An automatic feeding method for aquaculture

Abstract

The present application relates to the technical field of aquaculture, and more particularly to an automatic feeding method for aquaculture, and an automatic feeding system for aquaculture, which comprises a guide rail, a feeding seat sliding along the guide rail, a traveling power mechanism for driving the feeding seat to slide, an automatic feeding mechanism arranged on the feeding seat, a plurality of automatic basket devices, a camera recognition device, and a feeding position detection assembly for detecting the feeding position. The present application can replace the manual mode to lift and put back the feeding basket in the water, can replace the manual mode to observe, can replace the manual mode to automatically feed, does not need to manually feed in each breeding area, can realize automatic inspection and automatic feeding, and can greatly reduce the workload of the operator.

Description

Technical Field

[0001] This invention relates to the field of aquaculture technology, and in particular to an automated feeding method for aquaculture. Background Technology

[0002] With population growth and improved living standards, people's demand for seafood such as fish and shrimp is increasing. In order to meet people's demand for fish and shrimp while reducing the burden of marine resource development and better protecting the aquatic ecological environment, more and more people are starting to farm fish and shrimp.

[0003] Because the feeding habits of fish and shrimp vary depending on their growth stage and seasonal changes, both overfeeding and underfeeding can negatively impact their health and growth. Therefore, most current practices involve lifting the feeding basket and observing the remaining feed to adjust the amount of feed for the next feeding, thus optimizing feeding and preventing overfeeding or underfeeding. Currently, most of this is done manually, lifting the feeding basket in the water and observing it visually. This is not only cumbersome and labor-intensive, but also difficult to do when the basket is located in the middle of the pond or in deeper water. Furthermore, the traditional manual feeding method is cumbersome and labor-intensive, especially in large-scale farms where operators need to go to different areas to feed the shrimp, resulting in a very large workload. Summary of the Invention

[0004] The purpose of this invention is to provide an automated feeding method for aquaculture that addresses the shortcomings of existing technologies. This method can replace manual methods for lifting and placing feeding baskets in the water, replace manual observation, and automatically feed the fish without requiring manual feeding in each aquaculture area. It enables automated inspection and feeding, and greatly reduces the workload of operators. To achieve the above objectives, the technical solution adopted by the present invention is: an automated feeding method for aquaculture, wherein the automated feeding system for aquaculture includes a guide rail, a feeding seat that slides along the guide rail, a traveling power mechanism for driving the feeding seat to slide, an automatic feeding mechanism disposed on the feeding seat, several automatic basket lifting devices, a camera recognition device, and a feeding position detection component for detecting the feeding position; the automatic basket lifting device is used to automatically lift and return the feeding basket; the camera recognition device is used to visually recognize the feeding basket lifted by the automatic basket lifting device; the feeding position detection component includes... The system comprises a primary detection component and a secondary detection component. The primary detection component includes multiple bottom sensing magnets spaced apart at the bottom of the guide rail and a bottom Hall sensor mounted on the feeding base to cooperate with each bottom sensing magnet. The secondary detection component includes multiple side sensing magnets spaced apart on the sides of the guide rail and a side Hall sensor mounted on the feeding base to cooperate with each side sensing magnet. Each bottom sensing magnet corresponds to a specific feeding position, and each side sensing magnet corresponds to a specific separated aquaculture pond. Each automatic basket lifting device includes a basket lifting frame, which is rotatably connected to the lifting mechanism in the vertical direction. The automatic basket lifting device includes a winding wheel on the basket frame, a winding and unwinding power mechanism for driving the winding wheel to rotate, and a strap wound around the winding wheel for connecting to the feeding basket. The winding and unwinding power mechanism is mounted on the basket lifting frame, and its output end drives and connects to the winding wheel. Each automatic basket lifting device also includes a power supply device for supplying power to the winding and unwinding power mechanism. The power supply device includes a movable power output component and a fixed power input component. The movable power output component includes a mobile power source mounted on the feeding base and at least two output spring electrodes mounted on the feeding base. The fixed power input component includes components mounted on the winding and unwinding power mechanism. The device includes at least two input tube electrodes for cooperating with the output spring electrodes. Each output spring electrode is electrically connected to a mobile power source, and each input tube electrode is electrically connected to a take-up and unwinding power mechanism. When the output spring electrode moves above the input tube electrode, each output spring electrode contacts and conducts electricity with the corresponding input tube electrode. Each automatic basket lifting device also includes a basket position detection component for detecting the height of the basket. The basket position detection component includes a basket sensing magnet mounted on the strap and a basket Hall sensor cooperating with the basket sensing magnet. Includes the following steps: A. Multiple feeding positions are preset for each breeding pond, and feeding baskets are placed below each feeding position. The feeding seat is driven to slide above each breeding pond by the traveling power mechanism. B. Each automatic basket lifting device automatically lifts the corresponding feeding basket upwards, and the camera recognition device captures and visually identifies the remaining feed in the feeding basket lifted by the automatic basket lifting device and / or the growth status of the fish and shrimp in the feeding basket. C. Automatically generate material feeding scheme data based on the visual recognition results of the camera recognition device; D. When the feeding seat slides to the preset feeding position, the automatic feeding mechanism feeds the corresponding material according to the feeding scheme data; Step D, where the feeding seat slides to the preset feeding position, involves the automatic feeding mechanism feeding materials according to the feeding scheme data. This includes the following steps: D. Identify and determine each phase-separated aquaculture pond by using side-sensing magnets and side Hall sensors; D. The feeding locations in the breeding pond are determined and identified by the bottom induction magnet and the bottom Hall sensor; D. When the bottom Hall sensor detects the bottom magnet and the cumulative number of detections by the bottom Hall sensor is less than or equal to the preset feeding position number in the current aquaculture pond, the automatic feeding mechanism will feed the fish. When the bottom Hall sensor detects the bottom magnet and the cumulative number of detections by the bottom Hall sensor is greater than the preset feeding position number in the current aquaculture pond, the automatic feeding mechanism will not feed the fish and will send an alarm signal. When the side Hall sensor detects the next side magnet and the cumulative number of detections by the bottom Hall sensor is less than the preset feeding position number in the current aquaculture pond, the automatic feeding mechanism will not feed the fish and will send an alarm signal.

[0005] A further improvement to the above solution is that the camera recognition device is mounted on the feeding base.

[0006] A further improvement to the above scheme is that the automatic feeding mechanism includes an automatic feed dispensing component for automatically dispensing feed downwards and / or an automatic solid additive dispensing component for automatically dispensing solid additives downwards and / or an automatic liquid additive dispensing component for automatically dispensing liquid additives downwards. The automatic feed dispensing assembly includes at least one automatic feed dispensing module. Each automatic feed dispensing module includes a feed cylinder set on the feeding seat, a feed outlet set at the bottom of the feed cylinder, a feed dispensing screw rod rotatably connected to the feed outlet rod below in the horizontal direction, and a feed dispensing power mechanism for driving the feed dispensing screw rod to rotate. The feed dispensing power mechanism is set on the feed cylinder, and the output end of the feed dispensing power mechanism drives and connects to the feed dispensing screw rod. The automatic solid additive dispensing assembly includes at least one automatic solid additive dispensing module. Each automatic solid additive dispensing module includes a solid additive cylinder set on the feeding base, a solid additive outlet set at the bottom of the solid additive cylinder, a solid additive dispensing screw rod rotatably connected to the bottom of the solid additive outlet in a horizontal direction, and a solid additive dispensing power mechanism for driving the solid additive dispensing screw rod to rotate. The solid additive dispensing power mechanism is set on the solid additive cylinder, and the output end of the solid additive dispensing power mechanism drives and connects to the solid additive dispensing screw rod. The automatic liquid additive dispensing assembly includes at least one automatic liquid additive dispensing module, and each automatic liquid additive dispensing module includes a liquid additive cylinder disposed on a feeding seat and a pump disposed on the liquid additive cylinder.

[0007] A further improvement to the above solution is that the mobile power supply is a rechargeable battery module; it also includes an automatic charging device for automatically charging the rechargeable battery module; the automatic charging device includes at least two charging output electrodes that are electrically connected to the mains power, and at least two charging input electrodes that are electrically connected to the rechargeable battery module and are disposed on the feeding base; when the charging input electrodes move in front of the charging output electrodes, each charging input electrode contacts and conducts electricity with the corresponding charging output electrode.

[0008] A further improvement to the above scheme is that the automatic charging device further includes an electrode mounting bracket, an adaptive swing arm that swings along the front-to-back direction on the electrode mounting bracket, a first compression spring, and a second compression spring. The charging output electrode swings along the front-to-back direction on the adaptive swing arm, the first compression spring is clamped between the adaptive swing arm and the electrode mounting bracket, and the second compression spring is clamped between the charging output electrode and the adaptive swing arm.

[0009] A further improvement to the above scheme is that step C specifically includes the following steps: C1. Administer feed precisely based on the remaining feed quantity; C2. Apply solid and / or liquid additives according to the growth status of fish and shrimp; Specifically, step C1, which involves precisely dispensing feed based on the remaining feed, includes the following steps: C11. Calculate the remaining feed area based on the divided feed areas; C12. Compare the remaining feed area with the preset remaining feed area threshold. C13. Adjust the next feed amount based on the difference between the remaining feed area and the preset remaining feed area threshold. The preset feed amount is N, the next feed amount is N1, the remaining feed area is S, and the preset remaining feed area threshold is S1. The preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1 satisfy the following condition: N1 = N(1 - (S - S1) / S1). Step C11, which involves calculating the remaining feed area based on the divided feed area, specifically includes the following steps: C111. Acquire image information and preprocess the image information to extract image features; C112. Based on the image features, construct a model to distinguish between feed and excrement; C113. Using the discriminative model, the target region in the image is identified. An image segmentation algorithm is used to segment the target region in the image to obtain the segmented feed region and excrement region. Based on the segmented feed region, the remaining feed area is calculated. The preprocessing of image information in step C111 specifically includes: The image is denoised to obtain the denoised image; Based on the denoised image, extract color features, shape features, and texture features; The construction of the feed-excrement differentiation model in step C112 specifically includes: Based on the extracted image features, construct a feature set for feed samples and a feature set for excrement samples; A discrimination model is trained and generated based on the feed sample feature set and the excrement sample feature set using a machine learning algorithm. The machine learning algorithm includes at least one of support vector machine, random forest and convolutional neural network. Specifically, step C2, which involves adding solid and / or liquid additives based on the growth status of the fish and shrimp, includes the following steps: C21. Pre-construct a general database of fish and shrimp growth status data, including sub-databases of aquaculture feeding data for various fish and shrimp growth statuses. Each sub-database of aquaculture feeding data includes data on the growth status of various fish and shrimp and corresponding feeding scheme data. C22. Each feeding basket is photographed using a camera recognition device to generate aquaculture video data; a target extraction algorithm is used to calculate the continuous multi-frame images in the aquaculture video data; a fixed number of keyframes are sampled from each video frame in the aquaculture video data. C23. Input the sampled keyframes into the corresponding aquaculture feeding data sub-database of the current aquaculture area to compare and process the data of various fish and shrimp growth conditions, and obtain the corresponding solid additive and / or liquid additive feeding scheme data.

[0010] The beneficial effects of this invention are as follows: This invention provides an automated feeding system for aquaculture, comprising a guide rail, a feeding seat that slides along the guide rail, a driving power mechanism for driving the feeding seat to slide, an automatic feeding mechanism disposed on the feeding seat, several automatic basket lifting devices, a camera recognition device, and a feeding position detection component for detecting the feeding position; the automatic basket lifting device is used to automatically lift and return the feeding basket; the camera recognition device is used to visually recognize the feeding basket lifted by the automatic basket lifting device; the feeding position detection component includes a primary detection component and a secondary detection component. The primary detection component includes multiple bottom sensing magnets spaced apart at the bottom of the guide rail and a bottom Hall sensor disposed on the feeding seat for cooperating with each bottom sensing magnet. The secondary detection component includes multiple side sensing magnets spaced apart on the sides of the guide rail and a side Hall sensor disposed on the feeding seat for cooperating with each side sensing magnet. Each bottom sensing magnet corresponds to a specific feeding position, and each side sensing magnet corresponds to a specific separated aquaculture pond. First, the feeding seat is driven by a propulsion mechanism to slide above each feeding position. Then, an automatic basket lifting device automatically lifts the feeding basket, replacing manual labor. Next, a camera recognition device visually identifies the feeding basket, replacing manual inspection. Finally, an automatic feeding mechanism automatically feeds the basket, replacing manual labor. The overall automation level is high, greatly reducing the workload of operators. This invention can replace manual lifting and lowering of the feeding basket in the water, replace manual observation, and automatically feed the basket, eliminating the need for manual feeding in each aquaculture area. It achieves automated inspection and feeding, significantly reducing the workload of operators. The feeding position detection component of this invention, through the cooperation of a primary detection component and a secondary detection component, can perform dual detection, resulting in more accurate and reliable detection results, thereby better ensuring the accuracy of feeding. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of the present invention.

[0012] Figure 2 This is a schematic diagram of the automatic feeding mechanism of the present invention.

[0013] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0014] Figure 4 This is a schematic diagram of the automatic feed dispensing module of the present invention.

[0015] Figure 5 This is a schematic diagram of the structure of the automatic solid additive dispensing module of the present invention.

[0016] Figure 6 This is a schematic diagram of the automatic liquid additive dispensing module of the present invention.

[0017] Figure 7 This is a schematic diagram of the automatic charging device of the present invention.

[0018] Figure 8 This is a schematic diagram of the structure of the output spring electrode and the input tube electrode of the present invention.

[0019] Explanation of reference numerals in the attached drawings: 1. Guide rail; 2. Feeding seat; 3. Traveling power mechanism; 31. Traveling power module; 31. Roller; 311. Servo motor; 312. Automatic feeding mechanism; 4. Automatic feed dispensing assembly; 41. Automatic feed dispensing module; 411. Feed hopper; 4111. Feed outlet; 4112. Feed dispensing screw; 4113. Feed dispensing power mechanism; 4114. Automatic solid additive dispensing assembly; 42. Automatic solid additive dispensing module; 421. Solid additive hopper; 4212. Solid additive outlet; 4213. Solid additive dispensing screw; 4214. Automatic liquid additive dispensing assembly; 43. Automatic liquid additive dispensing module; 431. Liquid additive hopper; 4311. Pump; 4312. Automatic basket lifting device; 5. 51. Basket frame 51, winding pulley 52, winding and unwinding power mechanism 53, strap 54, power supply device 55, movable power output component 551, mobile power supply 5511, output end spring electrode 5512, fixed power input component 552, input end tube electrode 5521, feeding basket position detection component 56, feeding basket induction magnet 561, feeding basket Hall sensor 562, automatic charging device 6, charging output end electrode 61, charging input end electrode 62, electrode mounting bracket 63, adaptive swing arm 64, first compression spring 65, second compression spring 66, feeding position detection component 7, first-level detection component 71, bottom induction magnet 711, bottom Hall sensor 712, second-level detection component 72, side induction magnet 721, side Hall sensor 722, camera recognition device 8. Detailed Implementation

[0020] Example 1, such as Figure 1-8As shown, an automated feeding system for aquaculture according to the present invention includes a guide rail 1, a feeding seat 2 that slides along the guide rail 1, a traveling power mechanism 3 for driving the feeding seat 2 to slide, an automatic feeding mechanism 4 disposed on the feeding seat 2, several automatic basket lifting devices 5, a camera recognition device 8, and a feeding position detection component 7 for detecting the feeding position; the automatic basket lifting device 5 is used to automatically lift and return the feeding basket; the camera recognition device 8 is used to visually recognize the feeding basket lifted by the automatic basket lifting device 5; the feeding position... The detection component 7 includes a primary detection component 71 and a secondary detection component 72. The primary detection component 71 includes a plurality of bottom sensing magnets 711 spaced apart at the bottom of the guide rail 1 and a bottom Hall sensor 712 mounted on the feeding base 2 for cooperating with each bottom sensing magnet 711. The secondary detection component 72 includes a plurality of side sensing magnets 721 spaced apart on the side of the guide rail 1 and a side Hall sensor 722 mounted on the feeding base 2 for cooperating with each side sensing magnet 721. Each bottom sensing magnet 711 is respectively connected to each... Each feeding position is correspondingly set, and each side induction magnet 721 is respectively set to correspond to each phase-separated aquaculture pond. First, the feeding seat 2 is driven by the traveling power mechanism 3 to slide above each feeding position. Then, the automatic basket lifting device 5 replaces manual lifting to automatically lift the feeding basket upwards. Then, the camera recognition device 8 replaces manual visual recognition of the feeding basket. Then, the automatic feeding mechanism 4 replaces manual feeding to automatically feed. The overall automation level is high, which can greatly reduce the workload of operators. This invention can replace manual lifting and lowering of the feeding basket in the water, replace manual observation, and replace manual feeding. There is no need to manually feed in each aquaculture area. It can realize automated inspection and automatic feeding, which can greatly reduce the workload of operators. The feeding position detection component 7 of this invention, through the cooperation of the primary detection component 71 and the secondary detection component 72, can play a dual detection role, and the detection results are more accurate and reliable, thereby better ensuring the accuracy of feeding.

[0021] By setting up a camera recognition device 8, the remaining feed in the feeding basket and / or the growth status of the fish and shrimp in the feeding basket can be photographed and visually recognized, thereby replacing manual observation and further improving the overall automation level. The visual recognition results of the camera recognition device 8 can be used to remind or automatically realize the feeding, addition of trace elements or medicines, etc. Compared with setting a corresponding camera recognition device 8 next to each automatic basket lifting device 5, which requires multiple camera recognition devices 8 in total, this invention sets the camera recognition device 8 on the feeding base 2. The camera recognition device 8 can move with the feeding base 2 to each automatic basket lifting device 5 and perform visual recognition on each feeding basket lifted by the automatic basket lifting device 5 in turn. Only one camera recognition device 8 is needed in total, which can not only greatly reduce costs, but also simplify the overall installation and wiring.

[0022] Since various solid and / or liquid additives are generally required at different growth stages of farmed animals to facilitate their growth, the automatic feeding mechanism 4 of this invention includes an automatic feed dispensing component 41 for automatically dispensing feed downwards and / or an automatic solid additive dispensing component 42 for automatically dispensing solid additives downwards and / or an automatic liquid additive dispensing component 43 for automatically dispensing liquid additives downwards. This not only replaces manual feeding to achieve automatic feed dispensing, but also replaces manual feeding to achieve automatic dispensing of solid and / or liquid additives, further reducing workload and improving the overall level of automation.

[0023] The automatic feed dispensing assembly 41 includes at least one automatic feed dispensing module 411. Each automatic feed dispensing module 411 includes a feed cylinder 4111 disposed on the feeding base 2, a feed outlet 4112 disposed at the bottom of the feed cylinder 4111, a feed dispensing screw 4113 rotatably connected to the feed outlet 4112 in a horizontal direction, and a feed dispensing power mechanism 4114 for driving the feed dispensing screw 4113 to rotate. The feed dispensing power mechanism 4114 is disposed on the feed cylinder 4111, and the output end of the feed dispensing power mechanism 4114 drives the feed dispensing mechanism. The screw rod 4113; by pre-loading feed into the feed hopper 4111, the feed discharge screw rod 4113 is driven to rotate by the feed discharge power mechanism 4114 to discharge the feed from the feed hopper 4111. By controlling the rotation angle and number of rotations of the feed discharge screw rod 4113, quantitative feed discharge can be achieved, making it more practical. Compared to feeding only a single type of feed, this invention can achieve the feeding of multiple types of feed by loading different types of feed into the feed hoppers 4111 of different automatic feed dispensing modules 411, thereby better meeting various feeding needs.

[0024] The automatic solid additive dispensing assembly 42 includes at least one automatic solid additive dispensing module 421. Each automatic solid additive dispensing module 421 includes a solid additive cylinder 4211 disposed on the feeding base 2, a solid additive outlet 4212 disposed at the bottom of the solid additive cylinder 4211, a solid additive dispensing screw 4213 rotatably connected to the solid additive outlet 4212 in a horizontal direction, and a solid additive dispensing power mechanism 4214 for driving the solid additive dispensing screw 4213 to rotate. The solid additive dispensing power mechanism 4214 is disposed on the solid additive cylinder 4211, and the output end of the solid additive dispensing power mechanism 4214 drives and connects to the solid additive dispensing screw 4213. Compared with the invention which can only dispense a single type of solid additive, the present invention can dispense multiple types of solid additives by loading different types of solid additives into the solid additive cylinders 4211 of different automatic solid additive dispensing modules 421, thereby better meeting various feeding needs.

[0025] The automatic liquid additive dispensing assembly 43 includes at least one automatic liquid additive dispensing module 431. Each automatic liquid additive dispensing module 431 includes a liquid additive cylinder 4311 disposed on the feeding base 2 and a pump 4312 disposed on the liquid additive cylinder 4311. By pre-loading the liquid additive into the liquid additive cylinder 4311, the pump 4312 pumps and discharges the liquid additive from the liquid additive cylinder 4311. By controlling the pumping time of the pump 4312, quantitative discharge of liquid additives can be achieved, making it more practical. Compared with solid additives that can only be dispensed with a single type, this invention can dispense multiple types of liquid additives by loading different types of liquid additives into the liquid additive cylinders 4311 of different automatic liquid additive dispensing modules 431, thereby better meeting various feeding needs.

[0026] Each of the aforementioned automatic basket lifting devices 5 includes a basket lifting frame 51, a winding wheel 52 rotatably connected to the basket lifting frame 51 in a vertical direction, a winding and unwinding power mechanism 53 for driving the winding wheel 52 to rotate, and a binding strap 54 wound around the winding wheel 52. The binding strap 54 is used to connect to the feeding basket. The winding and unwinding power mechanism 53 is disposed on the basket lifting frame 51, and its output end drives and connects to the winding wheel 52. The winding and unwinding power mechanism 53 of the present invention drives the winding wheel 52 to rotate forward and winds up the binding strap 54. The belt 54 is wound upwards, and the feeding basket is lifted out of the water. After observing the remaining feed in the feeding basket and / or the growth of the fish and shrimp in the feeding basket, the winding and unwinding power mechanism 53 of the present invention drives the winding pulley 52 to reverse and unwind the belt 54. As the belt 54 is unwound downwards, the feeding basket moves downwards and resets, completing the entire process of automatically lifting and returning the feeding basket. The present invention can replace manual lifting and returning of the feeding basket, which can reduce the workload of operators.

[0027] Each of the aforementioned automatic basket lifting devices 5 further includes a power supply device 55 for supplying power to the take-up and unwinding power mechanism 53. The power supply device 55 includes a movable electrical output component 551 and a fixed electrical input component 552. The movable electrical output component 551 includes a mobile power supply 5511 disposed on the feeding base 2 and at least two output spring electrodes 5512 disposed on the feeding base 2. The fixed electrical input component 552 includes at least two input tube electrodes 5521 disposed on the take-up and unwinding power mechanism 53 for cooperating with the output spring electrodes 5512. Each output spring electrode 5512 is electrically connected to the mobile power supply 5511, and each input tube electrode 5521 is electrically connected to the take-up and unwinding power mechanism 53. When the output spring electrode 5512 moves above the input tube electrode 5521, each output spring electrode 5512 contacts and conducts electricity with its corresponding input tube electrode 5521. Because in aquatic products... In specific aquaculture applications, multiple feeding baskets are often required, typically located in the center of the aquaculture pond. Power supplies are typically installed next to each basket to power the winding and unwinding mechanism 53. This not only requires tracing cables to the center of the pond, which is cumbersome, but also necessitates multiple power supplies, posing significant safety risks. This invention uses a traveling power mechanism 3 to drive a movable base above each winding and unwinding mechanism 53, allowing the output spring electrode 5512 on the movable base to contact and conduct electricity with the input tube electrode 5521 on each mechanism. This enables mobile power supply to each winding and unwinding mechanism 53. Furthermore, this invention achieves mobile power supply through the cooperation of a movable electrical output component 551 and a fixed electrical input component 552. This eliminates the need for cumbersome wiring to power each winding and unwinding mechanism 53, and allows all mechanisms to share a single power source further away from the water surface, resulting in greater overall safety.

[0028] Since the power bank 5511 is mounted on a mobile base, it needs to move with the mobile base. The power bank 5511 of this invention is a rechargeable battery module. When the power bank 5511 is used for mobile power supply, it does not need to be connected to a power cord. It can provide power supply without the constraints of a power cord, making the overall structure simpler and safer.

[0029] The present invention also includes an automatic charging device 6 for automatically charging a rechargeable battery module; the automatic charging device 6 includes at least two charging output electrodes 61 respectively connected to the mains power, and at least two charging input electrodes 62 respectively connected to the rechargeable battery module and disposed on the feeding base 2; when the charging input electrodes 62 move in front of the charging output electrodes 61, each charging input electrode 62 contacts and is electrically connected to the corresponding charging output electrode 61; the feeding base 2 is driven to the position of the automatic charging device 6 by the traveling power mechanism 3, and each charging input electrode 62 contacts and is electrically connected to the corresponding charging output electrode 61, thereby realizing automatic charging of the rechargeable battery module. The entire charging process does not require manual intervention, which can further reduce workload and improve the overall automation level.

[0030] The automatic charging device 6 also includes an electrode mounting bracket 63, an adaptive swing rod 64 that swings back and forth on the electrode mounting bracket 63, a first compression spring 65, and a second compression spring 66. The charging output electrode 61 swings back and forth on the adaptive swing rod 64. The first compression spring 65 is sandwiched between the adaptive swing rod 64 and the electrode mounting bracket 63, and the second compression spring 66 is sandwiched between the charging output electrode 61 and the adaptive swing rod 64. The charging output electrode 61 of the present invention can adaptively adjust its back and forth position, which not only avoids excessive hard compression contact between the charging output electrode 61 and the charging input electrode 62, but also ensures stable contact and energization between the charging output electrode 61 and the charging input electrode 62.

[0031] Each of the aforementioned automatic basket lifting devices 5 further includes a basket position detection component 56 for detecting the height position of the basket. Although controlling the number of rotations of the pulley 52 driven by the winding and unwinding power mechanism 53 can control the length of the strap 54 winding upwards or downwards and thus control the height position of the basket, the precision and accuracy are not very high. This invention uses the basket position detection component 56 to detect the height position of the basket, which can better ensure the accuracy of the height position when the basket is lifted upwards and lowered downwards. The basket position detection component 56 includes a basket sensing magnet 561 disposed on the strap 54 and a basket Hall sensor 562 that cooperates with the basket sensing magnet 561. Through the cooperation of the basket sensing magnet 561 and the basket Hall sensor 562, not only can the height position of the basket be detected with high precision, but the overall structure is also simple.

[0032] The feeding basket position detection component 56 of the present invention may include two feeding basket sensing magnets 561 and one feeding basket Hall sensor 562. That is, when the feeding basket sensing magnet 561 located at the top is detected by the feeding basket Hall sensor 562, it indicates that the feeding basket has been lowered back into place, and the driving of the feeding basket to continue moving downward is stopped. When the feeding basket sensing magnet 561 located at the bottom is detected by the feeding basket Hall sensor 562, it indicates that the feeding basket has been pulled up into place, and the driving of the feeding basket to continue moving upward is stopped. Alternatively, the feeding basket position detection component 56 of the present invention may include one feeding basket sensing magnet 561 and two feeding basket Hall sensors 562. That is, when the feeding basket sensing magnet 561 is detected by the feeding basket Hall sensor 562 located at the bottom, it indicates that the feeding basket has been lowered back into place, and the driving of the feeding basket to continue moving downward is stopped. When the feeding basket sensing magnet 561 is detected by the feeding basket Hall sensor 562 located at the top, it indicates that the feeding basket has been pulled up into place, and the driving of the feeding basket to continue moving upward is stopped.

[0033] The traveling power mechanism 3 includes several traveling power modules 31. Each traveling power module 31 includes a roller 311 rolled on the guide rail 1 and a servo motor 312 for driving the roller 311 to rotate. The servo motor 312 drives the roller 311 to rotate and drives the feeding seat 2 to slide.

[0034] The feeding basket induction magnet 561, bottom induction magnet 711, and side induction magnet 721 are each covered with a protective sleeve. The protective sleeve can be a rubber sleeve, film, etc. The protective sleeve can prevent the induction magnet from being corroded by water, water vapor, etc., thereby better ensuring its service life.

[0035] Example 2: An automated feeding method for aquaculture, applicable to an automated feeding system for aquaculture as described in Example 1; comprising the following steps: A. Multiple feeding positions are preset for each breeding pond, and feeding baskets are placed below each feeding position. The feeding seat 2 is driven to slide above each breeding pond by the traveling power mechanism 3. B. Each automatic basket lifting device 5 automatically lifts the corresponding feeding basket upwards, and the camera recognition device 8 takes pictures and visually recognizes the remaining feed in the feeding basket lifted by the automatic basket lifting device 5 and / or the growth status of the fish and shrimp in the feeding basket. C. Automatically generate material feeding scheme data based on the visual recognition results of camera recognition device 8; D. When the feeding seat 2 slides to the preset feeding position, the automatic feeding mechanism 4 feeds the corresponding material according to the feeding scheme data; Step D, where the feeding seat 2 slides to the preset feeding position, involves the automatic feeding mechanism 4 feeding materials according to the feeding scheme data. This process specifically includes the following steps: D1. The side sensing magnet 721 and the side Hall sensor 722 are used to identify and determine each phase-separated aquaculture pond. D2. The bottom sensing magnet 711 and the bottom Hall sensor 712 are used to determine and identify the various feeding positions in the breeding pond. D3. When the bottom Hall sensor 712 detects the bottom magnet 711 and the cumulative number of detections by the bottom Hall sensor 712 is less than or equal to the preset feeding position number in the current aquaculture pond, the automatic feeding mechanism 4 feeds the fish. When the bottom Hall sensor 712 detects the bottom magnet 711 and the cumulative number of detections by the bottom Hall sensor 712 is greater than the preset feeding position number in the current aquaculture pond, the automatic feeding mechanism 4 does not feed the fish and sends an alarm signal. When the side Hall sensor 722 detects the next side magnet 721 and the cumulative number of detections by the bottom Hall sensor 712 is less than the preset feeding position number in the current aquaculture pond, the automatic feeding mechanism 4 does not feed the fish and sends an alarm signal. This invention uses various side magnets... 721 is set up corresponding to each phase-separated breeding pond. When the side Hall sensor 722 senses and identifies the next side sensing magnet 721, it indicates that the feeding seat 2 has entered the upper part of the next breeding pond. For example, if three feeding positions are preset above the first breeding pond, then three bottom sensing magnets 711 are set above the first breeding pond. When the side Hall sensor 722 senses and identifies the next side sensing magnet 721, the bottom Hall sensor 712 should sense and identify the bottom sensing magnet 711 three times. If the bottom Hall sensor 712 senses and identifies the bottom sensing magnet 711 less than three times or more than three times when the side Hall sensor 722 senses and identifies the next side sensing magnet 721, it indicates that the current device has malfunctioned and manual intervention is required for troubleshooting and repair. Although controlling the number of rotations of the roller 311 driven by the servo motor 312 can control the distance the feeding seat 2 moves and achieve point feeding, the precision and accuracy are not very high. This invention uses the feeding position detection component 7 to detect the feeding position, which can better ensure the accuracy of the feeding position and achieve point feeding. Each bottom sensing magnet 711 is respectively set above the feeding position. When the bottom Hall sensor 712 on the feeding seat 2 moves below the bottom sensing magnet 711 as the feeding seat 2 moves, that is, when the bottom Hall sensor 712 senses the bottom sensing magnet 711, the meter... The feeding seat 2 is currently positioned above the feeding position, and feeding is performed by the automatic feeding mechanism 4, which better ensures the accuracy of the feeding position and achieves fixed-point feeding. Compared to feeding only when the bottom Hall sensor 712 detects and identifies the bottom induction magnet 711, the feeding seat 2 may stop moving due to reasons such as the roller 311 being blocked, resulting in multiple feedings at the same position and causing incorrect feeding. This invention, through the cooperation of the primary detection component 71 and the secondary detection component 72, can achieve dual detection, and the detection results are more accurate and reliable, thereby better ensuring the accuracy of feeding.

[0036] Step C specifically includes the following steps: C1. Administer feed precisely based on the remaining feed quantity; C2. Apply solid and / or liquid additives according to the growth status of fish and shrimp; Specifically, step C1, which involves precisely dispensing feed based on the remaining feed, includes the following steps: C11. Calculate the remaining feed area based on the divided feed areas; C12. Compare the remaining feed area with the preset remaining feed area threshold. C13. Adjust the next feed amount based on the difference between the remaining feed area and the preset remaining feed area threshold. The preset feed amount is N, the next feed amount is N1, the remaining feed area is S, and the preset remaining feed area threshold is S1. The preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1 satisfy the following condition: N1 = N1 - (S - S1) / S1. For example, if the remaining feed area S is 80% of the preset remaining feed area threshold S1, then the next feed amount N1... For example, if the remaining feed area S is 150% of the preset remaining feed area threshold S1, then the next feed amount N1 is 0.5N. Compared to simply judging whether the remaining feed area is greater than or less than the preset remaining feed area and then simply increasing or decreasing the next feed amount, satisfying the following condition between the preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1: N1 = N1 - (S - S1) / S1 can achieve more precise feeding and better feeding in aquaculture. Step C11, which involves calculating the remaining feed area based on the divided feed area, specifically includes the following steps: C111. Acquire image information and preprocess the image information to extract image features; C112. Based on the image features, construct a model to distinguish between feed and excrement; C113. Using the discriminative model, the target region in the image is identified. An image segmentation algorithm is used to segment the target region in the image to obtain the segmented feed region and excrement region. Based on the segmented feed region, the remaining feed area is calculated. The preprocessing of image information in step C111 specifically includes: The image is denoised to obtain the denoised image; Based on the denoised image, extract color features, shape features, and texture features; The construction of the feed-excrement differentiation model in step C112 specifically includes: Based on the extracted image features, construct a feature set for feed samples and a feature set for excrement samples; A discrimination model is trained and generated based on the feed sample feature set and the excrement sample feature set using a machine learning algorithm. The machine learning algorithm includes at least one of support vector machine, random forest and convolutional neural network. Since feed and excrement are quite similar, visual recognition by camera recognition device 8 is prone to distortion and errors. This invention is more accurate in calculating the remaining area of ​​feed, and can better and more accurately identify and calculate the remaining area of ​​feed, thereby ensuring better and more accurate feed delivery.

[0037] Specifically, step C2, which involves adding solid and / or liquid additives based on the growth status of the fish and shrimp, includes the following steps: C21. A pre-constructed database of fish and shrimp growth status data is established, including sub-databases of aquaculture feeding data for various fish and shrimp growth statuses. Each sub-database includes data on the growth status of various fish and shrimp and corresponding feeding scheme data. Compared to the limitation that each aquaculture pond can only raise the same type of aquaculture organism, the automated feeding method of the present invention can be applied to the simultaneous raising of multiple aquaculture organisms in each aquaculture area, such as one aquaculture pond for raising shrimp and another aquaculture pond for raising fish. C22. Each feeding basket is photographed by the camera recognition device 8 to generate aquaculture video data; the target extraction algorithm is used to calculate the continuous multi-frame images in the aquaculture video data; a fixed number of keyframes are sampled from each video frame in the aquaculture video data. C23. The sampled keyframes are input into the corresponding aquaculture feeding data sub-database of the current aquaculture area for comparison processing of various fish and shrimp growth conditions, and the corresponding solid additive and / or liquid additive feeding scheme data are obtained. Inputting the sampled keyframes into the aquaculture feeding data sub-database for comparison processing can greatly reduce the amount of data to be processed, greatly save computing resources and improve computing speed, thereby enabling fast and accurate identification and reducing computing costs. In addition, compared with inputting the sampled keyframes into the aquaculture feeding data master database for comparison processing, the present invention can further reduce the amount of data to be processed, greatly save computing resources and improve computing speed by inputting the sampled keyframes into the aquaculture feeding data sub-database for comparison processing, thereby enabling faster and more accurate identification and reducing computing costs.

[0038] Working principle: First, the feeding seat 2 is driven by the traveling power mechanism 3 to slide above each feeding position. Then, the automatic basket lifting device 5 automatically lifts the feeding basket upwards instead of manually. Next, the camera recognition device 8 visually recognizes the feeding basket instead of manually. Finally, the automatic feeding mechanism 4 automatically feeds the basket instead of manually. The overall automation level is high, which can greatly reduce the workload of operators. This invention can replace manual lifting and lowering of the feeding basket in the water, replace manual observation, and replace manual feeding. There is no need to manually feed in each breeding area. It can realize automated inspection and automatic feeding, which can greatly reduce the workload of operators.

[0039] Of course, the above description is only a preferred embodiment of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of this patent application are included in the scope of this patent application.

Claims

1. An automated feeding method for aquaculture, characterized in that: An automated feeding system for aquaculture includes a guide rail (1), a feeding seat (2) that slides along the guide rail (1), a driving power mechanism (3) for driving the feeding seat (2) to slide, an automatic feeding mechanism (4) set on the feeding seat (2), several automatic basket lifting devices (5), a camera recognition device (8), and a feeding position detection component (7) for detecting the feeding position; the automatic basket lifting device (5) is used to automatically lift and return the feeding basket; the camera recognition device (8) is used to visually recognize the feeding basket lifted by the automatic basket lifting device (5); the feeding position detection component (7) includes a primary detection component (71) and a secondary detection component (72), the primary detection component (71) The system includes multiple bottom sensing magnets (711) spaced apart at the bottom of the guide rail (1) and a bottom Hall sensor (712) on the feeding seat (2) for cooperating with each bottom sensing magnet (711). The secondary detection component (72) includes multiple side sensing magnets (721) spaced apart on the side of the guide rail (1) and a side Hall sensor (722) on the feeding seat (2) for cooperating with each side sensing magnet (721). Each bottom sensing magnet (711) is respectively set corresponding to each feeding position, and each side sensing magnet (721) is respectively set corresponding to each separated breeding pond. Each of the automatic basket lifting devices (5) includes a basket frame (51) and a vertical direction. The automatic basket lifting device (5) includes a rotatable pulley (52) connected to the basket frame (51), a winding and unwinding power mechanism (53) for driving the winding pulley (52) to rotate, and a strap (54) wound around the winding pulley (52). The strap (54) is used to connect to the feeding basket. The winding and unwinding power mechanism (53) is set on the basket frame (51), and the output end of the winding and unwinding power mechanism (53) drives and connects to the winding pulley (52). Each of the automatic basket lifting devices (5) also includes a power supply device (55) for supplying power to the winding and unwinding power mechanism (53). The power supply device (55) includes a movable power output component (551) and a fixed power input component (552). The movable power output component (551) includes components set on the feeding seat (2). The mobile power supply (5511) and at least two output spring electrodes (5512) are provided on the feeding seat (2). The fixed electrical input assembly (552) includes at least two input tube electrodes (5521) provided on the winding and unwinding power mechanism (53) for cooperating with the output spring electrodes (5512). Each output spring electrode (5512) is electrically connected to the mobile power supply (5511), and each input tube electrode (5521) is electrically connected to the winding and unwinding power mechanism (53). When the output spring electrode (5512) moves above the input tube electrode (5521), each output spring electrode (5512) contacts and conducts electricity with the corresponding input tube electrode (5521).Each of the automatic basket lifting devices (5) further includes a basket position detection component (56) for detecting the height position of the basket; the basket position detection component (56) includes a basket sensing magnet (561) disposed on the strap (54) and a basket Hall sensor (562) cooperating with the basket sensing magnet (561). Includes the following steps: A. Multiple feeding positions are preset for each breeding pond, and feeding baskets are placed below each feeding position. The feeding seat (2) is driven to slide above each breeding pond by the traveling power mechanism (3). B. Each automatic basket lifting device (5) automatically lifts the corresponding feeding basket upwards, and the camera recognition device (8) takes pictures and visually recognizes the remaining feed in the feeding basket lifted by the automatic basket lifting device (5) and / or the growth status of the fish and shrimp in the feeding basket. C. Automatically generate feeding scheme data based on the visual recognition results of the camera recognition device (8); D. When the feeding seat (2) slides to the preset feeding position, the automatic feeding mechanism (4) feeds the corresponding material according to the feeding scheme data; In step D, when the feeding seat (2) slides to the preset feeding position, the automatic feeding mechanism (4) feeds the material according to the feeding scheme data, specifically including the following steps: D1. The phase-separated aquaculture ponds are identified by the side sensing magnet (721) and the side Hall sensor (722). D2. The feeding positions in the breeding pond are identified by the bottom induction magnet (711) and the bottom Hall sensor (712); D3. When the bottom Hall sensor (712) detects the bottom sensing magnet (711) and the cumulative number of detections by the bottom Hall sensor (712) is less than or equal to the current preset feeding position number of the aquaculture pond, the automatic feeding mechanism (4) feeds the fish. When the bottom Hall sensor (712) detects the bottom sensing magnet (711) and the cumulative number of detections by the bottom Hall sensor (712) is greater than the current preset feeding position number of the aquaculture pond, the automatic feeding mechanism (4) does not feed the fish and sends an alarm signal. When the side Hall sensor (722) detects the next side sensing magnet (721) and the cumulative number of detections by the bottom Hall sensor (712) is less than the current preset feeding position number of the aquaculture pond, the automatic feeding mechanism (4) does not feed the fish and sends an alarm signal.

2. The automated feeding method for aquaculture according to claim 1, characterized in that: The camera recognition device (8) is mounted on the feeding seat (2).

3. The automated feeding method for aquaculture according to claim 1, characterized in that: The automatic feeding mechanism (4) includes an automatic feed dispensing component (41) for automatically dispensing feed downwards and / or an automatic solid additive dispensing component (42) for automatically dispensing solid additives downwards and / or an automatic liquid additive dispensing component (43) for automatically dispensing liquid additives downwards. The automatic feed dispensing assembly (41) includes at least one automatic feed dispensing module (411). Each automatic feed dispensing module (411) includes a feed cylinder (4111) set on the feeding base (2), a feed outlet (4112) set at the bottom of the feed cylinder (4111), a feed dispensing screw (4113) rotatably connected to the feed outlet (4112) in the horizontal direction, and a feed dispensing power mechanism (4114) for driving the feed dispensing screw (4113) to rotate. The feed dispensing power mechanism (4114) is set on the feed cylinder (4111), and the output end of the feed dispensing power mechanism (4114) drives and connects to the feed dispensing screw (4113). The automatic solid additive dispensing assembly (42) includes at least one automatic solid additive dispensing module (421). Each automatic solid additive dispensing module (421) includes a solid additive cylinder (4211) disposed on the feeding base (2), a solid additive outlet (4212) disposed at the bottom of the solid additive cylinder (4211), a solid additive dispensing screw (4213) rotatably connected to the solid additive outlet (4212) in the horizontal direction, and a solid additive dispensing power mechanism (4214) for driving the solid additive dispensing screw (4213) to rotate. The solid additive dispensing power mechanism (4214) is disposed on the solid additive cylinder (4211), and the output end of the solid additive dispensing power mechanism (4214) drives and connects to the solid additive dispensing screw (4213). The automatic liquid additive dispensing assembly (43) includes at least one automatic liquid additive dispensing module (431), and each automatic liquid additive dispensing module (431) includes a liquid additive cylinder (4311) set on the feeding seat (2) and a pumping pump (4312) set on the liquid additive cylinder (4311).

4. The automated feeding method for aquaculture according to claim 1, characterized in that: The mobile power supply (5511) is a rechargeable battery module; it also includes an automatic charging device (6) for automatically charging the rechargeable battery module; the automatic charging device (6) includes at least two charging output electrodes (61) that are electrically connected to the mains power, and at least two charging input electrodes (62) that are electrically connected to the rechargeable battery module and are disposed on the feeding base (2); when the charging input electrode (62) moves in front of the charging output electrode (61), each charging input electrode (62) contacts and conducts electricity with the corresponding charging output electrode (61).

5. The automated feeding method for aquaculture according to claim 4, characterized in that: The automatic charging device (6) further includes an electrode mounting bracket (63), an adaptive swing rod (64) that swings along the front-back direction on the electrode mounting bracket (63), a first compression spring (65), and a second compression spring (66). The charging output electrode (61) swings along the front-back direction on the adaptive swing rod (64). The first compression spring (65) is sandwiched between the adaptive swing rod (64) and the electrode mounting bracket (63), and the second compression spring (66) is sandwiched between the charging output electrode (61) and the adaptive swing rod (64).

6. The automated feeding method for aquaculture according to claim 1, characterized in that, Step C specifically includes the following steps: C1. Administer feed precisely based on the remaining feed quantity; C2. Apply solid and / or liquid additives according to the growth status of fish and shrimp; Specifically, step C1, which involves precisely dispensing feed based on the remaining feed, includes the following steps: C11. Calculate the remaining feed area based on the divided feed areas; C12. Compare the remaining feed area with the preset remaining feed area threshold. C13. Adjust the next feed amount based on the difference between the remaining feed area and the preset remaining feed area threshold. The preset feed amount is N, the next feed amount is N1, the remaining feed area is S, and the preset remaining feed area threshold is S1. The preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1 satisfy the following condition: N1 = N(1 - (S - S1) / S1). Step C11, which involves calculating the remaining feed area based on the divided feed area, specifically includes the following steps: C111. Acquire image information and preprocess the image information to extract image features; C112. Based on the image features, construct a model to distinguish between feed and excrement; C113. Using the discriminative model, the target region in the image is identified. An image segmentation algorithm is used to segment the target region in the image to obtain the segmented feed region and excrement region. Based on the segmented feed region, the remaining feed area is calculated. The preprocessing of image information in step C111 specifically includes: The image is denoised to obtain the denoised image; Based on the denoised image, extract color features, shape features, and texture features; The construction of the feed-excrement differentiation model in step C112 specifically includes: Based on the extracted image features, construct a feature set for feed samples and a feature set for excrement samples; A discrimination model is trained and generated based on the feed sample feature set and the excrement sample feature set using a machine learning algorithm. The machine learning algorithm includes at least one of support vector machine, random forest and convolutional neural network. Specifically, step C2, which involves adding solid and / or liquid additives based on the growth status of the fish and shrimp, includes the following steps: C21. Pre-construct a general database of fish and shrimp growth status data, including sub-databases of aquaculture feeding data for various fish and shrimp growth statuses. Each sub-database of aquaculture feeding data includes data on the growth status of various fish and shrimp and corresponding feeding scheme data. C22. Each feeding basket is photographed by the camera recognition device (8) and aquaculture video data is generated; the target extraction algorithm is used to calculate the continuous multi-frame images in the aquaculture video data; a fixed number of keyframes are sampled for each video frame in the aquaculture video data. C23. Input the sampled keyframes into the corresponding aquaculture feeding data sub-database of the current aquaculture area to compare and process the data of various fish and shrimp growth conditions, and obtain the corresponding solid additive and / or liquid additive feeding scheme data.

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