A feed rationing control method

Abstract

The application discloses a feed feeding control method, relates to the aquaculture technical field, and realizes accurate detection of the rotating angle and rotating speed of an impeller through an induction assembly, provides a reliable pulse counting basis for volume metering of feeding, utilizes the characteristics of the multiple aliquot blade structure of the impeller, combines pulse counting to realize volume metering in units of a batching chamber, and carries out real-time correction through a motor current signal, so that accurate feed metering is realized without increasing an additional weighing sensor, a metering calibration mechanism based on a volume reference is designed, the reference weight of feed of each batching chamber is calibrated at the first use, and subsequent influences of factors such as feed density change and blade wear are automatically compensated through a current correction coefficient, manual intervention is reduced, and accurate feed feeding is realized.

Description

Technical Field

[0001] This application relates to the field of aquaculture technology, and in particular to a method for controlling feed feeding. Background Technology

[0002] In shrimp farming, controlling the amount of feed given directly affects farming efficiency and the aquatic environment. Shrimp are extremely sensitive to changes in water quality; excessive feed can lead to uneaten feed accumulation, water quality deterioration, shrimp disease, and even large-scale mortality; insufficient feed will affect growth rate and reduce output. Therefore, accurately controlling the amount of feed given each time is a core technical requirement in shrimp farming. Summary of the Invention

[0003] This application aims to solve one of the aforementioned technical problems in the prior art. Therefore, embodiments of this application provide a feed feeding control method.

[0004] According to an embodiment of this application, a feed feeding control method is provided, which uses a feeding device to feed feed. The feeding device includes a feed bin, a vibrator, an impeller box, and a feeding unit. An impeller component is disposed within the impeller box, dividing the internal space of the impeller box into multiple feeding chambers. The vibrator provides vibration to allow feed in the feed bin to enter the feeding chambers from one open side of the impeller box. The other open side of the impeller box connects to the feeding unit. The impeller box also includes a sensing component that converts the rotation of the impeller component into a number of pulses. The feed feeding control method based on the feeding device includes the following steps: The impeller component rotates at least two revolutions without load, and the no-load reference current I0 of the motor driving the impeller component to rotate without load is collected. The vibrator is started to vibrate continuously to drive the feed hopper to vibrate and discharge the feed. The impeller rotates at a constant speed for one revolution to count the number of pulse signals n. Let the amount of feed discharged for each pulse be w0. The system maintenance correction coefficient C(t) is calculated based on the difference ΔI(t) between the real-time current I(t) and the no-load reference current I0 during the feeding process. C(t) = ΔI avg / ΔI base ΔI(t) = I(t) - I0, and the final feed amount W = C(t) × n × w0, where ΔI avg Let ΔI(t) be the arithmetic mean of ΔI(t) over a sliding window T. base The ΔI is the value recorded when the impeller completes one full revolution, assuming the vibrator is operating at its rated frequency and the impeller is rotating at its rated speed. avg value; The above process must be repeated before each feeding.

[0005] The above-mentioned feed feeding control method has at least the following beneficial effects: It achieves precise detection of the impeller's rotation angle and speed through sensing components, providing a reliable pulse counting basis for feed volume measurement. Utilizing the characteristics of the impeller's multi-segmented blade structure, it combines pulse counting to achieve volume measurement per batching chamber, and uses motor current signals for real-time correction. This achieves accurate feed measurement without adding additional weighing sensors. A volume-based calibration mechanism is designed, calibrating the feed reference weight for each batching chamber upon initial use. Subsequently, it automatically compensates for the effects of feed density changes, blade wear, and other factors through a current correction coefficient, reducing manual intervention and achieving precise feed feeding.

[0006] According to the feed feeding control method described in the embodiments of this application, if the system maintenance correction coefficient C(t) deviates from the preset value, the feed dispensing amount is adjusted to w0. The adjustment process is as follows: Assume the baseline value of the system maintenance correction coefficient C(t) is 1, and the deviation threshold δ is 0.1-0.2. When |C(t)-1|>δ and is triggered 3 times consecutively, the adjusted feed dispensing amount is calculated as w0. 0（新） =w 0(旧) *C(t).

[0007] According to the feed feeding control method described in the embodiments of this application, the vibration frequency of the vibrator before feeding is 200-300Hz, and the vibration lasts for 0.5-1 seconds; during feeding, the vibration frequency of the vibrator is 50-100Hz; after the impeller stops rotating, the vibration frequency of the vibrator is 50-200Hz, and the vibrator vibrates 2-3 times, each time for 0.3 seconds.

[0008] The feed feeding control method according to the embodiments of this application also includes feed blockage detection: During operation, the real-time current I(t) is constantly compared with the preset blockage current threshold. If the real-time current I(t) is greater than or equal to the preset blockage current threshold and the number of feeding pulses is abnormal, feeding is stopped and the blockage removal process is initiated.

[0009] According to the feed feeding control method described in the embodiments of this application, the unblocking step includes: The impeller stops rotating, causing the vibrator to vibrate at high frequency to loosen the blockage. The impeller rotates in reverse 1 to 2 revolutions and then in the forward direction, and the real-time current I(t) is detected. If the real-time current I(t) is detected to be greater than or equal to the preset blockage current threshold, the above process is repeated. If the above process is repeated more than three times, manual intervention is required to handle the blockage problem. If the real-time current I(t) is less than the preset blockage current threshold, the feeding will proceed normally.

[0010] According to an embodiment of this application, a feed feeding control method is provided, which uses a feeding device to feed feed. The feeding device includes a feed bin, a vibrator, an impeller box, and a feeding unit. An impeller component is disposed within the impeller box, dividing the internal space of the impeller box into multiple feeding chambers. The vibrator provides vibration to allow feed in the feed bin to enter the feeding chambers from one open side of the impeller box. The other open side of the impeller box connects to the feeding unit. The impeller box also includes a sensing component that converts the rotation of the impeller component into a pulse count. The feed feeding control method based on the feeding device includes the following steps: The impeller component rotates at least two revolutions without load, and the no-load reference current I0 of the motor driving the impeller component to rotate without load is collected. The vibrator is started to vibrate continuously to drive the feed bin to vibrate and discharge the feed. The impeller rotates at a constant speed for one revolution to count the number of pulse signals n. Let the feed dispensing amount corresponding to each pulse be w0. The difference ΔI(t) between the real-time current I(t) and the no-load reference current I0 during the feeding process is calculated in real time. The final feeding amount W = K × Σ[ΔI(t) × Δt], where K is the conversion coefficient. The value of K is obtained through the initial calibration. The calibration process is as follows: the impeller rotates at a preset speed for a preset number of revolutions, and the calibrated feed dispensing amount W is obtained by weighing. actual And calculate the integral value of the current S, then K=W actual / S; The above process must be repeated before each feeding.

[0011] According to the feed feeding control method described in the embodiments of this application, the vibration frequency of the vibrator before feeding is 200-300Hz, and the vibration lasts for 0.5-1 seconds; during feeding, the vibration frequency of the vibrator is 50-100Hz; after the impeller stops rotating, the vibration frequency of the vibrator is 50-200Hz, and the vibrator vibrates 2-3 times, each time for 0.3 seconds.

[0012] The feed feeding control method according to the embodiments of this application also includes feed blockage detection: During operation, the real-time current I(t) is constantly monitored and compared with the preset blockage current threshold. If the real-time current I(t) is greater than or equal to the preset blockage current threshold and the number of feeding pulses is abnormal, feeding is stopped and the blockage removal process is initiated.

[0013] According to the feed feeding control method described in the embodiments of this application, the unblocking step includes: The impeller stops rotating, causing the vibrator to vibrate at high frequency to loosen the blockage. The impeller rotates in reverse 1 to 2 revolutions and then in the forward direction, and the real-time current I(t) is detected. If the real-time current I(t) is detected to be greater than or equal to the preset blockage current threshold, the above process is repeated. If the above process is repeated more than three times, manual intervention is required to handle the blockage problem. If the real-time current I(t) is less than the preset blockage current threshold, the feeding will proceed normally.

[0014] The feed feeding control method according to the embodiments of this application further includes empty feed detection and determination. The empty feed detection and determination is to compare the real-time current I(t) with the empty reference current I0. If the real-time current I(t) is the same as the empty reference current I0 and the number of detected pulses is normal, a feeding reminder is triggered.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The present application will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a schematic diagram of the feeding device according to an embodiment of this application; Figure 2 This is a schematic diagram of the magnetic marker and sensor arranged on the impeller in an embodiment of this application.

[0017] Reference numerals: feed bin 100, connecting plate 200, impeller box 300, vibrator 400, impeller component 500, feeding unit 600, Hall sensor 710, magnetic marker component 720. Detailed Implementation

[0018] This section will describe in detail the specific embodiments of this application. Preferred embodiments of this application are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of this application, but they should not be construed as limiting the scope of protection of this application.

[0019] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0020] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0022] Reference Figure 1 The feeding device includes a feed bin 100, a vibrator 400, an impeller box 300, and a feeding unit 600. An impeller component 500 is provided inside the impeller box 300, which divides the internal space of the impeller box 300 into multiple batching chambers. A connecting plate 200 is provided between the impeller box 300 and the feed bin 100. The vibrator 400 is fixed on the connecting plate 200 and is used to provide vibration so that the feed in the feed bin 100 can enter the batching chamber from one side opening of the impeller box 300. The other side opening of the impeller box 300 is connected to the feeding unit 600. The impeller box 300 also includes a sensing component, which is used to convert the rotation of the impeller component 500 into a number of pulses.

[0023] In the embodiments of this application, such as Figure 2 As shown, the impeller component 500 has 8 blades. The sensing components include Hall sensors 710 and magnetic markers 720. There are 3 Hall sensors 710 and 4 magnetic markers 720. The four magnetic markers 720 are respectively set on different blades, and there is a gap of one blade between two magnetic markers 720. The three Hall sensors 710 are equally spaced on the impeller box 300. The angle formed by the line connecting two adjacent Hall sensors 710 and the rotation center of the impeller component 500 is 22.5°. When the impeller component 500 rotates, the three Hall sensors 710 output three orthogonal signals (phase A, phase B, and phase C). Each Hall sensor 710 generates 4 pulses per revolution, and the three Hall sensors 710 generate a total of 12 pulses with an angular resolution of 22.5°. The rotation direction of the impeller component 500 can be determined by the multiphase lead-lag relationship.

[0024] The number of Hall sensors 710 and magnetic markers 720 can be replaced equivalently according to actual accuracy requirements. For example, using 3 or 6 magnetic markers 720 in conjunction with 2 or 3 Hall sensors 710, it is only necessary to ensure that there is a phase difference between adjacent sensors to achieve forward and reverse rotation discrimination. In addition, increasing the number of magnetic markers 720 can improve angular resolution, and increasing the number of Hall sensors 710 can improve signal redundancy and anti-interference capability.

[0025] It should be noted that the magnetic pole directions of adjacent magnetic markers 720 are alternated (NSNS) to increase the peak-to-peak value of the detection signal and improve the anti-interference capability.

[0026] Based on the above-mentioned feeding device, the feed feeding control method provided in this application includes the following steps: The impeller component is idled for at least two revolutions at 500 rpm, and the no-load reference current I0 of the motor driving the impeller component is collected. The vibrator 400 is started and vibrates continuously to drive the feed hopper 100 to vibrate and discharge the feed. The impeller 500 rotates at a constant speed for one revolution to count the number of pulse signals n. Let the amount of feed discharged for each pulse be w0. The system maintenance correction coefficient C(t) is calculated based on the difference ΔI(t) between the real-time current I(t) and the no-load reference current I0 during the feeding process. C(t) = ΔI avg / ΔI base ΔI(t) = I(t) - I0, where ΔI(t) is the difference between the real-time current and the no-load current during the feeding process, reflecting the current resistance to feed delivery. The final feeding amount W = C(t) × n × w0, where ΔI avg Let ΔI(t) be the arithmetic mean of ΔI(t) over a sliding window T. avg ΔI reflects the average pushing resistance of the current feed pens. base The ΔI is the value recorded when the vibrator 400 is at its rated operating frequency and the impeller 500 is at its rated speed, representing one full revolution of the impeller 500. avg Value, i.e., the standard resistance benchmark; The above process must be repeated before each feeding.

[0027] Specifically, when the impeller 500 rotates, the magnetic marker 720 sequentially passes through the Hall sensor 710 to generate pulse signals. Let w0 be the feed dispensing amount corresponding to each pulse (determined by the initial calibration). The baseline feed dispensing amount can be obtained by counting the number of pulses n: W _base=n×w0. In the illustrated embodiment, the magnetic marker 720 is a magnet, and the sensing component includes 4 magnets and 3 Hall sensors 710. Each Hall sensor 710 generates 4 pulses per revolution, and the three sensors generate a total of 12 pulses per revolution. The impeller 500 ejects all the feed from the feeding chamber with each revolution. w0 is the amount of feed corresponding to each pulse, which is obtained by the user through weighing and calibration during the first use.

[0028] Due to the randomness of gravity-fed material distribution, the filling rate of different compartments may vary. The feeding device of this application utilizes an existing vibrator 400 to continuously vibrate at a low frequency (50-100Hz) during the feeding process, keeping the feed fluidized and evenly discharging it into each feeding compartment, thus ensuring the premise that "the feed volume of each feeding compartment is approximately constant" from a physical perspective.

[0029] Even after vibration assistance, the filling rate of each compartment may still fluctuate slightly, so the system introduces a current signal for correction. Before feeding, the system idles for several revolutions to collect the no-load reference current I0. During feeding, ΔI(t) = I(t) - I0 is calculated in real time. The system maintenance correction coefficient C(t) is dynamically updated by the ratio of the average current increment within the sliding window to the calibrated reference value. The final feeding amount is: W = C(t) × n × w0. If the system maintenance correction coefficient C(t) continuously deviates from the threshold, the feed delivery amount w0 is automatically fine-tuned. The adjustment process is as follows: Assume the reference value of the system maintenance correction coefficient C(t) is 1, and the deviation threshold δ is 0.1-0.2. When |C(t)-1|>δ and triggers 3 consecutive times, the adjusted feed delivery amount is w0. 0（新） =w 0(旧) *C(t) ensures accurate econometric regression. Where w 0(旧) This refers to the feed output before adjustment, w 0（新） This refers to the adjusted feed output.

[0030] In this embodiment, the Hall sensor 710 pulse is the main metering signal (digital anti-interference, no error drift), and the motor current is the correction signal (sensing changes and anomalies in fill rate). The fusion of the two achieves stable metering and adaptive correction, thereby enabling precise feeding.

[0031] Before feeding, the vibrator 400 vibrates at a frequency of 200-300Hz for 0.5-1 second. This process breaks up bridging and prevents feed from bridging and blocking. During feeding, the vibrator 400 vibrates at a frequency of 50-100Hz to assist in pushing the feed and ensure uniform and continuous feeding. After the impeller 500 stops rotating, the vibrator 400 vibrates at a frequency of 50-200Hz, vibrating 2-3 times for 0.3 seconds each time. This process shakes off any residual feed in the impeller gaps for cleaning.

[0032] The feeding process also includes blockage detection: during operation, the real-time current I(t) is constantly monitored and compared with the preset blockage current threshold. If the real-time current I(t) is greater than or equal to the preset blockage current threshold and the feeding pulse count is abnormal, the feeding is stopped and the blockage removal step is performed.

[0033] The unblocking steps include: stopping the impeller 500 from rotating, causing the vibrator 400 to vibrate at a high frequency (200-300Hz) to loosen the blockage; rotating the impeller 500 in reverse 1 to 2 revolutions to loosen the feed, and then rotating it in the forward direction while detecting the real-time current I(t).

[0034] If the real-time current I(t) is detected to be greater than or equal to the preset blockage current threshold, the above unblocking process is repeated. If the above process is repeated more than three times, manual intervention is required to handle the blockage problem.

[0035] If the real-time current I(t) is less than the preset blockage current threshold, the feeding will proceed normally.

[0036] The control process based on the volumetric metering method described above has the following beneficial effects: (1) The orthogonal coding system composed of Hall sensor 710 and magnet is used to realize the accurate detection of the rotation angle and speed of impeller 500, providing a reliable pulse counting basis for volume measurement; (2) By utilizing the characteristics of the impeller with more than 500 equally divided blades, combined with the Hall sensor 710 pulse counting, volume measurement is achieved in units of the batching chamber, and real-time correction is performed through the motor current signal, so as to achieve accurate feed measurement without adding an additional weighing sensor. (3) Design a metering calibration mechanism based on the volume reference of the feed mixing chamber. When using it for the first time, calibrate the feed reference weight of each feed mixing chamber. Subsequently, the influence of factors such as feed density change and blade wear is automatically compensated by the current correction coefficient to reduce manual intervention. (4) Realize the linkage control of vibrator 400 and impeller 500 to improve the uniformity of material feeding, and have automatic material blockage detection and unblocking functions; (5) While ensuring accuracy, control hardware costs and improve the reliability and maintainability of equipment in humid environments.

[0037] In some embodiments, this application also provides another feed feeding control method based on current integral metering, specifically including the following steps: The impeller component is idled for at least two revolutions at 500 rpm, and the no-load reference current I0 of the motor driving the impeller component is collected. The vibrator 400 is started and vibrates continuously to drive the feed bin 100 to vibrate and discharge the feed. The impeller 500 rotates at a constant speed for one revolution to count the number of pulse signals n. Let the feed output corresponding to each pulse be w0. The difference ΔI(t) between the real-time current I(t) and the no-load reference current I0 during the feeding process is calculated in real time. The final feed output W = K × Σ[ΔI(t) × Δt], where K is the conversion coefficient. The value of K is obtained through the initial calibration. The calibration process is as follows: the impeller 500 rotates at a preset speed and a preset number of revolutions and the calibrated feed output W is measured. actual And calculate the integral value of the current S, then K=W actual / S, the preset rotation speed and feeding speed here refer to the rotation speed of the impeller 500 when it is working normally. The specific rotation speed depends on the feeding speed and is not specifically limited here. The preset number of rotations can be 1 rotation or 2 rotations. The above process must be repeated before each feeding. The motor current is used to sense the feed resistance, serving as the core measurement basis; the Hall sensor 710 pulse is used to sense the rotation speed, revolutions, and operating status; the time signal is used to connect the current and pulse signal in series to achieve integral calculation and rate determination.

[0038] Before feeding, the system idles for several revolutions to collect the no-load reference current I0. During feeding, ΔI(t) = I(t) - I0 is calculated, and after integrating over time, it is multiplied by the conversion coefficient K to obtain the final feeding amount W = K × Σ[ΔI(t) × Δt]. The value of K is determined through a self-learning mechanism.

[0039] Different types and batches of feed vary in particle size, density, and moisture content, resulting in different conversion coefficients (K values). To avoid manual readjustment after changing feeds, this application's embodiments design a three-layer self-learning mechanism: Firstly, the real-time metering layer: current and sensor signals are collected in real time for each feeding, and the cumulative feeding amount is calculated.

[0040] Secondly, the initial calibration stage: When changing feed, the system calculates the integral value S by feeding at a fixed speed and a fixed number of revolutions, and the user inputs the weight W. _actual The system calculates K=W _actual / S and associated feed number storage.

[0041] Third, the continuous fine-tuning layer corrects K-value drift through three mechanisms: idling and re-sampling I0 to compensate for changes in motor resistance; monitoring abnormal sensor pulse frequencies to correct resistance offset; and automatically fine-tuning the K-value based on the initial loading amount and cumulative metering deviation.

[0042] When impeller component 500 jams, the motor stall current spikes, and simultaneously, the Hall sensor 710 pulse stops changing. The feeding device system simultaneously detects an abnormally high current exceeding the threshold and no change in the sensor pulse, thus determining a blockage.

[0043] When the feed hopper is empty (100), the impeller rotates at 500 rpm, the current is close to I0, and the sensor pulse is normal. The system detects that the current remains close to I0 and the pulse is normal, thus determining that the hopper is empty and triggering a feeding reminder.

[0044] When the impeller box is clogged with 300 tons of material, the automatic unblocking process is not performed: Step 1: Stop feeding materials; Step 2: Loosen the blockage material by vibrating the vibrator at a high frequency of 400 Hz (preferably 200-300 Hz); Step 3: Rotate the impeller 500 degrees several times to loosen the feed (preferably 1-2 times); Step 4: Resume forward rotation detection; Step 5: If the situation returns to normal, continue feeding; otherwise, repeat steps 2 to 4 (preferably a maximum of 3 times). Step 6: If multiple attempts fail, a blockage alarm will be issued, notifying the user to manually clear the blockage.

[0045] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A method for controlling feed feeding, characterized in that, Feed is fed using a feeding device, which includes a feed bin, a vibrator, an impeller box, and a feeding unit. The impeller box contains an impeller that divides the internal space into multiple feeding chambers. The vibrator provides vibration to allow feed from the feed bin to enter the feeding chambers through an opening on one side of the impeller box. The other opening of the impeller box connects to the feeding unit. The impeller box also includes a sensing component that converts the rotation of the impeller into pulses. The feed feeding control method based on the feeding device includes the following steps: The impeller component rotates at least two revolutions without load, and the no-load reference current I0 of the motor driving the impeller component to rotate without load is collected. The vibrator is started to vibrate continuously to drive the feed hopper to vibrate and discharge the feed. The impeller rotates at a constant speed for one revolution to count the number of pulse signals n. Let the amount of feed discharged for each pulse be w0. The system maintenance correction coefficient C(t) is calculated based on the difference ΔI(t) between the real-time current I(t) and the no-load reference current I0 during the feeding process. C(t) = ΔI avg / ΔI base ΔI(t) = I(t) - I0, and the final feed amount W = C(t) × n × w0, where ΔI avg Let ΔI(t) be the arithmetic mean of ΔI(t) over a sliding window T. base The ΔI is the value recorded when the vibrator is at its rated operating frequency and the impeller is at its rated speed, representing one full revolution of the impeller. avg value; The above process must be repeated before each feeding.

2. The feed feeding control method according to claim 1, characterized in that: If the system maintenance correction coefficient C(t) deviates from the preset value, the feed delivery amount w0 is adjusted accordingly. The adjustment process is as follows: Assume the baseline value of the system maintenance correction coefficient C(t) is 1, and the deviation threshold δ is 0.1-0.

2. When |C(t)-1|>δ and is triggered 3 times consecutively, the adjusted feed delivery amount is calculated as w0. 0（新） =w 0(旧) *C(t).

3. The feed feeding control method according to claim 1, characterized in that: Before feeding, the vibration frequency of the vibrator is 200-300Hz, and the vibration lasts for 0.5-1 second; during feeding, the vibration frequency of the vibrator is 50-100Hz; after the impeller stops rotating, the vibration frequency of the vibrator is 50-200Hz, and the vibrator vibrates 2-3 times, each time for 0.3 seconds.

4. The feed feeding control method according to claim 1, characterized in that, It also includes material blockage detection: During operation, the real-time current I(t) is constantly monitored and compared with the preset blockage current threshold. If the real-time current I(t) is greater than or equal to the preset blockage current threshold and the number of feeding pulses is abnormal, feeding is stopped and the blockage removal process is initiated.

5. The feed feeding control method according to claim 4, characterized in that, The unblocking steps include: The impeller stops rotating, causing the vibrator to vibrate at high frequency to loosen the blockage. The impeller rotates in reverse 1 to 2 revolutions and then in the forward direction, and the real-time current I(t) is detected. If the real-time current I(t) is detected to be greater than or equal to the preset blockage current threshold, the above process is repeated. If the above process is repeated more than three times, manual intervention is required to handle the blockage problem. If the real-time current I(t) is less than the preset blockage current threshold, the feeding will proceed normally.

6. A method for controlling feed feeding, characterized in that, Feed is fed using a feeding device, which includes a feed bin, a vibrator, an impeller box, and a feeding unit. The impeller box contains an impeller component that divides the internal space of the impeller box into multiple feeding chambers. The vibrator provides vibration to allow feed from the feed bin to enter the feeding chambers through an opening on one side of the impeller box. The other opening of the impeller box connects to the feeding unit. The impeller box also includes a sensing component that converts the rotation of the impeller component into a number of pulses. The feed feeding control method based on the feeding device includes the following steps: The impeller component rotates at least two revolutions without load, and the no-load reference current I0 of the motor driving the impeller component to rotate without load is collected. The vibrator is activated to continuously vibrate, causing the feed hopper to vibrate and discharge the feed. The impeller rotates at a constant speed for one revolution to count the number of pulse signals n. Let the feed dispensing amount corresponding to each pulse be w0. The difference ΔI(t) between the real-time current I(t) and the no-load reference current I0 during the feeding process is calculated in real time. The final feeding amount W = K × Σ[ΔI(t) × Δt], where K is the conversion coefficient. The value of K is obtained through the initial calibration. The calibration process is as follows: the impeller feeds the feed at a preset speed and a preset number of revolutions, and the fed feed is weighed to obtain the calibrated feed dispensing amount W. actual And calculate the integral value of the current S, then K=W actual / S; The above process must be repeated before each feeding.

7. The feed feeding control method according to claim 6, characterized in that: Before feeding, the vibration frequency of the vibrator is 200-300Hz, and the vibration lasts for 0.5-1 second; during feeding, the vibration frequency of the vibrator is 50-100Hz; after the impeller stops rotating, the vibration frequency of the vibrator is 50-200Hz, and the vibrator vibrates 2-3 times, each time for 0.3 seconds.

8. The feed feeding control method according to claim 6, characterized in that, It also includes material blockage detection: During operation, the real-time current I(t) is constantly compared with the preset blockage current threshold. If the real-time current I(t) is greater than or equal to the preset blockage current threshold and the number of feeding pulses is abnormal, feeding is stopped and the blockage removal process is initiated.

9. The feed feeding control method according to claim 8, characterized in that: The unblocking steps include: The impeller stops rotating, causing the vibrator to vibrate at high frequency to loosen the blockage. The impeller rotates in reverse 1 to 2 revolutions and then in the forward direction, and the real-time current I(t) is detected. If the real-time current I(t) is detected to be greater than or equal to the preset blockage current threshold, the above process is repeated. If the above process is repeated more than three times, manual intervention is required to handle the blockage problem. If the real-time current I(t) is less than the preset blockage current threshold, the feeding will proceed normally.

10. The feed feeding control method according to claim 6, characterized in that: It also includes empty material detection and determination, which involves comparing the real-time current I(t) with the no-load reference current I0. If the real-time current I(t) is the same as the no-load reference current I0 and the number of detected pulses is normal, a feeding reminder is triggered.

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