Intelligent material platform detection control method and related device

Abstract

The invention discloses an intelligent material platform detection control method and a related device, and the method comprises the steps: outputting a first control signal to a winding assembly, so as to control a feeding platform to be lowered to a first preset height; when it is determined that the feeding platform reaches the first preset height or the idle wheel is in the non-rotating state, a second control signal is output to the winding assembly so as to control the feeding platform to be lowered to the first position; outputting a sixth control signal to a furling assembly to control the feeding platform to ascend; and according to the first position detection signal, the second rotation turns of the idle wheel and / or the third current value, it is determined that the feeding platform ascends to the top position. By means of the scheme, the situation that the idle wheel does not rotate or is reversed due to buoyancy when the feeding platform enters water, and consequently the grounding misjudgment is caused can be avoided, and the situation that when the feeding platform is pulled back to the top, the top reaching detection is triggered by mistake under the driving of water flow and / or a rope can also be avoided. The scheme of the invention can be widely applied to the field of intelligent feed feeding.

Description

TECHNICAL FIELD

[0001] The present application relates to the control technology of intelligent feeding table, and in particular to an intelligent feeding table detection control method and related device. BACKGROUND

[0002] Feeding in aquaculture is one of the key links in the process of aquaculture. Through feeding, the nutritional needs of aquatic animals are met. Reasonable feeding can provide various nutrients required for growth of aquatic animals, including protein, fat, carbohydrates, vitamins and minerals, etc., which helps to promote the growth and development of aquatic animals, improve the yield and quality of aquaculture, and also maintain a good water quality environment.

[0003] At present, most of the feeding is carried out by feeding platform. By lifting and observing the remaining situation of feed in the feeding platform, the feeding situation of shrimps is obtained, and the feeding amount of feed is effectively adjusted to prevent overeating or under-eating. However, for the commonly used feeding device at present, the detection accuracy of the feeding platform is low, which will affect the feeding situation, and the top detection will be mis-triggered, which will cause the workers to mistakenly think that the feed needs to be supplemented or the feed situation needs to be observed, which will increase the workload of the workers and reduce the overall work efficiency. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides an intelligent feeding table detection control method and related device, which can improve the detection accuracy of the feeding platform to the bottom and to the top.

[0005] In a first aspect, the embodiments of the present application provide an intelligent feeding table detection control method, which comprises the following steps:

[0006] S1, in response to a first control instruction, output a first control signal to a winding assembly to control the feeding platform to lower to a first preset height; wherein the winding assembly comprises a motor and a take-up reel arranged at the output end of the motor, a traction rope is wound on the take-up reel, and the other end of the traction rope is connected to the top of the feeding platform;

[0007] S2, output a second control signal to the winding assembly to control the feeding platform to lower to a first position when it is determined that the feeding platform reaches the first preset height or the idler is in a state of not rotating; wherein the idler is driven to rotate by the traction rope;

[0008] S6, in response to a second control instruction, output a sixth control signal to the winding assembly to control the feeding platform to rise;

[0009] S7, determining whether the feeding platform is raised to the top position according to the first position detection signal, the second rotation number of the idler and / or the third current value, wherein the first position detection signal is a detection signal obtained by detecting the position of the feeding platform by using the position sensor, and the third current value refers to the current value of the motor.

[0010] In some embodiments, the step S7 specifically comprises the following steps:

[0011] S701, judging whether the first position detection signal is collected multiple times when it is detected that the first position detection signal exists;

[0012] S702, collecting the first position detection signal multiple times if it is judged that the first position detection signal is collected multiple times, and then determining whether the feeding platform is raised to the top position according to the collected signals;

[0013] S703, obtaining the second rotation number of the idler if it is judged that the first position detection signal is not collected multiple times, and then determining whether the feeding platform is raised to the top position according to the second rotation number.

[0014] In some embodiments, the step S7 specifically comprises the following steps:

[0015] S704, obtaining the third current value when the position sensor has detection failure;

[0016] S705, judging that the feeding platform is raised to the top position when the third current values obtained within a fourth preset time period are all greater than a third current threshold.

[0017] In some embodiments, the top of the feeding platform is provided with a top pin, and the top pin is used to press the in-place piece upwards so that the position sensor senses the magnet arranged in the in-place piece, thereby generating the first position detection signal.

[0018] In some embodiments, the method further comprises the following steps:

[0019] S3, obtaining a corresponding judgment result after judging the rotation condition and rotation direction of the idler;

[0020] S4, selecting a corresponding detection method according to the judgment result to determine that the feeding platform is lowered to the first position.

[0021] In some embodiments, the step S4 specifically comprises:

[0022] S401, determining that the feeding platform is lowered to the first position when the idler is in a non-rotating state if the rotation condition of the idler does not have detection failure; and / or,

[0023] S402, when the rotation direction of the idler wheel is detected to be reversed without detection failure, outputting a third control signal to the winding assembly to control the winding assembly to recover the first preset length of the traction rope, and determining that the material feeding platform is lowered to the first position.

[0024] In some embodiments, the step S4 specifically comprises:

[0025] S4031, when both the rotation condition and the rotation direction of the idler wheel have detection failure, during the process of controlling the material feeding platform to be lowered to the first position, lowering the material feeding platform for a first preset time length, and then performing the traction rope recovery operation according to a second preset time length;

[0026] S4032, obtaining a first current value, wherein the first current value refers to an average current value of the motor during the traction rope recovery operation within the second preset time length;

[0027] S4033, determining whether the first current value is less than or equal to a first current threshold value;

[0028] S4034, in the case where the first current value is greater than the first current threshold value, returning to execute the step S4031 until the first current value is less than or equal to the first current threshold value;

[0029] S4035, in the case where the first current value is determined to be less than or equal to the first current threshold value, obtaining a second current value, wherein the second current value refers to an average current value of the motor during the traction rope recovery operation within a third preset time length;

[0030] S4036, in the case where the second current value is determined to be greater than or equal to a second current threshold value, determining that the material feeding platform is lowered to the first position.

[0031] In some embodiments, in the case where the first current value is greater than the first current threshold value, the first preset time length is reduced and then the step S4031 is executed until the first current value is less than or equal to the first current threshold value.

[0032] In a second aspect, the embodiments of the present application provide an intelligent material table detection control device, which comprises:

[0033] a first control unit, configured to output a first control signal to a winding assembly to control the material feeding platform to be lowered to a first preset height in response to a first control instruction; wherein the winding assembly comprises a motor and a take-up reel arranged at an output end of the motor, the take-up reel is wound with a traction rope, and the other end of the traction rope is connected to the top of the material feeding platform;

[0034] a second control unit configured to output a second control signal to the winding assembly to control the feeding platform to be lowered to the first position when it is determined that the feeding platform reaches the first preset height or the idler is in a state of non-rotation, wherein the idler is driven to rotate by the traction rope;

[0035] a third control unit configured to output a sixth control signal to the winding assembly to control the feeding platform to be raised in response to the second control instruction;

[0036] a fourth control unit configured to determine that the feeding platform is raised to the top position according to the first position detection signal, the second number of rotations of the idler and / or the third current value, wherein the first position detection signal is a detection signal obtained by detecting the position of the feeding platform by using the position sensor, and the third current value refers to the current value of the motor.

[0037] In a third aspect, an embodiment of the present application provides an intelligent feeding platform detection control device, which comprises:

[0038] a winding assembly controlled by the central control assembly to raise and / or lower the feeding platform;

[0039] a position sensor configured to detect the position of the feeding platform;

[0040] a central control assembly comprising at least one processor configured to execute the steps of the intelligent feeding platform detection control method provided in the first aspect;

[0041] The central control assembly is connected with the winding assembly and the position sensor respectively.

[0042] The present application can achieve at least one of the following technical effects: In the process of lowering the feeding platform to the bottom of the pool, the present application first controls the driving winding assembly to work to lower the feeding platform to a certain height, and then controls the driving winding assembly to lower the feeding platform to the bottom of the pool when it is determined that the feeding platform reaches the first preset height or the idler is in a state of non-rotation. Thus, by executing the lowering operation of the feeding platform twice, the situation that the idler does not rotate or reverses due to the buoyancy when the feeding platform enters the water can be avoided, so that the detection and judgment accuracy of the lowering position of the feeding platform is improved, and the negative impact on the adjustment of the feed feeding amount is reduced. Moreover, when it is necessary to pull the feeding platform back to the top position to observe the remaining feed, the present application can determine whether the feeding platform is really located at the top position by combining the judgment of the first position detection signal, the second number of rotations of the idler and / or the third current value, so that the top detection is not triggered by mistake when the feeding platform is pulled back to the top due to the water flow and / or the traction rope, thereby greatly improving the accuracy of the top detection of the feeding platform. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0044] Figure 1 It is a whole structure diagram of an embodiment of the intelligent material table in the present application.

[0045] Figure 2 It is an exploded view of an embodiment of the intelligent material table in the present application.

[0046] Figure 3 It is a bottom view of an embodiment of the intelligent material table in the present application.

[0047] Figure 4 It is a structure diagram of an embodiment of the winding assembly in the present application.

[0048] Figure 5 It is a structure diagram of an embodiment of the take-up box in the present application.

[0049] Figure 6 It is a structure diagram of an embodiment of the idler in the present application.

[0050] Figure 7 It is a step flowchart of the intelligent material table detection control method in the present application.

[0051] Figure 8 It is a structure block diagram of the intelligent material table detection control device in the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be described clearly and completely by embodiments with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the scope of protection of the present application.

[0053] The intelligent material table detection control method provided by the embodiments of the present application is mainly applied in the intelligent material table. In order to clearly and completely describe the detection control scheme of the present application, the structure of the intelligent material table described in the present application will be described as follows.

[0054] Referring to Figures 1-6The application discloses an intelligent feeding platform, which comprises a feeding platform, a floating device 1, a winding assembly 2 arranged on the top of the floating device 1, a sensing assembly, a limiting installation assembly and a central control assembly 7 electrically connected with each assembly respectively.

[0055] In some embodiments, the floating device 1 comprises a floating frame 11, a suspension ball 12 arranged at each leg of the floating frame 11 respectively, a bottom guard plate 13 and a cover 14 arranged on the bottom guard plate 13, the bottom guard plate 13 is provided with a through hole through which the traction rope 24 passes, and the through hole corresponds to the outlet of the guide groove 6. At this time, the feeding platform is located below the floating frame 11.

[0056] In some embodiments, the winding assembly 2 comprises a motor 21 and a winding reel 22 arranged at the output end of the motor 21, the traction rope 24 is wound on the winding reel 22, and the other end of the traction rope 24 is connected with the top of the feeding platform.

[0057] In some embodiments, the sensing assembly comprises a first sensing assembly, which comprises a first Hall sensor arranged in the right shell 412 and an encoder magnetic ring 32 sleeved on one end of the idler wheel 31 close to the Hall sensor, the first Hall sensor and the idler wheel 31 are correspondingly arranged, the encoder magnetic ring 32 is provided with thirteen pairs of poles, the first Hall sensor comprises a PCB and two Hall elements arranged on the PCB, so that when the feeding platform moves up and down, the traction rope 24 drives the idler wheel 31 to rotate forward or reversely, that is, the idler wheel 31 can be driven by the traction rope 24 to rotate forward or reversely; when the poles arranged on the encoder magnetic ring 32 pass through the two Hall elements arranged on the PCB respectively, the rotation direction of the idler wheel 31 can be judged, and whether the feeding platform is in the up-moving stage or the down-moving stage can be determined, and after the central control assembly 7 receives the electric signal transmitted by the first Hall sensor, the number of rotation turns of the idler wheel 31 can be determined based on the electric signal, and the current height of the feeding platform can be determined based on the number of rotation turns, so that the current position of the feeding platform can be determined; when the two Hall elements arranged on the PCB cannot detect the passing of the poles on the encoder magnetic ring 32, the feeding platform is in a hovering state, that is, the idler wheel is in a non-rotating state, so that the operator can accurately judge the position of the feeding platform, and then the accurate feeding condition can be obtained, so that the feed feeding amount can be adjusted in time and effectively.

[0058] In some embodiments, the feeding platform comprises a bottom plate 231 made of a mesh cloth material, a fixed ring 232 arranged on the bottom plate 231 and a side plate 233 made of a mesh cloth material arranged between the bottom plate 231 and the fixed ring 232, the diameter of the bottom plate 231 is smaller than that of the fixed ring 232, so that a bowl opening is formed between the bottom plate 231, the fixed ring 232 and the side plate 233, thereby effectively avoiding feed leakage during the floating process of the feeding platform.

[0059] In some embodiments, the limiting installation assembly includes a take-up box 41, the take-up box 41 includes a left shell 411 and a right shell 412 which can be buckled to each other, the left shell 411 is internally provided with a first installation slot and a second installation slot for accommodating the take-up wheel 22, and an opening 5 is arranged between the first installation slot and the second installation slot, through which one end of the traction rope 24 passes.

[0060] In some embodiments, the first installation slot and the second installation slot are provided with an opening 5 through which one end of the traction rope 24 passes, and the left shell 411 is internally provided with a guide slot 6 through which the connecting end of the traction rope 24 extends, the guide slot 6 is in communication with the first installation slot, the first installation slot and the second installation slot are in communication through the opening 5, and the bottom guard plate 13 is provided with a through hole through which the traction rope 24 passes, so that the traction rope 24 can drive the idler 31 to rotate by lowering the feeding platform.

[0061] In some embodiments, the inner diameter of the idler 31 installation hole is greater than the outer diameter of the installation column, and a circular arc boss 8 is arranged at the opening 5, so that the idler 31 can rotate under the action of the gravity of the feeding platform when the motor 21 is working, and the circular arc boss 8 can avoid interference with the rotation of the idler 31.

[0062] In some embodiments, the inner diameter of the second installation slot is less than or equal to the outer diameter of the take-up wheel 22, and the gap between the profile of the second installation slot and the maximum profile of the take-up wheel 22 is less than the diameter of the traction rope 24, so that the connecting end of the traction rope 24 can pass through the opening 5, the guide slot 6 and the through hole in turn and be connected with the feeding platform, and then the traction rope 24 can drive the idler 31 to rotate by lowering the feeding platform, and the first Hall sensor can record the movement of the idler 31.

[0063] In some embodiments, the top of the feeding platform is provided with a top pin, the guide slot 6 is internally provided with a rebounding piece and a positioning piece capable of pressing the rebounding piece, the positioning piece is internally provided with a magnet, one end of the traction rope 24 passes through the rebounding piece and the positioning piece and is connected with the feeding platform, the guide slot 6 is arranged in the left shell 411, one side of the guide slot 6 is provided with a position sensor, the position sensor is a second Hall sensor, and the position sensor is connected with the central control assembly 7, when the feeding platform rises to the highest position, i.e. the feeding platform reaches the top, the top pin will press the positioning piece to move upwards, and then the position sensor can judge the position of the feeding platform by sensing the position of the magnet inside the positioning piece, i.e. the central control assembly 7 determines whether the feeding platform reaches the top according to the sensing signal from the position sensor, and then controls the working state of the motor 21 according to the sensed position information.

[0064] When the feeding platform is descending, the elastic member is in the stretched state, and the push-to-position member is always at the bottom end of the guide groove 6, and when the feeding platform is raised to the maximum distance, the push-to-position member will compress the elastic member to move the position upward, at this time, the position sensor on one side can detect the position change of the push-to-position member in time through the magnet, so as to control the motor 21 to stop working.

[0065] With reference to Figure 7 , for the above-mentioned intelligent feeding platform, the embodiment of the application provides an intelligent feeding platform detection control method, which specifically comprises the following steps.

[0066] S1, in response to a first control instruction, output a first control signal to the winding assembly 2 to control the feeding platform to descend to a first preset height; wherein the winding assembly 2 comprises a motor 21 and a take-up reel 22 arranged at the output end of the motor, the take-up reel 22 is wound with a traction rope 24, and the other end of the traction rope 24 is connected with the top of the feeding platform.

[0067] S2, output a second control signal to the winding assembly to control the feeding platform to descend to the first position when it is determined that the feeding platform reaches the first preset height or the idler is in a non-rotating state; wherein the idler 31 is driven to rotate by the traction rope 24.

[0068] Specifically, the central control component 7 outputs a first control signal to the motor 21 to drive the take-up reel 22 to rotate to release the traction rope 24, and the feeding platform descends, and under the action of the gravity of the feeding platform, the idler 31 can be rotated through the traction rope 24. Then, whether the feeding platform reaches the first preset height can be determined by calculating the number of rotations of the idler 31 or by the motor signal (at least containing the number of rotations of the motor, the running time of the motor and / or the rotating speed of the motor), or the motor 21 drives the take-up reel 22 or the idler 31 to rotate for a certain number of turns, and the feeding platform is lowered by a certain height, and then it is detected whether the idler 31 is in a non-rotating state, when the idler 31 is in a non-rotating state at this time (that is, it is indicated that the feeding platform has reached a hovering stable state), it is equivalent to that the feeding platform reaches the first preset height, and then a second control signal is output to the motor 21 to drive the take-up reel 22 to continue rotating to release the traction rope 24, so that the feeding platform is lowered to the first position, that is, to the bottom of the pond. It can be seen that by executing the feeding platform lowering operation twice, the situation that the idler does not rotate or reverses due to the buoyancy when the feeding platform enters the water can be avoided, so that the situation of bottom touch misjudgment is caused, and the detection and judgment accuracy of the position of the feeding platform is improved.

[0069] S6, in response to a second control instruction, output a sixth control signal to the winding assembly 2 to control the feeding platform to rise.

[0070] S7, determining whether the feeding platform is raised to the top position according to the first position detection signal, the second rotation number of the idler and / or the third current value, wherein the first position detection signal is a detection signal obtained by detecting the position of the feeding platform by using the position sensor, and the third current value refers to the current value of the motor.

[0071] Specifically, when it is needed to pull back the feeding platform to observe the remaining feed, an instruction is output to make the motor 21 rotate to raise the feeding platform. However, during the raising process, especially when the feeding platform is close to the water surface, the position sensor may be erroneously detected due to the water flow and / or the rope, thereby generating the first position detection signal. Thus, the feeding platform may be erroneously detected to reach the top. Therefore, in the embodiment, in addition to the first position detection signal, the second rotation number of the idler and the third current value are used to comprehensively determine whether the feeding platform is raised to the top position, thereby greatly improving the accuracy of the top detection.

[0072] In some embodiments, when the position sensor does not have detection failure, the first position detection signal is generated when the feeding platform is detected, and the first position detection signal is not generated when the feeding platform is not detected. Therefore, the step S7 specifically includes the following steps.

[0073] S701, determining whether the first position detection signal is collected multiple times when the first position detection signal is detected.

[0074] S702, collecting the first position detection signal multiple times when it is determined that the first position detection signal is collected multiple times, and then determining whether the feeding platform is raised to the top position according to the collected signal.

[0075] S703, obtaining the second rotation number of the idler when it is determined that the first position detection signal is not collected multiple times, and determining whether the feeding platform is raised to the top position according to the second rotation number. The second rotation number of the idler is mainly the rotation number of the idler 31 from the start time of raising the feeding platform to the time when the first position detection signal is detected, and the corresponding first height value can be determined based on the second rotation number.

[0076] Specifically, in the embodiment, when it is detected that the first position detection signal exists, it is determined whether the multiple repeated collection mode is used to determine whether the feeding platform reaches the top or the rotation number of the idler is used to determine whether the feeding platform reaches the top. If the multiple repeated collection mode is used to determine, then the first position detection signal is collected for multiple times in a preset time period, and then whether the feeding platform rises to the top position is determined according to the collected detection signals, wherein the determination condition can be whether the average value of the detection signals meets the requirement, whether the time interval / frequency obtained between the detection signals meets the requirement, etc. If the second rotation number of the idler is used to determine whether the feeding platform rises to the top position, then the first height value corresponding to the second rotation number is determined, and then it is determined whether the first height value meets the requirement (for example, whether the first height value is equal to the pond height, whether the difference between the first height value and the pond height is within the preset threshold range, etc.). If the requirement is met, it is determined that the feeding platform rises to the top position, otherwise, the feeding platform continues to be pulled up until the requirement is met. Therefore, the above scheme can improve the detection accuracy of the feeding platform reaching the top.

[0077] In some embodiments, when the position sensor cannot detect whether the feeding platform reaches the top due to abnormality, in order to ensure that the intelligent material table still works normally, the motor current determination mode is used to determine. Therefore, the step S7 specifically includes the following steps:

[0078] S704, in the case that the position sensor fails to detect, a third current value is obtained.

[0079] S705, when the third current values obtained in the fourth preset time period are all greater than the third current threshold, it is determined that the feeding platform rises to the top position.

[0080] Specifically, during the rising of the feeding platform, the current value (i.e. the third current value) of the motor is obtained, and then it is determined whether the third current value in the preset time period is all greater than the third current threshold, i.e. whether the current of the motor continuously stays in the high current state. If the third current value in the preset time period is all greater than the threshold, it is determined that the current feeding platform has risen to the top position. In order to ensure the safe operation of the motor, the pulling back operation of the feeding platform is stopped after it is determined that the feeding platform has reached the top, so as to avoid burning the motor.

[0081] In some embodiments, the top of the feeding platform is provided with a top pin, which is used to press the in-place piece upwards, so that the position sensor senses the magnet arranged in the in-place piece, thereby generating the first position detection signal. The specific structure and the specific arrangement position of each component are shown in the above intelligent material table embodiment, which will not be described in detail here.

[0082] In some embodiments, the method further comprises the following steps:

[0083] S3, after judging the rotation state and rotation direction of the idler wheel 31, a corresponding judgment result is obtained;

[0084] S4, according to the judgment result, a corresponding detection method is selected to determine whether the feeding platform is lowered to the first position.

[0085] Specifically, if the rotation state (including rotation or non-rotation) of the idler wheel 31 can be effectively detected, then according to the detection result of the rotation state of the idler wheel 31, it can be determined whether the feeding platform is lowered to the bottom of the pond. If the rotation direction of the idler wheel 31, i.e. forward rotation or reverse rotation, can be effectively detected, then according to the rotation direction of the idler wheel 31, it can be determined whether the feeding platform is lowered to the bottom of the pond. In this embodiment, since the feeding platform is lowered to the bottom of the pond based on the second control signal, the released traction rope 24 will be too long, which will cause the feeding platform to touch the bottom. At this time, there will be a reverse force on the idler wheel 31 due to the longer traction rope 24, which will cause the idler wheel 31 to rotate in the opposite direction. At this time, a certain length of the traction rope 24 needs to be recovered to pull the feeding platform to the specified height, so that it is accurately to the bottom of the pond without touching the bottom. In addition, when the rotation state and rotation direction of the idler wheel 31 cannot be effectively detected, i.e. the two data of rotation state and rotation direction cannot be detected, at this time, the current value can be used to determine whether the feeding platform is lowered to the bottom of the pond. As can be seen, by using this way to determine whether the feeding platform is lowered to the bottom of the pond, the accuracy can be further improved, and it can adapt to various situations. Although the rotation state and direction of the idler wheel are detected to fail, the lowering position of the feeding platform can still be accurately determined, which greatly improves the working stability and reliability of the intelligent feeding platform.

[0086] In some embodiments, the step S4 specifically comprises:

[0087] S401, when the rotation state of the idler wheel 31 does not exist detection failure, it is detected that the idler wheel 31 is in a non-rotating state, and it is determined that the feeding platform is lowered to the first position; and / or,

[0088] S402, when the rotation direction of the idler wheel 31 does not exist detection failure, it is detected that the rotation direction of the idler wheel 31 is reverse, a third control signal is output to the winding assembly 2 to control the winding assembly 2 to recover the first predetermined length of the traction rope 24, and it is determined that the feeding platform is lowered to the first position.

[0089] Specifically, when the rotation condition and the rotation direction of the idler wheel are not invalid, in the process of controlling the feeding platform to lower to the first position, whether the feeding platform is lowered to the bottom of the pool is determined by detecting whether the idler wheel 31 is not rotating or whether the idler wheel 31 is rotating in the reverse direction. When the rotation direction is used to determine whether the feeding platform is lowered to the bottom of the pool, the first preset length of the traction rope 24 is controlled to be retracted by the winding assembly 2 when it is detected that the rotation direction of the idler wheel 31 is in the reverse direction, and the feeding platform is pulled back by a certain height to accurately reach the bottom of the pool without touching the bottom.

[0090] In some embodiments, the step S4 can also specifically include the following steps.

[0091] S4031, when the rotation condition and the rotation direction of the idler wheel 31 are invalid, in the process of controlling the feeding platform to lower to the first position, the feeding platform is lowered for a first preset time (such as 10s), and then the traction rope 24 retraction operation is performed according to a second preset time (such as 1s).

[0092] Specifically, in this embodiment, when the motor 21 rotates in the first direction, it is to lift the feeding platform, that is, to make the feeding platform rise, and when the motor 21 rotates in the second direction, it is to lower the feeding platform; and for the first direction and the second direction, it can be understood as forward and reverse, when one of the directions is defined as forward, the other direction is defined as reverse, which can be set as needed.

[0093] In the process of controlling the feeding platform to lower to the first position, the motor 21 is first rotated in the second direction for a first preset time, such as 10s, which is equivalent to allowing the feeding platform to lower for a time of 10s, and then the motor 21 is rotated in the first direction for a second preset time, such as 1s, which is equivalent to performing the traction rope 24 retraction operation to lift the feeding platform upward by 1s.

[0094] S4032, obtaining a first current value, wherein the first current value refers to the average current value of the motor during the traction rope 24 retraction operation in the second preset time.

[0095] Specifically, for the above-mentioned first current value, it specifically refers to the average current value of the motor 21 in the process of lifting the feeding platform upward by 1s, that is, the current value of the motor in the 1s is sampled according to the sampling frequency, and then the average value of the sampled current values is calculated, which is taken as the first current value.

[0096] S4033, determining whether the first current value is less than or equal to a first current threshold.

[0097] S4034, in a case where it is determined that the first current value is greater than the first current threshold, return to execute step S4031 until the first current value is less than or equal to the first current threshold.

[0098] Specifically, when the first current value is greater than the first current threshold, it indicates that the feeding platform has not reached the bottom, at this time, it is necessary to return to step S4031 to re-execute the above steps S4031-4033, that is, to lower the feeding platform for a period of time, and then to pull it back for 1s, and then to calculate the average current value of the motor in 1s, and then to determine whether the first current value is less than the first current threshold, and so on, until the first current value is less than or equal to the first current threshold; and in a case where the first current value is less than or equal to the first current threshold, it indicates that the feeding platform has reached the bottom.

[0099] S4035, in a case where it is determined that the first current value is less than or equal to the first current threshold, obtain a second current value, wherein the second current value refers to an average current value of the motor in a third preset time length (such as 1s, of course, the time length can also be different from the second preset time length) during the traction rope 24 recovery operation.

[0100] S4036, in a case where it is determined that the second current value is greater than or equal to the second current threshold, it is determined that the feeding platform is lowered to the first position.

[0101] Specifically, after it is determined that the feeding platform has reached the bottom, the motor 21 continues to pull the feeding platform upward for 1s, and similarly, the average current value of the motor in 1s (i.e., the second current value) is also calculated, and then it is determined whether the second current value is greater than or equal to the second current threshold, if yes, it is determined that the feeding platform has left the bottom and has not reached the bottom and has reached the bottom correctly, otherwise, it indicates that it is still at the bottom, at this time, it returns to execute S4035 to continue to pull the feeding platform upward for 1s until the second current value is greater than or equal to the second current threshold. It can be seen that by using this way to lower the feeding platform to the bottom of the pond, the accuracy is higher.

[0102] In some embodiments, in order to improve the detection efficiency, in a case where the first current value is greater than the first current threshold, the time for the next rotation of the motor 21 is reduced, that is, the next lowering time of the feeding platform is shortened, and then it returns to execute step S4031. Therefore, the step S4034 is specifically: in a case where it is determined that the first current value is greater than the first current threshold, the first preset time length is reduced and then it returns to execute step S4031 until the first current value is less than or equal to the first current threshold.

[0103] Specifically, for the reduction of the first preset time length, it can be in a decreasing trend, such as 2 seconds each time, until the minimum allowed time length is reached, wherein the minimum allowed time length can be 4s. For example, when the first time the platform is lowered is 10s, then the second, third and fourth times the platform is lowered are 8s, 6s and 4s. When the minimum allowed time length is reached, the next time the step S4041 needs to be executed, the first preset time length does not need to be reduced.

[0104] In some embodiments, when the selected detection method cannot determine that the feeding platform is lowered to the first position, the method further comprises the following steps:

[0105] S4041, during the control of the lowering of the feeding platform to the first position, when it is detected that the motor 21 rotates to the termination position in the second direction, the corresponding second height is determined according to the third rotation number of the idler and / or the motor signal (mainly including the motor running time and the motor speed).

[0106] Specifically, when the above detection methods (such as detecting whether the idler rotates, whether it reversely rotates, whether the current meets the requirements) cannot determine whether the feeding platform reaches the first position, the motor 21 is detected at this time. Since the feeding platform cannot be detected to reach the first position all the time, the feeding platform is always in a lowered state, i.e. the motor 21 is always rotated in the second direction; when the motor rotates to the termination position, i.e. the motor reaches the top, the second height, i.e. the height of reaching the top, can be calculated at this time. For the second height, the third rotation number of the idler and / or the motor signal obtained during the time period from the time when the feeding platform starts to be lowered to the time when the motor rotates to the termination position are mainly used to determine the second height.

[0107] In addition, for the second height, when the idler 31 is normal, the above step uses the rotation number of the idler to determine the second height; when the idler 31 is abnormal, the motor signal is used to determine the second height.

[0108] S4042, the third height is calculated, wherein the third height = (second height / 2) + fourth height. Wherein, the fourth height is mainly set to prevent the feeding platform from touching the bottom, i.e. not to touch the bottom.

[0109] S4043, according to the third height, the motor 21 is controlled to rotate in the first direction for a corresponding number of turns, i.e. the corresponding length of the traction rope 24 is recovered, so that the feeding platform reaches a certain height (such as the fifth height), at this time, it is equivalent to that the feeding platform is lowered to the bottom of the pit, i.e. the feeding platform is lowered to the first position.

[0110] It can be seen that, by using the scheme of the embodiment of the application, when the above detection methods cannot correctly detect whether the feeding platform is lowered to the first position, the feeding platform can be normally lowered to the bottom of the pond, thereby improving the working stability and reliability of the intelligent feeding platform.

[0111] In some embodiments, the step S4 is followed by the following steps:

[0112] S5, when detecting that the idler exists an abnormal condition, output a seventh control signal to the winding assembly to control the winding assembly to recover the third preset length of the traction rope.

[0113] Specifically, when the feeding platform is at the bottom of the pond, if there is a situation of pond water, the feeding platform is prone to bottoming out at this time, and in order to avoid this situation, the embodiment detects the abnormal condition of the idler, that is, whether the idler exists abnormal movement, if so, the winding assembly recovers the third preset length of the traction rope to pull the feeding platform to a certain height, thereby avoiding bottoming out. Wherein, when detecting that the idler exists an abnormal condition, it is considered that the idler exists detection failure, and when the current value of the motor is less than or equal to the fifth current threshold value, it indicates that the feeding platform is bottomed out and the traction rope is in a non-tensioned state, and then the winding assembly recovers the third preset length of the traction rope to pull the feeding platform to a certain height, thereby avoiding bottoming out. At this time, the height can be estimated and calculated according to the motor signal (including the number of motor rotation, the running time of the motor and / or the motor speed).

[0114] As can be seen from the above, by using the intelligent feeding platform detection control scheme of the application, the situation of bottoming out caused by the non-rotation or reverse rotation of the idler due to the buoyancy when the feeding platform enters the water can be avoided, thereby improving the detection accuracy of the lowering position of the feeding platform. Moreover, different detection methods can be used to determine whether the idler is detected to fail to ensure that the feeding platform can be accurately lowered to the bottom of the pond without bottoming out, which not only further improves the detection accuracy of the feeding platform to the bottom, but also improves the working reliability and stability of the intelligent feeding platform. Moreover, the application scheme also avoids the false triggering of the top detection caused by the water flow and / or the rope when the feeding platform is pulled back to the top, thereby greatly improving the accuracy of the top detection of the feeding platform.

[0115] Referring to Figure 8 The embodiment of the application also provides an intelligent feeding platform detection control device, which comprises:

[0116] The first control unit is configured to output a first control signal to the winding assembly in response to a first control instruction, so as to control the feeding platform to be lowered to a first preset height; wherein the winding assembly comprises a motor and a winding wheel arranged at an output end of the motor, the winding wheel is wound with a traction rope, and the other end of the traction rope is connected with the top of the feeding platform.

[0117] The second control unit is configured to output a second control signal to the winding assembly in response to a determination that the feeding platform reaches the first preset height or the idler wheel is in a state of not rotating, so as to control the feeding platform to be lowered to a first position; wherein the idler wheel is driven to rotate by the traction rope.

[0118] The third control unit is configured to output a sixth control signal to the winding assembly in response to a second control instruction, so as to control the feeding platform to be raised.

[0119] The fourth control unit is configured to determine that the feeding platform is raised to a top position according to a first position detection signal, a second number of rotations of the idler wheel and / or a third current value, wherein the first position detection signal is a detection signal obtained by detecting the position of the feeding platform by using a position sensor, and the third current value refers to a current value of the motor.

[0120] The control device described in the embodiments of the present application corresponds to the steps in the method embodiments, and has the same advantages and beneficial effects as described in the method embodiments, which will not be described here in detail.

[0121] The embodiments of the present application further provide an intelligent material table detection control device, which comprises:

[0122] The winding assembly 2 is controlled by the central control assembly 7, so as to raise and / or lower the feeding platform;

[0123] The position sensor is configured to detect the position of the feeding platform.

[0124] The central control assembly 7 comprises at least one processor, which is configured to execute the steps of the intelligent material table detection control method described in the method embodiments.

[0125] The central control assembly 7 is connected with the winding assembly 2 and the position sensor respectively.

[0126] In some embodiments, the device further comprises:

[0127] The first sensing assembly is configured to detect the idler wheel 31.

[0128] The first sensing assembly is connected with the central control assembly 7.

[0129] For the control device described in the embodiments of the present application, the processor included in the control assembly 7 is used to execute the steps of an intelligent material table detection control method as described in the method embodiment, and therefore has the same advantages and beneficial effects as described in the method embodiment, which will not be described in detail here.

[0130] In addition, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the above method embodiment.

[0131] For the processor mentioned in the above storage medium embodiment, the number thereof can be at least one, and at least one step in the above method embodiment can be executed. When the number is at least two, the at least two processors can be communicatively connected, which is not limited to wired or wireless communication connection, and the at least one processor can be communicatively connected with various intelligent terminal devices. In addition, the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0132] Finally, it should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0133] Note that the above is only the preferred embodiment of the present application and the technical principle applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for detecting and controlling an intelligent material platform, characterized in that, The method includes the following steps: S1. In response to the first control command, output a first control signal to the winding assembly to control the feeding platform to be lowered to a first preset height; wherein, the winding assembly includes a motor and a take-up reel provided at the output end of the motor, a traction rope is wound on the take-up reel, and the other end of the traction rope is connected to the top of the feeding platform; S2. Once it is determined that the feeding platform has reached the first preset height or the idler wheel is not rotating, a second control signal is output to the winding assembly to control the feeding platform to be lowered to the first position; wherein, the idler wheel is driven to rotate by the traction rope; S6. In response to the second control command, output the sixth control signal to the winding assembly to control the feeding platform to rise; S7. Determine the top position of the feeding platform based on the first position detection signal, the second number of rotations of the idler wheel, and / or the third current value. The first position detection signal is a detection signal obtained by using a position sensor to detect the position of the feeding platform, and the third current value refers to the current value of the motor.

2. The method as described in claim 1, characterized in that, Step S7 specifically includes the following steps: S701. If a first position detection signal is detected, determine whether to perform multiple signal acquisitions on the first position detection signal. S702. If it is determined that the first position detection signal is collected multiple times, then the first position detection signal is collected multiple times, and then the feeding platform is determined to have risen to the top position based on the collected signals. S703. If it is determined that the first position detection signal will not be collected multiple times, the second rotation number of the idler wheel is obtained, and the feeding platform is determined to have risen to the top position based on the second rotation number.

3. The method as described in claim 2, characterized in that, Step S7 specifically includes the following steps: S704. In the event of a position sensor failure, obtain the third current value; S705. When the third current value obtained within the fourth preset time period is greater than the third current threshold, it is determined that the feeding platform has risen to the top position.

4. The method as described in claim 1, characterized in that, The top of the feeding platform is equipped with a pin, which is used to press the positioning component upward so that the position sensor can sense the magnet set inside the positioning component, thereby generating a first position detection signal.

5. The method as described in claim 1, characterized in that, The method also includes the following steps: S3. After determining the failure status and direction of the idler wheel, the corresponding judgment result is obtained; S4. Based on the judgment result, select the appropriate detection method to determine the placement of the feeding platform to the first position.

6. The method as described in claim 5, characterized in that, Step S4 specifically includes: S401. When there is no detection failure regarding the rotation of the idler wheel, if the idler wheel is detected to be in a non-rotating state, then it is determined that the feeding platform should be lowered to the first position; and / or, S402. When there is no detection failure in the rotation direction of the idler wheel, if the rotation direction of the idler wheel is detected to be reversed, a third control signal is output to the winding assembly to control the winding assembly to retract the traction rope of the first preset length and then determine that the feeding platform is lowered to the first position.

7. The method as described in claim 5, characterized in that, Step S4 specifically includes: S4031. When there is a detection failure in both the rotation status and rotation direction of the idler wheel, during the process of controlling the feeding platform to be lowered to the first position, after the feeding platform is lowered for a first preset time, the traction rope recovery operation is performed according to the second preset time. S4032. Obtain a first current value, wherein the first current value refers to the average current value of the motor during the traction rope retrieval operation within a second preset time period. S4033. Determine whether the first current value is less than or equal to the first current threshold. S4034. If it is determined that the first current value is greater than the first current threshold, return to step S4031 until the first current value is less than or equal to the first current threshold. S4035. When it is determined that the first current value is less than or equal to the first current threshold, a second current value is obtained, wherein the second current value refers to the average current value of the motor during the traction rope retrieval operation within a third preset time period. S4036. If it is determined that the second current value is greater than or equal to the second current threshold, the feeding platform is lowered to the first position.

8. The method as described in claim 7, characterized in that, Specifically, step S4034 involves: if it is determined that the first current value is greater than the first current threshold, the first preset duration is reduced and the process returns to step S4031 until the first current value is less than or equal to the first current threshold.

9. An intelligent material platform detection and control device, characterized in that, The device includes: A first control unit is configured to respond to a first control command and output a first control signal to a winding assembly to control the feeding platform to be lowered to a first preset height; wherein the winding assembly includes a motor and a take-up reel disposed at the output end of the motor, a traction rope is wound on the take-up reel, and the other end of the traction rope is connected to the top of the feeding platform; The second control unit is used to output a second control signal to the winding assembly when it is determined that the feeding platform has reached the first preset height or the idler wheel is not rotating, so as to control the feeding platform to be lowered to the first position; wherein the idler wheel is driven to rotate by the traction rope; The third control unit is used to respond to the second control command and output a sixth control signal to the take-up assembly to control the feeding platform to rise. The fourth control unit is used to determine the top position of the feeding platform based on the first position detection signal, the second number of rotations of the idler wheel and / or the third current value. The first position detection signal is a detection signal obtained by using a position sensor to detect the position of the feeding platform, and the third current value refers to the current value of the motor.

10. An intelligent material platform detection and control device, characterized in that, The device includes: The rewind assembly, controlled by the central control assembly, is used to raise and / or lower the feeding platform; Position sensors are used to detect the position of the feeding platform; A central control component includes at least one processor for performing steps that implement the method as described in any one of claims 1 to 8; The central control component is connected to the winding component and the position sensor, respectively.

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