Intelligent artificial feed breeding system

Abstract

The invention relates to an intelligent artificial feed breeding system. The related equipment comprises an intelligent silkworm breeding system and a silkworm room environment automatic control system. The intelligent silkworm breeding equipment system comprises an AGV trolley, a mechanical arm, a double-layer conveying line, a lifting machine, a silk outlet conveying line, a control management platform, a disinfection machine, a discharging machine and the like. The silkworm room environment automatic control system comprises a silkworm room structure, a refrigeration and dehumidification device, a humidification device and a control system. According to the system, the temperature and humidity in the silkworm room can be automatically regulated and controlled according to the growth condition of silkworms in an artificial feed silkworm breeding mode, automatic charging, feeding and disinfection can be achieved, the problems that when silkworms are fed through traditional mulberry leaves, the labor cost is high, and the biological safety and epidemic prevention capacity is weak can be integrally and effectively solved, and a digitally-enabled modernized industrial silkworm breeding mode is established; the traditional mulberry silkworm breeding mode is changed into a factory-like, standardized and large-scale modern breeding mode, and the mechanized and automatic operation level of factory silkworm breeding is improved.

Description

Technical Field

[0001] The present invention relates to the technical field related to intelligent silkworm breeding, and in particular to an intelligent artificial feed breeding system, and is particularly applicable to the artificial feed breeding method for silkworms in a factory-based mode. Background Art

[0002] Traditionally, sericulture requires a large supply of mulberry leaves, which limits the scale and geographical distribution of the sericulture industry. At present, sericulture is usually managed and cultivated manually. There may be some problems with artificial silkworm breeding. First, the breeding cost is high, including feed, labor, etc.; second, the breeding technology requirements are high, and certain professional knowledge is required; in addition, the artificial breeding model cannot be systematically managed, and there may be problems such as the inability to automatically control the breeding environment and the inability to ensure disease prevention and control.

[0003] Therefore, how to propose an intelligent artificial feed breeding system to improve the automation of silkworm breeding in the silkworm house and the level of intelligent control of the environment in the silkworm house is an urgent problem to be solved in the current market. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the deficiencies of the prior art and to provide an intelligent artificial feed breeding system.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] Specifically, an intelligent artificial feed breeding system is proposed, including:

[0007] A control and management platform, which is used to automatically record silkworm breeding data information and automatically control the AGV trolley, robotic arm, conveyor line, disinfection machine and feeder equipment through the host computer;

[0008] The operation process of the system includes the following:

[0009] The silkworm boxes in the 1-3 age rearing area are placed manually in an artificial stack;

[0010] The silkworm box is a group consisting of 5 silkworm rearing boxes and 5 sand boxes stacked up and down respectively;

[0011] The control management platform obtains a trigger signal at the manual stacking location, and when the trigger signal is obtained, determines that the silkworm boxes are stacked to a preset height, and issues a first command to the AGV vehicle;

[0012] When the AGV receives the first command, it drives to the manual stacking area to pick up the silkworm boxes and transport them to the 4-5 age breeding area, and reads the relevant information of the silkworm boxes and uploads it to the control management platform;

[0013] When the silkworm boxes in the 4-5 age feeding area reach the feeding or disinfection period, the control management platform sends a second command to the AGV car. When the AGV car receives the second command, it transports the silkworm boxes that need to be fed or disinfected to the position of the silkworm boxes to be grabbed at the front end of the robot arm;

[0014] The control management platform controls the robot arm to place the silkworm box at the position to be grabbed onto the conveyor line, and controls the conveyor line to transport the silkworm box to the unloading machine or disinfection machine to complete unloading or disinfection;

[0015] The control management platform controls the robotic arm to grab the sandbox at the front end of the robotic arm to the sand collection box to complete the sand dumping;

[0016] The control management platform controls the robotic arm to place the sandbox after the sand is poured at the preset position, and repeats the action of grabbing the silkworm box and the sandbox until the silkworm box grabbing completes the corresponding action and waits for the next round of operation.

[0017] Further, specifically, the control management platform obtains the trigger signal at the manual stacking location in the following manners:

[0018] A laser sensor is arranged at the artificial stacking location, and when the height of the silkworm boxes at the artificial stacking location triggers the laser sensor, the trigger signal is obtained.

[0019] Further, specifically, the control management platform obtains the trigger signal at the manual stacking location in the following manners:

[0020] A gravity sensor is arranged at the artificial stacking place, and when the value of the gravity sensor reaches a preset weight threshold, the trigger signal is obtained.

[0021] Further, specifically, the method for judging whether the silkworm boxes in the 4-5 age feeding area have reached the feeding or disinfection period includes the following:

[0022] When the silkworm box arrives at the 4-5 age breeding area, the control management platform automatically records the age of the silkworm box. When the recorded age reaches the feeding age, it is determined that the silkworm box needs to be fed. When the recorded age reaches the disinfection age, it is determined that the silkworm box needs to be disinfected.

[0023] Further, specifically, the conveyor line includes an upper conveyor line and a lower conveyor line, wherein:

[0024] The upper conveyor line is controlled by the MCU, which is in communication with the control management platform. A first photoelectric sensor is installed at the head end of the upper conveyor line to sense the silkworm box on the conveyor line that is grabbed by the robot arm. When the first photoelectric sensor obtains the signal of the silkworm box, the control center sends a command to the MCU of the conveyor line to start the operation of the upper conveyor line. At the end of the upper conveyor line, there is a lift connected. A horizontal conveyor belt is provided in the middle of the lift. The horizontal conveyor belt is used to positively receive the silkworm box transmitted from the end of the upper conveyor line. A second photoelectric sensor is installed at the center of one side of the lift. The second photoelectric sensor is used to sense the silkworm box transported from the upper conveyor line to the end. When the silkworm box is sensed, the lift starts the descending action.

[0025] The lower conveyor line is controlled by MCU, and MCU is connected to the control management platform. When the elevator descends to the head end of the lower conveyor line, the horizontal conveyor belt reverses and transports the silkworm box to the head end of the lower conveyor line, and starts the operation of the lower conveyor line at the same time. A third photoelectric sensor is installed at the head end of the lower conveyor line. When the third photoelectric sensor senses the silkworm box, the elevator starts to rise.

[0026] Further, specifically, the system is also provided with a first temperature and humidity module and a second temperature and humidity module, and the first temperature and humidity module and the second temperature and humidity module are used to collect temperature and humidity information of the system.

[0027] Further, specifically, the silkworm house is provided with a 1-3 age feeding area and a 4-5 age feeding area, the first temperature and humidity module is provided in the 1-3 age feeding area, and the second temperature and humidity module is provided in the 4-5 age feeding area.

[0028] For the 1-3 age rearing area, the first temperature threshold is set to 30°C, the first humidity threshold is set to 80%, and the second humidity threshold is set to 90%. When the temperature information is higher than 30°C, the refrigeration unit is controlled to operate to cool the silkworm house. When the humidity information is lower than 80%, the humidifier is controlled to operate to increase the ambient humidity. When the humidity information is higher than 90%, the dehumidification evaporator is controlled to operate to reduce the ambient humidity.

[0029] For the 4-5 age breeding area, the second temperature threshold is set to 27°C, the first humidity threshold is set to 50%, and the second humidity threshold is set to 85%. When the temperature information is higher than 27°C, the refrigeration unit is controlled to cool the silkworm house. When the humidity information is lower than 50%, the humidifier is controlled to increase the ambient humidity. When the humidity information is higher than 85%, the dehumidification evaporator is controlled to reduce the ambient humidity.

[0030] Furthermore, the system also includes a nozzle at the center position of the two clamps of the robotic arm, which is used to blow the silkworm excrement remaining in the sand box into the sand collecting bucket during the sand pouring process.

[0031] Further, specifically, the control management platform also includes:

[0032] The silkworm scale display module is used to display the current scale of small silkworms and large silkworms;

[0033] The silkworm breeding data display module is used to display the relevant data of the previous batch of silkworm breeding, including the number of silkworms, feed usage, humidity, and cocoon production;

[0034] Equipment information display module, used to display the status of upper and lower conveyor belts, lifting platforms, disinfection machines and other equipment;

[0035] The process and cycle configuration module is used to display the current silkworm breeding process, that is, the tasks to be executed and the tasks that have been executed, and obtain the total number of days for silk production set by the user, and execute the operation plan according to the preset plan based on the number of days for silk production set by the user.

[0036] Furthermore, specifically, the AGV car adopts the fusion of laser radar + magnetic strip to realize autonomous mapping, path planning and navigation obstacle avoidance. The charging pile of the AGV car is set on one side of the silkworm house, and it can automatically go to the charging pile position to charge autonomously according to the set minimum power value.

[0037] The present invention proposes an intelligent artificial feed breeding system, which has the following beneficial effects compared with the prior art:

[0038] The present invention proposes an intelligent artificial feed breeding system. The control management platform of the intelligent silkworm breeding equipment system automatically records silkworm breeding data information, and automatically controls the AGV trolley, mechanical arm system, conveyor line, disinfection machine and feeding machine hardware equipment through the host computer to realize the automatic feeding and disinfection of silkworms under artificial feed breeding. The homepage of the management platform is a user interface integrating monitoring, management and configuration functions, aiming to provide silkworm farmers with a convenient and efficient silkworm breeding operation experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and other features of the present disclosure will become more apparent by describing in detail the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings of the present disclosure represent the same or similar elements. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work. In the accompanying drawings:

[0040] Figure 1 Shown is an operation flow chart of the intelligent artificial feed breeding system of the present invention;

[0041] Figure 2 The figure shows an example of the intelligent artificial feed breeding system of the present invention in a specific application;

[0042] Figure 3 The figure shows an example of the home page of the control and management platform of the intelligent artificial feed breeding system of the present invention;

[0043] Figure 4 Shown is the constant temperature and humidity control interface and site diagram of the intelligent artificial feed breeding system of the present invention;

[0044] Figure 5 The figure shows a schematic diagram of the relative position of the upper half of the conveyor belt in the schematic diagram of the layout of an embodiment of the intelligent artificial feed breeding system of the present invention;

[0045] Figure 6 The figure shows a schematic diagram of the relative position of the lower half of the conveyor belt in the schematic diagram of the layout of one embodiment of the intelligent artificial feed breeding system of the present invention;

[0046] Figure 7 Shown is a schematic diagram of the division of silkworm house areas in one embodiment of the intelligent artificial feed breeding system of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict. The same reference numerals used throughout the drawings indicate the same or similar parts.

[0048] Reference Figure 1 as well as Figure 2 , Embodiment 1, the present invention proposes an intelligent artificial feed breeding system, comprising:

[0049] A control and management platform, which is used to automatically record silkworm breeding data information and automatically control the AGV trolley, robotic arm, conveyor line, disinfection machine and feeder equipment through the host computer;

[0050] The operation process of the system includes the following:

[0051] The silkworm boxes in the 1-3 age rearing area are placed manually in an artificial stack;

[0052] The control management platform obtains a trigger signal at the manual stacking location, and when the trigger signal is obtained, determines that the silkworm boxes are stacked to a preset height, and issues a first command to the AGV vehicle;

[0053] When the AGV receives the first command, it drives to the manual stacking area to transport the silkworm boxes to the 4-5 age rearing area, and reads the relevant information of the silkworm boxes and uploads it to the control management platform;

[0054] When the silkworm boxes in the 4-5 age feeding area reach the feeding or disinfection period, the control management platform sends a second command to the AGV car. When the AGV car receives the second command, it transports the silkworm boxes that need to be fed or disinfected to the position of the silkworm boxes to be grabbed at the front end of the robot arm;

[0055] The control management platform controls the robot arm to place the silkworm box at the position to be grabbed onto the conveyor line, and controls the conveyor line to transport the silkworm box to the unloading machine or disinfection machine to complete unloading or disinfection;

[0056] The control management platform controls the robotic arm to grab the sandbox at the front end of the robotic arm to the sand collection box to complete the sand dumping;

[0057] The control management platform controls the robotic arm to place the sandbox after sand is poured at a preset position, waiting for the next round of operations.

[0058] In this embodiment 1, the control management platform of the intelligent artificial feed breeding system automatically records the silkworm breeding data information, and automatically controls the AGV trolley, the mechanical arm system, the conveyor line, the disinfection machine and the feeding machine hardware equipment through the host computer to realize the automatic feeding and disinfection of silkworms under artificial feed breeding. The homepage of the management platform is a user interface integrating monitoring, management and configuration functions, aiming to provide silkworm farmers with a convenient and efficient silkworm breeding operation experience.

[0059] According to the requirements of silkworm breeding technology, the disinfection of silkworms in the silkworm breeding box is completed. There are two main methods: powder disinfection (such as lime powder) and spray disinfection. The corresponding equipment includes powder disinfection machine and spray disinfection machine. The powder disinfection machine adopts a vibration motor to be added to the outer periphery of the powder box of the disinfection machine. A screen is provided in the machine body. The size of the screen is slightly larger than the size of the silkworm breeding box. The vibration motor is used to vibrate the powder in the box into the screen. The powder falls into the silkworm breeding box evenly through the screen, thereby achieving the disinfection of the silkworms in the silkworm breeding box.

[0060] A water tank is provided in the spray disinfection machine. The water tank is filled with disinfectant water formed by mixing water and disinfectant in a certain proportion. A hose is connected to the water tank, and one end of the hose is connected to an atomizing nozzle. The disinfectant water passes through the water pipe to the atomizing nozzle and is sprayed into the silkworm breeding box to achieve spray disinfection.

[0061] According to the growth of silkworms, feed the silkworm box on time and in the right amount. The feed amount is as follows:

[0062] During the 4th age, feed is required once on the 1st and 3rd day, with the feed amounts being 0.24Kg and 0.3Kg respectively; during the 5th age, feed is required once on the 1st, 3rd and 5th day, with the feed amounts being 0.47Kg, 0.68Kg and 0.68Kg respectively; supplementary feed is provided on the 7th day according to the development situation.

[0063] The feeder is composed of a feed box, a stirring mechanism, a feeding mechanism, a cutting mechanism and a motor. Since artificial feeds are all in one piece, have high viscosity and a certain hardness, the feed added to the feed box needs to be stirred into pieces by the stirring mechanism, and then the feeding mechanism squeezes out the stirred feed in a certain shape. The cutting mechanism is used to evenly feed the feed into the silkworm box. The feeding amount is controlled by the management platform according to the set demand and the feeding time is controlled to achieve the feeding amount that meets the feeding needs.

[0064] The “silkworm box” in the whole text refers to a group of 5 silkworm rearing boxes + 5 sand boxes;

[0065] All the silkworm boxes are involved in the breeding areas (such as 1-3, 4-5 age breeding areas) and the AGV transportation process.

[0066] As a preferred embodiment of the present invention, specifically, the control management platform acquires the trigger signal at the manual stacking location in the following manners:

[0067] A laser sensor is arranged at the artificial stacking location, and when the height of the silkworm boxes at the artificial stacking location triggers the laser sensor, the trigger signal is obtained.

[0068] In this preferred embodiment, the height of the silkworm boxes at the manual stacking location is obtained by a laser sensor, and the height threshold is determined by a preliminary experiment, so that it is possible to accurately determine whether the height of the silkworm boxes meets the standard, thereby accurately realizing automatic control. The trigger signal here requires a time threshold, such as reaching 10 seconds to record as a valid trigger, otherwise it is invalid. This setting can effectively avoid false triggering caused by false touches and other behaviors, ensuring the effective operation of the system.

[0069] As a preferred embodiment of the present invention, specifically, the control management platform acquires the trigger signal at the manual stacking location in the following manners:

[0070] A gravity sensor is arranged at the artificial stacking place, and when the value of the gravity sensor reaches a preset weight threshold, the trigger signal is obtained.

[0071] In this preferred embodiment, the total weight of the silkworm boxes is obtained by using a gravity sensor to estimate whether the number of silkworm boxes reaches a weight threshold determined in advance by experiments, so as to determine whether the number of silkworm boxes meets the requirements, thereby accurately realizing automatic control. The trigger signal here requires a time threshold, such as reaching 10 seconds to record as a valid trigger, otherwise it is invalid. This setting can effectively avoid false triggering caused by false touches and other behaviors, ensuring the effective operation of the system.

[0072] As a preferred embodiment of the present invention, specifically, the method for judging that the silkworm boxes in the 4-5 age feeding area have reached the feeding or disinfection period includes the following:

[0073] When the silkworm box arrives at the 4-5 age breeding area, the control management platform automatically records the age of the silkworm box. When the recorded age reaches the feeding age, it is determined that the silkworm box needs to be fed. When the recorded age reaches the disinfection age, it is determined that the silkworm box needs to be disinfected.

[0074] In this preferred embodiment, based on the relevant experience of silkworm breeding, the disinfection age and feeding age are preset. When the age at which the silkworms arrive at the breeding area meets the above age conditions, feeding or disinfection operations are automatically performed to realize automated breeding of this part.

[0075] As a preferred embodiment of the present invention, specifically, the conveyor line includes an upper conveyor line and a lower conveyor line, wherein:

[0076] The upper conveyor line is controlled by the MCU, which is in communication with the control management platform. A first photoelectric sensor is installed at the head end of the upper conveyor line to sense the silkworm box on the conveyor line that is grabbed by the robot arm. When the first photoelectric sensor obtains the signal of the silkworm box, the control center sends a command to the MCU of the conveyor line to start the operation of the upper conveyor line. At the end of the upper conveyor line, there is a lift connected. A horizontal conveyor belt is provided in the middle of the lift. The horizontal conveyor belt is used to positively receive the silkworm box transmitted from the end of the upper conveyor line. A second photoelectric sensor is installed at the center of one side of the lift. The second photoelectric sensor is used to sense the silkworm box transported from the upper conveyor line to the end. When the silkworm box is sensed, the lift starts the descending action.

[0077] The lower conveyor line is controlled by MCU, and MCU is connected to the control management platform. When the elevator descends to the head end of the lower conveyor line, the horizontal conveyor belt reverses and transports the silkworm box to the head end of the lower conveyor line, and starts the operation of the lower conveyor line at the same time. A third photoelectric sensor is installed at the head end of the lower conveyor line. When the third photoelectric sensor senses the silkworm box, the elevator starts to rise.

[0078] In this preferred embodiment, the conveyor line is arranged in the form of upper and lower layers, and the silkworm raising box is transported to the bottom of the feeding machine or the disinfection machine to achieve feeding or disinfection of the silkworm raising box. The silkworm raising box is reciprocated from the head end of the upper layer of the conveyor line to the end of the upper layer, transported to the lower layer of the conveyor line by the elevator, and transported from the head end of the lower layer of the conveyor line to the end of the lower layer. Both sides of the upper and lower conveyor lines are equipped with pallets to correct the silkworm raising box during transportation.

[0079] Specifically, when applying, refer to Figure 7 , divide the entire silkworm house into the following areas,

[0080] A stacking area is used for manually stacking silkworm boxes and is controlled by a first MCU, the first MCU is in communication with a switch, a laser sensor is provided at a preset height in the stacking area, and a handling request is sent to the control center when the laser sensor is triggered;

[0081] When receiving the transport request, the control center controls the AGV to transport the silkworm box to the 4-5-year-old breeding area;

[0082] A feed area, used for feeding the silkworm boxes, and controlled by a second MCU, wherein the second MCU is communicatively connected to the switch;

[0083] The disinfection area is used for spray disinfection of the silkworm breeding box and is controlled by a third MCU. The third MCU is in communication connection with the switch. When the third MCU receives a disinfection instruction, it controls the spray disinfection.

[0084] The lime area is used for lime disinfection of the silkworm breeding box and is controlled by a fourth MCU, the fourth MCU is in communication connection with the switch, and the fourth MCU controls lime disinfection upon receiving a disinfection instruction;

[0085] The 4-5 age feeding area is used for feeding silkworm boxes and is controlled by the fifth MCU, which is connected to the switch for communication. When the fifth MCU receives the silkworm box, it will start timing to obtain the timing duration, and when the timing duration reaches the preset duration, it will send a silk production request to the control center;

[0086] When receiving the silk-out request, the control center controls the robot arm to grab the silkworm-raising box to the silk-out conveying line, and the silk-out conveying line conveys the silkworm-raising box to the silk-out area;

[0087] The silk-out area is used to carry out the silk-out operation of the silkworm breeding box. During the silk-out operation, the robot arm is controlled to empty the sand box at the same time.

[0088] Reference Figure 5 as well as Figure 6 By setting up the sensors therein, the automation of the above-mentioned work process can be ensured.

[0089] Among them, three laser sensors are arranged side by side on the roof of the silkworm boxes stacking place at the front end of the robotic arm, which are used to sense the height information of the silkworm boxes at three locations: the front end position of the silkworm boxes to be grabbed, the sand box where the sand has been poured out, and the collection place of the silkworm boxes for adding materials or disinfection.

[0090] Among them, a nozzle is provided at the center position of the two clamps of the robotic arm, which is used to blow the silkworm feces remaining in the sand box into the sand collecting bucket during the sand pouring process.

[0091] Among them, the disinfection area is provided with a spray disinfector, which is controlled by a third MCU. A water tank is provided in the spray disinfector. The water tank is filled with disinfectant water formed by mixing water and disinfectant in a certain proportion. A hose is connected to the water tank, and one end of the hose is connected to an atomizing nozzle. The disinfectant water passes through the water pipe to the atomizing nozzle and is sprayed into the silkworm breeding box to achieve spray disinfection.

[0092] Among them, the lime area is provided with a powder disinfector. The powder disinfector adopts a vibration motor added to the periphery of the powder box of the disinfector. A screen is provided in the body of the disinfector. The size of the screen is larger than the size of the silkworm breeding box. The vibration motor is used to vibrate the powder in the box into the screen. The powder falls into the silkworm breeding box evenly through the screen, thereby achieving disinfection of the silkworms in the silkworm breeding box.

[0093] In this preferred embodiment, according to the requirements of silkworm breeding process, the silkworms in the silkworm breeding box are disinfected, mainly by powder disinfection (such as lime powder) and spray disinfection, and the corresponding equipment includes a powder disinfection machine and a spray disinfection machine. The powder disinfection machine adopts a vibration motor to be added to the periphery of the powder box of the disinfection machine, and a screen is provided in the machine body, the size of the screen is slightly larger than the size of the silkworm breeding box, and the vibration motor is used to vibrate the powder in the box into the screen, and the powder falls into the silkworm breeding box evenly through the screen, thereby achieving the disinfection of the silkworms in the silkworm breeding box.

[0094] A water tank is provided in the spray disinfection machine. The water tank is filled with disinfectant water formed by mixing water and disinfectant in a certain proportion. A hose is connected to the water tank, and one end of the hose is connected to an atomizing nozzle. The disinfectant water passes through the water pipe to the atomizing nozzle and is sprayed into the silkworm breeding box to achieve spray disinfection.

[0095] Among them, the feed area is provided with a feeder, which is controlled by the second MCU. The feeder consists of a feed box, a stirring mechanism, a feeder mechanism, a cutting mechanism and a motor. The feed added to the feed box is stirred into pieces by the stirring mechanism, and then the feed is squeezed out according to a certain shape by the feeder mechanism, and the feed is evenly dropped into the silkworm breeding box by the cutting mechanism.

[0096] In this preferred embodiment, the silkworm rearing box is fed with materials in a timely and appropriate amount according to the growth of the silkworms. The feeding amount is as follows:

[0097] During the 4th age, feed is required once on the 1st and 3rd day, with the feed amounts being 0.24Kg and 0.3Kg respectively; during the 5th age, feed is required once on the 1st, 3rd and 5th day, with the feed amounts being 0.47Kg, 0.68Kg and 0.68Kg respectively; supplementary feed is provided on the 7th day according to the development situation.

[0098] The feeder is composed of a feed box, a stirring mechanism, a feeding mechanism, a cutting mechanism and a motor. Since artificial feeds are all in one piece, have high viscosity and a certain hardness, the feed added to the feed box needs to be stirred into pieces by the stirring mechanism, and then the feeding mechanism squeezes out the stirred feed in a certain shape. The cutting mechanism is used to evenly feed the feed into the silkworm box. The feeding amount is controlled by the management platform according to the set demand and the feeding time is controlled to achieve the feeding amount that meets the feeding needs.

[0099] As a preferred embodiment of the present invention, specifically, the system is further provided with a first temperature and humidity module and a second temperature and humidity module, and the first temperature and humidity module and the second temperature and humidity module are used to collect temperature and humidity information of the system.

[0100] As a preferred embodiment of the present invention, specifically, the silkworm house is provided with a 1-3 age feeding area and a 4-5 age feeding area, the first temperature and humidity module is provided in the 1-3 age feeding area, the second temperature and humidity module is provided in the 4-5 age feeding area,

[0101] For the 1-3 age rearing area, the first temperature threshold is set to 30°C, the first humidity threshold is set to 80%, and the second humidity threshold is set to 90%. When the temperature information is higher than 30°C, the refrigeration unit is controlled to operate to cool the silkworm house. When the humidity information is lower than 80%, the humidifier is controlled to operate to increase the ambient humidity. When the humidity information is higher than 90%, the dehumidification evaporator is controlled to operate to reduce the ambient humidity.

[0102] For the 4-5 age breeding area, the second temperature threshold is set to 27°C, the first humidity threshold is set to 50%, and the second humidity threshold is set to 85%. When the temperature information is higher than 27°C, the refrigeration unit is controlled to cool the silkworm house. When the humidity information is lower than 50%, the humidifier is controlled to increase the ambient humidity. When the humidity information is higher than 85%, the dehumidification evaporator is controlled to reduce the ambient humidity.

[0103] In this preferred embodiment, it is considered that the silkworm house is divided into 1-3 age feeding area and 4-5 age feeding area. The feeding temperature of silkworms in the 1-3 age feeding area is 27-30℃, the humidity is 80-90%, and the difference between dryness and wetness is 1-2℃; the feeding temperature of silkworms in the 4-5 age feeding area is 25-27℃, the humidity is 50-85%, and the difference between dryness and wetness is 1.5-5℃, which is different for each age group. Therefore, by setting the relevant temperature and humidity thresholds in the above manner, it is possible to ensure proper environmental control in the silkworm house.

[0104] Among them, refer to Figure 4 In order to ensure that the temperature and humidity in the silkworm house are strictly in line with the environmental requirements of silkworms of different ages, polyurethane insulation boards are used for the wall materials of the silkworm house, extruded boards are used for insulation at the bottom of the silkworm house, and double-sided color steel plates are used for moisture-proof treatment on the ground surface.

[0105] The dehumidification, heating and humidification functions in the silkworm house are separated and completed by the cooling / dehumidification evaporator, temperature control heat exchanger, electric heating and humidifier respectively, without cross interference. Only when the temperature is reduced, it may be accompanied by excessive dehumidification, at which time the humidifier is used to compensate. After manual setting, the whole process is controlled by the electrical system, and the performance is highly guaranteed.

[0106] Humidity control adopts absolute humidity control mode, which can directly know the humidity control target and is highly efficient and energy-saving.

[0107] As a preferred embodiment of the present invention, the system also includes a nozzle provided at the center position of the two clamps of the robotic arm, which is used to blow the silkworm excrement remaining in the sand box into the sand collecting bucket during the sand pouring process.

[0108] Reference Figure 3 As a preferred embodiment of the present invention, specifically, the control management platform also includes:

[0109] The silkworm scale display module is used to display the current scale of small silkworms and large silkworms;

[0110] The silkworm breeding data display module is used to display the relevant data of the previous batch of silkworm breeding, including the number of silkworms, feed usage, humidity, and cocoon production;

[0111] Equipment information display module, used to display the status of upper and lower conveyor belts, lifting platforms, disinfection machines and other equipment;

[0112] The process and cycle configuration module is used to display the current silkworm breeding process, that is, the tasks to be executed and the tasks that have been executed, and obtain the total number of days for silk production set by the user, and execute the operation plan according to the preset plan based on the number of days for silk production set by the user.

[0113] As a preferred embodiment of the present invention, specifically, the AGV car adopts a fusion of laser radar + magnetic strip to achieve autonomous mapping, path planning and navigation obstacle avoidance. The charging pile of the AGV car is set on one side of the silkworm house, and it can automatically go to the charging pile position to charge autonomously according to the set minimum power value.

[0114] In this preferred embodiment, the AGV car uses a combination of laser radar + magnetic stripe to achieve autonomous mapping, path planning and navigation obstacle avoidance. The charging pile of the AGV car is set on one side of the silkworm room, and can automatically charge at the charging pile position according to the set minimum power value. The function of the AGV car is mainly: to automatically lift and transport the silkworm boxes that need to be stored, fed or disinfected in the silkworm room from a fixed position area to a designated area in a cycle. For example: transporting 1-3-year-old silkworm boxes from the artificial stacking area to the 4-5-year-old feeding area (this stage is storage), transporting the silkworm boxes that need to be fed or disinfected in the 4-5-year-old feeding area to the position where the silkworm boxes are to be grabbed at the front end of the mechanical arm, and transporting the silkworm boxes that have been fed or disinfected at the front end of the mechanical arm to the 4-5-year-old feeding area.

[0115] The working principle of the AGV in realizing the overall function and the information recording process of the management platform are as follows:

[0116] Warehousing stage: The number of silkworm boxes in the artificial stacking area can be determined based on the height of the stacked silkworm boxes (the height of the silkworm boxes is determined by the laser sensor on the top of the artificial stacking area) to determine whether an AGV is needed for transportation. In this process, the management platform needs to issue commands to the AGV; the location and number of silkworm boxes transported to the 4-5 age breeding area are uploaded to the management platform for record and storage.

[0117] The stage before adding feed or disinfection: The management platform records the information of the silkworm boxes in the 4-5 age feeding area, automatically determines whether feed or disinfection is needed, and the management platform issues a command to the AGV car. The AGV car transports the silkworm boxes in the 4-5 age feeding area that need to be fed or disinfected to the front end of the robotic arm. At this time, the management platform automatically records and updates the location information and breeding information of the silkworm boxes in the 4-5 age feeding area after being transported.

[0118] Stage after adding feed or disinfection: After adding feed or disinfection, the laser sensor on the top of the silkworm house at the front end of the robot arm obtains the height information of the silkworm box and uploads it to the management platform. The management platform issues a command to the AGV car, and the AGV car transports the silkworm box that has been fed or disinfected back to the 4-5-year-old breeding area. In this stage, the management platform will automatically update the breeding information of the silkworm box that has been fed or disinfected, and record the location information of the silkworm box sent back to the 4-5-year-old breeding area.

[0119] Clustering stage: The management platform automatically determines whether the silkworms in the 4-5 age breeding area have reached the clustering time period based on the breeding date of the silkworms. If so, a command is issued to the AGV cart (at the same time, the management platform also sends information to the breeding administrator to remind the silkworms that they have reached the clustering stage). The AGV cart travels to the 4-5 age breeding area and transports the silkworm boxes that have reached the clustering age to the front end of the robotic arm. The robotic arm grabs the silkworm boxes and places them on the silk-outputting line. The sand boxes that have been emptied of sand are taken out manually.

[0120] The robot arm is mainly responsible for grabbing the silkworm boxes to be fed or disinfected and placing them on the upper conveyor line, grabbing the sand boxes after pouring sand and placing them on the front end of the robot arm, grabbing the silkworm boxes that have been fed or disinfected and the sand boxes that have been poured on the lower conveyor line and placing them back to the fixed area in turn, and grabbing the silkworm boxes to be clustered and placing them on the silk output line.

[0121] In the process of grabbing silkworm boxes: three laser sensors are arranged side by side on the roof of the silkworm box stacking place at the front end of the robot arm, which are used to sense the height information of the silkworm boxes at the front end, the sandbox where the sand has been poured out, and the collection place of the silkworm boxes for adding or disinfecting. After the management platform obtains the height information set at the position of the silkworm box to be grabbed first, it issues a command to the robot arm to start the action of the robot arm. The robot arm sequentially completes grabbing the upper silkworm box to the conveyor line (at this time, the conveyor line starts the conveying process after sensing the silkworm box), grabbing the lower sandbox to pour sand, and the sandbox after the sand is poured out is self-positioned by the robot arm according to the positioning device at the collection place of the front silkworm boxes, and then the positioned sandbox is placed at the place where the sandbox has been poured out, and then the next layer of silkworm boxes is grabbed to the conveyor line, and the processes of grabbing the silkworm box, grabbing the sandbox, pouring sand, etc. are completed in sequence, until the ten silkworm boxes are grabbed and returned to the original position, the management platform records and updates the information of this operation process, and the robot arm waits for the next cycle to start.

[0122] In particular, during the sand pouring process: due to its own physical properties and the temperature and humidity in the silkworm room, silkworm feces accumulate in the sand box for more than 1 day, so a nozzle is provided at the center position of the two clamps of the robotic arm to blow the remaining silkworm feces in the sand box into the sand collecting bucket during the sand pouring process.

[0123] Although the description of the present invention has been quite detailed and specifically describes several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be regarded as providing a broad possible interpretation of these claims in view of the prior art by reference to the appended claims, thereby effectively covering the intended scope of the present invention. In addition, the above description of the present invention is based on the embodiments foreseeable by the inventor, and its purpose is to provide a useful description, and those non-substantial changes to the present invention that have not yet been foreseen may still represent equivalent changes to the present invention.

[0124] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, it should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. Intelligent artificial feed breeding system, applied to the artificial feed breeding method of silkworms in factory mode, characterized by: include: A control and management platform, which is used to automatically record silkworm breeding data information and automatically control the AGV trolley, robotic arm, conveyor line, disinfection machine and feeder equipment through the host computer; The operation process of the system includes the following: The silkworm boxes in the 1-3 age rearing area are placed manually in an artificial stack; The silkworm box is a group consisting of 5 silkworm rearing boxes and 5 sand boxes stacked up and down respectively; The control management platform obtains a trigger signal at the manual stacking location, and when the trigger signal is obtained, determines that the silkworm boxes are stacked to a preset height, and issues a first command to the AGV vehicle; When the AGV receives the first command, it drives to the manual stacking area to pick up the silkworm boxes and transport them to the 4-5 age breeding area, and reads the relevant information of the silkworm boxes and uploads it to the control management platform; When the silkworm boxes in the 4-5 age feeding area reach the feeding or disinfection period, the control management platform sends a second command to the AGV car. When the AGV car receives the second command, it transports the silkworm boxes that need to be fed or disinfected to the position of the silkworm boxes to be grabbed at the front end of the robot arm; The control management platform controls the robot arm to place the silkworm box at the position to be grabbed onto the conveyor line, and controls the conveyor line to transport the silkworm box to the unloading machine or disinfection machine to complete unloading or disinfection; The control management platform controls the robotic arm to grab the sandbox at the front end of the robotic arm to the sand collection box to complete the sand dumping; The control management platform controls the robotic arm to place the sandbox after the sand is poured at the preset position, and repeats the action of grabbing the silkworm box and the sandbox until the silkworm box grabbing completes the corresponding action and waits for the next round of operation.

2. The intelligent artificial feed breeding system according to claim 1, characterized in that: Specifically, the control management platform obtains the trigger signal at the manual stacking location in the following manners: A laser sensor is arranged at the artificial stacking location, and when the height of the silkworm boxes at the artificial stacking location triggers the laser sensor, the trigger signal is obtained.

3. The intelligent artificial feed breeding system according to claim 1, characterized in that: Specifically, the control management platform obtains the trigger signal at the manual stacking location in the following manners: A gravity sensor is arranged at the artificial stacking place, and when the value of the gravity sensor reaches a preset weight threshold, the trigger signal is obtained.

4. The intelligent artificial feed breeding system according to claim 1, characterized in that: Specifically, the method for judging whether the silkworm boxes in the 4-5 age feeding area have reached the feeding or disinfection period includes the following: When the silkworm box arrives at the 4-5 age breeding area, the control management platform automatically records the age of the silkworm box. When the recorded age reaches the feeding age, it is determined that the silkworm box needs to be fed. When the recorded age reaches the disinfection age, it is determined that the silkworm box needs to be disinfected.

5. The intelligent artificial feed breeding system according to claim 1, characterized in that: Specifically, the conveyor line includes an upper conveyor line and a lower conveyor line, wherein: The upper conveyor line is controlled by the MCU, which is in communication with the control management platform. A first photoelectric sensor is installed at the head end of the upper conveyor line to sense the silkworm box on the conveyor line that is grabbed by the robot arm. When the first photoelectric sensor obtains the signal of the silkworm box, the control center sends a command to the MCU of the conveyor line to start the operation of the upper conveyor line. At the end of the upper conveyor line, there is a lift connected. A horizontal conveyor belt is provided in the middle of the lift. The horizontal conveyor belt is used to positively receive the silkworm box transmitted from the end of the upper conveyor line. A second photoelectric sensor is installed at the center of one side of the lift. The second photoelectric sensor is used to sense the silkworm box transported from the upper conveyor line to the end. When the silkworm box is sensed, the lift starts the descending action. The lower conveyor line is controlled by MCU, and MCU is connected to the control management platform. When the elevator descends to the head end of the lower conveyor line, the horizontal conveyor belt reverses and transports the silkworm box to the head end of the lower conveyor line, and starts the operation of the lower conveyor line at the same time. A third photoelectric sensor is installed at the head end of the lower conveyor line. When the third photoelectric sensor senses the silkworm box, the elevator starts to rise.

6. The intelligent artificial feed breeding system according to claim 1, characterized in that: Specifically, the system is further provided with a first temperature and humidity module and a second temperature and humidity module, and the first temperature and humidity module and the second temperature and humidity module are used to collect temperature and humidity information of the system.

7. The intelligent artificial feed breeding system according to claim 6, characterized in that: Specifically, the system is provided with a 1-3 age feeding area and a 4-5 age feeding area in the silkworm house, a first temperature and humidity module is provided in the 1-3 age feeding area, and a second temperature and humidity module is provided in the 4-5 age feeding area. For the 1-3 age rearing area, the first temperature threshold is set to 30°C, the first humidity threshold is set to 80%, and the second humidity threshold is set to 90%. When the temperature information is higher than 30°C, the refrigeration unit is controlled to operate to cool the silkworm house. When the humidity information is lower than 80%, the humidifier is controlled to operate to increase the ambient humidity. When the humidity information is higher than 90%, the dehumidification evaporator is controlled to operate to reduce the ambient humidity. For the 4-5 age breeding area, the second temperature threshold is set to 27°C, the first humidity threshold is set to 50%, and the second humidity threshold is set to 85%. When the temperature information is higher than 27°C, the refrigeration unit is controlled to cool the silkworm house. When the humidity information is lower than 50%, the humidifier is controlled to increase the ambient humidity. When the humidity information is higher than 85%, the dehumidification evaporator is controlled to reduce the ambient humidity.

8. The intelligent artificial feed breeding system according to claim 1, characterized in that: The system also includes a nozzle at the center of the two clamps of the robot arm, which is used to blow the silkworm excrement remaining in the sand box into the sand collecting bucket during the sand pouring process.

9. The intelligent artificial feed breeding system according to claim 1, characterized in that: Specifically, the control management platform also includes: The silkworm scale display module is used to display the current scale of small silkworms and large silkworms; The silkworm breeding data display module is used to display the relevant data of the previous batch of silkworm breeding, including the number of silkworms, feed usage, humidity, and cocoon production; Equipment information display module, used to display the status of upper and lower conveyor belts, elevators, disinfection machines and other equipment; The process and cycle configuration module is used to display the current silkworm breeding process, that is, the tasks to be executed and the tasks that have been executed, and obtain the total number of days for silk production set by the user, and execute the operation plan according to the preset plan based on the number of days for silk production set by the user.

10. The intelligent artificial feed breeding system according to claim 1, characterized in that: Specifically, the AGV car uses a combination of laser radar and magnetic stripe to achieve autonomous mapping, path planning and navigation obstacle avoidance. The charging pile of the AGV car is set on one side of the silkworm house, and it automatically goes to the charging pile to charge autonomously according to the set minimum power value.

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