Indoor suspension rail type aquatic product feeding robot

Abstract

The embodiment of the invention discloses an indoor suspension rail type aquatic product feeding robot. Comprising a feeding track, a feeding vehicle moving along the feeding track, a signal receiving and transmitting module arranged on the feeding vehicle and used for periodically sending positioning signals, at least three positioning base stations used for receiving the positioning signals periodically sent by the signal receiving and transmitting module, and a fusion positioning system. Based on first positioning information corresponding to the feeding vehicle at the target moment and second positioning information corresponding to the feeding vehicle at the target moment, obtaining calibration positioning information corresponding to the feeding vehicle at the target moment; and the control module is used for generating a control signal for controlling the feeding vehicle to move and feed on the basis of the calibration positioning information corresponding to the feeding vehicle at the target moment and the point position coordinates corresponding to the plurality of preset feeding point positions. The calibration positioning information of the feeding vehicle is obtained through a multi-information fusion positioning navigation method, the positioning precision is improved, then the movement and feeding of the feeding vehicle are controlled according to the calibration positioning information, and therefore the effect of precise feeding of the feeding vehicle is achieved.

Description

Technical Field

[0001] Multiple embodiments of this specification relate to the technical field of intelligent aquaculture equipment, and specifically to an indoor suspended track-type aquatic feeding robot. Background Art

[0002] Mechanization and intelligence of aquaculture are the inevitable direction for the development of modern green and efficient aquaculture. Feeding is an indispensable part of aquaculture production, and it is also the part that takes the longest time and has the greatest labor intensity. Feed is the source of nutrition for aquatic animals, and it is also the source of solid particles, nitrogen and phosphorus in the aquaculture water. Irrational feeding not only affects the normal growth of aquatic animals, but also leads to feed waste, water pollution and other problems.

[0003] At present, indoor aquaculture usually uses intelligent feeding devices installed above the breeding area including multiple breeding ponds for feeding operations. The intelligent feeding device includes a track and a feeding vehicle carrying feed and running on the track. It uses magnetic steel, RFID tags, QR codes, limit switches and other position identification and positioning technologies to determine the real-time position of the feeding vehicle, control the feeding vehicle to stop at the designated location and feed, and make full use of the space above the breeding pond to realize timed, fixed-point, and fixed-quantity feeding operations.

[0004] However, the existing location identification positioning technology has low positioning accuracy due to the limitation of refresh frequency and the occlusion interference easily generated in the indoor environment. As a result, the position where the feeding vehicle stops for feeding operations is inaccurate, which affects the normal growth of aquatic animals and causes feed waste. Summary of the invention

[0005] The embodiment of this specification provides an indoor suspended track-type aquatic feeding robot, which obtains the calibration positioning information of the feeding vehicle through a multi-information fusion positioning and navigation method to improve the positioning accuracy, and then controls the movement and feeding of the feeding vehicle according to the calibration positioning information, thereby achieving the effect of accurate feeding by the feeding vehicle.

[0006] The technical solution is as follows: The embodiment of this specification provides an indoor suspended track type aquatic feeding robot, comprising: An indoor suspended track type aquatic feeding robot, comprising a feeding track, a feeding vehicle moving along the feeding track, a signal transceiver module arranged on the feeding vehicle to periodically send out positioning signals, at least three positioning base stations receiving positioning signals periodically sent out by the signal transceiver module, and a fusion positioning system; The fusion positioning system includes a first data processing module, a data acquisition module, a second data processing module, and a control module; The first data processing module obtains the first positioning information corresponding to the feeding vehicle at the target time according to the reception time of the positioning signal sent by the target time signal transceiver module corresponding to each positioning base station; A data acquisition module obtains the direction information and displacement information corresponding to the feeding vehicle at different times before the target time, and obtains the second positioning information corresponding to the feeding vehicle at the target time based on the direction information and displacement information corresponding to the feeding vehicle at different times before the target time; The second data processing module obtains the calibration positioning information corresponding to the feeding vehicle at the target time based on the first positioning information corresponding to the feeding vehicle at the target time and the second positioning information corresponding to the feeding vehicle at the target time; The control module generates a control signal for controlling the movement of the feeding vehicle and feeding based on the calibration positioning information corresponding to the feeding vehicle at the target time and the point coordinates corresponding to each of the plurality of preset feeding points.

[0007] As a preferred solution, each positioning base station is arranged at the same horizontal height as the signal transceiver module, and the connection line of at least three positioning base stations forms an acute triangle.

[0008] As a preferred solution, the first data processing module includes a time processing unit and a distance processing unit; A time processing unit, based on the target time and the receiving time of the positioning signal sent by the signal transceiver module at the target time corresponding to each positioning base station, obtains the signal receiving time corresponding to each positioning base station; The distance processing unit obtains the interval distance corresponding to each positioning base station from the signal transceiver module at the target time based on the signal reception time corresponding to each positioning base station and the pre-obtained signal reception time-interval distance fitting function corresponding to each positioning base station, and uses it as the first positioning information corresponding to the feeding vehicle at the target time; The signal reception duration-interval distance fitting function corresponding to any positioning base station in the distance processing unit is obtained in the following manner: Based on the positioning signals sent by the signal transceiver module at multiple known coordinates, obtaining the signal reception time corresponding to when the positioning base station receives the positioning signal sent by the signal transceiver module at each known coordinate; Determine the interval distance between each known coordinate and the positioning base station based on each known coordinate and the fixed coordinate of the positioning base station; The signal reception time corresponding to the positioning signal sent by the signal transceiver module at each known coordinate when the positioning base station receives the positioning signal, and the interval distance between each known coordinate and the positioning base station are used as sample data, and the signal reception time-interval distance fitting function is obtained by the least squares method.

[0009] As a preferred solution, the data acquisition module includes a position estimation unit and an interval estimation unit; The position estimation unit obtains the estimated coordinates of the feeding vehicle at the target time based on the direction information and displacement information corresponding to different times from the time when the feeding vehicle sends a positioning signal one cycle before the target time to the time before the target time, and the calibration positioning information corresponding to the feeding vehicle at the time when the signal transceiver module sends a positioning signal one cycle before the target time; The interval estimation unit obtains the estimated interval corresponding to each positioning base station from the signal transceiver module at the target time according to the estimated coordinates corresponding to the feeding vehicle at the target time and the fixed coordinates corresponding to each positioning base station, and uses the calibration positioning information corresponding to the feeding vehicle at the moment when the signal transceiver module sends a positioning signal in a period before the target time, the estimated coordinates corresponding to the feeding vehicle at the target time, and the estimated interval corresponding to each positioning base station from the signal transceiver module at the target time as the second positioning information corresponding to the feeding vehicle at the target time.

[0010] As a preferred solution, the second data processing module includes a difference matrix calculation unit, a state matrix calculation unit, a model calculation unit and a position calibration unit; The difference matrix calculation unit obtains the difference matrix from the signal transceiver module to each positioning base station at any moment based on the corresponding interval distance and estimated interval from the signal transceiver module to each positioning base station at that moment. ,in, and are the estimated interval and interval distance from the signal transceiver module to the i-th positioning base station at time k; The state matrix calculation unit obtains the state matrix corresponding to the feeding vehicle at any moment based on the estimated coordinates, direction information and displacement information corresponding to the feeding vehicle at that moment. ,in, Indicates the coordinate value of the feeding vehicle in the coordinate system, It represents the displacement of the feeding vehicle on the X-axis and Y-axis at adjacent moments, and θ is the direction quantity; Model calculation unit, based on the extended Kalman filter model, uses the difference matrix at any time as the observation quantity , the state matrix at this moment is used as the prediction quantity Get the Kalman gain corresponding to the moment; A position calibration unit, which obtains the calibration positioning information corresponding to the feeding vehicle at any moment based on the Kalman gain at that moment; The state equation of the extended Kalman filter model in the model calculation unit is: in, is the state matrix corresponding to the calibration positioning information of the feeding vehicle at time k-1, is the input control quantity of the feeding vehicle at time k-1, is a nonlinear state function, is the process noise, which follows a multivariate normal distribution with a mean of 0 and a covariance matrix of Q; The observation equation of the extended Kalman filter model in the model calculation unit is: in, is a nonlinear observation function, is the observation noise, which follows a multivariate normal distribution with mean 0 and covariance matrix R.

[0011] As a preferred solution, the second data processing module further includes an error processing unit and a noise processing unit: An error processing unit, which obtains the non-line-of-sight error corresponding to each positioning base station based on the difference matrix; A noise processing unit, which obtains a measurement noise factor corresponding to each positioning base station based on a magnitude relationship between a non-line-of-sight error corresponding to each positioning base station and a preset value; The model calculation unit corrects the Kalman gain based on the measurement noise factor corresponding to each positioning base station.

[0012] As a preferred solution, when the feeding vehicle stops at a point coordinate corresponding to any preset feeding point, the control module generates a feeding control signal for controlling the feeding vehicle to feed based on a feeding radius corresponding to the preset feeding point.

[0013] As a preferred solution, the feeding vehicle is provided with a feeding turntable; The control module generates a feeding control signal for controlling the rotation speed of the material spreading turntable based on the feeding radius corresponding to the preset feeding point and the preset minimum feeding radius when the feeding vehicle stops at the point coordinates corresponding to any preset feeding point, so that the feeding radius of the feeding vehicle changes back and forth between the feeding radius corresponding to the preset feeding point and the preset minimum feeding radius.

[0014] As a preferred solution, the feeding vehicle includes a discharge box, and the material spreading turntable is arranged at the discharge port of the discharge box; The control module generates a feeding control signal for controlling the discharge flow rate of the discharge box based on the feeding radius of the feeding vehicle.

[0015] As a preferred solution, the feeding vehicle includes an image acquisition module for acquiring feeding images; The control module generates a feeding control signal for controlling the discharge of the discharge box based on the feeding image.

[0016] The beneficial effects brought by the technical solutions provided by some embodiments of this specification include at least: 1. On the one hand, the first positioning information of the feeding vehicle obtained by the positioning base station and the signal transceiver module will be affected by environmental interference and produce errors, and the first positioning information obtained by the periodically emitted positioning signal is intermittent position information. There is no corresponding first positioning information between two adjacent positioning signals, and only a linear approximate position can be obtained; on the other hand, the second positioning information of the feeding vehicle calculated by the real-time direction information and displacement information of the feeding vehicle also has errors, and the cumulative error will increase with the increase of the moving distance of the feeding vehicle. Therefore, the present invention merges the first positioning information and the second positioning information at the same time, corrects the second positioning information at the same time of the first positioning information according to the first positioning information, and corrects the jump value in the first positioning information according to the second positioning information, thereby obtaining more accurate calibration positioning information than both positioning methods, and on this basis, achieving precise feeding control of the feeding vehicle; 2. Each positioning base station is set at the horizontal height of the signal transceiver module, and the height positioning of the feeding vehicle can be ignored, reducing the calculation complexity and error. The position relationship of the three positioning base stations is an acute triangle. On the one hand, it can provide more stable signal coverage in the positioning area and reduce signal blind spots. On the other hand, it helps to perform better error correction in the positioning calculation and improve the accuracy and reliability of positioning. 3. After obtaining more accurate calibration and positioning information, the feeding radius of the feeding vehicle can be controlled according to the radius of the feeding pool corresponding to the feeding point. As long as the feeding radius does not exceed the upper limit of the feeding radius corresponding to the feeding pool, the feed will not be scattered outside the pool, avoiding feed waste and achieving accurate and uniform feeding effect. The uniform distribution of feed helps all animals get enough nutrition, thereby promoting their balanced growth and reducing size differences. It can also prevent animals from fighting for food, increasing stress and affecting their health. It can also reduce the accumulation of feed residues and feces in the pool, help maintain water quality, reduce the frequency of water changes and the cost of water quality treatment, and improve feed utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of an indoor suspended track-type aquatic feeding robot provided in an embodiment of this specification (the positioning base station is not shown); Figure 2 It is a structural schematic diagram of a fusion positioning system in an indoor suspended track-type aquatic feeding robot provided in an embodiment of this specification; Figure 3 It is a structural schematic diagram of a fusion positioning system in an indoor suspended track-type aquatic feeding robot provided in another embodiment of the present specification.

[0019] In the figure: 1, feeding track; 2, feeding vehicle; 21, signal transceiver module; 22, material spreading turntable; 221, drive motor; 23, discharge box; 24, rotating motor; 241, drum; 300, fusion positioning system; 301, first data processing module; 3011, time processing unit; 3012, distance processing unit; 302, data acquisition module; 3021, position estimation unit; 3022, interval estimation unit; 303, second data processing module; 3031, difference matrix calculation unit; 3032, state matrix calculation unit; 3033, model calculation unit; 3034, position calibration unit; 3035, error processing unit; 3036, noise processing unit; 304, control module. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of this specification will be described clearly and completely below in conjunction with the drawings in the embodiments of this specification.

[0021] The terms "first", "second", "third", etc. in the description and claims of this specification and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0022] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present specification. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described with respect to some examples may be combined in other examples.

[0023] See attached Figure 1 With attached Figure 2 , Figure 1 This is a schematic diagram of the structure of an indoor suspended track-type aquatic feeding robot provided in an embodiment of this specification. Figure 2 It is a structural diagram of the fusion positioning system 300.

[0024] An indoor suspended track type aquatic feeding robot comprises a feeding track 1, a feeding vehicle 2 moving along the feeding track 1, a signal transceiver module 21 arranged on the feeding vehicle 2 and periodically sending out positioning signals, at least three positioning base stations receiving positioning signals periodically sent out by the signal transceiver module 21, and a fusion positioning system 300. Figure 1 The positioning base station is not shown in the figure, and the positioning base station is arranged around the feeding track 1.

[0025] Illustratively, in theory, two positioning base stations can determine the position on a two-dimensional plane, but three base stations can provide more observation data, which is helpful to correct various errors, such as systematic errors, random errors, etc. By comparing the data of different base stations, these errors can be corrected more accurately.

[0026] In multiple embodiments of the present specification, each positioning base station is arranged at the same horizontal height as the signal transceiver module 21, and the connection line of at least three positioning base stations forms an acute triangle.

[0027] Explanatory, since the overall height of the feeding track 1 is consistent, each positioning base station is set at the horizontal height of the signal transceiver module 21, and the height positioning can be ignored, reducing the calculation complexity and error. Taking the setting of three positioning base stations as an example, the position relationship of the three positioning base stations is an acute triangle, so that the angle between any two base stations and the third base station is large. On the one hand, it can provide more stable signal coverage in the positioning area and reduce signal blind spots. On the other hand, it helps to perform better error correction in the positioning calculation. If the angle between the base stations is too small, the positioning algorithm may be difficult to distinguish the error source due to similar or overlapping signal paths, resulting in deviations in the positioning results, and improving the accuracy and reliability of positioning.

[0028] The fusion positioning system 300 includes a first data processing module 301 , a data acquisition module 302 , a second data processing module 303 , and a control module 304 .

[0029] The first data processing module 301 obtains the first positioning information corresponding to the feeding vehicle 2 at the target time according to the reception time of the positioning signal sent by the target time signal transceiver module 21 corresponding to each positioning base station.

[0030] Illustratively, the signal transceiver module 21 on the feeding vehicle 2 periodically sends out a positioning signal. For the same positioning signal, the time when each positioning base station receives the positioning signal is the receiving time corresponding to the positioning base station. By calculating the difference between the receiving time and the sending time of the positioning signal and the propagation speed of the positioning signal, the distance from the positioning base station to the signal transceiver module 21 can be known, thereby obtaining the first positioning information of the feeding vehicle 2. Each positioning signal sent out in a period corresponds to a first positioning information.

[0031] The data acquisition module 302 acquires the direction information and displacement information corresponding to the feeding vehicle 2 at different times before the target time, and acquires the second positioning information corresponding to the feeding vehicle 2 at the target time based on the direction information and displacement information corresponding to the feeding vehicle 2 at different times before the target time.

[0032] Explanatory, the direction information of the feeding vehicle 2 can be obtained in real time by setting an inertial sensor on the feeding vehicle 2, and the displacement information of the feeding vehicle 2 can be obtained in real time by setting an encoder on the driving wheel of the feeding vehicle 2. The position of the feeding vehicle 2 determined last time at the target time is taken as the starting point, and the position of the feeding vehicle 2 at the target time can be calculated according to the direction information and displacement information obtained in real time, thereby obtaining the second positioning information of the feeding vehicle 2. The emission time of each period positioning signal can correspond to the second positioning information at the same time.

[0033] The second data processing module 303 obtains the calibration positioning information corresponding to the feeding vehicle 2 at the target time based on the first positioning information corresponding to the feeding vehicle 2 at the target time and the second positioning information corresponding to the feeding vehicle 2 at the target time.

[0034] Illustratively, two sets of positioning information obtained by two different methods at the target time are fused and calibrated to obtain calibrated positioning information as a basis for determining the position of the feeding vehicle 2 .

[0035] The control module 304 generates a control signal for controlling the movement of the feeding vehicle 2 and feeding based on the calibration positioning information corresponding to the feeding vehicle 2 at the target time and the point coordinates corresponding to each of the plurality of preset feeding points.

[0036] Illustratively, the breeding area includes a plurality of breeding ponds, and the feeding track 1 is arranged above the breeding area and passes through each breeding pond. In order to feed evenly, the feeding track 1 is arranged to pass directly above the center of each breeding pond. Ideally, the feeding vehicle 2 stops directly above the center of the breeding pond for the best feeding effect. At this time, the distance between the feeding vehicle 2 and the edge of the breeding pond in all directions is equal, which is conducive to uniform feeding and also facilitates preventing the feed from being spilled outside the breeding pond.

[0037] Explanatory, the preset feeding point is the position at the center of the breeding pond corresponding to the height of the feeding track 1. According to the calibration positioning information, a movement instruction is issued to the feeding vehicle 2, so that the feeding vehicle 2 stops accurately at the preset feeding point, and the feeding operation is performed at the preset feeding point, thereby achieving the effect of accurate feeding by the feeding vehicle 2, and avoiding the waste of feed caused by the deviation of the feeding position of the feeding vehicle 2. After the feeding is completed, the feeding vehicle 2 continues to be controlled to move on the feeding track 1, and determines whether the preset feeding point is reached according to the new calibration positioning information.

[0038] On the one hand, the first positioning information of the feeding vehicle 2 obtained by the positioning base station and the signal transceiver module 21 will be affected by environmental interference and produce errors, and the first positioning information obtained by the periodically sent positioning signal is intermittent position information, and there is no corresponding first positioning information between two adjacent positioning signals, and only a linear approximate position can be obtained; on the other hand, the second positioning information of the feeding vehicle 2 calculated by the real-time direction information and displacement information of the feeding vehicle 2 also has errors, and the cumulative error will increase with the increase of the moving distance of the feeding vehicle 2. Therefore, the first positioning information and the second positioning information at the same time are fused, and the second positioning information at the same time as the first positioning information is corrected according to the first positioning information, and the jump value in the first positioning information is corrected according to the second positioning information, so as to obtain more accurate calibration positioning information than both positioning methods, and on this basis, the precise feeding control of the feeding vehicle 2 is realized.

[0039] In one embodiment of this specification, referring to the attached Figure 3 , the first data processing module 301 includes a time processing unit 3011 and a distance processing unit 3012; The time processing unit 3011 obtains the signal reception duration corresponding to each positioning base station based on the target time and the reception time of the positioning signal sent by the signal transceiver module 21 corresponding to each positioning base station; The distance processing unit 3012 obtains the interval distance corresponding to each positioning base station from the signal transceiver module 21 at the target time based on the signal reception time corresponding to each positioning base station and the pre-obtained signal reception time-interval distance fitting function corresponding to each positioning base station, and uses it as the first positioning information corresponding to the feeding vehicle 2 at the target time; The signal reception duration-interval distance fitting function corresponding to any positioning base station in the distance processing unit 3012 is obtained in the following manner: Based on the positioning signals sent by the signal transceiver module 21 at multiple known coordinates, obtaining the signal reception time corresponding to when the positioning base station receives the positioning signal sent by the signal transceiver module 21 at each known coordinate; Determine the interval distance between each known coordinate and the positioning base station based on each known coordinate and the fixed coordinate of the positioning base station; The signal reception time corresponding to the positioning signal sent by the signal transceiver module 21 at each known coordinate when the positioning base station receives the positioning signal, and the interval distance between each known coordinate and the positioning base station are used as sample data, and the signal reception time-interval distance fitting function is obtained by the least squares method.

[0040] Explanatory, the linear regression function of the signal reception time and the interval distance of each positioning base station in the use environment is pre-fitted by the least squares method, so as to correct the relative error at different interval distances and improve the calculation accuracy and anti-interference. The interval distance corresponding to the signal transceiver module 21 to each positioning base station is directly used as the first positioning information. In theory, the interval distance between two positioning base stations can determine the position coordinates of a signal transceiver module 21, but due to the existence of noise errors, three or more positioning base stations will determine many position coordinates instead of a certain point. Multiple position coordinates circle an area. The prior art generally calculates an optimal estimated position directly in the circled area according to multiple interval distances as the position coordinates of the signal transceiver module 21. However, the present invention does not process the interval distance, and directly uses the interval distance corresponding to the signal transceiver module 21 to each positioning base station as the first positioning information.

[0041] In one embodiment of the present specification, the data acquisition module 302 includes a position estimation unit 3021 and an interval estimation unit 3022; The position estimation unit 3021 obtains the estimated coordinates of the feeding vehicle 2 at the target time based on the direction information and displacement information corresponding to different times from the time when the feeding vehicle 2 sends a positioning signal in the period before the target time to the time before the target time, and the calibration positioning information corresponding to the feeding vehicle 2 at the time when the signal transceiver module 21 sends a positioning signal in the period before the target time; The interval estimation unit 3022 obtains the estimated interval corresponding to the signal transceiver module 21 from each positioning base station at the target time according to the estimated coordinates corresponding to the feeding vehicle 2 at the target time and the fixed coordinates corresponding to each positioning base station, and uses the calibration positioning information corresponding to the feeding vehicle 2 at the moment when the signal transceiver module 21 sends a positioning signal in the period before the target time, the estimated coordinates corresponding to the feeding vehicle 2 at the target time, and the estimated interval corresponding to the signal transceiver module 21 from each positioning base station at the target time as the second positioning information corresponding to the feeding vehicle 2 at the target time.

[0042] Explanatory, with the calibration positioning information corresponding to the moment of the target moment before the cycle sending the positioning signal as the starting coordinate, the direction information and displacement information obtained in real time after the moment of the target moment before the cycle sending the positioning signal are accumulated and calculated, and the real-time position of the feeding vehicle can be obtained in theory, but the position calculated in this way will gradually deviate from the real position with the continuous accumulation of data, so it cannot be used as the basis for determining the position of the feeding vehicle for a long time. Therefore, only the direction information and displacement information obtained in real time after the moment of the target moment before the cycle sending the positioning signal to the target moment are accumulated and calculated, so as to obtain the estimated coordinates corresponding to the feeding vehicle 2 at the target moment. The interval estimation unit 3022 calculates the distance between the two points by estimating the fixed coordinates corresponding to the coordinates and each positioning base station, and can obtain the estimated interval corresponding to each positioning base station from the target moment signal transceiver module 21, so as to match with the first positioning information. In addition, the second positioning information also includes the starting coordinates and the estimated coordinates corresponding to the target moment.

[0043] In one embodiment of the present specification, the second data processing module 303 includes a difference matrix calculation unit 3031, a state matrix calculation unit 3032, a model calculation unit 3033 and a position calibration unit 3034; The difference matrix calculation unit 3031 obtains the difference matrix from the signal transceiver module 21 to each positioning base station at any moment based on the interval distance and estimated interval corresponding to each positioning base station at that moment. ,in, and are respectively the estimated interval and the interval distance from the signal transceiver module 21 to the i-th positioning base station at time k; The state matrix calculation unit 3032 obtains the state matrix corresponding to the feeding vehicle 2 at any moment based on the estimated coordinates, direction information and displacement information corresponding to the feeding vehicle 2 at that moment. ,in, represents the coordinate value of the feeding vehicle 2 in the coordinate system, It represents the displacement of the feeding vehicle 2 on the X-axis and Y-axis at adjacent moments, and θ is the direction quantity; Model calculation unit 3033, based on the extended Kalman filter model, uses the difference matrix at any time as the observation quantity , the state matrix at this moment is used as the prediction quantity Get the Kalman gain corresponding to the moment; The position calibration unit 3034 acquires the calibration positioning information corresponding to the feeding vehicle 2 at any moment based on the Kalman gain at that moment; The state equation of the extended Kalman filter model in the model calculation unit 3033 is: in, is the state matrix corresponding to the calibration positioning information of feeding vehicle 2 at time k-1, is the input control quantity of feeding vehicle 2 at time k-1, is a nonlinear state function, is the process noise, which follows a multivariate normal distribution with a mean of 0 and a covariance matrix of Q; The observation equation of the extended Kalman filter model in the model calculation unit 3033 is: in, is a nonlinear observation function, is the observation noise, which follows a multivariate normal distribution with mean 0 and covariance matrix R.

[0044] Explanatory, the extended Kalman filter is a state estimation method for nonlinear systems. It adapts to the state estimation problem of nonlinear systems by linearizing nonlinear functions. The basic model has a state equation and an observation equation. The state equation describes the law of the evolution of the system state over time, and explains how the state of the system is transferred from one time step to the next time step. In an ideal case (without process noise), ), state transfer function The observation equation describes how to obtain observation data from the system state, and explains how the observation data is generated from the system state. In practical applications, observations are usually incomplete or noisy, which means that we cannot directly obtain the complete state of the system, but can only infer the state through noisy observations.

[0045] More accurate calibration and positioning information is obtained based on the extended Kalman filter algorithm. The specific process of the extended Kalman filter algorithm is divided into five steps: state prediction, error covariance prediction, Kalman gain update, state update and error covariance update.

[0046] The target time is taken as the k moment, and the time when the feeding vehicle 2 sends a positioning signal in the cycle before the target time is taken as the k-1 moment. First, the state matrix at the k moment is obtained according to the estimated coordinates, displacement information and direction information corresponding to the feeding vehicle 2 at the k moment, and is used as the predicted value at the k moment. , is the state matrix corresponding to the calibration positioning information of the feeding vehicle 2 at time k-1, and the direction information and displacement information of the feeding vehicle 2 obtained between time k-1 and time k are used as the input control quantity at time k-1 , thus the Jacobian matrix of the state equation can be obtained according to the state equation of the extended Kalman filter model Then take the difference matrix corresponding to time k as the observation , thus the Jacobian matrix of the observation equation can be obtained according to the observation equation of the extended Kalman filter model .

[0047] According to the formula Forecast the error covariance at time k ,in, is the error covariance at time k-1, for The transpose of .

[0048] According to the formula Calculate the Kalman gain at time k ,in, for The transpose of .

[0049] Finally, according to the formula Update the state matrix at time k , and get the optimal estimate of the state matrix at time k. At the same time, according to the formula Update the error covariance at time k for the next cycle of calculation, where, is the identity matrix. The state matrix That is, the calibration positioning information corresponding to time k, which includes the position coordinates of the feeding vehicle 2.

[0050] Explanatory, the initialization states of the covariance matrix P, process noise matrix Q and observation noise matrix R are all unit matrices. The estimated coordinates are corrected according to the difference between the estimated interval and the interval distance corresponding to the signal transceiver module 21 to different positioning base stations at time k, so as to obtain the optimal estimated value at time k .

[0051] Illustratively, the existing suspended track type aquatic feeding devices all use the commonly used spatial positioning technology to determine the position of the feeding vehicle 2, and feed after reaching the preset feeding point. Since the update frequency of the spatial positioning technology is not high, the positioning data is actually the interval point data, and the position data of the feeding vehicle 2 between two adjacent positioning data is unknown. After obtaining the calibration positioning information corresponding to each of the periodically emitted positioning signals, the present embodiment obtains the real-time position coordinates of the feeding vehicle 2 within the interval time of the two positioning signals according to the calibration positioning information of each positioning signal and the displacement information and direction information of the feeding vehicle 2 obtained in real time, thereby achieving the effect of real-time and accurate positioning of the position of the feeding vehicle 2.

[0052] In one embodiment of the present specification, the second data processing module 303 further includes an error processing unit 3035 and a noise processing unit 3036: The error processing unit 3035 obtains the non-line-of-sight error corresponding to each positioning base station based on the difference matrix; The noise processing unit 3036 obtains the measurement noise factor corresponding to each positioning base station based on the size relationship between the non-line-of-sight error corresponding to each positioning base station and a preset value; The model calculation unit 3033 corrects the Kalman gain based on the measurement noise factor corresponding to each positioning base station.

[0053] Illustratively, non-line-of-sight error means that before the positioning signal reaches the positioning base station, it does not propagate along a straight path, but because it encounters obstacles such as buildings and terrain, it is reflected, refracted or scattered, causing the signal path to deviate from the straight-line path. This will cause the positioning base station to receive the positioning signal sent by the target time signal transceiver module 21. The time delay. Therefore, the step of distinguishing and alleviating non-line-of-sight errors is added, that is, the non-line-of-sight error judgment threshold m is set, and the difference between the estimated interval and the interval distance of the same positioning base station obtained when the feeding vehicle 2 operates normally on the feeding track 1 should be within a certain range as the positioning signal corresponding to each period changes, and no jumps should occur.

[0054] According to the formula , get the non-line-of-sight error of the i-th positioning base station .

[0055] according to The relationship between the size of the preset value m and the measurement noise factor corresponding to the i-th positioning base station is obtained , When it is greater than m, it is considered that the positioning base station has a non-line-of-sight error, and The larger the value, the greater the non-line-of-sight interference to the positioning base station. hour, ,when hour, ,in, , with the measured noise factor of all positioning base stations Forming the residual matrix , and add the residual matrix into the formula for calculating the Kalman gain to alleviate the impact of non-line-of-sight error on positioning, and get , thereby correcting the Kalman gain at time k.

[0056] In one embodiment of the present specification, when the feeding vehicle 2 stops at a point coordinate corresponding to any preset feeding point, the control module 304 generates a feeding control signal for controlling the feeding vehicle 2 to feed based on a feeding radius corresponding to the preset feeding point.

[0057] Explanatory, after obtaining more accurate calibration and positioning information, the upper limit of the feeding radius can be set according to the radius of the feeding pool corresponding to the feeding point. Most feeding pools are circular pools. If it is a square pool, the radius of its maximum inscribed circle is used as the upper limit of the feeding radius. During the feeding operation, the feeding vehicle 2 controls the feeding radius of the feeding operation according to the upper limit of the feeding radius corresponding to the current feeding pool. As long as the feeding radius does not exceed the upper limit of the feeding radius corresponding to the feeding pool, the feed will not be scattered outside the pool, avoiding feed waste and achieving accurate and uniform feeding effects. It should be noted that uniform feeding is the goal pursued by the feeding operation and an important means to improve feed utilization. The uniform distribution of feed helps all animals to obtain sufficient nutrition, thereby promoting their balanced growth and reducing size differences. It can also avoid animals from fighting for food, increasing stress, and affecting their health. It can also reduce the accumulation of feed residues and feces in the pool, which helps to maintain water quality, reduce the frequency of water changes and the cost of water quality treatment, etc.

[0058] In one embodiment of the present specification, the feeding vehicle 2 is provided with a material spreading turntable 22; The control module 304 generates a feeding control signal for controlling the rotation speed of the material spreading turntable 22 based on the feeding radius corresponding to the preset feeding point and the preset minimum feeding radius when the feeding vehicle 2 stops at the point coordinates corresponding to any preset feeding point, so that the feeding radius of the feeding vehicle 2 changes back and forth between the feeding radius corresponding to the preset feeding point and the preset minimum feeding radius.

[0059] Explanatory, when the feeding vehicle 2 is located directly above the center of the feeding pool, since the height of the feeding track 1 is fixed, the rotation speed of the material spreading turntable 22 determines the material spreading distance. The feeding control signal controls the rotation speed of the driving motor 221 of the material spreading turntable 22, driving the material spreading turntable 22 to rotate to generate centrifugal forces of different magnitudes, so that the material spreading distance of the material spreading turntable 22 changes back and forth between the minimum feeding radius and the upper limit of the feeding radius corresponding to the feeding pool. When the set minimum feeding radius is zero, the rotation speed of the material spreading turntable 22 is zero. The size of the minimum feeding radius can be specifically set according to actual needs, thereby achieving uniform material spreading over almost the entire feeding pool, further improving feed utilization.

[0060] In one embodiment of the present specification, the material spreading turntable 22 is detachable and has a variety of different types to meet different material spreading requirements.

[0061] In one embodiment of the present specification, the feeding vehicle 2 includes a discharge box 23, and a material spreading turntable 22 is disposed at a discharge port of the discharge box 23; The control module 304 generates a feeding control signal for controlling the discharge flow rate of the discharge box 23 based on the feeding radius of the feeding vehicle 2 .

[0062] Explanatory note, a roller 241 and a rotating motor 24 for driving the roller 241 to rotate may be provided at the discharge port of the discharge box 23. The outer surface of the roller 241 is provided with a groove parallel to the rotation axis of the rotating motor 24. When the rotating motor 24 rotates, the feed in the groove is transferred out of the discharge box 23 and leaves the groove due to gravity. The discharge flow rate is controlled by controlling the rotation speed of the rotating motor 24.

[0063] Illustratively, the scattering radius of the scattering turntable 22 is different at different rotation speeds, so the circle formed by the scattering radius is also larger. Therefore, the discharge flow rate of the discharge box 23 is controlled according to the change of the feeding radius. The larger the feeding radius, the larger the discharge flow rate of the discharge box 23. Therefore, the scattering density for different feeding radii tends to be consistent, making the feed in the feeding pool more uniform, and further improving the feed utilization rate.

[0064] In one embodiment of the present specification, the feeding vehicle 2 includes an image acquisition module for acquiring feeding images; The control module 304 generates a feeding control signal for controlling the discharge of the discharge box 23 based on the feeding image.

[0065] Explanatory, the image acquisition module is used to obtain video information when the fish are feeding, and can analyze and calculate the water splashes in the video and the amount of residual bait on the water surface to judge the feeding progress. When there are fewer water splashes in the video, the residual bait increases and exceeds the threshold, the feeding vehicle 2 is controlled to stop feeding. This avoids excessive feeding, reduces the accumulation of feed residues and feces in the pool, helps maintain water quality, reduces the frequency of water changes and the cost of water quality treatment, and also improves the utilization rate of feed.

[0066] Implementation principle: Taking the starting point coordinates of the feeding track 1 as the starting point, the real-time position of the feeding vehicle 2 is calculated according to the displacement information and direction information of the feeding vehicle 2 obtained in real time. At the same time, the signal transceiver module 21 on the feeding vehicle 2 periodically sends out a positioning signal.

[0067] The first positioning information and the second positioning information corresponding to when the first positioning signal is sent are obtained, and the calibration positioning information corresponding to when the first positioning signal is sent is obtained through the extended Kalman filter model. Then, the calibration positioning information corresponding to when the first positioning signal is sent is used as a new starting point, and the real-time position of the feeding vehicle 2 is calculated based on the displacement information and direction information of the feeding vehicle 2 obtained in real time.

[0068] Continue to obtain the first positioning information and the second positioning information corresponding to when the second positioning signal is sent, and perform the same steps to obtain the real-time position coordinates of the feeding vehicle 2.

[0069] According to the real-time position coordinates of the feeding vehicle 2, the feeding vehicle 2 is controlled to stop at the preset feeding point for feeding operation, and the rotation speed of the material spreading turntable 22 is controlled to achieve the reciprocating change of the material spreading distance between the feeding radius corresponding to the current feeding point and the preset minimum feeding radius, and the discharge flow rate of the discharge box 23 is controlled synchronously according to the change of the feeding radius. The video information of the school of fish feeding collected by the image acquisition module is analyzed, and when there are fewer splashes in the video, the residual bait increases and exceeds the threshold, the feeding vehicle 2 is controlled to stop feeding.

[0070] The feeding vehicle 2 is controlled again to move along the feeding track 1, and the real-time position coordinates of the feeding vehicle 2 are obtained.

[0071] The above embodiments are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Without departing from the design spirit of this specification, various modifications and improvements made to the technical solutions of this specification by ordinary technicians in this field should fall within the scope of protection determined by the claims of this specification.

Claims

1. An indoor suspended track type aquatic feeding robot, characterized in that: It includes a feeding track, a feeding vehicle moving along the feeding track, a signal transceiver module arranged on the feeding vehicle and periodically sending out positioning signals, at least three positioning base stations receiving positioning signals periodically sent out by the signal transceiver module, and a fusion positioning system; The fusion positioning system includes a first data processing module, a data acquisition module, a second data processing module, and a control module; The first data processing module obtains the first positioning information corresponding to the feeding vehicle at the target time according to the reception time of the positioning signal sent by the target time signal transceiver module corresponding to each positioning base station; The data acquisition module acquires the direction information and displacement information corresponding to the feeding vehicle at different times before the target time, and acquires the second positioning information corresponding to the feeding vehicle at the target time based on the direction information and displacement information corresponding to the feeding vehicle at different times before the target time; The second data processing module obtains the calibration positioning information corresponding to the feeding vehicle at the target time based on the first positioning information corresponding to the feeding vehicle at the target time and the second positioning information corresponding to the feeding vehicle at the target time; The control module generates a control signal for controlling the movement of the feeding vehicle and feeding based on the calibration positioning information corresponding to the feeding vehicle at the target time and the point coordinates corresponding to each of the plurality of preset feeding points.

2. The indoor suspended track type aquatic feeding robot according to claim 1, characterized in that: Each of the positioning base stations is arranged at the same horizontal height as the signal transceiver module, and the connection line of at least three of the positioning base stations forms an acute triangle.

3. The indoor suspended track type aquatic feeding robot according to claim 1, characterized in that: The first data processing module includes a time processing unit and a distance processing unit; The time processing unit obtains the signal reception duration corresponding to each positioning base station based on the target time and the reception time of the positioning signal sent by the signal transceiver module corresponding to each positioning base station; The distance processing unit obtains the interval distance corresponding to each positioning base station from the signal transceiver module at the target time based on the signal reception time corresponding to each positioning base station and the pre-obtained signal reception time-interval distance fitting function corresponding to each positioning base station, and uses it as the first positioning information corresponding to the feeding vehicle at the target time; The signal reception duration-interval distance fitting function corresponding to any positioning base station in the distance processing unit is obtained in the following manner: Based on the positioning signals sent by the signal transceiver module at multiple known coordinates, obtaining the signal reception time corresponding to when the positioning base station receives the positioning signal sent by the signal transceiver module at each known coordinate; Determine the interval distance between each known coordinate and the positioning base station based on each known coordinate and the fixed coordinate of the positioning base station; The signal reception time corresponding to the positioning signal sent by the signal transceiver module at each known coordinate when the positioning base station receives the positioning signal, and the interval distance between each known coordinate and the positioning base station are used as sample data, and the signal reception time-interval distance fitting function is obtained by the least squares method.

4. The indoor suspended track type aquatic feeding robot according to claim 3, characterized in that: The data acquisition module includes a position estimation unit and an interval estimation unit; The position estimation unit obtains the estimated coordinates of the feeding vehicle at the target time based on the direction information and displacement information corresponding to different times from the time when the feeding vehicle sends a positioning signal one cycle before the target time to the time before the target time, and the calibration positioning information corresponding to the feeding vehicle at the time when the signal transceiver module sends a positioning signal one cycle before the target time; The interval estimation unit obtains the estimated interval corresponding to each positioning base station from the signal transceiver module at the target time according to the estimated coordinates corresponding to the feeding vehicle at the target time and the fixed coordinates corresponding to each positioning base station, and uses the calibration positioning information corresponding to the feeding vehicle at the moment when the signal transceiver module sends a positioning signal in a period before the target time, the estimated coordinates corresponding to the feeding vehicle at the target time, and the estimated interval corresponding to each positioning base station from the signal transceiver module at the target time as the second positioning information corresponding to the feeding vehicle at the target time.

5. The indoor suspended track type aquatic feeding robot according to claim 4, characterized in that: The second data processing module includes a difference matrix calculation unit, a state matrix calculation unit, a model calculation unit and a position calibration unit; The difference matrix calculation unit obtains the difference matrix from the signal transceiver module to each positioning base station at any moment based on the interval distance and estimated interval corresponding to each of the signal transceiver modules at any moment. ,in, and are the estimated interval and interval distance from the signal transceiver module to the i-th positioning base station at time k; The state matrix calculation unit obtains the state matrix corresponding to the feeding vehicle at any moment based on the estimated coordinates, direction information and displacement information corresponding to the feeding vehicle at that moment. ,in, Indicates the coordinate value of the feeding vehicle in the coordinate system, It represents the displacement of the feeding vehicle on the X-axis and Y-axis at adjacent moments, and θ is the direction quantity; The model calculation unit uses the difference matrix at any time as the observation quantity based on the extended Kalman filter model , the state matrix at this moment is used as the prediction quantity Get the Kalman gain corresponding to the moment; The position calibration unit acquires the calibration positioning information corresponding to the feeding vehicle at any moment based on the Kalman gain at that moment; The state equation of the extended Kalman filter model in the model calculation unit is: in, is the state matrix corresponding to the calibration positioning information of the feeding vehicle at time k-1, is the input control quantity of the feeding vehicle at time k-1, is a nonlinear state function, is the process noise, which follows a multivariate normal distribution with a mean of 0 and a covariance matrix of Q; The observation equation of the extended Kalman filter model in the model calculation unit is: in, is a nonlinear observation function, is the observation noise, which follows a multivariate normal distribution with mean 0 and covariance matrix R.

6. The indoor suspended track type aquatic feeding robot according to claim 5, characterized in that: The second data processing module further includes an error processing unit and a noise processing unit: The error processing unit obtains the non-line-of-sight error corresponding to each positioning base station based on the difference matrix; The noise processing unit obtains the measurement noise factor corresponding to each positioning base station based on the size relationship between the non-line-of-sight error corresponding to each positioning base station and a preset value; The model calculation unit corrects the Kalman gain based on the measurement noise factor corresponding to each positioning base station.

7. The indoor suspended track type aquatic feeding robot according to claim 1, characterized in that: The control module generates a feeding control signal for controlling the feeding vehicle to feed based on a feeding radius corresponding to any preset feeding point when the feeding vehicle stops at a point coordinate corresponding to any preset feeding point.

8. The indoor suspended track type aquatic feeding robot according to claim 7, characterized in that: The feeding vehicle is provided with a material spreading turntable; The control module generates a feeding control signal for controlling the rotation speed of the material spreading turntable based on the feeding radius corresponding to the preset feeding point and the preset minimum feeding radius when the feeding vehicle stops at the point coordinates corresponding to any preset feeding point, so that the feeding radius of the feeding vehicle changes back and forth between the feeding radius corresponding to the preset feeding point and the preset minimum feeding radius.

9. The indoor suspended track type aquatic feeding robot according to claim 8, characterized in that: The feeding vehicle comprises a discharging box, and the material spreading turntable is arranged at the discharging port of the discharging box; The control module generates a feeding control signal for controlling the discharge flow rate of the discharge box based on the feeding radius of the feeding vehicle.

10. The indoor suspended track type aquatic feeding robot according to claim 9, characterized in that: The feeding vehicle comprises an image acquisition module for acquiring feeding images; The control module generates a feeding control signal for controlling the discharge of the discharge box based on the feeding image.

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