Intelligent magazine detection control method and related device

Abstract

The application discloses a kind of intelligent material table detection control method and related device, wherein the method includes: output first control signal to winding assembly, to control the feeding platform to be lowered to first preset height;In determining that the feeding platform reaches first preset height or idler is in the state of not rotating, output second control signal to winding assembly, to control the feeding platform to be lowered to first position;Output sixth control signal to winding assembly, to control the feeding platform to rise;According to first position detection signal, the second rotation number of idler and / or third current value, determine that the feeding platform rises to top position.Using the application scheme, it can avoid the idler not rotating or reversing when the feeding platform enters water due to buoyancy, thereby causing the situation of bottom touch misjudgment to occur, and also can avoid the feeding platform being pulled back to the top, causing the top detection to be triggered due to water flow and / or the driving of the rope.The application scheme can be widely applied in the field of intelligent feed feeding.

Description

Technical Field

[0001] This application relates to the control technology of intelligent material platforms, and in particular to an intelligent material platform detection and control method and related device. Background Technology

[0002] Feeding is one of the key aspects of aquaculture. Feeding meets the nutritional needs of aquatic animals, and proper feeding can provide them with various nutrients necessary for growth, including protein, fat, carbohydrates, vitamins, and minerals. This helps promote the growth and development of aquatic animals, improve the yield and quality of aquaculture, and maintain a good water quality environment.

[0003] Currently, most feeding systems use feeding platforms. By lifting and observing the remaining feed on the platform, the shrimp's feeding status can be determined, allowing for effective adjustments to the feed amount to prevent overfeeding or underfeeding. However, the commonly used feeding devices have low accuracy in detecting the platform's position, which can affect feeding. Furthermore, false triggering of the top detection can lead workers to mistakenly believe that additional feed is needed or that the feed level needs monitoring, thus increasing their workload and reducing overall efficiency. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an intelligent material platform detection and control method and related device, which can improve the detection accuracy of the material feeding platform reaching the bottom and top.

[0005] In a first aspect, embodiments of this application provide an intelligent material platform detection and control method, which includes the following steps:

[0006] 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;

[0007] 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;

[0008] S6. In response to the second control command, output the sixth control signal to the winding assembly to control the feeding platform to rise;

[0009] 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.

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

[0011] S701. If a first position detection signal is detected, determine whether to perform multiple signal acquisitions on the first position detection signal.

[0012] 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.

[0013] 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.

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

[0015] S704. In the event of a position sensor failure, obtain the third current value;

[0016] 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.

[0017] In some embodiments, the top of the feeding platform is provided with a pin, which is used to press the positioning component upward so that the position sensor can sense the magnet provided inside the positioning component, thereby generating a first position detection signal.

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

[0019] S3. After determining the failure status and direction of the idler wheel, the corresponding judgment result is obtained;

[0020] S4. Based on the judgment result, select the appropriate detection method to determine the placement of the feeding platform to the first position.

[0021] In some embodiments, step S4 specifically includes:

[0022] 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,

[0023] 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.

[0024] In some embodiments, step S4 specifically includes:

[0025] 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.

[0026] 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.

[0027] S4033. Determine whether the first current value is less than or equal to the first current threshold.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] In some embodiments, 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.

[0032] Secondly, embodiments of this application provide an intelligent material platform detection and control device, the device comprising:

[0033] 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;

[0034] 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;

[0035] 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.

[0036] 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.

[0037] Thirdly, embodiments of this application provide an intelligent material platform detection and control device, the device comprising:

[0038] The rewind assembly, controlled by the central control assembly, is used to raise and / or lower the feeding platform;

[0039] Position sensors are used to detect the position of the feeding platform;

[0040] The central control component includes at least one processor for performing steps to implement an intelligent material table detection and control method as provided in the first aspect;

[0041] The central control component is connected to the winding component and the position sensor, respectively.

[0042] This application achieves at least one of the following technical effects: During the process of lowering the feeding platform to the pond bottom, the solution first controls the drive winding assembly to operate, lowering the feeding platform to a certain height. Then, after determining that the feeding platform has reached the first preset height or the idler wheel is not rotating, the drive winding assembly is controlled to lower the feeding platform to the pond bottom. This two-stage lowering operation avoids the idler wheel not rotating or reversing due to buoyancy when the feeding platform enters the water, thus preventing false bottom detection. This improves the accuracy of detecting the lowering position of the feeding platform and reduces the negative impact on adjusting the feed feeding amount. Furthermore, when it is necessary to pull the feeding platform back up to the top position to observe the remaining feed, this solution can combine the judgment of the first position detection signal, the second number of rotations of the idler wheel, and / or the third current value to determine whether the feeding platform is truly at the top position. This avoids false triggering of the top detection due to water flow and / or rope movement when pulling the feeding platform back to the top, thereby greatly improving the accuracy of the top detection of the feeding platform. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is an overall structural diagram of one embodiment of the intelligent material station in this application;

[0045] Figure 2 This is an exploded view of one embodiment of the intelligent material station in this application;

[0046] Figure 3 This is a bottom view of one embodiment of the intelligent material station in this application;

[0047] Figure 4 This is a structural diagram of one embodiment of the winding component in this application;

[0048] Figure 5 This is a structural diagram of one embodiment of the take-up box in this application;

[0049] Figure 6 This is a structural diagram of one embodiment of the idler wheel in this application;

[0050] Figure 7 This is a flowchart illustrating the steps of an intelligent material platform detection and control method according to this application;

[0051] Figure 8 This is a structural block diagram of an intelligent material platform detection and control device according to this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] The intelligent material platform detection and control method provided in this application is mainly applied to intelligent material platforms. Therefore, in order to clearly and completely describe the detection and control scheme of this application, the structure of the intelligent material platform described in this application is first explained as follows.

[0054] Reference Figure 1-6A smart material platform includes a feeding platform, a floating device 1, a winding assembly 2 disposed on top of the floating device 1, a sensing assembly, a limiting mounting assembly, and a central control assembly 7 electrically connected to each assembly.

[0055] In some embodiments, the buoyancy device 1 includes a floating frame 11, suspension balls 12 respectively disposed at each support of the floating frame 11, a bottom protective plate 13, and a cover 14 disposed on the bottom protective plate 13. The bottom protective plate 13 has a through hole through which the traction rope 24 can pass, 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 includes a motor 21 and a take-up reel 22 disposed at the output end of the motor 21. A traction rope 24 is wound on the take-up reel 22, and the other end of the traction rope 24 is connected to the top of the feeding platform.

[0057] In some embodiments, the sensing component includes a first sensing component, which includes a first Hall sensor disposed within the right housing 412 and an encoder magnetic ring 32 sleeved on the end of the idler wheel 31 near the Hall sensor. The first Hall sensor and the idler wheel 31 are correspondingly arranged. The encoder magnetic ring 32 has thirteen pole pairs. The first Hall sensor includes a PCB board and two Hall elements spaced apart on the PCB board. Thus, when the feeding platform moves up and down, the traction rope 24 will drive the idler wheel 31 to rotate in the forward or reverse direction. That is, the idler wheel 31 can be driven by the traction rope 24 to rotate in the forward or reverse direction. When the idler wheel 31 rotates, the pole pairs on the encoder magnetic ring 32 pass through the two Hall elements spaced apart on the PCB board. When the Hall element is used, it can determine the rotation direction of the idler wheel 31 and whether the feeding platform is in the upward or downward movement stage. After the central control component 7 receives the electrical signal from the first Hall sensor, it can determine the number of rotations of the idler wheel 31 based on the electrical signal. Based on the number of rotations, the current height of the feeding platform can be determined, thereby determining the current position of the feeding platform. When the two Hall elements spaced apart on the PCB cannot detect the passing of the upper pole pair of the encoder magnetic ring 32, the feeding platform is in a suspended state, that is, the idler wheel is not rotating. Thus, the operator can accurately determine the position of the feeding platform, thereby obtaining accurate feeding information and facilitating timely and effective adjustment of the feed amount.

[0058] In some embodiments, the feeding platform includes a base plate 231 made of mesh material, a fixing ring 232 set on the base plate 231, and a side plate 233 made of mesh material set between the base plate 231 and the fixing ring 232. The diameter of the base plate 231 is smaller than the diameter of the fixing ring 232 so that the base plate 231, the fixing ring 232 and the side plate 233 form a bowl shape, thereby effectively preventing feed spillage during the up-and-down floating process of the feeding platform.

[0059] In some embodiments, the limiting installation assembly includes a take-up box 41, which includes a left housing 411 and a right housing 412 that can be interlocked. The left housing 411 is provided with a first mounting groove and a second mounting groove for accommodating the take-up reel 22. An opening 5 is provided between the first mounting groove and the second mounting groove for one end of the traction rope 24 to pass through.

[0060] In some embodiments, an opening 5 is provided between the first mounting groove and the second mounting groove for one end of the traction rope 24 to pass through. The left housing 411 is provided with a guide groove 6 for the connecting end of the traction rope 24 to extend out. The guide groove 6 is connected to the first mounting groove. The first mounting groove and the second mounting groove are connected through the opening 5. The bottom guard plate 13 is provided with a through hole for the traction rope 24 to pass through, so that the traction rope 24 can drive the idler wheel 31 to rotate by lowering the feeding platform.

[0061] In some embodiments, the inner diameter of the mounting hole of the idler wheel 31 is larger than the outer diameter of the mounting post, and an arc-shaped boss 8 is provided at the opening 5. When the motor 21 is working, the feeding platform descends. Under the gravity of the feeding platform, the idler wheel 31 can be rotated by the traction rope 24. The arc-shaped boss 8 avoids interfering with the rotation of the idler wheel 31.

[0062] In some embodiments, the inner diameter of the second mounting groove is set to be less than or equal to the outer diameter of the take-up reel 22, and the gap between the outline of the second mounting groove and the maximum outline of the take-up reel 22 is less than the diameter of the traction rope 24. Thus, the connecting end of the traction rope 24 can pass through the opening 5, the guide groove 6, and the through hole in sequence and connect to the feeding platform. Then, the traction rope 24 can drive the idler wheel 31 to rotate by lowering the feeding platform, and the first Hall sensor records the action of the idler wheel 31.

[0063] In some embodiments, the top of the feeding platform is provided with a pin, and a spring-loaded component and a positioning component that can press against the spring-loaded component are installed in the guide groove 6. The positioning component is provided with a magnet inside. One end of the traction rope 24 passes through the spring-loaded component and the positioning component and is connected to the feeding platform. The guide groove 6 is located in the left housing 411. A position sensor is provided on one side of the guide groove 6. The position sensor is a second Hall sensor and is connected to the central control component 7. When the feeding platform rises to the highest position, that is, when the feeding platform reaches the top, the pin will press against the positioning component and move it upward. Then, the position sensor can determine the position of the feeding platform by sensing the position of the magnet inside the positioning component. That is, the central control component 7 determines whether the feeding platform has reached the top based on the sensing signal transmitted by the position sensor. Then, the sensed position information is used to control the working state of the motor 21.

[0064] When the feeding platform descends, the spring-loaded component is in an extended state, and the push-position component is always at the bottom of the guide groove 6. When the feeding platform rises to the maximum distance, the push-position component will compress the spring-loaded component to move its position upward. At this time, the position sensor on one side can detect the position change of the component in time through the magnet, thereby controlling the motor 21 to stop working.

[0065] Reference Figure 7 Regarding the aforementioned intelligent material platform, this application provides an intelligent material platform detection and control method, which specifically includes the following steps.

[0066] S1. In response to the first control command, output a first control signal to the winding assembly 2 to control the feeding platform to be lowered to a first preset height; wherein, the winding assembly 2 includes a motor 21 and a take-up reel 22 provided 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 to the top of the feeding platform.

[0067] 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 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 and release the traction rope 24, causing the feeding platform to descend. Under the gravity of the feeding platform, the idler wheel 31 can rotate via the traction rope 24. Then, it can be determined whether the feeding platform has reached the first preset height by calculating the number of rotations of the idler wheel 31 or by using motor signals (including at least the number of motor rotations, motor running time, and / or motor speed). Alternatively, the motor 21 drives the take-up reel 22 or the idler wheel 31 to rotate a certain number of times, causing the feeding platform to descend to a certain height. Then, it is detected whether the idler wheel 31 is in a non-rotating state. When the idler wheel 31 is detected to be in a non-rotating state (i.e., the feeding platform is in a suspended and stable state), it is equivalent to the feeding platform reaching the first preset height. Then, a second control signal is output to the motor 21 to drive the take-up reel 22 to continue rotating and release the traction rope 24, causing the feeding platform to descend to the first position, i.e., to the bottom of the pond. It is evident that by performing the lowering operation of the feeding platform twice, the idler wheel can be prevented from not rotating or reversing due to buoyancy when the feeding platform enters the water, thus avoiding the situation of misjudging the bottom. This improves the accuracy of detecting and judging the lowering position of the feeding platform.

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

[0070] 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.

[0071] Specifically, when it is necessary to pull the feeding platform back to observe the remaining feed, a command is output to make motor 21 rotate, causing the feeding platform to rise. However, during the rising process, especially when approaching the water surface, the position sensor may falsely detect the feeding platform due to the water flow and / or the rope, thus generating a first position detection signal. This can lead to false detections of the feeding platform reaching the top. Therefore, in this embodiment, in addition to the first position detection signal, the second rotation number of the idler wheel and the third current value are also used to comprehensively judge and detect whether the feeding platform has risen to the top position, which can greatly improve the accuracy of the top detection.

[0072] In some embodiments, if the position sensor does not fail to detect, it will generate a first position detection signal when it detects the feeding platform; otherwise, it will not generate a first position detection signal. Therefore, step S7 specifically includes the following steps:

[0073] S701. If a first position detection signal is detected, determine whether to perform multiple signal acquisitions on the first position detection signal.

[0074] 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.

[0075] 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. The second rotation number of the idler wheel is mainly the number of rotations of the idler wheel 31 from the start of the feeding platform's pullback and rise to the moment the first position detection signal is detected, and the corresponding first height value can be determined based on this second rotation number.

[0076] Specifically, in this embodiment, when a first position detection signal is detected, a choice is made between using multiple repeated acquisitions to determine whether the feeding platform has reached the top, or using the number of rotations of the idler wheel. If multiple repeated acquisitions are used, the first position detection signal is acquired multiple times within a preset time period. Then, based on the acquired detection signals, it is determined whether the feeding platform has risen to the top position. The determination criteria may include whether the average value of the acquired signals meets the requirements, or whether the time interval / frequency between the acquired signals meets the requirements. If the second number of rotations of the idler wheel is used to determine whether the feeding platform has risen to the top position, the corresponding first height value is determined based on the second number of rotations. Then, it is determined whether the first height value meets the requirements (e.g., whether the first height value is equal to the pond height, or whether the difference between the first height value and the pond height is within a preset threshold range). If the requirements are met, it is determined that the feeding platform has risen to the top position; otherwise, the feeding platform continues to be pulled up until the requirements are met. Therefore, it can be seen that the above-mentioned solution can improve the accuracy of the top detection of the feeding platform.

[0077] In some embodiments, when the position sensor malfunctions and cannot detect whether the feeding platform has reached the top, this embodiment uses motor current as the determining factor to ensure the intelligent feeding platform can still function normally. Therefore, step S7 specifically includes the following steps:

[0078] S704. In the event of a position sensor failure, obtain the third current value;

[0079] 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.

[0080] Specifically, during the ascent of the feeding platform, the motor current value (i.e., the third current value) is acquired. Then, it is determined whether the third current value is consistently greater than the third current threshold within a preset time period, i.e., whether the motor current remains in a high-current state. If the third current value is consistently greater than the threshold within the preset time period, it can be determined that the feeding platform has reached its top position. Furthermore, to ensure the motor's operational safety, the pull-back operation of the feeding platform will be stopped after it is confirmed that the platform has reached the top, preventing machine burn-out.

[0081] In some embodiments, the top of the feeding platform is provided with a push pin, which is used to press against the positioning component and move it upward, so that the position sensor can sense the magnet set inside the positioning component, thereby generating a first position detection signal. This specific structure and the specific arrangement of each component are as shown in the above-described intelligent material platform embodiment, and will not be described in detail here.

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

[0083] S3. After determining the failure status and direction of rotation of the idler wheel 31, the corresponding judgment result is obtained;

[0084] S4. Based on the judgment result, select the appropriate detection method to determine the placement of the feeding platform to the first position.

[0085] Specifically, if the rotation of the idler wheel 31 (including whether it rotates or not) can be effectively detected, then the decision on whether the feeding platform should be lowered to the bottom of the pond can be made based on the detection result of the rotation of the idler wheel 31. If the rotation direction of the idler wheel 31, i.e., whether it rotates forward or backward, can be effectively detected, then the decision on whether the feeding platform should be lowered to the bottom of the pond can be made based on the rotation direction of the idler wheel 31. In this embodiment, when the feeding platform is lowered to the bottom of the pond based on the second control signal, there may be a situation where the released traction rope 24 is too long, causing the feeding platform to touch the bottom. At this time, the traction rope 24 may be too long, resulting in a reverse force on the idler wheel 31, causing the idler wheel 31 to rotate in the opposite direction. In this case, it is necessary to retrieve a certain length of the traction rope 24 to pull the feeding platform back to the specified height, so that it reaches the bottom of the pond accurately without touching the bottom. Furthermore, when the rotation status and direction of the idler wheel 31 cannot be effectively detected (i.e., these two data points cannot be obtained), the current value can be used to determine whether the feeding platform has been lowered to the bottom of the pond. Therefore, using this method to determine the lowering position of the feeding platform to the bottom of the pond can further improve accuracy and adapt to various situations. Even when the rotation status and direction of the idler wheel fail to be detected, the lowering position of the feeding platform can still be accurately determined, greatly improving the operational stability and reliability of the intelligent feeding platform.

[0086] In some implementations, step S4 specifically includes:

[0087] S401. When there is no detection failure in the rotation of the idler wheel 31, if the idler wheel 31 is detected to be in a non-rotating state, then it is determined that the feeding platform is lowered to the first position; and / or,

[0088] S402. When there is no detection failure in the rotation direction of the idler wheel 31, if the rotation direction of the idler wheel 31 is detected to be reversed, a third control signal is output to the winding assembly 2 to control the winding assembly 2 to retract the first preset length of the traction rope 24 and then determine that the feeding platform is lowered to the first position.

[0089] Specifically, when there is no detection failure regarding the rotation status and direction of the idler wheel, during the process of lowering the feeding platform to the first position, the system detects whether the idler wheel 31 is not rotating or is rotating in the opposite direction to determine whether the feeding platform has been lowered to the bottom of the pond. Specifically, when using the rotation direction to determine whether the feeding platform has been lowered to the bottom, if the idler wheel 31 is detected to be rotating in the opposite direction, the winding assembly 2 should be controlled to retract the first preset length of the traction rope 24, pulling the feeding platform back a certain height so that it reaches the bottom of the pond precisely without touching it.

[0090] In some implementations, step S4 may also specifically include the following steps.

[0091] S4031. When both the rotation status and rotation direction of the idler wheel 31 are in failure, 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 (e.g., 10s), the traction rope 24 is retrieved according to a second preset time (e.g., 1s).

[0092] Specifically, in this embodiment, when the motor 21 rotates in the first direction, it lifts the feeding platform, that is, it raises the feeding platform. When the motor 21 rotates in the second direction, it lowers the feeding platform. The first and second directions can be understood as positive and negative. When one direction is defined as positive, the other direction is defined as negative. This can be set as needed.

[0093] During the process of controlling the feeding platform to be lowered to the first position, the motor 21 is first ordered to rotate in the second direction for a first preset time, such as 10 seconds, which is equivalent to letting the feeding platform be lowered for 10 seconds. Then, the motor 21 is ordered to rotate in the first direction for a second preset time, such as 1 second, which is equivalent to executing the traction rope 24 retraction operation to lift the feeding platform up for 1 second.

[0094] S4032. Obtain the first current value, wherein the first current value refers to the average current value of the motor during the traction rope 24 retrieval operation within the second preset time period.

[0095] Specifically, the first current value mentioned above refers to the average current value of motor 21 within 1 second of lifting the feeding platform upward. That is, the current value of motor is sampled according to the sampling frequency within 1 second, and then the average value of several sampled current values ​​is calculated, which is then used as the first current value.

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

[0097] 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.

[0098] Specifically, when the first current value is greater than the first current threshold, it means that the feeding platform has not yet reached the bottom. At this time, it is necessary to return to step S4031 and re-execute the above steps S4031-4033, that is, let the feeding platform go down for a longer period of time, and then pull it back for 1 second. Then calculate the average current value of the motor during this 1 second, and then determine whether the first current value is less than the first current threshold. This process is repeated until the first current value is less than or equal to the first current threshold. When the first current value is less than or equal to the first current threshold, it means that the feeding platform has reached the bottom.

[0099] S4035. When it is determined that the first current value is less than or equal to the first current threshold, the second current value is obtained, wherein the second current value refers to the average current value of the motor during the traction rope 24 retrieval operation within a third preset time period (e.g., 1 second, of course, this time period may also be different from the second preset time period).

[0100] 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.

[0101] Specifically, after confirming that the feeding platform has touched the bottom, motor 21 continues to pull the feeding platform upwards for 1 second. Similarly, the average current value of the motor during this 1 second (i.e., the second current value) is calculated. Then, it is determined whether the second current value is greater than or equal to the second current threshold. If so, it is determined that the feeding platform has detached from the bottom, has not touched the bottom, and has correctly reached the bottom of the pond. Otherwise, it indicates that it has still touched the bottom. At this time, the process returns to S4035, and the feeding platform continues to be pulled upwards for 1 second until the second current value is greater than or equal to the second current threshold. It can be seen that by using this method to lower the feeding platform to the bottom of the pond, the accuracy is higher.

[0102] In some embodiments, to improve detection efficiency, when the first current value is greater than the first current threshold, the time for the next rotation of motor 21 is reduced, which is equivalent to shortening the lowering time of the feeding platform, before returning to step S4031. Therefore, step S4034 specifically involves: when it is determined that the first current value is greater than the first current threshold, reducing the first preset time and returning to step S4031 until the first current value is less than or equal to the first current threshold.

[0103] Specifically, the reduction of the first preset duration can be incremental, such as decreasing by 2 seconds each time, until the minimum allowable duration is reached, where the minimum allowable duration can be 4 seconds. For example, if the duration of the first release is 10 seconds, then the durations of the second, third, and fourth releases would be 8 seconds, 6 seconds, and 4 seconds, respectively. When the minimum allowable duration is reached, and the next step requires returning to step S4041, there is no need to reduce the first preset duration.

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

[0105] S4041. During the process of controlling the feeding platform to be lowered 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 wheel and / or the motor signal (mainly including the motor running time and the motor speed).

[0106] Specifically, if the above detection methods (such as detecting whether the idler wheel is rotating, whether it is rotating in the opposite direction, and whether the current meets the requirements) cannot determine whether the feeding platform has reached the first position, then the motor 21 is tested. Since the feeding platform cannot be detected to have reached the first position, it remains in a lowering state, meaning the motor 21 rotates continuously in the second direction. When the motor reaches its final position, i.e., when it has reached the top, the second height, i.e., the height at which it has reached the top, can be calculated. The second height is determined primarily by the number of the third rotations of the idler wheel and / or the motor signal obtained during the time interval from the start of the lowering of the feeding platform to the moment the motor reaches its final position.

[0107] Furthermore, for the second height, when the idler wheel 31 is normal, the above steps use the number of rotations of the idler wheel to determine the second height; when the idler wheel 31 is abnormal, the motor signal is used to determine the second height.

[0108] S4042. Calculate the third height, where the third height = (second height / 2) + fourth height. The fourth height is primarily designed to prevent the feeding platform from touching the bottom.

[0109] S4043. According to the third height, control the motor 21 to rotate the corresponding number of times in the first direction, that is, to retract the corresponding length of the traction rope 24 so that the feeding platform reaches a certain height (such as the fifth height). At this time, it is equivalent to the feeding platform being lowered to the bottom of the pond, that is, the feeding platform being lowered to the first position.

[0110] It is evident that by using the solution of this application embodiment, even when the above detection methods fail to correctly detect whether the feeding platform has been lowered to the first position, the feeding platform can still be lowered to the bottom of the pond normally, thereby improving the working stability and reliability of the intelligent feeding platform.

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

[0112] S5. When an abnormality is detected in the idler wheel, a seventh control signal is output to the winding assembly to control the winding assembly to retract the traction rope of the third preset length.

[0113] Specifically, when the feeding platform is at the bottom of the pond, if the pond is drained, the feeding platform is prone to hitting the bottom. To avoid this, this embodiment detects abnormalities in the idler wheel, specifically checking for any unusual movement. If abnormality is detected, the winding assembly retracts a third preset length of traction rope to pull the feeding platform back to a certain height, thus preventing it from hitting the bottom. If an abnormality is detected in the idler wheel, it is considered a detection failure. In this case, if the motor current value is less than or equal to a fifth current threshold, it indicates that the feeding platform has hit the bottom and the traction rope is not taut. The winding assembly then retracts the third preset length of traction rope to pull the feeding platform back to a certain height, preventing it from hitting the bottom. This height can be estimated based on motor signals (including the number of motor revolutions, motor running time, and / or motor speed).

[0114] As can be seen from the above, by adopting the intelligent material platform detection and control scheme of this application, the situation where the idler wheel does not rotate or reverses due to buoyancy when the material platform enters the water, thus avoiding the occurrence of false bottom-touching judgment, can be avoided, thereby improving the accuracy of detecting and judging the lowering position of the material platform. Furthermore, different detection methods can be used to ensure that the material platform is accurately lowered to the bottom of the pond without touching it, depending on whether the idler wheel detection fails. This not only further improves the accuracy of bottom-touching detection but also enhances the operational reliability and stability of the intelligent material platform. Moreover, this scheme also avoids false triggering of the top-reaching detection due to water flow and / or rope movement when the material platform is pulled back to the top, thereby greatly improving the accuracy of the top-reaching detection.

[0115] Reference Figure 8 This application also provides an intelligent material platform detection and control device, which includes:

[0116] 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;

[0117] 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.

[0118] 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.

[0119] 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.

[0120] The control device described in the embodiments of this application contains units that correspond one-to-one with the steps in the method embodiments. Therefore, its advantages are the same as the beneficial effects described in the above method embodiments, and will not be elaborated here.

[0121] This application embodiment also provides an intelligent material platform detection and control device, the device comprising:

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

[0123] Position sensors are used to detect the position of the feeding platform;

[0124] Central control component 7 includes at least one processor for executing the steps of implementing the intelligent material platform detection and control method described in the above method embodiments;

[0125] The central control component 7 is connected to the winding component 2 and the position sensor, respectively.

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

[0127] The first sensing component is used to detect the idler wheel 31;

[0128] The first sensing component is connected to the central control component 7.

[0129] In the control device described in the embodiments of this application, the processor included in the control component 7 is used to execute the steps of the intelligent material platform detection and control method as described in the above method embodiments. Therefore, its advantages are the same as the beneficial effects described in the above method embodiments, and will not be specifically described here.

[0130] In addition, this application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the steps of the above-described method embodiments.

[0131] The number of processors mentioned in the above storage medium embodiments can be at least one, capable of executing at least any of the steps in the above method embodiments. When the number is at least two, the at least two processors can communicate with each other, not limited to wired or wireless communication connections, and the at least one processor can communicate with various smart terminal devices. Furthermore, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0132] Finally, it should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0133] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which 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. 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; 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. 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.

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, 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.

6. 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. The first judgment unit is used to determine the failure status and direction of the idler wheel and then obtain the corresponding judgment result. The first determining unit is used to select the appropriate detection method based on the judgment result to determine the placement of the feeding platform to the first position; The step of selecting an appropriate detection method based on the judgment result to determine the placement of the feeding platform to the first position specifically includes: When there is no detection failure regarding the idler wheel's rotation, and the idler wheel is detected to be in a non-rotating state, it is determined that the feeding platform should be lowered to the first position; and / or, 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. 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. 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; Determine whether the first current value is less than or equal to the first current threshold; If it is determined that the first current value is greater than the first current threshold, return to the step of when there is a detection failure in both the rotation status and rotation direction of the idler wheel, and when the feeding platform is 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 until the first current value is less than or equal to the first current threshold. If the first current value is determined to be less than or equal to the first current threshold, the 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; If the second current value is determined to be greater than or equal to the second current threshold, the feeding platform is determined to be lowered to the first position.

7. 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 5; The central control component is connected to the winding component and the position sensor, respectively.

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