An adaptive aquaculture feed automatic feeding system and a control method thereof

Abstract

The application discloses an automatic feeding system for self-adaptive breeding feed and a control method thereof, and belongs to the field of aquaculture. The system comprises a breeding structure, a control system, an environment detection sensor and a feed dispersing device. The control system is in communication connection with the environment detection sensor and the feed dispersing device respectively. The environment detection sensor is installed at the breeding structure. The feed dispersing device is installed at the inner periphery of the breeding structure and is in flexible connection with the breeding structure. The feed dispersing device is integrated with a pneumatic power distributing device, a hydrodynamic power distributing device and a floating body device. The environment detection sensor is used to measure the wind, wave and current state. The control system is used to intelligently adjust the feeding direction and feeding strength of the feed to ensure the effective spraying area of the feed, so that the feed is diffused. The uneven spreading of the feed is avoided to prevent the feed from being gathered too fast. The feed dispersing device is used to intelligently disperse the feed gathered due to the wind and waves, so that the fish school can effectively feed and the fish school is prevented from being gathered too much.

Description

Technical Field

[0001] This invention relates to the technical field of deep-sea aquaculture, and in particular to an adaptive automatic feeding system for aquaculture feed and its control method. Background Technology

[0002] In recent years, aquaculture has gradually moved towards the deep sea. Compared to nearshore aquaculture, the deep sea has a wider water area, better water quality, and can support a greater variety of fish species, resulting in higher quality farmed fish. Therefore, the trend of marine aquaculture moving towards the deep sea is a future development trend. Compared to nearshore or land-based aquaculture, deep-sea aquaculture has a more complex environment, constantly exposed to wind and waves. Currently, the industry uses pelleted aquaculture feed with a density less than or close to that of seawater. To prevent feed from being carried away from the aquaculture area by wind and waves during feeding, conventional deep-sea aquaculture equipment uses fine-mesh netting to prevent feed from being carried away by wind and waves. The upper part of the netting is fixed to the frame of the aquaculture equipment, while the lower part hangs in the water, or both parts are fixed. Although this method of preventing feed waste can prevent feed accumulation due to wind and waves, and fish gathering together but unable to feed effectively, it can also cause oxygen deficiency due to overcrowding and disorder, leading to fish diseases. In such situations, it is difficult for aquaculture workers to manually disperse the feed. In rough seas, fish feed at the water's surface, and the waves can slam them against aquaculture structures, causing injury. While some feeders use small, frequent applications of sprayed water, this method, due to the fish congregating, prevents some from feeding effectively. Prolonged use of these feeding methods can lead to uneven growth and fish deaths, resulting in unnecessary economic losses. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and propose an adaptive automatic feeding system for aquaculture and its control method. It employs environmental sensors to measure wind and wave conditions, and the control system intelligently adjusts the feeding direction and intensity to ensure effective feed spraying area, allowing the feed to spread and avoiding uneven distribution that leads to excessive aggregation. A feed dispersion device effectively and automatically disperses materials aggregated by wind and waves, thereby ensuring effective feeding of the fish, preventing excessive aggregation, and ultimately improving the growth efficiency and survival rate of the fish.

[0004] The objective of this invention is achieved through the following technical solution: an adaptive automatic feeding system for aquaculture, comprising an aquaculture structure, a feed storage tank, a feeding device, a pneumatic conveying device, a distributor, a feed pipeline, and feeding spray heads. The feed storage tank, feeding device, distributor, and feeding spray heads are sequentially connected via the feed pipeline. The pneumatic conveying device is connected to the feed pipeline. The feeding spray heads are arranged along the aquaculture structure. The system also includes a control system, an environmental monitoring sensor, and a feed dispersion device. The control system is communicatively connected to both the environmental monitoring sensor and the feed dispersion device. The environmental monitoring sensor is installed at the aquaculture structure to detect wind speed and direction information around the structure. The feed dispersion device is installed on the inner periphery of the aquaculture structure and forms a flexible connection with it. The feed dispersion device integrates a pneumatic feed distribution device, a hydrodynamic feed distribution device, and a floating device.

[0005] Furthermore, the pneumatic material distribution device includes a pneumatic power unit, an air path control valve group, air path nozzles, and air path pipelines; the pneumatic power unit is connected to the air path pipelines through the air path control valve group to provide power to the pneumatic material distribution device; the air path control valve group is communicatively connected to the control system to provide feedback on the real-time opening status of the air path control valve group to the control system; multiple air path nozzles are arranged on the air path pipelines, and their nozzle outlets face the horizontal direction.

[0006] Furthermore, the hydrodynamic material distribution device includes a hydrodynamic unit, a water circuit control valve group, water circuit nozzles, and water circuit pipelines; the hydrodynamic unit is connected to the water circuit pipelines through the water circuit control valve group to provide power to the hydrodynamic material distribution device; the water circuit control valve group is communicatively connected to the control system to provide feedback on the real-time opening status of the water circuit control valve group to the control system; multiple water circuit nozzles are arranged on the water circuit pipelines, and their nozzle outlets face the horizontal direction.

[0007] Furthermore, the floating device includes a power unit, a floating control valve group, a water storage chamber, and a water level detection sensor. The power unit is connected to the water storage chamber through the floating control valve group and is used to fill or drain water into the water storage chamber. The floating control valve group is communicatively connected to the control system and is used to feed back the real-time opening status of the floating control valve group to the control system. The water storage chamber realizes the floating and sinking of the feed dispersion device through filling and draining water. The water level detection sensor is communicatively connected to the control system and feeds back the floating and sinking depth information of the feed dispersion device to the control system.

[0008] Furthermore, the power unit is connected to the hydrodynamic unit of the hydrodynamic material distribution device, and the hydrodynamic unit provides power for filling or draining water for the floating device.

[0009] Furthermore, it also includes a wind pressure detection sensor; the wind pressure detection sensor is installed on the conveying pipeline and is matched with the feeding spray head to detect the actual output force of the pneumatic conveying device on each feeding spray head.

[0010] Furthermore, the feeding spray head is equipped with a rotation angle feedback device. Both the rotation angle feedback device and the feeding spray head are communicatively connected to the control system and are used to control and provide feedback on the rotation angle of the feeding spray head.

[0011] Furthermore, a regulating valve is provided between the material conveying pipeline and the feeding spray head, and the output force of the feeding spray head is adjusted by regulating the opening degree of the regulating valve.

[0012] A control method for the above-mentioned adaptive automatic feed dispensing system for livestock includes:

[0013] The feed feeding positioning control system collects wind speed and direction information from environmental sensors. Based on the wind direction information, it determines to activate the corresponding feed spray head against the wind direction. The determination logic is to take the wind direction as 0° and activate the feed spray head within the range of 90° to 270° with the wind direction. The system also adjusts the output force of the feed spray head according to the angle θ1 between the direction of the feed spray head and the wind direction, so as to achieve the purpose of evenly distributing the feed in the feeding area.

[0014] Feed distribution control is achieved through a pneumatic and hydrodynamic distribution device. Based on wind speed and direction information obtained from environmental sensors, the control system activates the water nozzles of the hydrodynamic distribution device, which operates against the wind direction, to initially disperse excessively densely packed feed. The control system then calculates the ambient wind pressure P1 based on the wind speed information and activates the air nozzles of the pneumatic distribution device, which operate against the wind direction, to resist the blowing action of the ambient wind and further disperse the material initially dispersed by the hydrodynamic distribution device over a longer distance. The outlet pressure of the air nozzle is P3 = λ2 * P1, where λ2 is an auxiliary correction coefficient for the outlet pressure of the air nozzle, determined based on the distance the feed needs to move against the wind. When the angle θ2 between the direction of the air nozzle and the water nozzle and the wind direction is ≥ 90°, it is defined as operating against the wind direction; when the angle θ2 between the direction of the air nozzle and the water nozzle and the wind direction is < 90°, it is defined as operating in the same direction as the wind.

[0015] The feed dispersing device's position is controlled as follows: Under normal operating conditions, the water level in the floating device is adjusted by the hydrodynamic distributor, allowing the wind-powered and hydrodynamic distributors to adjust their spray angles for better performance. In rough sea conditions, the water level sensor measures the water level change of the feed dispersing device per unit time. If the fluctuation exceeds the preset protection threshold of the feed dispersing device's net height and persists for a preset time t5, the waves are considered too large. The control system then controls the hydrodynamic distributor to inject water, causing the entire feed dispersing device to sink to the set water level and reduce the fluctuation. If the fluctuation exceeds the preset protection limit of the feed dispersing device's net height, the control device stops operating and issues an alarm. If the water level change measured by the water level sensor is below the preset protection threshold of the feed dispersing device's net height within a unit time and persists for a certain time t6, the waves are considered to have decreased. The control system then controls the hydrodynamic distributor to drain water, causing the entire device to float back to the normal operating water level.

[0016] Furthermore, in the feed feeding positioning control, adjusting the output force of the feeding spray head includes:

[0017] According to the wind pressure calculation formula, P1 = 0.5 * ρ * v 2 Where ρ is the air density, v is the measured ambient wind speed, and the wind pressure value P1 under the real-time wind speed is calculated. The output force of the feeding spray head P2 = λ1*P1*cos(180°-θ1), where λ1 is the auxiliary correction coefficient of the output force of the feeding spray head, which is determined according to the particle size, shape, and weight of the feed. θ1 is the angle between the feeding spray head and the wind direction. When the feed type is confirmed, the spray area is adjusted by adjusting the angle θ1 between the feeding spray head and the wind direction, and the spray distance is adjusted by adjusting the value of λ1.

[0018] Furthermore, the feed distribution control includes:

[0019] The hydrodynamic and pneumatic material distribution devices operate intermittently, with the stopping and running times of both devices adjusted based on ambient wind speed and direction information; this is recorded in the wind speed v. 11 The time it takes for the feed to move from the spraying position to the feed dispersing device is t. 11 At wind speed v 12 The time it takes for the feed to move from the spraying position to the feed dispersing device is t. 12 At wind speed v n The time it takes for the feed to move from the spraying position to the feed dispersing device is t. nWhere n is the number of tests before the actual operation of the device, the relationship between feed aggregation time, wind speed and movement distance is obtained by data fitting as t=λ3*L / v, where λ3 is an auxiliary correction coefficient, which is 1 when the wind speed is constant, L is the movement distance, and v is the ambient wind speed; the operating time of the wind-powered feed distribution device is set as t1=λ3*L1 / (v1-v), and the stopping time is set as t2=λ3*L1 / v, where L1 is the distance the feed moves against the wind, and v1 is the wind speed at the outlet of the air nozzle, which is determined by the outlet area of ​​the air nozzle and the pressure of the air pipeline; the pressure is manually set according to the water-powered outlet. The operating time t3 and stopping time t4 of the hydrodynamic material distribution device are equal to t1 + t2, which is the sum of the operating and stopping times of the pneumatic material distribution device. The cycle time for the alternating operation of the hydrodynamic and pneumatic material distribution devices is t1 + t2 + t3. The operating cycle is as follows: after the hydrodynamic material distribution device starts and operates for t3, it stops and the pneumatic material distribution device starts; after the pneumatic material distribution device operates for t1, the hydrodynamic material distribution device stops and the pneumatic material distribution device also stops. After the stopping time of both devices reaches t2, the cycle returns to the starting phase of the hydrodynamic material distribution device.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] 1. Traditional feeding systems require manual selection of feeding locations and adjustment of feeding distances. Spray heads can be rotated locally to increase the spreading area. However, due to the uncontrollable nature of wind and waves, feed tends to accumulate too quickly. In contrast, this invention can intelligently detect environmental wind and wave conditions and adaptively adjust the feed spraying direction and intensity based on wind speed and direction analysis. This effectively expands the spreading area of ​​feed on the water surface, ensuring that as many fish as possible can feed during the feeding process, thereby preventing fish from gathering and causing overcrowding and oxygen depletion.

[0022] 2. Traditional feeding systems spray feed, leaving the fish to feed autonomously. This doesn't account for the feed accumulating at the edges of the aquaculture structure due to waves. When fish gather at these edges, they are easily injured by waves crashing against the structure or being rubbed against the steel frame. This invention effectively disperses the accumulated feed within the aquaculture structure, allowing the fish to return to normal feeding water. Because fish are naturally drawn to feed, dispersing the accumulated feed reduces fish loss, ensures efficient feeding, and improves growth rate.

[0023] 3. Considering the impact of sea winds and waves, based on wind speed and wave monitoring, this invention can automatically adjust the feed dispersing force and dispersing direction according to sea wind and wave conditions, and adjust the buoyancy of the device to adapt to harsh sea conditions to the greatest extent. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of an adaptive automatic feed dispensing system for livestock.

[0025] Figure 2 This is one of the installation structure diagrams for a feed dispersion device.

[0026] Figure 3 This is the second installation structure diagram of the feed dispersion device.

[0027] Figure 4 This is the third diagram showing the installation structure of the feed dispersion device.

[0028] Figure 5 This is a schematic diagram of a feed dispersing device.

[0029] Figure 6 This is a schematic diagram of feed feeding positioning control.

[0030] Figure 7 This is a schematic diagram of feed distribution control.

[0031] Figure 8 The time loop logic block diagram for feed distribution control.

[0032] Figure 9 This is a schematic diagram of the position control of the feed dispersion device.

[0033] Figure 10 A flowchart of the workflow for an adaptive automatic feed dispensing system for livestock. Detailed Implementation

[0034] The present invention will be further described below with reference to specific embodiments.

[0035] Example 1

[0036] See Figure 1 As shown, the adaptive automatic feeding system for livestock feed provided in this embodiment includes a livestock structure 101, a feed storage tank 102, a feeding device 104, a pneumatic conveying device 103, a distributor 105, a feed pipeline 112 / 113, a feeding spray head 108 / 109, a wind pressure detection sensor 106 / 107, a control system 114, an environmental detection sensor 110 / 111, and a feed dispersion device;

[0037] The feed storage tank 102, feeding device 104, distributor 105, and feeding spray heads 108 / 109 are sequentially connected via feed pipelines 112 / 113. A regulating valve is installed between the feed pipelines 112 / 113 and the feeding spray heads 108 / 109, adjusting the output force of the feeding spray heads by adjusting the valve's opening. The pneumatic conveying device 103 is connected to the feed pipelines 112 / 113. The feeding spray heads 108 / 109 are arranged along the aquaculture structure 101. The wind pressure detection sensors 106 / 107 are installed on the feed pipelines 112 / 113 and are integrated with the feeding spray heads 108 / 109. A set of devices is configured to detect the actual output force of the pneumatic conveying device 103 on each feeding spray head 108 / 109. The feeding spray head 108 / 109 is equipped with a rotation angle feedback device. Both the rotation angle feedback device and the feeding spray head are communicatively connected to the control system 114 to control and provide feedback on the rotation angle of the feeding spray head 108 / 109. The control system 114 is communicatively connected to the environmental detection sensors 110 / 111 and the feed dispersing device. The environmental detection sensors 110 / 111 are installed at the aquaculture structure 101 to detect the wind speed and direction information around the aquaculture structure 101.

[0038] See Figure 2 and Figure 5 As shown, the cross-sectional shape of the aquaculture structure 101 is rectangular. The feed dispersing device 201 is installed on the inner periphery of the aquaculture structure 101 and connected to the aquaculture structure 101 via a connecting device 203. The connecting device 203 is a flexible rope or other flexible connecting material to ensure that the feed dispersing device 201 can float. The contact surface between the feed dispersing device and the aquaculture structure 101 is made of rubber wear-resistant material or an equivalent anti-collision device to avoid friction damage caused by wind and waves. According to the form of the aquaculture structure 101, the feed dispersing device 201 is arranged in segments, and the segments are connected by flexible hoses 202 to ensure the continuity of the whole. The wind power and water power of each segment of the feed dispersing device are provided through a composite pipeline 204, and each segment of the feed dispersing device can be controlled independently. The feed dispersing device is equipped with a water level detection sensor 205 to detect the floating depth of the device on the water surface. The number of water level monitoring sensors is determined according to the number of structural segments of the feed dispersing device.

[0039] The feed dispersing device integrates a pneumatic feed dispersing device, a hydrodynamic feed dispersing device, and a floating device. The pneumatic feed dispersing device includes a pneumatic unit 301, an air path control valve group 303, air path nozzles 309, and an air path pipeline 307. The pneumatic unit 301 is connected to the air path pipeline 307 via the air path control valve group 303, providing power to the pneumatic feed dispersing device. The power source for the pneumatic unit 301 can be a branch pipeline of the pneumatic conveying device 103 or an independent pneumatic conveying device; both can provide power independently or jointly through connected pipelines. The air path control valve group 303 is communicatively connected to the control system 114, used to feedback the real-time opening status of the air path control valve group 303 to the control system 114. Multiple air path nozzles 309 are arranged on the air path pipeline 307, with their nozzle outlets facing horizontally. The number and arrangement of the air path nozzles can be combined according to the overall dimensions of the feed dispersing device.

[0040] The hydrodynamic feeding device includes a hydrodynamic unit 302, a water control valve group 304, water nozzles 310, and water pipelines 308. The hydrodynamic unit 302 is connected to the water pipelines 308 via the water control valve group 304, providing power to the hydrodynamic feeding device. The power source for the hydrodynamic unit 302 can be an auxiliary pump group of the aquaculture structure or an independent pumping device; both can provide power independently or jointly through the connected pipelines. The water control valve group 304 is communicatively connected to the control system 114, used to report the real-time opening status of the water control valve group 304 to the control system 114. Multiple water nozzles 310 are arranged on the water pipelines 308, with their nozzle outlets facing horizontally. The number and arrangement of the water nozzles can be combined according to the overall dimensions of the feed dispersing device.

[0041] The floating device includes a power unit 302, a floating control valve group 305 / 306, a water storage chamber 311, and a water level detection sensor 205. The power unit 302 is connected to the water storage chamber 311 through the floating control valve group 305 / 306 and is used to fill or drain water into the water storage chamber 311. The floating control valve group 305 / 306 is communicatively connected to the control system 114 and is used to feed back the real-time opening status of the floating control valve group 305 / 306 to the control system 114. The water storage chamber 311 achieves the floating and sinking of the feed dispersion device through filling and draining water. The water level detection sensor 205 is communicatively connected to the control system 114 and feeds back the floating and sinking depth information of the feed dispersion device to the control system 114. The power unit 302 is connected to the hydrodynamic unit 302 of the hydrodynamic feeding device, and the hydrodynamic unit 302 provides the power for filling or draining water into the floating device.

[0042] Example 2

[0043] See Figure 3As shown, unlike Embodiment 1, the cross-sectional shape of the aquaculture structure 101 is circular. The feed dispersing device 206 is installed on the inner circumference of the aquaculture structure 101 and connected to it via a connecting device 208. The connecting device 208 is a flexible rope or other flexible connecting material to ensure that the feed dispersing device 206 can float. The contact surface between the feed dispersing device and the aquaculture structure 101 is made of wear-resistant rubber material or an equivalent anti-collision device to prevent friction damage caused by wind and waves. Based on the form of the aquaculture structure 101, the feed dispersing device 206 is arranged in segments, connected by flexible hoses 207 to ensure overall continuity. The wind and water power of each segment of the feed dispersing device is provided through a composite pipeline 209, and each segment can be controlled independently. The feed dispersing device is equipped with a water level detection sensor 210 to detect the floating depth of the device on the water surface. The number of water level monitoring sensors is determined according to the number of structural segments of the feed dispersing device.

[0044] Example 3

[0045] See Figure 4 As shown, the cross-sectional shape of the aquaculture structure 101 is octagonal. The feed dispersing device 211 is installed on the inner periphery of the aquaculture structure 101 and connected to the aquaculture structure 101 via a connecting device 213. The connecting device 213 is a flexible rope or other flexible connecting material to ensure that the feed dispersing device 211 can float. The contact surface between the feed dispersing device and the aquaculture structure 101 is made of wear-resistant rubber material or an equivalent anti-collision device to avoid friction damage caused by wind and waves. According to the form of the aquaculture structure 101, the feed dispersing device 211 is arranged in sections, and the sections are connected by flexible hoses 212 to ensure the continuity of the whole. The wind power and water power of each section of the feed dispersing device are provided through a composite pipeline 214, and each section of the feed dispersing device can be controlled independently. The feed dispersing device is equipped with a water level detection sensor 215 to detect the floating depth of the device on the water surface. The number of water level monitoring sensors is determined according to the number of structural sections of the feed dispersing device.

[0046] Example 4

[0047] The control method for the adaptive automatic feed dispensing system for livestock provided in this embodiment includes:

[0048] See Figure 6 As shown, each of the feeding spray heads 108 / 109 has three working positions, numbered 401 / 402 / 403 / 404 / 405 / 406. Since the feeding spray heads have a rotation angle measurement function, the original angle information for each position is known. Based on the wind direction measured by the environmental monitoring sensor, the angle between each spray head position and the wind direction is defined as θ. 11 / θ 12 / θ 13 / θ14 / θ 15 / θ 16 If the angle between the spray head 108 and the wind direction is less than 90° when it is at position 404, then this position is determined to be in the downwind direction and cannot be selected as the working angle. Based on this determination principle, the left-turn boundary for the spray head 108 to work is position 405, and 406 is proposed as the right-turn boundary. Within the range of positions 405 to 406, the real-time output force of the spray head can be adjusted according to the real-time working position of the spray head and the measured wind force to ensure the spraying area. If the angle between the spray head 109 and the wind direction is ≥90° within its working rotation range, then this spray head is determined to be in the upwind direction. Spray head 109 can work within its rotatable angle. To ensure the feed spraying effect, 401 is proposed as the left-turn boundary and 403 as the right-turn boundary. Within the range of positions 401 to 403, the real-time output force of the spray head can be adjusted according to the real-time working position of the spray head and the measured wind force to ensure the spraying area.

[0049] See Figure 7 As shown, the feed dispensing device is divided into four sections: 501 / 502 / 503 / 504, according to the embodiment. The original angle values ​​of the four sections are known. The embodiment provides an assumed wind direction. After the control system determines the wind direction based on the environmental detection sensors, the angle between each section of the feed dispensing device and the wind direction can be determined as θ. 21 / θ 22 / θ 23 / θ 24 Based on the aforementioned definitions of wind direction (same direction and opposite direction), segments 501 / 504 can be determined to be in the same direction as the wind, so these two material distribution devices will not start. Segments 502 / 503 can be determined to be in the opposite direction of the wind, so these two material distribution devices will start. The corresponding power unit provides wind power and water power, and works periodically according to a predetermined time. The work cycle is as follows: Figure 8 As shown.

[0050] Feed dispersion device position control implementation, for example Figure 9 As shown. The lower limit height of the distributing device is defined as L, which is the height that the device can reach by its own buoyancy without water injection. The working midline height is defined as M, the upper limit height as H, and the device's ultimate protection height as HH. These heights are measured by a water level sensor. During normal operation, the height of the distributing device can be limited between L and H through water injection and drainage operations. Local height adjustments can be made to allow the wind-powered and water-powered distributing devices to obtain a better working angle. When the measured height reaches HH, the wind-powered and water-powered distributing devices stop working, the buoyancy device drains water, and after reaching the working height, the distributing device can re-enter the working cycle. Furthermore, the workflow of this invention is as follows: Figure 10 As shown.

[0051] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Therefore, any changes made in accordance with the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. An adaptive automatic feed dispensing system for livestock, comprising a livestock structure, a feed storage tank, a feeding device, a pneumatic conveying device, a distributor, a feed pipeline, and feeding spray heads, wherein the feed storage tank, the feeding device, the distributor, and the feeding spray heads are sequentially connected via the feed pipeline, the pneumatic conveying device is connected to the feed pipeline, and the feeding spray heads are arranged along the livestock structure, characterized in that: It also includes a control system, environmental sensors, and a feed dispersion device. The control system is communicatively connected to both the environmental sensors and the feed dispersion device. The environmental sensors are installed at the aquaculture structure to detect wind speed and direction around the structure. The feed dispersion device is installed on the inner periphery of the aquaculture structure and forms a flexible connection with it. The feed dispersion device integrates a wind-powered feed distribution device, a water-powered feed distribution device, and a floating device. The floating device includes a power unit, a floating control valve group, a water storage chamber, and a water level sensor. The power unit is connected to the water storage chamber via the floating control valve group for filling or draining the chamber. The floating control valve group is communicatively connected to the control system to provide real-time feedback on its opening status. The water storage chamber allows the feed dispersion device to float or sink by filling or draining water. The water level sensor is communicatively connected to the control system to provide feedback on the floating depth of the feed dispersion device. The wind-powered feed distribution device... The device includes a pneumatic power unit, an air path control valve group, air path nozzles, and air path pipelines. The pneumatic power unit is connected to the air path pipelines via the air path control valve group to provide power to the pneumatic material distribution device. The air path control valve group is communicatively connected to the control system to provide feedback on the real-time opening status of the air path control valve group to the control system. There are multiple air path nozzles arranged on the air path pipelines, with their nozzle outlets facing horizontally. The hydrodynamic material distribution device includes a hydrodynamic unit, a water path control valve group, water path nozzles, and water path pipelines. The hydrodynamic unit is connected to the water path pipelines via the water path control valve group to provide power to the hydrodynamic material distribution device. The water path control valve group is communicatively connected to the control system to provide feedback on the real-time opening status of the water path control valve group to the control system. There are multiple water path nozzles arranged on the water path pipelines, with their nozzle outlets facing horizontally. The feeding spray head is equipped with a rotation angle feedback device. Both the rotation angle feedback device and the feeding spray head are communicatively connected to the control system to control and provide feedback on the rotation angle of the feeding spray head.

2. The adaptive automatic feed dispensing system for livestock as described in claim 1, characterized in that: The power unit is connected to the hydrodynamic unit of the hydrodynamic material distribution device, and provides the power for filling or draining water to the floating device through the hydrodynamic unit.

3. The adaptive automatic feed dispensing system for livestock as described in claim 1, characterized in that: It also includes a wind pressure detection sensor; the wind pressure detection sensor is installed on the conveying pipeline and is matched with the feeding spray head to detect the actual output force of the pneumatic conveying device on each feeding spray head.

4. The adaptive automatic feed dispensing system for livestock as described in claim 1, characterized in that: A regulating valve is provided between the material conveying pipeline and the feeding spray head, and the output force of the feeding spray head is adjusted by regulating the opening of the regulating valve.

5. A control method for an adaptive automatic feed feeding system for livestock, the adaptive automatic feed feeding system for livestock includes a livestock structure, a feed storage tank, a feeding device, a pneumatic conveying device, a distributor, a feed pipeline, a feeding spray head, a control system, an environmental monitoring sensor, a feed dispersing device, and a wind pressure monitoring sensor; the feed storage tank, feeding device, distributor, and feeding spray head are sequentially connected via the feed pipeline, the pneumatic conveying device is connected to the feed pipeline, the feeding spray head is arranged along the livestock structure, and the control system is communicatively connected to the environmental monitoring sensor and the feed dispersing device respectively; the environmental monitoring sensor... Installed at the aquaculture structure, it is used to detect wind speed and direction information around the aquaculture structure; the feed dispersion device is installed on the inner periphery of the aquaculture structure and forms a flexible connection with the structure; the feed dispersion device integrates a wind-powered feed distribution device, a water-powered feed distribution device, and a floating device; the wind-powered feed distribution device includes a wind power unit, an air path control valve group, an air path nozzle, and an air path pipeline; the wind power unit is connected to the air path pipeline through the air path control valve group to provide power to the wind-powered feed distribution device; the air path control valve group is communicatively connected to the control system to provide feedback on the real-time opening status of the air path control valve group to the control system. The air path nozzles are multiple, arranged on the air path pipeline, with their nozzle outlets facing horizontally; the hydrodynamic dispensing device includes a hydrodynamic unit, a water path control valve group, water path nozzles, and water path pipelines; the hydrodynamic unit is connected to the water path pipelines via the water path control valve group, providing power to the hydrodynamic dispensing device; the water path control valve group is communicatively connected to the control system, used to feed back the real-time opening status of the water path control valve group to the control system; the water path nozzles are multiple, arranged on the water path pipelines, with their nozzle outlets facing horizontally; the float device includes a power unit, a float control valve group, a water storage chamber, and a water level detection sensor; The power unit is connected to the hydrodynamic unit of the hydrodynamic material distribution device, providing power for filling or draining water into the floating device; the wind pressure detection sensor is installed on the material conveying pipeline and is matched with the feeding spray head to detect the actual output force of the pneumatic conveying device on each feeding spray head; the feeding spray head is equipped with a rotation angle feedback device, and both the rotation angle feedback device and the feeding spray head are communicatively connected to the control system to control and provide feedback on the rotation angle of the feeding spray head; a regulating valve is provided between the material conveying pipeline and the feeding spray head, and the output force of the feeding spray head is adjusted by regulating the opening of the valve; its characteristic is that... The method includes: The feed dispensing positioning control system collects wind speed and direction information from environmental sensors. Based on the wind direction information, it determines to activate the corresponding feed spray heads facing the opposite wind direction. The logic is to use the wind direction as 0° and activate feed spray heads within the range of 90° to 270° with the wind direction, and to adjust the direction of the feed spray heads according to the angle between the wind direction and the feed direction. Adjust the output force of the feeding spray head to achieve the purpose of evenly distributing the feed in the feeding area; Feed distribution control is achieved through a pneumatic and hydrodynamic distribution device. Based on wind speed and direction information obtained from environmental sensors, the control system activates the water nozzles of the hydrodynamic distribution device (opposite to the wind direction) to initially disperse excessively dense feed. The control system then calculates the ambient wind pressure P1 based on the wind speed information and activates the air nozzles of the pneumatic distribution device (opposite to the wind direction) to resist the blowing action of the ambient wind and further disperse the material initially dispersed by the hydrodynamic distribution device over a longer distance. The outlet pressure of the air nozzles... , This is an auxiliary correction factor for the outlet pressure of the air nozzle, determined based on the distance the feed needs to travel against the wind direction. It is used when the directions of the air and water nozzles form an angle with the wind direction. Time is defined as being opposite to the wind direction, when the direction of the air nozzle and water nozzle makes an angle with the wind direction. Time is defined as being in the same direction as the wind; The feed dispersing device's position is controlled as follows: Under normal operating conditions, the water level in the floating device is adjusted by the hydrodynamic dispersing device, causing the wind-powered and hydrodynamic dispersing devices to adjust their spray angles. In rough sea conditions, the water level change of the feed dispersing device within a unit of time is measured by a water level sensor. If the fluctuation amplitude exceeds the preset protection threshold of the feed dispersing device's net height and persists for a preset time t5, it is considered that the waves are too large. The control system then controls the hydrodynamic dispersing device to inject water, causing the entire feed dispersing device to sink to the set water level and reduce the fluctuation amplitude. If the fluctuation amplitude exceeds the preset protection threshold of the feed dispersing device's net height, the control device stops operating and issues an alarm. If the water level change of the feed dispersing device measured by the water level sensor within a unit of time is lower than the preset protection threshold of the feed dispersing device's net height and persists for a certain time t6, it is considered that the waves have decreased. The control system then controls the hydrodynamic dispersing device to drain water, causing the entire device to float to the normal operating water level.

6. The control method for the adaptive automatic feed dispensing system for livestock as described in claim 5, characterized in that, In feed feeding positioning control, adjusting the output force of the feeding spray head includes: According to the wind pressure calculation formula ,in air density, Calculate the wind pressure value at the measured ambient wind speed. Feeding spray head output force , This is an auxiliary correction coefficient for the output force of the feeding spray head, determined based on the particle size, shape, and weight of the feed. The angle between the feeding spray head and the wind direction; given the type of feed, adjust the angle between the feeding spray head and the wind direction. Adjust the spray area by adjusting Adjust the spray distance.

7. The control method for the adaptive automatic feed dispensing system for livestock as described in claim 5, characterized in that, The feed distribution control includes: The hydrodynamic and pneumatic material distribution devices operate intermittently, with the stopping and running times of both devices adjusted based on ambient wind speed and direction information; wind speed is recorded as... The time it takes for the feed to move from the spraying position to the feed dispersing device is In wind speed The time it takes for the feed to move from the spraying position to the feed dispersing device is In wind speed The time it takes for the feed to move from the spraying position to the feed dispersing device is Where n represents the number of tests conducted before the actual operation of the device, the relationship between feed aggregation time, wind speed, and movement distance is derived through data fitting. , As an auxiliary correction factor, it is set to 1 when the wind speed remains constant, and L is the distance traveled. For ambient wind speed; set the operating time of the wind-powered material distribution device. Stop time , The distance the feed travels against the wind. The outlet velocity of the air nozzle is determined by the outlet area of ​​the air nozzle and the pressure of the air pipeline; the operating time of the hydrodynamic material distribution device is manually set according to the set pressure of the hydrodynamic outlet. and stop time This refers to the sum of the operating and stopping times of the pneumatic material distribution device. The cycle time for the alternating operation of the hydrodynamic and pneumatic material distribution devices is... The operating cycle is as follows: the hydrodynamic material distribution device starts and runs until... Afterwards, the hydrodynamic material distribution device stopped, and the pneumatic material distribution device started; the pneumatic material distribution device operated for a period of time. Afterwards, the hydrodynamic material distribution device stopped, and the pneumatic material distribution device also stopped, with both stopping for a period of time equal to [time value missing]. Then return to the start-up phase of the hydrodynamic material distribution device.

Images