Multi-channel feeding inspection robot for industrial aquaculture of scylla paramamosain

Abstract

The invention belongs to the technical field of scylla paramamosain aquaculture, and particularly relates to a multi-channel feeding inspection robot for scylla paramamosain industrial aquaculture, which comprises an AGV (Automatic Guided Vehicle) and a main body bracket, the bottom end of the main body bracket is fixedly mounted at the top end of the AGV trolley; a central host is mounted on the main body bracket; a plurality of groups of regulation and control hosts are mounted on the side wall of the main body bracket; a plurality of groups of XYZ linear guide rail modules are mounted on the main body bracket, and the regulation and control host controls the XYZ linear guide rail modules corresponding to the XYZ linear guide rail modules in position; the central host controls the multiple groups of regulation and control hosts and the AGVs; the XYZ linear rail module is provided with a stock bin; a stock bin cover is hinged to the top end of the stock bin; a discharging mechanism is arranged in the stock bin; the invention provides a multi-channel feeding inspection robot for industrial aquaculture of scylla paramamosain. The multi-channel feeding inspection robot is used for solving the problem of low feeding efficiency in the prior art.

Description

Technical Field

[0001] This invention belongs to the field of mud crab farming technology, specifically a multi-channel feeding and inspection robot for the industrialized farming of mud crabs that mimic burrowing. Background Technology

[0002] The mud crab (Scylla serrata) is an important marine crab species with high economic value along the southeastern coast of my country. In 2023, the national aquaculture production reached 157,000 tons, and consumer demand continues to grow, with the market size projected to reach tens of billions of yuan by 2025. Against this backdrop, automated and intelligent equipment has become crucial for the large-scale promotion of factory farming models. Currently, there has been some exploration of feeding robot technology for aquaculture, but it still has significant shortcomings when applied to the high-precision, high-efficiency "crab apartment" farming scenarios for mud crabs. 1. Track-type automatic feeding system: Although it can achieve timed and quantitative feeding, it is usually a single-point sequential operation with weak inspection function, and efficiency is the main bottleneck.

[0003] 2. Single-arm AGV robot: It uses a robotic arm to grasp or feed, which is highly flexible but extremely inefficient. The cycle of completing a single feeding and inspection action is long, which cannot cope with large-scale crab apartment cluster operations. In addition, the robotic arm has a complex structure, high cost, and is difficult to maintain.

[0004] 3. General-purpose AGV feeding vehicle: It is mainly used for spreading and feeding in large ponds, with low precision, and is completely unsuitable for factory-style scenarios that require precise feeding and individual inspection of each crab box.

[0005] In summary, existing technologies cannot provide a solution that simultaneously satisfies high efficiency, multi-channel, precise feeding, and intelligent inspection, which has become a core equipment technology bottleneck restricting the development of the crab factory farming industry.

[0006] Therefore, the present invention provides a multi-channel feeding and inspection robot for the industrialized farming of mud crabs. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies and solve the problems mentioned in the background art, this invention proposes a multi-channel feeding and inspection robot for the factory farming of mud crabs.

[0008] The technical solution adopted by this invention to solve its technical problem is as follows: A multi-channel feeding and inspection robot for the factory farming of mud crabs, comprising an AGV trolley and a main support frame; the bottom end of the main support frame is fixedly installed on the top of the AGV trolley; a central host is installed on the main support frame; multiple sets of control hosts are installed on the side wall of the main support frame; multiple sets of XYZ linear guide modules are installed on the main support frame, wherein the control hosts control the XYZ linear guide modules corresponding to the positions; the central host controls the multiple sets of control hosts and the AGV trolley; a hopper is installed on the XYZ linear guide module; a hopper cover is hinged to the top of the hopper; and a discharge mechanism is provided inside the hopper.

[0009] Preferably, the discharge mechanism includes a discharge pipe; the discharge pipe is fixedly connected to the side wall of the hopper; the hopper has a hopper cavity; the hopper has a discharge cavity, and the discharge cavity and the bottom of the hopper cavity are interconnected; the discharge cavity and the discharge pipe are interconnected; a rotating rod is rotatably connected inside the discharge cavity, with one end of the rotating rod extending into the discharge pipe and the other end extending out of the hopper; a servo motor is fixedly connected outside the hopper, and the output end of the servo motor is connected to the rotating rod; an auger plate is fixedly connected to the rotating rod.

[0010] Preferably, a feed laser sensor is provided on the inner wall of the discharge pipe.

[0011] Preferably, the XYZ linear guide module includes an X-axis beam, a Y-axis slide, and a Z-axis actuator; a first lead screw is rotatably connected to the X-axis beam; a first motor is fixedly connected to the side wall of the X-axis beam, and the output end of the first motor is connected to the first lead screw; a Y-axis slide is slidably connected to the X-axis beam, and the Y-axis slide is connected to the first lead screw via a lead screw and nut pair; a second lead screw is rotatably connected to the Y-axis slide; a second motor is fixedly connected to the side wall of the Y-axis slide, and the output end of the second motor is connected to the second lead screw; a Z-axis actuator is slidably connected to the Y-axis slide, and the Z-axis actuator is connected to the second lead screw via a lead screw and nut pair; a third lead screw is rotatably connected to the Z-axis actuator; a third motor is fixedly connected to the side wall of the Z-axis actuator, and the output end of the third motor is connected to the third lead screw; a sliding table is slidably connected to the Z-axis actuator, and the sliding table is connected to the third lead screw via a lead screw and nut pair; the bottom of the hopper is bolted to the top of the sliding table.

[0012] Preferably, a fixing box is fixedly connected to the top of the sliding stage; a long column imaging camera is installed on the fixing box.

[0013] Preferably, the AGV is equipped with a magnetic stripe navigation sensor and an RFID reader at the bottom; and laser rangefinders are installed on both side walls of the AGV.

[0014] Preferably, the front end of the discharge pipe is provided with a discharge ramp structure, and the front end of the discharge pipe is hinged to a discharge port cover plate by a torsion spring; the discharge port cover plate and the end of the discharge pipe are attracted by a matching electromagnet; the discharge port cover plate is opened and closed by a tightening line, a cylinder is fixed to the side wall of the hopper, and the tightening line is tightened by the piston rod of the cylinder.

[0015] The beneficial effects of this invention are as follows: This invention discloses a multi-channel feeding and inspection robot for the industrialized farming of mud crabs, which significantly increases efficiency: the multi-channel design improves feeding and inspection efficiency several times (e.g., 8 times), reducing tasks that previously took an hour to complete to minutes, greatly meeting the time-sensitive requirements of large-scale farming; improved battery life: the increased efficiency directly shortens the total time to complete operations in the entire farming area, reducing battery capacity requirements, alleviating range anxiety, and ensuring reliable power supply; and achieved new levels of positioning accuracy: by combining a ±0.1mm XYZ linear guide module with an image-based visual positioning compensation algorithm, dual positioning protection is achieved, completely solving positioning inaccuracies caused by AGV parking errors and crab box installation tolerances, ensuring reliable feeding actions without collision risks; Personalized and precise data management: By scanning the QR code on the crab box, the robot is no longer just a device performing a single mechanical task, but becomes a mobile data collection terminal. It binds each operation to a specific breeding unit (crab box), establishing an independent digital file for each mud crab. This provides a solid data foundation for subsequent growth analysis, feed efficiency evaluation, disease early warning, and optimization of breeding models, making it a core link in realizing smart aquaculture. High level of intelligence: Integrating multiple sensors and AI algorithms (existing technology), it not only completes the feeding action but also achieves automated and data-driven inspection of each breeding unit, providing data support for refined management. Saves labor and reduces costs: One device can replace a large amount of repetitive manual labor, significantly reducing long-term operating costs and increasing return on investment. Attached Figure Description

[0016] The invention will now be further described with reference to the accompanying drawings.

[0017] Figure 1 This is the three-dimensional representation of the present invention. Figure 1 ; Figure 2 This is the three-dimensional representation of the present invention. Figure 2 ; Figure 3 It is a 3D XYZ linear guide module Figure 1 ; Figure 4 It is a 3D XYZ linear guide module Figure 2 ; Figure 5 This is a cross-sectional view of the silo; Figure 6 This is a 3D diagram of the material feeding ramp structure; In the diagram: 1. AGV trolley; 11. Main support frame; 12. XYZ linear guide module; 13. Central host; 14. Control host; 15. Hopper; 16. Hopper cover; 2. Hopper cavity; 21. Discharge pipe; 22. Discharge chamber; 23. Servo motor; 24. Rotary rod; 25. Screw; 26. Feed laser sensor; 3. X-axis crossbeam; 31. First motor; 32. First lead screw; 33. Y-axis slide table; 34. Second motor; 35. Second lead screw; 36. Z-axis actuator; 37. Third motor; 38. Third lead screw; 39. Sliding table; 4. Long column imaging camera; 41. Fixing box; 42. Magnetic strip navigation sensor; 43. Laser rangefinder; 5. Discharge ramp structure; 51. Feed inlet cover plate; 52. Electromagnet; 53. Tensioning line; 54. Cylinder. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0019] like Figures 1 to 6 As shown, the present invention discloses a multi-channel feeding and inspection robot for the industrialized farming of mud crabs, comprising an AGV trolley 1 and a main support 11; the bottom of the main support 11 is fixedly mounted on the top of the AGV trolley 1; a central host 13 is mounted on the main support 11; multiple sets of control hosts 14 are mounted on the side wall of the main support 11; multiple sets of XYZ linear guide modules 12 are mounted on the main support 11, wherein the control hosts 14 control the XYZ linear guide modules 12 corresponding to the positions; the central host 13 controls the multiple sets of control hosts 14 and the AGV trolley 1; a feed bin 15 is mounted on the XYZ linear guide module 12; a feed bin cover 16 is hinged to the top of the feed bin 15; and a discharge mechanism is provided inside the feed bin 15. The discharge mechanism includes a discharge pipe 21; the discharge pipe 21 is fixedly connected to the side wall of the hopper 15; the hopper 15 has a hopper cavity 2; the hopper 15 has a discharge cavity 22, and the bottom ends of the discharge hopper 15 and the hopper cavity 2 are interconnected; the discharge cavity 22 and the discharge pipe 21 are interconnected; a rotating rod 24 is rotatably connected inside the discharge cavity 22, with one end of the rotating rod 24 extending into the discharge pipe 21 and the other end extending out of the hopper 15; a servo motor 23 is fixedly connected to the outside of the hopper 15, and the output end of the servo motor 23 is connected to the rotating rod 24; an auger plate 25 is fixedly connected to the rotating rod 24. A feed laser sensor 26 is provided on the inner wall of the discharge pipe 21; The XYZ linear guide module 12 includes an X-axis beam 3, a Y-axis slide 33, and a Z-axis actuator 36. A first lead screw 32 is rotatably connected to the X-axis beam 3. A first motor 31 is fixedly connected to the side wall of the X-axis beam 3, and the output end of the first motor 31 is connected to the first lead screw 32. A Y-axis slide 33 is slidably connected to the X-axis beam 3, and the Y-axis slide 33 is connected to the first lead screw 32 through a lead screw and nut pair. A second lead screw 35 is rotatably connected to the Y-axis slide 33. A second motor 34 is fixedly connected to the side wall of the Y-axis slide 33, and the output end of the second motor 34 is connected to the first lead screw 32. The Z-axis actuator 36 is slidably connected to the Y-axis slide table 33 and is connected to the second lead screw 35 via a lead screw and nut pair. A third lead screw 38 is rotatably connected to the Z-axis actuator 36. A third motor 37 is fixedly connected to the side wall of the Z-axis actuator 36, and the output end of the third motor 37 is connected to the third lead screw 38. A sliding table 39 is slidably connected to the Z-axis actuator 36 and is connected to the third lead screw 38 via a lead screw and nut pair. The bottom of the hopper 15 is bolted to the top of the sliding table 39. A fixed box 41 is fixedly connected to the top of the sliding stage 39; a long column imaging camera 4 is installed on the fixed box 41. The AGV trolley 1 is equipped with a magnetic stripe navigation sensor 42 and an RFID reader at its bottom; the AGV trolley 1 is equipped with laser rangefinders 43 on its side walls; The front end of the discharge pipe 21 is provided with a discharge ramp structure 5, and the front end of the discharge pipe 21 is hinged to a material outlet cover plate 51 by a torsion spring; the material outlet cover plate 51 and the end of the discharge pipe 21 are attracted by a matching electromagnet 52; the material outlet cover plate 51 is opened and closed by a tightening line 53, and a cylinder 54 is fixed to the side wall of the hopper 15, and the tightening line 53 is tightened by the piston rod of the cylinder 54. During operation, the AGV 1 serves as the robot's mobile carrier. Its chassis, equipped with a built-in drive motor, battery pack, and navigation control system, utilizes a magnetic stripe navigation sensor 42 to navigate along a preset path. Upon reaching the target aquaculture rack area, it performs coarse positioning of the station by reading ground RFID tags or using laser ranging, at which point the AGV stops. After coarse positioning, the long-column imaging camera 4 first identifies the preset QR code on the crab box, then controls the host 14 to decode the QR code information, obtaining the unique ID number of the crab box for data association. Simultaneously, it identifies the image on the crab box (which can be a QR code image or...). Using other images, the difference between them and the standard form is compared to calculate the precise pose deviation between the camera and the crab box feeding port (including the offset and rotation angle in the X, Y, and Z directions). Then, the deviation value is sent as a compensation amount to the control host 14 of the XYZ linear guide module 12, so that the XYZ linear guide module 12 moves the discharging mechanism and the long column imaging camera 4 to make compensatory movements, and finally achieves the precise alignment of the discharging pipe 21 with the crab box feeding port. This process ensures that even if there is an error of several centimeters when the AGV stops, the positioning accuracy of the final actuator can still be kept within ±0.1mm. The "XYZ" in the aforementioned XYZ linear guide module 12 refers to a three-dimensional motion mechanism, which can be specifically broken down into: X-axis crossbeam 3: Y-axis slide 33 is mounted on the X-axis slide and is a short-stroke module that can move in the vertical direction (vertical arrangement direction of the crab boxes) via the first motor 31 and the first lead screw 32; Y-axis slide 33: Z-axis actuator 36 can move along the crossbeam direction via the second motor 34 and the second lead screw 35; Z-axis actuator 36: Slide 39 is mounted on the Y-axis slide 33 and is moved via the third motor 37 The third lead screw 38 can move forward to the feed inlet; the sliding table 39 is equipped with a feed hopper 15. After the discharge pipe 21 is above the crab box, the servo motor 23 drives the rotating rod 24 to rotate, which in turn drives the auger plate 25 to rotate, allowing the material to be output through the discharge pipe 21. When the feed laser sensor 26 detects that there is feed at the outlet of the discharge pipe 21, the cylinder 54 drives the tightening line 53 through the piston rod, which in turn opens the feed inlet cover plate 51 to perform quantitative feeding (the quantitative operation is performed by the rotation of the auger plate 25). After feeding, the auger plate 25 rotates in the reverse direction, allowing the material to return. When the feed laser sensor 26 cannot detect the material, the electromagnet 52 is energized, and the cylinder 54 releases the tensioning cable 53. Under the action of the torsion spring, the feed inlet cover 51 is attracted to the opening of the discharge pipe 21 to close it. The existing technology has a detection system in the hopper 15 that controls the auger plate 25 to rotate in the reverse direction, allowing the material to return and then move forward to solve the problem of material jamming. The quantitative feeding is set by software to set the rotation time, and the feed is released when the rotation time is up. Electromagnet 52 tightens feed inlet cover 51 via tightening line 53; before and after feeding, long column imaging camera 4 takes pictures of the inside of the crab box, and the images are transmitted back to control host 14. The built-in AI image recognition algorithm (existing technology will not be described) analyzes the state of the crab (active, molting, dead, etc.) and records relevant data; the present invention is equipped with multiple sets (e.g., 8 sets) of independent XYZ linear guide modules 12, and each station can cover multiple adjacent (e.g., 2-8) crab boxes, thereby realizing multi-channel synchronous operation; A multi-channel, independent, high-precision XYZ linear guide module 12 is integrated onto a single AGV, forming multiple parallel vertical workstations, achieving a technological leap from "single-point sequential operation" to "multi-point parallel operation." The specific performance indicators of the XYZ linear guide module 12 and its control host 14 ensure that the repeatability of positioning in the X, Y, and Z dimensions is no higher than ±0.1mm, guaranteeing that the feeding nozzle accurately aligns with the feeding port of the crab box, avoiding collision damage and ensuring feeding reliability. Each crab box has a uniquely identified QR code at a fixed location. The long-column imaging camera 4 on the robot first reads this QR code during task execution to achieve data collection and association: the QR code serves as a unique identifier for each crab box. The (ID) system automatically binds the ID with all data, including the weight and time of the feeding, and images taken during inspections (such as the crab's condition and feeding status), and uploads them to the cloud management system, thereby achieving full-process digitalization and precise traceability of aquaculture management; it uses image recognition technology to achieve precise positioning: it compares the image on the crab box (not limited to QR code) with the preset standard position model, calculates the precise pose deviation of the current crab box relative to the robot, and uses this deviation value to compensate and correct the motion trajectory of the XYZ linear track module 12 in real time, achieving sub-millimeter level visual servo positioning; it is a distributed electronic control system designed for multi-channel high-speed parallel operation, with the central host 13 and the control host 14 directly driving the execution unit.

[0020] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0021] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0022] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-channel feeding and inspection robot for the industrialized farming of mud crabs, characterized in that, The system includes an AGV trolley (1) and a main support (11); the bottom of the main support (11) is fixedly installed on the top of the AGV trolley (1); a central host (13) is installed on the main support (11); multiple sets of control hosts (14) are installed on the side wall of the main support (11); multiple sets of XYZ linear guide modules (12) are installed on the main support (11), wherein the control hosts (14) control the XYZ linear guide modules (12) corresponding to the position; the central host (13) controls the multiple sets of control hosts (14) and the AGV trolley (1); a hopper (15) is installed on the XYZ linear guide module (12); a hopper cover (16) is hinged to the top of the hopper (15); and a discharge mechanism is provided inside the hopper (15).

2. The multi-channel feeding and inspection robot for the industrialized farming of mud crabs according to claim 1, characterized in that, The discharge mechanism includes a discharge pipe (21); the discharge pipe (21) is fixedly connected to the side wall of the hopper (15); the hopper (15) is provided with a hopper cavity (2); the hopper (15) is provided with a discharge cavity (22), and the bottom ends of the discharge hopper (15) and the hopper cavity (2) are connected to each other; the discharge cavity (22) and the discharge pipe (21) are connected to each other; a rotating rod (24) is rotatably connected inside the discharge cavity (22), and one end of the rotating rod (24) extends into the discharge pipe (21), and the other end extends out of the hopper (15); a servo motor (23) is fixedly connected to the outside of the hopper (15), and the output end of the servo motor (23) is connected to the rotating rod (24); an auger plate (25) is fixedly connected to the rotating rod (24).

3. A multi-channel feeding and inspection robot for the industrialized farming of mud crabs according to claim 2, characterized in that, A feed laser sensor (26) is provided on the inner wall of the discharge pipe (21).

4. A multi-channel feeding and inspection robot for the industrialized farming of mud crabs according to claim 3, characterized in that, The XYZ linear guide module (12) includes an X-axis beam (3), a Y-axis slide (33), and a Z-axis actuator (36); a first lead screw (32) is rotatably connected to the X-axis beam (3); a first motor (31) is fixedly connected to the side wall of the X-axis beam (3), and the output end of the first motor (31) is connected to the first lead screw (32); a Y-axis slide (33) is slidably connected to the X-axis beam (3), and the Y-axis slide (33) is connected to the first lead screw (32) through a lead screw nut pair; a second lead screw (35) is rotatably connected to the Y-axis slide (33); a second motor (34) is fixedly connected to the side wall of the Y-axis slide (33), and the output end of the second motor (34) is connected to the second lead screw (35).

5. A multi-channel feeding and inspection robot for the industrialized farming of mud crabs according to claim 4, characterized in that, A Z-axis actuator (36) is slidably connected to the Y-axis slide (33), and the Z-axis actuator (36) is connected to the second lead screw (35) through a lead screw and nut pair; a third lead screw (38) is rotatably connected to the Z-axis actuator (36); a third motor (37) is fixedly connected to the side wall of the Z-axis actuator (36), and the output end of the third motor (37) is connected to the third lead screw (38); a sliding table (39) is slidably connected to the Z-axis actuator (36), and the sliding table (39) is connected to the third lead screw (38) through a lead screw and nut pair; the bottom end of the hopper (15) is bolted to the top end of the sliding table (39).

6. A multi-channel feeding and inspection robot for the industrialized farming of mud crabs according to claim 5, characterized in that, A fixed box (41) is fixedly connected to the top of the sliding stage (39); a long column imaging camera (4) is installed on the fixed box (41).

7. A multi-channel feeding and inspection robot for the industrialized farming of mud crabs according to claim 6, characterized in that, The AGV (1) is equipped with a magnetic stripe navigation sensor (42) and an RFID reader at the bottom; laser rangefinders (43) are provided on both sides of the AGV (1).

8. A multi-channel feeding and inspection robot for the industrialized farming of mud crabs according to claim 7, characterized in that, The front end of the discharge pipe (21) is provided with a discharge ramp structure (5), and the front end of the discharge pipe (21) is hinged to a material outlet cover plate (51) by a torsion spring; the material outlet cover plate (51) and the end of the discharge pipe (21) are attracted by a matching electromagnet (52); the material outlet cover plate (51) is opened and closed by a tightening line (53), and a cylinder (54) is fixed to the side wall of the hopper (15), and the tightening line (53) is tightened by the piston rod of the cylinder (54).

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