An on-line feeding control method for a truss cage

Abstract

This invention relates to the field of aquaculture equipment control technology, and more particularly to an online feeding control method for truss-type net cages. The method includes the following steps: sending a feeding control command online to the control module of the truss-type net cage via a mobile terminal. The feeding control command includes the target rotation angle of each rotating feeding nozzle on the truss and the start / stop control parameters of the associated blowers. The control module responds to the feeding control command, synchronously driving the motors corresponding to each rotating feeding nozzle to adjust each nozzle to the target rotation angle. Simultaneously, it controls each associated blower to start operation according to the start / stop control parameters. This invention, through precise collaborative control, full-process monitoring and emergency control, and intelligent management mechanisms, achieves uniform feed diffusion and continuous and stable feeding operations, thereby improving the accuracy and stability of feeding in truss-type net cage aquaculture.

Description

Technical Field

[0001] This invention relates to the field of aquaculture equipment control technology, and in particular to an online feeding control method for truss-type net cages. Background Technology

[0002] In the field of truss-type cage aquaculture feeding, existing technologies mostly rely on fixed parameters to control the operation of feeding nozzles and fans. Feed is delivered to the nozzles through pipelines and then sprayed directly, only achieving basic timed and quantitative feeding functions. These technical solutions lack targeted collaborative control design. Nozzle angle adjustment uses a preset fixed mode, failing to achieve precise zoning based on the truss layout. The lack of a linkage and matching mechanism between fan and nozzle startup results in feed spray trajectory that is difficult to accurately cover the target aquaculture area, leading to poor feed distribution uniformity and making it unsuitable for refined aquaculture feeding needs. Simultaneously, existing equipment has weak operational monitoring capabilities, unable to collect key parameters such as nozzle angle, fan speed, and feed delivery pressure in real time. Faults such as angle deviations and abnormal wind speeds are difficult to detect promptly, and the lack of emergency control and backup equipment call-up mechanisms easily leads to feeding interruptions or feed distribution imbalances, severely affecting the continuity of feeding operations. Furthermore, existing technologies have low levels of intelligence; fixed feeding parameters cannot be dynamically adjusted according to aquaculture species and environmental conditions, and there is a lack of a full-process data traceability and optimization system. Moreover, on-site operation is required, and remote control capabilities are lacking, hindering the refinement of feeding operations. Summary of the Invention

[0003] Therefore, it is necessary to provide an online material feeding control method for truss-type cages to solve at least one of the above-mentioned technical problems.

[0004] To achieve the above objectives, an online material feeding control method for truss-type cages is provided, the method comprising the following steps: Step S1: Send material feeding control instructions to the control module of the truss cage via mobile terminal. The material feeding control instructions include the target rotation angle of each rotating material feeding nozzle on the truss and the start / stop control parameters of the matching fan. Step S2: The control module responds to the feeding control command and synchronously drives the motors corresponding to each rotary feeding nozzle to operate, so that each rotary feeding nozzle is adjusted to the target rotation angle; at the same time, it controls each supporting fan to start and run according to the start and stop control parameters. Step S3: Send a start signal to the pellet mill of the truss cage. The feed produced by the pellet mill is transported to each rotary feeding nozzle through the feeding hose and sprayed out. The airflow generated by the matching fan guides the feed to spread to different areas inside the truss cage. Step S4: During the feeding process, the mobile terminal receives real-time data on the angle of the rotating feeding nozzle and the operating status of the fan from the control module; based on the angle data of the rotating feeding nozzle and the operating status of the fan, the control parameters are adjusted online to keep the feed in a dispersed falling state until the preset feeding operation is completed.

[0005] Beneficial effects of this invention: I. Through multi-level precise collaborative control, the accuracy and uniformity of feeding are significantly improved; a graded start-up method with main and auxiliary drive groups divided by truss partitions is adopted, combined with nozzle angle closed-loop calibration and electromagnetic lock locking mechanism to ensure the precise positioning of each nozzle; at the same time, the precise linkage between the fan and the nozzle is achieved through fan timing start-up and wind speed compensation adjustment; with the addition of dynamic control of feed conveying pressure and real-time correction of spray trajectory, the feed is strictly and evenly spread according to the preset breeding area, ensuring consistent feed distribution in different breeding areas and fully adapting to the needs of refined feeding.

[0006] Second, relying on the full-process monitoring and emergency control system, the continuous and stable feeding operation is ensured; a real-time acquisition mechanism for key parameters such as nozzle angle, fan speed, and hose pressure is established, which quickly triggers alarms when equipment malfunctions, promptly cuts off abnormal branches and automatically calls backup equipment, and quickly restores feeding by replanning the coverage area and adjusting surrounding parameters; with the help of two-way real-time interaction between mobile terminals and control modules, instructions are issued and results are fed back in an instant, effectively avoiding feeding interruptions or distribution imbalances and reducing the impact of failures on feeding efficiency.

[0007] Third, promote the intelligent and refined upgrading of feeding in cage aquaculture to improve management efficiency; generate customized feeding instructions based on truss layout analysis and historical parameter matching to adapt to different aquaculture scenarios; form a complete data traceability system through full-process data collection, storage and iterative optimization to support continuous optimization of feeding strategies; and break the limitations of on-site operation by combining remote control and visualization on mobile terminals to achieve remote supervision and precise control of feeding operations. Attached Figure Description

[0008] Figure 1 This is a flowchart illustrating the steps of an online material feeding control method for truss-type cages. Figure 2 This is a schematic diagram of a truss-type wire mesh cage structure; Figure 3 A schematic diagram of the online material feeding control system for truss-type wire mesh cages; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0009] The technical method of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0010] Furthermore, the accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor methods and / or microcontroller methods.

[0011] It should be understood that although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0012] To achieve the above objectives, please refer to Figures 1 to 3 An online material feeding control method for truss-type cages, the method comprising the following steps: Preferably, step S1: Sending a feeding control command offline to the control module of the truss cage via a mobile terminal, wherein the feeding control command includes the target rotation angle of each rotating feeding nozzle on the truss and the start / stop control parameters of the matching fan; Optionally, in step S1, the offline material feeding control command is sent to the control module of the truss-type cage via a mobile terminal as follows: The truss layout drawings of the truss cage can be retrieved online via mobile terminal, and the installation coordinates and spacing information of each rotating feeding nozzle, matching fan and adjacent equipment can be identified and extracted. Based on the installation coordinates and spacing information, the cage aquaculture area is divided into multiple independent coverage units on the mobile terminal, and the initial value of the nozzle rotation angle corresponding to each coverage unit is determined. Extract historical feeding parameters stored in the control module of the truss cage, filter the fan operation parameters that match the current aquaculture species and water temperature, and associate them with the initial values ​​of the nozzle angle of each independent covering unit; Material feeding control instructions are encapsulated according to the truss partition, equipment number, and control parameter hierarchy, and then sent to the control module.

[0013] Please see Figure 2 The structure is a truss-type gabion; specifically, the hexagonal, sinkable truss gabion has a side length of 24 meters and a height of 17 meters. Six cylindrical legs are positioned at the vertices of the hexagon. Each gabion weighs approximately 800 tons and is constructed using marine engineering structural steel with a painted surface. The members are connected by pins and welding. The legs are assembled in three sections using flanges and high-strength bolts. The components are assembled into individual modules on the ground, and then the entire gabion is assembled using lifting machinery.

[0014] In this embodiment, an industrial-grade wireless communication link established between a mobile terminal and the truss-type cage control module based on a 4G Cat.1 / 5G communication module is used to realize the online distribution of material feeding control commands. The material feeding control commands are encapsulated in JSON data format, and the encapsulated content includes the target rotation angle of each rotating material feeding nozzle on the truss and the start and stop control parameters of the corresponding fan. The specific parameters include nozzle number, corresponding target rotation angle value (unit: °), fan number, fan start delay time (unit: s), fan rated operating wind speed (unit: m / s), and fan stop sequence number. The specific operation process is as follows: the mobile terminal initiates a communication connection request through the pre-installed cage material feeding control APP. After receiving the request, the ARM Cortex-M4 processor built into the control module completes the identity authentication. After successful authentication, a stable communication link is established. The mobile terminal sends the encapsulated material feeding control commands to the control module through this link. The command transmission baud rate is set to 9600bps, and the data transmission uses CRC-32 check to ensure the integrity of the commands.

[0015] In one embodiment, the mobile terminal retrieves the truss layout drawing (DXF format) stored on the local SD card of the control module online through the built-in drawing parsing module, extracts the installation coordinates (Cartesian coordinate system of the net cage plane, X-axis along the length of the truss, Y-axis along the width of the truss, origin at the upper left corner of the net cage, coordinate accuracy 1mm) and the distance information between adjacent equipment (measurement accuracy 0.1mm) of each rotating feeding nozzle and the matching fan. Based on the extracted information, the area is divided into multiple independent coverage units according to the principle that the overlap rate of the spray coverage of adjacent nozzles does not exceed 5%, and the initial value of the nozzle rotation angle corresponding to each coverage unit is determined by geometric calculation (calculation accuracy 0.1°).

[0016] In another embodiment, the mobile terminal retrieves historical feeding parameters from the control module and filters the fan operating parameters with a matching degree of ≥90% according to the current aquaculture species and real-time water temperature (collected by the net cage temperature sensor, with an accuracy of 0.1℃). These parameters are then associated and bound with the initial value of the nozzle angle according to the unit number. The final feeding control command is generated and sent through the 4G Cat.1 link. After CRC-32 verification, if the verification passes, the control module stores the command and sends a success signal; otherwise, it sends a retransmission request, with a maximum of 3 retransmissions.

[0017] Preferably, in step S2: the control module responds to the feeding control command and synchronously drives the motors corresponding to each rotary feeding nozzle to operate, so that each rotary feeding nozzle is adjusted to the target rotation angle; at the same time, it controls each supporting fan to start running according to the start-stop control parameters. Optionally, in step S2, the motors corresponding to each rotary feeding nozzle are driven to operate, and the motor operation includes staged drive operations: The control module parses the truss partition information in the feeding control command and divides the nozzle motors of each truss partition into a main drive group and an auxiliary drive group. The main drive group corresponds to the nozzles in the cage aquaculture area. A rotation drive signal is sent to the main drive group motor, and the drive signal carries the starting torque parameters calculated based on the truss load distribution; Stress sensors deployed on the truss collect truss stress data during the operation of the main drive group, and transmit it online to the control module. When the truss stress data is within the preset safety range, a rotation drive signal is sent to the auxiliary drive group motor. During the operation of the main drive group and auxiliary drive group motors, the control module synchronously collects the motor rotation angle data at preset fixed intervals and transmits it back to the mobile terminal via an online link.

[0018] In this embodiment, the instruction parsing unit built into the control module parses the received feeding control instructions, extracts the truss partition information, and divides the nozzle motors in each truss partition into main drive groups and auxiliary drive groups according to the functional division of the cage aquaculture area and non-aquaculture area. The main drive group corresponds to the nozzles in the cage aquaculture area. Each group of motors is equipped with an independent drive control channel. The motor numbers of the main drive group are stored according to the partition number-main-serial number rule, and the motor numbers of the auxiliary drive group are stored according to the partition number-auxiliary-serial number rule.

[0019] It should be noted that the control module sends rotation drive signals to the main drive group motors via the CAN bus. The drive signals are pulse signals with a pulse frequency of 50Hz. The signals carry starting torque parameters calculated based on the truss load distribution. The starting torque parameters range from 15N·m to 25N·m. The starting torque parameters of the main drive group motors in different truss zones are configured differently according to the zone load coefficient. The starting torque of the zone with a load coefficient ≥ 0.8 is set to 22N·m-25N·m, and the starting torque of the zone with a load coefficient < 0.8 is set to 15N·m-21N·m.

[0020] Strain gauge stress sensors deployed at each segment node of the truss collect truss stress data in real time during the operation of the main drive group. The stress data collection frequency is 10Hz, and the data is transmitted online to the control module via a communication link. The preset safe range of truss stress is 0-120MPa. When the control module detects that the truss stress data of all corresponding areas of the main drive group is stable within the safe range for 2 seconds, it sends a rotation drive signal to the auxiliary drive group motor. During the operation of the main drive group and the auxiliary drive group motors, the control module synchronously collects the motor rotation angle data through the motor's built-in angle encoder at a preset fixed interval of 500ms. The angle data accuracy is 0.1°. After the data is collected, it is transmitted back to the mobile terminal in real time via an online link.

[0021] Optionally, in step S2, each rotary feeding nozzle is adjusted to the target rotation angle, wherein the target rotation angle is calibrated online using a closed-loop method as follows: Each nozzle motor has a built-in angle acquisition unit that converts rotation angle data into digital signals in real time and transmits them to the control module via a communication bus. The control module calculates the deviation between the real-time angle and the target angle. If the deviation is within the range of 5°-10°, it outputs a pulse width modulation signal to adjust the motor speed; if the deviation is greater than 10°, it outputs a reverse correction signal to adjust the rotation direction. During the correction process, the control module pushes the deviation correction curve to the mobile terminal through the online link, reflecting the change of the angle deviation value over time in real time. Once the deviation value remains stable within ±0.5° for a fixed period of time, the control module outputs a locking signal, which locks the angle via the built-in electromagnetic lock of the nozzle motor. The angle data at the locking moment is recorded and stored online.

[0022] In this embodiment, each rotary feeding nozzle motor has a built-in incremental angle encoder of model E6B2-CWZ6C. The encoder outputs 2000 pulses per revolution and is rigidly connected to the nozzle rotation shaft through a coupling at the motor shaft end. The encoder collects the nozzle rotation angle pulse signal in real time, which is converted into a digital signal by the 12-bit A / D converter built into the motor driver. The converted digital signal is sent to the RS-485 interface of the control module through the RS-485 communication bus at a baud rate of 19200bps and an interval of 100ms.

[0023] In one embodiment, after receiving the angle digital signal, the STM32F407 processor of the control module calculates the real-time angle value using a preset pulse number-angle conversion formula (1 pulse = 0.18°), retrieves the target angle value stored at Flash address 0x08020000, and calculates the deviation value. When the deviation value is between 5° and 10°, the processor outputs a pulse width modulation signal through the TIM1 timer. The signal frequency is 50Hz, and the duty cycle is adjusted by 5% every 100ms starting from 30%. After being amplified by the motor driver, the signal drives the motor to adjust its speed. When the deviation value is greater than 10°, the processor outputs a high-low level signal through the GPIO port to switch the forward and reverse rotation control pins of the motor driver, thereby realizing the reverse rotation of the motor.

[0024] In another embodiment, during the correction process, the control module reads the deviation value every 200ms and stores it in the RAM cache in chronological order. The cached data is then pushed to the designated port (port number 8080) of the mobile terminal in JSON format via the TCP / IP protocol. When the deviation value read 15 times consecutively is within ±0.5° (corresponding to a duration of 3s), the processor outputs a 5V high-level signal to the control terminal of the electromagnetic lock through the GPIO port. After the electromagnetic lock is powered on, the latch pops out and locks the nozzle rotating shaft. At the same time, the processor writes the angle value and timestamp of the locking moment into the storage area starting at Flash address 0x08040000.

[0025] Optionally, step S2, controlling each supporting fan to start operation according to the start / stop control parameters, specifically involves: Based on the corresponding coordinate relationship between the fan and the nozzle in the truss layout, the control module generates a fan start-up sequence table, in which the fan start-up time in the fan start-up sequence table corresponds to the duration of the nozzle angle locking time; According to the fan start-up sequence table, a pre-start signal is sent to each fan. During the pre-start phase, the fan is in an idling state. Initial wind speed data is collected by the wind speed sensor and transmitted back to the control module online. The control module compares the initial wind speed data with the preset wind speed parameters and generates a wind speed compensation value. After the nozzle angle is fully locked, it sends a formal start signal to the fan, which includes the wind speed compensation value. Once all fans have started, the control module sends a coordination ready signal to the mobile terminal via the online link, and the ready signal carries the coordination matching results of each fan and nozzle.

[0026] In this embodiment, the STM32F407 processor of the control module retrieves the truss layout coordinate data stored in Flash address 0x08010000, associates each fan with the corresponding nozzle number through coordinate matching logic, generates a fan start-up timing table and stores it in RAM address 0x20001000; the fan start-up time in the timing table is set to a delay of 2 seconds from the corresponding nozzle angle locking time, and each fan entry includes the fan number, the corresponding nozzle number, the pre-start time and the formal start time, wherein the pre-start time is 3 seconds earlier than the formal start time.

[0027] In one embodiment, the processor sends a pre-start signal to each fan controller via the CAN bus according to the timing table. The signal is a 24V DC voltage signal with a duration of 100ms. After receiving the signal, the fan controller drives the YWF4E-300 axial fan to enter the idle operation state with a fixed speed of 500r / min. The wind speed sensor of model FT-WS02 installed at the center of the air outlet of each fan collects the initial wind speed data at 500ms intervals and transmits it back to the control module in real time via RS-485 bus (19200bps baud rate).

[0028] In another embodiment, the control module compares the received initial wind speed data with the preset target wind speed parameters (3m / s-5m / s, configured differently according to the aquaculture area), and generates a wind speed compensation value (compensation value = target wind speed - initial wind speed) by calculating the difference. When the processor detects that the corresponding nozzle electromagnetic lock lock signal (5V high level) lasts for 3 seconds, it sends a formal start signal to the fan controller. The signal contains the PWM adjustment parameters corresponding to the wind speed compensation value. After all fan speeds stabilize within the target wind speed ±0.2m / s range, the processor sends a JSON format collaborative ready signal to the mobile terminal through the TCP / IP protocol (port number 8080) of the 4G module. The signal contains the matching relationship of the number of each fan and nozzle and the wind speed compliance status.

[0029] It should be noted that the specific parameters involved in the above embodiments, such as the fan start-up delay time, pre-start advance time, idle speed, wind speed acquisition interval, target wind speed range, and wind speed stability deviation range, can be adaptively adjusted according to the actual size of the truss cage, the feeding requirements of the aquaculture species, and the wind conditions of the site environment. The control module supports modifying the relevant parameter thresholds through the parameter configuration interface of the mobile terminal. The modified parameters are stored in the non-volatile memory of the control module. After the modification operation is completed, the control module restarts the relevant control process to load the new parameters. The hardware model can be replaced with other models with the same function according to the equipment procurement standards, on-site installation space, and control accuracy requirements. After replacement, the same control effect can be achieved by keeping the signal transmission protocol and data interaction format consistent with the original control logic.

[0030] Preferably, in step S3: a start signal is sent to the pellet mill of the truss-type cage, and the feed produced by the pellet mill is transported to each rotary feeding nozzle through the feeding hose and sprayed out. The airflow generated by the matching fan guides the feed to spread to different areas inside the truss-type cage. Optionally, after sending a start signal to the pellet mill of the truss-type mesh cage in step S3, the pressure regulation operation of the feed conveying hose is also included: After receiving the coordination ready signal, the control module sends an online start request to the granulator and simultaneously starts the pressure monitoring unit of the feeding hose to collect pressure data inside the hose at a preset fixed frequency. After the pellet mill returns a start-ready signal, the control module sends an initial feed rate command to the pellet mill via an online link, and the feed is delivered to each nozzle on the truss through the feeding hose; When the hose pressure is detected to be lower than the preset lower limit, the granulator conveying speed is increased via online command; when the hose pressure is detected to be higher than the preset upper limit, the conveying speed is reduced and the pressure relief branch on the hose is opened for pressure buffering. The pressure inside the hose is continuously adjusted until it stabilizes within the preset range. The control module records the granulator delivery rate parameters at the moment the pressure stabilizes and synchronizes them to the mobile terminal via an online link.

[0031] In this embodiment, the STM32F407 processor of the control module receives the fan and nozzle coordination ready signal (JSON format, containing the "ready status: 1" identifier) ​​through the 4G module, and then establishes a connection with the RS-485 interface of the granulator controller of model ZL-800 through the onboard RS-485 interface (pin PA9 / PA10) via shielded twisted pair cable. It sends an online start request with parameters configured as 19200bps baud rate, 8 data bits, 1 stop bit, and no parity bit. The request signal is a 5V high-level pulse with a duration of 200ms. Simultaneously, the processor outputs an enable signal through the GPIO port (pin PB0) to start the pressure monitoring unit of the feeding hose. The pressure monitoring unit uses a PT124G-210 pressure transmitter. The transmitter is installed at the connection between the granulator outlet and the feeding hose through a G1 / 2 threaded interface. The transmitter's power supply is connected to a 24V DC power supply, and the signal output (4-20mA current signal) is connected to the ADC interface (pin PA0) of the control module via a 12-bit A / D converter of model HX711. The pressure data inside the hose is collected at a preset fixed frequency of 1 second / time.

[0032] In one embodiment, after receiving a start request, the pellet mill controller returns a 24V high-level start-ready signal to the control module via the same RS-485 link. After the processor detects this signal through the ADC interface, it immediately issues an initial conveying rate command. The command data format is "equipment number + rate value + check code", where the initial conveying rate is set to 15kg / min. After receiving the command, the pellet mill controller drives the built-in variable frequency motor to start the feeding screw. The feed is conveyed to each nozzle on the truss through a rubber feeding hose with an inner diameter of 50mm and a wall thickness of 5mm. The pressure transmitter collects the pressure inside the hose in real time and converts it into a 4-20mA current signal. After being converted into a 0-3.3V voltage signal by the HX711 converter, it is transmitted to the control module for analog-to-digital conversion. The converted digital signal corresponds to a pressure range of 0-1MPa.

[0033] In another embodiment, the preset hose pressure range is 0.3MPa-0.5MPa, corresponding to a converter output voltage signal of 0.93V-1.55V. The control module converts the collected voltage signal into an actual pressure value through internal calculations. When the actual pressure value is detected to be lower than 0.3MPa (corresponding to voltage < 0.93V), a rate increase command is sent via the RS-485 link, with each increase being 2kg / min and a command interval of 2s. When the actual pressure value is detected to be higher than 0.5MPa (corresponding to voltage > 1.55V), a rate decrease command is immediately sent (each decrease being 2kg / min), and simultaneously... The GPIO port (pin PB1) outputs a 5V high-level signal to control the opening of the electromagnetic pressure relief valve (model 2W-160-15) installed at the branch of the feeding hose. The pressure relief valve opening pressure threshold is set to 0.55MPa (corresponding to a voltage of 1.73V). The pressure relief port is connected to the return pipe leading to the granulator feed hopper. When the pressure data collected for 5 consecutive times (with an interval of 1 second) is stable in the range of 0.3MPa-0.5MPa, the processor writes the current granulator conveying rate parameter into the internal register and synchronizes it to the feeding control APP on the mobile terminal through the TCP / IP protocol of the 5G module (the target IP is the hotspot IP of the mobile terminal, port number 8080).

[0034] Optionally, step S3, in which the feed is guided to diffuse into different areas within the truss-type cage by the airflow generated by the matching fan, includes: Once the feed reaches the nozzle and begins to spray, the image acquisition unit deployed inside the cage captures the feed spray trajectory and transmits the captured feed spray trajectory image to the mobile terminal in real time. The mobile terminal processes the feed spray trajectory image, extracts the actual feed spray trajectory, compares it with the theoretical trajectory preset based on the truss layout, and calculates the trajectory offset. Based on the trajectory offset, a fan speed correction command is generated and sent to the control module via an online link. The control module adjusts the fan's drive voltage and changes the airflow intensity to correct the feed spray trajectory. After correction, the feed spray trajectory image is collected again for trajectory verification. If the offset still exceeds the allowable range, the rotation angle of the corresponding nozzle is adjusted a second time.

[0035] In this embodiment, when the control module detects a stable feed rate signal from the pellet mill (the hose pressure data collected five times consecutively is in the range of 0.3MPa-0.5MPa), it outputs a high-level enable signal through its GPIO interface to start the image acquisition unit deployed inside the cage. The image acquisition unit uses an industrial-grade waterproof high-definition camera, deployed according to the principle of "one camera per independent aquaculture coverage unit". The camera is installed on the lower edge of the truss, with the lens facing the corresponding nozzle spray area, and captures feed spray trajectory images at a frame rate of 25 frames per second. The images are compressed and transmitted to the control module via Ethernet.

[0036] In one embodiment, the control module forwards the trajectory image to the mobile terminal via a link. The mobile terminal APP extracts the actual trajectory feature coordinates, compares them with the pre-stored theoretical trajectory coordinates, and calculates the physical offset distance according to the ratio of "1 pixel = 0.5cm". The preset allowable offset threshold is ±5cm. If the actual offset distance exceeds the threshold, the APP generates a fan speed correction command.

[0037] In another embodiment, the wind speed correction command is labeled with the corresponding fan number. For every 1cm deviation exceeding the threshold, the wind speed adjustment range is set to 0.2m / s (e.g., a 6cm deviation increases the wind speed by 0.2m / s, and a 7cm deviation increases it by 0.4m / s). After receiving the command, the control module adjusts the fan drive voltage through the PWM signal to change the wind speed and complete the correction. After stabilizing for 3 seconds, the trajectory image is collected again for verification. If the deviation still exceeds ±5cm, the APP generates a secondary adjustment command for the nozzle angle, adjusting it by 0.5° each time (the deviation direction is opposite to the adjustment direction). After adjustment, the angle is locked and verified again until the deviation stabilizes within ±5cm.

[0038] It should be noted that the parameters such as frame rate, pixel distance conversion ratio, allowable offset threshold, wind speed adjustment range, and angle adjustment range in the above embodiments can be adapted according to the actual situation of the cage; the control module supports modifying and storing parameters through a mobile terminal, and the parameters can be loaded and taken effect after restarting the process, and it can run as long as the signal is matched after hardware replacement.

[0039] Preferably, in step S4: during the feeding process, the mobile terminal receives real-time data on the angle of the rotating feeding nozzle and the operating status of the fan from the control module; based on the angle data of the rotating feeding nozzle and the operating status of the fan, the control parameters are adjusted online to keep the feed in a dispersed falling state until the preset feeding operation is completed.

[0040] Of particular importance is that, in step S4, the real-time data received from the control module regarding the angle of the rotating feeding nozzle and the operating status of the blower includes: During the feeding process, the control module synchronously collects the angle locking status of each nozzle, fan speed data, hose pressure data, and feed spray trajectory data through an online link; The collected data is comprehensively analyzed to determine whether there is uneven feed distribution in the current feeding status. When there is uneven feed distribution, the fan speed is adjusted in fixed steps via online commands, and feed distribution image data is collected once each adjustment is made. If uneven feed distribution persists after adjusting the wind speed, a nozzle angle correction scheme is generated and sent to the control module via an online link. The control module then unlocks the corresponding nozzle angle, performs the angle correction, and relocks it.

[0041] In this embodiment, during the feeding process, the main controller of the control module performs data aggregation operations at a fixed frequency of 1 second / time: it collects the locking status signals of the electromagnetic locks built into each nozzle motor (5V high level for locked, 0V low level for unlocked), the real-time wind speed data (range 0-10m / s, accuracy 0.1m / s) converted by the wind speed sensors (4-20mA current signal output) at each fan outlet, and the pressure data (range 0-1MPa, accuracy 0.01MPa) converted by the pressure transmitter of the feeding hose (4-20mA current signal output); at the same time, it receives JPEG format feed spray trajectory image data transmitted by each image acquisition unit (25 frames / second frame rate) through the Ethernet interface. All aggregated data is encapsulated in the format of "device number-data type-acquisition timestamp" and synchronously forwarded to the feeding control APP on the mobile terminal via the 4G communication module using the TCP / IP protocol.

[0042] In one embodiment, after receiving the aggregated data, the mobile terminal APP automatically parses and categorizes the data: it compares the real-time wind speed data with the preset standard range (3-5 m / s) and the pressure data with the preset standard range (0.3-0.5 MPa) one by one, and marks the data that exceeds the range; at the same time, it extracts features from the trajectory image to obtain the coordinate range of the actual feed coverage area, compares it with the preset coverage coordinate range of each independent breeding unit, calculates the coverage deviation value, and when the deviation value exceeds 10% of the area of ​​the independent breeding unit, it is determined that there is uneven feed distribution in the current feeding state.

[0043] In another embodiment, when uneven feed distribution is detected, the mobile terminal APP generates a fan speed adjustment command. The command includes the corresponding fan number, the current wind speed value, and a fixed adjustment step size of 0.2 m / s (increasing the wind speed if the fan is biased inward, and decreasing the wind speed if it is biased outward). The command is sent to the control module via the 4G link. After receiving the command, the control module adjusts the output voltage of the fan drive module through the PWM output interface to adjust the wind speed. After adjustment, the fan is kept running stably for 5 seconds. During this period, the control module drives the image acquisition unit of the corresponding breeding unit to capture one frame of feed distribution image, which is then aggregated, packaged, and transmitted back to the mobile terminal. Verification: If the coverage deviation still exceeds 10% after adjusting the wind speed by a fixed step size three times consecutively, the mobile terminal APP generates a nozzle angle correction plan, clearly indicating the corresponding nozzle number, adjustment direction (opposite to the direction of uneven distribution offset), and adjustment range of ±0.5°. After the plan is sent to the control module, the control module first outputs a 0V low-level signal to release the corresponding nozzle electromagnetic lock, and then outputs a drive signal through the motor drive circuit to drive the nozzle rotation shaft to complete the angle correction. After correction, the angle encoder confirms that the angle deviation is ≤±0.1°, and then outputs a 5V high-level signal to control the electromagnetic lock to lock again.

[0044] Optionally, step S4 also includes online emergency control operations for abnormal operating conditions: The control module monitors the operating parameters of each device in real time. When it detects a sudden increase in the angle offset of a nozzle motor or a sudden drop in the wind speed of a fan, it immediately sends an emergency alarm to the mobile terminal through the online link. The emergency control plan is automatically activated, cutting off the feed conveying branch corresponding to the abnormal equipment. At the same time, the backup nozzles and backup fans on the truss are called up, and the backup equipment is driven to start and load preset emergency parameters through online commands. Based on the installation coordinates of the preset backup equipment, the feed coverage area of ​​the corresponding region is redefined through online calculation, and the operating parameters of the surrounding normal equipment are adjusted. After the emergency response is completed, the control module records the abnormal equipment information, emergency handling procedures and parameter adjustment data, generates an emergency handling report and uploads it online to the mobile terminal, and locks the abnormal equipment.

[0045] In this embodiment, during the feeding process, the main controller of the control module performs data aggregation operations at a fixed frequency of 1 second / time: it collects the locking status signals of the electromagnetic locks built into each nozzle motor (5V high level for locked, 0V low level for unlocked), the real-time wind speed data (range 0-10m / s, accuracy 0.1m / s) converted by the wind speed sensors (4-20mA current signal output) at each fan outlet, and the pressure data (range 0-1MPa, accuracy 0.01MPa) converted by the pressure transmitter of the feeding hose (4-20mA current signal output); at the same time, it receives JPEG format feed spray trajectory image data transmitted by each image acquisition unit (25 frames / second frame rate) through the Ethernet interface. All aggregated data is encapsulated in the format of "device number-data type-acquisition timestamp" and synchronously forwarded to the feeding control APP on the mobile terminal via the 4G communication module using the TCP / IP protocol.

[0046] In one embodiment, after receiving the aggregated data, the mobile terminal APP automatically parses and categorizes the data: it compares the real-time wind speed data with the preset standard range (3-5 m / s) and the pressure data with the preset standard range (0.3-0.5 MPa) one by one, and marks the data that exceeds the range; at the same time, it extracts features from the trajectory image to obtain the coordinate range of the actual feed coverage area, compares it with the preset coverage coordinate range of each independent breeding unit, calculates the coverage deviation value, and when the deviation value exceeds 10% of the area of ​​the independent breeding unit, it is determined that there is uneven feed distribution in the current feeding state.

[0047] In another embodiment, when it is determined that there is uneven distribution of feed, the mobile terminal APP generates a fan speed adjustment command. The command includes the corresponding fan number, the current wind speed value and a fixed adjustment step of 0.2m / s (increase the wind speed if it is biased inward, and decrease the wind speed if it is biased outward). The command is sent to the control module via the link. It should be noted that after receiving the command, the control module adjusts the output voltage of the fan drive module through the PWM output interface to adjust the wind speed. After adjustment, the fan is kept running stably for 5 seconds. During this period, the control module drives the image acquisition unit of the corresponding breeding unit to capture one frame of feed distribution image, which is then collected, packaged, and sent back to the mobile terminal for verification. If the coverage deviation still exceeds 10% after adjusting the wind speed by a fixed step size three times in a row, the mobile terminal APP generates a nozzle angle correction scheme, clearly marking the corresponding nozzle number, adjustment direction (opposite to the direction of uneven distribution), and adjustment range of ±0.5°. After the scheme is sent to the control module, the control module first outputs a 0V low-level signal to release the locking state of the corresponding nozzle electromagnetic lock, and then outputs a drive signal through the motor drive circuit to drive the nozzle rotation shaft to complete the angle correction. After correction, the angle encoder confirms that the angle deviation is ≤±0.1°, and then outputs a 5V high-level signal to control the electromagnetic lock to lock again.

[0048] Of particular importance is that step S4 involves online correction and control parameters based on the angle data of the rotating feeding nozzle and the operating status data of the blower, including online iterative optimization operations: During the feeding process, the mobile terminal records the input values, output results, and corresponding feed distribution data for each parameter adjustment in real time, and builds a parameter iteration optimization database; Based on the parameter iterative optimization database, the optimal parameter combination for different truss partitions and different aquaculture environments is calculated, and parameter optimization suggestion data is generated. After the user confirms the parameter optimization suggestion data through the mobile terminal, a parameter update command is generated and sent to the control module through the online link. The control module then updates the operating parameters of the corresponding device. Continuously iterate and optimize the parameters until the feed distribution uniformity and feeding efficiency reach the preset state, and then store the final optimized parameters in the historical parameter library.

[0049] In this embodiment, during the feeding process, the mobile terminal feeding control APP records all data for each parameter adjustment in real time through its built-in data recording module, using a fixed field format. The fields include adjustment timestamp, truss partition number, aquaculture environment parameters, parameter input values, output results, and feed distribution data. The adjustment timestamp is accurate to the second. The truss partition number is divided into 1 to 6. The aquaculture environment parameters record water temperature and dissolved oxygen levels, with water temperature monitoring ranging from 0 to 35°C and dissolved oxygen monitoring ranging from 0 to 20 mg / L. Parameter input values ​​include nozzle angle and fan speed, with nozzle angle ranging from 0 to 90° with an accuracy of 0.1° and fan speed ranging from 3 to 5 m / s with an accuracy of 0.1 m / s. The output results record coverage deviation values, ranging from 0 to 20%. Feed distribution data records coverage area and density, with coverage area in square meters and density in kilograms per square meter. Data storage uses a local SQLite database, archived in blocks according to a daily data table format, with the data table named "Optimized Data_YYYYMMDD" to ensure data traceability.

[0050] In one embodiment, the mobile terminal APP activates the data analysis module, classifying and filtering historical data in the database according to truss zones, water temperature ranges, and dissolved oxygen ranges. Truss zones are divided into 1 to 6, water temperature ranges into 15 to 25℃ and 25 to 30℃, and dissolved oxygen ranges into 5 to 10 mg / L and 10 to 15 mg / L. For each data category, the frequency of parameter combinations with feed distribution uniformity ≥90% and feeding efficiency ≥85 kg / h is calculated. The parameter with the highest frequency is selected as the optimal parameter for that category, generating optimized suggestion data including zone number, environmental range, suggested nozzle angle, and suggested fan speed, which is displayed on the APP's "Parameter Optimization" interface. After the user clicks the "Confirm Update" button on the interface, the APP automatically generates a parameter update command. The command is encapsulated in JSON format, containing the device number, new parameter value, and checksum, and is sent to the control module via the 4G communication module using the TCP / IP protocol.

[0051] In another embodiment, after receiving the parameter update command, the control module first verifies the integrity of the command using a checksum, and then verifies whether the new parameters conform to the preset range. The preset range for the nozzle angle is 0 to 90°, and the preset range for the fan speed is 3 to 5 m / s. After successful verification, the main controller of the control module writes the new parameters into the control registers of the corresponding devices, including the nozzle motor angle register and the fan speed register, overwriting the original parameter values, and sends a parameter activation command to the device via the RS-485 bus. This iterative process of parameter adjustment, data recording, classification analysis, optimization suggestions, and parameter updates is then repeated until the feed distribution uniformity is ≥90% and the feeding efficiency is ≥85 kg / h for 10 consecutive data collections, with a 5-minute interval between each collection. The control module writes the final optimized parameters into the historical parameter library of the non-volatile Flash memory, stored at addresses 0x08070000 to 0x080F0000, and simultaneously synchronizes them to the local backup database of the mobile terminal via a 4G link, completing the iterative optimization.

[0052] Optionally, in step S4, the data received in real time from the control module regarding the angle of the rotating feeding nozzle and the operating status of the blower via the mobile terminal includes: During the feeding process, the control module collects the angle data of the rotating feeding nozzle and the operating status data of the fan at fixed time intervals, and then transmits the rotating feeding nozzle angle data and the fan operating status data to the mobile terminal after classifying and integrating them. After receiving and integrating the data, the mobile terminal performs a format check. If the format check fails, it sends a retransmission request to the control module. Once the format verification is successful, the mobile terminal will categorize and integrate the data and display it in real time in chronological order, while simultaneously storing it in the local cache to form a continuous record of the feeding process data.

[0053] In this embodiment, during the feeding process, the main controller of the control module performs data acquisition operations at fixed time intervals of 1 second. The angle data of the rotating feeding nozzle is acquired through an angle encoder built into the nozzle motor. The angle encoder is connected to the control module via an RS-485 bus, with communication parameters configured as a 19200bps baud rate, 8 data bits, and 1 stop bit. The acquired angle data measurement range is 0-90° with an accuracy of 0.1°. The fan operating status data is acquired through a wind speed sensor installed at the fan outlet. The wind speed sensor outputs a 4-20mA current signal, which is converted into a digital signal by the A / D converter built into the control module. The converted wind speed data measurement range is 0-10m / s with an accuracy of 0.1m / s. The control module categorizes and integrates the two types of collected data, grouping nozzle angle data into an "angle dataset" and fan speed data into a "speed dataset." Each dataset is encapsulated in a fixed structure: "dataset type identifier + acquisition timestamp + data content," with the timestamp accurate to the second and formatted as "YYYY-MM-DDHH:MM:SS." After integration, the control module transmits the encapsulated, categorized, and integrated data to the mobile terminal via a 4G communication module using the TCP / IP protocol, with the transmission port set to 8080.

[0054] In one embodiment, after receiving the categorized and integrated data, the feeding control APP on the mobile terminal immediately initiates a format verification process. The verification process consists of three core steps: First, it verifies whether the dataset type identifier is one of the preset "angle dataset" or "wind speed dataset," ensuring the identifier is complete and without omissions; second, it verifies whether the data acquisition timestamp format conforms to the "YYYY-MM-DDHH:MM:SS" specification, checking for timestamp errors or omissions; finally, it verifies whether the data content is within the preset range, i.e., whether the nozzle angle data is within the 0-90° range and the fan wind speed data is within the 0-10m / s range, while also checking whether the data accuracy meets the requirements of 0.1° and 0.1m / s. If any verification fails, the mobile terminal immediately generates a retransmission request command, clearly indicating the acquisition timestamp of the data that failed the verification and the reason for the verification failure, and feeds it back to the control module via the 4G link. After receiving the retransmission request instruction, the control module retrieves the corresponding timestamp data from the local temporary storage, repackages it according to the standard format, and resends it to the mobile terminal. The maximum number of retransmissions is set to 3. If the verification still fails after 3 retransmissions, the mobile terminal records the exception log and prompts the interface with a data reception exception.

[0055] In another embodiment, after all format validations pass, the feeding control APP on the mobile terminal displays the nozzle angle and fan speed values ​​in real time on the data display interface, according to the order of the collected timestamps. The values ​​are displayed with one decimal place, and the corresponding data collection time is also indicated. Simultaneously, the APP writes the validated, categorized, and integrated data to a local cache. The cache path is set to the "Feeding Data Records" folder under the APP's installation directory. A separate daily data file is generated according to the naming rule "Feeding Data_YYYYMMDD," with the file format being binary for easy reading and storage. The cache file storage period is set to 30 days. Old data files exceeding the storage period will be automatically cleaned up by the APP to ensure sufficient cache space, ultimately forming a continuous, complete, and traceable feeding process data record.

[0056] Optionally, the online correction and control parameters based on the angle data of the rotating feeding nozzle and the operating status data of the blower in step S4 are specifically as follows: The mobile terminal retrieves the nozzle angle data cached locally and compares it with the target rotation angle in the initial feeding control command to calculate the angle deviation; it also retrieves the fan operating status data and compares it with the preset fan normal operating parameters. When the angle deviation exceeds the preset range, the mobile terminal generates a nozzle angle correction command; when the fan operating parameters deviate from the normal range, a fan operating parameter correction command is generated. The correction command is sent to the control module via the online link. After the control module executes the command and adjusts the corresponding parameters, it immediately sends back the adjusted angle data and fan parameters. Once the mobile terminal confirms that the adjusted data meets the requirements, the feed resumes its dispersed falling state, and monitoring continues until the preset feeding operation is completed; if the adjusted data still does not meet the requirements, the correction process is repeated.

[0057] In this embodiment, the feeding control APP on the mobile terminal retrieves the real-time collected nozzle angle data from the locally cached "feeding data_YYYYMMDD" file, and simultaneously retrieves the target rotation angle (preset to 45°) stored in the initial feeding control command. The angle deviation between the two is calculated by subtraction, and the preset allowable range for the angle deviation is ±2°. The APP synchronously retrieves the fan operating status data (real-time wind speed) in the cache and compares it with the preset normal operating parameters of the fan (3-5m / s) to confirm whether the real-time wind speed is within the range.

[0058] It should be noted that when the calculated angle deviation exceeds ±2°, the mobile terminal generates a nozzle angle correction command. The command includes the corresponding nozzle number, the current angle deviation value, and the target correction angle (initial target angle ± deviation value). When the real-time fan speed is below 3m / s or above 5m / s, a fan operating parameter correction command is generated. The command includes the corresponding fan number, the current wind speed value, and the target correction wind speed (adjusted to 3m / s if below 3m / s, and adjusted to 5m / s if above 5m / s). The correction command is encapsulated in the structure of "command type + device number + target parameter" and sent to the control module via the 4G communication module using the TCP / IP protocol, with the transmission port remaining unchanged at 8080.

[0059] In one embodiment, after receiving a correction command, the control module first verifies the completeness of the command and its matching with the device number. If the verification is successful, it executes parameter adjustment operations: For a nozzle angle correction command, the control module outputs a drive signal to the nozzle motor, causing the nozzle to rotate to the target correction angle, and confirms the actual angle using an angle encoder; for a fan operating parameter correction command, the control module adjusts the fan drive voltage via a PWM signal, changing the fan speed to the target correction wind speed, and confirms the actual wind speed using a wind speed sensor. After adjustment, the control module immediately transmits the adjusted angle data and fan wind speed data back to the mobile terminal in a categorized and integrated format.

[0060] In another embodiment, after receiving the returned data, the mobile terminal compares the adjusted data with the target parameters. If the nozzle angle deviation is ≤±2° and the fan speed is in the range of 3-5m / s, the data is deemed to meet the requirements. At this time, the feed resumes its dispersed falling state, and the APP continues to collect data at 1-second intervals for continuous monitoring until the feeding operation corresponding to the preset feeding amount is completed. If the adjusted data still does not meet the requirements, the mobile terminal immediately regenerates and sends a correction command, repeating the correction process of "command issuance - parameter adjustment - data return - verification confirmation" until the data meets the requirements.

[0061] Please see Figure 3 Using a mobile terminal as the operating end, a communication connection is established with the control module through an online network link; the control module is associated with the truss-type cage and connected to the rotating feeding nozzle and matching fan on the cage, forming an online feeding control link of terminal-control-equipment, reflecting the architectural relationship of the mobile terminal to remotely control the cage feeding equipment online.

[0062] Therefore, the embodiments should be considered as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the application are intended to be included within the invention.

[0063] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A method for online material feeding control of truss-type cages, characterized in that, Includes the following steps: Step S1: Send material feeding control instructions to the control module of the truss cage via mobile terminal. The material feeding control instructions include the target rotation angle of each rotating material feeding nozzle on the truss and the start / stop control parameters of the matching fan. Step S2: The control module responds to the feeding control command and synchronously drives the motors corresponding to each rotary feeding nozzle to operate, so that each rotary feeding nozzle is adjusted to the target rotation angle; at the same time, it controls each supporting fan to start and run according to the start and stop control parameters. In step S2, the motors corresponding to each rotary feeding nozzle are driven to operate, and the motor operation includes a graded drive operation: The control module parses the truss partition information in the feeding control command and divides the nozzle motors of each truss partition into a main drive group and an auxiliary drive group. The main drive group corresponds to the nozzles in the cage aquaculture area. A rotation drive signal is sent to the main drive group motor, and the drive signal carries the starting torque parameters calculated based on the truss load distribution; Stress sensors deployed on the truss collect truss stress data during the operation of the main drive group, and transmit it online to the control module. When the truss stress data is within the preset safety range, a rotation drive signal is sent to the auxiliary drive group motor. During the operation of the main drive group and auxiliary drive group motors, the control module synchronously collects the motor rotation angle data at preset fixed intervals and transmits it back to the mobile terminal via an online link; In step S2, each rotary feeding nozzle is adjusted to the target rotation angle, wherein the target rotation angle is calibrated online via closed loop. Each nozzle motor has a built-in angle acquisition unit that converts rotation angle data into digital signals in real time and transmits them to the control module via a communication bus. The control module calculates the deviation between the real-time angle and the target angle. If the deviation is within the range of 5°-10°, it outputs a pulse width modulation signal to adjust the motor speed; if the deviation is greater than 10°, it outputs a reverse correction signal to adjust the rotation direction. During the correction process, the control module pushes the deviation correction curve to the mobile terminal through the online link, reflecting the change of the angle deviation value over time in real time. Once the deviation value remains stable within ±0.5° for a fixed period of time, the control module outputs a locking signal, which locks the angle via the electromagnetic lock built into the nozzle motor. The angle data at the locking moment is recorded and stored online. Specifically, step S2 involves controlling each supporting fan to start and operate according to the start-stop control parameters as follows: Based on the corresponding coordinate relationship between the fan and the nozzle in the truss layout, the control module generates a fan start-up sequence table, in which the fan start-up time in the fan start-up sequence table corresponds to the duration of the nozzle angle locking time; According to the fan start-up sequence table, a pre-start signal is sent to each fan. During the pre-start phase, the fan is in an idling state. Initial wind speed data is collected by the wind speed sensor and transmitted back to the control module online. The control module compares the initial wind speed data with the preset wind speed parameters and generates a wind speed compensation value. After the nozzle angle is fully locked, it sends a formal start signal to the fan, which includes the wind speed compensation value. Once all fans have started, the control module sends a coordination ready signal to the mobile terminal via the online link, and carries the coordination matching results of each fan and nozzle in the ready signal; Step S3: Send a start signal to the pellet mill of the truss cage. The feed produced by the pellet mill is transported to each rotary feeding nozzle through the feeding hose and sprayed out. The airflow generated by the matching fan guides the feed to spread to different areas inside the truss cage. Step S4: During the feeding process, the mobile terminal receives real-time data on the angle of the rotating feeding nozzle and the operating status of the fan from the control module; based on the angle data of the rotating feeding nozzle and the operating status of the fan, the control parameters are adjusted online to keep the feed in a dispersed falling state until the preset feeding operation is completed.

2. The online material feeding control method for truss-type cages according to claim 1, characterized in that, In step S1, the offline material feeding control command is sent from the mobile terminal to the control module of the truss-type cage as follows: The truss layout drawings of the truss cage can be retrieved online via mobile terminal, and the installation coordinates and spacing information of each rotating feeding nozzle, matching fan and adjacent equipment can be identified and extracted. Based on the installation coordinates and spacing information, the cage aquaculture area is divided into multiple independent coverage units on the mobile terminal, and the initial value of the nozzle rotation angle corresponding to each coverage unit is determined. Extract historical feeding parameters stored in the control module of the truss cage, filter the fan operation parameters that match the current aquaculture species and water temperature, and associate them with the initial values ​​of the nozzle angle of each independent covering unit; Material feeding control instructions are encapsulated according to the truss partition, equipment number, and control parameter hierarchy, and then sent to the control module.

3. The online material feeding control method for truss-type cages according to claim 1, characterized in that, After sending a start signal to the granulator of the truss-type mesh cage in step S3, the pressure regulation operation of the feed conveying hose is also included: After receiving the coordination ready signal, the control module sends an online start request to the granulator and simultaneously starts the pressure monitoring unit of the feeding hose to collect pressure data inside the hose at a preset fixed frequency. After the pellet mill returns a start-ready signal, the control module sends an initial feed rate command to the pellet mill via an online link, and the feed is delivered to each nozzle on the truss through the feeding hose; When the hose pressure is detected to be lower than the preset lower limit, the granulator conveying speed is increased via online command; when the hose pressure is detected to be higher than the preset upper limit, the conveying speed is reduced and the pressure relief branch on the hose is opened for pressure buffering. The pressure inside the hose is continuously adjusted until it stabilizes within the preset range. The control module records the granulator delivery rate parameters at the moment the pressure stabilizes and synchronizes them to the mobile terminal via an online link.

4. The online material feeding control method for truss-type cages according to claim 3, characterized in that, Step S3, in which the feed is guided to diffuse into different areas within the truss-type cage by the airflow generated by the matching fan, includes: Once the feed reaches the nozzle and begins to spray, the image acquisition unit deployed inside the cage captures the feed spray trajectory and transmits the captured feed spray trajectory image to the mobile terminal in real time. The mobile terminal processes the feed spray trajectory image, extracts the actual feed spray trajectory, compares it with the theoretical trajectory preset based on the truss layout, and calculates the trajectory offset. Based on the trajectory offset, a fan speed correction command is generated and sent to the control module via an online link. The control module adjusts the fan's drive voltage and changes the airflow intensity to correct the feed spray trajectory. After correction, the feed spray trajectory image is collected again for trajectory verification. If the offset still exceeds the allowable range, the rotation angle of the corresponding nozzle is adjusted a second time.

5. The online material feeding control method for truss-type cages according to claim 1, characterized in that, Step S4 also includes online emergency control operations for abnormal operating conditions: The control module monitors the operating parameters of each device in real time. When it detects a sudden increase in the angle offset of a nozzle motor or a sudden drop in the wind speed of a fan, it immediately sends an emergency alarm to the mobile terminal through the online link. The emergency control plan is automatically activated, cutting off the feed conveying branch corresponding to the abnormal equipment. At the same time, the backup nozzles and backup fans on the truss are called up, and the backup equipment is driven to start and load preset emergency parameters through online commands. Based on the installation coordinates of the preset backup equipment, the feed coverage area of ​​the corresponding region is redefined through online calculation, and the operating parameters of the surrounding normal equipment are adjusted. After the emergency response is completed, the control module records the abnormal equipment information, emergency handling procedures and parameter adjustment data, generates an emergency handling report and uploads it online to the mobile terminal, and locks the abnormal equipment.

6. The online material feeding control method for truss-type cages according to claim 1, characterized in that, In step S4, the data received in real time from the control module, including the angle of the rotating feeding nozzle and the operating status data of the blower, include: During the feeding process, the control module collects the angle data of the rotating feeding nozzle and the operating status data of the fan at fixed time intervals, and then transmits the rotating feeding nozzle angle data and the fan operating status data to the mobile terminal after classifying and integrating them. After receiving and integrating the data, the mobile terminal performs a format check. If the format check fails, it sends a retransmission request to the control module. Once the format verification is successful, the mobile terminal will categorize and integrate the data and display it in real time in chronological order, while simultaneously storing it in the local cache to form a continuous record of the feeding process data.

7. The online material feeding control method for truss-type cages according to claim 6, characterized in that, In step S4, the online correction and control parameters based on the angle data of the rotating feeding nozzle and the operating status data of the blower are specifically as follows: The mobile terminal retrieves the nozzle angle data cached locally and compares it with the target rotation angle in the initial feeding control command to calculate the angle deviation; it also retrieves the fan operating status data and compares it with the preset fan normal operating parameters. When the angle deviation exceeds the preset range, the mobile terminal generates a nozzle angle correction command; When the fan operating parameters deviate from the normal range, a fan operating parameter correction command is generated; The correction command is sent to the control module via the online link. After the control module executes the command and adjusts the corresponding parameters, it immediately sends back the adjusted angle data and fan parameters. Once the mobile terminal confirms that the adjusted data meets the requirements, the feed resumes its dispersed falling state, and monitoring continues until the preset feeding operation is completed; if the adjusted data still does not meet the requirements, the correction process is repeated.

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