Sea cucumber bait mixing device and method

Abstract

The invention relates to the technical field of bait mixing, and in particular to a sea cucumber bait mixing device and method. Before sea mud enters a stirring mechanism, premixing is performed in a feeding mechanism, thereby improving the mixing effect to a certain extent, making the stirring efficiency and effect better; and on the basis of premixing, the sea mud water content data in the stirring chamber is monitored, and the servo motor used for regulating the stirring speed in the feeding mechanism is adaptively adjusted in power through the time series change, standard deviation and position distribution of the sea mud water content data of each monitoring point, thereby avoiding the situation that the premixing is uneven due to the input of sea mud when a single power is used, and the mixing effect is improved to a certain extent, and the problem that in the prior art, after the sea mud is directly added into the stirring mechanism to mix with the solid raw material, it takes a longer time to evenly disperse the solid particles in the corresponding stirring process, so that the stirring effect and efficiency are higher.

Description

Technical Field

[0001] The invention relates to the technical field of bait mixing, and in particular to a sea cucumber bait mixing device and method. Background Art

[0002] With the development of biotechnology, various auxiliary technologies for artificial breeding of rare marine organisms such as sea cucumbers have gradually developed and matured. Artificial breeding can reduce dependence on natural marine resources and protect the marine ecological environment. Existing feed mixing equipment usually directly adds sea mud to the stirring mechanism and mixes it with solid raw materials. However, due to the high viscosity of sea mud itself, its aggregation state before addition is relatively compact. If sea mud is directly added to the stirring mechanism and stirred with solid raw materials, a larger volume of solid raw materials may be wrapped by sea mud. As a result, after the existing technology directly adds sea mud to the stirring mechanism and mixes it with solid raw materials, it takes a longer time to evenly disperse the solid particles during the corresponding stirring process, resulting in poor stirring effect and efficiency. Summary of the invention

[0003] In order to solve the technical problem that in the prior art, after sea mud is directly added to a stirring mechanism and mixed with solid raw materials, a longer time is required to evenly disperse the solid particles during the corresponding stirring process, resulting in poor stirring effect and efficiency, the present application provides a sea cucumber bait mixing device and method, and the technical solutions adopted are as follows:

[0004] The present application provides a method for mixing sea cucumber bait, the method comprising:

[0005] Obtain the sea mud water content data of each monitoring point in the mixing chamber at each sampling time;

[0006] According to the stability of the time series change of the sea mud water content data at each monitoring point and the standard deviation of the sea mud water content data at the current moment, the reference amplitude of the regulation at each monitoring point at the current moment is determined;

[0007] Determine the short-term water content change characteristic value of each monitoring point at the current moment according to the position of each monitoring point relative to the stirring chamber inlet and the control reference amplitude;

[0008] In the direction away from the stirring chamber inlet, the necessity of power adjustment of the servo motor in the feeding mechanism is determined according to the overall magnitude of the change in the characteristic value of the short-term water content change at each monitoring point;

[0009] According to the necessity of power regulation and the magnitude of the short-term water content change characteristic value corresponding to each monitoring point at the current moment, the power of the servo motor in the feeding mechanism is regulated.

[0010] Furthermore, the process of obtaining the control reference amplitude includes:

[0011] Determine the reference standard moisture content corresponding to each monitoring point at the current moment according to the mean value of the sea mud moisture content data at a preset number of sampling moments before the current moment at each monitoring point;

[0012] Determine the standard deviation of the water content at each monitoring point at the current moment according to the difference between the sea mud water content data at each monitoring point at the current moment and the reference standard water content;

[0013] Determine the degree of dispersion of historical data corresponding to each monitoring point at the current moment according to the variance of the sea mud water content data at a preset number of sampling moments before the current moment at each monitoring point;

[0014] According to the degree of dispersion of the historical data and the standard deviation of the water content, the control reference amplitude of each monitoring point at the current moment is determined, and the degree of dispersion of the historical data and the standard deviation of the water content are both positively correlated with the control reference amplitude.

[0015] Furthermore, the process of determining the control reference amplitude of each monitoring point at the current moment according to the degree of dispersion of the historical data and the standard deviation of the water content includes:

[0016] The control reference amplitude of each monitoring point at the current moment is determined according to the product of the discrete degree of the historical data and the standard deviation of the water content.

[0017] Furthermore, the process of obtaining the short-term water content change characteristic value includes:

[0018] Arrange all monitoring points in sequence in a direction away from the stirring chamber inlet to determine the monitoring point sequence;

[0019] Perform negative correlation normalization on the index value of each monitoring point in the monitoring point sequence to determine the control amplitude weight of each monitoring point;

[0020] According to the control reference amplitude and the control amplitude weight, the short-term water content change characteristic value of each monitoring point at the current moment is determined; the control reference amplitude and the control amplitude weight are both positively correlated with the short-term water content change characteristic value.

[0021] Furthermore, the process of determining the short-term water content change characteristic value of each monitoring point at the current moment according to the control reference amplitude and the control amplitude weight includes:

[0022] The product of the control reference amplitude and the control amplitude weight is used as the short-term water content change characteristic value of each monitoring point at the current moment.

[0023] Furthermore, the process of obtaining the necessity of power regulation includes:

[0024] The absolute value of the short-term water content change characteristic value of each monitoring point at the current moment is used as the corresponding reference absolute value;

[0025] In the monitoring point sequence, the difference between the reference absolute value of each monitoring point at the current moment and the reference absolute value of the previous monitoring point is used as the reference change value of each monitoring point at the current moment; the product of the reference absolute value of each monitoring point at the current moment and the reference absolute value of the previous monitoring point is used as the reference change amplitude of each monitoring point at the current moment;

[0026] Determine the necessity of local adjustment of each monitoring point at the current moment according to the reference change value and the reference change amplitude; the reference change value is negatively correlated with the necessity of local adjustment, and the reference change amplitude is positively correlated with the necessity of local adjustment;

[0027] The mean of the local adjustment necessity of all monitoring points at the current moment is normalized to determine the power adjustment necessity of the servo motor in the feeding mechanism at the current moment.

[0028] Furthermore, the process of obtaining the necessity of local adjustment includes:

[0029] The necessity of local adjustment of each monitoring point at the current moment is determined according to the product of the negative correlation mapping value of the reference change value and the reference change amplitude.

[0030] Furthermore, the process of adjusting the power of the servo motor in the feeding mechanism according to the necessity of the power adjustment and the magnitude of the short-term water content change characteristic value corresponding to each monitoring point at the current moment includes:

[0031] When the necessity of power adjustment is less than a preset adjustment threshold, the power of the servo motor in the feeding mechanism is not adjusted;

[0032] When the necessity of power adjustment is greater than or equal to the preset adjustment threshold, the servo motor adjustment power corresponding to the current moment is determined according to the overall size of the short-term water content change characteristic values ​​of all monitoring points at the current moment;

[0033] The power of the servo motor in the feeding mechanism is adjusted according to the power adjustment of the servo motor.

[0034] Furthermore, the process of obtaining the servo motor adjustment power includes:

[0035] The power of the servo motor in the feeding mechanism before adjustment at the current moment is used as the priori servo motor power at the current moment;

[0036] The average of the short-term water content change characteristic values ​​of all monitoring points at the current moment is used as the overall water content change characteristic value; when the overall water content change characteristic value is equal to 0, the priori servo motor power is used as the servo motor adjustment power at the current moment;

[0037] When the overall water content change characteristic value is greater than 0, determining the servo motor adjustment power at the current moment according to the product between the positive correlation mapping value of the normalized value of the absolute value of the overall water content change characteristic value and the priori servo motor power;

[0038] When the overall water content change characteristic value is less than 0, the servo motor adjustment power at the current moment is determined according to the product of the negative correlation mapping value of the normalized value of the absolute value of the overall water content change characteristic value and the priori servo motor power.

[0039] A sea cucumber bait mixing device comprises a feeding mechanism, a stirring mechanism and a data processing module, wherein the feeding mechanism comprises a first spiral stirring roller, a servo motor and a mixing outlet; the first spiral stirring roller is used to mix sea mud and solid raw materials, one end of the central axis of the first spiral stirring roller is fixed in the servo motor, and the rotation speed of the first spiral stirring roller is controlled by the servo motor; the mixing outlet is located at the bottom of the feeding mechanism, and the mixed sea mud is input into the stirring mechanism through the mixing outlet; the stirring mechanism is located below the feeding mechanism and the feeding mechanism comprises a motor, a bait outlet, a stirring chamber, a second spiral stirring roller and a capacitive moisture content sensor, the second spiral stirring roller is fixed inside the stirring chamber, one end of the second spiral stirring roller is located below the mixing outlet, and the other end is located above the bait outlet, the second spiral stirring roller is driven to rotate in the stirring chamber by the motor, and each capacitive moisture content sensor is installed at each monitoring point position at the bottom of the stirring chamber; all capacitive moisture content sensor signals are connected to the data processing module; the sea mud moisture content data of each monitoring point in the stirring chamber at each sampling time is obtained by the data processing module;

[0040] According to the stability of the time series change of the sea mud water content data at each monitoring point and the standard deviation of the sea mud water content data at the current moment, the reference amplitude of the regulation at each monitoring point at the current moment is determined;

[0041] Determine the short-term water content change characteristic value of each monitoring point at the current moment according to the position of each monitoring point relative to the stirring chamber inlet and the control reference amplitude;

[0042] In the direction away from the stirring chamber inlet, the necessity of power adjustment of the servo motor in the feeding mechanism is determined according to the overall magnitude of the change in the characteristic value of the short-term water content change at each monitoring point;

[0043] According to the necessity of power regulation and the magnitude of the short-term water content change characteristic value corresponding to each monitoring point at the current moment, the power of the servo motor in the feeding mechanism is regulated.

[0044] This application has the following beneficial effects:

[0045] Before the sea mud enters the stirring mechanism, it is pre-mixed in the feeding mechanism, thereby improving the mixing effect to a certain extent, making the stirring efficiency and effect better; and on the basis of pre-mixing, the sea mud water content data in the stirring chamber is monitored, and the servo motor used to control the stirring speed in the feeding mechanism is adaptively adjusted in power through the time series changes, standard deviation and position distribution of the sea mud water content data of each monitoring point, thereby avoiding the situation where the pre-mixing is uneven due to the input of sea mud when a single power is used, and improving the mixing effect to a certain extent, and solving the problem that in the prior art, after the sea mud is directly added to the stirring mechanism and mixed with the solid raw material, it takes a longer time to evenly disperse the solid particles in the corresponding stirring process, so that the stirring effect and efficiency are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A front structural diagram of a sea cucumber bait mixing device provided by one embodiment of the present invention;

[0048] Figure 2 A side structural diagram of a sea cucumber bait mixing device provided by one embodiment of the present invention;

[0049] Figure 3 A top view of a sea cucumber bait mixing device provided by one embodiment of the present invention;

[0050] Figure 4 A schematic diagram of the overall structure of a sea cucumber bait mixing device provided by one embodiment of the present invention;

[0051] Figure 5 A flow chart of a method for mixing sea cucumber bait provided by one embodiment of the present invention;

[0052] In the figure, 1-powder inlet; 2-solid-liquid mixing inlet; 3-solid discharging valve; 4-fan-shaped valve; 5-first spiral stirring roller; 6-housing; 7-central axis; 8-servo motor; 9-solid discharging channel; 10-conveyor belt; 11-dust baffle; 12-mixing discharge port; 13-square housing; 14-bracket; 15-rotating shaft; 16-fan-shaped baffle; 19-stirring chamber; 20-reducer; 21-motor; 22-second spiral stirring roller; 23-bait outlet; 24-base; 25-capacitive moisture sensor; 26-data processing module. DETAILED DESCRIPTION

[0053] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of a sea cucumber bait mixing device and method proposed according to the present invention, its specific implementation method, structure, characteristics and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment, and the specific features, structures or characteristics in one or more embodiments may be combined in any suitable form. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0054] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0055] The specific scheme of a sea cucumber bait mixing device and method provided by the present invention is described in detail below with reference to the accompanying drawings.

[0056] A sea cucumber bait mixing device embodiment:

[0057] The present application provides a sea cucumber bait mixing device, including a feeding mechanism, a stirring mechanism and a data processing module 26; please refer to Figure 1 , which shows a front structural diagram of a sea cucumber bait mixing device provided by an embodiment of the present invention; please refer to Figure 2 , which shows a side structural diagram of a sea cucumber bait mixing device provided by one embodiment of the present invention; please refer to Figure 3 , which shows a top view of a sea cucumber bait mixing device provided by one embodiment of the present invention; please refer to Figure 4 , which shows a schematic diagram of the overall structure of a sea cucumber bait mixing device provided by one embodiment of the present invention; Figure 1 , Figure 2 , Figure 3 and Figure 4The device is mainly divided into a feeding mechanism, a stirring mechanism and a data processing module 26.

[0058] Among them, the feeding mechanism includes a powder inlet 1, a solid-liquid mixing inlet 2, a solid discharging valve 3, a fan-shaped valve 4, a first spiral stirring roller 5, a shell 6, a central axis 7, a servo motor 8, a solid discharging channel 9, a conveyor belt 10, a dust baffle 11, a mixing discharging port 12, a square shell 13, a bracket 14, a rotating shaft 15, a fan-shaped baffle 16, and a solid discharging port; the powder inlet 1 is directly connected to the solid discharging channel 9, and a solid discharging valve 3 is installed at the bottom of the solid discharging channel 9; in a specific implementation method of an embodiment of the present invention, the angle formed between the solid discharging channel 9 and the upper surface of the square shell 13 is set to 60 degrees, which can be adjusted by itself; the bracket 14 is used to support the entire feeding mechanism; the bottom of the solid-liquid mixing inlet 2 is connected to the first spiral stirring roller 5 and the shell 6, one end of the central axis 7 of the first spiral stirring roller 5 is fixed in the servo motor, and the other end is fixed to the fan-shaped baffle 16 of the shell 6 At the center position, the first spiral stirring roller 5 is used to mix sea mud and solid raw materials, and the rotation speed of the first spiral stirring roller is controlled by a servo motor; the local structure composed of the first spiral stirring roller 5, the shell 6 and the central axis 7 is used as a feed amount control module to facilitate subsequent analysis; the shell 6 is cylindrical as a whole, and a fan-shaped baffle 16 is welded on the plane where the discharge port at the bottom is located, and the discharge port of the feed amount control module is composed of a fan-shaped valve 4 and a rotating shaft 15; the conveyor belt 10 is located below the discharge port at the bottom of the feed amount control module, and an oil film is attached to the surface of the conveyor belt 10. The entire conveyor belt 10 is wrapped by a square dust baffle 11, and a solid discharge port is provided between the dust baffle 11 and the solid discharge channel 9; a circular mixing discharge port 12 is provided at the contact position between the bottom end of the conveyor belt 10 and the stirring chamber 19, that is, the mixing discharge port 12 is located at the bottom of the feeding mechanism, and the mixed sea mud is input into the stirring mechanism through the mixing discharge port 12.

[0059] Considering that solid powders such as algae powder, fish meal, and Eucommia extract are easily attached to wet surfaces after drying, two kinds of feeding ports are set, namely the powder feeding port 1 and the solid-liquid mixing feeding port 2, so as to avoid the adhesion and agglomeration of solid particles on the feeding port surface; solid raw materials are added to the powder feeding port 1, and sea mud is added to the solid-liquid mixing feeding port; since sea mud, that is, the solid-liquid mixture itself has a large viscosity, its polymerization state before addition is relatively compact. If sea mud is directly added to the stirring mechanism and stirred with the solid raw material, a large volume of solid raw material may be wrapped by the sea mud. During the stirring process, it takes a longer time to evenly disperse the solid particles, resulting in low stirring efficiency; therefore, with the help of the feeding control module, the central shaft 7 is driven by the servo motor to rotate the first spiral stirring roller 5. After the sea mud is introduced into the solid-liquid mixing feeding port 2, the sea mud moves downward according to gravity. Under the action of the first spiral stirring roller 5, large pieces of sea mud are initially separated. The sea mud is cut and, under the influence of the first spiral stirring roller 5 and the direction of rotation, is accumulated at the discharge port of the feed control module composed of the fan-shaped baffle 16 and the fan-shaped valve 4; at this time, the fan-shaped valve 4 is rotated to overlap with the fan-shaped baffle 16, and as the first spiral stirring roller 5 rotates, the internal sea mud is discharged to the conveyor belt 10 below. An oil film is attached to the surface of the conveyor belt 10 to prevent the sea mud from adhering, so that the sea mud slides downward by gravity; when the sea mud begins to move along the conveyor belt 10 to the bottom mixing discharge port 12, the solid raw material added in advance through the powder feed port 1 slides downward along the solid discharge channel 9, and the solid discharge valve 3 is fully opened to scatter it on the sea mud on the conveyor belt 10 through the solid discharge port, so that the solid raw material is evenly dispersed on the surface of the sea mud; after the sea mud and the solid raw material are mixed, a mixed material is obtained, and the mixed material is conveyed to the mixing discharge port 12 through the conveyor belt 10 and enters the stirring chamber 19 for secondary stirring.

[0060] In the feeding mechanism, the sea mud is divided by extrusion and pre-mixed with the solid raw material, so that after entering the stirring chamber 19, it will not stick to the stirring roller or the inner wall of the chamber, and the sea mud divided into thin strips can have a larger contact area with the solid raw material. Under the same stirring force, the flipping frequency of small-volume sea mud clumps is higher than that of large-volume sea mud clumps. Small-volume sea mud clumps are more easily driven by the stirring roller, thereby flipping and mixing more frequently.

[0061] The stirring mechanism is located below the feeding mechanism, and the stirring mechanism includes a stirring chamber 19, a reducer 20, a motor 21, a second spiral stirring roller 22, a bait outlet 23, a base 24 and a capacitive moisture content sensor 25; the stirring chamber 19 is made of a smooth metal material, the distance between the outermost side of the second spiral stirring roller 22 and the surface of the stirring chamber 19 is always controlled to be 1 cm, the second spiral stirring roller 22 is fixed inside the stirring chamber 19, and one end of the second spiral stirring roller 22 is located below the mixing outlet 12, and the other end is located above the bait outlet 23, the second spiral stirring roller 22 is driven to rotate in the stirring chamber 19 by the motor 21 and the reducer 20, sufficient power is provided by the motor 21, and the high speed of the motor 21 is converted into a lower output speed by the reducer 20, so as to increase the output torque and thereby enhance the driving force of the mechanical system to meet different operating requirements; each capacitive moisture content sensor 25 is installed at each monitoring point at the bottom of the stirring chamber 19; the entire stirring mechanism is supported by four bases 24 at the bottom ... The water content sensor 25 is installed at each monitoring point position at the bottom of the stirring chamber. In a specific implementation of an embodiment of the present invention, the installation method of the capacitive water content sensor 25 is specifically as follows: in the direction away from the stirring chamber inlet inside the stirring chamber 19, 5 capacitive water content sensors 25 are installed at equal intervals at the center line position of the bottom of the stirring chamber 19, the first capacitive water content sensor 25 is installed directly below the mixing outlet 12, and the last capacitive water content sensor 25 is installed directly above the bait outlet 23, and is embedded and embedded in the installation plane so that the surface of the capacitive water content sensor 25 is parallel to the plane of the bottom of the stirring chamber 19, thereby reducing the interference of the protruding capacitive water content sensor 25 on the material flow; when the mixed material enters the stirring chamber 19 through the mixing outlet 12, the capacitive water content sensor 25 directly contacts the mixed material, and with the help of capacitance, the water content data corresponding to the mixed material can be obtained, thereby real-time monitoring of the sea mud water content data of each monitoring point at each sampling time.

[0062] It should be noted that in order to avoid the problem of raw material accumulation and waste caused by the high viscosity of sea mud adhering to the cavity wall, the texture and rotation direction of the second spiral stirring roller 22 are adjusted so that the raw materials move away from the stirring chamber entrance during the mixing process, so that they are finally accumulated above the bait outlet 23. When the mixing is completed, the bait outlet 23 is opened to discharge the mixed bait.

[0063] The data processing module 26 is installed above the dust baffle 11 in the square housing 13 and is wrapped by a protective shell; all capacitive water content sensors 25 are connected to the data processing module 26, which can be a data processing chip such as a CPU, MCU, or a data processing device such as a computer host, and each output end of all capacitive water content sensors 25 is connected to the input end of the data processing module 26, which can be connected by wire through a data transmission line, or wirelessly through wireless communication methods such as Bluetooth and WiFi; the collected sea mud water content data is transmitted to the data processing module 26 for processing, and then the servo motor 8 is feedback-controlled. Further, the data processing module is used to process according to a preset processing process, and a detailed description of the preset processing process is shown in an embodiment of a sea cucumber bait mixing method.

[0064] A sea cucumber bait mixing method embodiment:

[0065] See also Figure 5 , which shows a flow chart of a sea cucumber bait mixing method provided by one embodiment of the present invention, comprising the following steps:

[0066] Step S501: Obtain the sea mud water content data of each monitoring point in the stirring chamber 19 at each sampling time.

[0067] In a specific implementation of the embodiment of the present invention, the time interval between two adjacent sampling moments is set to 1 second, which can be adjusted according to the specific implementation environment.

[0068] Sea mud and solid raw materials are added through different feeding ports. In order to ensure uniform mixing between solid raw materials and sea mud during premixing, two valves should be used to control the discharge of sea mud and solid raw materials to the conveyor belt 10, so that the premixing of solid raw materials and sea mud is uniform; this requires the solid raw materials and sea mud to be scattered in a certain regularity, so that the solid raw materials are evenly attached to the sea mud. When the power of the servo motor 8 is set to be manually allocated, the speed of the first spiral stirring roller 5 will be fixed; and the size of the solid discharge valve 3 is fixed, so the real-time scattering of the solid raw materials should be fixed under ideal conditions, and can be evenly scattered and attached to the sea mud surface; however, the actual scattering uniformity is affected by the particle inhomogeneity of the solid raw materials, so that there are certain differences in the adhesion on the sea mud surface during the scattering process, resulting in the final mixing efficiency after entering the stirring chamber 19 being affected by the premixing uniformity, so that the stirring effect and stirring efficiency are reduced; so in order to adapt to the influence of the particle inhomogeneity of the solid raw materials, it is necessary to adaptively control the power of the servo motor 8 in real time, indirectly control the input of sea mud in real time, so that the solid raw materials are mixed with the sea mud as evenly as possible. Furthermore, the present application analyzes the sea mud water content data of each monitoring point at each sampling time, thereby determining the control requirements of the servo motor 8, and adaptively adjusts the power of the servo motor 8 in real time according to the control requirements. In a specific implementation of an embodiment of the present invention, the solid raw material uses dried seaweed powder, which can be adjusted according to the specific implementation environment.

[0069] Step S502: Determine the control reference amplitude of each monitoring point at the current moment according to the stability of the time series change of the sea mud water content data of each monitoring point and the standard deviation of the sea mud water content data at the current moment.

[0070] The water content of all the sea mud input through the solid-liquid mixing inlet is close to the same. When solid raw materials are added, the water content of the mixed material will change. Therefore, the water content of the mixed material, that is, the water content of the sea mud at each monitoring point, can be detected to analyze the pre-mixing state of the sea mud during the mixing process on the conveyor belt 10, so as to adjust the power of the servo motor 8 based on the pre-mixing state.

[0071] For each monitoring point, the more stable the corresponding time series change is, the more stable the actual water content is, that is, the more stable the premixed state represented by each monitoring point is, the smaller the need for regulation is. In addition, the more discrete the sea mud water content data at the current moment is relative to the water content data at the historical moment, the more likely the sea mud water content data at the current moment is to be abnormal, and the more regulation is needed.

[0072] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the control reference amplitude includes:

[0073] According to the mean of the sea mud moisture content data of each monitoring point at a preset number of sampling moments before the current moment, the reference standard moisture content corresponding to each monitoring point at the current moment is determined; according to the difference between the sea mud moisture content data of each monitoring point at the current moment and the reference standard moisture content, the standard deviation of the moisture content of each monitoring point at the current moment is determined. In a specific implementation of an embodiment of the present invention, the preset number is set to 20, which can be adjusted according to the specific implementation environment. The reference standard moisture content characterizes the overall numerical characteristics of the sea mud moisture content data in the historical data before the current moment. The smaller the sea mud moisture content data at the current moment is relative to the reference standard moisture content, that is, the smaller the moisture content standard deviation is, the closer the sea mud moisture content data at the current moment is to the characteristics of the sea mud moisture content data of the historical data, that is, the more likely the solid raw materials and sea mud detected by the sea mud moisture data at the current moment are in dynamic balance, and the corresponding regulation demand should also be smaller.

[0074] Further, according to the variance of the sea mud water content data of each monitoring point at a preset number of sampling moments before the current moment, the degree of dispersion of the historical data corresponding to each monitoring point at the current moment is determined. According to the characteristics of the variance, the smaller the variance of the sea mud water content data at a preset number of sampling moments before the current moment, that is, the smaller the degree of dispersion of the historical data, the more stable the time series change of the sea mud water content data in the historical data before the current moment, and the smaller the control demand should be.

[0075] Further, based on the degree of discreteness of historical data and the standard deviation of water content, the reference range of control for each monitoring point at the current moment is determined; since the smaller the degree of discreteness of historical data and the smaller the standard deviation of water content, the smaller the corresponding control demand, the degree of discreteness of historical data and the standard deviation of water content are positively correlated with the reference range of control that represents the control demand.

[0076] Preferably, in some possible implementations of the embodiments of the present invention, the process of determining the control reference amplitude of each monitoring point at the current moment according to the degree of dispersion of historical data and the standard deviation of water content includes:

[0077] According to the product between the degree of dispersion of historical data and the standard deviation of water content, the reference amplitude of regulation for each monitoring point at the current moment is determined. It should be noted that, in addition to the product, the implementer can also calculate the reference amplitude of regulation by other methods according to the correlation, such as the normalized value of the mean and the sum, which will not be further elaborated here.

[0078] In a specific implementation of the embodiment of the present invention, the process of obtaining the control reference amplitude is expressed by the formula: ;in, For the Monitoring points at the current time The reference range of regulation under For the Monitoring points at the current time The variance of the sea mud water content data at the preset number of sampling moments, that is, Monitoring points at the current time The corresponding degree of dispersion of historical data; For the Monitoring points at the current time The corresponding sea mud water content data below; For the Monitoring points at the current time The mean value of the sea mud water content data at the previously preset number of sampling moments; For the Monitoring points at the current time The corresponding standard deviation of moisture content is as follows. For The positive and negative of the reference amplitude is adjusted When it is greater than 0, it means The corresponding sea mud water content data of each monitoring point at the current moment is higher than the average value; the reference amplitude of the adjustment When it is less than 0, it means The corresponding sea mud water content data of each monitoring point at the current moment is lower than the average value; the smaller the absolute value, that is, The closer it is to 0, the less necessary the regulation is. It should be noted that the calculated regulation reference amplitude retains the positive and negative signs and is added to the regulation direction to ensure the accuracy of subsequent analysis.

[0079] Step S503: Determine the short-term water content variation characteristic value of each monitoring point at the current moment according to the position of each monitoring point relative to the stirring chamber inlet and the control reference amplitude.

[0080] As the mixed material moves in the stirring chamber, the mixing condition of the mixed material can be continuously monitored by sensors arranged at intervals. As the stirring time increases, the mixed material will gradually move toward the bait outlet and as the stirring progresses, the corresponding mixed material will become more and more uniform. Therefore, the closer the monitoring point is to the bait outlet, the greater the possibility that the moisture content of the monitored mixture is uniform and stable, and the less realistic the pre-mixed state of the mixed material in the feeding mechanism is. Therefore, different weights need to be set for monitoring points in different positions to ensure the accuracy of subsequent adjustments.

[0081] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the short-term water content change characteristic value includes:

[0082] Arrange all monitoring points in sequence in the direction away from the inlet of the mixing chamber to determine the monitoring point sequence; normalize the index value of each monitoring point in the monitoring point sequence to determine the control amplitude weight of each monitoring point. Since the closer the monitoring point is to the bait outlet, that is, the farther the monitoring point is from the inlet of the mixing chamber, the less real the pre-mixed state of the mixed material reflected in the feeding mechanism; therefore, the farther the monitoring point is from the inlet of the mixing chamber, the smaller the reference weight of the corresponding sea mud water content data should be; therefore, in the monitoring point sequence arranged in the direction away from the inlet of the mixing chamber, the smaller the index value of the monitoring point is, the closer the monitoring point is to the inlet of the mixing chamber, and the larger the corresponding control amplitude weight is.

[0083] The control reference amplitude is weighted by the control amplitude weight, so that the obtained short-term water content change characteristic value can be combined with the influence of the monitoring point location, and further determined according to the control reference amplitude and the control amplitude weight. The control reference amplitude and the control amplitude weight are positively correlated with the short-term water content change characteristic value. After combining the definition of the control reference amplitude, the larger the absolute value of the short-term water content change characteristic value, the greater the corresponding necessity of control.

[0084] Preferably, in some possible implementations of the embodiments of the present invention, the process of determining the short-term water content change characteristic value of each monitoring point at the current moment according to the control reference amplitude and the control amplitude weight includes:

[0085] The product of the control reference amplitude and the control amplitude weight is used as the short-term water content change characteristic value of each monitoring point at the current moment. It should be noted that in addition to the product, the implementer can also calculate the short-term water content change characteristic value by other methods according to the correlation, such as the normalized value of the mean value and the sum value, which will not be further elaborated here.

[0086] In a specific implementation of the embodiment of the present invention, the process of obtaining the short-term water content change characteristic value is expressed by the formula: ;in, For the Monitoring points at the current time The short-term water content variation characteristic value under ; For the Monitoring points at the current time The reference range of regulation under For the The index value of a monitoring point in the monitoring point sequence; For the The control amplitude weight of each monitoring point; To preset the control weight, the embodiment of the present invention is set to , used to adjust the amplitude weight as the index value changes, which can be adjusted according to the specific implementation environment, but the preset control weight must be greater than 0; is an exponential function with a natural constant as the base. Implementers can adopt other negative correlation mapping methods according to the specific implementation environment, such as , and the reciprocal, where is a hyperbolic tangent function, which will not be further described here.

[0087] Step S504: in the direction away from the stirring chamber inlet, the necessity of power adjustment of the servo motor 8 in the feeding mechanism is determined according to the overall magnitude of the change amplitude of the short-term water content change characteristic value of each monitoring point.

[0088] As the monitoring point is closer to the discharge port, the degree of mixing of the mixed materials will become more and more uniform; according to the calculation process of the short-term moisture content change characteristic value, in the direction away from the stirring chamber entrance, the short-term moisture content change characteristic values ​​of all monitoring points will become smaller and smaller; therefore, the greater the amplitude change of the short-term moisture content change characteristic values ​​of the two adjacent monitoring points at the current moment, the more uniform the mixing state of the solid raw material and sea mud between the corresponding two monitoring points, and the less necessary the power adjustment of the corresponding servo motor 8 will be.

[0089] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the necessity of power regulation includes:

[0090] The absolute value of the short-term water content change characteristic value of each monitoring point at the current moment is used as the corresponding reference absolute value. By calculating the absolute value of the short-term water content change characteristic value, the obtained reference absolute value can accurately characterize the necessity of regulation, thereby indirectly characterizing the mixing state of the solid raw materials and sea mud in the mixed material; the smaller the corresponding reference absolute value, the more uniform the mixing state, and the smaller the necessity of power regulation of the servo motor 8. Therefore, in combination with the reference absolute value of each monitoring point and the adjacent monitoring point, the product between the reference absolute value of each monitoring point at the current moment and the reference absolute value of the previous monitoring point is used as the reference change amplitude of each monitoring point at the current moment, so that the larger the reference change amplitude, the greater the corresponding necessity of regulation; and combining the two monitoring points for joint analysis can reduce the impact of chance, and can correspond to the two monitoring points involved in the subsequent reference change value, so that the obtained necessity of power regulation is more accurate.

[0091] In the monitoring point sequence, the difference between the reference absolute value of each monitoring point at the current moment and the reference absolute value of the previous monitoring point is used as the reference change value of each monitoring point at the current moment. Since the greater the amplitude change of the short-term water content change characteristic value of two adjacent monitoring points at the current moment, the more uniform the mixing state of the solid raw material and the sea mud between the corresponding two monitoring points, the less necessary the power adjustment of the corresponding servo motor 8 is, so the greater the reference change value, the less necessary the power adjustment of the servo motor 8 is.

[0092] Further, based on the reference change value and the reference change amplitude, the necessity of local adjustment of each monitoring point at the current moment is determined; since the larger the reference change value and the smaller the reference change amplitude, the smaller the necessity of power adjustment of the servo motor 8, therefore, when the necessity of power adjustment reflected by each monitoring point is characterized by the necessity of local adjustment, the reference change value is negatively correlated with the necessity of local adjustment, and the reference change amplitude is positively correlated with the necessity of local adjustment.

[0093] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the necessity of local adjustment includes:

[0094] According to the product of the negative correlation mapping value of the reference change value and the reference change amplitude, the necessity of local adjustment of each monitoring point at the current moment is determined. It should be noted that in addition to the product, the implementer can also calculate the necessity of local adjustment by other methods according to the correlation, such as the normalized value of the mean and the sum value, etc., which will not be further elaborated here.

[0095] Since the necessity of local adjustment represents the necessity of power adjustment reflected by each monitoring point, the necessity of local adjustment of all monitoring points is further combined, and the mean of the necessity of local adjustment of all monitoring points at the current moment is normalized to determine the necessity of power adjustment of the servo motor 8 in the feeding mechanism at the current moment. The greater the necessity of power adjustment, the more necessary it is to adjust the servo motor 8 in the feeding mechanism at the current moment. Through normalization, the value range of the necessity of power adjustment is limited to 0 to 1, which is convenient for subsequent screening.

[0096] In a specific implementation of the embodiment of the present invention, the process of obtaining the necessity of power regulation is expressed by the formula: ;in, The necessity of power regulation of the servo motor 8 in the feeding mechanism at the current moment; is the number of monitoring points in the monitoring point sequence; The monitoring point sequence The short-term water content variation characteristic value of each monitoring point at the current moment; The monitoring point sequence The reference absolute value of each monitoring point at the current moment; The monitoring point sequence The short-term water content variation characteristic value of each monitoring point at the current moment; The monitoring point sequence The reference absolute value of each monitoring point at the current moment; is the absolute value symbol; The monitoring point sequence The reference change value of each monitoring point at the current moment; The monitoring point sequence The reference change range of each monitoring point at the current moment; The monitoring point sequence Necessity of local adjustment of each monitoring point at the current moment; is an exponential function with a natural constant as the base. Implementers can adopt other negative correlation mapping methods according to the specific implementation environment, such as , and the reciprocal, where is the hyperbolic tangent function, which will not be further described here; is a linear normalization function, and the implementer can adjust the normalization method according to the specific implementation environment. It should be noted that since the first monitoring point in the monitoring point sequence does not have a previous monitoring point, the first monitoring point is not analyzed.

[0097] Step S505: According to the necessity of power regulation and the magnitude of the short-term moisture content change characteristic value corresponding to each monitoring point at the current moment, the power of the servo motor 8 in the feeding mechanism is regulated.

[0098] The necessity of power regulation can only reflect the degree of necessity of regulation. Therefore, when further calculating the necessity of power regulation, it is necessary to further analyze the characteristic values ​​of short-term water content changes that contain the meaning of regulation direction, so as to make more accurate power regulation.

[0099] Preferably, in some possible implementations of the embodiments of the present invention, according to the necessity of power regulation and the magnitude of the short-term water content change characteristic value corresponding to each monitoring point at the current moment, the process of power regulation of the servo motor 8 in the feeding mechanism includes:

[0100] When the necessity of power adjustment is less than the preset adjustment threshold, the servo motor 8 in the feeding mechanism is not adjusted in power; when the necessity of power adjustment is greater than or equal to the preset adjustment threshold, the servo motor adjustment power corresponding to the current moment is determined according to the overall size of the short-term water content change characteristic values ​​of all monitoring points at the current moment; the servo motor in the feeding mechanism is power adjusted according to the servo motor adjustment power. In a specific implementation of an embodiment of the present invention, the preset adjustment threshold is set to 0.7, which can be adjusted according to the specific implementation environment, and is not further described here. When the necessity of power adjustment is less than the threshold, it means that the necessity of adjusting the servo motor 8 is low, so the servo motor 8 in the feeding mechanism is not adjusted in power; when it is greater than the preset adjustment threshold, the servo motor 8 in the feeding mechanism needs to be adjusted in power. When adjusting specifically, it is necessary to consider that the short-term water content change characteristic value of each monitoring point at the current moment is the adjustment amplitude or the necessity of adjustment including the adjustment direction, so the servo motor adjustment power is further determined according to the overall size of the short-term water content change characteristic value of all monitoring points at the current moment.

[0101] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the servo motor adjustment power includes:

[0102] The power of the servo motor in the feeding mechanism before adjustment at the current moment is used as the a priori servo motor power at the current moment; the average of the short-term water content change characteristic values ​​of all monitoring points at the current moment is used as the overall water content change characteristic value; when the overall water content change characteristic value is equal to 0, the a priori servo motor power is used as the servo motor adjustment power at the current moment. When the overall water content change characteristic value is equal to 0, although the necessity of power adjustment of the servo motor is relatively large, the overall water content change characteristic value remains stable and belongs to a state of dynamic balance, so the a priori servo motor power is not adjusted. It should be noted that when the necessity of power adjustment is greater than or equal to the preset adjustment threshold, the situation where the overall water content change characteristic value is equal to 0 usually rarely occurs or does not occur. In order to ensure the completeness of the embodiment, the servo motor power is not adjusted when this situation occurs.

[0103] When the overall water content change characteristic value is greater than 0, the servo motor adjustment power at the current moment is determined according to the product between the positive correlation mapping value of the normalized value of the absolute value of the overall water content change characteristic value and the prior servo motor power. When the overall water content change characteristic value is greater than 0, it means that the water content of the premixed mixed material at the current moment is high, that is, the proportion of solid raw materials in the process of mixing sea mud and solid raw materials is low. Therefore, in order to increase the proportion of solid raw materials in the process of mixing sea mud and solid raw materials, it is necessary to reduce the power of the servo motor to slow down the discharge speed of the sea mud, thereby increasing the proportion of solid raw materials in the process of mixing sea mud and solid raw materials. And the larger the overall water content change characteristic value, the more the servo motor power increases, and the corresponding servo motor adjustment power is also greater.

[0104] When the overall water content change characteristic value is less than 0, the servo motor adjustment power at the current moment is determined according to the product between the negative correlation mapping value of the normalized value of the absolute value of the overall water content change characteristic value and the prior servo motor power. When the overall water content change characteristic value is greater than 0, it means that the water content of the premixed mixed material at the current moment is low, that is, the proportion of solid raw materials in the process of mixing sea mud and solid raw materials is high. Therefore, in order to increase the proportion of solid raw materials in the process of mixing sea mud and solid raw materials, it is necessary to increase the power of the servo motor to increase the discharge speed of the sea mud, thereby reducing the proportion of solid raw materials in the process of mixing sea mud and solid raw materials. And the larger the overall water content change characteristic value, the more the servo motor power is reduced, and the corresponding servo motor adjustment power is smaller.

[0105] In a specific implementation of the embodiment of the present invention, the process of obtaining the servo motor adjustment power is expressed by the formula: ;in, For the current moment Servo motor adjusts power; For the current moment The a priori servo motor power, that is, the power of the servo motor 8 at the moment before the current moment; For the current moment The mean of the short-term water content change characteristic values ​​of all monitoring points at the current moment The overall water content change characteristic value under ; is the absolute value symbol; is a linear normalization function, and the implementer can adjust the normalization method according to the specific implementation environment. It should be noted that the servo motor adjustment power obtained at each sampling moment is also the priori servo motor power at the next sampling moment, which will not be further elaborated here.

[0106] To sum up, the present application performs pre-mixing in the feeding mechanism before the sea mud enters the stirring mechanism, thereby improving the mixing effect to a certain extent, making the stirring efficiency and effect better; and on the basis of pre-mixing, the sea mud water content data in the stirring chamber is monitored, and the servo motor used to control the stirring speed in the feeding mechanism is adaptively adjusted in power through the time series changes, standard deviation and position distribution of the sea mud water content data at each monitoring point, thereby avoiding the situation where uneven pre-mixing is caused by the input of sea mud when a single power is used, and improving the mixing effect to a certain extent, and solving the problem that in the prior art, after directly adding sea mud to the stirring mechanism and mixing it with the solid raw material, it takes a longer time to evenly disperse the solid particles in the corresponding stirring process, so that the stirring effect and efficiency are higher.

[0107] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0108] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A method for mixing sea cucumber bait, characterized in that: The method comprises: Obtain the sea mud water content data of each monitoring point in the mixing chamber at each sampling time; According to the stability of the time series change of the sea mud water content data at each monitoring point and the standard deviation of the sea mud water content data at the current moment, the reference amplitude of the regulation at each monitoring point at the current moment is determined; Determine the short-term water content change characteristic value of each monitoring point at the current moment according to the position of each monitoring point relative to the stirring chamber inlet and the control reference amplitude; In the direction away from the stirring chamber inlet, the necessity of power adjustment of the servo motor in the feeding mechanism is determined according to the overall magnitude of the change in the characteristic value of the short-term water content change at each monitoring point; According to the necessity of the power adjustment and the magnitude of the short-term water content change characteristic value corresponding to each monitoring point at the current moment, the power of the servo motor in the feeding mechanism is adjusted; The process of obtaining the short-term water content change characteristic value includes: Arrange all monitoring points in sequence in a direction away from the stirring chamber inlet to determine the monitoring point sequence; Perform negative correlation normalization on the index value of each monitoring point in the monitoring point sequence to determine the control amplitude weight of each monitoring point; According to the control reference amplitude and the control amplitude weight, determine the short-term water content change characteristic value of each monitoring point at the current moment; the control reference amplitude and the control amplitude weight are both positively correlated with the short-term water content change characteristic value; The process of obtaining the necessity of power regulation includes: The absolute value of the short-term water content change characteristic value of each monitoring point at the current moment is used as the corresponding reference absolute value; In the monitoring point sequence, the difference between the reference absolute value of each monitoring point at the current moment and the reference absolute value of the previous monitoring point is used as the reference change value of each monitoring point at the current moment; the product of the reference absolute value of each monitoring point at the current moment and the reference absolute value of the previous monitoring point is used as the reference change amplitude of each monitoring point at the current moment; Determine the necessity of local adjustment of each monitoring point at the current moment according to the reference change value and the reference change amplitude; the reference change value is negatively correlated with the necessity of local adjustment, and the reference change amplitude is positively correlated with the necessity of local adjustment; Normalize the mean of the local adjustment necessity of all monitoring points at the current moment to determine the power adjustment necessity of the servo motor in the feeding mechanism at the current moment; The process of obtaining the control reference amplitude includes: Determine the reference standard moisture content corresponding to each monitoring point at the current moment according to the mean value of the sea mud moisture content data at a preset number of sampling moments before the current moment at each monitoring point; Determine the standard deviation of the water content at each monitoring point at the current moment according to the difference between the sea mud water content data at each monitoring point at the current moment and the reference standard water content; Determine the degree of dispersion of historical data corresponding to each monitoring point at the current moment according to the variance of the sea mud water content data at a preset number of sampling moments before the current moment at each monitoring point; Determine the control reference amplitude of each monitoring point at the current moment according to the degree of dispersion of the historical data and the standard deviation of the water content, wherein the degree of dispersion of the historical data and the standard deviation of the water content are both positively correlated with the control reference amplitude; The process of determining the control reference amplitude of each monitoring point at the current moment according to the degree of dispersion of the historical data and the standard deviation of the water content includes: Determine the control reference amplitude of each monitoring point at the current moment according to the product of the degree of dispersion of the historical data and the standard deviation of the water content; The process of determining the short-term water content change characteristic value of each monitoring point at the current moment according to the control reference amplitude and the control amplitude weight includes: The product of the control reference amplitude and the control amplitude weight is used as the short-term water content change characteristic value of each monitoring point at the current moment; The process of obtaining the necessity of local adjustment includes: Determining the necessity of local adjustment of each monitoring point at the current moment according to the product of the negative correlation mapping value of the reference change value and the reference change amplitude; The process of adjusting the power of the servo motor in the feeding mechanism according to the necessity of the power adjustment and the magnitude of the short-term water content change characteristic value corresponding to each monitoring point at the current moment includes: When the necessity of power adjustment is less than a preset adjustment threshold, the power of the servo motor in the feeding mechanism is not adjusted; When the necessity of power adjustment is greater than or equal to the preset adjustment threshold, the servo motor adjustment power corresponding to the current moment is determined according to the overall size of the short-term water content change characteristic values ​​of all monitoring points at the current moment; The power of the servo motor in the feeding mechanism is adjusted according to the power adjustment of the servo motor; The process of obtaining the servo motor adjustment power includes: The power of the servo motor in the feeding mechanism before adjustment at the current moment is used as the priori servo motor power at the current moment; The average of the short-term water content change characteristic values ​​of all monitoring points at the current moment is used as the overall water content change characteristic value; when the overall water content change characteristic value is equal to 0, the priori servo motor power is used as the servo motor adjustment power at the current moment; When the overall water content change characteristic value is greater than 0, determining the servo motor adjustment power at the current moment according to the product between the positive correlation mapping value of the normalized value of the absolute value of the overall water content change characteristic value and the priori servo motor power; When the overall water content change characteristic value is less than 0, the servo motor adjustment power at the current moment is determined according to the product of the negative correlation mapping value of the normalized value of the absolute value of the overall water content change characteristic value and the priori servo motor power.

2. A sea cucumber bait mixing device applied to the sea cucumber bait mixing method according to claim 1, characterized in that: It comprises a feeding mechanism, a stirring mechanism and a data processing module, wherein the feeding mechanism comprises a first spiral stirring roller, a servo motor and a mixing outlet; the first spiral stirring roller is used to mix sea mud and solid raw materials, one end of the central axis of the first spiral stirring roller is fixed in the servo motor, and the rotation speed of the first spiral stirring roller is controlled by the servo motor; the mixing outlet is located at the bottom of the feeding mechanism, and the mixed sea mud is input into the stirring mechanism through the mixing outlet; the stirring mechanism is located below the feeding mechanism and the feeding mechanism comprises a motor, a bait outlet, a stirring chamber, a second spiral stirring roller and a capacitive moisture content sensor, the second spiral stirring roller is fixed inside the stirring chamber, one end of the second spiral stirring roller is located below the mixing outlet, and the other end is located above the bait outlet, the second spiral stirring roller is driven to rotate in the stirring chamber by the motor, and each capacitive moisture content sensor is installed at each monitoring point at the bottom of the stirring chamber; all capacitive moisture content sensor signals are connected to the data processing module; the sea mud moisture content data of each monitoring point in the stirring chamber at each sampling time is obtained through the data processing module; According to the stability of the time series change of the sea mud water content data at each monitoring point and the standard deviation of the sea mud water content data at the current moment, the reference amplitude of the regulation at each monitoring point at the current moment is determined; Determine the short-term water content change characteristic value of each monitoring point at the current moment according to the position of each monitoring point relative to the stirring chamber inlet and the control reference amplitude; In the direction away from the stirring chamber inlet, the necessity of power adjustment of the servo motor in the feeding mechanism is determined according to the overall magnitude of the change in the characteristic value of the short-term water content change at each monitoring point; According to the necessity of power regulation and the magnitude of the short-term water content change characteristic value corresponding to each monitoring point at the current moment, the power of the servo motor in the feeding mechanism is regulated.

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