Piglet full-automatic precise milk distribution and constant temperature incubation integrated rescue station and control method

Abstract

This invention relates to the field of livestock breeding equipment technology, specifically to an integrated rescue station and control method for fully automated, precise milk preparation and constant-temperature nursery for piglets. It includes a constant-temperature water preparation module for providing water at a constant temperature; a milk powder storage and precise delivery module for dispensing a fixed amount of milk powder as needed; a mixing module for mixing and stirring the milk powder and constant-temperature water to form a uniform milk solution; a dual-channel milk supply module for delivering milk solution to two independent feeding troughs; and a constant-temperature nursery module, comprising a heat preservation box and an insulation board at the bottom of the box, for providing a uniformly heated environment for the piglets. Through a dynamic milk preparation control algorithm based on dual feedback of water temperature and flow rate, it can correct in real time the mixing ratio deviations caused by water temperature fluctuations and differences in milk powder density during the milk preparation process; thus reducing deviations in milk concentration and temperature, ensuring the stability of the milk intake for piglets.

Description

Technical Field

[0001] This invention relates to the field of livestock breeding equipment technology, specifically to an integrated rescue station and control method for fully automated, precise milk preparation and constant temperature nursery for piglets. Background Technology

[0002] Piglet rearing is a crucial link in the pig industry chain. The survival rate and growth status of piglets directly affect subsequent fattening efficiency and the overall production performance of the herd. In large-scale farms, sows often produce more piglets than they have effective teats, and some sows suffer from agalactia, insufficient milk production, or postpartum death, resulting in a large number of piglets not receiving adequate milk supply. Currently, the industry commonly uses artificial supplementation to alleviate the problem of insufficient milk supply in piglets.

[0003] In the field of automated piglet feeding equipment, several technical solutions have been proposed. For example, patent application CN202022496059.8 discloses an automated piglet supplementation device. This device uses a drive motor to power an auger that delivers milk powder into a mixing chamber. A pipe connects the bottom of a constant-temperature water tank to the mixing chamber, which contains mixing blades. The device replaces manual milk supplementation, employing a method of frequent, small-batch, and timed feeding. While this device achieves automated mixing and timed delivery of milk powder and water, it still uses relatively simple timed control logic and cannot dynamically adjust the feeding strategy according to the actual feeding needs of the piglets.

[0004] Regarding the control method of automatic milk preparation systems, application number CN202010840763.2 discloses a fully automatic piglet milk supplementation system and its usage method. This system adopts a multi-functional integrated design, incorporating functions such as automatic milk powder addition, automatic weighing, automatic hot water addition, automatic stirring, automatic conveying, and automatic cleaning. All milk is stirred and conveyed in real-time to maintain its freshness. However, the technical solution of this patent mainly focuses on the integrated implementation of system architecture and basic functions. Its control logic is essentially still an open-loop control based on preset time and quantity, lacking a closed-loop dynamic correction mechanism based on multi-parameter feedback. It lacks adaptive adjustment capability for disturbances such as water temperature fluctuations and flow deviations during the milk preparation process, making it difficult to guarantee the actual accuracy and consistency of milk preparation.

[0005] Regarding piglet insulation, patent application CN103907539B discloses an insulation board for suckling piglets in farrowing crates. From top to bottom, it includes a lying board, aluminum foil, an electric heating film, a foam body, and a cover. The electric heating film is controlled by a thermostat, making the surface temperature of the insulation board controllable and adjustable. While this insulation board solves the problem of temperature control, its use of an electric heating film as the heating element results in uneven heating and noticeable localized hot spots. Piglets tend to huddle together for warmth, affecting the insulation effect and the piglets' comfort.

[0006] In summary, the existing technology has the following shortcomings: (1) At the level of control methods, existing automatic piglet feeding equipment generally adopts simple timed and quantitative open-loop control logic, which can only repeatedly perform milk preparation operation according to preset parameters. It cannot dynamically close-loop adjust according to changes in multiple parameters such as water temperature fluctuation, flow deviation, and piglet feeding feedback, resulting in unstable milk preparation accuracy.

[0007] (2) At the working mode level, existing equipment usually only provides a single timed mode or a simple free feeding mode, and fails to achieve intelligent switching and collaborative work between the two modes. It also cannot perform re-milk preparation and intelligent fault judgment based on liquid level detection in the free feeding mode.

[0008] (3) At the feeding level, the existing equipment cannot automatically adjust the feeding amount and milk ratio according to the growth of piglets’ age. It still relies on manual adjustment of parameters in stages based on experience, which not only increases the operational burden, but also makes it difficult to achieve precise and refined feeding. Summary of the Invention

[0009] In order to overcome the defects in the existing technology, the purpose of this invention is to provide an integrated rescue station and control method for fully automatic and precise milk preparation and constant temperature nursery for piglets, so as to solve the technical problems of unstable milk preparation accuracy, simple control logic, lack of multi-parameter dynamic feedback adjustment, and inability to achieve age-adaptive feeding in existing automatic piglet feeding technology.

[0010] To achieve the above objectives, on the one hand, the present invention provides a control method for an integrated rescue station for fully automated, precise milk preparation and constant-temperature nursery for piglets, comprising the following steps: Step S1: Obtain piglet age parameters and automatically generate batch feeding curves based on a preset age-feeding amount correlation model. The batch feeding curves include several time nodes and their corresponding single milk powder dosage and milk powder to water ratio. Step S2: In response to the start signal, execute dynamic milk mixing control based on multi-parameter feedback, including real-time acquisition of water temperature T_w and instantaneous flow rate Q_w, dynamically correcting the operating parameters of the milk powder conveying mechanism and the opening time of the water addition valve according to the water temperature and flow rate feedback values, and controlling the deviation between the actual concentration C_actual and the target concentration C_target of the mixed milk liquid within the preset threshold ΔC. Step S3: Based on the feed trough level detection signal, perform adaptive feeding control in free feeding mode and timed mode. This includes triggering milk preparation when the feed trough level is lower than the low level threshold. If no level rise is detected within a preset time after the first milk preparation, the milk preparation operation will be automatically retried. If there is still no effective level feedback after two milk preparations, the system is judged to be abnormal and an alarm signal is output. At the same time, the machine is stopped and waits for manual reset. Step S4: Upon receiving a cleaning instruction, execute a multi-stage time-locked cleaning process. The cleaning process includes a pre-rinse stage, a cleaning agent circulation stage, a wastewater discharge stage, and a residue detection stage. Interlocking conditions are set between each stage, and the next stage is prohibited if the previous stage is not completed.

[0011] As a further improvement to this technical solution, step S2, the method for dynamically correcting the milk powder to water ratio based on water temperature and flow rate feedback, includes setting a ratio correction coefficient k.

[0012] in The base proportional coefficient is α, which is the temperature compensation coefficient and 0.01≤α≤0.05; β is the flow compensation coefficient and 0.005≤β≤0.02; T_set is the target water temperature; T_actual is the real-time water temperature; Q_set is the target flow rate; and Q_actual is the real-time flow rate. The speed of the auger motor of the milk powder conveying mechanism and the opening duration of the water adding solenoid valve are adjusted according to the proportional correction coefficient k.

[0013] As a further improvement to this technical solution, the age-feeding amount correlation model in step S1 is constructed using a piecewise linear interpolation algorithm or an exponential growth algorithm. After the user inputs the initial age, the end age, and the endpoint values ​​of the single milk powder dosage corresponding to each age through the human-computer interaction interface, the correlation model automatically fits and generates a continuous feeding curve covering the entire feeding cycle, and supports the user to fine-tune any node on the curve and then refit it.

[0014] As a further improvement to this technical solution, it also includes power outage recovery and status restoration steps: during operation, the current system status parameters and execution progress are recorded in real time. The system status parameters include the current feeding mode, the number of feedings completed, the remaining milk amount in the current batch, and the stage identifier of the step being executed; when the power supply is restored after a power outage is detected, the stored status parameters are automatically read and execution is resumed from the breakpoint, rather than being initialized from the beginning or the executed progress is discarded.

[0015] As a further improvement to this technical solution, the free-feeding mode and the timed mode can be selected and switched through a human-computer interaction interface; the timed mode supports dividing 24 hours into several time intervals, and each time interval can be independently set to enable / disable status and corresponding feeding parameters; in the free-feeding mode, the system continuously monitors the liquid level in the feed trough and dynamically adjusts the milk mixing frequency according to the changes in the liquid level.

[0016] As a further improvement to this technical solution, the multi-stage time-interlocked cleaning process in step S4 also includes, during the cleaning agent circulation stage, the control system sequentially performs water replenishment, stirring motor start-up, and dehumidification fan start-up in a preset sequence; upon receiving a discharge command or when the discharge stage is automatically triggered, the stirring motor is shut down first, then the corresponding milk discharge solenoid valve is opened, the discharge duration is determined based on the pump flow rate estimate, and the milk discharge solenoid valve is closed after discharge is completed; if any abnormality occurs in any stage, the cleaning process is automatically interrupted and a corresponding fault prompt is output. It also includes a fault classification alarm procedure: system anomalies are classified into four levels according to the type and severity of the fault: low liquid level alarm, flow abnormality alarm, temperature abnormality alarm, and equipment communication failure; different levels of faults are displayed on the touch screen with different colors and priorities, while the status indicator lights output corresponding color signals and the voice module outputs corresponding voice prompts; low-level faults allow the system to continue running or degrade to a lower level, while high-level faults trigger the system to automatically shut down.

[0017] On the other hand, the present invention provides an integrated rescue station for fully automatic precise milk preparation and constant temperature nursery of piglets, and the control method applied to the above-mentioned integrated rescue station for fully automatic precise milk preparation and constant temperature nursery of piglets includes a constant temperature water preparation module, which includes an inlet solenoid valve, a heating and heat preservation tank, a temperature sensor and a water level sensor, for providing preparation water at a constant temperature. The milk powder storage and precise delivery module includes a milk powder box and a precise milk delivery mechanism, which is used to output a fixed amount of milk powder on demand; The mixing module, which includes a mixing tank and a high-speed stirring motor, is used to mix milk powder with constant temperature water to form milk liquid. The dual-channel milk supply module includes a first milk pump and a second milk pump, which are independently connected to the first feeding trough and the second feeding trough, respectively, for delivering milk to two independent feeding troughs. The constant temperature incubation module includes an incubator and an insulation board laid at the bottom of the incubator. The insulation board is embedded with a MOSH chip to provide a uniformly heated incubation environment for piglets. The electrical control module includes a power supply, a touch screen, a controller, a flow meter, photoelectric switches, and status indicator lights; And one or more processors and memory storing computer program instructions; The processor implements the control method described above when executing computer program instructions.

[0018] As a further improvement to this technical solution, the precision milk delivery mechanism includes an auger conveyor rod and a drive motor installed at the bottom of the milk powder box. The discharge port of the auger conveyor rod is connected to the inlet of the mixing tank through a pipeline. A flow meter is installed on the water outlet pipeline of the heating and heat preservation tank. The output signal of the flow meter is connected to the controller for real-time monitoring of the water output and participation in the closed-loop control of the milk mixing ratio.

[0019] As a further improvement to this technical solution, the first and second feeding troughs are respectively equipped with liquid level detection sensors to detect the amount of remaining milk in the two feeding troughs and feed it back to the controller; the insulated box is also equipped with another temperature sensor to monitor the temperature inside the box in real time and form a closed-loop temperature control circuit with the controller. The target temperature setting value of the closed-loop temperature control circuit is 28°C to 32°C.

[0020] As a further improvement to this technical solution, the liquid level detection sensor adopts a dual-probe capacitive liquid level detection structure. The lengths of the two probes correspond to the low liquid level threshold and the high liquid level threshold of the feeding tank, respectively. When the milk level in the feeding tank is lower than the low liquid level threshold, a water replenishment request is triggered. When the liquid level is higher than the high liquid level threshold, the milk preparation operation is paused.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The fully automated precision milk preparation and constant temperature nursery integrated rescue station and control method for piglets, through a dynamic milk preparation control algorithm based on dual feedback of water temperature and flow rate, can correct the ratio deviation caused by water temperature fluctuations and differences in milk powder density in real time compared with the open-loop timed and quantitative control of the prior art. Experimental data show that after adopting the method of the present invention, the deviation of milk concentration and milk temperature is reduced, ensuring the uniformity and stability of the milk ingested by piglets.

[0022] 2. This fully automated precision milk preparation and constant temperature nursery integrated rescue station and control method for piglets, through the introduction of an age-adaptive feeding curve generation function, enables the equipment to automatically adjust the feeding amount and milk preparation ratio according to the growth stage of the piglets, realizing the transformation from manual experience-based feeding to data-driven precision feeding; users only need to input initial parameters, and the system automatically generates an optimized plan covering the entire feeding cycle, significantly reducing the burden of manual operation and human error.

[0023] 3. The fully automatic precision milk preparation and constant temperature nursery integrated rescue station and control method for piglets, through the design of a fault-tolerant control logic of retry milk preparation and fault judgment in free feeding mode, avoids false alarms and shutdowns caused by sensor mis-triggers or momentary pipeline blockages; the power failure recovery and status restoration functions ensure seamless recovery after power outages, eliminating the problems of data loss and feeding plan chaos.

[0024] 4. The fully automatic precision milk preparation and constant temperature nursery integrated rescue station and control method for piglets adopts a MOSH chip array uniformly distributed heat preservation plate scheme. Compared with traditional electric heating film or electric heating wire heat preservation plate, the heating surface is more uniform, piglets do not need to huddle together for warmth, and the temperature uniformity deviation in the heat preservation box can be controlled, providing a more comfortable growth environment for piglets. Attached Figure Description

[0025] The accompanying drawings described herein are for illustrative purposes only. The shapes and proportions of the components in the drawings are merely schematic and intended to aid in understanding the invention. They are not intended to specifically limit the shapes and proportions of the components of the invention.

[0026] Figure 1 This is a schematic diagram of the overall assembly layout structure of the present invention; Figure 2 This is a schematic diagram of the overall internal assembly layout structure of the present invention; Figure 3 For the present invention Figure 2 The main view; Figure 4 For the present invention Figure 2 Top view; Figure 5 This is a flowchart illustrating the overall control method of the present invention. Figure 6 This is a schematic diagram of the closed-loop feedback control principle of the dynamic milk mixing control of the present invention; Figure 7 This is a flowchart of the fault-tolerant control in the free-feeding mode of the present invention; Figure 8 This is a flowchart illustrating the age-adaptive feeding curve generation process of the present invention. Figure 9 This is a flowchart illustrating the operation of the power failure recovery module of the present invention. The meanings of the labels in the diagram are as follows: 1. Inlet solenoid valve; 2. Heating and insulation tank; 3. Milk powder box; 4. Precision milk delivery mechanism; 5. Mixing and stirring tank; 6. First milk pump; 7. Second milk pump; 8. Return water valve; 9. Power supply; 10. Touch screen; 11. Controller; 12. Flow meter; 13. Photoelectric switch; 14. Temperature sensor; 15. Water level sensor. Detailed Implementation

[0027] Under the guidance of this invention, any possible variations of this invention by those skilled in the art should be considered within its scope. The directional terms used herein are based on the orientations shown in the accompanying drawings and are for ease of description and simplification; therefore, they should not be construed as limiting the invention. Furthermore, in the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0028] Please see Figures 1-4 As shown, this invention provides an integrated rescue station for fully automatic and precise milk preparation and constant temperature nursery for piglets, including a constant temperature water preparation module, comprising an inlet solenoid valve 1, a heating and heat preservation tank 2, a temperature sensor 14, and a water level sensor 15, for providing preparation water at a constant temperature; a return water valve 8 is installed in the water inlet pipe of the inlet solenoid valve 1 and the heating and heat preservation tank 2 to prevent water backflow and protect the pipe from damage by reverse pressure; The milk powder storage and precise delivery module includes a milk powder box 3 and a precise milk delivery mechanism 4, which is used to output a fixed amount of milk powder on demand; The mixing module includes a mixing tank 5 and a high-speed stirring motor, which is used to mix milk powder with constant temperature water to form milk liquid. The dual-channel milk supply module includes a first milk pump 6 and a second milk pump 7, which are independently connected to the first feeding trough and the second feeding trough, respectively, for delivering milk to two independent feeding troughs. The constant temperature incubation module includes an incubator and an insulation board laid at the bottom of the incubator. The insulation board is embedded with a MOSH chip to provide a uniformly heated incubation environment for piglets. The electrical control module includes a power supply 9, a touch screen 10, a controller 11, a flow meter 12, a photoelectric switch 13, and status indicator lights; the power supply 9 is a DC24V model. And one or more processors and memory storing computer program instructions; The processor implements the control method described above when executing computer program instructions.

[0029] Specifically, the precision milk delivery mechanism 4 includes an auger conveyor rod and a drive motor installed at the bottom of the milk powder box 3. The discharge port of the auger conveyor rod is connected to the inlet of the mixing tank 5 through a pipeline. A flow meter 12 is installed on the water outlet pipeline of the heating and heat preservation tank 2. The output signal of the flow meter 12 is connected to the controller 11 to monitor the water output in real time and participate in the closed-loop control of the milk mixing ratio.

[0030] Specifically, the first and second feeding troughs are equipped with liquid level detection sensors to detect the amount of remaining milk in the two feeding troughs and feed it back to the controller 11; another temperature sensor 14 is also installed in the insulated box to monitor the temperature inside the box in real time and form a closed-loop temperature control circuit with the controller 11. The target temperature setting of the closed-loop temperature control circuit is 28°C to 32°C.

[0031] Furthermore, the liquid level detection sensor adopts a dual-probe capacitive liquid level detection structure. The lengths of the two probes correspond to the low liquid level threshold and the high liquid level threshold of the feeding tank, respectively. When the milk level in the feeding tank is lower than the low liquid level threshold, a water replenishment request is triggered. When the liquid level is higher than the high liquid level threshold, the milk preparation operation is paused.

[0032] Furthermore, a low water level float switch is installed inside the heating and insulation tank 2. The controller 11 performs water replenishment protection according to the output signal of the low water level float switch: when a low liquid level signal is detected, the two milk pumps are prohibited from starting and a water shortage alarm is output; when the inlet solenoid valve 1 is opened and the flow meter does not detect a water flow signal within a preset time, the controller 11 determines that the water supply is abnormal or the flow meter is faulty, automatically closes the inlet solenoid valve 1 and outputs an alarm.

[0033] The controller 11 is equipped with a manual debugging mode and a human-machine interface. The heating start button in the human-machine interface is equipped with operation permission verification, so ordinary operators cannot directly modify the heating control parameters. The human-machine interface also has a one-click water replenishment button, which is used to quickly restore the normal water level of the system after manually operating the drain valve. After manual water replenishment is completed, the system automatically returns to standby state.

[0034] It also includes a voice output module. During the milk preparation process, the controller 11 controls the voice output module to play audio signals simulating the cries of a sow to induce piglets to eat.

[0035] The MOSH chips of the insulation board are evenly distributed in an array inside the insulation board, and the spacing between adjacent MOSH chips is 8cm to 15cm, so that the temperature uniformity deviation on the surface of the insulation board is controlled within ±1℃.

[0036] Specifically, the control system of the fully automatic precision milk preparation and constant temperature nursery rescue station for piglets includes a parameter configuration module, which is used to receive user input parameters such as age, feeding time, milk preparation ratio and mode selection information; The age curve generation module automatically generates batch feeding curves based on the received age parameters; The dynamic milk mixing control module receives feedback signals from the water temperature sensor and flow meter, and adjusts the milk powder delivery and water addition in real time based on a preset correction algorithm to keep the concentration and temperature of the mixed milk liquid within the set range. The feeding mode management module is used to switch between free-feeding mode and timed mode, and in free-feeding mode, it executes retry milk preparation and fault judgment logic based on the feed trough liquid level feedback. The cleaning process control module is used to execute a multi-stage time-interlocked cleaning process; The alarm and status management module is used to perform graded alarm processing for system anomalies and record operation logs. The power failure recovery module is used to automatically read the stored status parameters and resume execution from the breakpoint when power is restored after an interruption. The functions of each of the above modules are implemented by the processor executing corresponding instructions.

[0037] like Figures 5-9As shown, this invention provides a control method for an integrated rescue station for fully automated, precise milk preparation and constant-temperature nursery of piglets, comprising the following steps: Step S1: Obtain piglet age parameters and automatically generate batch feeding curves based on the preset age-feeding amount correlation model. The batch feeding curves include several time nodes and their corresponding single milk powder dosage and milk powder to water ratio. In step S1, the age-feeding amount correlation model is constructed using a piecewise linear interpolation algorithm or an exponential growth algorithm. After the user inputs the initial age, the end age, and the endpoint values ​​of the single milk powder dosage corresponding to each age through the human-computer interaction interface, the correlation model automatically fits and generates a continuous feeding curve covering the entire feeding cycle, and supports the user to fine-tune any node on the curve and then refit.

[0038] Step S2: In response to the start signal, execute dynamic milk mixing control based on multi-parameter feedback, including real-time acquisition of water temperature T_w and instantaneous flow rate Q_w, dynamically correcting the operating parameters of the milk powder conveying mechanism and the opening time of the water addition valve according to the water temperature and flow rate feedback values, and controlling the deviation between the actual concentration C_actual and the target concentration C_target of the mixed milk liquid within the preset threshold ΔC. In step S2, the method for dynamically adjusting the milk powder to water ratio based on water temperature and flow rate feedback includes setting a ratio correction coefficient k. in The base proportional coefficient is α, which is the temperature compensation coefficient and 0.01≤α≤0.05; β is the flow compensation coefficient and 0.005≤β≤0.02; T_set is the target water temperature; T_actual is the real-time water temperature; Q_set is the target flow rate; and Q_actual is the real-time flow rate. The speed of the auger motor of the milk powder conveying mechanism and the opening duration of the water adding solenoid valve are adjusted according to the proportional correction coefficient k.

[0039] Step S3: Based on the feed trough level detection signal, perform adaptive feeding control in free feeding mode and timed mode. This includes triggering milk preparation when the feed trough level is lower than the low level threshold. If no level rise is detected within a preset time after the first milk preparation, the milk preparation operation will be automatically retried. If there is still no effective level feedback after two milk preparations, the system is judged to be abnormal and an alarm signal is output. At the same time, the machine is stopped and waits for manual reset. In addition, the free-feeding mode and the timed mode can be selected and switched through the human-computer interaction interface; the timed mode supports dividing 24 hours into several time intervals, and each time interval can be independently set to enable / disable status and corresponding feeding parameters; in the free-feeding mode, the system continuously monitors the liquid level in the feed trough and dynamically adjusts the milk preparation frequency according to the changes in the liquid level.

[0040] Step S4: Upon receiving a cleaning instruction, execute a multi-stage time-locked cleaning process. The cleaning process includes a pre-rinse stage, a cleaning agent circulation stage, a wastewater discharge stage, and a residue detection stage. Interlocking conditions are set between each stage, and the next stage is prohibited if the previous stage is not completed.

[0041] The multi-stage time-interlocked cleaning process in step S4 also includes the following steps during the cleaning agent circulation stage: the control system sequentially performs water replenishment, stirring motor start-up, and dehumidification fan start-up according to a preset time sequence; when a discharge command is received or the discharge stage is automatically triggered, the stirring motor is shut down first, then the corresponding milk discharge solenoid valve is opened, the discharge duration is determined based on the pump flow rate estimate, and the milk discharge solenoid valve is closed after discharge is completed; if any abnormality occurs in any stage, the cleaning process is automatically interrupted and a corresponding fault prompt is output.

[0042] It also includes power outage recovery and status restoration steps: during operation, the current system status parameters and execution progress are recorded in real time. The system status parameters include the current feeding mode, the number of feedings completed, the remaining milk amount in the current batch, and the stage identifier of the step being executed; when a power outage is detected and power is restored, the stored status parameters are automatically read and execution is resumed from the breakpoint, rather than being initialized from the beginning or the already executed progress is discarded.

[0043] It also includes a fault classification alarm procedure: system anomalies are classified into four levels according to the type and severity of the fault: low liquid level alarm, flow abnormality alarm, temperature abnormality alarm, and equipment communication failure; different levels of faults are displayed on the touch screen with different colors and priorities, while the status indicator lights output corresponding color signals and the voice module outputs corresponding voice prompts; low-level faults allow the system to continue running or degrade to a lower level, while high-level faults trigger the system to automatically shut down.

[0044] Furthermore, the adaptive feeding control in step S3 also includes: in free-feeding mode, the system records the trigger time, amount of milk prepared and feeding time of each milk preparation operation, and automatically optimizes the trigger time and amount of milk prepared for the next milk preparation operation based on the recorded data, so that the milk in the trough is always supplied in an appropriate amount before the piglets finish eating without producing excessive residue.

[0045] Furthermore, the dynamic milk mixing control in step S2 also includes temperature pre-compensation control: during the water addition process, the controller 11 dynamically adjusts the opening duty cycle of the water inlet solenoid valve 1 according to the remaining water volume and real-time water temperature in the heating and insulation tank 2, so that the water temperature flowing into the mixing tank 5 meets the preset temperature requirements at the time of water outlet, without the need for secondary heating in the mixing tank 5.

[0046] The controller 11 is also equipped with a remote communication module, which supports connection to the farm management platform via wired or wireless means to upload the operation status of the rescue station, feeding records and fault alarm information in real time, and receive remote parameter setting instructions from the management platform.

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0048] Example 1: Specific Implementation of the Control Method This embodiment provides a control method for an integrated rescue station for fully automated, precise milk preparation and constant-temperature nursing of piglets, which is applied to a rescue station equipped with a constant-temperature water preparation module, a milk powder delivery module, a mixing module, a dual-feeding trough milk supply module, and an insulated box.

[0049] like Figure 5 As shown, the overall flow of the control method is as follows: Initialization Phase: After the system is powered on, the controller 11 first performs a self-test, checking the status of various sensors such as the flow meter 12, photoelectric switch 13, temperature sensor 14, and water level sensor 15 to ensure they are functioning correctly. It also checks the actuators such as the inlet solenoid valve 1, the drive motor of the precision milk delivery mechanism 4, the first milk pump 6, and the second milk pump 7 to ensure they are functioning correctly. After passing the self-test, the automatic water replenishment process is executed: the inlet solenoid valve 1 is opened, and water is replenished to the set tank capacity through the heating and insulation tank 2. Before the water replenishment is completed, the first milk pump 6 or the second milk pump 7 and the corresponding milk discharge solenoid valve are briefly opened to discharge any excess water. After water replenishment is complete, the system enters standby mode, and the yellow status indicator light illuminates. If no water flow signal is detected after the water replenishment delay, a water replenishment abnormality fault is output, and a voice prompt is displayed repeatedly. After water replenishment is complete, heating is initiated to maintain the water temperature at the set milk preparation temperature, which can be set within a range of 20℃ to 60℃ ± 0.5℃.

[0050] Age parameter setting and curve generation: (e.g.) Figure 8 As shown, the operator accesses the age parameter setting interface via touchscreen 10, inputting the initial age of the piglets (e.g., day 1), the ending age (e.g., day 15), and the endpoint values ​​for the single feeding of milk powder corresponding to each age. Controller 11, based on a piecewise linear interpolation algorithm, linearly interpolates between two adjacent set points, automatically fitting and generating a continuous feeding curve covering days 1 to 15. The user can fine-tune the single feeding of milk powder at any node on the curve; after confirmation, the system refits and generates a new feeding curve. This curve determines the daily single feeding of milk powder in batch management mode.

[0051] Feeding Mode Selection: In the system settings interface of the touchscreen 10, the operator can select to enable the first feeding trough, the second feeding trough, or both feeding troughs simultaneously. When both troughs are selected, the system runs alternately in sequence. The feeding mode can be selected as free-feeding mode or timed mode. In timed mode, the 24 hours are divided into 24 time periods, each of which can be individually set to be turned on or off, and the corresponding milk preparation amount and ratio can be set.

[0052] Dynamic formula preparation control: such as Figure 6 The closed-loop feedback control principle diagram shown indicates that after the system starts the milk preparation process, the controller 11 first reads the water temperature value T_actual in the heating and insulation tank 2 to determine whether the milk preparation temperature conditions are met and sets the temperature to ±1℃; after the conditions are met, the milk preparation operation begins.

[0053] Controller 11 determines the target amount of milk powder M_target and the milk powder to water ratio R, ranging from 1:1 to 1:8, based on the age curve. The target water consumption V_target is calculated based on R. The inlet solenoid valve 1 is opened, using the incoming cold water to force the hot water above the heating and insulation tank 2 into the mixing tank 5. Flow meter 12 monitors the instantaneous flow rate Q_actual in real time, and closes the inlet solenoid valve 1 when the accumulated flow reaches V_target.

[0054] In addition, during water intake, the corrected dosage is calculated according to the proportional correction factor formula. Specifically, the correction factor k...

[0055] In this embodiment, Set 1.0, α to 0.03, and β to 0.01.

[0056] When the actual water temperature T_actual is lower than the target water temperature T_set, the correction coefficient k is less than 1, and the amount of milk powder is appropriately reduced to avoid excessive concentration. When the actual instantaneous flow rate Q_actual is lower than the target flow rate Q_set, the amount of milk powder is appropriately increased to compensate for the extended auger conveying time caused by insufficient flow rate. Based on the corrected amount of milk powder and the target auger motor speed, the controller 11 sends a corresponding pulse signal to the precision milk delivery mechanism 4, and the auger motor starts to deliver the milk powder into the mixing tank 5. Five seconds after the water intake begins, the high-speed stirring motor starts to drive the stirring shaft in the mixing tank 5. After the milk powder is added, stirring continues for about 10 seconds until the milk powder is completely dissolved, forming a milk liquid at a suitable temperature.

[0057] After milk preparation is complete, the first milk pump 6 or the second milk pump 7 is activated according to the target dosage, and the milk is delivered to the corresponding two feeding troughs through pipelines. The milk dispensing time is determined based on the pump flow rate estimate. During the milk dispensing process, the controller 11 simultaneously sends instructions to the voice output module to play audio signals simulating sow sounds to induce piglets to feed voluntarily.

[0058] Adaptive control in free-feeding mode: such as Figure 7 As shown, in free-feeding mode, a dual-probe capacitive level sensor installed in the feed trough continuously monitors the liquid level. When the liquid level falls below the low level threshold, a milk preparation operation is triggered. After milk preparation is completed, the system waits for a preset time, such as 30 seconds, and then checks the liquid level again. If the liquid level has risen above the high level threshold, it indicates successful milk preparation. The system records the amount of milk prepared and the time taken for the piglets to eat, as well as the time interval from when the liquid level rises to its highest point and then begins to decline. Based on the recorded eating time data, the system automatically adjusts the triggering timing for the next milk preparation: if the eating time is long, the amount of milk prepared per batch is appropriately reduced or the milk preparation interval is extended; if the eating time is short and the feed trough is emptied early, the amount of milk prepared per batch is appropriately increased or the milk preparation interval is shortened.

[0059] If no increase in liquid level is detected within a preset time after the first milk preparation, the milk preparation operation will be automatically retried. If there is still no effective liquid level feedback after the second milk preparation, the system is judged to be abnormal, such as pipeline blockage, pump failure, feed tank leakage or sensor failure; the controller 11 outputs an alarm signal, the touch screen 10 displays the corresponding fault information, the status indicator light turns red and flashes, the voice module outputs a device abnormality prompt, and the system stops to wait for manual troubleshooting and reset.

[0060] Control in timed mode: In timed mode, controller 11 triggers milk preparation according to preset time periods. Each time period can be independently set to enable / disable, prepare milk volume, and prepare milk ratio. Parameters can differ for different time periods to accommodate the piglets' feeding habits at different times.

[0061] Power failure recovery control: such as Figure 9 As shown, during operation, the system saves its current status parameters to non-volatile memory after completing each key step, such as milk preparation, milk dispensing, and liquid level detection. The saved information includes: current feeding mode, current operating stage (e.g., standby / milk preparation / milk dispensing / cleaning), percentage of progress completed (e.g., milk preparation 60%), cumulative feeding count for the current batch, and trough liquid level status. When power is restored after an interruption, the controller 11 automatically reads the status parameters from the memory, determines the operating stage before the power outage, and resumes execution from the point of interruption.

[0062] For example, if the milk preparation process is 60% complete when power is interrupted, it will automatically resume from the 60% mark after power is restored, instead of starting from the beginning. If milk is being dispensed when power is interrupted, the system will determine whether to dispense more milk based on the feed trough level detection results after power is restored. This design ensures the continuity of the feeding plan and prevents piglets from missing feeding times due to power outages or ingesting excessive milk due to repeated feeding.

[0063] Fault classification alarm: Controller 11 classifies system anomalies into four levels according to their severity: Level 1 fault (low liquid level alarm): The water level in the heating and insulation tank 2 is lower than the low liquid level threshold. The system is allowed to continue running the current milk preparation process, but new milk preparation operations are prohibited. A yellow warning is displayed on the touch screen 10.

[0064] Level 2 fault (abnormal flow alarm): If the flow meter 12 does not detect a flow signal within 2 seconds after the inlet solenoid valve 1 is opened, the inlet solenoid valve 1 will be automatically closed and the machine will stop. Manual reset is required, and a red alarm will be displayed on the touch screen 10.

[0065] Level 3 fault (abnormal temperature alarm): When the water temperature exceeds the preset upper limit, such as 65℃ or falls below the preset lower limit, such as 15℃, the system will automatically shut down and trigger an alarm.

[0066] Level 4 fault (device communication fault): Communication between controller 11 and touch screen 10 or sensor is interrupted, and the system automatically shuts down.

[0067] In addition, the cleaning process is controlled as follows: The cleaning process is divided into four interlocked stages. Stage 1: Pre-rinse. The user is prompted to connect the milk outlet to the return port and add cleaning agent to the mixing tank. Stage 2: Cleaning agent circulation. After clicking the pipeline circulation button, the system adds water according to the set amount, starts the mixing motor, starts the dehumidifying fan, and begins circulating and cleaning the pipeline. Stage 3: Wastewater discharge. After clicking the wastewater discharge button, the system stops the mixing motor, opens the corresponding milk discharge solenoid valve, estimates the discharge time based on the pump flow rate, and closes the solenoid valve after discharge. Stage 4: Residue detection. The system confirms no wastewater residue using flow meter 12. Users can perform the pipeline circulation-wastewater discharge cycle at least twice to ensure thorough cleaning. In the improved embodiment, in one-button cleaning mode, the system automatically completes all the above stages; the user only needs to confirm that the cleaning agent has been added.

[0068] Example 2: Specific Structure of the System Device Reference Figures 1-4 This embodiment provides the specific structure of an integrated rescue station for fully automated, precise milk preparation and constant temperature nursing of piglets.

[0069] Overall Structure: The rescue station consists of a box-like structure. Inside the box, from top to bottom, are a milk powder storage module, a mixing module, and a constant-temperature water preparation module. A first feeding trough and a second feeding trough are located on opposite sides of the bottom of the box. An insulated box is located at the front of the box, with an insulation board at its bottom. An electrical control cabinet is located on the side of the box, housing electrical components such as a DC24V power supply (9), a touchscreen (10), and a controller (11).

[0070] Thermostatic water preparation module: The inlet solenoid valve 1 is installed at the bottom of the tank, with its inlet end connected to an external water source pipeline and its outlet end connected to the heating and insulation tank 2. The heating and insulation tank 2 has a double-layer stainless steel insulation structure and internally houses heating elements such as a PTC heater or electric heating tube, a temperature sensor 14 (PT100 platinum resistance or NTC thermistor), and a water level sensor 15 (float switch or capacitive level sensor). A flow meter 12 (turbine flow meter or ultrasonic flow meter) is installed on the outlet pipeline of the heating and insulation tank 2, and the output signal of the flow meter 12 is connected to the analog input terminal of the controller 11.

[0071] Milk powder storage and conveying module: The milk powder box 3 is located above the heating and insulation tank 2, and a sealed lid prevents the milk powder from absorbing moisture. The precision milk delivery mechanism 4 is located at the bottom of the milk powder box 3, including an auger conveyor and a servo motor; the discharge port of the auger conveyor is connected to the inlet of the mixing tank 5 through a flexible sealed pipe. The controller 11 sends pulse signals to the servo motor, with each pulse corresponding to a fixed volume of milk powder being conveyed. The milk powder output can be precisely controlled by counting the pulses.

[0072] Mixing and Stirring Module: The mixing and stirring tank 5 is located between the constant temperature water preparation module and the milk powder conveying module. It has two inlets at the top, which are connected via pipelines to the water outlet of the heating and insulation tank 2 and the outlet of the precision milk delivery mechanism 4, respectively. A high-speed stirring motor is installed inside the mixing and stirring tank 5, with stirring blades mounted on the stirring shaft, employing anchor, paddle, or turbine types. The bottom of the mixing and stirring tank 5 has two liquid outlets, which are connected via pipelines to the inlets of the first milk pump 6 and the second milk pump 7, respectively.

[0073] Milk supply module: The first milk pump 6 and the second milk pump 7 are both miniature diaphragm pumps or peristaltic pumps, with their outlet pipes extending above the corresponding two feeding troughs. One-way valves and solenoid valves are installed on the pipes to prevent milk backflow. The feeding troughs are made of stainless steel, with heating wires embedded in the bottom, continuously outputting heat after the system starts to prevent the milk from solidifying upon contact with cold. Each feeding trough is equipped with a dual-probe capacitive liquid level sensor; the lengths of the two probes correspond to the low liquid level threshold at 1 / 3 of the feeding trough depth and the high liquid level threshold at 2 / 3 of the feeding trough depth, respectively.

[0074] Insulation Box and Insulation Board: The insulation box has a closed structure with an openable transparent observation window and a piglet entrance / exit hole on the side wall, and an insulation board at the bottom. The insulation board, from bottom to top, includes a plastic base plate, a heat insulation layer, a MOSH chip array, a thermally conductive insulating layer, and a non-slip lying layer. The MOSH chips are arranged in a rectangular array, with a spacing of 8cm to 15cm between adjacent chips. Each MOSH chip is independently connected to a temperature controller. Compared with traditional electric heating film or electric heating wire insulation methods, MOSH chips have a positive temperature coefficient, resulting in uniform heating and preventing localized overheating. A temperature sensor is also installed inside the insulation board, forming a closed-loop temperature control circuit with the controller 11, with a target temperature set at 30℃±1℃.

[0075] Electrical control module: Controller 11 adopts a PLC controller or an embedded ARM controller, with a built-in real-time clock and power-off retention memory. The digital input ports of controller 11 are connected to the output signals of photoelectric switch 13, water level sensor 15, and liquid level detection sensor; the analog input ports are connected to the output signals of temperature sensor 14 and flow meter 12; the digital output ports are connected to the control terminals of the inlet solenoid valve 1, each milk discharge solenoid valve, the drive motor of the precision milk delivery mechanism 4, the milk discharge pump, the stirring motor, the heating element, and the voice module.

[0076] The touchscreen 10 is a 7-inch or 10-inch color resistive touchscreen that communicates with the controller 11 via RS485 or Ethernet. The touchscreen 10 displays system operating status, sensor readings, alarm information, and provides a parameter setting interface, including formula settings, feeding time settings, age curve settings, and manual adjustments. The heating start button in the human-machine interface has access control verification; only administrator-level accounts can modify heating control parameters to prevent accidental operation. The touchscreen 10 also features a one-touch water replenishment button for quickly restoring the system's normal water level after manually operating the drain valve.

[0077] The remote communication module uses a 4G / 5G module, a Wi-Fi module, or an Ethernet module to upload the rescue station's operational data to the farm management platform in real time, while also receiving remote parameter setting instructions.

[0078] Brief description of the working process: Clean water enters the heating and insulation tank 2 through the inlet solenoid valve 1, is heated to the set temperature, and then maintained at a constant temperature. The operator sets parameters on the touch screen 10: age, feeding time, milk preparation ratio, etc. When milk preparation is needed, the precise milk delivery mechanism 4 delivers milk powder into the mixing tank 5 according to the calculated value. At the same time, the constant temperature water in the heating and insulation tank 2 is delivered into the mixing tank 5 according to the calculated amount. After being fully mixed by the high-speed stirring motor, the milk is delivered into the feeding trough through the first milk pump 6 or the second milk pump 7. During the milk preparation process, the controller 11 dynamically adjusts the preparation ratio based on the real-time feedback values ​​from the flow meter 12 and the temperature sensor 14 to ensure that the milk concentration and temperature are within the set range. The insulation plate at the bottom of the incubator is evenly heated by a MOSH chip, providing a constant and comfortable temperature environment for the piglets.

[0079] Example 3: Improved Generation of Age-Adaptive Feeding Curves This embodiment improves upon the age-adaptive feeding curve generation method of Embodiment 1. In addition to the piecewise linear interpolation algorithm, this embodiment can also employ an exponential growth algorithm to construct the feeding curve, thereby more accurately simulating the growth pattern of piglets.

[0080] Specifically, let M0 be the single feeding amount at the initial age t0 and M1 be the single feeding amount at the final age t1. Then, at age t (t0 ≤ t ≤ ... The single feeding amount M(t) of ) satisfies the exponential growth model: Where λ is the growth coefficient, determined by the boundary condition M( )= By reverse deduction: ; Users only need to enter , and The system automatically fits and generates an exponential growth curve. Users can also manually modify the value of any point on the curve, and the system will refit the curve using that point as the new boundary after modification.

[0081] Experimental data show that the feeding curve generated by the exponential growth model matches the actual feed intake growth trend of piglets better. Compared with the linear interpolation model, it can more accurately match the nutritional requirement curve of piglets and reduce milk waste.

[0082] Example 4: Improved Layout of MOSH Chip Array on Insulation Board This embodiment optimizes the arrangement of the MOSH chip array in the insulation board. In Embodiment 2, an equally spaced rectangular array was used, with the spacing between adjacent MOSH chips ranging from 8cm to 15cm. In this embodiment, considering the activity patterns of piglets in the insulation box, which typically involve the longest time spent in the central area of ​​the insulation board, a non-uniform arrangement with denser chips in the middle and sparser chips at both ends was adopted.

[0083] Specifically, along the length of the insulation board, the spacing between the MOSH chips in the central region (40% of the total length) is set to 8cm, while the spacing between the chips in the two outer regions (30% of the total length) is set to 12cm. This non-uniform arrangement optimizes the temperature field on the surface of the insulation board, resulting in a more stable temperature in the central region and slightly lower temperatures in the outer regions to guide piglets to gather towards the center, further reducing the phenomenon of huddling together for warmth.

[0084] Furthermore, in this embodiment, three temperature sensors are installed inside the insulation board, located in the central and side areas respectively. The controller 11 controls the power supply of the MOSH chip group in each area based on the temperature feedback from the three points, thereby achieving zoned temperature control. Zoned temperature control further improves the temperature uniformity of the insulation board, reducing the maximum surface temperature difference from ±1℃ to ±0.5℃.

[0085] Comparative Example 1: Comparison of milk formulation accuracy between existing technology and the present invention To verify the milk formulation accuracy advantage of this invention, the following comparative experiment was conducted: Comparison objects: Comparative Example 1-1 is the device with announcement number CN214339354U, which adopts a timed and quantitative open-loop control method; Comparative Example 1-2 is the device with announcement number CN111955370B, which adopts a multi-functional integrated design, but the control logic is still mainly based on timed and quantitative control; Example 1 is the solution of the present invention.

[0086] Test conditions: All three methods had a target concentration of 12%, i.e., milk powder:water = 1:7.33, and a target water temperature of 40℃. Each method was tested 100 times. Ambient water temperature fluctuated between 15℃ and 25℃, and water pressure fluctuated between 0.2MPa and 0.5MPa. The results of the milk preparation accuracy test are shown in Table 1.

[0087] Table 1

[0088] Results Analysis: Comparative Example 1-1, which uses open-loop timed and quantitative control, is greatly affected by water temperature fluctuations and changes in pipeline pressure, resulting in poor milk mixing accuracy. Although Comparative Example 1-2 improves stability to some extent, it lacks a dynamic feedback adjustment mechanism, and its accuracy is still not ideal. In contrast, the dynamic milk mixing algorithm based on dual feedback of water temperature and flow rate used in Example 1 of this invention can correct the mixing ratio deviation in real time, and the accuracy of concentration and temperature is significantly better than that of the prior art, improving the milk mixing success rate by 8% to 12%.

[0089] Comparative Example 2: Comparison of the effects of age-adaptive feeding and artificially segmented feeding adjustments To verify the effect of the age-adaptive feeding curve of this invention on the growth performance of piglets, the following comparative experiment was set up: Experimental subjects: 200 healthy piglets from the same batch were randomly divided into two groups, A and B, with 100 piglets in each group. The feeding environment was the same and the feeding period was 15 days.

[0090] Feeding program: Group A used manual segmented adjustments, with feeders adjusting feeding parameters every 5 days; Group B used the age-adaptive feeding curve automatic adjustment program of this invention, requiring no manual intervention. The experimental results of the feeding effect are shown in Table 2.

[0091] Table 2

[0092] Results analysis: The age-adaptive feeding program of the present invention can more accurately match the nutritional needs of piglets at different stages. The daily weight gain and weaning weight of piglets are significantly better than those of artificially adjusted programs. At the same time, the diarrhea rate is reduced by more than half, and the workload of feeders is also greatly reduced.

[0093] Comparative Example 3: Comparison of temperature uniformity among different insulation schemes To verify the temperature uniformity advantage of the MOSH chip array layout scheme of this invention, the following comparative experiment was conducted: Comparison examples: Comparative Example 3-1 is the piglet heat preservation board (electric heating wire solution) with announcement number CN201536543U; Comparative Example 3-2 is the farrowing crate piglet heat preservation board (electric heating film solution) with announcement number CN103907539B; Comparative Example 3-3 is a commercially available brand of water-heated piglet heat preservation board; Example 4 is the MOSH chip non-uniform array solution of the present invention.

[0094] Test method: The target temperature for each insulation board was set to 30℃. Nine temperature measurement points (3×3 grid) were evenly distributed on the surface of the insulation board. The steady-state temperature of each point was measured, and the uniformity deviation was calculated. The temperature uniformity test results are shown in Table 3.

[0095] Table 3

[0096] Results Analysis: Both the electric heating wire and electric heating film solutions exhibited significant localized hot spots, with maximum temperature differences exceeding 5°C, causing piglets to huddle together for warmth. The water-based heating solution offered some improvement but still maintained a temperature difference of approximately 3°C. The MOSH chip array solution of this invention, particularly the non-uniform distribution and zoned temperature control scheme in Example 4, achieved a maximum temperature difference of only 0.6°C, realizing truly uniform heat preservation and providing a comfortable lying environment for piglets.

[0097] Comparative Example 4: Comparison of Power Outage Recovery Functions To verify the actual effectiveness of the power outage recovery and state restoration functions of this invention, the following comparative experiment was conducted: Comparison objects: Comparative Example 4-1 is a commercially available automatic piglet feeding device without power failure recovery function; Comparative Example 4-2 is a device with simple status saving, which only saves the current feeding mode; Example 1 is the solution of the present invention, which saves complete status parameters including progress.

[0098] Test method: Power was manually cut off when the equipment reached 50% of the milk preparation process. After waiting 30 seconds, power was restored, and the recovery status and execution results of each scheme were observed. The test results of the power failure recovery function are shown in Table 4.

[0099] Table 4

[0100] Results analysis: The device in Comparative Example 4-1 completely lost data after a power outage, which may cause piglets to miss feeding time or be fed repeatedly after the power is restored; Comparative Example 4-2, although it saved some information, still lost progress details; The solution of this invention achieves true breakpoint continuation by saving complete progress parameters, minimizing the impact of power outages on the feeding plan.

[0101] Industrial applicability

[0102] The fully automated, precision-controlled milk preparation and constant-temperature nursery integrated rescue station for piglets and its control method provided by this invention have a reasonable structural design and advanced control algorithm. They offer advantages such as high milk preparation accuracy, high level of intelligence, and simple operation and maintenance. They can be widely applied in large-scale pig farms, breeding pig bases, and other scenarios, effectively reducing manual labor intensity, improving piglet survival rate and growth uniformity, and possessing good industrial practical value and economic benefits.

[0103] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0104] It should be noted that the specific connection relationships between the components are based on the ability to achieve the functions of this invention. The above are existing technologies and will not be elaborated further. The above embodiments are only for illustrating the technical concept and features of this invention, and their purpose is to enable those skilled in the art to understand the content of this invention and implement it accordingly. They should not be used to limit the scope of protection of this invention. All equivalent changes or modifications made according to the spirit and essence of this invention should be covered within the scope of protection of this invention.

Claims

1. A control method for an integrated rescue station for fully automated, precise milk preparation and constant-temperature nursery of piglets, characterized by: Includes the following steps: Step S1: Obtain piglet age parameters and automatically generate batch feeding curves based on a preset age-feeding amount correlation model. The batch feeding curves include several time nodes and their corresponding single milk powder dosage and milk powder to water ratio. Step S2: In response to the start signal, execute dynamic milk mixing control based on multi-parameter feedback, including real-time acquisition of water temperature T_w and instantaneous flow rate Q_w, dynamically correcting the operating parameters of the milk powder conveying mechanism and the opening time of the water addition valve according to the water temperature and flow rate feedback values, and controlling the deviation between the actual concentration C_actual and the target concentration C_target of the mixed milk liquid within the preset threshold ΔC. Step S3: Based on the feed trough level detection signal, perform adaptive feeding control in free feeding mode and timed mode. This includes triggering milk preparation when the feed trough level is lower than the low level threshold. If no level rise is detected within a preset time after the first milk preparation, the milk preparation operation will be automatically retried. If there is still no effective level feedback after two milk preparations, the system is judged to be abnormal and an alarm signal is output. At the same time, the machine is stopped and waits for manual reset. Step S4: Upon receiving a cleaning instruction, execute a multi-stage time-locked cleaning process. The cleaning process includes a pre-rinse stage, a cleaning agent circulation stage, a wastewater discharge stage, and a residue detection stage. Interlocking conditions are set between each stage, and the next stage is prohibited if the previous stage is not completed.

2. The control method for the fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 1, characterized in that: In step S2, the method for dynamically correcting the milk powder to water ratio based on water temperature and flow feedback includes setting a ratio correction coefficient k = k0 + α × (T_set − T_actual) + β × (Q_set − Q_actual), where k0 is the basic ratio coefficient, α is the temperature compensation coefficient and 0.01 ≤ α ≤ 0.05, β is the flow compensation coefficient and 0.005 ≤ β ≤ 0.02, T_set is the target water temperature, T_actual is the real-time water temperature, Q_set is the target flow rate, and Q_actual is the real-time flow rate; and adjusting the auger motor speed of the milk powder conveying mechanism and the opening duration of the water adding solenoid valve according to the ratio correction coefficient k.

3. The control method for the fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 2, characterized in that: In step S1, the age-feeding amount correlation model is constructed using a piecewise linear interpolation algorithm or an exponential growth algorithm. After the user inputs the initial age, the end age, and the endpoint values ​​of the single milk powder dosage corresponding to each age through the human-computer interaction interface, the correlation model automatically fits and generates a continuous feeding curve covering the entire feeding cycle, and supports the user to fine-tune any node on the curve and then refit.

4. The control method for the fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 3, characterized in that: It also includes power outage recovery and status restoration steps: during operation, the current system status parameters and execution progress are recorded in real time. The system status parameters include the current feeding mode, the number of feedings completed, the remaining milk amount in the current batch, and the stage identifier of the step being executed; when power is restored after a power outage is detected, the stored status parameters are automatically read and execution is resumed from the breakpoint, rather than being initialized from the beginning or the already executed progress is discarded.

5. The control method for the fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 4, characterized in that: The free-feeding mode and timed mode can be selected and switched through the human-computer interaction interface; the timed mode supports dividing 24 hours into several time intervals, and each time interval can be independently set to enable / disable status and corresponding feeding parameters; in the free-feeding mode, the system continuously monitors the liquid level in the feed trough and dynamically adjusts the milk preparation frequency according to the changes in the liquid level.

6. The control method for the fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 5, characterized in that: The multi-stage time-interlocked cleaning process in step S4 also includes the following steps: during the cleaning agent circulation stage, the control system sequentially performs water replenishment, stirring motor start-up, and dehumidification fan start-up according to a preset time sequence; when a discharge command is received or the discharge stage is automatically triggered, the stirring motor is shut down first, then the corresponding milk discharge solenoid valve is opened, the discharge duration is determined according to the pump flow rate estimate, and the milk discharge solenoid valve is closed after the discharge is completed; if any abnormality occurs in any stage, the cleaning process is automatically interrupted and a corresponding fault prompt is output.

7. A fully automated, precision-controlled milk preparation and constant-temperature nursery integrated rescue station for piglets, applied to the control method of the fully automated, precision-controlled milk preparation and constant-temperature nursery integrated rescue station for piglets as described in claim 6, characterized in that: It includes a constant temperature water preparation module, comprising an inlet solenoid valve (1), a heating and heat preservation tank (2), a temperature sensor (14), and a water level sensor (15), for providing water for preparation at a constant temperature; The milk powder storage and precise delivery module includes a milk powder box (3) and a precise milk delivery mechanism (4) for dispensing a fixed amount of milk powder on demand; The mixing and stirring module includes a mixing and stirring tank (5) and a high-speed stirring motor, which is used to mix and stir milk powder with constant temperature water to form milk liquid; The dual-channel milk supply module includes a first milk pump (6) and a second milk pump (7), which are independently connected to the first feeding trough and the second feeding trough, respectively, for delivering milk to the two independent feeding troughs; The constant temperature incubation module includes an incubator and an insulation board laid at the bottom of the incubator. The insulation board is embedded with a MOSH chip to provide a uniformly heated incubation environment for piglets. The electrical control module includes a power supply (9), a touch screen (10), a controller (11), a flow meter (12), a photoelectric switch (13), and status indicator lights; And one or more processors and memory storing computer program instructions; Wherein, when the processor executes computer program instructions, it implements the control method according to any one of claims 1 to 7.

8. The fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 7, characterized in that: The precision milk delivery mechanism (4) includes an auger conveyor rod and a drive motor installed at the bottom of the milk powder box (3). The outlet of the auger conveyor rod is connected to the inlet of the mixing tank (5) through a pipeline. A flow meter (12) is installed on the water outlet pipeline of the heating and heat preservation tank (2). The output signal of the flow meter (12) is connected to the controller (11) for real-time monitoring of water output and participation in the closed-loop control of milk mixing ratio.

9. The fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 8, characterized in that: The first and second feeding troughs are respectively equipped with liquid level detection sensors to detect the amount of remaining milk in the two feeding troughs and feed it back to the controller (11); the insulated box is also equipped with another temperature sensor (14) to monitor the temperature inside the box in real time and form a closed-loop temperature control circuit with the controller (11). The target temperature setting value of the closed-loop temperature control circuit is 28°C to 32°C.

10. The fully automated precision milk preparation and constant temperature nursery integrated rescue station for piglets according to claim 9, characterized in that: The liquid level detection sensor adopts a dual-probe capacitive liquid level detection structure. The lengths of the two probes correspond to the low liquid level threshold and the high liquid level threshold of the feeding tank, respectively. When the milk level in the feeding tank is lower than the low liquid level threshold, a water replenishment request is triggered. When the liquid level is higher than the high liquid level threshold, the milk preparation operation is paused.

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