A method and apparatus, device, medium for self-adaptive crushing of a dead diseased animal

Abstract

The application provides a kind of dead and diseased animal adaptive crushing method and device, equipment, medium, belongs to crushing control technical field, the method comprises: obtaining material characteristic parameter;Based on material characteristic parameter, determine material stiffness coefficient;Based on material stiffness coefficient, a plurality of pressure thresholds are calculated;After the crushing motor reaches the preset operating state, the first hydraulic drive signal for controlling the hydraulic drive system to drive the cover plate to flip and press from the vertical position to the horizontal position is generated;During the cover plate pressing process, the system pressure signal of the hydraulic drive system is obtained, and the system pressure signal is compared with the plurality of pressure thresholds, to determine the current work interval, and the second hydraulic drive signal is generated based on the work interval.The application provides a kind of dead and diseased animal adaptive crushing method and device, equipment, medium can automatically match control parameters according to different material characteristics, and the crushing efficiency and equipment safety are considered.

Description

Technical Field

[0001] This application belongs to the field of crushing control technology, and more specifically, relates to an adaptive crushing method, device, equipment, and medium for diseased or dead animals. Background Technology

[0002] Existing crushing equipment for diseased and dead animals typically uses fixed hydraulic pressure parameters for crushing operations. The pressure threshold and control strategy are set at the factory and cannot be dynamically adjusted according to the actual characteristics of the material being processed. However, actual processing scenarios involve diverse animal species and significantly different material states. Different materials exhibit considerable variations in stiffness characteristics, making fixed parameters unsuitable for all operating conditions: when the material stiffness is high, a low fixed threshold can easily lead to frequent overload protection triggers and operation interruptions; when the material stiffness is low, a high fixed threshold results in insufficient downward pressure and low crushing efficiency. Furthermore, existing equipment lacks interlocking control between the crushing motor's operating status and the cover plate's downward pressing action, posing a safety hazard as the motor begins pressing before reaching a stable speed. Therefore, there is an urgent need for an adaptive crushing method for diseased and dead animals that can automatically match control parameters according to different material characteristics, balancing crushing efficiency and equipment safety. Summary of the Invention

[0003] The purpose of this application is to provide an adaptive crushing method, apparatus, equipment, and medium for diseased and dead animals that can automatically match control parameters according to different material characteristics, balancing crushing efficiency and equipment safety. To achieve the above objective, the technical solution provided by this application is as follows: In a first aspect, an adaptive crushing method for diseased and dead animals is provided, applied to a diseased and dead animal crushing system and executed by electronic equipment within the system. The system includes a feed inlet, a cover plate reversibly mounted above the feed inlet, a hydraulic drive system for driving the cover plate to rotate, and a crushing motor located below the feed inlet. The method includes: Obtain material characteristic parameters, which should include at least the animal species and the material state; Determine the material stiffness coefficient based on material property parameters; Based on the material stiffness coefficient, multiple pressure thresholds are calculated, including pressure contact threshold, pressure working threshold and pressure limit threshold. The operating status of the crushing motor is obtained, and after the crushing motor reaches the preset operating status, a first hydraulic drive signal is generated. The first hydraulic drive signal is used to control the hydraulic drive system to drive the cover plate to flip and press down from the vertical position to the horizontal position. During the pressing down of the cover plate, the system pressure signal of the hydraulic drive system is acquired and compared with multiple pressure thresholds to determine the current working range. Based on the working range, a second hydraulic drive signal is generated. The second hydraulic drive signal is used to control the hydraulic drive system to perform corresponding actions to crush the diseased and dead animals.

[0004] Secondly, an adaptive crushing device for diseased and dead animals is provided, applied to a crushing system for diseased and dead animals. The crushing system includes a feeding port, a cover plate that is rotatably installed above the feeding port, a hydraulic drive system for driving the cover plate to rotate, and a crushing motor located below the feeding port. The device includes: The parameter acquisition module is used to acquire material characteristic parameters, which include at least the animal species and the material state. The coefficient determination module is used to determine the material stiffness coefficient based on material characteristic parameters; The threshold determination module is used to calculate multiple pressure thresholds based on the material stiffness coefficient. These multiple pressure thresholds include the pressure contact threshold, the pressure working threshold, and the pressure limit threshold. The first drive module is used to acquire the operating status of the crushing motor and generate a first hydraulic drive signal after the crushing motor reaches the preset operating status. The first hydraulic drive signal is used to control the hydraulic drive system to drive the cover plate to flip and press down from the vertical position to the horizontal position. The second drive module is used to acquire the system pressure signal of the hydraulic drive system during the pressing of the cover plate, compare the system pressure signal with multiple pressure thresholds to determine the current working range, and generate a second hydraulic drive signal based on the working range. The second hydraulic drive signal is used to control the hydraulic drive system to perform corresponding actions to crush diseased and dead animals.

[0005] Thirdly, embodiments of this application also provide an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement an adaptive crushing method for diseased or dead animals provided in any possible implementation of the first aspect.

[0006] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements an adaptive fragmentation method for diseased or dead animals provided by any possible implementation of the first aspect.

[0007] The beneficial effects of the technical solution provided in this application are as follows: This application provides an adaptive crushing method, apparatus, equipment, and medium for diseased and dead animals. Compared with related technologies, this application obtains material characteristic parameters and determines the material stiffness coefficient accordingly. Then, based on the material stiffness coefficient, it dynamically calculates the pressure contact threshold, pressure working threshold, and pressure limit threshold. This allows each pressure threshold to adaptively adjust according to different animal species and material states, overcoming the shortcomings of fixed thresholds that cannot adapt to diverse materials. Simultaneously, the first hydraulic drive signal is generated only after the crushing motor reaches a preset operating state to drive the cover plate to flip and press down, avoiding the overload risk caused by pressing down before the motor is ready. During the pressing down of the cover plate, the current operating range is determined by acquiring the system pressure signal in real time and comparing it with multiple pressure thresholds, thereby generating a corresponding second hydraulic drive signal, realizing closed-loop adaptive control of the crushing process. In summary, this application can automatically match control parameters according to different material characteristics, balancing crushing efficiency and equipment safety. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0009] Figure 1 This is a structural diagram of the animal shredding system provided in an embodiment of this application; Figure 2 A flowchart illustrating an adaptive fragmentation method for diseased or dead animals provided in this application embodiment; Figure 3 A structural block diagram of an adaptive crushing device for diseased or dead animals provided in this application embodiment; Figure 4 A schematic block diagram of an electronic device provided in an embodiment of this application; In the picture: 1. Cover plate; 2. Crushing motor; 3. Hydraulic drive system; 4. Crushing blades. Detailed Implementation

[0010] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0011] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” can be implemented as “A,” or as “B,” or as “A and B.” When describing multiple (two or more) items, if the relationship between the multiple items is not explicitly defined, the multiple items can refer to one, several or all of the multiple items. For example, the description of "parameter A includes A1, A2, A3" can be implemented as parameter A includes A1 or A2 or A3, or it can be implemented as parameter A includes at least two of the three items A1, A2 and A3.

[0012] This application provides an adaptive crushing method for diseased and dead animals, applied to a crushing system for diseased and dead animals. The crushing system for diseased and dead animals includes a feeding port, a cover plate that is flipped and installed above the feeding port, a hydraulic drive system for driving the cover plate to flip, and a crushing motor located below the feeding port.

[0013] like Figure 1 As shown, in this embodiment, the feeding port is the inlet channel for materials to enter the crushing chamber. Its diameter is determined according to the maximum external dimensions of the animal carcass to be processed, ensuring that the whole animal can be smoothly fed in. The cover plate is a flip-up structure, installed on the upper edge of the feeding port via a hinge. Its flip angle range is 0° to 90°. When the cover plate is in the vertical position (i.e., the flip angle is 90°), the feeding port is fully open, facilitating material feeding; when the cover plate is in the horizontal position (i.e., the flip angle is 0°), the cover plate covers the feeding port, forming a closed state. The hydraulic drive system includes a hydraulic pump, an electromagnetic reversing valve, a two-way hydraulic lock, an overflow valve, and a throttle valve. The cover plate is driven to flip around the hinge by a flipping hydraulic cylinder. The crushing motor is a pre-crushing main motor, which drives the crushing blade assembly located below the feeding port to cut and crush the material. Its power is determined according to the maximum weight and bone hardness of the object being processed. For example, when processing a whole yak, a motor of 11kW or higher is usually selected, with a rated current of approximately 22A.

[0014] This method can be executed by an electronic device, such as a PLC controller. Figure 2 As shown, the method may include: S101: Obtain material characteristic parameters, which include at least the animal species and the material state.

[0015] In this embodiment, material characteristic parameters are used to characterize the basic attributes of the diseased or dead animals to be crushed, including animal species and material state, so as to determine control parameters that match the physical characteristics of the material. Animal species refers to the animal category to which the material to be processed belongs, such as yak, Tibetan sheep, pig, etc. Different species of animals differ in bone density, muscle fiber density, and overall body size, and these differences directly affect the resistance characteristics during the crushing process. Material state refers to the current physical state information of the material, including but not limited to temperature and freshness, such as whether the material is at room temperature, refrigerated, or frozen, and whether the material is a fresh carcass or a carcass that has been frozen for a certain period of time. In practical applications, material characteristic parameters can be obtained by the operator selecting and inputting them on a touchscreen. The operator selects the corresponding animal species and material state options according to the actual feeding situation, and the PLC controller receives the selection signal and enters the subsequent calculation process.

[0016] S102: Determine the material stiffness coefficient based on material characteristic parameters.

[0017] In this embodiment, the material stiffness coefficient is a comprehensive parameter reflecting the material's resistance to deformation; a higher value indicates that the material is more difficult to crush or cut. Determining the material stiffness coefficient requires comprehensive consideration of the influence of multiple factors on material stiffness, such as animal species, temperature, and freshness. Specifically, different animal species correspond to different basic stiffness levels; freezing increases material stiffness, while freshness (such as the duration of freezing) also has a certain impact on material stiffness.

[0018] In one embodiment of this application, the material state includes temperature state and freshness state; Based on material property parameters, the material stiffness coefficient is determined, including: Obtain the basic stiffness coefficient corresponding to the animal species; Determine the temperature correction factor based on the temperature conditions; Determine the freshness correction factor based on the freshness status; The material stiffness coefficient is obtained by multiplying the basic stiffness coefficient, temperature correction factor, and freshness correction factor.

[0019] In this embodiment, temperature status refers to the current temperature conditions of the material, which can be divided into normal temperature status, refrigerated status, and frozen status according to the actual processing scenario. Normal temperature status typically refers to materials at ambient temperature, such as an ambient temperature range of 15℃ to 35℃; refrigerated status typically refers to materials with a temperature range of 0℃ to 5℃; frozen status typically refers to materials with a temperature range of -30℃ to -10℃. In high-altitude areas, winter temperatures can naturally reach below -20℃, and materials are often in a deep-frozen state. Freshness status refers to the degree of freshness of the material as reflected by the time elapsed since death or slaughter and the storage conditions, such as fresh carcasses (not frozen within 24 hours of death), carcasses frozen for no more than 7 days, and carcasses frozen for more than 7 days. Freshness status affects the moisture content and the compactness of the material's structure, thus affecting its rigidity characteristics.

[0020] In this embodiment, the basic stiffness coefficient is a preset benchmark parameter based on the animal species, reflecting the inherent stiffness level of different animal species under standard conditions. This basic stiffness coefficient can be obtained through statistical analysis of stress-strain data obtained from compression tests of various animal carcasses under standard conditions. For example, the basic stiffness coefficient of yak is set to 1.2, as yaks have large bones and dense muscle fibers, resulting in high overall stiffness; the basic stiffness coefficient of Tibetan sheep is set to 0.8, as Tibetan sheep are smaller in size and have relatively thinner bones, resulting in lower stiffness; and the basic stiffness coefficient of pig is set to 1.0 as an intermediate benchmark value.

[0021] In this embodiment, the temperature correction factor reflects the degree of influence of temperature on the stiffness of the material. When the material is frozen, the water in its structure freezes to form ice crystals, increasing the overall stiffness. The value of this temperature correction factor is determined based on compression test data of the material under different temperature conditions. For example, when the material is frozen at -30°C, the temperature correction factor is 1.5; when the material is refrigerated at 0°C, the temperature correction factor is 1.2; and when the material is at room temperature, the temperature correction factor is 1.0, meaning no correction is applied.

[0022] In this embodiment, the freshness correction factor reflects the impact of changes in the material's tissue structure over time on its stiffness. The muscle tissue of a fresh cadaver retains elasticity and has relatively low stiffness; however, as freezing time increases, ice crystal growth and protein denaturation cause the material to gradually harden. This freshness correction factor is determined based on comparative experimental data of the same material at different freezing times. For example, the freshness correction factor for a fresh cadaver is 1.0; for materials frozen for more than 7 days, the freshness correction factor is 1.3.

[0023] In this embodiment, the material stiffness coefficient is obtained by multiplying the basic stiffness coefficient, the temperature correction factor, and the freshness correction factor. That is, the material stiffness coefficient. ,in Based on the basic stiffness coefficient, This is a temperature correction factor. This is a freshness correction factor. For example, for a frozen yak (frozen at -30℃, frozen for more than 7 days), its material stiffness coefficient K = 1.2 × 1.5 × 1.3 = 2.34. This material stiffness coefficient is greater than 1, indicating that the actual stiffness of the material is higher than the standard reference state. The pressure thresholds calculated subsequently will be increased accordingly to meet the crushing requirements of high-stiffness materials.

[0024] As can be seen from the above, this embodiment, by introducing a product calculation model of the basic stiffness coefficient, temperature correction factor, and freshness correction factor, expands the determination of the material stiffness coefficient from a single fixed value to a multi-factor dynamic calculation. This enables the system to accurately reflect the actual stiffness differences of materials under different animal species, temperature conditions, and freshness states. It effectively solves the problem of insufficient adaptability of traditional fixed threshold schemes when dealing with diverse materials, providing a reliable parameter basis for precise crushing control under different material conditions.

[0025] S103: Based on the material stiffness coefficient, multiple pressure thresholds are calculated, including pressure contact threshold, pressure working threshold and pressure limit threshold.

[0026] In this embodiment, the pressure thresholds serve as the dividing lines for the cover plate pressing process into different operating zones. The pressure contact threshold distinguishes between the unloaded zone and the contact zone; when the system pressure reaches this threshold, it indicates that the cover plate has contacted the material surface. The pressure working threshold distinguishes between the contact zone and the working zone; when the system pressure reaches this threshold, it indicates that the material has been sufficiently compacted and has entered the normal crushing working state. The pressure limit threshold is the upper limit of the system's safe pressure; when the system pressure reaches this threshold, it indicates that the current crushing resistance is approaching the equipment's bearing limit, requiring protective actions to prevent equipment damage. All three pressure thresholds are dynamically calculated based on the material stiffness coefficient, enabling the system to automatically adjust control parameters for different material characteristics without relying on fixed empirical values.

[0027] In one embodiment of this application, multiple pressure thresholds are calculated based on the material stiffness coefficient, including: Obtain the no-load pressure, standard operating pressure, and maximum permissible system pressure; The product of the no-load pressure and the material stiffness coefficient is determined as the pressure contact threshold. The product of the standard working pressure and the material stiffness coefficient is determined as the pressure working threshold. The product of the system's maximum allowable pressure, the first coefficient, and the material stiffness coefficient is determined as the first temporary threshold, where the first coefficient is less than 1. The product of the system's maximum allowable pressure and the second coefficient is determined as the second temporary threshold, where the second coefficient is less than 1 and greater than the first coefficient. The smaller of the first temporary threshold and the second temporary threshold is determined as the pressure limit threshold.

[0028] In this embodiment, the no-load pressure refers to the oil circuit pressure in the rod chamber of the hydraulic cylinder during the free flipping of the cover plate when there is no material resistance in the hydraulic drive system. This value can be obtained through a no-load calibration test, that is, driving the cover plate to flip when there is no material at the feeding port and recording the stable reading of the pressure sensor. For example, the no-load pressure of a certain model of equipment is calibrated to be approximately 1.5 MPa. The standard working pressure refers to the downward pressure required for stable cutting when processing standard materials under plain ambient temperature conditions. This value is obtained through statistical analysis of a large amount of crushing test data and represents the typical pressure level under normal working conditions, for example, 6 MPa. The maximum allowable pressure of the system refers to the maximum safe pressure that the hydraulic drive system can withstand in its design. It is usually determined by the set pressure of the relief valve. For example, if the set pressure of the relief valve is 20 MPa, then the maximum allowable pressure of the system is 20 MPa.

[0029] In this embodiment, the product of the no-load pressure and the material stiffness coefficient is determined as the pressure contact threshold. .Right now ,in Here, K represents the no-load pressure, and K is the material stiffness coefficient. When the system pressure exceeds the product of the no-load pressure and the material stiffness coefficient, it indicates that the cover has come into contact with the material surface and has begun to generate compressive resistance. For example, for frozen yak (K=2.34), the pressure contact threshold... .

[0030] The product of the standard working pressure and the material stiffness coefficient is determined as the pressure working threshold. .Right now ,in This is the standard working pressure. When the system pressure reaches the working pressure threshold, it indicates that the material has been sufficiently compressed and has entered an effective crushing state. For example, for frozen yak (K=2.34), the working pressure threshold is... .

[0031] In this embodiment, the product of the system's maximum permissible pressure, the first coefficient, and the material stiffness coefficient is determined as the first temporary threshold. That is... ,in This is the first temporary threshold. The maximum allowable pressure of the system, The first coefficient is set to be less than 1. The purpose of this first coefficient is to appropriately reduce the pressure limit threshold when the material stiffness coefficient is high, preventing the limit threshold corresponding to high-stiffness materials from exceeding the actual load-bearing capacity of the system. The value of the first coefficient can be set according to the system's safety margin requirements, for example, 0.4.

[0032] The product of the system's maximum permissible pressure and the second coefficient is determined as the second temporary threshold. ,in This is the second temporary threshold. The second coefficient is less than 1 and greater than the first coefficient. The purpose of setting the second coefficient is to establish an absolute safety upper limit from the perspective of the system's hardware load-bearing capacity. This upper limit is not affected by the material stiffness coefficient, ensuring that the system pressure will not exceed the safety limit of the mechanical structure under any circumstances. The value of the second coefficient is determined based on the hydraulic system's safety factor; for example, a value of 0.9 means that the pressure limit threshold does not exceed 90% of the system's maximum permissible pressure.

[0033] The smaller value between the first temporary threshold and the second temporary threshold is determined as the pressure limit threshold. .Right now By taking the smaller value, the pressure limit threshold is ensured to simultaneously meet the constraints of material characteristic compatibility and system hardware safety. For example, for frozen yak (K=2.34, =20MPa, =0.4, =0.9): , Take the smaller value, then .

[0034] As can be seen from the above, this embodiment achieves adaptive dynamic calculation of the pressure threshold by introducing three benchmark parameters—no-load pressure, standard working pressure, and maximum permissible system pressure—in combination with the material stiffness coefficient. In particular, the pressure limit threshold uses the smaller of a first temporary threshold and a second temporary threshold, balancing the dual requirements of material characteristic adaptation and system hardware safety protection. This ensures that high-rigidity materials have sufficient pressure space for effective crushing while maintaining the system pressure within a safe range, effectively preventing damage to hydraulic components or mechanical structure failure due to excessive pressure.

[0035] S104: Obtain the operating status of the crushing motor, and after the crushing motor reaches the preset operating status, generate a first hydraulic drive signal. The first hydraulic drive signal is used to control the hydraulic drive system to drive the cover plate to flip and press down from the vertical position to the horizontal position.

[0036] In this embodiment, the preset operating state refers to the state in which the crushing motor reaches a stable operating speed. Since the crushing motor requires a certain acceleration time from startup to reaching its rated speed, if the cover plate is pressed down before the motor reaches its rated speed, the material may crush the cutters, causing motor overload or even burnout. Therefore, this embodiment follows the interlocking sequence of "starting the crushing motor first, then flipping and pressing down the cover plate." Specifically, after receiving the start command, the PLC controller first sends a start command to the crushing motor and simultaneously starts a timer for a delay. The preset operating state can be determined by detecting whether the crushing motor current is stable near the rated current, or by setting a fixed delay time, such as 2-5 seconds. This delay time is determined based on the actual acceleration time of the crushing motor from rest to its rated speed, and is usually obtained through on-site debugging. When the PLC controller confirms that the crushing motor has reached the preset operating state, it generates a first hydraulic drive signal. This signal controls the solenoid directional valve to operate, causing hydraulic oil to enter the rod chamber of the tilting hydraulic cylinder, driving the piston rod of the hydraulic cylinder to contract, thereby causing the cover plate to flip and press down from a vertical position to a horizontal position.

[0037] S105: During the pressing down of the cover plate, the system pressure signal of the hydraulic drive system is acquired, and the system pressure signal is compared with multiple pressure thresholds to determine the current working range. A second hydraulic drive signal is generated based on the working range. The second hydraulic drive signal is used to control the hydraulic drive system to perform corresponding actions to crush the diseased and dead animals.

[0038] In this embodiment, the system pressure signal can be acquired in real time by a pressure sensor installed on the oil inlet line of the rod chamber of the tilting hydraulic cylinder, with a sampling period of no more than 100ms. The PLC controller reads the analog signal from the pressure sensor in each control cycle, and obtains the system pressure value (system pressure signal) after A / D conversion. Subsequently, the PLC controller compares the system pressure value with the previously calculated pressure contact threshold, pressure working threshold, and pressure limit threshold one by one. Based on the comparison results, it determines the current operating range and generates a corresponding second hydraulic drive signal based on this operating range. Different operating ranges correspond to different hydraulic drive control strategies, including different pressing speeds, holding states, or retraction actions, thereby achieving refined adaptive control of the crushing process.

[0039] As can be seen from the above, this embodiment obtains material characteristic parameters and determines the material stiffness coefficient accordingly. Then, based on the material stiffness coefficient, it dynamically calculates the pressure contact threshold, pressure working threshold, and pressure limit threshold. This allows each pressure threshold to adaptively adjust according to different animal species and material states, overcoming the limitation of fixed thresholds being unsuitable for diverse materials. Simultaneously, the first hydraulic drive signal is generated only after the crushing motor reaches the preset operating state to drive the cover plate to flip and press down, avoiding the overload risk caused by pressing down before the motor is ready. During the cover plate pressing process, the current operating range is determined by acquiring the system pressure signal in real time and comparing it with multiple pressure thresholds, thereby generating the corresponding second hydraulic drive signal, achieving closed-loop adaptive control of the crushing process. In summary, this embodiment can automatically match control parameters according to different material characteristics, balancing crushing efficiency and equipment safety.

[0040] In one embodiment of this application, the system pressure signal is compared with multiple pressure thresholds to determine the current operating range, and a second hydraulic drive signal is generated based on the operating range, including: When the system pressure signal is less than the pressure contact threshold, it is determined that it is in the no-load range, and a signal is generated to control the hydraulic drive system to press down at the first speed. When the system pressure signal is greater than or equal to the pressure contact threshold and less than the pressure working threshold, it is determined that it is in the contact range, and a signal is generated to control the hydraulic drive system to press down at a second speed; the first speed is greater than the second speed. When the system pressure signal is greater than or equal to the working pressure threshold and less than the pressure limit threshold, it is determined that it is in the working range, and a signal is generated to control the hydraulic drive system to maintain the current downward pressure state. When the system pressure signal is greater than or equal to the pressure limit threshold, it is determined that it is in the limit range, and a signal is generated to control the hydraulic drive system to drive the cover plate to retract a preset distance.

[0041] In this embodiment, the unloaded section indicates that the cover plate has not yet contacted the material. At this time, the hydraulic cylinder drives the cover plate to freely flip and descend, and there is no material resistance. Since there is no need to overcome crushing resistance at this stage, a faster downward pressing speed is adopted to improve operating efficiency. The first speed can be achieved by adjusting the opening of the throttle valve to control the oil flow rate of the hydraulic cylinder. For example, the first speed corresponds to the extension speed of the hydraulic cylinder piston rod of 50 mm / s. This speed value can be determined comprehensively based on the hydraulic cylinder diameter, hydraulic pump flow rate, and system response characteristics.

[0042] The contact zone indicates that the cover plate has contacted the material surface and begun to apply compressive force, but has not yet reached a fully compacted state. During this stage, the pressing speed needs to be controlled to avoid excessive impact on the material due to excessive pressure, which could cause slippage or localized stress concentration. The second speed is lower than the first speed; for example, the second speed corresponds to a hydraulic cylinder piston rod extension speed of 15 mm / s. This speed value is determined based on the material's rigidity and the cutting capability of the crushing blades to ensure the material is smoothly compacted.

[0043] The working zone indicates that the material has been fully compressed, the crushing motor is effectively cutting the material, and the system pressure is within the normal operating range. During this stage, the hydraulic drive system maintains the current downward pressure, i.e., maintains the current downward speed and pressure, allowing the cover plate to continuously apply stable downward pressure to the material, assisting the crushing motor in completing the cutting and crushing operation.

[0044] The limit range indicates that the current crushing resistance has reached or exceeded the system's safe bearing limit. Continuing to press down may damage hydraulic components, break cutters, or overload the motor. At this point, the PLC controller immediately generates a retraction command, controlling the solenoid directional valve to switch directions, allowing hydraulic oil to enter the rod chamber of the hydraulic cylinder, driving the cover plate to retract a preset distance. The preset distance is 5–20 mm, for example, 10 mm. This distance value can be determined based on the minimum space required for the material to rearrange itself after retraction or for the fragments to fall naturally, and is calibrated through field tests. After retraction is completed, the system delays for 2–5 seconds to allow the material to rearrange itself or for the fragments to fall, and then controls the hydraulic cylinder to advance again to continue flipping and pressing down.

[0045] In this embodiment, to prevent the system from getting stuck in a cycle of repeated backtracking and retrying and failing to complete the crushing process, a cycle counting protection mechanism is also set up. The PLC controller records the number of times the same material enters the limit range consecutively. If the same material enters the limit range three times consecutively, the system will issue an audible and visual alarm and stop the machine, prompting the operator to intervene manually. This cycle count threshold can be determined based on actual operating experience. When three consecutive backtracking and retrying attempts still fail to complete the crushing process, it usually indicates that there is an abnormality in the material (such as the presence of metal foreign objects or the material volume exceeding the equipment's processing capacity), and continuing automatic retrying is no longer meaningful.

[0046] As can be seen from the above, this embodiment achieves refined segmented control of the crushing process by dividing the cover plate pressing process into four operating zones: no-load, contact, working, and limit. Different control strategies are configured for each zone. The no-load zone employs rapid pressing to improve efficiency; the contact zone slows down to avoid impact; the working zone maintains stability to ensure continuous and effective crushing; and the limit zone immediately retracts to protect equipment safety. This four-stage pressure closed-loop control effectively solves the problem of traditional open-loop control's inability to adjust the pressing pressure based on real-time resistance changes. Combined with a cycle counting protection mechanism, it improves crushing efficiency while ensuring the safety and stability of equipment operation.

[0047] In one embodiment of this application, the method further includes: During the pressing down of the cover plate, the motor current of the crushing motor is obtained; The pressure change rate is determined based on the system pressure signal, and the current change rate is determined based on the motor current. The current crushing state is determined based on the pressure change rate and current change rate. The crushing state includes the effective crushing state, the material compaction state, and the hard bone impact state.

[0048] In this embodiment, the motor current of the crusher motor can be acquired in real time by a current transmitter installed in the motor power supply circuit. The PLC controller reads the motor current value in each control cycle.

[0049] The pressure change rate is determined as follows: the PLC controller calculates the rate of change of the system pressure signal within a sliding time window. The duration of the sliding time window is 0.5 seconds, meaning that the pressure data within the most recent 0.5 seconds is used to calculate its average rate of change. For example, if the system pressure rises from 5 MPa to 6.5 MPa within 0.5 seconds, then the pressure change rate is (6.5-5) / 0.5 = 3 MPa / s.

[0050] The method for determining the rate of change of current is similar to that for determining the rate of change of pressure. The PLC controller calculates the average rate of change of motor current within the same sliding time window (0.5 seconds). For example, if the motor current rises from 18A to 19A within 0.5 seconds, then the rate of change of current is (19-18) / 0.5 = 2A / s.

[0051] In this embodiment, the effective crushing state refers to the crushing blades normally cutting the material, effectively crushing it. At this time, both the pressure change rate and the current change rate are within a stable, small fluctuation range, and their trends are basically synchronized. The material compaction state refers to the cover plate pressing down at a speed exceeding the crushing blades' cutting speed, causing the material to become increasingly compacted but not effectively cut. At this time, the pressure change rate continuously increases while the current change rate is relatively slow, showing a significant phase lag. The hard-bone impact state refers to the cover plate or crushing blades suddenly contacting high-hardness bone, generating an instantaneous impact load. At this time, the pressure change rate experiences a sudden surge, followed by a lagging surge in the current change rate.

[0052] As can be seen from the above, this embodiment elevates the identification of the crushing state from a simple judgment based on the absolute value of pressure to a dynamic identification based on the changing trend by using two dynamic parameters: the pressure change rate and the current change rate. The pressure change rate reflects the rate of change of resistance in the hydraulic system, while the current change rate reflects the rate of change of load on the crushing motor. The combination of the two can accurately distinguish between three typical working conditions: effective crushing, material compaction, and hard bone impact. This multi-source information fusion judgment method effectively compensates for the misjudgment problem that may occur when relying solely on pressure thresholds for interval judgment.

[0053] In one embodiment of this application, identifying the current breakage state based on the pressure change rate and the current change rate includes: If both the pressure change rate and the current change rate are less than their respective first preset thresholds, the condition is identified as an effective breakage state. If the pressure change rate is greater than or equal to its corresponding second preset threshold and the current change rate is less than its corresponding third preset threshold, then the material is identified as being in a compacted state. If the rate of change of pressure is greater than or equal to its corresponding fourth preset threshold, it is identified as a hard bone impact state.

[0054] In this embodiment, the first preset threshold is a benchmark value used to determine whether the system is in a stable operating state, including a first preset threshold corresponding to the pressure change rate and a first preset threshold corresponding to the current change rate. When both change rates are lower than their respective first preset thresholds, it indicates that the system pressure and motor current are within a stable, small fluctuation range, the crushing blade is cutting the material normally, and the material is effectively crushed. For example, the first preset threshold corresponding to the pressure change rate is set to 1.0 MPa / s, and the first preset threshold corresponding to the current change rate is set to 1.5 A / s. These two thresholds are determined by statistically analyzing a large amount of pressure change rate and current change rate data under normal crushing conditions and taking the 95th percentile.

[0055] In this embodiment, the second preset threshold is used to determine whether the pressure shows a rapid upward trend, and the third preset threshold is used to determine whether the current remains relatively stable. When the pressure change rate increases rapidly while the current change rate remains at a low level, it indicates that the material is being compacted but has not yet been effectively cut, meaning that the downward pressure speed of the cover plate exceeds the cutting speed of the crusher blades, and the material is being compacted more and more. For example, the second preset threshold corresponding to the pressure change rate is set to 2.5 MPa / s, and the third preset threshold corresponding to the current change rate is set to 2.0 A / s. The second preset threshold can be determined based on the typical characteristic value of the pressure rise rate during the material compaction process, and the third preset threshold can be determined based on the characteristic that the current change amplitude of the crusher motor is small under the material compaction state.

[0056] In this embodiment, a fourth preset threshold is used to determine whether an instantaneous impact load has occurred. When the pressure change rate exceeds this threshold, it indicates that the system has encountered a material with extremely high hardness (such as a large bone), resulting in an instantaneous impact. For example, the fourth preset threshold corresponding to the pressure change rate is set to 5.0 MPa / s. This threshold can be determined statistically from experimental data on the pressure change characteristics under hard bone impact conditions. Its value is significantly higher than the second preset threshold, ensuring that only genuine hard bone impacts will trigger this judgment and avoiding misjudging normal pressure fluctuations as impacts.

[0057] It should be noted that the values ​​of the aforementioned preset thresholds are not fixed and can be adaptively adjusted based on historical operating data during actual operation. Specifically, when processing a certain type of material for the first time, the system records the pressure change rate and current change rate data during the crushing process and dynamically adjusts the values ​​of the preset thresholds accordingly for use when processing the same type of material in subsequent runs.

[0058] As can be seen from the above, this embodiment achieves accurate identification of three crushing states—effective crushing, material compaction, and hard bone impact—by setting multiple preset thresholds to combine and judge the pressure change rate and current change rate. In particular, the identification of the material compaction state utilizes the phase difference characteristic between the pressure change rate and the current change rate; that is, the pressure rises rapidly while the current changes slowly. This characteristic accurately reflects the physical nature of the material being compacted but not effectively cut. The hard bone impact state uses a higher fourth preset threshold as the judgment threshold, effectively avoiding misjudgments caused by fluctuations in normal operating conditions, and ensuring the accuracy and reliability of crushing state identification.

[0059] In one embodiment of this application, generating a second hydraulic drive signal based on the working area further includes: If the material is identified as being in a compacted state, a signal is generated to control the hydraulic drive system to drive the cover plate to retract slightly at a third speed. If the impact is identified as a hard bone, a signal is generated to control the hydraulic drive system to drive the cover plate to retract a preset distance at a first speed. The third speed is less than the second speed.

[0060] In this embodiment, the material compaction state indicates that the current pressing speed of the cover plate exceeds the cutting capacity of the crusher. The material is becoming increasingly compacted. If the pressing continues at the current speed, the system pressure will continue to rise and may trigger the limit range protection, causing unnecessary retraction and efficiency loss. Therefore, when the material compaction state is detected, the PLC controller generates a signal to control the hydraulic drive system to drive the cover plate to retract slightly at a third speed, causing the cover plate to rise slightly by a small distance (e.g., 2-5 mm), reducing the degree of material compaction and giving the crusher a certain cutting time. After the material is partially cut, the pressing continues. The third speed is less than the second speed. For example, the third speed corresponds to a hydraulic cylinder piston rod retraction speed of 5 mm / s. This speed value is much smaller than the second speed, aiming to achieve a slow and stable slight retraction, avoiding material loosening or secondary impact caused by excessively fast retraction.

[0061] In this embodiment, the hard bone impact state indicates that the system has encountered a material with extremely high hardness (such as a large bone), generating an instantaneous impact load. At this point, immediate rapid retraction is required to protect the equipment. Retraction is performed at a first speed (i.e., the fastest speed in the no-load range, e.g., 50 mm / s), which allows the cover plate to disengage from the hard bone in the shortest possible time, preventing continuous impact load from damaging the cutting tools or overloading hydraulic components. The retraction distance is a preset distance (e.g., 10 mm). After retraction, the system waits for a delay before attempting to press down again.

[0062] Through the aforementioned control logic, the system employs a flexible strategy of low-speed, minute retraction when material compaction is detected, and a rigid protection strategy of rapid, large-scale retraction when hard impact is detected. These two strategies are clearly differentiated in terms of retraction speed and distance. This differentiated retraction strategy allows the system to take the most appropriate measures when facing different abnormal operating conditions: for recoverable transient conditions like material compaction, only minor adjustments are needed to restore normal crushing; while for dangerous conditions like hard impact that could damage the equipment, maximum protective action is immediately executed.

[0063] As can be seen from the above, this embodiment achieves differentiated control based on working condition identification by associating the crushing state identification results with the hydraulic drive control strategy. Under material compaction conditions, a flexible strategy of slight retraction at a third speed is adopted, effectively avoiding frequent retraction caused by excessive compaction triggering the limit zone protection, thus improving the continuity and efficiency of the crushing operation. Under hard bone impact conditions, a rigid protection strategy of rapid retraction at a first speed is adopted, ensuring timely and effective protection of the equipment under extreme working conditions. The gradient design of the two strategies in terms of speed and distance reflects the refinement of the control strategy, enabling the system to achieve the best balance between efficiency and safety.

[0064] In one embodiment of this application, the method further includes: Obtain the ambient temperature and altitude values ​​of the current working environment; Based on the ambient temperature value, an ambient temperature correction coefficient is determined; the ambient temperature correction coefficient is positively correlated with the ambient temperature value, and the ambient temperature correction coefficient is used to characterize the degree of attenuation of the flow output capacity of the hydraulic drive system due to the increase in hydraulic oil viscosity under low temperature conditions. Based on the altitude value, an environmental pressure correction coefficient is determined; the environmental pressure correction coefficient is negatively correlated with the altitude value, and the environmental pressure correction coefficient is used to characterize the degree of reduction in atmospheric pressure at high altitudes on the oil suction capacity of the hydraulic pump in the hydraulic drive system. Based on the ambient temperature correction coefficient and the ambient pressure correction coefficient, the control command parameters of the hydraulic drive system are corrected to obtain the corrected control command parameters; wherein, the control command parameters include at least one of the pressing speed, the retraction speed and the state recognition window time, and the state recognition window time is the duration of the time window used to calculate the pressure change rate; During the pressing down of the cover plate, a second hydraulic drive signal is generated based on the corrected control command parameters.

[0065] In this embodiment, the ambient temperature value can be obtained in real time by a temperature sensor installed outside the crushing system, and the altitude value can be obtained by converting the current atmospheric pressure by a barometer installed on the crushing system, or it can be obtained by a GPS positioning module.

[0066] In this embodiment, the ambient temperature correction factor The determination can be based on the principles of hydraulic fluid dynamics and the viscosity-temperature characteristics of hydraulic oil. In low-temperature environments, the kinematic viscosity of hydraulic oil increases significantly with decreasing temperature, leading to increased flow resistance within the hydraulic system. With a constant hydraulic pump displacement, the actual output flow rate decreases, the piston speed of the hydraulic cylinder decreases, and the system's dynamic response becomes sluggish. If control commands are still issued according to the downward and backward speeds under normal temperature conditions, the actual speed of the hydraulic cylinder will be far lower than the commanded speed, resulting in speed tracking errors. In severe cases, this can cause system pressure oscillations or even trigger false protection mechanisms. Therefore, this embodiment introduces an ambient temperature correction coefficient. Feedforward compensation is applied to the control command parameters of the hydraulic drive system to match the command parameters with the actual flow output capacity of the hydraulic system at the current ambient temperature. Specifically, when the ambient temperature is greater than or equal to a first preset temperature value (e.g., 0°C), Set the value to 1.0, and do not perform temperature compensation; when the ambient temperature is between the second preset temperature value and the first preset temperature value (e.g., -10℃ to 0℃), The value should be between 0.85 and 0.90, preferably 0.88; when the ambient temperature is between the third preset temperature value and the second preset temperature value (e.g., -30℃ to -10℃), The value should be between 0.70 and 0.80, preferably 0.75; when the ambient temperature is lower than the preset third temperature value (e.g., -30℃), The value is 0.60 to 0.70, preferably 0.65. It should be noted that the above... The specific value range and segmentation nodes can be adjusted according to the viscosity-temperature characteristic curve of the actual hydraulic oil and the experimental data of the system flow-pressure characteristics to adapt to the differences in viscosity-temperature relationship of different types of hydraulic oil.

[0067] In this embodiment, the environmental pressure correction factor The effective suction pressure differential can be determined based on the International Standard Atmospheric Model (ISA) and the hydraulic pump's suction characteristics. As altitude increases, atmospheric pressure decreases exponentially, leading to a corresponding decrease in the absolute pressure at the hydraulic pump's suction port and a reduction in the pump's effective suction pressure differential. When the suction pressure differential falls below the saturated vapor pressure of the hydraulic oil at the current temperature, cavitation occurs, causing a sharp decrease in the hydraulic pump's volumetric efficiency, unstable output flow, and the generation of noise and vibration, severely damaging the lifespan of hydraulic components. To prevent cavitation in the hydraulic pump at high altitudes and ensure the stability of the system's flow output, this embodiment introduces an environmental pressure correction coefficient. The target flow rate of the hydraulic drive system is limited to ensure that the system flow demand does not exceed the safe suction capacity of the hydraulic pump under the current altitude conditions. Specifically, when the altitude is less than a first preset altitude value (e.g., 2000m), Set the value to 1.0, and do not perform pressure compensation; when the altitude is between the first and second preset altitude values ​​(e.g., 2000m to 3500m), Take 0.95; when the altitude is between the second and third preset altitude values ​​(e.g., 3500m to 4500m), Take 0.90; when the altitude is greater than or equal to the third preset altitude value (e.g., 4500m), Take 0.85. Similarly, the above... The specific value range and segment nodes can be adjusted accordingly based on the actual hydraulic pump's oil suction characteristic curve and system flow test data under different altitude conditions.

[0068] In this embodiment, it should be specifically noted that the ambient temperature correction coefficient is... and environmental pressure correction factor The correction targets the control command parameters of the hydraulic drive system, not the pressure contact threshold, pressure working threshold, and pressure limit threshold. The technical reason is that the pressure contact threshold, pressure working threshold, and pressure limit threshold are calculated based on the material stiffness coefficient, reflecting the mechanical conditions required to crush specific materials. Their values ​​depend on the physical properties of the material itself and are independent of the ambient temperature and altitude of the hydraulic system. Changes in ambient temperature and altitude affect the hydraulic system's execution capability, namely the movement speed of the hydraulic cylinder and the output flow rate of the hydraulic pump. Therefore, the correct compensation strategy should be to adjust the control command parameters of the hydraulic drive system (including the downward pressure speed, the retraction speed, and the state recognition window time) to adapt them to the actual execution capability of the hydraulic system under the current environment, rather than lowering the pressure threshold, which would lead to insufficient crushing capacity for high-stiffness materials (such as the carcasses of diseased or dead animals in a frozen state).

[0069] In this embodiment, based on the ambient temperature correction coefficient and environmental pressure correction factor The control command parameters of the hydraulic drive system are corrected, specifically including the following correction calculations: Corrected downward speed ; Corrected rollback speed ; Corrected state recognition window time ; in, The compression speed is set under normal temperature conditions in a plain. The retraction speed is set under normal temperature conditions in a plain. This is the state recognition window time set under normal temperature conditions in a plain area. and After correction, the downward and backward speeds are reduced accordingly to match the attenuation of the hydraulic system's flow output capacity under low temperature, high viscosity, and high altitude, low air pressure conditions; the state recognition window time is extended accordingly to adapt to the characteristic that the pressure signal changes tend to be gradual after the system's dynamic response slows down, ensuring that enough pressure data is collected within a longer time window to accurately calculate the pressure change rate, and avoiding misjudgment due to the pressure change rate calculation result being too large because the window time is too short.

[0070] In this embodiment, during the pressing down of the cover plate, the controller bases the corrected pressing speed... The speed command component in the second hydraulic drive signal is generated to drive the hydraulic cylinder to perform a pressing action at a corrected pressing speed; when the working area determines that a retraction action needs to be performed, the controller uses the corrected retraction speed... The retraction speed command component in the second hydraulic drive signal is generated, driving the hydraulic cylinder to perform the retraction action at the corrected retraction speed; simultaneously, the corrected state recognition window time is used when calculating the pressure change rate. This serves as a time window for sampling pressure signals, thereby improving the accuracy of pressure change rate calculation.

[0071] For example, when the crushing system is deployed in a high-altitude region at 4200m and the ambient temperature is -15℃, according to the above segmentation rules, Take 0.75, We take 0.90. Assuming the downward pressure rate is set under normal temperature conditions in a plain area. The retraction speed is 50 mm / s. The speed is 80 mm / s, and the state recognition window time is... If it is 200ms, then the corrected downward pressure speed =50×0.75×0.90=33.75mm / s, corrected retraction speed =80×0.75×0.90=54mm / s, corrected state recognition window time =200 / (0.75×0.90)≈296ms. At this time, the hydraulic drive system executes the downward and backward actions according to the corrected speed command, and calculates the pressure change rate with a time window of 296ms, thereby achieving smooth control that matches the actual execution capability of the system in the low temperature and high plateau environment.

[0072] As can be seen from the above, this embodiment uses environmental temperature and environmental pressure correction coefficients to adaptively feedforward compensate the control command parameters of the hydraulic drive system. This allows the downward pressing speed, retraction speed, and state recognition window time to automatically adjust with changes in environmental temperature and altitude. This effectively overcomes the problem of reduced execution capability caused by increased hydraulic oil viscosity and decreased system flow due to low temperatures, and insufficient hydraulic pump suction capacity due to reduced atmospheric pressure at high altitudes. It ensures that the command parameters of the hydraulic drive system always match the actual flow output capability under the current environment. Simultaneously, since the pressure contact threshold, pressure working threshold, and pressure limit threshold are not affected by the environmental correction coefficients, the system still has sufficient crushing pressure margin for high-rigidity materials. This avoids insufficient crushing capacity and frequent overload protection triggering caused by incorrectly lowering the pressure threshold, improving the operating efficiency and reliability of the crushing equipment in harsh environments such as low temperatures and high altitudes.

[0073] Based on the same principle as the adaptive crushing method for diseased and dead animals provided in the embodiments of this application, the embodiments of this application also provide an adaptive crushing device for diseased and dead animals, such as... Figure 3 As shown, the adaptive crushing device 20 for diseased and dead animals is applied to a crushing system for diseased and dead animals. The crushing system includes a feeding port, a cover plate reversibly mounted above the feeding port, a hydraulic drive system for driving the cover plate to flip, and a crushing motor located below the feeding port. Specifically, it may include: a parameter acquisition module 21, a coefficient determination module 22, a threshold determination module 23, a first drive module 24, and a second drive module 25. Parameter acquisition module 21 is used to acquire material characteristic parameters, which include at least animal species and material state; The coefficient determination module 22 is used to determine the material stiffness coefficient based on material characteristic parameters; The threshold determination module 23 is used to calculate multiple pressure thresholds based on the material stiffness coefficient. The multiple pressure thresholds include pressure contact threshold, pressure working threshold and pressure limit threshold. The first drive module 24 is used to acquire the operating status of the crushing motor and generate a first hydraulic drive signal after the crushing motor reaches the preset operating status. The first hydraulic drive signal is used to control the hydraulic drive system to drive the cover plate to flip and press down from the vertical position to the horizontal position. The second drive module 25 is used to acquire the system pressure signal of the hydraulic drive system during the pressing of the cover plate, compare the system pressure signal with multiple pressure thresholds, determine the current working range, and generate a second hydraulic drive signal based on the working range. The second hydraulic drive signal is used to control the hydraulic drive system to perform corresponding actions to crush the diseased and dead animals.

[0074] In one embodiment of this application, the material state includes temperature state and freshness state; Coefficient determination module 22 is specifically used for: Obtain the basic stiffness coefficient corresponding to the animal species; Determine the temperature correction factor based on the temperature conditions; Determine the freshness correction factor based on the freshness status; The material stiffness coefficient is obtained by multiplying the basic stiffness coefficient, temperature correction factor, and freshness correction factor.

[0075] In one embodiment of this application, the threshold determination module 23 is specifically used for: Obtain the no-load pressure, standard operating pressure, and maximum permissible system pressure; The product of the no-load pressure and the material stiffness coefficient is determined as the pressure contact threshold. The product of the standard working pressure and the material stiffness coefficient is determined as the pressure working threshold. The product of the system's maximum allowable pressure, the first coefficient, and the material stiffness coefficient is determined as the first temporary threshold, where the first coefficient is less than 1. The product of the system's maximum allowable pressure and the second coefficient is determined as the second temporary threshold, where the second coefficient is less than 1 and greater than the first coefficient. The smaller of the first temporary threshold and the second temporary threshold is determined as the pressure limit threshold.

[0076] In one embodiment of this application, the second driving module 25 is specifically used for: When the system pressure signal is less than the pressure contact threshold, it is determined that it is in the no-load range, and a signal is generated to control the hydraulic drive system to press down at the first speed. When the system pressure signal is greater than or equal to the pressure contact threshold and less than the pressure working threshold, it is determined that it is in the contact range, and a signal is generated to control the hydraulic drive system to press down at a second speed; the first speed is greater than the second speed. When the system pressure signal is greater than or equal to the working pressure threshold and less than the pressure limit threshold, it is determined that it is in the working range, and a signal is generated to control the hydraulic drive system to maintain the current downward pressure state. When the system pressure signal is greater than or equal to the pressure limit threshold, it is determined that it is in the limit range, and a signal is generated to control the hydraulic drive system to drive the cover plate to retract a preset distance.

[0077] In one embodiment of this application, an adaptive shredding device 20 for diseased or dead animals further includes: a state determination module, used for: During the pressing down of the cover plate, the motor current of the crushing motor is obtained; The pressure change rate is determined based on the system pressure signal, and the current change rate is determined based on the motor current. The current crushing state is determined based on the pressure change rate and current change rate. The crushing state includes the effective crushing state, the material compaction state, and the hard bone impact state.

[0078] In one embodiment of this application, the state determination module is specifically used for: If both the pressure change rate and the current change rate are less than their respective first preset thresholds, the condition is identified as an effective breakage state. If the pressure change rate is greater than or equal to its corresponding second preset threshold and the current change rate is less than its corresponding third preset threshold, then the material is identified as being in a compacted state. If the rate of change of pressure is greater than or equal to its corresponding fourth preset threshold, it is identified as a hard bone impact state.

[0079] In one embodiment of this application, the second driving module 25 is further configured to: If the material is identified as being in a compacted state, a signal is generated to control the hydraulic drive system to drive the cover plate to retract slightly at a third speed. If the impact is identified as a hard bone, a signal is generated to control the hydraulic drive system to drive the cover plate to retract a preset distance at a first speed. The third speed is less than the second speed.

[0080] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0081] Figure 4 A schematic diagram of the structure of an electronic device to which this application embodiment applies is shown, such as... Figure 4 As shown, the electronic device can be used to implement the methods provided in any embodiment of this application.

[0082] like Figure 4 As shown, the electronic device 300 may primarily include at least one processor 301. Figure 4 The diagram shows components such as a memory 302, a communication module 303, and an input / output interface 304. Optionally, these components can be connected and communicate with each other via a bus 305. It should be noted that... Figure 4 The structure of the electronic device 300 shown is merely illustrative and does not constitute a limitation on the electronic devices to which the methods provided in the embodiments of this application are applicable.

[0083] The memory 302 can be used to store operating systems and applications, etc. The applications can include computer programs that implement the methods shown in the embodiments of this application when invoked by the processor 301, and can also include programs for implementing other functions or services. The memory 302 can be ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices that can store information and computer programs, or it can be EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0084] Processor 301 is connected to memory 302 via bus 305 and implements corresponding functions by calling the application programs stored in memory 302. Processor 301 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0085] Electronic device 300 can connect to a network via communication module 303 (which may include, but is not limited to, components such as a network interface) to communicate with other devices (such as user terminals or servers) through the network and achieve data interaction, such as sending data to or receiving data from other devices. Communication module 303 may include wired network interfaces and / or wireless network interfaces, meaning the communication module may include at least one of wired or wireless communication modules.

[0086] The electronic device 300 can connect to necessary input / output devices, such as a keyboard and display device, via the input / output interface 304. The electronic device 300 itself may have a display device, and other external display devices can also be connected via the input / output interface 304. Optionally, a storage device, such as a hard drive, can also be connected via the input / output interface 304 to store data from the electronic device 300, retrieve data from the storage device, or store data from the storage device in the memory 302. It is understood that the input / output interface 304 can be a wired interface or a wireless interface. Depending on the actual application scenario, the device connected to the input / output interface 304 can be a component of the electronic device 300 or an external device connected to the electronic device 300 when needed.

[0087] The bus 305 used to connect the components may include a path for transmitting information between the components. The bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Depending on its function, the bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0088] Optionally, for the solution provided in the embodiments of this application, the memory 302 can be used to store a computer program that executes the solution of this application, and the processor 301 runs the computer program. When the processor 301 runs the computer program, it implements the operation of the method or apparatus provided in the embodiments of this application.

[0089] Based on the same principle as the method provided in the embodiments of this application, the embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the corresponding content of the aforementioned method embodiments.

[0090] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the corresponding content of the aforementioned method embodiments.

[0091] It should be noted that the terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text descriptions.

[0092] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0093] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0094] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. An adaptive fragmentation method for diseased or dead animals, characterized in that, The method is applied to a system for crushing diseased and dead animals, and is executed by electronic equipment within the system. The system includes a feed inlet, a cover plate reversibly mounted above the feed inlet, a hydraulic drive system for driving the cover plate to rotate, and a crushing motor located below the feed inlet. The method includes: Obtain material characteristic parameters, which include at least animal species and material state; Based on the aforementioned material characteristic parameters, determine the material stiffness coefficient; Based on the material stiffness coefficient, multiple pressure thresholds are calculated, including pressure contact threshold, pressure working threshold, and pressure limit threshold. The operating status of the crushing motor is obtained, and after the crushing motor reaches the preset operating status, a first hydraulic drive signal is generated. The first hydraulic drive signal is used to control the hydraulic drive system to drive the cover plate to flip and press down from the vertical position to the horizontal position. During the pressing down of the cover plate, the system pressure signal of the hydraulic drive system is acquired, and the system pressure signal is compared with the multiple pressure thresholds to determine the current working range. Based on the working range, a second hydraulic drive signal is generated. The second hydraulic drive signal is used to control the hydraulic drive system to perform corresponding actions to crush diseased and dead animals.

2. The adaptive fragmentation method for diseased or dead animals as described in claim 1, characterized in that, The material condition includes temperature condition and freshness condition; Determining the material stiffness coefficient based on the material characteristic parameters includes: Obtain the basic stiffness coefficient corresponding to the animal species; Based on the temperature state, determine the temperature correction factor; Based on the freshness status, determine the freshness correction factor; The material stiffness coefficient is obtained by multiplying the basic stiffness coefficient, the temperature correction factor, and the freshness correction factor.

3. The adaptive fragmentation method for diseased or dead animals as described in claim 2, characterized in that, Based on the material stiffness coefficient, multiple pressure thresholds are calculated, including: Obtain the no-load pressure, standard operating pressure, and maximum permissible system pressure; The product of the no-load pressure and the material stiffness coefficient is determined as the pressure contact threshold. The product of the standard working pressure and the material stiffness coefficient is determined as the pressure working threshold. The product of the system's maximum allowable pressure, the first coefficient, and the material stiffness coefficient is determined as the first temporary threshold, where the first coefficient is less than 1. The product of the maximum permissible pressure of the system and the second coefficient is determined as the second temporary threshold, wherein the second coefficient is less than 1 and greater than the first coefficient; The smaller of the first temporary threshold and the second temporary threshold is determined as the pressure limit threshold.

4. The adaptive fragmentation method for diseased or dead animals as described in claim 1, characterized in that, The step of comparing the system pressure signal with the plurality of pressure thresholds to determine the current operating range, and generating a second hydraulic drive signal based on the operating range, includes: When the system pressure signal is less than the pressure contact threshold, it is determined that it is in the no-load range, and a signal is generated to control the hydraulic drive system to press down at a first speed. When the system pressure signal is greater than or equal to the pressure contact threshold and less than the pressure working threshold, it is determined that the system is in the contact range, and a signal is generated to control the hydraulic drive system to press down at a second speed; the first speed is greater than the second speed. When the system pressure signal is greater than or equal to the pressure working threshold and less than the pressure limit threshold, it is determined that it is in the working range, and a signal is generated to control the hydraulic drive system to maintain the current downward pressure state. When the system pressure signal is greater than or equal to the pressure limit threshold, it is determined that it is in the limit range, and a signal is generated to control the hydraulic drive system to drive the cover plate back a preset distance.

5. The adaptive fragmentation method for diseased or dead animals as described in claim 4, characterized in that, Also includes: During the pressing down of the cover plate, the motor current of the crushing motor is obtained; The pressure change rate is determined based on the system pressure signal, and the current change rate is determined based on the motor current. Based on the pressure change rate and the current change rate, the current crushing state is determined, which includes effective crushing state, material compaction state, and hard bone impact state.

6. The adaptive fragmentation method for diseased or dead animals as described in claim 5, characterized in that, The process of identifying the current breakage state based on the pressure change rate and the current change rate includes: If both the pressure change rate and the current change rate are less than their respective first preset thresholds, then the condition is identified as the effective breaking state. If the pressure change rate is greater than or equal to its corresponding second preset threshold, and the current change rate is less than its corresponding third preset threshold, then the material is identified as being in a compacted state. If the pressure change rate is greater than or equal to its corresponding fourth preset threshold, it is identified as the hard bone impact state.

7. The adaptive fragmentation method for diseased or dead animals as described in claim 6, characterized in that, The generation of the second hydraulic drive signal based on the working area further includes: If the material is identified as being in a compacted state, a signal is generated to control the hydraulic drive system to drive the cover plate to retract slightly at a third speed. If the hard bone impact condition is identified, a signal is generated to control the hydraulic drive system to drive the cover plate to retract the preset distance at the first speed; The third speed is less than the second speed.

8. An adaptive crushing device for diseased or dead animals, characterized in that, An application in a diseased and dead animal crushing system, the system comprising a feed inlet, a cover plate reversibly mounted above the feed inlet, a hydraulic drive system for driving the cover plate to rotate, and a crushing motor located below the feed inlet, the device comprising: A parameter acquisition module is used to acquire material characteristic parameters, which include at least animal species and material state. The coefficient determination module is used to determine the material stiffness coefficient based on the material characteristic parameters. The threshold determination module is used to calculate multiple pressure thresholds based on the material stiffness coefficient, the multiple pressure thresholds including a pressure contact threshold, a pressure working threshold, and a pressure limit threshold; The first drive module is used to acquire the operating status of the crushing motor, and after the crushing motor reaches the preset operating status, it generates a first hydraulic drive signal. The first hydraulic drive signal is used to control the hydraulic drive system to drive the cover plate to flip and press down from the vertical position to the horizontal position. The second drive module is used to acquire the system pressure signal of the hydraulic drive system during the pressing of the cover plate, compare the system pressure signal with the plurality of pressure thresholds, determine the current working range, and generate a second hydraulic drive signal based on the working range. The second hydraulic drive signal is used to control the hydraulic drive system to perform corresponding actions to crush diseased and dead animals.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the adaptive crushing method for diseased or dead animals as described in any one of claims 1 to 7 when running the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the adaptive fragmentation method for diseased or dead animals as described in any one of claims 1 to 7.

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