from the t-1th moment to the tth moment.

[0035] The preset energy threshold is a threshold value of vibration energy. In an embodiment of the present invention, the preset energy threshold can be set to 100 joules. Alternatively, in other embodiments of the present invention, a k-means cluster analysis with a k value of 2 can be performed on the vibration energy at all times, and the group with the larger value can be used as collision data.

[0036] That is to say, because of the superposition of the pig's hoof collision and the drum rotation, when the energy is large, it corresponds to the energy after the superposition of the subject collision, which is used for analysis.

[0037] Furthermore, in some embodiments of the present invention, the rolling coefficient at the corresponding analysis moment is determined based on the collision data and the pig's hoof weight, including: normalizing the ratio of the collision data to the pig's hoof weight at any analysis moment as the rolling coefficient.

[0038] The tumbling coefficient represents the tumbling state. The higher the collision data, the smaller the weight of the pig's hoof, which means the greater the collision intensity between the pig's hoofs. The greater the weight of the pig's hoof, the lower the collision data, which means the lower the collision intensity of the pig's hoof. Therefore, the tumbling coefficient is used to represent the collision state during the tumbling process.

[0039] The preset number is the number of reference moments for analyzing the rotation speed and brine spraying. Because tumbling pig trotters requires more time to analyze, improving the reliability of the overall tumbling effect analysis, in this embodiment of the present invention, the tumbling coefficients at the current moment and the previous preset number of analysis moments are used as analysis parameters to achieve a more accurate and reliable analysis. Optionally, the preset number is 10.

[0040] Furthermore, in some embodiments of the present invention, the initial rotation speed and initial brine spraying speed of the drum at the current moment are determined based on the tumbling coefficients at the current moment and a preset number of analysis moments before the current moment, including: obtaining the average of the tumbling coefficients at a preset number of analysis moments before the current moment as the tumbling intensity at the current moment; wherein, the initial brine spraying speed is positively correlated with the tumbling intensity, and the initial rotation speed is negatively correlated with the tumbling intensity.

[0041] The method for calculating the initial rotation speed and initial brine spraying speed of the drum at the current moment includes: calculating the product value of the tumbling intensity and the preset standard spraying speed as the initial brine spraying speed; calculating the ratio of the preset standard rotation speed to the tumbling intensity as the initial rotation speed.

[0042] Based on the tumbling intensity obtained above, the equipment's brine spraying and drum speed are adjusted. When the tumbling intensity of the pig's trotters decreases, it means that the tumbling effect of the pig's trotters in the drum has decreased. Therefore, the drum speed is increased and the brine spraying amount is reduced to ensure the tumbling effect of the pig's trotters. Vice versa, that is, the initial brine spraying rate is positively correlated with the tumbling intensity, and the initial speed is negatively correlated with the tumbling intensity.

[0043] When tumbling and curing pig's trotters, insufficient or excessive tumbling will reduce the curing effect. At the same time, the accumulated amount of brine gradually increases during the tumbling process, and the tumbling intensity of the pig's trotters will inevitably decrease. Therefore, during the tumbling and curing process, the brine spraying amount is adjusted and corrected according to the accumulated tumbling intensity, so that the brine spraying amount can better adapt to the tumbling of the pig's trotters and achieve the optimal tumbling effect. At the same time, the more brine accumulates, the greater the relief of the brine from the collision with the pig's trotters, and the tumbling intensity decreases. At this time, the adjustment of the tumbling intensity requires a larger adjustment of the drum speed. Therefore, the drum speed adjustment is corrected according to the brine to achieve mutually coupled tumbling control.

[0044] Among them, the preset standard spray speed and the preset standard rotation speed are both preset standard parameters. Optionally, the preset standard spray speed is 50 ml per second, and the preset standard rotation speed is 1 rotation per second, and there is no restriction on this.

[0045] S103: Determine the tumbling effect index of the pig's trotter at the current moment based on all tumbling coefficients from the initial moment to the current moment; when the tumbling effect index does not reach the completion index, execute the dynamic spraying link, and adjust the initial rotation speed and the initial brine spraying speed according to the tumbling effect index to obtain the target rotation speed and the target brine spraying speed.

[0046] In the embodiment of the present invention, the overall tumbling and kneading requires a stopping condition, that is, all the tumbling and kneading meet the tumbling and kneading requirements for pickled pig's trotters. In the embodiment of the present invention, all the tumbling and kneading effects from the initial moment to the current moment are determined by calculating the tumbling and kneading effect index.

[0047] Furthermore, in some embodiments of the present invention, the rolling and kneading effect index of the pig's trotter at the current moment is determined based on all the rolling and kneading coefficients from the initial moment to the current moment, including: taking the sum of all the rolling and kneading coefficients from the initial moment to the current moment as the rolling and kneading effect index of the pig's trotter at the current moment.

[0048] The sum is directly performed to obtain the tumbling effect index. When the tumbling effect index is greater than a preset index threshold, it is determined that the tumbling effect index has reached the completion index. Otherwise, it is determined that the tumbling effect index has not reached the completion index.

[0049] In an embodiment of the present invention, the preset indicator threshold is a threshold value of the tumbling effect indicator. It can be understood that the tumbling effect index is the cumulative value of the tumbling coefficient. When the accumulation reaches a certain level, it means that the tumbling effect is achieved. At this time, the tumbling can be slowed down and the next stage can be carried out. When the tumbling effect index does not reach the completion index, the dynamic spraying link will continue to be executed. Optionally, the preset indicator threshold is 3000, an experience value, which can be adjusted by yourself and there is no restriction on this.

[0050] Furthermore, in some embodiments of the present invention, the initial rotational speed and the initial brine spraying speed are adjusted according to the tumbling effect index to obtain the target rotational speed and the target brine spraying speed, including: calculating the ratio of the tumbling effect index to the preset index threshold as the adjustment coefficient; taking the product value of the adjustment coefficient and the initial brine spraying speed as the target brine spraying speed; calculating the difference between the unit value 1 and the adjustment coefficient as the rotational speed analysis index; taking the product value of the initial rotational speed and the rotational speed analysis index as the target rotational speed.

[0051] Among them, since the corresponding completion indicators have not been reached, it is still necessary to adjust the rotation speed and brine spraying speed, that is, by calculating the adjustment coefficient, further adjust the initial brine spraying speed and the initial rotation speed, aiming to use the cumulative adjustment as a reference item to adjust the initial rotation speed and the initial brine spraying speed, and obtain a more reliable target rotation speed and target brine spraying speed.

[0052] S104: When the tumbling and kneading effect index reaches the completion index, the saturation penetration step is executed, and all the remaining brine is sprayed into the drum, and the drum speed is fixed.

[0053] In an embodiment of the present invention, when the tumbling and kneading effect index reaches the completion index, that is, the tumbling and kneading effect is achieved, at this time, it is necessary to soak and penetrate through the brine, that is, the saturation penetration link, in which the brine needs to cover the food, that is, all the remaining brine is sprayed into the drum, and the drum speed is fixed to a lower speed, such as 0.3 revolutions per second, to achieve uniform immersion of the pig's trotters in the brine.

[0054] In the embodiment of the present invention, brine and spices are proportioned by weight of the pig's trotter, and the brine is added in a spraying manner. The tumbling process is effectively regulated by changing the drum speed and the brine spraying speed. The regulation and analysis process of the specific drum speed and the brine spraying speed is divided into three stages, namely the initial spraying stage, the dynamic spraying stage and the saturated penetration stage. In the dynamic spraying stage, the collision of the pig's trotter during the tumbling process is determined by the vibration signal of the drum operation process, and the collision data is obtained. Then, the corresponding analysis time is determined according to the collision data and the weight of the pig's trotter. The tumbling coefficient is determined; based on the tumbling coefficients at the current moment and the preset number of analysis moments before, the initial rotation speed and initial brine spraying speed of the drum at the current moment are determined; then, the tumbling effect from the initial moment to the current moment is analyzed. When the tumbling effect does not meet the predetermined tumbling requirements, the dynamic spraying link is executed, and the initial rotation speed and initial brine spraying speed are further adjusted to obtain the target rotation speed and target brine spraying speed. When the tumbling effect meets the predetermined tumbling requirements, the saturation penetration link is executed to spray all the remaining brine into the drum and fix the drum rotation speed. In summary, the present invention judges the kneading effect of braised pig's trotters by controlling the drum rotation speed and brine spraying speed at each moment, and dynamically controls the drum rotation speed and brine spraying according to the kneading effect, thereby improving the uniformity control of the overall tumbling and kneading process and enhancing the stability of regulation.

[0055] On the other hand, the present invention also provides an industrial control system for automated rolling, kneading and pickling of braised pig's trotters. The system includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any of the aforementioned industrial control methods for automated rolling, kneading and pickling of braised pig's trotters.

[0056] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0057] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. An industrial control method for automated tumbling and pickling of braised pig's trotters, characterized in that: A spraying device is installed in the tumbling device, and the spraying device is used to realize automatic spraying of brine. The method includes: Obtain the weight of the pig's trotters in the drum of the tumbling device, add the pig's trotters and spices into the drum, and perform the initial spraying of the brine; while the drum is rolling, obtain the vibration signal of the drum operation process; Determine the collision data generated by the collision between the pig's trotters based on the vibration signals in adjacent analysis moments, and determine the tumbling coefficient at the corresponding analysis moment based on the collision data and the weight of the pig's trotters; determine the initial rotation speed and initial brine spraying speed of the drum at the current moment based on the tumbling coefficients at the current moment and a preset number of previous analysis moments; According to all the rolling and kneading coefficients from the initial moment to the current moment, determine the rolling and kneading effect index of the pig's trotter at the current moment; When the tumbling effect index does not reach the completion index, a dynamic spraying step is executed to adjust the initial rotation speed and the initial brine spraying speed according to the tumbling effect index to obtain a target rotation speed and a target brine spraying speed; When the tumbling and kneading effect index reaches the completion index, the saturation penetration step is executed, and all the remaining brine is sprayed into the drum, and the drum speed is fixed.

2. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 1, wherein: Determining collision data generated by collision between pig trotters based on the vibration signals within adjacent analysis moments includes: Perform energy analysis on the vibration signals within two adjacent analysis moments to determine the vibration energy; When the vibration energy is greater than a preset energy threshold, the corresponding vibration energy is used as collision data at a later moment in adjacent analysis moments.

3. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 1, wherein: According to the collision data and the weight of the pig's hoof, the tumbling coefficient corresponding to the analysis moment is determined, including: The ratio of the collision data to the weight of the pig's trotter at any analysis moment was normalized and used as the tumbling coefficient.

4. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 1, wherein: According to the tumbling coefficients at the current moment and the preset number of analysis moments before, the initial rotation speed of the drum and the initial brine spraying speed at the current moment are determined, including: The average value of the tumbling coefficients of a preset number of analysis moments before the current moment is obtained as the tumbling intensity at the current moment; wherein, the initial brine spraying speed is positively correlated with the tumbling intensity, and the initial rotation speed is negatively correlated with the tumbling intensity.

5. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 4, characterized in that: The calculation method of the initial rotation speed of the drum and the initial brine spraying speed at the current moment includes: Calculating the product of the tumbling intensity and the preset standard spraying speed as the initial brine spraying speed; The ratio of the preset standard rotation speed to the tumbling intensity is calculated as the initial rotation speed.

6. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 1, wherein: According to all the rolling and kneading coefficients from the initial moment to the current moment, the rolling and kneading effect index of the pig's trotter at the current moment is determined, including: The sum of all rolling and kneading coefficients from the initial moment to the current moment is used as the rolling and kneading effect index of the pig's trotter at the current moment.

7. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 1, wherein: When the tumbling effect index is greater than a preset index threshold, it is determined that the tumbling effect index has reached the completion index; otherwise, it is determined that the tumbling effect index has not reached the completion index.

8. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 7, characterized in that: The initial rotation speed and the initial brine spraying speed are adjusted according to the tumbling effect index to obtain a target rotation speed and a target brine spraying speed, including: Calculating the ratio of the tumbling effect index to a preset index threshold as an adjustment coefficient; The product of the adjustment coefficient and the initial brine spraying speed is used as the target brine spraying speed; The difference between the unit value 1 and the adjustment coefficient is calculated as the speed analysis index; and the product of the initial speed and the speed analysis index is used as the target speed.

9. The method for controlling the automated tumbling and pickling of braised pig's trotters according to claim 1, wherein: The total weight of spices and brine was linearly correlated with the weight of pig's trotters.

10. An industrial control system for automated tumbling and curing of braised pig's trotters, the system comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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