Feeding equipment based on feed box residual quantity monitoring

Abstract

The invention discloses feeding equipment based on feed box allowance monitoring. The feeding equipment comprises a movable chassis, a feed supply module, a clamping module and a detection module, the movable chassis is suitable for moving in a feeding area; the feeding module is arranged on the movable chassis and comprises a feeding box and a discharging assembly, the feeding box is provided with a discharging opening, and the discharging assembly is suitable for controlling the discharging opening to be opened and closed; the clamping module is arranged on the movable chassis, and the clamping module is suitable for clamping and moving the material box; the detection module is arranged on the feeding module and is suitable for detecting the remaining amount of feed in the feed box; the discharging assembly is suitable for controlling the discharging opening to be opened and closed according to the remaining feed amount. According to the method, the remaining amount of feed in the cage position feed boxes can be measured one by one, the feeding strategy of individuals one by one is dynamically adjusted on the basis of real-time remaining amount data, differential accurate feeding of individual rabbits in the same batch of breeding units can be achieved, and the problems of nutrition imbalance and the like caused by a traditional batch feeding mode are remarkably solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated livestock breeding equipment, and in particular to a feeding device based on monitoring the remaining amount of feed boxes. Background Art

[0002] In related technologies, the feeding systems in large-scale rabbit houses generally adopt the same-batch precise feeding mode, that is, the same feeding time, feed type, and feeding amount control are executed for all rabbit cages in the same breeding unit. However, due to factors such as age, breed, and health status, rabbits have different nutritional requirements. Although the same-batch precise feeding mode can achieve the feeding accuracy at the batch level, it fails to monitor and obtain individual feeding behavior data, cannot dynamically identify and respond to the actual feeding demand differences of different rabbits, and cannot dynamically respond to adjust the feeding plan.

[0003] Therefore, a series of problems exist in the related feeding systems, which are specifically manifested as follows: In the scenario of mixed breeding of breeding female rabbits and fattening rabbits, high-metabolism individuals have insufficient nutrient intake due to the continuously low remaining amount of the feed box, while there is a risk of mildew due to feed accumulation in the cages of sick and weak rabbits. At the same time, the fixed-frequency feeding supplement mechanism is not associated with the real-time consumption rate of the feed box. For example, when the environmental temperature suddenly rises and the group's water intake surges, the system still executes the original dry feed feeding plan, resulting in ineffective loss of feed in the cages. These problems not only affect the health of rabbits but also reduce the breeding efficiency.

[0004] In addition, related technologies use methods such as monitoring the feed amount to dynamically adjust the feeding plan. However, they mistakenly equate "batch uniformity" with "individual precision". Their weighing sensors only measure the total supply deviation and do not construct a mapping model between the change curve of the remaining amount of the feed box in a single cage and the individual health status, resulting in missed early warnings of digestive tract diseases. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. For this reason, an object of the present invention is to propose a feeding device based on monitoring the remaining amount of feed boxes, which can dynamically adjust the feeding strategy based on real-time remaining amount data and achieve differential precise feeding of individual rabbits in the same-batch breeding unit.

[0006] The present application proposes a feeding device based on monitoring the remaining amount of feed boxes, including a mobile chassis, a feeding module, a clamping module, and a detection module; the mobile chassis is adapted to move within the feeding area; the feeding module is arranged on the mobile chassis, the feeding module includes a feeding box and a blanking component, the feeding box is provided with a blanking port, and the blanking component is adapted to control the opening and closing of the blanking port; the clamping module is arranged on the mobile chassis, and the clamping module is adapted to clamp and move the feed box; the detection module is arranged on the feeding module and is adapted to detect the remaining amount of feed in the feed box; wherein the blanking component is adapted to control the opening and closing of the blanking port according to the remaining amount of feed.

[0007] According to the feeding device based on the monitoring of the remaining amount of the feed box of the present application, the detection module can measure the remaining amount of feed in each cage's feed box, and the feeding module can supplement the feed for each feed box accordingly based on the detection result. The present application dynamically adjusts the feeding strategy for each individual based on the real-time remaining amount data, and can achieve differential and precise feeding of individual rabbits in the same batch of breeding units, significantly improving problems such as nutritional imbalance caused by the traditional batch feeding mode; at the same time, the detection result of the remaining amount of the feed box by the detection module can also be used as a basis for judging the health status of the rabbit group. In addition, by using the clamping module to clamp and move the feed box to the feeding position or the detection position, the accuracy of the detection result can be improved, avoiding the influence of cage body occlusion, etc., and ensuring the authenticity and accuracy of the remaining amount data of each rabbit cage's feed box.

[0008] According to some embodiments of the present application, the feeding component includes a baffle and a first driving member. The baffle is movably arranged in the feeding box to selectively close the feeding port; the first driving member is arranged in the feeding box, and the first driving component is connected to the baffle and is adapted to drive the baffle to move.

[0009] According to some embodiments of the present application, the feeding module component further includes a first mounting frame arranged on the feeding box; wherein the first mounting frame is formed with a fitting groove slidably connected to the baffle, the extending direction of the fitting groove is perpendicular to the extending direction of the feeding port, and the feeding port penetrates through the fitting groove; the baffle is adapted to slide relative to the fitting groove to open or close the feeding port.

[0010] According to some embodiments of the present application, the clamping module includes a robotic arm and an end effector. The robotic arm is rotatably arranged on the mobile chassis, and the robotic arm includes a plurality of sequentially connected arm segments; the end effector is arranged at the end of the robotic arm, and the end effector is adapted to clamp the feed box; the robotic arm is adapted to drive the end effector to move the feed box.

[0011] According to some embodiments of the present application, the end effector includes a second mounting frame, a fixed jaw, a movable jaw and a second driving member. The second mounting frame is arranged at the end of the robotic arm; the fixed jaw is arranged on the second mounting frame; the movable jaw is movably arranged on the second mounting frame and is adapted to move along a first direction to approach or move away from the fixed jaw; the second driving member is arranged on the second mounting frame, and the second driving member is adapted to drive the movable jaw to move.

[0012] According to some embodiments of the present application, the clamping module further includes a positioning component arranged on the second mounting frame. The positioning component is adapted to obtain the position information of the feed box, and the robotic arm controls the movement of the end effector according to the position information.

[0013] According to some embodiments of the present application, the second mounting frame is formed with a sliding groove extending along the first direction; the movable jaw is connected to the sliding groove in a matching manner and is adapted to move relative to the sliding groove.

[0014] According to some embodiments of the present application, the fixed jaw and / or the movable jaw are configured in multiple numbers.

[0015] According to some embodiments of the present application, the feeding device further includes a navigation module disposed on the mobile chassis, and the mobile chassis moves within the feeding area according to the instructions of the navigation module.

[0016] According to some embodiments of the present application, the feeding device further includes a control module and an early warning module. The control module is connected to the detection module, the clamping module, and the feeding module, and is adapted to receive the detection results of the detection module and control the operation of the clamping module and the feeding module based on the detection results; the early warning module is connected to the control module, and the control module is adapted to control the early warning module to emit an early warning signal when the feed margin is within a preset deviation range.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 is a schematic structural diagram of a feeding device according to some embodiments of the present application;

[0020] Figure 2 is a schematic structural diagram of a blanking assembly according to some embodiments of the present application;

[0021] Figure 3 is a schematic structural diagram of an end effector according to some embodiments of the present application.

[0022] Reference Numerals:

[0023] Mobile chassis 10; First bracket 21; Second bracket 22;

[0024] Feeding box 31; Blanking port 32; Blanking assembly 33; Baffle 331; First driving member 332; First mounting bracket 34; Fitting groove 35;

[0025] Robotic arm 41; End effector 42; Second mounting bracket 421; Fixed jaw 422; Movable jaw 423; Second driving member 424; Slide groove 425; Positioning assembly 43;

[0026] Detection module 50; Navigation module 60. Detailed Description of the Embodiments

[0027] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0028] Reference is made below to Figures 1 - 3 Describe a feeding device based on monitoring the remaining amount of the feed box according to an embodiment of the present invention.

[0029] The present application provides a feeding device based on monitoring the remaining amount of the feed box, including a mobile chassis 10, a feeding module, a clamping module, and a detection module 50; the mobile chassis 10 is adapted to move within the feeding area; the feeding module is arranged on the mobile chassis 10, and the feeding module includes a feed box 31 and a blanking assembly 33. The feed box 31 is provided with a blanking opening 32, and the blanking assembly 33 is adapted to control the opening and closing of the blanking opening 32; the clamping module is arranged on the mobile chassis 10, and the clamping module is adapted to clamp and move the feed box; the detection module 50 is arranged on the feeding module and is adapted to detect the remaining amount of feed in the feed box; wherein the blanking assembly 33 is adapted to control the opening and closing of the blanking opening 32 according to the remaining amount of feed.

[0030] According to the feeding device based on monitoring the remaining amount of the feed box of the present application, the mobile chassis 10 can drive the feeding module, the clamping module, and the detection module 50 to move within the feeding area so as to move to each cage position for feeding. The clamping module can clamp the feed box at any cage position and move the feed box to switch between the blanking position, the detection position, and the feeding position. The detection module 50 detects the remaining amount of feed in the feed box in real time, and the feeding module controls the opening and closing of the blanking opening 32 through the blanking assembly 33 according to the detection result to add an appropriate amount of feed into the feed box. Among them, the blanking position of the feed box coincides with the detection position and is located below the blanking opening 32, so that the detection module 50 can monitor the amount of feed in the feed box at all times during the blanking process, thereby realizing the control of the blanking amount. In some embodiments, the detection module 50 is adapted to detect the area and depth of the feed in the feed box, so as to calculate and obtain the remaining amount information. The detection module 50 can be configured as a detection camera.

[0031] According to the feeding equipment based on feed box remainder monitoring of the present application, the detection module 50 can be used to measure the feed remainder in each cage feed box, and the feeding module can be used to replenish feed to each feed box accordingly based on the detection results. The present application dynamically adjusts the feeding strategy of each individual based on real-time remainder data, which can achieve differential and precise feeding of individual rabbits in the same batch breeding unit, and significantly improve the nutritional imbalance and other problems caused by the traditional batch feeding mode; at the same time, the feed box remainder detection results of the detection module 50 can also be used as a basis for judging the health status of the rabbit group. In addition, the use of a clamping module to clamp the feed box and move it to the feeding position or the detection position can improve the accuracy of the detection results, avoid the influence of cage obstruction, and ensure the authenticity and accuracy of the feed box remainder data of each rabbit cage.

[0032] In some embodiments, the feeding device includes a first bracket 21, which is disposed on the mobile chassis 10 and can be fixedly installed by bolts; the feeding module is disposed above the first bracket 21 and can be fixedly connected by welding. Furthermore, a second bracket 22 is also disposed on the mobile chassis 10, and the clamping module is disposed on the second bracket 22. The second bracket 22 is detachably mounted on the mobile chassis 10 by bolts for easy replacement.

[0033] According to some embodiments of the present application, the material discharge assembly 33 includes a baffle 331 and a first driving member 332. The baffle 331 is movably disposed on the material supply box 31 to selectively close the material discharge port 32. The first driving member 332 is disposed on the material supply box 31. The first driving assembly is connected to the baffle 331 and is suitable for driving the baffle 331 to move. In this embodiment, Figure 2 As shown, the opening and closing of the material discharge port 32 is realized by arranging a first driving member 332 to drive the baffle 331 to move, and the structure is simple and easy to control.

[0034] According to some embodiments of the present application, the feeding module further includes a first mounting frame 34, which is disposed on the feeding box 31; the first mounting frame 34 is formed with a matching groove 35 slidably connected to the baffle 331, the extending direction of the matching groove 35 is perpendicular to the extending direction of the discharge port 32, and the discharge port 32 passes through the matching groove 35; the baffle 331 is suitable for sliding relative to the matching groove 35 to open or close the discharge port 32. Figure 2 As shown, in this embodiment, the first mounting frame 34 is provided with a matching groove 35, and when the baffle 331 is in the matching groove 35, the material discharge port 32 is blocked to achieve closure, and when at least part of the baffle 331 moves out of the matching groove 35, the material discharge port 32 is staggered to achieve opening of the material discharge port 32. The first driving member 332 drives the baffle 331 to move relative to the matching groove 35 to control the opening and closing of the material discharge port 32, thereby controlling the material discharge time and the material discharge amount, and further achieving accurate feeding and accurate feeding.

[0035] In some embodiments, the first mounting bracket 34 is welded below the feed box 31 .

[0036] In some embodiments, the first driving member 332 may be configured as an electric push rod, and the output end of the electric push rod is connected to the baffle 331 to automatically drive the baffle 331 to move by using electric power.

[0037] In some embodiments, as Figure 2 shown, the detection module 50 is arranged on the first mounting bracket 34 to facilitate continuously monitoring the remaining amount of feed in the feed box during the blanking process.

[0038] According to some embodiments of the present application, the clamping module includes a robotic arm 41 and an end effector 42. The robotic arm 41 is rotatably arranged on the mobile chassis 10, and the robotic arm 41 includes a plurality of sequentially connected arm segments; the end effector 42 is arranged at the end of the robotic arm 41, and the end effector 42 is adapted to clamp the feed box; the robotic arm 41 is adapted to drive the end effector 42 to move the feed box. As Figure 1 shown, in this embodiment, the feed box is clamped by the end effector 42, and the feed box is moved by driving the end effector 42 by the robotic arm 41. Among them, the robotic arm 41 includes a plurality of arm segments that can be bent and deformed, and the robotic arm 41 can rotate relative to the mobile chassis 10. Therefore, the robotic arm 41 can drive the end effector 42 to move arbitrarily, so as to realize the movement of the feed box among the blanking position, the detection position and the feeding position.

[0039] According to some embodiments of the present application, the end effector 42 includes a second mounting bracket 421, a fixed jaw 422, a movable jaw 423 and a second driving member 424. The second mounting bracket 421 is arranged at the end of the robotic arm 41; the fixed jaw 422 is arranged on the second mounting bracket 421; the movable jaw 423 is movably arranged on the second mounting bracket 421 and is adapted to move along a first direction to approach or move away from the fixed jaw 422; the second driving member 424 is arranged on the second mounting bracket 421, and the second driving member 424 is adapted to drive the movable jaw 423 to move. As Figure 3 shown, the first direction in this embodiment refers to the direction perpendicular to the clamping surfaces of the fixed jaw 422 and the movable jaw 423. In this embodiment, the fixed jaw 422 and the movable jaw 423 cooperate to clamp the feed box. Among them, the second driving member 424 drives the movable jaw 423 to move relative to the fixed jaw 422, changes the distance between the fixed jaw 422 and the movable jaw 423, and realizes the clamping process; further, the second driving member 424 can adjust the magnitude of the driving force applied to the movable jaw 423 to adjust the clamping force magnitude to stably clamp the feed box.

[0040] In some embodiments, the second driving member 424 may be configured as an electric push rod, and the output end of the electric push rod is connected to the movable jaw 423 to automatically drive the movable jaw 423 to move by using electric power.

[0041] In some embodiments, the second mounting bracket 421 is rotatably connected to the end of the robotic arm 41, enabling the fixed jaw 422 and the movable jaw 423 to rotate relative to the robotic arm 41, which facilitates gripping and moving the cartridge more conveniently. Further, the end effector 42 further includes a driving mechanism for controlling the rotation of the second mounting bracket 421, and the driving mechanism is disposed on the robotic arm 41 or the second mounting bracket 421.

[0042] According to some embodiments of the present application, the gripping module further includes a positioning assembly 43, the positioning assembly 43 is disposed on the second mounting bracket 421, the positioning assembly 43 is adapted to obtain the position information of the cartridge, and the robotic arm 41 controls the movement of the end effector 42 according to the position information. As Figure 3 shown, in this embodiment, by providing the positioning assembly 43 to obtain the position information of the cartridge, the gripping module can accurately grip the cartridge and move it to the target position. In some embodiments, the positioning assembly 43 can be configured as a positioning camera.

[0043] According to some embodiments of the present application, the second mounting bracket 421 is formed with a sliding groove 425, and the sliding groove 425 extends along a first direction; the movable jaw 423 is cooperatively connected with the sliding groove 425 and is adapted to move relative to the sliding groove 425. As Figure 3 shown, in this embodiment, by providing the sliding groove 425 to guide and limit the movable jaw 423, the process of driving the movable jaw 423 to move by the second driving member 424 can be made smoother and more stable.

[0044] According to some embodiments of the present application, the fixed jaw 422 and / or the movable jaw 423 are configured as multiple. In this embodiment, providing multiple fixed jaws 422 and / or movable jaws 423 can increase the gripping range and improve the gripping stability. As Figure 3 shown, in some embodiments, the fixed jaw 422 is configured as two, and the movable jaw 423 is configured as two and is arranged in one-to-one correspondence with the fixed jaw 422.

[0045] According to some embodiments of the present application, the feeding device further includes a navigation module 60, the navigation module 60 is disposed on the mobile chassis 10, and the mobile chassis 10 moves within the feeding area according to the instructions of the navigation module 60. In this embodiment, the navigation module 60 indicates the moving direction and moving distance of the mobile chassis 10, so that it moves to each cage position for feeding successively. By providing the navigation module 60, the automation degree of the feeding device can be improved, and intelligent automatic feeding can be realized.

[0046] According to some embodiments of the present application, the feeding device further includes a control module and an early warning module. The control module is connected to the detection module 50, the clamping module, and the feeding module, and is adapted to receive the detection results of the detection module and control the operation of the clamping module and the feeding module based on the detection results. The early warning module is connected to the control module, and the control module is adapted to control the early warning module to emit an early warning signal when the feed surplus is within a preset deviation range.

[0047] In this embodiment, the control module receives the detection data of the detection module 50 and controls the operation of the feeding module and the clamping module based on the detection data. At the same time, the control module has a normal threshold and a deviation range for the material box surplus built in. The control module compares and judges the detection data. When the detection data deviates from the normal threshold and is within the deviation range, it controls the early warning module to emit an early warning signal. This embodiment can obtain abnormal fluctuations in the material box surplus (such as continuous high or sudden drop), associate it with the health status of the rabbit group, and automatically trigger a disease early warning when the surplus of a specific cage position is detected to deviate from the normal threshold, which can provide key data support for health management and form an intelligent solution integrating feeding and health monitoring.

[0048] Further, the control module is also connected to the mobile chassis and the navigation module, and controls the movement process of the mobile chassis based on the information of the navigation module.

[0049] When the feeding device of the present application is in use, the mobile chassis 10 and the navigation module 60 cooperate with each other to achieve autonomous navigation in a large-scale rabbit house. When reaching the feeding point of a cage position, first, the positioning component 43 detects the position of the material box, the robotic arm 41 drives the end effector 42 to reach the position of the material box, and the second driving member 424 drives the moving gripper 423 to tightly clamp the rabbit cage material box. Then, the material box is moved to the lower part of the feeding box 31 through the clamping module. After the material box is moved to the feeding position, the detection module 50 detects the feed surplus in the material box, and the feeding module drives the baffle 331 to move through the first driving member 332 according to the surplus detection result, opens the feeding port 32 to start feeding. After the feeding amount meets the requirements, the first driving member 332 drives the baffle 331 to move to close the feeding port 32. Then, the robotic arm 41 carries the material box after replenishing the feed to the rabbit cage position, the positioning component 43 detects the target installation position of the material box, the robotic arm 41 drives the end effector 42 to reach the target installation position and place the material box, and the second driving motor drives the moving gripper 423 to release the material box, completing the precise feeding of one material box. The mobile chassis 10 and the navigation module 60 cooperate with each other to move to the next feeding point to continue feeding.

[0050] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0051] In the description of the present invention, the "first feature" and "second feature" may include one or more of such features.

[0052] In the description of the present invention, the meaning of "a plurality of" is two or more.

[0053] In the description of the present invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween.

[0054] In the description of the present invention, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature.

[0055] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples" or "some examples", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0056] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A feeding device based on monitoring the remaining amount of feed boxes, comprising: A mobile chassis, which is adapted to move within the feeding area; A feeding module, which is arranged on the mobile chassis. The feeding module includes a feed box and a blanking component. The feed box is provided with a blanking port, and the blanking component is adapted to control the opening and closing of the blanking port; A clamping module, which is arranged on the mobile chassis and is adapted to clamp and move the feed box; A detection module, which is arranged on the feeding module and is adapted to detect the remaining amount of feed in the feed box; wherein The blanking component is adapted to control the opening and closing of the blanking port according to the remaining amount of feed.

2. The feeding device based on the monitoring of the remaining amount of the feed box according to claim 1, characterized in that, The blanking component includes: A baffle, which is movably arranged on the feed box to selectively close the blanking port; A first driving member, which is arranged on the feed box. The first driving assembly is connected to the baffle and is adapted to drive the baffle to move.

3. The feeding device based on the monitoring of the remaining amount of the cartridge according to claim 2, wherein The feeding module further includes: A first mounting frame, which is arranged on the feed box; the first mounting frame is formed with a mating groove that is slidably connected to the baffle. The extending direction of the mating groove is perpendicular to the extending direction of the blanking port, and the blanking port penetrates through the mating groove; the baffle is adapted to slide relative to the mating groove to open or close the blanking port.

4. The feeding device based on the monitoring of the remaining amount in the cartridge according to claim 1, characterized in that, The clamping module includes: A robotic arm, which is rotatably arranged on the mobile chassis, and the robotic arm includes a plurality of sequentially connected arm segments; An end effector, which is arranged at the end of the robotic arm. The end effector is adapted to clamp the feed box; the robotic arm is adapted to drive the end effector to move the feed box.

5. The feeding device based on the monitoring of the remaining amount of the cartridge according to claim 4, characterized in that, The end effector includes: A second mounting frame, which is arranged at the end of the robotic arm; A fixed jaw, which is arranged on the second mounting frame; A movable jaw, which is movably arranged on the second mounting frame and is adapted to move along a first direction to approach or move away from the fixed jaw; A second driving member, which is arranged on the second mounting frame. The second driving member is adapted to drive the movable jaw to move.

6. The feeding device based on the monitoring of the remaining amount of the cartridge according to claim 5, characterized in that, The clamping module further includes: A positioning component, which is arranged on the second mounting frame. The positioning component is adapted to obtain the position information of the feed box, and the robotic arm controls the movement of the end effector according to the position information.

7. The feeding device based on the monitoring of the remaining amount of the cartridge according to claim 5, characterized in that, The second mounting frame is formed with a sliding groove, which extends along the first direction; the movable jaw is connected in cooperation with the sliding groove and is adapted to move relative to the sliding groove.

8. The feeding device based on the monitoring of the remaining amount of the cartridge according to claim 5, wherein, The fixed jaw and / or the movable jaw are configured as multiple.

9. The feeding device based on the remaining amount monitoring of the feed box according to claim 1, characterized in that The feeding device further includes: A navigation module, which is arranged on the mobile chassis. The mobile chassis moves within the feeding area according to the instructions of the navigation module.

10. The feeding device based on the remaining amount monitoring of the feed box according to claim 1, characterized in that, The feeding device further includes: A control module, which is connected to the detection module, the clamping module, and the feeding module, and is adapted to receive the detection results of the detection module and control the operation of the clamping module and the feeding module based on the detection results; An early warning module, the early warning module is connected to the control module, and the control module is adapted to control the early warning module to emit an early warning signal when the remaining feed amount is in a preset deviation range.

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