Intelligent feeding control system and control method

Abstract

The present invention provides an intelligent feeding control system and control method, the intelligent feeding control system includes: a batching area, a feeding area and an unmanned vehicle; the batching area includes: a plurality of first raw material bins; a plurality of second raw material bins; a plurality of third raw material bins; a plurality of first discharge bins, the first discharge bins correspond to each cattle breed one by one; a second discharge bin, the second discharge bin is one, the outlet of each first discharge bin is connected to the inlet of the second discharge bin, and the outlet of each third raw material bin is connected to the inlet of the second discharge bin; and a scraper conveyor, the outlet of each first raw material bin and each second raw material bin is connected to the inlet of the scraper conveyor, and its multiple outlets correspond to each first discharge bin one by one and are connected. The system of the present invention is used to batch multiple cattle breeds, and batching is achieved by multiple mixing, so that the batching accuracy can be continuously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of animal husbandry and feeding, and in particular to an intelligent feeding control system and a control method. Background Art

[0002] At present, in cattle farms, different types of cattle are usually raised separately, such as calves, pre-delivery cattle, lactating cattle, growing cattle, etc., in order to achieve better feeding results. Therefore, it is necessary to configure feed for different types of cattle. Based on this demand, the patent (publication number CN115349456A) designs a feeding method for an intelligent feeding robot. Through intelligent control of the TMR central kitchen, various matching feeds are accurately discharged in a preset order, and transported to the mixer truck for cutting and mixing to the preset standard feed. The intelligent feeding robot automatically receives the feed, which not only accurately configures the feed, but also ensures the feeding quality and high work efficiency.

[0003] However, the current feeding technology still has the following technical problems: during the batching process, a scraper conveyor is required to transport the ingredients, and during the transportation process, the materials will accumulate on the scraper conveyor, thereby reducing the accuracy of the batching.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent feeding control system and control method for proportioning multiple cattle species, achieving proportioning through multiple mixing, correcting the proportioning through correction parameters to improve proportioning accuracy, and continuously improving proportioning accuracy through updating of the correction parameters.

[0006] In order to solve the above technical problems, the present invention provides an intelligent feeding control system, comprising: a batching area, a feeding area and an unmanned vehicle;

[0007] The batching area includes:

[0008] A plurality of first raw material bins, wherein the first raw material bins are used to store bulk materials;

[0009] A plurality of second raw material bins, wherein the second raw material bins are used to store trace materials;

[0010] A plurality of third raw material bins, wherein the third raw material bins are used to store general ingredients;

[0011] A plurality of first discharging bins, each of which corresponds to each type of cattle;

[0012] a second discharge bin, the number of the second discharge bin being one, the outlet of each of the first discharge bins being connected to the inlet of the second discharge bin, and the outlet of each of the third raw material bins being connected to the inlet of the second discharge bin; and

[0013] A scraper conveyor, wherein the outlets of each of the first raw material bins and each of the second raw material bins are connected to the inlet of the scraper conveyor, and the scraper conveyor has a plurality of outlets, and the plurality of outlets correspond to each of the first discharge bins one by one and are connected;

[0014] There are multiple feeding areas, and they correspond to different cattle breeds one by one;

[0015] There are at least two unmanned vehicles, which travel between the batching area and each of the feeding areas, and are used to access the discharge of the second discharge bin and deliver the materials to each of the feeding areas.

[0016] In order to solve the above technical problems, the present invention further provides an intelligent feeding control method, which is characterized in that it is applied to the control system provided by the present invention and comprises the following steps:

[0017] Step 1: Initialization operation, set the remaining bulk material weight value Gab of each transport section of the scraper conveyor = 0, a is the mark of the transport section of the scraper conveyor, b is the mark of the bulk material transported by the scraper conveyor, and is preset as the first correction coefficient ka of each transport section of the scraper conveyor, ka is a constant, ka>1; set the remaining trace material weight value Gcd of each transport section of the scraper conveyor = 0, c is the mark of the transport section of the scraper conveyor, d is the mark of the trace material transported by the scraper conveyor, and is preset as the second correction coefficient kc of each transport section of the scraper conveyor, kc is a constant, kc>1;

[0018] Step 2: Input batching task, which includes several subtasks. Sort the subtasks, where each subtask corresponds to each cattle breed. The subtask data includes bulk feed weight value Geb, trace feed weight value Ged and general batching Gef, where e is the mark of cattle breed and f is the mark of general batching;

[0019] Step 3: Get the current subtask, and correct Geb according to Gab to obtain the first correction data G'eb of the bulk material weight value;

[0020] Step 4: Correct G'eb according to ka to obtain the secondary correction data G"eb of the bulk material weight value;

[0021] Step 5: Configure the bulk material of the current subtask according to G”eb;

[0022] Step 6: Update Gab according to the bulk material discharge weight G1 of the scraper conveyor, where a=1, 2...a;

[0023] Step 7: updating ka according to the bulk material discharge weight G1 of the scraper conveyor;

[0024] Step 8: Repeat steps 3-7 until the bulk material configuration in all subtasks is completed;

[0025] Step 9: Get the current subtask, and correct Ged according to Gcd to obtain the first correction data G'ed of the weight value of the trace material;

[0026] Step 10: Correct G'ed according to kc to obtain the secondary correction data G"ed of the weight value of the trace material;

[0027] Step 11: Configure the trace material of the current subtask according to G”ed;

[0028] Step 12: Update Gcd according to the weight G2 of the micro-material discharged from the scraper conveyor; wherein c=1, 2...c;

[0029] Step 13: updating kc according to the discharge weight G2 of the trace material of the scraper conveyor;

[0030] Step 14: Loop through steps 9-13 until all the trace materials in the subtasks are configured;

[0031] Step 15: Get the current subtask, put the material in the first discharge bin into the second discharge bin, and configure the general material of the current subtask according to Gef;

[0032] Step 16: Obtain the current position of each of the unmanned vehicles, calculate the movement distance of each of the unmanned vehicles, determine the target unmanned vehicle according to the movement distance of each of the unmanned vehicles, and control the target unmanned vehicle to receive and feed materials;

[0033] Step 17: Repeat steps 15-16 until all subtasks are completed.

[0034] Further, step 3 includes the following steps:

[0035] Step 31: Correct Geb according to the following formula:

[0036] G'eb=Geb-Gab;

[0037] Step 9 includes the following steps:

[0038] Step 91: Correct Ged according to the following formula:

[0039] G'ed=Ged-Gcd.

[0040] Further, step 6 includes the following steps:

[0041] Step 61: Modify Gab according to the following formula:

[0042]

[0043] L’ = La / L1;

[0044]

[0045] Wherein, La is the length of the a transportation section corresponding to the currently corrected Gab, L1 is the length of the transportation section corresponding to the current subtask, and n is the number of types of bulk materials for the e-th type of cattle breed;

[0046] Step 12 includes the following steps:

[0047] Step 121: Correct Gcd according to the following formula:

[0048]

[0049] L” = Lc / L2;

[0050]

[0051] Wherein, Lc is the length of the c transportation section corresponding to the currently corrected Gcd, L2 is the length of the transportation section corresponding to the current subtask, and m is the number of types of trace materials for the e-th type of cattle breed.

[0052] Furthermore, Step 4 includes the following steps:

[0053] Step 41: Correct G’eb according to the following formula:

[0054] G”eb = ka * G’eb;

[0055] Step 10 includes the following steps:

[0056] Step 101: Correct G’ed according to the following formula:

[0057] G”ed = kc * G’ed.

[0058] Furthermore, Step 7 includes the following steps:

[0059] Step 71: Correct ka according to the following formula:

[0060]

[0061] Wherein, h is a constant, 0 < h < 1, and n is the number of types of bulk materials for the e-th type of cattle breed;

[0062] Step 13 includes the following steps:

[0063] Step 131: Correct kc according to the following formula:

[0064]

[0065] Where m is the number of trace feed types of the e-th cattle species.

[0066] Furthermore, in step 16, the movement distance is the distance from the unmanned vehicle to the batching area, and the target unmanned vehicle is the unmanned vehicle with the shortest movement distance.

[0067] The present invention provides an intelligent feeding control system and control method, which have the following beneficial effects:

[0068] 1. In steps 3 to 8, the bulk materials required by each cattle breed are transported to the first discharge bins in sequence, and then the materials accumulated on the scraper conveyor can be cleaned to avoid the influence of the accumulated bulk materials on the subsequent trace materials; in steps 9 to 14, the trace materials required by each cattle breed are transported to the first discharge bins in sequence, that is, after step 14 is completed, the bulk materials and trace materials required by each cattle breed are stored in the first discharge bins; then in steps 10 to 17, the configuration, transportation and delivery of all materials required by each cattle breed are completed in sequence.

[0069] 2. Considering the influence of the remaining bulk materials piled up on the scraper conveyor on the required bulk materials, and considering the new accumulation situation of the current transportation, the weight of the newly added bulk materials is determined through two corrections, thereby reducing the influence of the accumulation problem on the scraper conveyor on the feeding, and improving the accuracy of bulk material batching. In addition, each time the bulk materials are transported, they are corrected according to the actual transportation section, and after each transportation is completed, Gab and ka are updated according to the actual discharge amount, thereby further ensuring the improvement of batching accuracy.

[0070] 3. The influence of the remaining trace materials accumulated on the scraper conveyor on the required trace materials is taken into consideration, and the new accumulation situation of the current transportation is taken into consideration. The weight of each trace material to be newly added is determined through two corrections, thereby reducing the influence of the accumulation problem on the scraper conveyor on the feeding, and improving the accuracy of the trace material batching. In addition, each trace material is corrected according to the actual transportation section during each transportation, and after each transportation is completed, Gcd and kc are updated according to the actual discharge amount, thereby further ensuring the improvement of the batching accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 The figure is a flow chart of an intelligent feeding control method. DETAILED DESCRIPTION

[0072] The core of the present invention is to provide an intelligent feeding control system for proportioning feed for multiple cattle breeds.

[0073] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention is clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] Embodiment 1:

[0075] An intelligent feeding control system comprises: a batching area, a feeding area and an unmanned vehicle.

[0076] The batching area includes: a number of first raw material bins, which are used to store bulk materials; a number of second raw material bins, which are used to store trace materials; a number of third raw material bins, which are used to store general ingredients; a number of first discharge bins, which correspond one-to-one to each cattle breed; a second discharge bin, which is one and the outlet of each of the first discharge bins is connected to the inlet of the second discharge bin, and the outlet of each of the third raw material bins is connected to the inlet of the second discharge bin; and a scraper conveyor, the outlet of each of the first raw material bins and each of the second raw material bins is connected to the inlet of the scraper conveyor, and the scraper conveyor has multiple outlets, and the multiple outlets correspond one-to-one to the first discharge bins and are connected.

[0077] There are multiple feeding areas, and they correspond to different cattle breeds. There are at least two unmanned vehicles, which travel between the batching area and each feeding area, and are used to access the discharge of the second discharge bin and deliver the materials to each feeding area.

[0078] In the control system of this embodiment, a plurality of the first raw material bins are respectively used to store different bulk materials, such as corn, soybean meal, soybeans, etc.; a plurality of the second raw material bins are respectively used to store different trace materials, such as high-protein fish meal, amino acids, trace elements, etc.; a plurality of the third raw material bins are respectively used to store different other ingredients, such as water, hay, etc.; the inlet of the scraper conveyor is connected to each of the first raw material bins and each of the second raw material bins, and the scraper conveyor is sequentially provided with a plurality of outlets, which are connected to each of the first discharge bins, that is, each of the first raw material bins and each of the second raw material bins The material in the scraper conveyor can be put into the scraper conveyor and transported to each first discharge bin; several first discharge bins correspond to each cattle species, such as calves, cows due to give birth, cows to give birth, etc., that is to say, each first discharge bin is used to store ingredients of different cattle species. At the same time, calves, cows due to give birth, cows to give birth and other cattle species are respectively raised in different feeding areas; the unmanned vehicle is an unmanned vehicle with positioning and path planning functions, and has an entrance and exit with automatic opening and closing functions. The entrance and exit can be provided with a cover driven by a motor, and automatic opening / closing is achieved by the cover.

[0079] Embodiment 2:

[0080] An intelligent feeding control method is applied to the control system described in Example 1, such as Figure 1 As shown, the following steps are included:

[0081] Step 1: Initialization operation, let the weight value of the remaining bulk material in each transport section of the scraper conveyor Gab = 0, a is the mark of the transport section of the scraper conveyor, b is the mark of the bulk material transported by the scraper conveyor, and it is preset to the first correction coefficient ka of each transport section of the scraper conveyor, ka is a constant, ka>1; let the weight value of the remaining trace material in each transport section of the scraper conveyor Gcd = 0, c is the mark of the transport section of the scraper conveyor, d is the mark of the trace material transported by the scraper conveyor, and it is preset to the second correction coefficient kc of each transport section of the scraper conveyor, kc is a constant, kc>1.

[0082] In this optional embodiment, the transport section of the scraper conveyor refers to the transport section from the entrance of the scraper conveyor to the first discharge bin, and a is the mark of the transport section of the scraper conveyor, which means that different values ​​of a represent different transport sections. For example, when a=1, it represents the transport section from the entrance of the scraper conveyor to the outlet corresponding to the first first discharge bin; when a=2, it represents the transport section from the entrance of the scraper conveyor to the outlet corresponding to the second first discharge bin, and so on.

[0083] In this optional embodiment, b is a mark of the bulk material transported by the scraper conveyor, which means that different values ​​of b represent different bulk materials.

[0084] For example, when Gab is G11, it represents the accumulated remaining weight of the first bulk material on the transport section between the entrance of the scraper conveyor and the outlet of the first corresponding first discharge bin; similarly, when Gcd is G11, it represents the accumulated remaining weight of the first trace material on the transport section between the entrance of the scraper conveyor and the outlet of the first corresponding first discharge bin.

[0085] Step 2: Input the batching task, which includes several subtasks. Sort the subtasks, where each subtask corresponds to each cattle breed. The subtask data includes the bulk material weight value Geb, the trace material weight value Ged and the general ingredients Gef, where e is the mark of the cattle breed and f is the mark of the general ingredients.

[0086] In this optional embodiment, e is a mark for cattle breeds, which means that different values ​​of e represent different cattle breeds, and f is a mark for general ingredients, which means that different values ​​of f represent different general ingredients.

[0087] In this optional embodiment, the batching task includes several subtasks, each subtask includes the weight of various bulk materials, the weight of various trace materials and the weight of various general materials required for the corresponding cattle breed; at the same time, different subtasks correspond to different cattle breeds, that is, correspond to different first feed bins, so different subtasks will correspond to different a values ​​and c values.

[0088] Step 3: Get the current subtask, and correct Geb according to Gab to obtain the first correction data G'eb of the bulk material weight value.

[0089] Step 4: Correct G'eb according to ka to obtain the secondary correction data G"eb of the bulk material weight value.

[0090] Step 5: Configure the bulk material of the current subtask according to G”eb.

[0091] Step 6: Update Gab according to the bulk material discharge weight G1 of the scraper conveyor, where a=1, 2...a.

[0092] Step 7: Update ka according to the bulk material discharge weight G1 of the scraper conveyor.

[0093] Step 8: Repeat steps 3-7 until the bulk material configuration in all subtasks is completed.

[0094] In step 3 to step 8, the bulk materials required for each type of cattle are transported to the first discharge bins in sequence. Specifically, according to the order of the subtasks, the various bulk materials required for the current subtask are put into the entrance of the scraper conveyor at one time each time, and then the various bulk materials are transported to the corresponding first discharge bins by the scraper conveyor to complete the transportation of the various bulk materials required for the current subtask, and so on. The transportation of the bulk materials required for each type of cattle is completed in sequence, and then the materials accumulated on the scraper conveyor can be cleaned to avoid the influence of the accumulated bulk materials on the subsequent trace materials.

[0095] Among them, in step 3, according to the remaining weight value Gab of each bulk material piled up on the transportation section corresponding to the current subtask, the weight value Geb of each bulk material of the current subtask is corrected respectively to obtain G'eb. This correction is used to reduce the impact of the bulk materials piled up on the scraper conveyor on the current transportation. The meaning of G'eb is the weight value of each bulk material that needs to be newly invested when the current transportation is ideal transportation (ideal transportation means that the newly invested bulk materials and the previously accumulated bulk materials will all be transported to the corresponding first discharge bin). Thereafter, in step 4, G'eb is corrected again according to ka to obtain G”eb. The meaning of G”eb is the weight value of each bulk material that needs to be newly invested when the current transportation is the actual state (the actual state means that the newly invested bulk materials will be piled up and cannot be transported to the first discharge bin, and some of the previously accumulated bulk materials will be transported to each of the first discharge bins). Finally, in step 5, each bulk material is delivered according to G”eb. This correction is used to reduce the impact of the accumulation of various newly invested bulk materials on the current transportation.

[0096] Step 9: Get the current subtask, and correct Ged according to Gcd to obtain the first correction data G'ed of the trace material weight value.

[0097] Step 10: Correct G'ed according to kc to obtain the secondary correction data G"ed of the trace material weight value.

[0098] Step 11: Configure the trace material of the current subtask according to G”ed.

[0099] Step 12: Update Gcd according to the scraper conveyor trace material discharge weight G2; wherein c = 1, 2...c.

[0100] Step 13: Update kc according to the scraper conveyor trace material discharge weight G2.

[0101] Step 14: Repeat steps 9-13 until the configuration of trace materials in all subtasks is completed.

[0102] In step 9 to step 14, the trace materials required by each type of cattle are transported to each of the first discharge bins in sequence. Specifically, according to the order of the subtasks, each time the various trace materials required for the current subtask are put into the entrance of the scraper conveyor at one time, and then the various trace materials are transported to the corresponding first discharge bin by the scraper conveyor to complete the transportation of various trace materials required for the current subtask, and so on. The transportation of the trace materials required by each type of cattle is completed in sequence, and then the materials accumulated on the scraper conveyor can be cleaned to avoid the influence of the accumulated trace materials on the subsequent trace materials.

[0103] Among them, in step 9, according to the remaining weight value Gcd of each trace material accumulated on the transport section corresponding to the current subtask, the weight value Geb of each trace material of the current subtask is corrected respectively to obtain G'ed. This correction is used to reduce the influence of the trace materials accumulated on the scraper conveyor on the current transportation. The meaning of G'ed is the weight value of each trace material that needs to be newly invested when the current transportation is an ideal transportation (ideal transportation means that the newly invested trace materials and the previously accumulated trace materials will all be transported to the corresponding first discharge bin). Thereafter, in step 10, G'ed is corrected again according to kc to obtain G"ed. The meaning of G"ed is the weight value of each trace material that needs to be newly invested when the current transportation is an actual state (the actual state means that the newly invested trace materials in this transportation will be accumulated and cannot be transported to the first discharge bin, and at the same time, some of the previously accumulated trace materials will be transported to each of the first discharge bins). Finally, in step 11, each trace material is put in according to G"eb. This correction is used to reduce the influence of the accumulation of various newly invested bulk materials on the current transportation.

[0104] Step 15: Get the current subtask, put the material in the first discharge bin into the second discharge bin, and configure the general material of the current subtask according to Gef;

[0105] Step 16: Obtain the current position of each of the unmanned vehicles, calculate the movement distance of each of the unmanned vehicles, determine the target unmanned vehicle according to the movement distance of each of the unmanned vehicles, and control the target unmanned vehicle to receive and feed materials;

[0106] Step 17: Repeat steps 15-16 until all subtasks are completed.

[0107] In this embodiment, in steps 10 to 16, the material in the first discharge bin corresponding to the current task is put into the second discharge bin, and then the general material is put into it, so as to complete the configuration of various materials required for the current task, and then the unmanned vehicle transports the configured materials to the corresponding feeding area. In step 17, steps 10 to 16 are executed in a loop to complete the preparation and transportation of the materials required for all cattle species.

[0108] In the intelligent feeding control method of this embodiment, in steps 3 to 8, the bulk materials required by each cattle species are transported to each of the first discharge bins in sequence, and then the materials accumulated on the scraper conveyor can be cleaned to avoid the influence of the accumulated bulk materials on the subsequent trace materials; in steps 9 to 14, the trace materials required by each cattle species are transported to each of the first discharge bins in sequence, that is, after step 14 is executed, each of the first discharge bins stores the bulk materials and trace materials required by each cattle species; then in steps 10 to 17, the configuration, transportation and delivery of all the materials required by each cattle species are completed in sequence.

[0109] The intelligent feeding control method of this embodiment takes into account the influence of the remaining bulk materials piled up on the scraper conveyor on the required bulk materials, and also takes into account the new accumulation situation of the current transportation. The weight of the newly added bulk materials is determined through two corrections, thereby reducing the influence of the accumulation problem on the scraper conveyor on the feeding, and improving the accuracy of bulk material batching. In addition, each time the bulk materials are transported, they are corrected separately according to the actual transport section, and after each transport is completed, Gab and ka are updated according to the actual discharge amount, thereby further ensuring the improvement of batching accuracy.

[0110] The intelligent feeding control method of this embodiment takes into account the influence of the remaining trace materials accumulated on the scraper conveyor on the required trace materials, and also takes into account the new accumulation situation of the current transportation. The weight of each trace material required to be newly input is determined through two corrections, thereby reducing the influence of the accumulation problem on the scraper conveyor on the feeding, and improving the accuracy of the trace material batching. In addition, each trace material is corrected according to the actual transportation section during each transportation, and after each transportation is completed, Gcd and kc are updated according to the actual discharge amount, thereby further ensuring the improvement of the batching accuracy.

[0111] In an optional embodiment, step 3 includes the following steps:

[0112] Step 31: Correct Geb according to the following formula:

[0113] G'eb=Geb-Gab;

[0114] Step 9 includes the following steps:

[0115] Step 91: Correct Ged according to the following formula:

[0116] G'ed=Ged-Gcd.

[0117] In an optional embodiment, step 6 includes the following steps:

[0118] Step 61: Modify Gab according to the following formula:

[0119]

[0120] L'=La / L1;

[0121]

[0122] Among them, La is the length of the transport segment a corresponding to the current revised Gab, L1 is the length of the transport segment corresponding to the current subtask, and n is the number of bulk materials of the e-th cattle species.

[0123] It should be noted that in step 61, the Gabs corresponding to the transport sections covered by L1 are corrected. For example, if L1 is the third transport section, in step 61, the Gabs corresponding to the first transport section, the second transport section and the third transport section need to be corrected.

[0124] Step 12 includes the following steps:

[0125] Step 121: Correct Gcd according to the following formula:

[0126]

[0127] L" = Lc / L2;

[0128]

[0129] Among them, Lc is the length of the c transport segment corresponding to the current revised Gcd, L2 is the length of the transport segment corresponding to the current subtask, and m is the number of trace feed types of the e-th cattle species.

[0130] It should be noted that in step 121, the Gcd corresponding to each transport segment covered by L2 is corrected.

[0131] In an optional embodiment, step 4 includes the following steps:

[0132] Step 41: Correct G'eb according to the following formula:

[0133] G”eb=ka*G’eb;

[0134] Step 10 includes the following steps:

[0135] Step 101: Correct G'ed according to the following formula:

[0136] G”ed=kc*G’ed.

[0137] In an optional embodiment, step 7 includes the following steps:

[0138] Step 71: Correct ka according to the following formula:

[0139]

[0140] Among them, h is a constant, 0 < h < 1, and n is the number of types of bulk materials for the e-th cattle breed.

[0141] Step 13 includes the following steps:

[0142] Step 131: Modify kc according to the following formula:

[0143]

[0144] Among them, m is the number of types of trace materials for the e-th cattle breed.

[0145] It should be noted that in step 71, only ka and kc corresponding to the transportation segment of the current subtask are modified.

[0146] In an optional embodiment, the movement distance in step 16 is the distance from the unmanned vehicle to the batching area, and the target unmanned vehicle is the unmanned vehicle with the minimum movement distance.

[0147] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments are obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent feeding control method, characterized in that: Applied to an intelligent feeding control system, the intelligent feeding control system includes: a batching area, a feeding area and an unmanned vehicle; the batching area includes: a plurality of first raw material bins, the first raw material bins are used to store bulk materials; a plurality of second raw material bins, the second raw material bins are used to store trace materials; a plurality of third raw material bins, the third raw material bins are used to store general batching materials; a plurality of first discharge bins, the first discharge bins correspond to each cattle breed one by one; a second discharge bin, the second discharge bin is one, the outlet of each first discharge bin is connected to the inlet of the second discharge bin, and the outlet of each third raw material bin is connected to the inlet of the second discharge bin; and a scraper conveyor, the outlet of each first raw material bin and each second raw material bin is connected to the inlet of the scraper conveyor, and the scraper conveyor has multiple outlets, and the multiple outlets correspond to each first discharge bin one by one and are connected; wherein the feeding area is multiple and corresponds to each cattle breed one by one; the unmanned vehicle is at least two, which travels between the batching area and each feeding area, and is used to access the discharge of the second discharge bin and put the material into each feeding area; The intelligent feeding control method comprises the following steps: Step 1: Initialization operation, set the remaining bulk material weight value Gab of each transport section of the scraper conveyor to 0, a is the mark of the transport section of the scraper conveyor, b is the mark of the bulk material transported by the scraper conveyor, and is preset to the first correction coefficient ka of each transport section of the scraper conveyor, ka is a constant, ka>1; set the remaining trace material weight value Gcd of each transport section of the scraper conveyor to 0, c is the mark of the transport section of the scraper conveyor, d is the mark of the trace material transported by the scraper conveyor, and is preset to the second correction coefficient kc of each transport section of the scraper conveyor, kc is a constant, kc>1; Step 2: Input batching task, which includes several subtasks. Sort the subtasks, where each subtask corresponds to each cattle breed. The subtask data includes bulk feed weight value Geb, trace feed weight value Ged and general batching Gef, where e is the mark of cattle breed and f is the mark of general batching; Step 3: Get the current subtask, and correct Geb according to Gab to obtain the first correction data G'eb of the bulk material weight value; Step 4: Correct G'eb according to ka to obtain the secondary correction data G"eb of the bulk material weight value; Step 5: Configure the bulk material of the current subtask according to G”eb; Step 6: Update Gab according to the bulk material discharge weight G1 of the scraper conveyor, where a=1, 2...a; Step 7: updating ka according to the bulk material discharge weight G1 of the scraper conveyor; Step 8: Repeat steps 3-7 until the bulk material configuration in all subtasks is completed; Step 9: Get the current subtask, and correct Ged according to Gcd to obtain the first correction data G'ed of the weight value of the trace material; Step 10: Correct G'ed according to kc to obtain the secondary correction data G"ed of the weight value of the trace material; Step 11: Configure the trace material of the current subtask according to G”ed; Step 12: Update Gcd according to the weight G2 of the micro-material discharged from the scraper conveyor; where c = 1, 2... c; Step 13: Update kc according to the weight G2 of the micro-material discharged from the scraper conveyor; Step 14: Loop through Steps 9 - 13 until the micro-material configuration in all subtasks is completed; Step 15: Obtain the current subtask, put the material in the first discharge bin into the second discharge bin, and configure the general material for the current subtask according to Gef; Step 16: Obtain the current positions of the unmanned vehicles, calculate the moving distances of the unmanned vehicles, determine the target unmanned vehicle according to the moving distances of the unmanned vehicles, and control the target unmanned vehicle to receive and deliver materials; Step 17: Loop through Steps 15 - 16 until all subtasks are completed; 2. The intelligent feeding control method according to claim 1, characterized in that: Step 3 includes the following steps: Step 31: Correct Geb according to the following formula: G’eb = Geb - Gab; Step 9 includes the following steps: Step 91: Correct Ged according to the following formula: G’ed = Ged - Gcd.

3. An intelligent feeding control method according to claim 2, characterized in that: Step 6 includes the following steps: Step 61: Correct Gab according to the following formula: ； ； ； Among them, La is the current correction The length of the corresponding transport segment a, L1 is the length of the transport segment corresponding to the current subtask, and n is the number of bulk feed types of the e-th cattle species; Step 12 includes the following steps: Step 121: Correct Gcd according to the following formula: ； ； ； Among them, Lc is the current correction The length of the corresponding c transport segment, L2 is the length of the transport segment corresponding to the current subtask, and m is the number of trace feed types of the e-th cattle species.

4. The intelligent feeding control method according to claim 1, characterized in that: Step 4 includes the following steps: Step 41: Correct G’eb according to the following formula: G”eb = ka * G’eb; Step 10 includes the following steps: Step 101: Correct G’ed according to the following formula: G”ed = kc * G’ed.

5. The intelligent feeding control method according to claim 4, characterized in that: Step 7 includes the following steps: Step 71: Correct ka according to the following formula: ； where h is a constant, 0 < h < 1, and n is the number of types of bulk materials for the e-th type of cattle; Step 13 includes the following steps: Step 131: Correct kc according to the following formula: ； where m is the number of types of micro-materials for the e-th type of cattle.

6. The intelligent feeding control method according to claim 1, characterized in that: In Step 16, the moving distance is the distance from the unmanned vehicle to the batching area, and the target unmanned vehicle is the unmanned vehicle with the minimum moving distance.

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