Automatic accurate fish school feed feeding device and method based on laser technology

Abstract

The invention discloses an automatic and accurate fish stock feed feeding device and method based on a laser technology. The device comprises seven parts including a laser emitting end, a laser emitting end height adjusting control device, a laser receiving end, a laser receiving end height adjusting control device, a liquid level transmitter, an intelligent controller and a feed feeding machine. The method comprises the steps that the intelligent controller synchronously adjusts the laser transmitting end and the laser receiving end to the water surface according to a culture water body height signal sent by the liquid level transmitter, the laser transmitting end and the laser receiving end are located on the same horizontal plane, and the feed feeding machine is started regularly according to a preset time point; the ingestion intensity of the fish schools is calculated according to the blocking frequency of the blue-green laser signals caused by ingestion of the fish schools, a graded feed feeding strategy is adopted, a corresponding feed feeding strategy is selected according to the ingestion intensity, and accurate feeding is achieved. According to the invention, through multi-channel and high-frequency laser transmission path shielding detection, the ingestion activeness of fish schools is directly quantified.

Description

Technical Field

[0001] This invention belongs to the field of smart fishery technology, and in particular relates to an automated and precise feeding device and method for fish schools based on laser technology. Background Technology

[0002] In aquaculture, feed constitutes a major portion of the production cost, making feed cost control crucial for improving aquaculture efficiency. Traditional feeding methods often involve mechanical feeders to deliver feed to fish at fixed times and in fixed quantities. This not only easily leads to insufficient or excessive feeding but also causes excessive uneaten feed to pollute the water, affecting fish growth or causing fish diseases, resulting in incalculable economic losses. Achieving automated and precise feed delivery has become an urgent need in the aquaculture industry, and this requires accurate identification of fish feeding behavior or feeding needs. However, there are still some challenges in accurately identifying fish feeding behavior.

[0003] Existing intelligent feeding systems often combine machine vision and deep learning to identify fish feeding behavior. For example, when fish are feeding, they tend to gather in large numbers, while when they are full, they gradually leave the feeding area. This method can greatly save labor costs and improve feed utilization. However, when fish are fiercely competing for food, issues such as splashing water, overlapping fish bodies, and lighting conditions often lead to difficulties in transferring the learned model and inaccurate recognition. Besides visual signal acquisition, sound signal acquisition is also crucial. Underwater sonar is widely used in aquaculture. Sonar has excellent characteristics in detecting the size and location of underwater obstacles, and sonar technology has been successfully applied to fish detection, especially in fishing and angling. However, in current mainstream freshwater aquaculture models, many problems exist. The size of the aquaculture container, environmental noise interference, and the layout of the signal transmitting and receiving devices all affect the accuracy of the detection signal, and in most cases, the intensity of feeding cannot be effectively captured. For most fish species, there is a significant behavioral characteristic in their feeding behavior: in the feeding area, the fish will gather on the horizontal surface, and during the feeding process, some individuals will jump or protrude from the water vertically. If the frequency of the fish jumping or protruding is obtained, the feeding needs of the fish can be sensed, and the feeding machine can be controlled accordingly. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes an automated and precise feeding device and method for fish based on laser technology. By capturing blue-green laser signals transmitted along a horizontal plane, analyzing the differences in the frequency of signal obstruction by individual fish during feeding, and judging the dynamic changes in the feeding intensity of the fish, the invention achieves automated and precise feeding.

[0005] To achieve the above objectives, the present invention provides a laser-based automated and precise fish feed dispensing device, comprising seven parts: a laser transmitter, a laser transmitter height adjustment and control device, a laser receiver, a laser receiver height adjustment and control device, a level transmitter, an intelligent controller, and a feed dispenser, forming a cyclic control process.

[0006] The laser emitting end is a laser emitting array, which contains several blue-green laser emitters arranged horizontally.

[0007] The laser receiver consists of a laser receiver and a mounting plate, which are the same number as the blue-green laser emitters.

[0008] The laser emitter height adjustment control device consists of a slide rail and a servo motor, with the laser emitter directly embedded in the slide rail; the laser receiver height adjustment control device includes a slide rail and a servo motor, with a slide rail mounting bracket embedded in the slide rail, through which the mounting plate of the laser receiver is connected to the slide rail.

[0009] Depending on their operating principle, level transmitters can be placed on the water surface, side, or bottom of the aquaculture tank. They transmit the detected water level signal to the intelligent controller. The intelligent controller analyzes the received water level signal and generates command signals to the servo motors in the laser transmitter and receiver height adjustment control devices. The servo motors adjust the height of the laser transmitter and receiver via slide rails, ensuring that the blue-green laser transmitter and receiver are always on the water surface and at the same level. In addition, the intelligent controller analyzes the blue-green laser on / off signals detected by the laser receiver and uses a tiered feeding strategy to control and regulate the on / off status of the feeder and the amount of feed given per unit time.

[0010] Feed dispensers are used to store feed for fish and deliver the feed using a turntable or blower.

[0011] Furthermore, the number of blue-green laser emitters in the laser emitting end is set according to the specific breeding unit, and the emission angle of each blue-green laser emitter can be adjusted individually to ensure that the blue-green laser signal can cover the core feeding area. In the laser receiving end, each laser receiver is evenly distributed and fixed on the fixed plate. The slide rail of the laser receiver height adjustment control device is embedded with a slide rail fixing frame, and the fixed plate is connected to the slide rail of the laser receiver height adjustment control device through the slide rail fixing frame.

[0012] Furthermore, the slide rails for the laser emitter height adjustment control device and the laser receiver height adjustment control device are installed on the inner wall of the aquaculture unit, symmetrically located at both ends of the aquaculture unit, perpendicular to the aquaculture water surface. During installation, it is necessary to ensure that the fixing plate of the laser receiver can slide smoothly on the slide rail, ensuring that the height of the fixing plate can be easily adjusted. After installing the two sets of slide rails, the emission angle of each laser emitter of the blue-green laser emitter needs to be adjusted so that the laser can cover the core feeding area and be aligned with the laser receivers one by one, ensuring that the laser receiver can accurately receive the signals from the blue-green laser emitters. Two servo motors are respectively installed on the back of the two slide rails, and adjust the movement of the slide rail gears by receiving command signals from the intelligent controller to achieve the purpose of adjusting the height of the laser emitter and laser receiver.

[0013] Furthermore, depending on the specific needs of the aquaculture unit, multiple level transmitters can be set to measure the height of the aquaculture water, and the final aquaculture water height value is the average value of the aquaculture water height detected by multiple level transmitters.

[0014] Furthermore, the intelligent controller is placed in an area at the edge of the breeding unit that is easy to install and fix; the placement of the feed dispenser is adjusted according to different breeding units. For small breeding units, the feed dispenser is suspended above the center of the breeding unit, while for large breeding units, the feed dispenser is placed in a space at the edge of the breeding unit that is easy to install.

[0015] The present invention also provides a method for automated and precise feeding of fish based on laser technology, comprising the following steps: Step 1: At any given time, the intelligent controller adjusts the height of the laser transmitter and laser receiver by operating the servo motor according to the water level signal sent by the level transmitter, so that the two are always on the same horizontal plane on the water surface. Step 2: The intelligent controller turns on the feed feeder at the preset feeding start time to start feeding. Step 3: The intelligent controller calculates the feeding intensity of the fish based on the frequency of blue-green laser signal switching detected by the laser receiver per unit time. Step 4: The intelligent controller adopts a graded feeding strategy, which selects the corresponding feeding strategy according to the feeding intensity of the fish, so as to achieve precise feeding.

[0016] Furthermore, in step 1, the level transmitter is first placed inside the aquaculture unit. Then, the slide rails of the laser transmitter height adjustment control device and the laser receiver height adjustment control device are fixed to the inner wall of the aquaculture unit, symmetrically located at both ends of the aquaculture unit and perpendicular to the aquaculture water surface. Finally, the laser transmitter and the laser receiver are installed on the slide rails of the laser transmitter height adjustment control device and the laser receiver height adjustment control device, respectively.

[0017] The intelligent controller adjusts the height of the laser transmitter and receiver in two stages. In the first stage, the level transmitter sends a water level signal to the intelligent controller. The controller then controls the servo motors in both the laser transmitter and receiver height adjustment devices to adjust the slide rails so that the laser transmitter and receiver are at the same height above the water surface. The height above the water surface depends on the size of the farmed fish and the surface wave conditions of the aquaculture unit. If the laser receiver fails to receive the blue-green laser signal after the first stage adjustment, it indicates a height difference between the laser transmitter and receiver. The second stage is then initiated, implementing a fine-tuning control program for the horizontal position of the laser transmitter and receiver. The intelligent controller sends a command signal to the servo motor in the laser receiver height adjustment device, adjusting the slide rails to bring the laser receiver to the correct height. It moves up and down at a constant speed within a height range of cm. The values ​​are set according to actual needs, but ensure that the height of the laser receiver is always above the water surface. When the laser receiver can stably and continuously receive the blue-green laser signal from the laser transmitter, fix the height of the laser receiver.

[0018] Furthermore, in step 2, the intelligent controller has a preset feed feeding plan, that is, it sets the time point for starting feeding each day and presets the number of feedings per day according to the species being raised. When the time reaches any feeding start point, it triggers the start of the feed feeding program, sends a feeding signal to the feed feeder, and begins to feed the feed area. The feeding amount and feeding time are controlled and determined by steps 3 and 4.

[0019] Furthermore, in step 3, a sliding window signal analysis method is designed to continuously record the feeding status of the fish within the window period. The operating frequency of the blue-green laser emitter and laser receiver is set to be no less than 1Hz, meaning at least one signal is emitted / received per second. After the feed dispenser is turned on, the intelligent controller analyzes the blue-green laser signal received from the laser receiver and calculates the signal obstruction rate of the laser receiver per unit time, i.e., the ratio of the obstructed signal to the total emitted signal. The time window size is set to... Second, The values ​​are set according to actual needs, and the average occlusion rate within each time window is used as the signal of fish feeding intensity.

[0020] Furthermore, in step 4, the intelligent controller controls the feeding speed of the feeder based on the calculated average occlusion rate D within each time window, thereby controlling the feeding amount per unit time. At this time, the animal is in a strong feeding state. The intelligent controller sends a high-speed feeding signal to the feed machine, causing the feed machine to switch to high-speed feeding mode and begin feeding. If At this time, the animal is in a strong feeding state. The intelligent controller sends a signal for sub-high-speed feeding to the feed feeder, causing the feed feeder to switch to sub-high-speed feeding mode and begin feeding. If At this time, the animal is in a medium feeding state. The intelligent controller sends a medium-speed feeding signal to the feed feeder, causing the feed feeder to switch to the medium-speed feeding mode and begin feeding. If At this time, the animal is in a weak feeding state. The intelligent controller sends a low-speed feeding signal to the feed machine, causing the feed machine to switch to low-speed feeding mode and begin feeding. At this time, the machine is in a non-feeding state. In the non-feeding state, the intelligent controller sends a shutdown signal to the feed dispenser. , , The value should be set according to actual needs.

[0021] Compared with the prior art, the present invention has the following advantages: 1) The imaging quality of traditional video image detection methods is highly dependent on ambient lighting conditions. In outdoor cloudy or rainy weather or low light conditions in the early morning or late evening, the quality of the acquired video data drops sharply. Existing video detection algorithms are difficult to adapt to diverse aquaculture environments (such as changes in water turbidity, water surface reflection, etc.), further reducing the reliability of detection. On the one hand, ultrasonic / sonar-based detection technology is easily affected by mechanical noise in the aquaculture environment (such as the operating noise of equipment such as feeders and aerators), and on the other hand, it is difficult to eliminate the sound wave reflection interference caused by differences in the structure of aquaculture units (such as pond bottom and aquaculture cylinder walls). In contrast, this invention uses a 520nm blue-green laser, whose detection performance is completely unaffected by changes in ambient light and is immune to mechanical noise, enabling stable and quantitative acquisition of fish feeding behavior characteristics data.

[0022] 2) Traditional video image detection methods require deep learning processing of video data to indirectly analyze individual fish characteristics (such as texture and morphology) to infer feeding behavior, which has inherent drawbacks such as high algorithm complexity and large computational latency. Ultrasonic / sonar technology relies on the inversion calculation of sound wave reflection signals to indirectly judge the feeding status by estimating the location and number of fish, which is susceptible to multipath effects and noise interference. This invention innovatively uses blue-green lasers to directly capture the physical behavior characteristics of fish feeding (when fish are competing for food, the fish leaping out of the water will block the laser transmission path in real time). Through multi-channel, high-frequency (up to millisecond level) laser blocking detection, the feeding activity of fish can be directly quantified, which is physically intuitive, does not require complex algorithm processing, and the detection results are real, reliable and responsive.

[0023] 3) Traditional video image detection methods typically require pre-setting a limited area of ​​interest (such as near a typical feeding point) to control computational complexity. However, modern aquaculture generally uses large-scale feeding equipment (such as pneumatic feeders with a spreading diameter of up to 20 meters), making it difficult for such methods to achieve comprehensive coverage. Deep learning models require a large amount of training data to adapt to different spatial scales, resulting in high actual deployment costs. This invention uses blue-green lasers, which have excellent propagation performance (effective detection distance generally reaches 20-50 meters or more). Combined with a multi-channel laser deployment scheme, it can flexibly adapt to aquaculture scenarios of various scales. Through distributed deployment of laser transmitting and receiving units, it can achieve large-scale full-coverage detection while maintaining the independence and accuracy of each detection channel. In addition, this invention has strong scalability; simply adding detection channels can improve spatial resolution without changing the core algorithm. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the automated and precise feeding device for fish based on laser technology, according to an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the laser transmitter and laser receiver in an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the structure of the laser transmitter height adjustment control device and the laser receiver height adjustment control device according to an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the signal characteristic curves received by the intelligent controller within the feeding time window according to an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram illustrating the signal reception of the laser receiver during feed feeding according to an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be further described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0031] Example 1 like Figure 1 As shown, the present invention provides an automated and precise feeding device for fish based on laser technology, comprising seven parts: a laser transmitter, a laser transmitter height adjustment and control device, a laser receiver, a laser receiver height adjustment and control device, a level transmitter, an intelligent controller, and a feeder, forming a cyclic control process.

[0032] like Figure 2 As shown, the laser emitting end is a single laser emitting array containing several horizontally arranged blue-green laser emitters. The blue-green laser wavelength range is 450-550nm, which has good water penetration capability. When there are small ripples or splashes on the water surface, the impact is minimal, and the laser can still penetrate. This embodiment uses blue-green laser emitters with a wavelength of 520nm. The number of laser emitters can be set according to the specific aquaculture unit. The emission angle of each blue-green laser emitter can be adjusted individually to ensure that the blue-green laser signal can cover the core feeding area. The laser receiving end consists of laser receivers and a fixing plate, with the number of laser receivers matching the number of blue-green laser emitters. Each laser receiver is evenly spaced and fixed on the fixing plate. A slide rail fixing frame is embedded in the slide rail of the laser receiving end height adjustment control device, connecting the fixing plate to the slide rail of the laser receiving end height adjustment control device. It is necessary to ensure that the blue-green laser signal emitted by the laser emitting end can be stably transmitted to the corresponding laser receiver on the laser receiving end. In this embodiment, the laser emitting end includes 4 laser emitters, and the laser receiving end is equipped with 4 laser receivers.

[0033] like Figure 3As shown, the laser transmitter height adjustment control device consists of a slide rail and a servo motor. The laser emission array is directly embedded in the slide rail of the laser transmitter height adjustment control device. The laser receiver height adjustment control device includes a slide rail and a servo motor. A slide rail fixing frame is embedded in the slide rail, and the fixing plate of the laser receiver is connected to the slide rail through the slide rail fixing frame. The slide rails of the laser transmitter and laser receiver height adjustment control devices are installed on the inner wall of the aquaculture unit, symmetrically located at both ends of the aquaculture unit, perpendicular to the aquaculture water surface. During installation, it is necessary to ensure that the fixing plate of the laser receiver can slide smoothly on the slide rail, ensuring that the height of the fixing plate can be easily adjusted. After installing the two sets of slide rails, the emission angle of the four laser transmitters of the laser transmitter needs to be adjusted so that the laser can cover the core feeding area and align them with the laser receivers one by one, ensuring that the laser receiver can accurately receive the blue-green laser transmitter signals. Since the four laser receivers are distributed and fixed at the same horizontal position on the fixing plate, adjusting the height of the fixing plate can simultaneously adjust the height of the four laser receivers, simplifying the blue-green laser signal reception operation. Two servo motors are installed on the back of the two slide rails respectively. They receive command signals from the intelligent controller to adjust the movement of the slide rail gears, thereby adjusting the height of the laser emitter and laser receiver.

[0034] The level transmitter floats on the water surface of the aquaculture tank. In this embodiment, a float-type level transmitter is used, which is convenient to use and easy to maintain. The float-type level transmitter sends the detected water level signal to the intelligent controller. The intelligent controller analyzes the received water level signal and generates command signals to the servo motors in the laser transmitter and receiver height adjustment control devices. The servo motors adjust the height of the laser transmitter and receiver via slide rails, ensuring that the blue-green laser transmitter and receiver are always on the water surface and at the same level. In this way, when no feed is given, the laser receiver can detect the laser transmitter signal 100% because there are no fish obstructing the laser signal transmission path. When feed is given, some fish float to the surface, obstructing the laser signal transmission path, and the signal detected by the laser receiver is significantly reduced. To ensure the accuracy of water level measurement in different aquaculture units, multiple level transmitters can be set up to measure the water level, depending on the specific needs of each unit. The final water level value is the average of the values ​​measured by the multiple level transmitters.

[0035] In addition, the intelligent controller analyzes the blue-green laser on / off signals detected by the laser receiver and uses a tiered feed feeding strategy to control and adjust the on / off status of the feeder and the amount of feed given per unit time. In this embodiment, the intelligent controller is placed on an open area outside the breeding unit (breeding tank or breeding pond).

[0036] The feed dispenser is used to store feed for the fish and delivers it using a turntable or blower. Its placement is adjusted according to the specific aquaculture unit. For smaller tanks or ponds, the feed dispenser can be suspended above the center of the aquaculture unit (tank or pond). In this embodiment, the feed dispenser is suspended above the center of the tank. For larger aquaculture facilities, the feed dispenser can be placed in an easily accessible area at the edge of the aquaculture unit.

[0037] The laser emitter continuously emits blue-green laser signals. When feeding occurs, the fish concentrate in the feeding area, and some leap to the surface to compete for food. At any given time, some fish remain on the water's surface, forming a feeding school. The laser receiver will not receive the blue-green laser signal due to the obstruction of these fish. The frequency of signal obstruction per unit time is used to determine the intensity of the feeding school. The signal received by the laser receiver is transmitted to the intelligent controller, which then sends commands to control the feeder's on / off operation. The feeder's on / off operation also affects the fish's feeding behavior, further influencing the laser receiver's signal reception and thus affecting the next round of the control cycle.

[0038] Example 2 This invention also provides an automated and precise feeding method for fish swarms based on laser technology, comprising the following steps: Step 1: At any given time, the intelligent controller adjusts the height of the laser transmitter and laser receiver by operating the servo motor according to the water level signal sent by the level transmitter, so that the two are always at the same level 1-3cm above the water surface, ensuring that the laser receiver can continuously receive the signal emitted by the laser transmitter when there is no fish feeding or obstruction.

[0039] The level transmitter continuously sends aquaculture water level information to the intelligent controller. Based on this information, the intelligent controller initiates the height adjustment program for the laser transmitter and receiver. The specific implementation follows this procedure: First, the level transmitter is placed inside the aquaculture tank. Then, the slide rails of the laser transmitter height adjustment control device and the laser receiver height adjustment control device are fixed to the inner wall of the tank, symmetrically positioned at both ends of the tank's diameter and perpendicular to the water surface. Finally, the laser transmitter and laser receiver are installed on their respective slide rails and activated. To ensure stable reception of the blue-green laser signal by the laser receiver even when the fish are not feeding, the intelligent controller adjusts the height of the laser transmitter and laser receiver in two stages. In the first stage, the level transmitter sends a water level signal to the intelligent controller. The intelligent controller then controls the servo motors in the laser transmitter and laser receiver height adjustment control devices, adjusting the slide rails so that the laser transmitter and laser receiver are at the same height above the water surface. The height above the water surface is determined based on the size of the farmed fish and the wave conditions of the water surface in the aquaculture unit, and a smaller value is preferred. In this embodiment, considering that the experiment was conducted indoors in an aquaculture tank without wind or waves, the height is set to 1 cm. However, it should be noted that in other scenarios, when the individuals are larger or the water surface is slightly turbulent, the height can be controlled at 3cm. But if the individuals are smaller and the water surface is relatively calm, the height should be controlled at 1cm. If, after the first stage of adjustment, the laser receiver fails to receive the blue-green laser signal, it indicates a slight height difference between the laser transmitter and receiver. The second stage is then required, implementing a fine-tuning control program for the horizontal position of the laser transmitter and receiver. The intelligent controller sends a command signal to the servo motor in the laser receiver's height adjustment control device, adjusting the slide rail to make the laser receiver move up and down at a uniform speed within a 0.5cm height range, ensuring that the laser receiver remains above the water surface. Once the laser receiver can stably and continuously receive the blue-green laser signal from the laser transmitter, the height of the laser receiver is fixed. This ensures that the laser receiver can continuously receive the signal emitted by the laser transmitter without obstruction from fish feeding.

[0040] Step 2: The intelligent controller turns on the feed feeder at the preset feeding start time to start feeding.

[0041] The intelligent controller has a preset feed feeding plan, which sets the daily feeding start time and the number of feedings per day based on the species being raised. When the designated feeding start time is reached, the feed feeding program is triggered, sending a signal to the feed dispenser to begin feeding the feeding area. In this embodiment, feeding is done twice a day, at 9:00 AM and 5:00 PM. The feeding amount and time are determined by steps 3-4.

[0042] Step 3: The intelligent controller calculates the feeding intensity of the fish school based on the frequency of blue-green laser signal switching detected by the laser receiver per unit time.

[0043] Because of the inherent uncertainties in fish feeding, such as brief periods of inertia and inconsistent feeding density, a sliding window signal analysis method is designed to continuously record the feeding status of the fish within a window period. This prevents instantaneous changes from affecting the judgment of the results, thus allowing for a more accurate assessment of the feeding intensity. The blue-green laser emitter and receiver are set to operate at a frequency of no less than 1Hz, meaning at least one signal is emitted / received per second. After the feed dispenser is turned on, the intelligent controller analyzes the blue-green laser signal received from the laser receiver and calculates the signal obstruction rate (obstructed signal / total emitted signal) per unit time. The time window size is set to 7 seconds, and the average obstruction rate (average signal obstruction rate) within each time window is used as the fish feeding intensity signal. Specifically, a fish feeding intensity signal is calculated every 1-7 seconds, 2-8 seconds, 3-9 seconds, and so on. In other scenarios, the time window size can be adjusted within the range of 5-10 seconds depending on the specific aquaculture conditions.

[0044] Plotting the fish feeding intensity signal on the ordinate and time on the abscissa, we obtain the characteristic curve of the fish feeding intensity signal as shown below. Figure 4 After feeding begins, the fish's feeding intensity increases rapidly from 0 to 15 seconds, reaches its maximum feeding intensity from 15 to 50 seconds, gradually decreases from 60 to 80 seconds, and reaches its satiation point at 65 seconds.

[0045] Step 4: The intelligent controller adopts a graded feeding strategy, which selects the corresponding feeding strategy according to the feeding intensity of the fish, so as to achieve precise feeding.

[0046] The intelligent controller controls the feeding speed of the feeder based on the average signal obstruction rate within a calculated time window, thereby controlling the feeding amount per unit time. For example... Figure 5 As shown, the reception of blue-green laser signals by the laser receiver was recorded from the start of feeding until the end of feeding. During each laser signal acquisition, if the average occlusion rate within the time window was 75%-100%, the user was in a strong feeding state (a); if the average occlusion rate was 50%-75%, the user was in a relatively strong feeding state (b); if the average occlusion rate was 25%-50%, the user was in a moderate feeding state (c); if the average occlusion rate was 0%-25%, the user was in a weak feeding state (d); and if the average occlusion rate was 0%, the user was in a no-feeding state (e).

[0047] During periods of heavy feeding, the intelligent controller sends a high-speed feeding signal to the feed machine, causing it to switch to high-speed feeding mode and begin feeding. During periods of moderate feeding, the intelligent controller sends a sub-high-speed feeding signal to the feed machine, causing it to switch to sub-high-speed feeding mode and begin feeding. During periods of moderate feeding, the intelligent controller sends a medium-speed feeding signal to the feed machine, causing it to switch to medium-speed feeding mode and begin feeding. During periods of light feeding, the intelligent controller sends a low-speed feeding signal to the feed machine, causing it to switch to low-speed feeding mode and begin feeding. During periods of no feeding, the intelligent controller sends a shutdown signal to the feed machine.

[0048] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. An automated and precise feeding device for fish swarms based on laser technology, characterized in that, It consists of seven parts: a laser transmitter, a laser transmitter height adjustment and control device, a laser receiver, a laser receiver height adjustment and control device, a level transmitter, an intelligent controller, and a feed feeder, forming a cyclic control process. The laser emitting end is a laser emitting array, which contains several blue-green laser emitters arranged horizontally; The laser receiver consists of a laser receiver and a mounting plate, the same number as the blue-green laser emitters. Both the laser transmitter height adjustment control device and the laser receiver height adjustment control device consist of a slide rail and a servo motor. The level transmitter detects the height signal of the aquaculture water and sends it to the intelligent controller. The intelligent controller analyzes the received height signal and generates a command signal to the servo motor in the laser transmitter height adjustment control device and the laser receiver height adjustment control device. The servo motor adjusts the height of the laser transmitter and the laser receiver through the slide rail to ensure that the blue-green laser transmitter and the laser receiver are always on the water surface and on the same horizontal plane. Feed dispensers are used to store feed for fish and deliver the feed using a turntable or blower.

2. The automated and precise feeding device for fish based on laser technology as described in claim 1, characterized in that: The laser emitter is directly embedded in the slide rail of the laser emitter height adjustment control device. The number of blue-green laser emitters in the laser emitter is set according to the specific breeding unit. The emission angle of each blue-green laser emitter can be adjusted individually to ensure that the blue-green laser signal can cover the core feeding area. In the laser receiver, each laser receiver is evenly distributed and fixed on the fixed plate. The slide rail of the laser receiver height adjustment control device is embedded with a slide rail fixing frame, which connects the fixed plate to the slide rail of the laser receiver height adjustment control device.

3. The automated and precise feeding device for fish based on laser technology as described in claim 1, characterized in that: The slide rails for the laser emitter height adjustment control device and the laser receiver height adjustment control device are installed on the inner wall of the aquaculture unit, symmetrically located at both ends of the aquaculture unit, perpendicular to the aquaculture water surface. During installation, it is necessary to ensure that the fixing plate of the laser receiver can slide smoothly on the slide rail, ensuring that the height of the fixing plate can be easily adjusted. After installing the two sets of slide rails, the emission angle of each blue-green laser emitter of the laser emitter needs to be adjusted so that the laser can cover the core feeding area and be aligned with the laser receivers one by one, ensuring that the laser receiver can accurately receive the blue-green laser emitter signals. Two servo motors are installed on the back of the two slide rails respectively. They adjust the movement of the slide rail gears by receiving command signals from the intelligent controller, thereby achieving the purpose of adjusting the height of the laser emitter and laser receiver.

4. The automated and precise feeding device for fish based on laser technology as described in claim 1, characterized in that: Depending on their working principle, level transmitters can be placed on the surface, side, or bottom of the aquaculture unit. Depending on the specific needs of the aquaculture unit, multiple level transmitters can be set up to measure the height of the aquaculture water. The final aquaculture water height value is the average value of the heights detected by multiple level transmitters.

5. The automated and precise feeding device for fish based on laser technology as described in claim 1, characterized in that: The intelligent controller is placed in an area at the edge of the breeding unit that is easy to install and fix. In addition to adjusting the height of the laser transmitter and laser receiver, the intelligent controller analyzes the blue-green laser on / off signals detected by the laser receiver and uses a graded feed feeding strategy to control and adjust the on / off status of the feeder and the amount of feed per unit time. The placement of the feeder is adjusted according to different breeding units. For small breeding units, the feeder is suspended above the center of the breeding unit. For large breeding units, the feeder is placed in a space at the edge of the breeding unit that is easy to install.

6. A method for automated and precise feeding of fish using the automated and precise feeding control device for fish schools as described in claim 1, characterized in that, Includes the following steps: Step 1: At any given time, the intelligent controller adjusts the height of the laser transmitter and laser receiver by operating the servo motor according to the water level signal sent by the level transmitter, so that the two are always on the same horizontal plane above the water surface. Step 2: The intelligent controller turns on the feed feeder at the preset feeding start time to start feeding. Step 3: The intelligent controller calculates the feeding intensity of the fish based on the frequency of blue-green laser signal switching detected by the laser receiver per unit time. Step 4: The intelligent controller adopts a graded feeding strategy, which selects the corresponding feeding strategy according to the feeding intensity of the fish, so as to achieve precise feeding.

7. The automated and precise feeding method for fish as described in claim 6, characterized in that: In step 1, the level transmitter is first placed inside the aquaculture unit. Then, the slide rails of the laser transmitter height adjustment control device and the laser receiver height adjustment control device are fixed to the inner wall of the aquaculture unit, symmetrically located at both ends of the aquaculture unit and perpendicular to the aquaculture water surface. Finally, the laser transmitter and the laser receiver are installed on the slide rails of the laser transmitter height adjustment control device and the laser receiver height adjustment control device, respectively. The intelligent controller adjusts the height of the laser transmitter and receiver in two stages. In the first stage, the level transmitter sends a water level signal to the intelligent controller. The controller then controls the servo motors in both the laser transmitter and receiver height adjustment devices to adjust the slide rails so that the laser transmitter and receiver are at the same height above the water surface. The height above the water surface depends on the size of the farmed fish and the wave conditions of the water surface in the farming unit. If the laser receiver fails to receive the blue-green laser signal after the first stage adjustment, it indicates a height difference between the laser transmitter and receiver. The second stage is then initiated, implementing a fine-tuning control program for the horizontal position of the laser transmitter and receiver. The intelligent controller sends a command signal to the servo motor in the laser receiver height adjustment device, adjusting the slide rails to bring the laser receiver to the correct position. It moves up and down at a constant speed within a height range of cm. The values ​​are set according to actual needs, but ensure that the height of the laser receiver is always above the water surface. When the laser receiver can stably and continuously receive the blue-green laser signal from the laser transmitter, fix the height of the laser receiver.

8. The automated and precise feeding method for fish as described in claim 6, characterized in that: In step 2, the intelligent controller has a preset feed feeding plan, which sets the time point for starting feeding each day and the number of feedings per day based on the species being raised. When the time reaches any feeding start point, the feed feeding program is triggered, and a feeding signal is sent to the feed feeder to start feeding the feed area. The feeding amount and feeding time are controlled and determined by steps 3 and 4.

9. The automated and precise feeding method for fish as described in claim 6, characterized in that: Step 3 involves designing a sliding window signal analysis method to continuously record the feeding status of the fish within the window period. The operating frequency of the blue-green laser emitter and receiver is set to be no less than 1Hz, meaning at least one signal is emitted / received per second. After the feed dispenser is turned on, the intelligent controller analyzes the blue-green laser signal received from the laser receiver and calculates the signal obstruction rate of the laser receiver per unit time, i.e., the ratio of the obstructed signal to the total emitted signal. The time window size is set to... Second, The values ​​are set according to actual needs, and the average occlusion rate within each time window is used as the signal of fish feeding intensity.

10. The automated and precise feeding method for fish as described in claim 6, characterized in that: In step 4, the intelligent controller controls the feeding speed of the feeder based on the calculated average occlusion rate D within each time window, thereby controlling the feeding amount per unit time. At this time, the animal is in a strong feeding state. The intelligent controller sends a high-speed feeding signal to the feed machine, causing the feed machine to switch to high-speed feeding mode and begin feeding. If At this time, the animal is in a strong feeding state. The intelligent controller sends a signal for sub-high-speed feeding to the feed feeder, causing the feed feeder to switch to sub-high-speed feeding mode and begin feeding. If At this time, the animal is in a medium feeding state. The intelligent controller sends a medium-speed feeding signal to the feed feeder, causing the feed feeder to switch to the medium-speed feeding mode and begin feeding. If At this time, the animal is in a weak feeding state. The intelligent controller sends a low-speed feeding signal to the feed machine, causing the feed machine to switch to low-speed feeding mode and begin feeding. At this time, the machine is in a non-feeding state. In the non-feeding state, the intelligent controller sends a shutdown signal to the feed dispenser. , , The value should be set according to actual needs.

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