Livestock and poultry standardization slaughtering process

Abstract

The application relates to the field of livestock and poultry slaughtering and processing technology, and discloses a livestock and poultry standardization slaughtering and processing technology, which comprises the following steps: mapping a physical displacement of a conveying chain and a single digital identifier, and constructing a synchronous shift register queue in a controller; acquiring a single independent closed loop by using a segmented insulating grounding track, extracting a tissue hydration state index and a low-frequency body impedance amplitude; calculating a skin mechanical tension tolerance index by using a multivariate first-degree polynomial model; driving a servo actuator to dynamically adjust the radial physical interference depth of a single individual according to the difference between the index and a reference constant; extracting a transient stress peak value of a servo execution area, solving a control error, and updating the weight coefficient of the polynomial model by using an adaptive filtering algorithm. The application eliminates signal aliasing interference, realizes adaptive mechanical parameter adjustment of individuals, and realizes closed-loop calibration of a process model.

Description

Technical Field

[0001] This invention relates to the field of livestock and poultry slaughtering and processing technology, specifically a standardized livestock and poultry slaughtering and processing process. Background Technology

[0002] In existing continuous slaughtering and processing lines for livestock and poultry, poultry carcasses are typically suspended on a conveyor chain and pass through stations such as water bath stunning, scalding, and mechanical defecation. In actual production, due to differences in breeding batches and ages, there are objective physiological differences in individual poultry carcasses in terms of body size, subcutaneous fat distribution, and epidermal tolerance.

[0003] Currently, most mainstream slaughtering equipment uses fixed mechanical parameter settings during processing. Taking the mechanical defecation process as an example, the distance between the guide rail and the defecation disc is usually manually adjusted and fixed before production. This fixed processing mode cannot adapt to individual physiological differences. When poultry with thin or fragile skin passes through, the fixed physical pressure can easily cause skin tearing and damage; while when smaller poultry or birds with feathers that are difficult to shed pass through, it will lead to insufficient physical friction, resulting in a failure to meet the standard for feather removal.

[0004] To achieve individualized adaptive adjustments, accurate physiological and stress data for each bird is required. However, in the actual operation of a continuous production line, multiple birds are often immersed in the water bath simultaneously, resulting in parallel conduction of multiple birds in the electric stunning circuit, causing the extracted electrical parameters to overlap. Similarly, in the feather removal process, the extracted total torque signal of the main drive motor is coupled with the frictional resistance generated by multiple birds simultaneously, making it impossible to separate the actual mechanical forces borne by a single bird. This overlap and interference of electrical and mechanical signals prevents the control system from obtaining accurate individual characteristic parameters, thus hindering the establishment of an accurate correspondence between the extraction of physiological characteristics and the execution of mechanical actions, and making it impossible to perform closed-loop feedback calibration of the front-end processing parameter model based on the actual physical execution effect. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a standardized slaughtering and processing technology for livestock and poultry. This technology solves the problems in existing technologies where signal aliasing makes it impossible to accurately obtain individual characteristics and actual stress, resulting in fixed mechanical parameters that cannot adapt to individual physiological differences in poultry, leading to high skin damage rates and substandard feather removal rates.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a standardized slaughtering and processing technology for livestock and poultry, comprising the following steps: S1. Establish the mapping relationship between the physical displacement of the suspended conveyor chain system and the digital identifier of a single individual, and construct a shift register queue synchronized with the physical displacement within the programmable logic controller. S2, at the water bath electro-stun station, the independent closed loop of the single individual is obtained by using the segmented insulated grounded rail, superimposed excitation signal is injected, and the tissue hydration state index and low frequency body impedance amplitude of the single individual are extracted. S3. Based on the tissue hydration state index and the low-frequency body impedance amplitude, the skin mechanical tension tolerance index of the individual is calculated using a multivariate first-order polynomial model. S4, at the mechanical hair removal station, based on the difference between the skin mechanical tension tolerance index and the standard epidermal tension tolerance reference constant, calculate the target compensation displacement of the servo actuator, and drive the servo actuator to adjust the radial physical interference depth to the individual. S5. Extract the peak value of the transient force wave when the single individual passes through the action area of ​​the servo actuator using a miniature tension and compression sensor, calculate the mechanical closed-loop control error, and update the weight coefficients of the multivariate linear polynomial model using an adaptive filtering algorithm.

[0007] Preferably, in step S1, the specific method for establishing the mapping relationship and constructing the shift register queue is as follows: The real-time one-dimensional physical space coordinates are calculated by using an absolute encoder connected to the main drive sprocket of the suspended conveyor chain system in combination with the pulse equivalent constant. When a single individual passes through the entrance photoelectric sensor, it is assigned a unique digital identifier, and a corresponding data block is allocated in the shift register queue. Based on the fixed physical center distance between adjacent hooks in the suspended conveyor chain system, when the absolute physical displacement increment reaches the fixed physical center distance, the shift register queue is triggered to be extended by one register address.

[0008] Preferably, in step S2, the segmented insulated grounding track is composed of multiple independent conductive segments and insulating materials alternately spliced ​​together, and the physical length of a single conductive segment is less than the fixed physical center distance between adjacent hooks in the suspended conveyor chain system.

[0009] Preferably, in step S2, the specific method for injecting and superimposing the excitation signal and extracting features is as follows: The high-frequency sensing signal is superimposed onto the power frequency corona circuit through a broadband coupling transformer; When the individual enters the specific conductive segment, the time-domain voltage signal and time-domain current signal of the circuit are collected; The time-domain voltage signal and the time-domain current signal are separated in the frequency domain using a hardware bandpass filter bank to extract the low-frequency voltage amplitude, low-frequency current amplitude, high-frequency voltage amplitude, and high-frequency current amplitude. The low-frequency body impedance amplitude is calculated based on the ratio of the low-frequency voltage amplitude to the low-frequency current amplitude, and the high-frequency body impedance amplitude is calculated based on the ratio of the high-frequency voltage amplitude to the high-frequency current amplitude.

[0010] Preferably, the tissue hydration state index is calculated in the following manner: The tissue hydration state index is equal to the difference between the low-frequency body impedance amplitude and the high-frequency body impedance amplitude, divided by the sum of the low-frequency body impedance amplitude and the high-frequency body impedance amplitude.

[0011] Preferably, in step S3, the formula for calculating the skin mechanical tension tolerance index using a multivariate linear polynomial model is as follows: ; In the formula, For individuals The skin mechanical tension tolerance index; For individuals The tissue hydration state index; For individuals The low-frequency volume impedance amplitude; The hydration state weighting coefficient for the current time series; This is the low-frequency impedance weighting coefficient for the current timing sequence; This is the basic process bias constant for the current timing.

[0012] Preferably, in step S4, the specific method for calculating and adjusting the radial physical interference depth is as follows: When it is detected that the distance between the individual and the working area of ​​the servo actuator has reached the advance displacement amount, the corresponding skin mechanical tension tolerance index is read from the shift register queue; The target compensation displacement is calculated by subtracting the preset standard epidermal tension tolerance benchmark constant from the skin mechanical tension tolerance index and multiplying the difference by the displacement conversion proportional gain coefficient. The servo driver drives the servo cylinder according to the target compensation displacement, and the push rod of the servo cylinder drives the movable guide rail to generate lateral displacement, thereby changing the radial physical interference depth of the mechanical rubber finger inside the mechanical depilator on the poultry carcass.

[0013] Preferably, in step S5, the miniature tension / compression sensor is installed in series at the rigid connection node between the end of the push rod of the servo electric cylinder and the back side of the movable guide rail.

[0014] Preferably, in step S5, the specific method for extracting the peak value of the transient force wave and calculating the mechanical closed-loop control error is as follows: Within the time window of the individual passing through the local physical interference region, the radial thrust sequence data output by the miniature tension-compression sensor is recorded at a fixed sampling rate; The peak value of the transient force wave within the time window is extracted using the peak hold algorithm. The mechanical closed-loop control error is calculated by subtracting the preset safety mechanical threshold from the peak value of the transient force wave.

[0015] Preferably, in step S5, the specific method for updating the weight coefficients of the multivariate linear polynomial model using an adaptive filtering algorithm is as follows: Based on the principle of the least mean square algorithm, the hydration state weight coefficient of the current time series is obtained by subtracting the product of the adaptive update step size, the mechanical closed-loop control error and the tissue hydration state index from the hydration state weight coefficient of the current time series. The low-frequency impedance weighting coefficient for the next time sequence is obtained by subtracting the product of the adaptive update step size, the mechanical closed-loop control error, and the low-frequency body impedance amplitude from the low-frequency impedance weighting coefficient of the current time sequence. The basic process bias constant for the next time sequence is obtained by subtracting the product of the adaptive update step size and the mechanical closed-loop control error from the basic process bias constant of the current time sequence.

[0016] This invention provides a standardized slaughtering and processing technology for livestock and poultry. It has the following beneficial effects: 1. This invention transforms the continuous grounded track into a segmented insulated grounded track and connects a miniature tension and compression sensor in series at the rigid connection node between the servo cylinder push rod and the guide track. This eliminates the signal aliasing interference generated in the electrical circuit of the water bath and the mechanical torque of the defecation machine when multiple poultry are processed simultaneously. As a result, it can accurately obtain the high and low frequency body impedance characteristics and local force feedback of individual poultry, providing accurate basic data for the adaptive control of the system.

[0017] 2. This invention calculates the tissue hydration state index by extracting the high and low frequency impedance amplitudes of monomers, and then uses a multivariate linear polynomial to calculate the skin mechanical tension tolerance index. Based on this index, a servo electric cylinder is driven to dynamically adjust the radial physical interference depth on the poultry body. This feedforward displacement compensation mechanism based on monomer physiological characteristics changes the traditional fixed parameter processing mode, effectively reducing the damage rate caused by individual differences in epidermal tolerance, while ensuring the completion of the feather removal process.

[0018] 3. This invention utilizes a miniature tension / compression sensor to extract the peak value of the actual transient force wave after the front-end feedforward action is executed. This peak value is compared with a preset safety mechanical threshold to calculate the control error. A least mean square adaptive filtering algorithm is then used to update the weight coefficients in the mapping model. This closed-loop iterative mechanism enables the system to continuously correct the feedforward calculation model based on the actual physical execution effect at the back end, effectively overcoming the drift of process parameters caused by batch differences in poultry or long-term wear of mechanical parts. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the method steps of the present invention. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see the appendix Figure 1 This includes the following steps: S1. Establish the mapping relationship between the physical displacement of the suspended conveyor chain system and the digital identifier of a single individual, and construct a shift register queue synchronized with the physical displacement within the programmable logic controller. In continuous slaughtering and processing technology, the overhead conveyor system is in continuous operation, and the processing stations are arranged in spatial order. To achieve targeted control of individuals on the assembly line, it is necessary to establish a correspondence between their spatial physical locations and the internal data of the system. Step S1 specifically includes the following sub-steps: Step S101: Construct the kinematic digital mapping relationship of physical displacement. An absolute encoder is coaxially connected to the main drive sprocket of the suspended conveyor chain system. The absolute encoder rotates synchronously with the main drive sprocket. The programmable logic controller reads the pulse data output by the absolute encoder in real time via a fieldbus or a high-speed pulse capture port.

[0022] Let the real-time linear speed of the overhead conveyor system be... During system operation At any given time, the programmable logic controller reads the cumulative number of pulses from the absolute encoder. The programmable logic controller (PLC) internally stores the pulse equivalent constant. The pulse equivalent constant It represents the linear physical running distance of the overhead conveyor chain corresponding to each pulse output by the absolute encoder.

[0023] The programmable logic controller (PLC) calculates the overhead conveyor system's performance using the following formula. Absolute physical displacement coordinates at time t : ; The above physical displacement coordinates It forms the basic spatial reference benchmark for the coordinated actions of each workstation in the entire slaughtering and processing process.

[0024] Step S102: Triggering the start of the individual data lifecycle and establishing the digital identifier. An inlet photoelectric sensor is configured at the beginning of the overhead conveyor system. The overhead conveyor system includes multiple stainless steel hooks arranged at equal intervals. When a stainless steel hook loaded with live poultry passes through the detection area of ​​the inlet photoelectric sensor along with the overhead conveyor system, the inlet photoelectric sensor outputs a level transition signal to the programmable logic controller.

[0025] When the programmable logic controller receives the rising edge of the level transition signal, it assigns a unique digital identifier to the currently passing stainless steel hook in memory. Among them, variables The incrementing integer sequence number represents the individual serial number of the inlet photoelectric sensor in the current production batch. For the hardware debouncing circuit design and software filtering algorithm of the inlet photoelectric sensor output signal, those skilled in the art can select a standard design based on the on-site electromagnetic interference environment; the specific implementation is well-known technology in this field and will not be elaborated upon here.

[0026] Step S103: Construct and update the follow-up data shift register queue. The programmable logic controller assigns digital identifiers to individuals. Subsequently, a data shift register queue is created within its data storage area, isomorphic to the physical pipeline. This data shift register queue contains a series of data blocks arranged at fixed address offsets, each data block used to store a specific numeric identifier. The bound feature parameters.

[0027] The fixed physical center distance between two adjacent stainless steel hooks on a suspended conveyor chain system is denoted as The programmable logic controller uses the absolute physical displacement coordinates calculated in step S101. Calculate the specific numeric identifier The corresponding live poultry individuals Real-time one-dimensional physical space coordinates at any given moment : ; The programmable logic controller (PLC) has an internally set displacement trigger threshold. When the absolute physical displacement coordinates... The increment is equal to the fixed physical center distance of a stainless steel hook. At this time, the programmable logic controller triggers a shift instruction. This shift instruction causes all numeric identifiers in the data shift register queue to be shifted. The data block it is bound to is then appended to one register address. This pointer displacement update mechanism, based on incremental physical displacement coordinates, ensures a strict one-to-one mapping between the data block flow rhythm within the controller and the physical movement rhythm of the physical objects carried by the external suspended conveyor system. Subsequent processing nodes only need to read the corresponding individual data from the register address within the programmable logic controller based on their fixed installation spatial coordinates on the production line, eliminating the need to repeatedly install identification sensors at each workstation. S2, at the water bath electro-stun station, the independent closed loop of the single individual is obtained by using the segmented insulated grounded rail, superimposed excitation signal is injected, and the tissue hydration state index and low frequency body impedance amplitude of the single individual are extracted. Step S2 involves the acquisition and calculation of individual electrophysiological characteristics of poultry. The water bath stun station involves multiple poultry simultaneously immersed in the water bath. Conventional continuous grounding rails would cause multiple poultry to form an electrical parallel circuit. To eliminate signal aliasing caused by parallel impedance, this method reconstructs the stun conductive structure at the electrical connection level. Step S2 specifically includes the following sub-steps: Step S201: Modify the stun grounding circuit to form a physically segmented isolation structure. Replace the original continuous grounding guide rail above the water bath stun station with a segmented insulated grounding rail. The segmented insulated grounding rail is composed of multiple independent conductive segments spliced ​​together, with insulating material filling the spaces between adjacent conductive segments to form an electrical isolation zone.

[0028] Let the physical length of a single conductive segment be... The fixed physical center distance between two adjacent stainless steel hooks in the overhead conveyor system is The above dimensions must meet the following geometric constraints: This geometric constraint ensures that at any given time, at most one stainless steel hook within a single conductive segment maintains electrical contact with it. Each conductive segment is equipped with an independent current sensor, which is connected to the common ground of the control system. This structure ensures that the system can acquire a specific digital identifier at any given time. The electrical parameters of the independent closed loop corresponding to the individual.

[0029] Step S202: Perform electrical superposition and injection of dual-frequency excitation signals. The power frequency corona-inducing circuit in the control system outputs a low-frequency corona-inducing signal, the frequency of which is denoted as... The control system is equipped with a high-frequency sensor signal generator, which outputs a microampere-level high-frequency sensor signal, the frequency of which is denoted as [missing information]. .

[0030] The system superimposes the aforementioned high-frequency sensing signals onto the power frequency corona circuit via a broadband coupling transformer. The primary coil of the broadband coupling transformer is connected to the high-frequency sensing signal generator, and the secondary coil is connected in series between the high-voltage output terminal of the power frequency corona circuit and the water bath electrode. While achieving dual-frequency signal superposition and injection, the broadband coupling transformer also provides electrical isolation protection, preventing the high-voltage corona current from flowing back and breaking down the low-voltage high-frequency sensing circuit. Regarding the selection of the broadband coupling transformer's core and turns ratio configuration, those skilled in the art can perform conventional design based on the actual power frequency voltage peak value; the circuit parameter matching is a well-known technique in the field and will not be elaborated upon here.

[0031] Step S203: Extract the time-domain electrical signal of the individual unit and perform frequency-domain decoupling. (When carrying a digital identifier...) When an individual stainless steel hook travels to a specific conductive segment, it forms an independent dual-frequency electrical conduction loop. A voltage sensor acquires the time-domain voltage signal of the corresponding loop for that specific conductive segment in real time. Independent current sensors configured on the corresponding conductive segments synchronously acquire the time-domain current signal of the circuit. .

[0032] Hardware bandpass filter bank receives the acquired time-domain voltage signal and time-domain current signal A bandpass filter bank includes low-frequency bandpass filtering channels and high-frequency bandpass filtering channels. The hardware bandpass filter bank performs frequency domain separation on the input time-domain signal and outputs the low-frequency voltage amplitude of that signal. Low-frequency current amplitude High-frequency voltage amplitude and high-frequency current amplitude Regarding the selection of operational amplifiers and the calculation of parameters for the external RC network in a hardware bandpass filter bank, those skilled in the art can build it themselves based on the set center frequency. The specific circuit implementation is a well-known technology in this field and will not be described in detail here.

[0033] Step S204: Calculate the hydration state index of the individual organism. The host computer reads the amplitude data output from the hardware bandpass filter bank and calculates the low-frequency bulk impedance amplitude of the organism. : ; The host computer synchronously calculates the high-frequency body impedance amplitude of this individual. : ; Low-frequency currents primarily flow through the extracellular fluid of individual cells, while high-frequency currents can penetrate cell membranes and conduct throughout the tissue. The host computer utilizes the amplitude characteristics of high and low-frequency impedance to construct and calculate the tissue hydration state index. : ; In the formula, This characterizes the lipid and water distribution ratio in the individual's skin and subcutaneous dermis. The host computer will calculate the low-frequency volume impedance amplitude. With tissue hydration status index The data is transmitted to the programmable logic controller (PLC) via bus communication. The PLC then writes the two data items mentioned above into the data shift register queue along with the corresponding digital identifier. Within the corresponding register address, the data is transmitted synchronously to the next process as the physical entity moves.

[0034] S3. Based on the tissue hydration state index and the low-frequency body impedance amplitude, the skin mechanical tension tolerance index of the individual is calculated using a multivariate first-order polynomial model. Step S3 specifically includes the following sub-steps: Step S301: Extract individual electrophysiological characteristic data and establish intermediate control variables. The stainless steel hook carrying the poultry carcass leaves the water bath electro-stun station via the suspended conveyor chain system and passes through the constant-temperature scalding station. The water temperature and scalding time in the constant-temperature scalding station are kept constant. The host computer, through industrial bus communication, reads the current digital identifier from a specific register address of the programmable logic controller. Bound tissue hydration status index and low-frequency body impedance amplitude .

[0035] This method establishes the skin mechanical tension tolerance index as an intermediate control variable for cross-physical field mapping, denoted as... The skin mechanical tension tolerance index is defined as the minimum critical tangential frictional force required to cause structural physical tearing and separation between the epidermis and dermis in a specific individual under pre-set constant-temperature scalding conditions. This index characterizes the individual's tolerance limit to external mechanical friction interference.

[0036] Step S302: Execute the solution of the cross-process multi-parameter dynamic weighted mapping model. The host computer is internally configured with a multivariate linear polynomial model for dimensionality reduction mapping. The host computer will read the tissue hydration state index. and low-frequency body impedance amplitude Set it as an input variable.

[0037] The host computer calculates the numeric identifier according to the following formula. Corresponding skin mechanical tension tolerance index : ; In the formula, This represents the calculated skin mechanical tension tolerance index; This represents the weighting coefficient of the hydration state corresponding to the current time series; This represents the low-frequency impedance weighting coefficient corresponding to the current timing. This represents the basic process bias constant set under the current timing.

[0038] In the initial running state after system startup, i.e., the individual serial number At that time, the above-mentioned hydration state weighting coefficient Low-frequency impedance weighting coefficient and basic process bias constant All initial values ​​are assigned by pre-set engineering experience calibration values. This follows the entity processing sequence.

[0039] All initial values ​​are assigned by pre-set engineering experience calibration values. As the physical processing sequence continues, the aforementioned weight coefficients are dynamically updated, driven by the mechanical closed-loop feedback errors extracted from subsequent process steps. For the specific low-level program implementation of the above polynomial mathematical operations by the host computer, those skilled in the art can use standard industrial computing languages ​​for development; the code writing rules are well-known in the field and will not be elaborated here.

[0040] Step S303: Synchronously write back the calculated data and maintain lifecycle transmission. After the host computer completes the above mapping model calculation, it will generate the skin mechanical tension tolerance index. The data is then sent back to the programmable logic controller.

[0041] The programmable logic controller receives the value and writes it into the data shift register queue along with the numeric identifier. Within a strictly bound data storage block. Skin mechanical tension tolerance index. As the programmable logic controller (PLC) triggers a displacement instruction, the data shift register continues to extend backward in the data shift register queue. This process ensures that the digital parameters extracted and calculated by the upstream station maintain consistency with the physical displacement of the entity on the production line in both time and space, thereby providing accurate feedforward data support for the mechanical actions of downstream processing nodes.

[0042] S4, at the mechanical hair removal station, based on the difference between the skin mechanical tension tolerance index and the standard epidermal tension tolerance reference constant, calculate the target compensation displacement of the servo actuator, and drive the servo actuator to adjust the radial physical interference depth to the individual. Step S4 specifically includes the following sub-steps: Step S401: Set the feedforward action trigger timing and extract feature data. Inside the mechanical hair removal machine, movable guide rails are arranged along the conveying direction, and servo electric cylinders are connected to the back of the movable guide rails. Stainless steel hooks carry specific numerical identifiers. The individual hairs move toward the mechanical hair removal station via the overhead conveyor system.

[0043] There is a physical response delay between the servo system receiving position commands and the mechanical component reaching the designated spatial position. The control system presets a feedforward displacement amount on the spatial coordinate axis to advance the movement. The programmable logic controller (PLC) continuously compares the real-time physical coordinates of the individual unit with the fixed spatial coordinates of the servo cylinder's mounting position. When a loaded digital identifier is detected... The relative physical distance between the individual stainless steel hook and the front of the servo cylinder's actuation area is equal to the advance displacement. At this time, the programmable logic controller (PLC) triggers a feedforward read instruction. The PLC reads the current numeric identifier from the data shift register queue. The skin mechanical tension tolerance index is bound .

[0044] Step S402: Perform feedforward calculation of the target compensation displacement. The control system has a standard skin tension tolerance reference constant set internally. Standard epidermal tension tolerance benchmark constant The rated epidermal tear resistance threshold required for the corresponding mechanical hair removal station under standard processing cycle.

[0045] The programmable logic controller extracts the skin's mechanical tension tolerance index. Compared with the standard epidermal tension tolerance benchmark constant Perform the difference operation. The programmable logic controller (PLC) calculates the target compensation displacement of the servo electric cylinder according to the following formula. : ; In the formula, This represents the target compensation displacement calculated from the solution. This represents the system's preset displacement conversion proportional gain coefficient, used to convert the exponential difference into an equivalent spatial physical distance. For the tuning of the servo system's control loop parameters and the configuration of the gain coefficient, those skilled in the art can perform routine adjustments based on the load inertia identification model within the driver. The specific adjustment process is well-known in the field and will not be elaborated upon here.

[0046] Step S403: Drive the servo physical actuator to adjust the local interference depth. The programmable logic controller will calculate the target compensation displacement. This is converted into a standard servo position loop pulse control command. The programmable logic controller (PLC) then sends this pulse control command to the corresponding servo driver via a fieldbus.

[0047] The servo driver outputs power current to drive the servo cylinder. The push rod of the servo cylinder generates a corresponding linear lateral displacement. The end of the push rod of the servo cylinder forms a rigid mechanical connection with the movable guide rail. The linear lateral displacement of the push rod directly drives the movable guide rail to move radially. The change in the lateral position of the movable guide rail further changes the radial compression depth of the high-speed rotating mechanical rubber fingers inside the mechanical depilator as they pass through the poultry carcass.

[0048] When the skin mechanical tension tolerance index is read Less than the standard epidermal tension tolerance reference constant At this time, it indicates that the individual's skin mechanical resistance is relatively weak. The target compensation displacement calculated by the above formula is... The value is positive. The position loop pulse control command drives the servo cylinder push rod to extend outward, causing the movable guide rail to expand outward, thereby reducing the radial physical interference of the mechanical rubber finger on the poultry carcass to prevent skin damage. When the calculated target compensation displacement... When the value is negative, the position loop pulse control command drives the servo electric cylinder push rod to retract inward, causing the movable guide rail to move closer inward, increasing the degree of radial physical interference to ensure the basic feather removal process parameters. S5, extract the peak value of the transient force wave when the single individual passes through the action area of ​​the servo actuator by using a miniature tension and compression sensor, calculate the mechanical closed-loop control error, and update the weight coefficients of the multivariate linear polynomial model using an adaptive filtering algorithm; After the feedforward action is completed, the control system needs to obtain the actual mechanical feedback from the servo actuator acting on the entity to verify and calibrate the mapping mathematical model of the front-end process parameters. Mechanical hair removal machines typically contain multiple rows of rotating work discs; extracting the total torque of the main drive motor introduces physical interference generated by the simultaneous friction of multiple individual components. This method uses a local closed-loop architecture to remove environmental noise signals. Step S5 specifically includes the following sub-steps.

[0049] Step S501: Construct a non-overlapping physical extraction structure for local radial transient force. Within the mechanical hair removal station, the movable guide rail is supported radially by a servo electric cylinder. A one-dimensional miniature tension / compression sensor is connected in series at the rigid connection node between the push rod end of the servo electric cylinder and the back side of the movable guide rail.

[0050] This physical structure design allows the active guide rail to unidirectionally transmit lateral thrust to the miniature tension / compression sensor only within specific local interference regions. When loaded with a digital identifier... As the individual stainless steel hooks pass through this localized physical interference zone along the suspended conveyor chain system, the instantaneous radial force generated by the mechanical rubber fingers striking the bird's carcass directly acts on the moving guide rail, and is converted into a millivolt-level voltage signal by a miniature tension / compression sensor. The installation position of the miniature tension / compression sensor enables the isolated extraction of the localized radial force on a single bird's body.

[0051] Step S502: Perform transient force peak capture and mechanical closed-loop control error calculation. The host computer calibrates the loading digital identifier based on the physical displacement coordinates converted from the encoder pulses. The displacement range of an individual stainless steel hook entering and leaving this local physical interference region. This displacement range corresponds to a specific time window, denoted as . .

[0052] In the time window Inside, a miniature tension / compression sensor outputs radial thrust sequence data at a fixed sampling rate. The host computer internally runs a peak hold algorithm program to extract the peak value of the transient force wave within the time window. The extraction formula is as follows: ; Transient force peak value This reflects the extreme value of mechanical friction actually experienced by a single bird under feedforward displacement compensation. The control system has a preset safety mechanical threshold. Safety mechanical threshold This indicates the maximum permissible radial friction force calibration value that will not cause tearing or damage to the skin. The host computer will extract the transient force peak value. With safety mechanical threshold Perform the difference operation to calculate the mechanical closed-loop control error of the individual. : ; For the construction of instrument amplification and analog-to-digital conversion circuits for the weak voltage signals output by miniature tension and compression sensors, those skilled in the art can use high-precision force transmission modules. The hardware circuit construction is a well-known technology in this field and will not be described in detail here.

[0053] Step S503: Recursively update the coefficients of the feedforward mapping model based on the adaptive filtering algorithm. The host computer obtains the mechanical closed-loop control error. Then, a reverse error propagation mechanism is established using the least mean square algorithm. The host computer uses the individual feature data of the current time series to synchronously update the weight coefficients of the polynomial mapping model in step S3.

[0054] The system is configured with a fixed adaptive update step size parameter, denoted as . Adaptive update of step size parameters This is used to control the adjustment magnitude of the weight coefficients in each iteration. The host computer calculates the next time-series individual (i.e., the numeric identifier) ​​according to the following series of formulas. The applicable hydration state weighting coefficient Low-frequency impedance weighting coefficient and basic process bias constant : ; ; ; After the above iterative calculations are completed, the updated coefficients overwrite the original values ​​in the host computer's memory. When the next numeric identifier in the programmable logic controller's data shift register queue is passed to the front-end computing node, the system uses the updated coefficients to calculate its skin mechanical tension tolerance index. This closed-loop iterative mechanism across physical fields allows the feedforward control model to continuously and adaptively adapt to the actual physical execution results from the back end, eliminating long-term process drift caused by batch differences in poultry or wear of mechanical parts.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A standardized slaughtering and processing technology for livestock and poultry, characterized in that, Includes the following steps: S1. Establish the mapping relationship between the physical displacement of the suspended conveyor chain system and the digital identifier of a single individual, and construct a shift register queue synchronized with the physical displacement within the programmable logic controller. S2, at the water bath electro-stun station, the independent closed loop of the single individual is obtained by using the segmented insulated grounded rail, superimposed excitation signal is injected, and the tissue hydration state index and low frequency body impedance amplitude of the single individual are extracted. S3, based on the tissue hydration state index and the low-frequency body impedance amplitude, calculate the skin mechanical tension tolerance index of the individual using a multivariate first-order polynomial model; S4, at the mechanical hair removal station, based on the difference between the skin mechanical tension tolerance index and the standard epidermal tension tolerance reference constant, calculate the target compensation displacement of the servo actuator, and drive the servo actuator to adjust the radial physical interference depth to the individual. S5. Extract the peak value of the transient force wave when the single individual passes through the action area of ​​the servo actuator using a miniature tension and compression sensor, calculate the mechanical closed-loop control error, and update the weight coefficients of the multivariate linear polynomial model using an adaptive filtering algorithm.

2. The standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S1, the specific methods for establishing the mapping relationship and constructing the shift register queue are as follows: The real-time one-dimensional physical space coordinates are calculated by using an absolute encoder connected to the main drive sprocket of the suspended conveyor chain system in combination with the pulse equivalent constant. When a single individual passes through the entrance photoelectric sensor, it is assigned a unique digital identifier, and a corresponding data block is allocated in the shift register queue. Based on the fixed physical center distance between adjacent hooks in the suspended conveyor chain system, when the absolute physical displacement increment reaches the fixed physical center distance, the shift register queue is triggered to be extended by one register address.

3. The standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S2, the segmented insulated grounding track is composed of multiple independent conductive segments and insulating materials that are alternately spliced ​​together, and the physical length of a single conductive segment is less than the fixed physical center distance between adjacent hooks in the suspended conveyor chain system.

4. The standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S2, the specific methods for injecting and superimposing excitation signals and extracting features are as follows: The high-frequency sensing signal is superimposed onto the power frequency corona circuit through a broadband coupling transformer; When the individual enters the specific conductive segment, the time-domain voltage signal and time-domain current signal of the circuit are collected; The time-domain voltage signal and the time-domain current signal are separated in the frequency domain using a hardware bandpass filter bank to extract the low-frequency voltage amplitude, low-frequency current amplitude, high-frequency voltage amplitude, and high-frequency current amplitude. The low-frequency body impedance amplitude is calculated based on the ratio of the low-frequency voltage amplitude to the low-frequency current amplitude, and the high-frequency body impedance amplitude is calculated based on the ratio of the high-frequency voltage amplitude to the high-frequency current amplitude.

5. The standardized slaughtering and processing technology for livestock and poultry according to claim 4, characterized in that, The tissue hydration state index is calculated in the following way: The tissue hydration state index is equal to the difference between the low-frequency body impedance amplitude and the high-frequency body impedance amplitude, divided by the sum of the low-frequency body impedance amplitude and the high-frequency body impedance amplitude.

6. The standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S3, the formula for calculating the skin mechanical tension tolerance index using a multivariate linear polynomial model is as follows: ； In the formula, For individuals The skin mechanical tension tolerance index; For individuals The tissue hydration state index; For individuals The low-frequency volume impedance amplitude; The hydration state weighting coefficient for the current time series; This is the low-frequency impedance weighting coefficient for the current timing sequence; This is the basic process bias constant for the current timing.

7. The standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S4, the specific method for calculating and adjusting the radial physical interference depth is as follows: When it is detected that the distance between the individual and the working area of ​​the servo actuator has reached the advance displacement amount, the corresponding skin mechanical tension tolerance index is read from the shift register queue; The target compensation displacement is calculated by subtracting the preset standard epidermal tension tolerance benchmark constant from the skin mechanical tension tolerance index and multiplying the difference by the displacement conversion proportional gain coefficient. The servo driver drives the servo cylinder according to the target compensation displacement, and the push rod of the servo cylinder drives the movable guide rail to generate lateral displacement, thereby changing the radial physical interference depth of the mechanical rubber finger inside the mechanical depilator on the poultry carcass.

8. The standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S5, the miniature tension / compression sensor is installed in series at the rigid connection node between the end of the push rod of the servo electric cylinder and the back side of the movable guide rail.

9. The standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S5, the specific method for extracting the peak value of the transient force wave and calculating the mechanical closed-loop control error is as follows: Within the time window of the individual passing through the local physical interference region, the radial thrust sequence data output by the miniature tension-compression sensor is recorded at a fixed sampling rate; The peak value of the transient force wave within the time window is extracted using the peak hold algorithm. The mechanical closed-loop control error is calculated by subtracting the preset safety mechanical threshold from the peak value of the transient force wave.

10. A standardized slaughtering and processing technology for livestock and poultry according to claim 1, characterized in that, In step S5, the specific method for updating the weight coefficients of the multivariate linear polynomial model using the adaptive filtering algorithm is as follows: Based on the principle of the least mean square algorithm, the hydration state weight coefficient of the current time series is obtained by subtracting the product of the adaptive update step size, the mechanical closed-loop control error and the tissue hydration state index from the hydration state weight coefficient of the current time series. The low-frequency impedance weighting coefficient for the next time sequence is obtained by subtracting the product of the adaptive update step size, the mechanical closed-loop control error, and the low-frequency body impedance amplitude from the low-frequency impedance weighting coefficient of the current time sequence. The basic process bias constant for the next time sequence is obtained by subtracting the product of the adaptive update step size and the mechanical closed-loop control error from the basic process bias constant of the current time sequence.

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