Automatic feeding mechanism, feeding unmanned ship and feeding method

Abstract

The invention discloses an automatic feeding mechanism, a feeding unmanned ship and a feeding method.The automatic feeding mechanism comprises a hopper assembly and a feeding assembly, the hopper assembly is provided with a liftable gate, the feeding assembly is arranged at a discharging port of the hopper assembly and used for scattering materials in a parabola mode, and the hopper assembly is provided with a sensor for monitoring the material amount; the opening and closing degree of a gate of the hopper assembly and the feeding speed of the feeding assembly are controlled through the control system, the sensor is in communication connection with the control system, and the control system calculates the needed material amount, the opening and closing degree of the gate and the feeding speed according to the feeding range. The size of the feeding port of the feeding mechanism can be automatically adjusted according to the total amount of the materials, manual adjustment is not needed, and therefore the automatic control over the feeding amount of the unmanned ship is achieved, the unmanned ship can automatically complete the material feeding task according to the preset feeding range and the preset material amount, manual intervention is not needed, and the feeding efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding equipment, and particularly relates to an automatic feeding unmanned ship and a feeding method. Background Art

[0002] Great progress in robotics has brought about major changes in the operation methods in many fields, gradually evolving from manual operation to unmanned autonomous operation, such as aquaculture, ocean exploration, disaster relief, etc. In artificial breeding bases, at present, the vast majority of feeding methods are manual feeding. This method is not only time-consuming and laborious, but also has low efficiency, seriously hindering the vigorous development of the artificial aquaculture industry. There is an urgent need for a robot that can automatically feed to solve various drawbacks brought by manual feeding.

[0003] Under this background, automatic feeding equipment has emerged. However, the existing feeding equipment cannot automatically adjust the feeding amount. The feeding ports of the existing automatic feeding equipment are basically put through the feeding openings or feeding pipes, and the diameters of the feeding openings or feeding pipes cannot be adjusted, resulting in a fixed feeding amount and unable to automatically adjust the feeding amount according to the total amount of feeding. Therefore, the feeding efficiency of the unmanned ship is relatively low. In addition, the feeding mechanism is complex. In order to prevent the material from caking, a stirring device is also required to continuously stir the material and then put it through the feeding opening, and the feeding area is small. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides an automatic feeding mechanism, a feeding unmanned ship and a feeding method.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: An automatic feeding mechanism includes a hopper assembly having a liftable gate and a feeding assembly arranged at the discharge port of the hopper assembly for spreading the material in a parabolic form. The hopper assembly has a sensor for monitoring the material quantity. The opening and closing size of the gate of the hopper assembly and the feeding speed of the feeding assembly are both controlled by a control system, and the sensor is communicatively connected to the control system. The control system calculates the required material quantity, the opening and closing size of the gate and the feeding speed according to the feeding range;

[0006] The feeding assembly includes a fixed shaft movably arranged at the discharge port of the hopper assembly, a plurality of spreading blades arranged on the fixed shaft and distributed along the circumferential direction of the fixed shaft, and a first driving structure for driving the fixed shaft to rotate. The spreading blades are arc-shaped, and there is a material receiving gap between adjacent spreading blades. The material receiving gap is an arc-shaped open structure with a gradually increasing size from the bottom to the top. The first driving structure is communicatively connected to the control system, and the spreading speed is controlled by controlling the first driving structure through the control system.

[0007] Furthermore, the hopper assembly includes a hopper main body, a hopper gate slidably arranged at the discharge opening of the hopper main body, and a second driving structure for driving the hopper gate to lift. The second driving structure is communicatively connected to the control system. By controlling the second driving structure through the control system, the opening and closing size of the hopper gate can be controlled. The sensor is arranged inside the hopper main body.

[0008] Furthermore, the bottom surface of the hopper main body is inclined towards the feeding mechanism.

[0009] Furthermore, a vibration motor is arranged at the bottom of the hopper main body, and the vibration motor is communicatively connected to the control system.

[0010] Furthermore, the first driving structure includes a first driving motor, a driving gear arranged at the output end of the first driving motor, a driven gear arranged on the fixed shaft, and a transmission chain cooperatively connected to the driving gear and the driven gear. The first driving motor is controlled through the control system.

[0011] Furthermore, the second driving structure includes a second driving motor, a gear arranged at the output end of the second driving motor, and a rack arranged on the side wall of the gate and meshed with the gear. The second driving motor is controlled through the control system.

[0012] The present invention also provides a feeding unmanned ship, which includes an automatic feeding mechanism, and further includes an unmanned ship main body, a propeller and a rudder respectively arranged at the tail of the unmanned ship main body and communicatively connected to the control system, and a cabin respectively arranged on the unmanned ship main body. The hopper assembly and the feeding assembly are respectively arranged on the unmanned ship.

[0013] Furthermore, the control system includes a communication module and a control board communicatively connected to the communication module. The sensor, the first driving motor, the second driving motor, the vibration motor, the propeller and the rudder are respectively communicatively connected to the control board.

[0014] Furthermore, the communication module includes a GPS module, a data transmission module, a remote control receiver, an ammeter and a host computer. The GPS module is used to obtain the real-time position and heading attitude information of the unmanned ship. The data transmission module is used to realize the data transmission between the host computer and the unmanned ship. The remote control receiver is used to receive the PWM wave of the remote control by the unmanned ship in the manual mode. The ammeter is used to transmit the power of the battery of the unmanned ship back to the host computer in real time through the data transmission. The host computer is used to provide the user with the feeding trajectory preset of the unmanned ship, the manual / automatic model switching and the monitoring of the working information of the unmanned ship.

[0015] The present invention also provides a feeding method based on the feeding unmanned ship, which is characterized by including the following steps:

[0016] S1: Set the feeding amount, feeding trajectory and feeding speed according to the feeding area through the control system;

[0017] S2: After setting all the parameters, drive the unmanned boat to the loading point, and then load materials into the hopper body.

[0018] S3: During the process of loading materials, detect the amount of materials in the hopper body through a sensor. Based on whether the pressure detected by the sensor in the hopper body stops changing, if the pressure stops changing for more than 5 seconds, the loading is completed; otherwise, continue loading until the pressure stops changing for more than 5 seconds.

[0019] S3: When the material loading is completed, the control system automatically turns on the power of the unmanned boat, and each driving structure enters the standby state. Subsequently, the thruster and rudder of the unmanned boat work, and it sails into the feeding area according to the preset feeding trajectory.

[0020] S4: When the unmanned boat reaches the predetermined feeding area and the starting point of the trajectory, at this time, the control system controls the opening of the gate of the hopper assembly, and at the same time controls the start of the high-frequency motor and the feeding assembly, and ensures that the unmanned boat discharges materials according to the calculated discharge amount per meter.

[0021] S5: When the unmanned boat has completed the material discharge according to the preset feeding trajectory, the unmanned boat sails back to the loading point, and the control system controls each driving structure to be in the closed state, waiting for the next loading.

[0022] The present invention has the following beneficial effects: An automatic feeding mechanism, a feeding unmanned boat and a feeding method provided by the present invention can automatically adjust the size of the feeding port of the feeding mechanism according to the total amount of materials, without manual adjustment, so as to realize the automatic control of the feeding amount of the unmanned boat, enabling the unmanned boat to automatically complete the material discharge task according to the preset feeding range and the amount of materials, without manual intervention, and greatly improving the feeding efficiency.

[0023] Moreover, the feeding assembly evenly scatters the materials in a parabolic form through the spreading blades, ensuring a wide coverage range and uniform distribution of the materials. By real-time monitoring the amount of materials in the hopper through the sensor, the control system can accurately adjust the opening and closing size of the hopper gate and the feeding speed, avoiding material waste or shortage. The control system automatically calculates the required amount of materials, the opening and closing size of the gate and the feeding speed according to the preset feeding range, ensuring the accuracy of feeding.

[0024] In addition, the unmanned boat realizes automatic navigation through the thruster and rudder, can move in the water area according to the preset route, and complete the large-range feeding task. The control system can adjust the sailing speed and direction of the unmanned boat according to actual needs to adapt to different water area environments and feeding requirements. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the feeding assembly in the present invention;

[0026] Figure 2 Schematic diagram of the blade structure of the material spreading blade in the feeding component of the present invention;

[0027] Figure 3 Side view of the blade of the material spreading blade in the feeding component of the present invention;

[0028] Figure 4 Schematic diagram of the first driving structure of the feeding component of the present invention;

[0029] Figure 5 Schematic diagram of the cooperation structure between the feeding component and the hopper component of the present invention;

[0030] Figure 6 Schematic diagram of the hopper component of the present invention;

[0031] Figure 7 Schematic diagram of the back structure of the hopper component of the present invention;

[0032] Figure 8 Schematic diagram of the hopper main body structure of the hopper component of the present invention;

[0033] Figure 9 Side view of the hopper main body of the hopper component of the present invention;

[0034] Figure 10 Schematic diagram of the second driving structure of the hopper component of the present invention;

[0035] Figure 11 Schematic diagram of the structure for the second driving structure of the hopper component of the present invention to control the hopper gate;

[0036] Figure 12 Schematic diagram of the unmanned feeding boat of the present invention;

[0037] Figure 13 Schematic diagram of the hull explosion structure of the unmanned feeding boat of the present invention;

[0038] Figure 14 Schematic diagram of the propeller and rudder structure of the unmanned feeding boat of the present invention;

[0039] Figure 15 Block diagram of the control system of the present invention;

[0040] Figure 16 Flow chart of the feeding method of the unmanned feeding boat of the present invention;

[0041] Figure 17 Schematic diagram of the feeding trajectory of the unmanned feeding boat of the present invention;

[0042] Figure 18 Schematic diagram of the working trajectory of the unmanned feeding boat of the present invention;

[0043] Figures 1 to 18 The reference numerals shown in the figures are respectively represented as follows: 1 - hopper assembly, 2 - feeding assembly, 20 - fixed shaft, 21 - spreading blade, 22 - first driving structure, 23 - material storage gap, 10 - hopper body, 11 - hopper gate, 12 - second driving structure, 13 - vibration motor, 220 - feeding motor, 221 - driving gear, 222 - driven gear, 223 - transmission chain, 120 - gate motor, 121 - gear, 3 - hull, 4 - thruster, 5 - rudder, 30 - front hatch, 31 - rear hatch, 32 - front hatch opening, 33 - rear hatch opening. Detailed implementation manners

[0044] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0045] As Figure 1 shown, an automatic feeding mechanism includes a hopper assembly 1 having a liftable hopper gate 11 and a feeding assembly 2 disposed at the discharge port of the hopper assembly 1 for spreading materials in a parabolic form. The hopper assembly 1 is provided with a sensor for monitoring the material quantity. The opening and closing size of the hopper gate 11 of the hopper assembly 1 and the feeding speed of the feeding assembly 2 are both controlled by a control system, and the sensor is communicatively connected to the control system. The control system calculates the required material quantity, the opening and closing size of the hopper gate 11, and the feeding speed according to the feeding range. The sensor can be a weight sensor, a pressure sensor, a photoelectric sensor or other types of material level sensors. The sensor can be one, two or even more, mainly for accurately monitoring the quantity of materials fed into the hopper assembly 1. By controlling the opening and closing size of the hopper gate 11 through the control system, the outflow quantity of the materials can be controlled. The feeding assembly 2 can spread the materials in a parabolic form, making the material spreading of the unmanned ship more uniform, expanding the coverage range of the materials, and being applicable to large-scale farms or feeding areas. In addition, the feeding range can be determined by adjusting the rotation speed of the feeding assembly 2. Therefore, users can adjust the feeding range of the unmanned ship according to the size of the breeding base, making the feeding more scientific and reasonable.

[0046] Through the combination of the sensor and the control system, this mechanism realizes the automation of material feeding and reduces manual intervention. The system can accurately calculate the required material quantity, the opening and closing size of the gate, and the feeding speed according to the feeding range, ensuring the uniformity and efficiency of material feeding, being applicable to farms of various scales, and especially suitable for large-area and high-density breeding environments.

[0047] As Figures 2 to 3As shown in the figure, the feeding component 2 includes a fixed shaft 20 movably arranged at the discharge port of the hopper component 1, a plurality of spreading blades 21 arranged on the fixed shaft 20 and distributed along the circumferential direction of the fixed shaft 20, and a first driving structure 22 for driving the fixed shaft 20 to rotate. The spreading blades 21 are arc-shaped, and there is a material-containing gap 23 between adjacent spreading blades 21. The material-containing gap 23 is an arc-shaped open structure with a gradually increasing size from the bottom to the top. The first driving structure 22 is communicatively connected to the control system, and the feeding speed is controlled by controlling the first driving structure 22 through the control system. The fixed shaft 20 is movably arranged at the discharge port of the hopper component 1 and is the core support structure of the feeding component 2. The fixed shaft 20 can rotate around its axis to drive the spreading blades 21 to move. After the material flows out from the discharge port of the hopper, it falls onto the rotating feeding component 2 and enters the material-containing gap 23 of the feeding component 2. Since the bottom of the material-containing gap 23 is relatively narrow, the material will concentrate at the bottom of the gap. When the first driving structure 22 drives the fixed shaft 20 to rotate, the spreading blades 21 will rotate accordingly. Since the spreading blades 21 are arc-shaped, the material will be lifted from the bottom during rotation and thrown out in a parabolic form by the centrifugal force. The material-containing gap 23 gradually increases from the bottom to the top, enabling the material to be evenly distributed during the rotation of the blades, avoiding material accumulation or uneven spreading. The control system controls the rotation speed of the fixed shaft 20 by adjusting the rotation speed of the first driving structure 22. The faster the rotation speed, the farther the material is thrown; the slower the rotation speed, the closer the material is thrown. In addition, in order to prevent the material from leaking to both sides during the rotation of the feeding mechanism, a side plate is installed on each side of the feeding component 2, and the side plate is fixed to the feeding mechanism through a mounting shaft.

[0048] As Figures 4 to 5 shown in the figure, among them, the first driving structure 22 includes a feeding motor 220, a driving gear 221 arranged at the output end of the feeding motor 220, a driven gear 222 arranged on the fixed shaft 20, and a transmission chain 223 cooperatively connected between the driving gear 221 and the driven gear 222. The feeding motor 220 is controlled through the control system. The connection between the motor shaft of the feeding motor 220 and the driving gear 121 is made by a flat key connection, and the connection between the fixed shaft 20 and the driven gear 222 is made by a flat key connection. The power generated by the feeding motor 220 drives the driving gear 221 on its motor shaft. The driving gear 221 drives the chain, and the chain transmits the power to the driven gear 222 mounted on the fixed shaft 20, thereby driving the overall rotation of the fixed shaft 20 and the spreading blades 21, and further realizing the feeding action.

[0049] As Figures 6 to 9As shown in the figure, the hopper assembly 1 includes a hopper body 10, a hopper gate 11 slidably arranged at the discharge port of the hopper body 10, and a second driving structure 12 for driving the hopper gate 11 to lift. The second driving structure 12 is communicatively connected to the control system. By controlling the second driving structure 12 through the control system, the opening and closing size of the hopper gate 11 can be controlled. The sensor is arranged inside the hopper body 10. The hopper body 10 is the core mechanism of the hopper assembly 1. The bottom surface of the hopper body 10 is inclined towards the feeding mechanism, facilitating the sliding of materials from the hopper to the feeding mechanism, and then realizing the automatic feeding action through the feeding assembly 2. The materials are stored in the hopper body 10 and naturally flow towards the discharge port under the action of gravity. When feeding is required, the control system calculates the required gate opening and closing size based on the preset feeding amount and the material amount information fed back by the sensor, and adjusts the position of the gate through the second driving structure 12. As the gate opens, the materials flow out of the discharge port and enter the feeding assembly 2 for spreading.

[0050] As Figures 10 to 11 shown in the figure, specifically, the second driving structure 12 includes a gate motor 120, a gear 121 arranged at the output end of the gate motor 120, and a rack 122 arranged on the side wall of the hopper gate 11 and meshing with the gear 121. The gate motor 120 is controlled through the control system. The hopper gate 11 plays an important role in the feeding process. The hopper gate 11 is designed with a straight rack 122, which converts the circular motion of the gate motor 120 into a linear motion, so as to realize the opening and closing size of the gate, and further realize the control of the feeding amount. In order to enable the materials to slide smoothly from the hopper, a vibration motor 13 is arranged at the bottom of the hopper body 10. The vibration motor 13 is communicatively connected to the control system. By the vibration motor 13, the hopper generates high-frequency vibration, and combined with the inclination of the hopper, the sliding of the materials is realized. Even if there are caked materials, the caked materials can be dispersed through vibration. In order to prevent the hopper gate 11 from generating a gap with the hopper when closed and prevent material leakage when feeding is not required, a rubber pad is installed under the hopper gate 11.

[0051] As Figures 12 to 14As shown in the figure, in addition, the present invention also provides an unmanned feeding ship, which includes the above-mentioned automatic feeding mechanism, and further includes a hull 3, a propeller 4 and a rudder 5 which are respectively arranged at the tail of the hull 3 and are communicatively connected to the control system, and cabins which are respectively arranged on the hull 3. The hopper assembly 1 and the feeding assembly 2 are respectively arranged on the unmanned ship. The main body of the unmanned ship adopts an integrated design, which can increase the sealing performance of the hull 3. There are two hatches opened directly above the hull 3, namely a front hatch 32 and a rear hatch 33, which are convenient for the utilization of the internal space of the cabin. In order to prevent the leakage of the inside of the cabin, a front hatch cover 30 is arranged on the front hatch 32, and a rear hatch cover 31 is arranged on the rear hatch 33. The front hatch cover 30 is also designed with a hatch handle for easy opening of the hatch cover. The front half of the cabin is mainly used to place the relevant hardware of the control system, the battery of the unmanned ship, etc., and the rear half of the cabin is mainly used to place the driving device of the unmanned ship, such as the feeding motor 220 of the feeding mechanism and the gate motor 120 of the hopper gate 11. There are hopper support rod mounting holes on the tail plates on both sides of the hull 3 for installing hopper support rods to support the hopper. This design is flexible and convenient, facilitating the installation and disassembly of the hopper assembly 1 and convenient for daily maintenance. In addition to the hopper support rod fixing holes on both tail plates, there are also mounting holes for the feeding assembly 2. The fixed shafts 20 at both ends of the feeding assembly 2 are supported by bearings and installed at the tail of the hull 3. There is also a driving device mounting hole in the middle of the tail plate of the hull 3 for installing the driving structure of the unmanned ship, namely the propeller 4 and the rudder 5. The center of gravity of the entire main body of the unmanned ship is slightly biased to the rear, similar to an airship. The purpose of this design is that when the unmanned ship is working, the bow is slightly lifted to reduce the resistance of seawater during the driving process of the unmanned ship, so as to achieve energy saving and extend the endurance.

[0052] As the driving structure of the hull 3, the propeller 4 and the rudder 5 can control the rotation speed of the propeller 4 and the rotation angle of the rudder 5 according to the feeding trajectory defined by the user, so as to control the unmanned ship to track the feeding trajectory defined by the user. When using the unmanned ship for feeding operation, it should be noted that the gate motor 120 of the hopper assembly 1 enters the working state only after the unmanned ship travels to the preset feeding trajectory, that is, the hopper gate 11 will open only after the unmanned ship travels to the preset feeding trajectory. The purpose of this design is to ensure that the unmanned ship can deliver the materials to the required place, making the feeding more scientific and reasonable.

[0053] As Figure 15 shown in the figure, the control system includes a communication module and a control board communicatively connected to the communication module. The sensor, the feeding motor 220, the gate motor 120, the vibration motor 13, the propeller 4 and the rudder 5 are respectively communicatively connected to the control board. The control board can adopt a single-chip microcomputer of model STM32. The control board can calculate in combination with the total distance of the feeding trajectory preset by the user to ensure that after the unmanned ship travels one circle, the feeding is just completed, thereby improving the feeding efficiency. The calculation rule of the feeding amount of the unmanned ship is:

[0054] The control panel converts the analog quantity of the material feeding amount per meter of the unmanned ship obtained by calculation into a pulse signal, and then controls the rotation amount of the motor of the hopper gate 11, accurately controlling the opening size of the hopper gate 11, so that the unmanned ship feeds materials according to the calculated material feeding amount per meter, thereby ensuring that the automatic feeding unmanned ship can just complete the feeding after traveling one week along the preset trajectory of the user.

[0055] It should be noted that, in order to make the material feeding of the unmanned ship more uniform and scientific and avoid the materials discharged from piling up in a certain area of the pond, the rotation speed of the feeding motor 220 of the feeding mechanism of the present invention is determined by the size of the material feeding amount per meter of the unmanned ship. When the material feeding amount per meter of the unmanned ship is large, the feeding motor 220 of the feeding mechanism rotates fast; when the material feeding amount per meter of the unmanned ship is small, the feeding motor 220 of the feeding mechanism rotates fast. Following this rule, when the user finishes loading the materials, the controller of the unmanned ship feeding mechanism will adjust the rotation speed according to the information fed back by the sensor, so as to feed materials more scientifically.

[0056] The communication module includes a GPS module, a data transmission module, a remote control receiver, a current meter and a host computer. The GPS module is used to obtain the real-time position and heading attitude information of the unmanned ship. The data transmission module is used to realize the data transmission between the host computer and the unmanned ship. Among them, the data transmission module is mainly divided into a fixed end and a mobile end. The fixed end is installed on the host computer, and the mobile end is installed on the lower automatic feeding unmanned ship. The remote control receiver is used to receive the PWM wave of the remote control by the unmanned ship in the manual mode. The current meter is used to transmit the power of the battery of the unmanned ship back to the host computer in real time through data transmission. The host computer is used to provide the user with the preset feeding trajectory of the unmanned ship, the switching between the manual / automatic model and the monitoring of the working information of the unmanned ship.

[0057] As Figures 16 to 18 shown, in addition, the present invention also provides a feeding method for a feeding unmanned ship, including the following steps:

[0058] S1: Set the feeding amount, feeding trajectory and feeding speed according to the feeding area through the control system;

[0059] S2: After setting each parameter, drive the unmanned ship to the loading point, and then load materials into the hopper main body 10;

[0060] S3: During the process of loading materials, detect the amount of materials in the hopper main body 10 through the sensor. Based on whether the pressure detected by the sensor in the hopper main body 10 stops changing, if the pressure stops changing for more than 5 seconds, the loading is completed; otherwise, continue loading until the pressure stops changing for more than 5 seconds.

[0061] S3: After the material is loaded, the control system automatically turns on the power supply of the unmanned boat, and each driving structure enters the standby state. Subsequently, the thruster 4 and rudder 5 of the unmanned boat work and drive into the feeding area according to the preset feeding trajectory.

[0062] S4: When the unmanned boat reaches the predetermined feeding area and the starting point of the trajectory, at this time, the control system controls the hopper gate 11 of the hopper assembly 1 to open, and at the same time controls the vibration motor 13 and the feeding assembly 2 to start, and ensures that the unmanned boat discharges the material according to the calculated feeding amount per meter.

[0063] S5: After the unmanned boat discharges the material according to the predetermined feeding trajectory, the unmanned boat returns to the loading point, and the control system controls each driving structure to be in the off state and waits for the next loading.

[0064] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic feeding mechanism, characterized in that: The invention comprises a hopper assembly (1) having a liftable hopper gate (11) and a feeding assembly (2) arranged at the discharge port of the hopper assembly (1) and used to scatter materials in a parabolic form, the hopper assembly (1) having a sensor for monitoring the material quantity, the opening and closing size of the hopper gate (11) of the hopper assembly (1) and the feeding speed of the feeding assembly (2) are controlled by a control system, and the sensor is in communication connection with the control system, and the control system calculates the required material quantity, the opening and closing size of the hopper gate (11) and the feeding speed according to the feeding range; The feeding assembly (2) comprises a fixed shaft (20) movably arranged at the discharge port of the hopper assembly (1), a plurality of spreading blades (21) arranged on the fixed shaft (20) and distributed along the circumferential direction of the fixed shaft (20), and a first driving structure (22) for driving the fixed shaft (20) to rotate, the spreading blades (21) being arranged in an arc shape, and a material storage gap (23) being provided between adjacent spreading blades (21), the material storage gap (23) being an arc-shaped open structure with a size gradually increasing from the bottom to the top, and the first driving structure (22) being connected in communication with the control system, and the feeding speed is controlled by controlling the first driving structure (22) through the control system.

2. The automatic feeding mechanism according to claim 1, characterized in that: The hopper assembly (1) comprises a hopper body (10), a hopper gate (11) slidably arranged at a discharge port of the hopper body (10), and a second driving structure (12) for driving the hopper gate (11) to rise and fall, the second driving structure (12) being communicatively connected to the control system, and the control system controls the second driving structure (12) and thereby controls the opening and closing size of the hopper gate (11), and the sensor is arranged inside the hopper body (10).

3. The automatic feeding mechanism according to claim 2, characterized in that: The bottom surface of the hopper body (10) is inclined towards the feeding mechanism.

4. The automatic feeding mechanism according to claim 2, characterized in that: A vibration motor (13) is provided at the bottom of the hopper body (10), and the vibration motor (13) is communicatively connected to the control system.

5. The automatic feeding mechanism according to claim 1, characterized in that: The first driving structure (22) comprises a feeding motor (220), a driving gear (221) arranged at the output end of the feeding motor (220), a driven gear (222) arranged on the fixed shaft (20), and a transmission chain (223) cooperatively connected to the driving gear (221) and the driven gear (222); the feeding motor (220) is controlled by the control system.

6. The automatic feeding mechanism according to claim 2, characterized in that: The second driving structure (12) comprises a gate motor (120), a gear (121) arranged at the output end of the gate motor (120), and a rack (122) arranged on the side wall of the hopper gate (11) and meshing with the gear (121); the gate motor (120) is controlled by a control system.

7. A feeding unmanned boat, characterized in that: The invention comprises the automatic feeding mechanism according to any one of claims 1 to 6, and further comprises a hull (3), a propeller (4) and a rudder (5) respectively arranged at the rear of the hull (3) and communicatively connected to a control system, and a cabin respectively arranged on the hull (3), wherein the hopper assembly (1) and the feeding assembly (2) are respectively arranged on the unmanned ship.

8. The unmanned feeding ship according to claim 7, characterized in that: The control system comprises a communication module and a control panel communicatively connected to the communication module, and the sensor, the feeding motor (220), the gate motor (120), the vibration motor (13), the propeller (4) and the rudder (5) are respectively communicatively connected to the control panel.

9. The unmanned feeding ship according to claim 8, characterized in that: The communication module includes a GPS module, a data transmission module, a remote control receiver, an ammeter and a host computer. The GPS module is used to obtain the real-time position and heading attitude information of the unmanned ship. The data transmission module is used to realize data transmission between the host computer and the unmanned ship. The remote control receiver is used for the unmanned ship to receive the remote control PWM wave in manual mode. The ammeter is used to transmit the power of the unmanned ship battery back to the host computer in real time through digital transmission. The host computer is used to provide users with the unmanned ship's feeding trajectory preset, manual / automatic model switching and monitoring of the unmanned ship's working information.

10. A feeding method for a feeding unmanned boat according to any one of claims 7 to 9, characterized in that: The following steps are involved: S1: The control system sets the feeding amount, feeding trajectory and feeding speed according to the feeding area; S2: After the above parameters are set, the unmanned boat is driven to the loading point, and then the materials are loaded into the hopper body (10); S3: During the process of loading the material, the amount of material in the hopper body (10) is detected by a sensor, and whether the pressure in the hopper body (10) stops changing is used as a basis. If the pressure stops changing for more than 5 seconds, the loading is completed; otherwise, the loading continues until the pressure stops changing for more than 5 seconds; S3: When the material is loaded, the control system controls the power supply of the unmanned boat to automatically turn on, and each driving structure enters a standby state. Then, the propeller (4) and the rudder (5) of the unmanned boat work, and the unmanned boat enters the feeding area according to the preset feeding trajectory; S4: When the unmanned boat reaches the predetermined feeding area and the starting point of the trajectory, the control system controls the hopper gate (11) of the hopper assembly (1) to open, and controls the vibration motor (13) and the feeding assembly (2) to start, and ensures that the unmanned boat feeds materials according to the calculated feeding amount per meter; S5: When the unmanned boat has finished delivering the materials according to the predetermined feeding trajectory, the unmanned boat returns to the loading point, and the control system controls each driving structure to be in a closed state, waiting for the next loading.

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