Intelligent feeding robot, system and control method

Abstract

The invention provides an intelligent feeding robot, system and control method, and the intelligent feeding robot comprises a server and a blanking device which are connected with each other. The server is used for acquiring blanking information and controlling the blanking device to perform blanking according to the blanking information; the discharging device comprises a storage bin and a weighing turnover receiving box which are arranged up and down, and the weighing turnover receiving box is used for being communicated with a feeding trough; a discharging control switch is arranged at an outlet of the storage bin, a weighing sensor and a turnover controller which are connected with each other are arranged in the weighing turnover receiving box, the server is connected with the discharging control switch, and the discharging control switch is connected with the turnover controller. By arranging the discharging control switch and the weighing sensor, dual control is conducted on the discharging amount, the discharging precision is improved, and then the feed utilization rate and the animal feeding efficiency are improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent feeding technology, and in particular to an intelligent feeding robot, system and control method. Background Art

[0002] The current feeding device controls the feed amount by the number of revolutions of the motor. When there is insufficient remaining feed, problems such as inaccurate feed statistics and inconsistency between the feed amount and the actual feed intake of the pigs may occur, resulting in reduced feeding accuracy, reduced feed utilization and affected animal feeding efficiency. Summary of the invention

[0003] In view of this, the purpose of this application is to propose an intelligent feeding robot, system and control method.

[0004] Based on the above purpose, the present application provides an intelligent feeding robot, including a server and a feeding device connected to each other;

[0005] The server is used to obtain material unloading information and control the unloading device to unload materials according to the material unloading information;

[0006] The feeding device comprises a storage bin and a weighing and turning feeding box arranged up and down, and the weighing and turning feeding box is used to communicate with the feeding trough;

[0007] The outlet of the storage bin is provided with a discharging control switch, the weighing and flipping material receiving box is provided with a connected weighing sensor and a flipping controller, the server is connected to the discharging control switch, and the discharging control switch is connected to the flipping controller.

[0008] Furthermore, the intelligent feeding robot also includes a mobile base, and the unloading device is located on the mobile base so as to move with the mobile base to unload materials to different feeding troughs.

[0009] Furthermore, the intelligent feeding robot also includes a connecting bracket, which is located on the mobile base, and the unloading device is located on the mobile base through the connecting bracket.

[0010] Furthermore, the feeding device is provided in plurality.

[0011] Based on the same inventive concept, the present application also provides an intelligent feeding system, comprising the intelligent feeding robot and quantitative bin as described above, wherein the quantitative bin is located above the feeding trough and is arranged one-to-one with the feeding trough, the weighing and flipping material receiving box is connected to the feeding trough through the quantitative bin, and the outlet of the quantitative bin is provided with an electrically controlled valve.

[0012] Based on the same inventive concept, the present application also provides a control method, which is applied to the intelligent feeding system as described above, comprising:

[0013] In response to determining that a feeding task is received, the intelligent feeding robot is controlled based on the feeding task to perform unloading operations on quantitative bins corresponding to the plurality of feeding troughs;

[0014] In response to determining that the intelligent feeding robot has completed the unloading operation to the multiple quantitative bins, the electrically controlled valves in the multiple quantitative bins are controlled to open simultaneously based on the feeding task to complete the unloading operation to the multiple feeding troughs.

[0015] Further, in response to determining that a feeding task is received, the unloading device is controlled to unload the quantitative bins corresponding to the plurality of feeding troughs based on the feeding task, including:

[0016] In response to determining that a feeding task is received, the mobile base is controlled to move to the plurality of feeding troughs in sequence based on the feeding task and the server is controlled to obtain the unloading information of the feeding troughs in sequence, wherein the unloading information includes the unloading weight;

[0017] The server sends the unloading information to the unloading control switch and the flip controller;

[0018] The discharging control switch is controlled to open based on the unloading information, and the feed in the storage bin enters the weighing and flipping receiving box;

[0019] The weighing sensor weighs the feed entering the weighing and turning feeding box, generates a weighing result and sends it to the turning controller;

[0020] In response to determining that the weighing result is the same as the unloading weight, the flip controller generates an unloading completion signal and sends it to the unloading control switch;

[0021] The turnover controller controls the weighing and turning feeding box to flip based on the closing signal sent by the discharge control switch, so that the feed in the weighing and turning feeding box enters the quantitative bin above the feeding trough.

[0022] Further, the controlling the server to obtain the feeding information of the feeding trough includes:

[0023] The server obtains the feeding plan corresponding to the feeding trough through an RFID card reader;

[0024] The server determines the unloading information of the feeding trough based on the feeding plan and the current time.

[0025] Furthermore, the method further comprises:

[0026] Based on the amount of residual feed in the feeding trough, revising the feeding plan corresponding to the feeding trough; and / or,

[0027] Based on the amount of residual feed in the feeding trough, generating a disease warning of an animal corresponding to the feeding trough;

[0028] Based on the illness warning, the intelligent feeding robot is controlled to obtain a picture of the animal corresponding to the feeding trough.

[0029] Furthermore, the method further comprises:

[0030] Controlling the intelligent feeding robot to take photos of the animals corresponding to the plurality of feeding troughs in turn and at regular intervals to obtain a plurality of photos of the animals;

[0031] Based on the animal photos, the back fat of the animal is calculated.

[0032] From the above, it can be seen that the intelligent feeding robot provided by the present application realizes intelligent feeding by setting a connected server and a feeding device to receive feeding information and feed according to the feeding information, wherein the storage bin and the weighing flip receiving box in the feeding device can perform the feeding weighing work based on the feeding information, and the discharging control switch of the storage bin performs preliminary control on the feeding weight of the storage bin, and the weighing sensor in the weighing flip receiving box controls the feeding weight therein again and transmits it to the flip controller, so that when the feeding weight in the weighing flip receiving box matches the feeding information, the discharging control switch is closed, and the flip controller flips, so that the material in the weighing flip receiving box enters the feeding trough to complete the feeding. The present application performs dual control on the feeding amount by setting a discharging control switch and a weighing sensor, thereby improving the feeding accuracy, which is beneficial to improving the feed utilization rate and animal feeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 This is a schematic diagram of the structure of the intelligent feeding robot in the embodiment of the present application. Figure 1 ;

[0035] Figure 2 This is a schematic diagram of the structure of the intelligent feeding robot in the embodiment of the present application. Figure 2 ;

[0036] Figure 3 This is a schematic diagram of the position structure of the material unloading device on the mobile base and the buffer channel on the connecting bracket in the embodiment of the present application;

[0037] Figure 4 This is a schematic diagram of the structure of the quantitative bin in the embodiment of the present application;

[0038] Figure 5 This is a schematic diagram of the planar structure of the intelligent feeding system according to an embodiment of the present application;

[0039] Figure 6 This is a flow chart of the intelligent feeding system control method according to an embodiment of the present application;

[0040] Figure 7 This is a schematic diagram of the structure of an electronic device of the intelligent feeding system control method according to an embodiment of the present application.

[0041] In the figure: 10, unloading device; 11, storage bin; 111, discharge control switch (not shown in the figure); 12, weighing and flipping receiving box; 121, weighing sensor (not shown in the figure); 122, flip controller; 13, connecting cover; 20, mobile base; 30, connecting bracket; 31, buffer pipe; 40, quantitative bin; 41, electric control valve. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0043] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0044] The current feeding device used for pig feeding is controlled by the number of revolutions of the motor, that is, the motor rotates to drive the feeding device to feed. When there is less residual feed, problems such as inaccurate feeding and a large difference between the feeding amount and the actual feed intake of the pigs may occur, which affects the accuracy of feed feeding, feed utilization and animal feeding efficiency.

[0045] Based on this, the present application proposes an intelligent feeding robot, system and control method to solve the problem of low feeding accuracy of the feeding device.

[0046] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0047] The present application provides an intelligent feeding robot, such as Figure 1 As shown, it includes a connected server and a feeding device 10;

[0048] The server is used to obtain material unloading information and control the unloading device 10 to unload materials according to the material unloading information;

[0049] The feeding device 10 includes a storage bin 11 and a weighing and turning feeding box 12 arranged up and down, and the weighing and turning feeding box 12 is used to communicate with the feeding trough;

[0050] The outlet of the storage bin 11 is provided with a discharge control switch 111 , the weighing and flipping receiving box 12 is provided with a connected weighing sensor 121 and a flipping controller 122 , the server is connected to the discharge control switch 111 , and the discharge control switch 111 is connected to the flipping controller 122 .

[0051] Specifically, the server is used to obtain and send the unloading information, and its connection with the unloading device 10 can be a wired connection or a wireless connection. The server can obtain the unloading information through a terminal or through a driving acquisition module.

[0052] The server sends the unloading information to the unloading control switch 111, and the unloading control switch 111 synchronously sends the unloading information to the flip controller 122. The flip controller 122 is rotatably connected to the weighing flip receiving box 12 to control whether the weighing flip receiving box 12 is flipped. The weighing sensor 121 is located at the inner bottom of the weighing flip receiving box 12 to weigh the feed in the weighing flip receiving box 12.

[0053] The discharge control switch 111 switches its state to the open state based on the unloading information, so that the feed in the storage bin 11 flows into the weighing and flipping receiving box 12 located below it through its outlet. The weighing sensor 121 located in the weighing and flipping receiving box 12 can weigh the feed entering the weighing and flipping receiving box 12 and send its weighing result to the flip controller 122 at all times. The flip controller 122 sends the received weighing result to the discharge control switch 111 for information synchronization.

[0054] When the ratio of the weighing result to the feeding weight in the feeding information reaches a set threshold (for example, 50%), the feeding control switch 111 controls its own open state to be synchronously reduced to reduce the feeding speed of the storage bin 11, thereby controlling its feeding accuracy, which is beneficial to the feeding accuracy of the intelligent feeding robot.

[0055] Exemplarily, the unloading information is 100 grams of unloading, which includes 100 grams of unloading weight, and the set threshold is 50%. When the weighing result is 50 grams, the unloading control switch 111 controls its opening degree to 50% (that is, the outlet of the storage bin 11 is 50% open), when the weighing result is 60 grams, the unloading control switch 111 controls its opening degree to 40%, and when the weighing result is 90 grams, the unloading control switch 111 controls its opening degree to 10%.

[0056] When the weighing result reaches the unloading weight in the unloading information, the unloading control switch 111 controls its own state to be closed, the storage bin 11 stops unloading, and the flip controller 122 controls the flipping of the weighing flip receiving box 12 so that the feed in the weighing flip receiving box 12 enters the feeding trough to complete the unloading.

[0057] In this embodiment, a server and a feeding device 10 are connected to receive feeding information, and feeding is performed according to the feeding information, so as to realize intelligent feeding, wherein the storage bin 11 and the weighing and flipping receiving box 12 in the feeding device 10 can perform the feeding weighing work based on the feeding information, and the discharging control switch 111 of the storage bin 11 performs preliminary control on the feeding weight of the storage bin 11, and the weighing sensor 121 in the weighing and flipping receiving box 12 controls the feeding weight therein again and transmits it to the flipping controller 122, so that when the feeding weight in the weighing and flipping receiving box 12 matches the feeding information, the discharging control switch 111 is closed, and the flipping controller 122 flips, so that the material in the weighing and flipping receiving box 12 enters the feeding trough, and the feeding is completed. The present application performs dual control on the feeding amount by setting the discharging control switch 111 and the weighing sensor 121, so as to improve the feeding accuracy, which is beneficial to improve the feed utilization rate and animal feeding efficiency.

[0058] In some embodiments, Figure 2 As shown, the intelligent feeding robot further includes a mobile base 20, and the material unloading device 10 is located on the mobile base 20 so as to move with the mobile base 20 to unload materials to different feeding troughs.

[0059] Specifically, the mobile base 20 is connected to the server. When the server obtains the unloading information, the server sends the unloading information to the mobile base 20, so that the mobile base 20 moves to lead the unloading device 10 to complete the unloading work. The mobile base 20 can move at the location of the feeding trough in the farm based on the preset movement rules to lead the unloading device 10 and the server to perform unloading work on different feeding troughs respectively.

[0060] Exemplarily, the mobile base 20 is an AGV (Automated Guided Vehicle), and the server is connected to the mobile base 20, that is, connected to a controller of the AGV.

[0061] In this embodiment, the mobile base 20 is used to carry the unloading device 10, so that the unloading device 10 can unload materials to multiple feeding troughs in sequence, which is beneficial to improving the practicality and promotion and application performance of the intelligent feeding robot.

[0062] In some embodiments, the intelligent feeding robot further includes a connecting bracket 30 , wherein the connecting bracket 30 is located on the mobile base 20 , and the unloading device 10 is located on the mobile base 20 through the connecting bracket 30 .

[0063] Specifically, the feeding device 10 is connected to the mobile base 20 via the connecting bracket 30, which is beneficial to improving the connection stability between the feeding device 10 and the mobile base 20, and the setting of the connecting bracket 30 enables the mobile base 20 to carry multiple feeding devices 10, which is beneficial to improving the feeding efficiency of the intelligent feeding robot.

[0064] In addition, the width of the connecting bracket 30 can be set to be greater than the width of the mobile base 20, so that the unloading device 10 is located on both sides of the mobile base 20, so as to facilitate unloading of the feeding trough; the width of the connecting bracket 30 can be set to be equal to the width of the mobile base 20, so that the unloading device 10 is located above the mobile base 20, which can reduce the occupied area of ​​the intelligent feeding robot, which is conducive to the lightweight realization of the intelligent feeding robot. On this basis, the connecting bracket 30 also needs to set a buffer pipe 31 below the weighing and flipping receiving box 12, so that the weighing and flipping receiving box 12 in the unloading device 10 can deliver the feed to the feeding trough when it is flipped, the inlet of the buffer pipe 31 is located below the weighing and flipping receiving box 12, and the outlet of the buffer pipe 31 is located on both sides of the mobile base 20. The inlet of the buffer pipe 31 is higher than the outlet of the buffer pipe 31, so that when the unloading device 10 is unloading, the feed can enter the feeding trough by itself under the action of gravity to complete the unloading.

[0065] In some embodiments, Figure 2 and Figure 3 As shown, the feeding device 10 is provided in plurality.

[0066] Specifically, there are multiple unloading devices 10, and they are evenly arranged on the mobile base 20, so that the intelligent feeding robot can unload materials to multiple feeding troughs at the same time, which is beneficial to improving the unloading efficiency. The mobile base 20 can unload materials to multiple feeding troughs by moving once, which is beneficial to saving the energy consumption of the mobile base 20, and further beneficial to reducing the energy consumption level of the intelligent feeding robot, reducing costs, and facilitating the practicality and application promotion of the intelligent feeding robot.

[0067] In some embodiments, Figure 1 As shown, the unloading device 10 also includes a connecting cover 13, one end of which is sleeved on the outer periphery of the outlet of the storage bin 11, and the other end is an outlet, which is located above the feeding trough. The weighing and flipping receiving box 12 is located in the connecting cover 13, and the flip controller 122 is connected to the connecting cover 13.

[0068] Specifically, the connecting cover 13 is used to cover the outlets of the weighing and turning material receiving box 12 and the material storage bin 11 to prevent foreign matter from entering the weighing and turning material receiving box 12 during the material unloading process and affecting the unloading accuracy of the unloading device 10 .

[0069] Furthermore, the outlet of the connecting cover 13 is smaller than the outlet setting of the connecting cover 13 and smaller than the opening of the feeding trough. Such a setting can ensure that when the weighing and flipping receiving box 12 is flipped, the feed enters the feeding trough in a concentrated manner at the outlet of the connecting cover 13, thereby avoiding the feed from being scattered outside the feeding trough during the feeding process, which is beneficial to improving the feeding accuracy of the feeding device 10.

[0070] In addition, the flip controller 122 is connected to the connecting cover 13, and the weighing flip material receiving box 12 is connected to the connecting cover 13 through the flip controller 122. The setting of the connecting cover 13 enables the weighing flip material receiving box 12 to be connected to the storage bin 11, which is beneficial to improving the integrity of the unloading device 10 and the practicality of the unloading device 10.

[0071] Based on the same inventive concept, the present application also provides an intelligent feeding system, such as Figure 4 and Figure 5 As shown, it includes the intelligent feeding robot and the quantitative bin 40 as described above, the quantitative bin 40 is located above the feeding trough and is arranged one-to-one with the feeding trough, the weighing and flipping material receiving box 12 is connected to the feeding trough through the quantitative bin 40, and the outlet of the quantitative bin 40 is provided with an electrically controlled valve 41.

[0072] Specifically, the quantitative bin 40 is fixedly arranged above the feeding trough. When the intelligent feeding robot discharges the feed, the feed is put into the quantitative bin 40, and the feeding trough is discharged through the quantitative bin 40. The feeding accuracy of the intelligent feeding robot is relatively high, and its beneficial effects are as described above and will not be repeated here, thereby making the feeding accuracy of the intelligent feeding system relatively high.

[0073] The arrangement of the quantitative bins 40 enables the intelligent feeding robot to uniformly open the electric control valves 41 of all the quantitative bins 40 after completing the unloading of the quantitative bins 40 corresponding to all the feeding troughs, so that the feed in all the quantitative bins 40 can enter the corresponding feeding troughs at the same time, thereby achieving unified feeding of the animals in the limiting pens corresponding to all the feeding troughs, which is conducive to the stability of feeding order and avoids animal disturbances caused by different feeding times.

[0074] In this embodiment, the intelligent feeding system can not only improve the accuracy of feeding, but also realize unified feeding of animals, which is beneficial to the stability of the feeding order of the farm, so that the feeding work can be carried out stably, which is conducive to a good eating atmosphere for animals, and thus beneficial to the growth of animals.

[0075] It should be noted that the opening of the quantitative bin 40 is larger than its outlet, which is conducive to the smooth discharge of the quantitative bin 40 into the feeding trough, avoiding the spillage of feed during the discharge process, and ensuring the discharge accuracy of the intelligent feeding system.

[0076] Based on the same valve concept, the present application also provides a control method, which is applied to the intelligent feeding system as described above. Figure 6 As shown, including:

[0077] Step S100, in response to determining that a feeding task is received, controlling the intelligent feeding robot to perform unloading operations on the quantitative bins 40 corresponding to the plurality of feeding troughs based on the feeding task;

[0078] Specifically, the control method is applied to a feeding controller, which is connected to the mobile base 20 of the intelligent feeding robot and the server. The feeding controller can be connected to a client, which is used to issue the feeding task. After receiving the feeding task, the feeding controller will synchronously send the issued task to the mobile base 20 and the server, and the mobile base 20 and the server will perform their corresponding preset operations based on the feeding task.

[0079] In addition, when the intelligent feeding robot does not include the mobile base 20, the intelligent feeding robot is arranged above the feeding trough and is arranged one-to-one with the feeding trough, that is, the intelligent feeding system includes a plurality of the intelligent feeding robots, and the plurality of the intelligent feeding robots simultaneously receive the feeding tasks sent by the feeding controller, that is, the plurality of the intelligent feeding robots simultaneously perform unloading operations on the quantitative bins 40 of the corresponding plurality of feeding troughs.

[0080] Step S200, in response to determining that the intelligent feeding robot has completed the unloading operation of the multiple quantitative bins 40, the electric control valves 41 in the multiple quantitative bins 40 are controlled to open simultaneously based on the feeding task to complete the unloading operation of the multiple feeding troughs.

[0081] Specifically, when the feeding controller determines that the intelligent feeding robot has completed the unloading operation of the multiple quantitative bins 40 included in the feeding task, the electric control valve 41 in the quantitative bin 40 is controlled to open based on the feeding time in the feeding task, so that the feed in the quantitative bin 40 enters its corresponding feeding trough, realizes the unloading of the feeding trough, and completes the feeding task.

[0082] Exemplarily, the feeding task is to feed all the animals in the farm at 11:00, then the intelligent feeding robot is controlled to start unloading the multiple quantitative bins 40 corresponding to the multiple feeding troughs of the farm at 10:30, and the unloading operation of all the quantitative bins 40 is completed at 10:50. At 11:00, the electrically controlled valves 41 of all the quantitative bins 40 are controlled to open at the same time, completing the unloading operation of all the feeding troughs, thereby completing the feeding task.

[0083] In this embodiment, the intelligent feeding robot performs the unloading operation based on the feeding task. After the intelligent feeding robot completes the unloading operation, the quantitative bin 40 uniformly opens the electric control valve 41, so that the feed in multiple quantitative bins 40 enters the corresponding feeding trough at the same time to complete the feeding task. The control method enables the intelligent feeding robot and the quantitative bin 40 to work together, which is beneficial to improving the unloading accuracy of the intelligent feeding system and the unified feeding of animals, avoiding stress reactions in animals due to different feeding times, and avoiding feed waste by improving the unloading accuracy, thereby improving feed utilization.

[0084] In some embodiments, step S100: in response to determining that a feeding task is received, controlling the unloading device 10 to unload the quantitative bins 40 corresponding to the plurality of feeding troughs based on the feeding task includes:

[0085] Step S101, in response to determining that a feeding task is received, based on the feeding task, the mobile base 20 is controlled to move to the plurality of feeding troughs in sequence and the server is controlled to obtain the unloading information of the feeding troughs in sequence, wherein the unloading information includes the unloading weight;

[0086] Specifically, when the feeding controller receives the feeding task, it controls the mobile base 20 to move according to the feeding task (i.e., determines the moving trajectory of the mobile base 20 according to the feeding task), and controls the server to obtain the unloading information of the multiple feeding troughs respectively.

[0087] The server can simultaneously obtain the unloading information of multiple feeding troughs through the feeding task. When executing the unloading work of the feeding trough, the unloading information corresponding to the feeding trough is retrieved from the multiple unloading information. The unloading information corresponding to the feeding trough can also be obtained through an acquisition module connected to the server to unload the feeding trough.

[0088] Exemplarily, when the server receives a feeding task sent by the feeding controller, the feeding task includes unloading information of multiple feeding troughs. When the mobile base 20 receives a feeding task sent by the feeding controller, the feeding task includes multiple feeding troughs. Based on the multiple feeding troughs, the mobile base 20 drives the unloading device 10 to move to the points corresponding to the multiple feeding troughs in a preset order, so that the unloading device 10 unloads the feeding troughs respectively. When the intelligent feeding robot moves to the point corresponding to a feeding trough, the server determines the unloading information corresponding to the feeding trough from the unloading information of the multiple feeding troughs based on the preset order of the mobile base 20, so as to control the unloading device 10 to perform the unloading operation according to the unloading information.

[0089] Exemplarily, when the mobile base 20 receives a feeding task sent by the feeding controller, the feeding task includes a plurality of the feeding troughs. Based on the plurality of the feeding troughs, the mobile base 20 drives the unloading device 10 to move to the corresponding points of the plurality of the feeding troughs in a preset order. When the server receives the feeding task sent by the feeding controller, it starts the acquisition module connected thereto, and when it moves to the corresponding point of a feeding trough, it controls the acquisition module to obtain the unloading information of the feeding trough.

[0090] Step S102, the server sends the unloading information to the unloading control switch 111 and the flip controller 122;

[0091] Specifically, after acquiring the unloading information, the server sends the unloading information to the discharge control switch 111 and the flip controller 122 of the unloading device 10 to achieve synchronization of the unloading information.

[0092] Step S103, the discharging control switch 111 is controlled to be turned on based on the unloading information, and the feed in the storage bin 11 enters the weighing and turning receiving box 12;

[0093] Specifically, the discharging control switch 111 controls the opening degree of the discharging control switch 111 based on the unloading information and the weight of the discharged material to control its discharging rate. The weight of the discharged material can be obtained by the discharging control switch 111 itself, or can be obtained via the flip controller 122. The flip controller 122 obtains the weight of the discharged material via the weighing sensor 121.

[0094] Exemplarily, when the discharge control switch 111 is fully open, the discharge rate is 10 g / s; when it is half-open, the discharge rate is 5 g / s, and so on. When the discharge weight in the discharge information is 100 g and the discharged weight is 0 g, the discharge control switch 111 is fully open; when the discharged weight increases to 50 g, the discharge control switch 111 is switched to a half-open state; when the discharged weight increases to 60 g, the discharge control switch 111 is switched to a 40% open state; when the discharged weight increases to 99 g, the discharge control switch 111 is switched to a 1% open state; until the discharged weight increases to 100 g, the discharge control switch 111 is switched to a closed state.

[0095] Step S104, the weighing sensor 121 weighs the feed entering the weighing and turning feeding box 12, generates a weighing result and sends it to the turning controller 122;

[0096] Specifically, the weighing sensor 121 located at the bottom of the weighing and turning feeding box 12 can sense the weight of the feed in the weighing and turning feeding box 12 at all times to achieve weighing, and the weighing result is communicated with the turning controller 122 .

[0097] Step S105, in response to determining that the weighing result is the same as the unloading weight, the flip controller 122 generates an unloading completion signal and sends it to the unloading control switch 111;

[0098] Specifically, the flip controller 122 compares the received unloading information with the weighing result sent by the weighing sensor 121. When the weighing result is the same as the unloading weight in the unloading information, a unloading completion signal is generated and communicated with the discharging control switch 111 to close the discharging control switch 111 and stop unloading into the weighing flip receiving box 12. The comparison result of the weighing result and the unloading weight and the communication with the discharging control switch 111 are beneficial to the unloading accuracy of the unloading device 10.

[0099] Step S106, the flip controller 122 controls the flipping of the weighing flipping receiving box 12 based on the closing signal sent by the discharge control switch 111, so that the feed in the weighing flipping receiving box 12 enters the quantitative bin 40 above the feeding trough.

[0100] Specifically, the discharge control switch 111 controls the discharge control switch 111 to a closed state based on the material unloading completion signal sent by the flip controller 122, stops unloading to the weighing flip receiving box 12, and sends a closing signal to the flip controller 122 when switching to the closed state. After receiving the closing signal sent by the discharge control switch 111 (i.e., after determining that the storage bin 11 is no longer discharging material), the flip controller 122 controls the weighing flip receiving box 12 to flip and completes unloading to the quantitative bin 40.

[0101] In this embodiment, the discharging control switch 111, the weighing sensor 121 and the flip controller 122 in the discharging device 10 realize the discharging of the quantitative bin 40 corresponding to the feeding trough based on the discharging information sent by the server. During the discharging process, the discharging control switch 111, the weighing sensor 121 and the flip controller 122 work closely together to avoid feed waste while ensuring the accuracy of discharging, which is beneficial to improving feed utilization.

[0102] In some embodiments, in step S101: controlling the server to obtain the feeding information of the feeding trough includes:

[0103] Step S101-1, the server obtains the feeding plan corresponding to the feeding trough through an RFID card reader;

[0104] Specifically, the RFID (Radio Frequency Identification) card reader is an acquisition module of the server, and an RFID ear tag is provided on the quantitative bin 40 corresponding to each feeding trough so that the server can identify the feeding trough.

[0105] The feeding plan of each feeding trough is pre-set. The breeding manager formulates a feeding plan for the animals corresponding to each feeding trough and stores it in the RFID ear tag. The control module manages it uniformly. When the RFID reader reads the RFID ear tag, the feeding plan of the feeding trough is generated.

[0106] Exemplarily, a feeding plan for animals in the feeding trough is shown in Table 1:

[0107] Table 1 Feeding plan

[0108] date Feed amount (g) date Feed amount (g) 1 / 10 / 2021 6：00 200 1 / 10 / 2021 16：00 100 1 / 10 / 2021 12：00 300 1 / 10 / 2021 20：00 300

[0109] Step S101-2: the server determines the feeding information of the feeding trough based on the feeding plan and the current time.

[0110] Specifically, the server processes the acquired feeding plan and determines the unloading information of the feeding trough based on the current time.

[0111] Exemplarily, the current time is 11:00, then the feeding plan is screened and determined, and the feeding information is (1 / 10 / 2021 12:00, 300).

[0112] In this embodiment, the server of the feeding device 10 obtains the feeding plan of each feeding trough in turn through the RFID card reader, and obtains the feeding information of the feeding trough based on the feeding plan. On the basis of improving the feeding accuracy of the intelligent feeding robot, the intelligent feeding robot can perform corresponding feeding according to each feeding trough, which is beneficial to improving the accuracy of animal feeding, further improving the accuracy of animal feeding, improving feed utilization, and improving animal feeding efficiency.

[0113] In some embodiments, the method further comprises:

[0114] Step S300', based on the amount of residual feed in the feeding trough, revising the feeding plan corresponding to the feeding trough; and / or,

[0115] Specifically, a residual material monitoring sensor is provided in the feeding trough, and the residual material monitoring sensor can record the feed weight of the feeding trough, and based on this, monitor the residual material amount in the feeding trough, and when the residual material amount exceeds a preset value (the preset value=the feed weight*preset ratio, that is, the residual material amount exceeds the preset ratio of the feed weight), a residual material amount alarm is sent to the feeding controller, and the feeding controller revises the feeding plan of the feeding trough based on the residual material amount, so that the feeding plan of the feeding trough is consistent with the actual feed intake of the animal corresponding to the feeding trough, thereby avoiding feed waste, and thus helping to improve feed utilization.

[0116] Exemplarily, at 12:00, the feed weight of the feeding trough is 100 grams, the remaining feed amount in the feeding trough is 50 grams, the preset ratio is 49%, and the preset value is 49 grams. The remaining feed amount exceeds the preset value, and the feeding controller modifies the feed weight at 12:00 in the feeding plan to 60 grams.

[0117] Step S300, generating a disease warning of an animal corresponding to the feeding trough based on the amount of residual feed in the feeding trough;

[0118] Specifically, a residual material monitoring sensor is provided in the feeding trough, and the residual material monitoring sensor can record the discharge weight of the feeding trough, and based on this, monitor the residual material amount in the feeding trough; when the residual material amount exceeds the warning value (the warning value = the discharge weight * warning ratio, that is, the residual material amount exceeds the warning ratio of the discharge weight), a residual material amount warning is sent to the feeding controller, and the feeding controller generates the illness warning based on the residual material amount warning.

[0119] Step S300: Based on the illness warning, the intelligent feeding robot is controlled to obtain a picture of the animal corresponding to the feeding trough.

[0120] Specifically, the feeding controller controls the intelligent feeding robot to perform corresponding operations based on the sickness warning, so as to obtain the picture of the animal in the feeding trough corresponding to the sickness warning through the intelligent feeding robot, so that the breeder can make a preliminary judgment on the sickness of the animal, which is conducive to improving the feeding efficiency.

[0121] The intelligent feeding robot is provided with a camera connected to the server, and the camera is located directly above the limit fence corresponding to the feeding trough, so as to take pictures of the animals corresponding to the feeding trough. The camera is connected to the intelligent feeding robot through an arm, so that the camera is located directly above the limit fence corresponding to the feeding trough.

[0122] When the intelligent feeding robot is fixed, that is, each feeding trough corresponds to one intelligent feeding robot, the feeding controller controls the camera on the intelligent feeding robot through the server to take pictures of the limiting fence corresponding to the feeding trough to obtain pictures of the animals in the feeding trough.

[0123] When the intelligent feeding robot is mobile, that is, has a mobile base 20, the feeding controller controls the mobile base 20 to move to a point corresponding to the feeding trough through the server, and when the mobile base 20 moves to the point, controls the camera on the intelligent feeding robot to take a picture of the limit fence corresponding to the feeding trough to obtain a picture of the animal in the feeding trough.

[0124] In this embodiment, when the amount of residual material in the feeding trough reaches a corresponding value, different operations are performed to achieve fine management of the animals. In addition, using the intelligent feeding robot to obtain pictures of the animals can save labor and improve efficiency, making the intelligent feeding robot multifunctional, which is beneficial to the practicality and promotion and application of the intelligent feeding robot.

[0125] In some embodiments, the method further comprises:

[0126] Step S500, in response to determining that a backfat calculation task is received, controlling the intelligent feeding robot to perform a backfat calculation operation on animals corresponding to a plurality of feeding troughs based on the backfat calculation task;

[0127] Step S600: the intelligent feeding robot takes photos of the animals corresponding to the plurality of feeding troughs based on the back fat calculation task to obtain a plurality of animal photos, and calculates the back fat conditions of the animals based on the animal photos.

[0128] Specifically, the feeding controller sends a back fat calculation task to the intelligent feeding robot, so that the intelligent feeding robot regularly takes photos of the animals corresponding to the multiple feeding troughs included in the back fat calculation task. The server in the intelligent feeding robot can calculate the back fat condition of the animal corresponding to each photo based on the animal photos.

[0129] Exemplarily, the back fat calculation task is to calculate the back fat of animals in the farm at 10:00 every Monday, then the intelligent feeding robot takes photos of the animals in the farm in turn at 10:00 every Monday, and calculates the back fat conditions of the animals in the farm based on the photos of the animals taken.

[0130] It should be noted that the intelligent feeding robot calculates the back fat of the animal based on the animal photo by an artificial intelligence module, and the artificial intelligence module includes image correlation technology, animal recognition technology, etc., which is existing technology and will not be repeated here.

[0131] In addition, when the intelligent feeding robot has a mobile base 20, the mobile base 20 is linked with the server. When the server determines that the storage bin 11 cannot meet the current unloading, it sends a filling signal to the mobile base 20 to suspend the unloading operation. The mobile base 20 then performs the filling operation and moves to the filling location. A filling bin is provided at the filling location, and the outlet of the filling bin is located above the storage bin 11 of the unloading device 10. When the filling bin senses the mobile base 20, it performs the filling operation. When the mobile base 20 is at the filling location, the mobile base 20 is charged.

[0132] Finally, the intelligent feeding robot can be provided with a touch screen, which is connected to the server to display the feeding process, so that the managers of the farm can check the situation. A waterproof transparent cover needs to be set around the touch screen to protect the touch screen.

[0133] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0134] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, 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.

[0135] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method described in any of the above embodiments is implemented.

[0136] Figure 7 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0137] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0138] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0139] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0140] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0141] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0142] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0143] The electronic device of the above embodiment is used to implement the corresponding control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0144] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the control method described in any of the above embodiments.

[0145] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0146] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0147] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0148] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0149] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0150] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0151] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0152] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0153] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0154] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0155] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. An intelligent feeding robot, characterized in that: including a connected server and a feeding device; The server is used to obtain material unloading information and control the unloading device to unload materials according to the material unloading information; The feeding device comprises a storage bin and a weighing and turning feeding box arranged up and down, and the weighing and turning feeding box is used to communicate with the feeding trough; The outlet of the storage bin is provided with a discharging control switch, the weighing and flipping material receiving box is provided with a connected weighing sensor and a flipping controller, the server is connected to the discharging control switch, and the discharging control switch is connected to the flipping controller.

2. The intelligent feeding robot according to claim 1, characterized in that: It also includes a mobile base, and the feeding device is located on the mobile base so as to move with the mobile base to feed different feeding troughs.

3. The intelligent feeding robot according to claim 2, characterized in that: It also includes a connecting bracket, which is located on the mobile base, and the unloading device is located on the mobile base through the connecting bracket.

4. The intelligent feeding robot according to claim 2, characterized in that: The material discharging device is provided in plurality.

5. An intelligent feeding system, characterized in that: It comprises the intelligent feeding robot and quantitative bin as described in any one of claims 1 to 4, wherein the quantitative bin is located above the feeding trough and is arranged one-to-one with the feeding trough, the weighing and flipping material receiving box is connected with the feeding trough through the quantitative bin, and the outlet of the quantitative bin is provided with an electrically controlled valve.

6. A control method, characterized in that: The intelligent feeding system as claimed in claim 5 comprises: In response to determining that a feeding task is received, the intelligent feeding robot is controlled based on the feeding task to perform unloading operations on quantitative bins corresponding to the plurality of feeding troughs; In response to determining that the intelligent feeding robot has completed the unloading operation to the multiple quantitative bins, the electrically controlled valves in the multiple quantitative bins are controlled to open simultaneously based on the feeding task to complete the unloading operation to the multiple feeding troughs.

7. The control method according to claim 6, characterized in that: In response to determining that a feeding task is received, the unloading device is controlled to unload the quantitative bins corresponding to the plurality of feeding troughs based on the feeding task, including: In response to determining that a feeding task is received, the mobile base is controlled to move to the plurality of feeding troughs in sequence based on the feeding task and the server is controlled to obtain the unloading information of the feeding troughs in sequence, wherein the unloading information includes the unloading weight; The server sends the unloading information to the unloading control switch and the flip controller; The discharging control switch is controlled to open based on the unloading information, and the feed in the storage bin enters the weighing and flipping receiving box; The weighing sensor weighs the feed entering the weighing and turning feeding box, generates a weighing result and sends it to the turning controller; In response to determining that the weighing result is the same as the unloading weight, the flip controller generates an unloading completion signal and sends it to the unloading control switch; The turnover controller controls the weighing and turning feeding box to flip based on the closing signal sent by the discharge control switch, so that the feed in the weighing and turning feeding box enters the quantitative bin above the feeding trough.

8. The control method according to claim 7, characterized in that: The controlling the server to obtain the feeding information of the feeding trough includes: The server obtains the feeding plan corresponding to the feeding trough through an RFID card reader; The server determines the unloading information of the feeding trough based on the feeding plan and the current time.

9. The control method according to claim 7, characterized in that: Also includes: Based on the amount of residual feed in the feeding trough, revising the feeding plan corresponding to the feeding trough; and / or, Based on the amount of residual feed in the feeding trough, generating a disease warning of an animal corresponding to the feeding trough; Based on the illness warning, the intelligent feeding robot is controlled to obtain a picture of the animal corresponding to the feeding trough.

10. The control method according to claim 9, characterized in that: Also includes: Controlling the intelligent feeding robot to take photos of the animals corresponding to the plurality of feeding troughs in turn and at regular intervals to obtain a plurality of photos of the animals; Based on the animal photos, the back fat of the animal is calculated.

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