Method for realizing intelligent feeding of fish pond by using feeding device

Abstract

The application provides a fish pond intelligent bait throwing work method using a bait throwing device, and comprises the following steps: S1, the bait throwing device moves to a bait throwing area of a fish pond; S2, after the bait throwing device moves to the bait throwing area of the fish pond, the bait throwing device adjusts a bait throwing angle and a speed to realize bait throwing of the fish pond. The bait throwing distance is controlled by adjusting the angle of a material throwing box and controlling the rotating speed of a material throwing motor.

Description

Technical Field

[0001] This invention relates to the field of pond fish feeding technology, and in particular to a method for intelligent feeding of fish ponds using feeding equipment. Background Technology

[0002] Currently, there are two types of automatic feeding methods for fish ponds: track-based and pneumatic feeding. Track-based feeding robots are suspended above the fish pond, and if the robot malfunctions, it must be removed from the track for repair, making maintenance complex and difficult. On the other hand, pneumatic feeding systems tend to accumulate residual feed powder in the pipes, affecting conveying efficiency. Summary of the Invention

[0003] This invention aims to at least solve the technical problems existing in the prior art, and innovatively proposes a method for intelligent feeding of fish ponds using a feeding device. This method can achieve automatic feeding of fish ponds without the need for tracks, while also ensuring feeding efficiency.

[0004] To achieve the above-mentioned objectives of the present invention, the present invention provides a method for intelligent feeding of fish ponds using a feeding device, comprising the following steps:

[0005] S1, the feeding equipment is moved to the feeding area of ​​the fish pond;

[0006] S2, after the feeding device moves to the feeding area of ​​the fish pond, the feeding device adjusts the feeding angle and speed to achieve feeding of the fish pond.

[0007] In a preferred embodiment of the present invention, step S1 includes the following steps:

[0008] S11, The automatic feeding management cloud platform sends control information to the feeding equipment, which includes the feeding area and the amount of feed;

[0009] The feeding area includes K feeding areas, namely the first feeding area, the second feeding area, the third feeding area, ..., the Kth feeding area;

[0010] The amount of feed given in the k-th feeding area is M. k kilogram, where k is a positive integer less than or equal to K;

[0011] That is, the amount of feed given in the first feeding area is M1 kg, the amount of feed given in the second feeding area is M2 kg, the amount of feed given in the third feeding area is M3 kg, and so on, until the amount of feed given in the Kth feeding area is M1 kg. K kilogram;

[0012] S12, after receiving the control information sent by the automatic feeding management cloud platform, the feeding device moves sequentially to the first feeding area, the second feeding area, the third feeding area, ..., the Kth feeding area.

[0013] In a preferred embodiment of the present invention, step S2 includes the following steps:

[0014] S20, let the region index p = 1;

[0015] S21, in the p-th feeding area, the feeding device adjusts the attitude of the feeding port:

[0016] S211, the controller sends a control command to the AGV mobile chassis (200), which controls the AGV mobile chassis (200) to rotate so that its feeding port faces the fish pond;

[0017] S212, the controller sends a control command to the regulating cylinder, which controls the extension and retraction of the regulating cylinder's telescopic rod so that the bottom of its box forms an angle θ with the horizontal plane;

[0018] S22, in the p-th feeding area, the feeding equipment adjusts the feeding speed:

[0019] The controller sends a control command to the throwing motor, which controls the speed of the throwing motor to n, so that the throwing speed of the bait is V.

[0020] S23, determine whether the amount of feed given in the p-th feeding area is equal to M. p M p The amount of feed given in the p-th feeding area;

[0021] If the amount of feed given in the p-th feeding area is greater than or equal to M p The controller then sends a control signal to the throwing motor, which stops the throwing motor from working; the feeding device stops feeding; and proceeds to the next step.

[0022] If the amount of feed given in the p-th feeding area is less than M p If the controller sends a control signal to the throwing motor, the throwing motor will continue to work; the feeding device will continue to feed.

[0023] S24, Determine the relationship between p and K:

[0024] If p > K, then the feeding task in each feeding area is completed;

[0025] If p≤K, then p=p+1, and proceed to step S21.

[0026] The method for intelligent feeding of fish ponds using feeding equipment includes the following steps in step S23:

[0027] Mp ≤M″ p -M′ p ,

[0028] M p The amount of feed given in the p-th feeding area;

[0029] M″ p This indicates the amount of bait at the start of feeding the p-th feeding area;

[0030] M′ p This indicates the real-time amount of bait in the p-th feeding area when feeding ends.

[0031] In a preferred embodiment of the present invention, step S22 includes:

[0032] Considering only gravity (ignoring air resistance and wind force, etc.), we have:

[0033]

[0034] Where H represents the height of the feeding port from the plane of the fish pond;

[0035] v x The X-axis component represents the projectile velocity;

[0036] v y The Y-axis component represents the projectile velocity;

[0037] g represents the acceleration due to gravity, taken as 9.8 m / s². 2 ;

[0038] t represents the time of fall;

[0039] L represents the launch distance;

[0040] θ represents the launch angle, which is the angle between the bottom of the box and the horizontal plane; θ∈(-π / 2,π / 2), when θ∈(-π / 2,0), it is a downward launch at an angle; when θ∈(0,π / 2), it is an upward launch at an angle; when θ=0, it is a horizontal launch;

[0041] V represents the projectile velocity;

[0042] V = 2πnR,

[0043] V represents the projectile velocity;

[0044] n represents the rotational speed of the ballistic motor;

[0045] R represents the distance between the throwing paddle and the throwing motor shaft; R∈[r min ,r max ];

[0046] r minThis is the distance between the farthest section of the throwing paddle and the shaft of the throwing motor;

[0047] r max This is the distance between the farthest notch of the throwing blade and the shaft of the throwing motor.

[0048] In a preferred embodiment of the present invention, step S23 includes:

[0049] M′ p =(F 1,p +F 2,p +F 3,p )×ε,

[0050] M′ p This indicates the real-time amount of bait in the p-th feeding area after the feeding has ended;

[0051] F 1,p The pressure value measured by the first weighing sensor at the end of the p-th feeding zone;

[0052] F 2,p The pressure value measured by the second weighing sensor at the end of the p-th feeding zone;

[0053] F 3,p The pressure value measured by the third weighing sensor at the end of the p-th feeding zone;

[0054] ε represents the conversion factor between pressure and weight;

[0055] M″ p =(F′ 1,p +F′ 2,p +F′ 3,p )×ε,

[0056] M″ p This indicates the amount of bait when feeding begins in the p-th feeding area;

[0057] F′ 1,p The pressure value measured by the first weighing sensor when feeding begins in the p-th feeding zone;

[0058] F′ 2,p The pressure value measured by the second weighing sensor when feeding begins in the p-th feeding zone;

[0059] F′ 3,p The pressure value measured by the third weighing sensor when feeding begins in the p-th feeding zone;

[0060] ε represents the conversion factor between pressure and weight;

[0061] In a preferred embodiment of the present invention, step S212 includes:

[0062]

[0063] θ is the angle between the bottom of the box and the horizontal plane;

[0064] l represents a constant height value;

[0065] d represents the length of the telescopic rod of the regulating cylinder;

[0066] L is the length of the line connecting the hinge points on the bottom of the box;

[0067] l and L are known measured values. The angle value is changed by adjusting the length of the telescopic rod. When d = l, the opening of the throwing box is horizontal; when d > l, the opening of the throwing box is angled upward; and when d < l, the opening of the throwing box is angled downward. Alternatively, a tilt sensor can be installed at the bottom of the box. The angle data terminal of the tilt sensor is connected to the angle data of the controller to measure the tilt angle of the throwing box.

[0068] In step S22, in the p-th feeding area, the feeding device adjusts the feeding speed:

[0069] The controller sends a control command to the throwing motor, which controls the speed of the throwing motor to n, so that the throwing speed of the bait is V.

[0070] When the throwing speed is V, the controller sends a control signal to the discharge motor, which activates the discharge motor to allow the bait in the auger to enter the throwing box; the feeding equipment then feeds the bait.

[0071] In a preferred embodiment of the present invention, the feeding device includes a feeding device for automatic feeding and an AGV mobile chassis for moving the feeding device and having a positioning function. The feeding device includes a housing mounted on the AGV mobile chassis. The upper end of the housing is provided with a feeding port for feeding, and the side of the housing is provided with a throwing port for throwing the bait. A hopper assembly is provided inside the housing below the feeding port, and a throwing assembly is provided inside the housing at the throwing port. The throwing assembly and the hopper assembly are connected by a discharging assembly with a metering function. A visual recognition device is provided on the housing.

[0072] As a preferred embodiment of the above scheme, the hopper assembly includes a hopper for containing bait, and a first bracket for mounting a throwing component and a discharging component is provided below the hopper. The first bracket is mounted inside the housing by at least three second brackets provided at the bottom, and a weighing sensor for weighing the hopper assembly is provided between the second brackets and the housing.

[0073] In a preferred embodiment of the present invention, a vibrator is provided outside the hopper via a vibrating support to facilitate material feeding.

[0074] In a preferred embodiment of the present invention, the throwing assembly includes a throwing box, a throwing motor, and a throwing element with a plurality of throwing blades. The throwing box has an opening on one side facing the throwing port, and one end of the throwing box facing the throwing port extends outside the throwing port. The throwing element is rotatably disposed inside the throwing box. The throwing motor is disposed on the bottom surface of the throwing box, and the output end of the throwing motor passes through the throwing box and is connected to the throwing element.

[0075] In a preferred embodiment of the present invention, the throwing box includes a box cover and a box bottom arranged opposite to each other. The top surface of the box cover is provided with a receiving hose connected to the discharging component. The box cover is provided with a receiving through hole for the receiving hose to pass through, and the lower end of the receiving hose can pass through the receiving through hole and extend into the throwing box. The box cover is provided with an anti-detachment sealing element to prevent the receiving hose from coming off after installation.

[0076] In a preferred embodiment of the present invention, the throwing box is provided with an adjustment component for adjusting the tilt angle of the throwing box. The adjustment component includes a first adjustment bracket and a second adjustment bracket. The middle part of the throwing box is hinged to a third bracket, which is disposed on the first bracket. One end of the throwing box opposite to the opening is provided with a first adjustment bracket extending along the throwing box. The first bracket is provided with a second adjustment bracket. The second adjustment bracket is provided with an adjustment groove extending vertically for adjusting the tilt angle of the throwing box. The first adjustment bracket is provided with a mating groove along the extension direction of the throwing box.

[0077] In a preferred embodiment of the present invention, the material throwing paddle is provided with a downward-facing notch for preventing material jamming.

[0078] In a preferred embodiment of the present invention, the discharge assembly includes an auger and a discharge motor for driving the auger to rotate. The end of the auger near the discharge motor has an upwardly extending receiving pipe for connecting to a hopper assembly, and the end of the auger away from the discharge motor has a downwardly extending discharge pipe for connecting to a throwing assembly.

[0079] In a preferred embodiment of the present invention, a receiving component is further provided inside the housing, located below the throwing component. The receiving component includes a receiving tray. A receiving outlet for pulling out the receiving tray is provided on the side of the housing. A receiving bracket is provided inside the housing. A receiving telescopic cylinder is provided on the receiving bracket. The output end of the receiving telescopic cylinder is connected to the bottom surface of the receiving tray through a connecting bracket. A limit sensor for limiting the stroke of the receiving tray is provided on the receiving bracket. A sensing block that can be sensed by the limit sensor is correspondingly provided on the side of the receiving tray.

[0080] In a preferred embodiment of the present invention, a control component for controlling the operation of the entire device is provided inside the housing, a control panel electrically connected to the control component is provided on the housing, a heat dissipation vent for heat dissipation of the control component is provided on the housing, and a cooling fan is provided at the heat dissipation vent.

[0081] In a preferred embodiment of the present invention, an air inlet is provided on the top surface of the housing, and a cleaning fan for blowing air toward the silo assembly is provided at the air inlet.

[0082] In a preferred embodiment of the present invention, a maintenance door is provided on the side of the housing to facilitate the maintenance of the internal structure.

[0083] The present invention also discloses a computer system, comprising:

[0084] processor;

[0085] Memory used to store processor-executable instructions;

[0086] The processor is configured to implement the intelligent feeding method for fish ponds using a feeding device when executing the executable instructions.

[0087] The present invention also discloses a computer-readable storage medium, comprising:

[0088] A memory on which computer programs are stored;

[0089] A processor is configured to execute the program in the memory to implement the method for intelligent feeding of fish ponds using a feeding device.

[0090] In summary, by adopting the above technical solution, the present invention is able to:

[0091] 1) The entire device can be moved by using an AGV mobile chassis, eliminating the need to install tracks in the fish pond. Also, the device does not need to be removed from the tracks during maintenance, thus facilitating repairs.

[0092] 2) Equipped with a visual recognition device that can identify the size of the fishpond, an AGV mobile chassis with positioning function, and a feeding component with metering function, the entire device can throw out a fixed amount of bait according to the size of the fishpond and its own position, and ensure that the bait is thrown into the fishpond.

[0093] 3) The throwing distance is controlled by adjusting the angle of the throwing box and controlling the speed of the throwing motor.

[0094] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0095] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0096] Figure 1 This is a flowchart illustrating the process of the present invention.

[0097] Figure 2 This is a three-dimensional illustration of the present invention. Figure 1 .

[0098] Figure 3 This is a three-dimensional illustration of the present invention. Figure 2 .

[0099] Figure 4 This is a schematic diagram of the hopper assembly, discharge assembly, throwing assembly, and receiving assembly in this invention. Figure 1 .

[0100] Figure 5 This is a schematic diagram of the hopper assembly, discharge assembly, throwing assembly, and receiving assembly in this invention. Figure 2 .

[0101] Figure 6 This is a schematic diagram of the material throwing component in this invention.

[0102] Figure 7 This is a schematic diagram of the receiving component in this invention. Figure 1 .

[0103] Figure 8 This is a schematic diagram of the receiving component in this invention. Figure 2 .

[0104] Attached reference numerals: Feed port - 101, Discharge port - 102, Discharge lever - 103, Box cover - 104, Box bottom - 105, Baffle - 106, Adjustment groove - 107, Fitting groove - 108, Material outlet - 109, Shell - 110, Heat dissipation vent - 111, Air inlet - 113, Maintenance door - 115, Hopper - 121, First support - 122, Second support - 123, Weighing sensor - 124, Vibration support - 125, Vibrator - 126 Material throwing box-131, material throwing motor-132, material throwing component-133, material receiving hose-134, anti-detachment seal-135, third bracket-138, pull-out plate-139, auger-141, discharge motor-142, material receiving pipe-143, discharge pipe-144, vision recognition device-150, material receiving assembly-160, material receiving tray-161, material receiving bracket-162, material receiving telescopic cylinder-163, sensor block-165, AGV mobile chassis-200. Detailed Implementation

[0105] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein 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 with reference 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.

[0106] This invention provides a method for intelligent feeding of fish ponds using a feeding device, such as... Figure 1 As shown, it includes the following steps:

[0107] S1, the feeding equipment is moved to the feeding area of ​​the fish pond;

[0108] S2, after the feeding device moves to the feeding area of ​​the fish pond, the feeding device adjusts the feeding angle and speed to achieve feeding of the fish pond.

[0109] In a preferred embodiment of the present invention, step S1 includes the following steps:

[0110] S11, The automatic feeding management cloud platform sends control information to the feeding equipment, which includes the feeding area and the amount of feed;

[0111] The feeding area includes K feeding areas, namely the first feeding area, the second feeding area, the third feeding area, ..., the Kth feeding area;

[0112] The amount of feed given in the k-th feeding area is M. k kilogram, where k is a positive integer less than or equal to K;

[0113] That is, the amount of feed given in the first feeding area is M1 kg, the amount of feed given in the second feeding area is M2 kg, the amount of feed given in the third feeding area is M3 kg, and so on, until the amount of feed given in the Kth feeding area is M1 kg. K kilogram;

[0114] S12, after receiving the control information sent by the automatic feeding management cloud platform, the feeding device moves sequentially to the first feeding area, the second feeding area, the third feeding area, ..., the Kth feeding area.

[0115] In a preferred embodiment of the present invention, step S2 includes the following steps:

[0116] S20, let the region index p = 1;

[0117] S21, in the p-th feeding area, the feeding device adjusts the attitude of the feeding port:

[0118] S211, the controller sends a control command to the AGV mobile chassis (200), which controls the AGV mobile chassis (200) to rotate so that its feeding port faces the fish pond;

[0119] S212, the controller sends a control command to the regulating cylinder, which controls the extension and retraction of the regulating cylinder's telescopic rod so that the bottom of its box forms an angle θ with the horizontal plane;

[0120] S22, in the p-th feeding area, the feeding equipment adjusts the feeding speed:

[0121] The controller sends a control command to the throwing motor, which controls the speed of the throwing motor to n, so that the throwing speed of the bait is V.

[0122] S23, determine whether the amount of feed given in the p-th feeding area is equal to M. p M p The amount of feed given in the p-th feeding area;

[0123] If the amount of feed given in the p-th feeding area is greater than or equal to M p The controller then sends a control signal to the throwing motor, which stops the throwing motor from working; the feeding device stops feeding; and proceeds to the next step.

[0124] If the amount of feed given in the p-th feeding area is less than M p If the controller sends a control signal to the throwing motor, the throwing motor will continue to work; the feeding device will continue to feed.

[0125] S24, Determine the relationship between p and K:

[0126] If p > K, then the feeding task in each feeding area is completed;

[0127] If p≤K, then p=p+1, and proceed to step S21.

[0128] The method for intelligent feeding of fish ponds using feeding equipment includes the following steps in step S23:

[0129] M p ≤M″ p -M′ p ,

[0130] M p The amount of feed given in the p-th feeding area;

[0131] M″ p This indicates the amount of bait at the start of feeding the p-th feeding area;

[0132] M′ p This indicates the real-time amount of bait in the p-th feeding area when feeding ends.

[0133] In a preferred embodiment of the present invention, step S22 includes:

[0134] Considering only gravity (ignoring air resistance and wind force, etc.), we have:

[0135]

[0136] Where H represents the height of the feeding port from the plane of the fish pond;

[0137] v x The X-axis component represents the projectile velocity;

[0138] v y The Y-axis component represents the projectile velocity;

[0139] g represents the acceleration due to gravity, taken as 9.8 m / s². 2 ;

[0140] t represents the time of fall;

[0141] L represents the launch distance;

[0142] θ represents the launch angle, which is the angle between the bottom of the box and the horizontal plane; θ∈(-π / 2,π / 2), when θ∈(-π / 2,0), it is a downward launch at an angle; when θ∈(0,π / 2), it is an upward launch at an angle; when θ=0, it is a horizontal launch;

[0143] V represents the projectile velocity;

[0144] V = 2πnR,

[0145] V represents the projectile velocity;

[0146] n represents the rotational speed of the ballistic motor;

[0147] R represents the distance between the throwing paddle and the throwing motor shaft; R∈[r min ,r max ];

[0148] r min This is the distance between the farthest section of the throwing paddle and the shaft of the throwing motor;

[0149] r max This is the distance between the farthest notch of the throwing blade and the shaft of the throwing motor.

[0150] In a preferred embodiment of the present invention, step S23 includes:

[0151] M′ p =(F 1,p +F 2,p +F 3,p )×ε,

[0152] M′ p This indicates the real-time amount of bait in the p-th feeding area after the feeding has ended;

[0153] F 1,p The pressure value measured by the first weighing sensor at the end of the p-th feeding zone;

[0154] F 2,p The pressure value measured by the second weighing sensor at the end of the p-th feeding zone;

[0155] F 3,p The pressure value measured by the third weighing sensor at the end of the p-th feeding zone;

[0156] ε represents the conversion factor between pressure and weight;

[0157] M″ p =(F′ 1,p +F′2,p+F′3,p)×ε,

[0158] M″ p This indicates the amount of bait when feeding begins in the p-th feeding area;

[0159] F′ 1,p The pressure value measured by the first weighing sensor when feeding begins in the p-th feeding zone;

[0160] F′ 2,p The pressure value measured by the second weighing sensor when feeding begins in the p-th feeding zone;

[0161] F′ 3,p The pressure value measured by the third weighing sensor when feeding begins in the p-th feeding zone;

[0162] ε represents the conversion factor between pressure and weight;

[0163] In a preferred embodiment of the present invention, step S212 includes:

[0164]

[0165] θ is the angle between the bottom of the box and the horizontal plane;

[0166] l represents a constant height value;

[0167] d represents the length of the telescopic rod of the regulating cylinder;

[0168] L is the length of the line connecting the hinge points on the bottom of the box;

[0169] l and L are known measured values. The angle value is changed by adjusting the length of the telescopic rod. When d = l, the opening of the throwing box is horizontal; when d > l, the opening of the throwing box is angled upward; and when d < l, the opening of the throwing box is angled downward. Alternatively, a tilt sensor can be installed at the bottom of the box. The angle data terminal of the tilt sensor is connected to the angle data of the controller to measure the tilt angle of the throwing box.

[0170] In step S22, in the p-th feeding area, the feeding device adjusts the feeding speed:

[0171] The controller sends a control command to the throwing motor, which controls the speed of the throwing motor to n, so that the throwing speed of the bait is V.

[0172] When the throwing speed is V, the controller sends a control signal to the discharge motor, which activates the discharge motor to allow the bait in the auger to enter the throwing box; the feeding equipment then feeds the bait.

[0173] The present invention also discloses a feeding device, such as Figures 2-8 As shown, it mainly consists of a feeding device and an AGV mobile chassis 200. The feeding device is mounted on the AGV mobile chassis 200 and is used to automatically feed the animals. The AGV mobile chassis 200 is used to move the feeding device. The AGV mobile chassis 200 adopts a structure with omnidirectional movement and positioning functions, which is common in existing technologies.

[0174] The feeding device includes a housing 110 mounted on an AGV mobile chassis 200. A feeding port 101 for feeding is provided at the upper end of the housing 110, and a throwing port 102 for throwing the bait is provided on the side of the housing 110. A hopper assembly is provided inside the housing 110 below the feeding port 101, and a throwing assembly is provided inside the housing 110 at the position of the throwing port 102. The throwing assembly and the hopper assembly are connected by a discharging assembly with a metering function.

[0175] The bait is added through the feeding port 101 and stored in the feed hopper assembly. When feeding is needed, the discharging assembly operates to dispense a fixed amount of bait, which falls into the throwing assembly. Then, the bait is thrown out from the throwing port by the throwing assembly. To ensure accurate throwing into the fishpond, a visual recognition device 150 is installed on the housing 110. The visual recognition device identifies the direction of the fishpond, and then the AGV moving chassis adjusts the position of the throwing port so that it faces the fishpond.

[0176] The specific structure of the feed hopper assembly includes a feed hopper 121 for holding bait. Below the feed hopper 121 is a first support 122 for mounting the throwing and discharging components. The first support 122 is mounted inside the housing 110 via at least three second supports 123 located at its bottom. A weighing sensor 124 is positioned between the second supports 123 and the housing 110 to monitor the weight of the feed hopper assembly. The weighing sensor monitors the amount of bait in the feed hopper in real time, facilitating timely replenishment when the bait is depleted. A vibrator 126 is mounted outside the feed hopper 121 via a vibrating support 125 to facilitate bait dispensing.

[0177] The specific structure of the discharge assembly includes an auger 141 and a discharge motor 142 for driving the auger 141 to rotate. At the end of the auger 141 near the discharge motor 142, an upward-extending receiving pipe 143 is provided for connection to a hopper assembly. At the end of the auger 141 away from the discharge motor 142, a downward-extending discharge pipe 144 is provided for connection to a throwing assembly. The rotation of the discharge motor drives the auger to rotate, thereby moving the bait from the receiving pipe to the discharge pipe. By controlling the rotation of the discharge motor, the discharge rate can be controlled.

[0178] The specific structure of the bait throwing assembly includes a throwing box 131, a throwing motor 132, and a throwing element 133 with several throwing paddles 103, which are evenly arranged circumferentially on the throwing element. To facilitate bait throwing, the side of the throwing box 131 facing the throwing port 102 is made open, and the end of the throwing box 131 facing the throwing port 102 extends outside the throwing port 102 to prevent bait from falling into the housing. To achieve throwing, the throwing element 133 is rotatably disposed inside the throwing box 131, and the throwing motor 132 is disposed on the bottom surface of the throwing box 131, with the output end of the throwing motor 132 passing through the throwing box 131 and connected to the throwing element 133. When the throwing motor is working, it drives the throwing element to rotate. The bait falling into the throwing box rotates inside the throwing box under the action of the throwing paddles, and then is thrown out along the throwing port under the action of centrifugal force. To prevent material from getting stuck in the throwing disc, a downward-facing notch is provided on the throwing disc 103.

[0179] To facilitate cleaning of the discharge box, a cleaning port is provided at the bottom of the discharge box 131 at the end away from the discharge port 102. At the same time, a pull plate 139 is provided at the cleaning port to facilitate opening the cleaning port, and the pull plate is equipped with a pin or bolt for fixing the pull plate after installation.

[0180] To facilitate adjustment of the throwing angle, an adjustment assembly for adjusting the tilt angle of the throwing box 131 is provided on the throwing box 131. Specifically, the adjustment assembly includes a first adjustment bracket and a second adjustment bracket. The throwing box 131 is hinged to a third bracket 138 in the middle, and the third bracket 138 is mounted on a first bracket 122. A first adjustment bracket extending along the throwing box 131 is provided at one end of the throwing box 131 opposite to the opening. A second adjustment bracket is provided on the first bracket 122. An adjustment groove 107 for adjusting the tilt angle of the throwing box 131 is provided vertically on the second adjustment bracket. A mating groove 108 extending along the extension direction of the throwing box 131 is provided on the first adjustment bracket. The tilt angle of the throwing box is adjusted by adjusting the installation position of the first adjustment bracket relative to the second adjustment bracket. After adjustment, the first adjustment bracket is fixed relative to the second adjustment bracket by tightening the bolts.

[0181] Of course, the adjustment component can be an electric adjustment component, specifically including an adjustment cylinder, one end of which is hinged to the first adjustment bracket, and the other end is hinged to the end of the throwing box away from the opening.

[0182] The throwing box 131 includes a cover 104 and a bottom 105 arranged opposite each other. A U-shaped baffle 106 is provided between the cover 104 and the bottom 105, and the arc of the baffle 106 is located away from the throwing port 102. To realize the movable connection between the throwing component and the discharge component, a receiving hose 134 connected to the discharge component is provided on the top surface of the cover 104. The cover 104 is provided with a receiving through hole for the receiving hose 134 to pass through, and the lower end of the receiving hose 134 can pass through the receiving through hole and extend into the throwing box 131. The cover 104 is provided with an anti-detachment seal 135 to prevent the receiving hose 134 from falling out after installation.

[0183] To prevent bait from falling into the shell and accumulating, thus affecting overall operation, a receiving assembly 160 is also provided inside the shell 110, located below the throwing assembly. Specifically, the receiving assembly 160 includes a receiving tray 161, a receiving outlet 109 for pulling out the receiving tray 161 is provided on the side of the shell 110, a receiving bracket 162 is provided inside the shell 110, and a receiving telescopic cylinder 163 is provided on the receiving bracket 162. The output end of the receiving telescopic cylinder is connected to the bottom surface of the receiving tray 161 through a connecting bracket. The extension and retraction of the receiving tray is achieved by extending and retracting the receiving cylinder, thereby realizing the receiving of bait and the cleaning of the receiving tray after receiving bait.

[0184] The receiving bracket 162 is equipped with a limit sensor for limiting the stroke of the receiving tray 161. A sensing block 165 that can be sensed by the limit sensor is provided on the side of the receiving tray 161. The extension or retraction of the receiving telescopic cylinder is controlled by the cooperation of the limit sensor and the sensing block.

[0185] To further prevent the accumulation of bait residue, an air inlet 113 is provided on the top surface of the shell 110, and a cleaning fan for blowing air toward the hopper assembly is provided at the air inlet 113. To facilitate maintenance of the internal structure of the shell, a maintenance door 115 is provided on the side of the shell 110 for easy maintenance of the internal structure.

[0186] To facilitate the control of the entire device, a control component for controlling the operation of the entire device is installed inside the housing 110. A control panel electrically connected to the control component is also mounted on the housing 110. A heat dissipation vent 111 for cooling the control component is provided on the housing 110, and a cooling fan is installed at the heat dissipation vent 111. The control panel, cooling fan, load cell, cleaning fan, vibrator, throwing motor, discharge motor, receiving telescopic cylinder, and limit sensor are all electrically connected to the control component. Specifically, the control component is a controller, and the connection is as follows:

[0187] The data terminal of the control panel is connected to the data terminal of the controller's control panel;

[0188] The cooling fan's operating control terminal is connected to the cooling fan's operating control terminal of the controller;

[0189] When there are three weighing sensors, they are the first weighing sensor, the second weighing sensor, and the third weighing sensor. The weighing data output terminal of the first weighing sensor is connected to the first weighing data input terminal of the controller, the weighing data output terminal of the second weighing sensor is connected to the second weighing data input terminal of the controller, and the weighing data output terminal of the third weighing sensor is connected to the third weighing data input terminal of the controller.

[0190] The working control terminal of the pigging fan is connected to the working control terminal of the pigging fan on the controller;

[0191] The vibrator's operating control terminal is connected to the controller's vibrator operating control terminal;

[0192] The working control terminal of the throwing motor is connected to the working control terminal of the throwing motor of the controller;

[0193] The working control terminal of the discharge motor is connected to the working control terminal of the discharge motor of the controller;

[0194] The working control terminal of the receiving telescopic cylinder is connected to the working control terminal of the receiving telescopic cylinder of the controller;

[0195] The signal output terminal of the limit sensor is connected to the limit signal input terminal of the controller;

[0196] The mobile control terminal of the AGV mobile chassis is connected to the AGV mobile control terminal of the controller;

[0197] The image data output terminal of the visual recognition device is connected to the image data input terminal of the controller;

[0198] The extension / retraction control end of the regulating cylinder is connected to the extension / retraction control end of the regulating cylinder of the controller;

[0199] It also includes a network module installed inside the housing. This network module is a wireless communication network module. The communication data terminal of the wireless communication network module is connected to the communication data terminal of the controller to realize communication with the automatic feeding management cloud platform.

[0200] The present invention also discloses a computer system, comprising:

[0201] processor;

[0202] Memory used to store processor-executable instructions;

[0203] The processor is configured to implement the intelligent feeding method for fish ponds using a feeding device when executing the executable instructions.

[0204] The present invention also discloses a computer-readable storage medium, comprising:

[0205] A memory on which computer programs are stored;

[0206] A processor is configured to execute the program in the memory to implement the method for intelligent feeding of fish ponds using a feeding device.

[0207] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for intelligent feeding in fish ponds using a feeding device, characterized in that, The feeding device includes a feeding device for automatic feeding and an AGV mobile chassis (200) for moving the feeding device and having a positioning function. The feeding device includes a housing (110) mounted on the AGV mobile chassis (200). The upper end of the housing (110) is provided with a feeding port (101) for feeding. The side of the housing (110) is provided with a throwing port (102) for throwing the bait. A hopper assembly is provided inside the housing (110) below the feeding port (101). A feeding assembly is provided at the feeding port (102), and the feeding assembly is connected to the hopper assembly by a discharging assembly with a metering function. A visual recognition device (150) is provided on the housing (110). The hopper assembly includes a hopper for holding bait. A first bracket for mounting the feeding assembly and the discharging assembly is provided below the hopper. The first bracket is installed inside the housing by at least three second brackets provided at the bottom, and a weighing sensor for weighing the hopper assembly is provided between the second brackets and the housing. The feeding device performs the following steps: S1, the feeding device is moved to the feeding area of ​​the fish pond; step S1 includes the following steps: S11, The automatic feeding management cloud platform sends control information to the feeding equipment, which includes the feeding area and the amount of feed; The baiting area includes There are several feeding areas, namely the first feeding area, the second feeding area, the third feeding area, ..., the fourth feeding area. Feeding area; In the The amount of feed given in the feeding area is kilogram, Less than or equal to Positive integers; S12, after receiving the control information sent by the automatic feeding management cloud platform, the feeding device moves sequentially to the first feeding area, the second feeding area, the third feeding area, ..., the ... Feeding area; S2, after the feeding device moves to the feeding area of ​​the fish pond, the feeding device adjusts the feeding angle and speed to feed the fish pond. Step S2 includes the following steps: S20, let the area number =1; S21, in the In the feeding area, adjust the throwing nozzle of the feeding equipment: S211, the controller sends a control command to the AGV mobile chassis (200), which controls the AGV mobile chassis (200) to rotate so that its feeding port faces the fish pond; S212, the controller sends a control command to the regulating cylinder, which controls the extension and retraction of the regulating cylinder's telescopic rod, causing the bottom of the box to align with the horizontal plane. ; S22, in the In the feeding area, adjust the feeding speed of the feeding equipment: The controller sends a control command to the throwing motor, which controls the speed of the throwing motor to be [value missing]. This causes the bait to be launched at a speed of [missing information]. ; S23, determine the first... Is the amount of feed given in the feeding area equal to... , , For the first The amount of feed given in the feeding area; This indicates the start of feeding. The amount of bait in the baiting area; This indicates the end of the feeding period. Real-time bait quantity in the baiting area; If in the 1st The amount of feed given in the feeding area is greater than or equal to The controller then sends a control signal to the throwing motor, which stops the throwing motor from working; the feeding device stops feeding; and proceeds to the next step. If in the 1st The amount of feed in the feeding area is less than If the controller sends a control signal to the throwing motor, the throwing motor will continue to work; the feeding device will continue to feed. S24, judgment and relation: like > Then the feeding task in each feeding area is completed; like ≤ ,but = +1, proceed to step S21.

2. The method for intelligent feeding of fish ponds using a feeding device according to claim 1, characterized in that, Step S22 includes: ， ， in, This indicates the height of the feed outlet from the surface of the fishpond. Indicates the projectile velocity Axial components; Indicates the projectile velocity Axial components; Represents gravitational acceleration, take ; Indicates the time of descent; Indicates the launch distance; This indicates the projection angle, which is the angle between the bottom of the box and the horizontal plane; ,when At that time, it is launched diagonally downwards; when When, it is launched diagonally upwards; when At that time, it was a horizontal projectile; Indicates the projectile velocity; ， Indicates the projectile velocity; This indicates the rotational speed of the throwing motor; This indicates the distance between the throwing disc and the throwing motor shaft; ; This is the distance between the farthest section of the throwing paddle and the shaft of the throwing motor; This is the distance between the farthest notch of the throwing disc and the shaft of the throwing motor.

3. The method for intelligent feeding of fish ponds using a feeding device according to claim 1, characterized in that, Step S23 includes: ， This indicates the end of the feeding period. Real-time bait quantity in the baiting area; To end the feeding The pressure value measured by the first weighing sensor in the feeding area; To end the feeding The pressure value measured by the second weighing sensor in the feeding area; To end the feeding The pressure value measured by the third weighing sensor in the feeding area; This represents the conversion factor between pressure and weight.

4. The method for intelligent feeding of fish ponds using a feeding device according to claim 1, characterized in that, Step S23 includes: ， Indicates the start of feeding. The amount of bait in the baiting area; To begin feeding The pressure value measured by the first weighing sensor in the feeding area; To begin feeding The pressure value measured by the second weighing sensor in the feeding area; To begin feeding The pressure value measured by the third weighing sensor in the feeding area; This represents the conversion factor between pressure and weight.

5. A computer system, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the intelligent feeding method for fish ponds using a feeding device as described in any one of claims 1 to 4 when executing the executable instructions.

6. A computer-readable storage medium, characterized in that, include: A memory on which computer programs are stored; A processor is configured to execute the program in the memory to implement the intelligent feeding method for fish ponds using a feeding device as described in any one of claims 1 to 4.

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