CN110731293B - Automatic feeding system of track type culture water tank and control method thereof - Google Patents
Automatic feeding system of track type culture water tank and control method thereof Download PDFInfo
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- CN110731293B CN110731293B CN201911163933.1A CN201911163933A CN110731293B CN 110731293 B CN110731293 B CN 110731293B CN 201911163933 A CN201911163933 A CN 201911163933A CN 110731293 B CN110731293 B CN 110731293B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000003860 storage Methods 0.000 claims abstract description 35
- 238000007599 discharging Methods 0.000 claims abstract description 19
- 238000005303 weighing Methods 0.000 claims description 30
- 239000000463 material Substances 0.000 claims description 11
- 241000251468 Actinopterygii Species 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 6
- 238000009360 aquaculture Methods 0.000 claims description 4
- 244000144974 aquaculture Species 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
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- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses an automatic feeding system of a track type culture water tank and a control method thereof, wherein the system comprises a high-capacity automatic metering and discharging bin arranged on a culture water tank shore-based hardening platform, and a reciprocating feeding track is connected to the bin; the reciprocating feeding track horizontally extends to the upper part of the culture water tank from the bank base of the culture water tank, and at least one track is arranged in parallel; the reciprocating feeding track is provided with a track type electric walking feeding device. Compared with the prior art, the invention has the following advantages: (1) According to the automatic feeding system and method for the track type cultivation water tank, the feed is accurately fed through the cooperation of the feed bin and the hopper, so that stress reaction and waste of the feed in the cultivation process are avoided; (2) The system and the method realize the breadth of feed delivery through switching and using various tracks; (3) The system and the method have the advantages of simple feed storage, high intelligent degree, low energy consumption, high feed utilization rate and reasonable maintenance cost.
Description
Technical Field
The invention belongs to the technical field of aquaculture, and relates to a feed feeding system, in particular to an automatic feeding system of a track type aquaculture water tank and a control method thereof.
Background
Along with the development of science and technology, automatic technical equipment becomes an indispensable key factor of aquaculture, and in recent years, a pond internal circulation culture mode (culture water tank) is widely popularized and applied, and urgent demands are provided for automatic and intelligent feeding equipment facilities. At present, the culture water tank adopts a traditional feeder and an intensive air feeding type feeding system, and generally faces the technical problems of difficult feed storage, low intelligent degree, high energy consumption, serious feed waste, high maintenance cost and the like.
In the prior art, the automatic feeding system for the cultivation feeding is mostly carried out in a laboratory, and is very rarely popularized in practical production and application, for example, chinese patent application CN109220947A discloses an automatic feeding system for a track type indoor cultivation feeding machine. The system is characterized in that a guide rail is fixedly arranged at the top of a cultivation workshop, a driving wheel is arranged on the guide rail and connected with a feeding device, the feeding device comprises a plurality of adjacent bins, a bin gravity sensor is arranged in each bin, and a centralized blanking port is also arranged in each bin; the position of the guide rail ensures that the discharge hole of the feeding position is right above the feeder bin. The prior art has the advantages of realizing automatic feeding and avoiding the stress reaction of fishes in cultivation. But it still has drawbacks such as: 1. the track is arranged above the culture tank, so that the track cannot adapt to the external culture environment, and the accuracy of feed feeding cannot be ensured in the natural environment; 2. the direction of rotation cannot be realized in the feeding process, so that the feeding breadth cannot be ensured.
Disclosure of Invention
The technical problems to be solved are as follows: in order to overcome the defects in the prior art, the invention provides an automatic feeding system which is accurate in feeding and can ensure the feeding range, and the invention provides an automatic feeding system of a track type culture water tank and a control method thereof.
The technical scheme is as follows: the automatic feeding system of the track type cultivation water tank comprises a high-capacity automatic metering and discharging bin arranged on a cultivation water tank shore-based hardening platform, and a reciprocating feeding track is connected to the bin; the reciprocating feeding track horizontally extends to the upper part of the culture water tank from the bank base of the culture water tank, and at least one track is arranged in parallel; the reciprocating feeding track is provided with a track type electric walking feeding device.
Preferably, the high-capacity automatic metering discharging bin comprises a high-capacity bin, a feeding pipeline, a pressure weighing sensor and an electric control discharging valve; the pressure weighing sensors are symmetrically arranged along the high-capacity storage bin, and the electric control discharge valve is arranged at the bottom of the high-capacity storage bin; the high-capacity storage bin is fixed on the culture water tank shore-based hardening platform through a storage bin upright post and a flange plate, and the pressure weighing sensor is connected with the storage bin upright post in a nested manner. The high-capacity automatic metering discharging bin is used for storing feed, automatically and quantitatively feeding the feeding device, and providing stop and charging for the feeding device when the feeding device is idle.
Preferably, the feeding pipeline is arranged on one side of the high-capacity storage bin, a storage bin feeding opening is arranged on the feeding pipeline, and the storage bin feeding opening extends out of the bottom of the high-capacity storage bin.
Preferably, a striker plate is arranged on the electric control discharge valve.
Preferably, the bin upright post is provided with a feeding device position indication sensor and a feeding device charging power supply.
Preferably, the reciprocating feeding track is divided into a feeding stopping track, a reversing connecting track, a straight track and a feeding stopping track. The stopping track is used for stopping the feeding device, the reversing connecting track is used for enabling the feeding device to leave the cabin and enter the main track, the main track is reversed, the return track is switched, and the like, the straight track forms a reciprocating bidirectional track, and the feeding site is used for marking the stopping feeding position of the feeding device.
Preferably, the rail-mounted electric walking feeding device is sequentially provided with a replaceable multi-specification hopper, a telescopic automatic feeding and conveying device, a weighing device, a rail travelling wheel and an auxiliary universal wheel from top to bottom, wherein the rail travelling wheel is driven by a driving motor and is powered by a battery bin. The feeding device is powered by a driving motor and runs along the track through track travelling wheels, an auxiliary universal wheel is used for assisting the device to turn and balance, a weighing device is used for metering feeding at the present time, a replaceable multi-specification hopper is used for storing feed required by feeding at the present time, a telescopic automatic feeding and conveying device is used for feeding in a water tank, and a battery bin is used for installing a battery to provide power supply for running, program control and feeding of the device.
Preferably, the track type electric walking feeding device is provided with a position indication sensor corresponding to the high-capacity automatic metering discharging bin and a charging power supply of the feeding device.
The operation method of the automatic feeding system of the track type culture water tank comprises the following steps:
the system is characterized in that a user inputs timing, quantitative and fixed-point feeding information of the system work into a control system through a control program according to general feeding rules of different cultivation water tank cultivation objects;
s1: in a non-feeding period, the track type electric walking feeding device is stopped under a high-capacity automatic metering discharging bin and is connected with a charging device, and a built-in processor of the feeding device judges the electric quantity condition and determines whether to activate charging or stop charging;
s2: in the feeding period, the general control of the system sends feeding instructions, automatically distributes feeding target water tanks of different feeding devices and the types of feed of required bins, and automatically generates a complete feeding flow; the feeding device receives an instruction to disconnect the charging device, leaves the stop position and reaches the position of a high-capacity automatic metering discharging bin of the required feed type through a track, and the bin judges the position of the feeding device through a feeding device position indication sensor and timely opens an electric discharge valve to quantitatively feed; the feeding is completed, the feeding device runs to a feeding point of the water tank of the first item along the track according to a feeding scheme, the position indication sensor of the feeding device judges the situation in place, the telescopic automatic feeding and conveying device stretches out and passes over the fish blocking net, the feeding is quantitatively, fixed-point and timed, and after the feeding is completed, the automatic feeding of the next cultivation water tank is continued according to the feeding scheme; when the feeding amount in the hopper of the feeding device can not meet the feeding task of the next water tank, automatically returning to the bank base stock bin for feeding and continuing the feeding process; after the whole process is finished, the feeding device returns, stops under the storage bin and is connected with charging.
Preferably, the specific control method of the feed bin and the feeding device is as follows:
(1) Control method of stock bin
S1: feeding control, namely finishing feeding by using an air-assisted feeding machine, wherein a feeding pipe of the feeding machine is directly connected with a feeding pipeline of a feed bin, and the feeding amount is judged and the feeding is stopped by using the numerical value of a pressure weighing sensor;
s2: the weighing control, the pressure weighing sensor is integrated into the control system, the material quantity of the high-capacity storage bin is judged by displaying real-time weight data, the material quantity of the feeding device is judged by the real-time data during feeding, and the material shortage alarm feedback is carried out by the system;
s3: the feeding device stops for feeding control, the system judges the stopping position and the in-place condition of the feeding device through the linkage of a feed bin and a feeding device position indication sensor, stops in place and obtains a feeding indication sent by the system, the feed bin opens an electric control discharge valve for feeding, the feeding amount is judged through real-time data of pressure weighing sensors of the feed bin and the feeding device, and the feeding speed is controlled by matching with the opening and closing degree of the electric control discharge valve, so that accurate feeding control is completed;
s4: the feeding device stopping and charging control system judges the stopping position and the in-place condition of the feeding device through linkage of the storage bin and the feeding device position indication sensor, and after stopping in place, the storage bin and the feeding device are connected in a charging manner, so that a system charging indication is obtained to automatically charge the feeding device;
(2) The control method of the feeding device comprises the following steps:
s1: the feeding device stops and charges and controls, the feeding device stops and charges, the system judges the stopping position and the in-place condition of the feeding device through the linkage of the bin and the feeding device position indication sensor, stops in place and obtains the feeding indication sent by the system, the bin starts the electric control discharge valve to feed, the feeding amount is judged through the real-time data of the pressure weighing sensors of the bin and the feeding device, and the feeding speed is controlled by matching with the opening and closing degree of the electric control discharge valve, so that the accurate feeding control is completed;
s2: the feeding device stopping and feeding control system judges the stopping position and the in-place condition of the feeding device through linkage of the storage bin and the feeding device position indication sensor, and after stopping in place, the storage bin and the feeding device are connected in a charging manner, so that a system charging indication is obtained to automatically charge the feeding device;
s3: the feeding device is controlled by walking, the feeding device is powered by a driving motor to walk along a track through a track travelling wheel, and an auxiliary universal wheel is used for assisting the steering and balancing of the device; in the feeding process, the walking path of the feeding device strictly refers to the planned path of the feeding scheme of the current system, and the walking control of running, obstacle avoidance, steering and stopping is automatically realized;
s4: the feeding device is controlled in feeding, the system judges the stopping position and the in-place condition of the feeding device through the linkage of the feeding device and the position indication sensor of the feeding site, the telescopic automatic feeding and conveying device stretches out and passes over the fish blocking net after stopping in place, the feeding device controller finishes quantitative, fixed-point and timing feeding of the feed, and the telescopic automatic feeding and conveying device retracts after feeding is finished and continues automatic feeding of the next culture water tank according to a feeding scheme.
The beneficial effects are that: (1) According to the automatic feeding system and method for the track type cultivation water tank, the feed is accurately fed through the cooperation of the feed bin and the hopper, so that stress reaction and waste of the feed in the cultivation process are avoided; (2) The system and the method realize the breadth of feed delivery through switching and using various tracks; (3) The system and the method have the advantages of simple feed storage, high intelligent degree, low energy consumption, high feed utilization rate and reasonable maintenance cost.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the structure of a high-capacity automatic metering blanking bin;
FIG. 3 is a schematic structural view of a track-type electric walking feeding device;
FIG. 4 is a schematic view of a reciprocating feeding track;
wherein 1 is a high-capacity automatic metering blanking bin, 2 is a reciprocating type feeding track, 3 is a track type electric walking feeding device, 4 is a high-capacity bin, 5 is a feeding pipeline, 6 is a pressure weighing sensor, 7 is an electric control discharge valve, 8 is a bin column, 9 is a feeding device position indication sensor, 10 is a feeding device charging power supply, 11 is a flange plate, 12 is a bin feeding port, 13 is a baffle plate, 14 is a replaceable multi-specification hopper, 15 is a telescopic automatic feeding and conveying device, 16 is a weighing device, 17 is a battery bin, 18 is an auxiliary universal wheel, 19 is a driving motor, 20 is a track walking wheel, 21 is a feeding stop track, 22 is a reversing connection track, 23 is a straight-line track, and 24 is a feeding stop track.
Detailed Description
The following examples further illustrate the invention but are not to be construed as limiting the invention. Modifications and substitutions to the method, steps or conditions of the invention without departing from the spirit and nature of the invention are intended to be within the scope of the invention. The technical means used in the examples are conventional means well known to those skilled in the art unless otherwise indicated.
Example 1
As shown in fig. 1-4, the automatic feeding system of the track type culture water tank comprises a high-capacity automatic metering blanking bin 1 arranged on a culture water tank shore-based hardening platform, and a reciprocating feeding track 2 is connected to the bin; the reciprocating feeding track 2 horizontally extends from the shore base of the cultivation water tank to the upper part of the cultivation water tank, and at least one track is arranged in parallel; the reciprocating feeding track 2 is provided with a track type electric walking feeding device 3.
The high-capacity automatic metering discharging bin 1 comprises a high-capacity bin 4, a feeding pipeline 5, a pressure weighing sensor 6 and an electric control discharging valve 7; the feeding pipeline 5 is arranged at one side in the high-capacity storage bin 4, the pressure weighing sensors 6 are symmetrically arranged along the high-capacity storage bin 4, and the electric control discharge valve 7 is arranged at the bottom of the high-capacity storage bin 4; the high-capacity storage bin 4 is fixed on a culture water tank shore-based hardening platform through a storage bin upright post 8 and a flange 11, and the pressure weighing sensor 6 is connected with the storage bin upright post 8 in a nested manner.
The feeding pipeline 5 is arranged on one side of the high-capacity storage bin 4, a storage bin feeding opening 12 is arranged on the feeding pipeline 5, and the storage bin feeding opening 12 extends out of the bottom of the high-capacity storage bin 4.
The electric control discharge valve 7 is provided with a baffle plate 13.
The bin upright post 8 is provided with a feeding device position indication sensor 9 and a feeding device charging power supply 10.
The reciprocating feeding track 2 is divided into a feeding stopping track 21, a reversing connecting track 22, a straight track 23 and a feeding stopping track 24.
The track type electric walking feeding device 3 is sequentially provided with a replaceable multi-specification hopper 14, a telescopic automatic feeding and conveying device 15, a weighing device 16, a track travelling wheel 20 and an auxiliary universal wheel 18 from top to bottom, wherein the track travelling wheel 20 is driven by a driving motor 19 and is powered by a battery bin 17.
The track type electric walking feeding device 3 is provided with a position indication sensor 9 and a feeding device charging power supply 10 which correspond to the high-capacity automatic metering discharging bin 1.
Example 2
The automatic feeding system of the track type cultivation water tank is adopted for feeding the cultivation water tank, and the specific operation method is as follows:
the system is characterized in that a user inputs timing, quantitative and fixed-point feeding information of the system work into a control system through a control program according to general feeding rules of different cultivation water tank cultivation objects;
s1: in a non-feeding period, the track type electric walking feeding device 3 is stopped under the high-capacity automatic metering discharging bin 1 and is connected with a charging device, and a built-in processor of the feeding device judges the electric quantity condition and determines whether to activate charging or stop charging;
s2: in the feeding period, the general control of the system sends feeding instructions, automatically distributes feeding target water tanks of different feeding devices and the types of feed of required bins, and automatically generates a complete feeding flow; the feeding device receives an instruction to disconnect the charging device, leaves the stopping position and reaches the position of a high-capacity automatic metering discharging bin 1 of a required feed type through a track, the bin judges the position of the feeding device through a feeding device position indication sensor 9, and an electric discharge valve 7 is timely opened for quantitative feeding; after the feeding is completed, the feeding device runs to a feeding point of the water tank of the first item along the track according to the feeding scheme, the position indication sensor 9 of the feeding device judges the situation of the in-place condition, the telescopic automatic feeding and conveying device 15 stretches out and passes over the fish blocking net to quantitatively, fixedly and regularly feed the feed, and after the feeding is completed, the automatic feeding of the next cultivation water tank is continued according to the feeding scheme; when the feeding amount in the hopper of the feeding device can not meet the feeding task of the next water tank, automatically returning to the bank base stock bin for feeding and continuing the feeding process; after the whole process is finished, the feeding device returns, stops under the storage bin and is connected with charging.
The specific control method of the feed bin and the feeding device is as follows:
(1) Control method of stock bin
S1: feeding control, namely finishing feeding by using an air-assisted feeding machine, wherein a feeding pipe of the feeding machine is directly connected with a feeding pipeline 5 of a feed bin, and the feeding amount is judged by a numerical value of a pressure weighing sensor 6 and stopping feeding;
s2: the weighing control, the pressure weighing sensor 6 is integrated into the control system, the material quantity of the high-capacity storage bin 4 is judged by displaying real-time weight data, the material quantity of the feeding device is judged by the real-time data during feeding, and the material shortage alarm feedback is carried out by the system;
s3: the feeding device stops and feeds the material to be controlled, the system judges the stopping position and the in-place condition of the feeding device through the linkage of a feed bin and a feeding device position indication sensor 9, stops in place and obtains the feeding indication sent by the system, the feed bin opens an electric control discharge valve 7 to feed the material, the real-time data of the pressure weighing sensors 6 of the feed bin and the feeding device is used for judging the feeding amount, and the feeding speed is controlled by matching with the opening and closing degree of the electric control discharge valve 7, so that the accurate feeding control is completed;
s4: the feeding device stopping and charging control system judges the stopping position and the in-place condition of the feeding device in a linkage way through a feed bin and a feeding device position indication sensor 9, and after stopping in place, the feed bin and the feeding device are connected in a charging way, so that a system charging indication is obtained to automatically charge the feeding device;
(2) The control method of the feeding device comprises the following steps:
s1: the feeding device stops and charges and controls, the system judges the stopping position and the in-place condition of the feeding device through the linkage of a feed bin and a feeding device position indication sensor 9, stops in place and obtains a feeding indication sent by the system, the feed bin starts an electric control discharge valve 7 to feed, the feeding amount is judged through real-time data of a pressure weighing sensor 6 of the feed bin and the feeding device, and the feeding speed is controlled by matching with the opening and closing degree of the electric control discharge valve 7, so that the accurate feeding control is completed;
s2: the feeding device stopping and feeding control system judges the stopping position and the in-place condition of the feeding device in a linkage way through a feed bin and a feeding device position indication sensor 9, and after stopping in place, the feed bin and the feeding device are connected in a charging way, so that a system charging indication is obtained to automatically charge the feeding device;
s3: the feeding device is controlled by walking, the feeding device is powered by a driving motor 19 to walk along a track through a track walking wheel 20, and an auxiliary universal wheel 18 is used for assisting the steering and balancing of the device; in the feeding process, the walking path of the feeding device strictly refers to the planned path of the feeding scheme of the current system, and the walking control of running, obstacle avoidance, steering and stopping is automatically realized;
s4: the feeding device is controlled in feeding, the system judges the stopping position and the in-place condition of the feeding device through the linkage of the feeding device and the position indication sensor of the feeding site, the telescopic automatic feeding and conveying device 15 stretches out and passes over the fish blocking net after stopping in place, the feeding device controller finishes quantitative, fixed-point and timing feeding of the feed, the telescopic automatic feeding and conveying device 15 retracts after feeding is finished, and the automatic feeding of the next cultivation water tank is continued according to a feeding scheme.
Claims (2)
1. The automatic feeding system of the track type culture water tank is characterized by comprising a high-capacity automatic metering and discharging bin (1) arranged on a culture water tank shore-based hardening platform, wherein the bin is connected with a reciprocating feeding track (2); the reciprocating feeding track (2) horizontally extends from the shore base of the culture water tank to the upper part of the culture water tank, and at least one track is arranged in parallel; a track type electric walking feeding device (3) is arranged on the reciprocating feeding track (2);
the high-capacity automatic metering discharging bin (1) comprises a high-capacity bin (4), a feeding pipeline (5), a pressure weighing sensor (6) and an electric control discharging valve (7); the feeding pipeline (5) is arranged at one side in the high-capacity storage bin (4), the pressure weighing sensors (6) are symmetrically arranged along the high-capacity storage bin (4), and the electric control discharge valve (7) is arranged at the bottom of the high-capacity storage bin (4); the high-capacity bin (4) is fixed on the culture water tank shore-based hardening platform through a bin upright post (8) and a flange (11), and the pressure weighing sensor (6) is connected with the bin upright post (8) in a nested manner;
the feeding pipeline (5) is arranged on one side of the high-capacity bin (4), a bin feeding opening (12) is formed in the feeding pipeline (5), and the bin feeding opening (12) extends out of the bottom of the high-capacity bin (4);
a striker plate (13) is arranged on the electric control discharge valve (7);
a feeding device position indication sensor (9) and a feeding device charging power supply (10) are arranged on the stock bin upright post (8);
the reciprocating feeding track (2) is divided into a feeding stopping track (21), a reversing connecting track (22), a straight track (23) and a feeding stopping track (24);
the track type electric walking feeding device (3) is sequentially provided with a replaceable multi-specification hopper (14), a telescopic automatic feeding and conveying device (15), a weighing device (16), a track travelling wheel (20) and an auxiliary universal wheel (18) from top to bottom, wherein the track travelling wheel (20) is driven by a driving motor (19) and is powered by a battery bin (17);
the track type electric walking feeding device (3) is provided with a position indication sensor (9) and a feeding device charging power supply (10) which correspond to the high-capacity automatic metering discharging bin (1);
the operation method of the system comprises the following steps:
the system is characterized in that a user inputs timing, quantitative and fixed-point feeding information of the system work into a control system through a control program according to general feeding rules of different cultivation water tank cultivation objects;
s1: in a non-feeding period, the track type electric walking feeding device (3) is stopped under the high-capacity automatic metering discharging bin (1) and is connected with the charging device, and a built-in processor of the feeding device judges the electric quantity condition and determines whether to activate charging or stop charging;
s2: in the feeding period, the general control of the system sends feeding instructions, automatically distributes feeding target water tanks of different feeding devices and the types of feed of required bins, and automatically generates a complete feeding flow; the feeding device receives an instruction to disconnect the charging device, leaves the stopping position and reaches under a high-capacity automatic metering and discharging bin (1) of a required feed type through a track, the bin judges the position of the feeding device through a feeding device position indication sensor (9), and an electric discharge valve (7) is opened timely for quantitative feeding; feeding is completed, the feeding device runs to a feeding point of the water tank of the first item along the track according to a feeding scheme, the position indication sensor (9) of the feeding device judges the situation in place, the telescopic automatic feeding and conveying device (15) stretches out and passes over the fish blocking net, the feed is quantitatively, fixed-point and timely fed, and after the feeding is completed, the automatic feeding of the next cultivation water tank is continued according to the feeding scheme; when the feeding amount in the hopper of the feeding device can not meet the feeding task of the next water tank, automatically returning to the bank base stock bin for feeding and continuing the feeding process; after the whole process is finished, the feeding device returns, stops under the storage bin and is connected with charging.
2. The automatic feeding system of a track-type aquaculture trough according to claim 1, wherein the specific control method of the silo and feeding device is as follows:
(1) Control method of stock bin
S1: feeding control, namely finishing feeding by using an air-assisted feeding machine, wherein a feeding pipe of the feeding machine is directly connected with a feeding pipeline (5) of a feed bin, and the feeding amount is judged and the feeding is stopped by using a numerical value of a pressure weighing sensor (6);
s2: the weighing control, the pressure weighing sensor (6) is integrated into the control system, the material quantity of the high-capacity storage bin (4) is judged by displaying real-time weight data, the material quantity of the feeding device is judged by the real-time data during feeding, and the material shortage alarm feedback is carried out by the system;
s3: the feeding device is stopped and fed, the system judges the stopping position and the in-place condition of the feeding device through the linkage of a feed bin and a feeding device position indication sensor (9), stops in place and obtains a feeding indication sent by the system, the feed bin opens an electric control discharge valve (7) to feed, judges the feeding amount through real-time data of a pressure weighing sensor (6) of the feed bin and the feeding device, controls the feeding speed in cooperation with the opening and closing degree of the electric control discharge valve (7), and completes accurate feeding control;
s4: the feeding device stopping and charging control system judges the stopping position and the in-place condition of the feeding device in a linkage way through a feed bin and a feeding device position indication sensor (9), and after stopping in place, the feed bin and the feeding device are connected in a charging way, so that a system charging indication is obtained to automatically charge the feeding device;
(2) The control method of the feeding device comprises the following steps:
s1: the feeding device stops and charges and controls, the system judges the stopping position and the in-place condition of the feeding device through the linkage of a feed bin and a feeding device position indication sensor (9), stops in place and obtains a feeding indication sent by the system, the feed bin starts an electric control discharge valve (7) to feed, the pressure weighing sensors (6) of the feed bin and the feeding device judge the feeding amount according to real-time data, and the feeding speed is controlled by matching with the opening and closing degree of the electric control discharge valve (7), so that the accurate feeding control is completed;
s2: the feeding device stopping and feeding control system judges the stopping position and the in-place condition of the feeding device in a linkage way through a feed bin and a feeding device position indication sensor (9), and after stopping in place, the feed bin and the feeding device are connected in a charging way, so that a system charging indication is obtained to automatically charge the feeding device;
s3: the feeding device is controlled by walking, the feeding device is powered by a driving motor (19) to walk along a track through a track travelling wheel (20), and an auxiliary universal wheel (18) is used for assisting the steering and balancing of the device; in the feeding process, the walking path of the feeding device strictly refers to the planned path of the feeding scheme of the current system, and the walking control of running, obstacle avoidance, steering and stopping is automatically realized;
s4: the feeding device is controlled in feeding, the system judges the stopping position and the in-place condition of the feeding device through the linkage of the feeding device and the position indication sensor of the feeding site, the telescopic automatic feeding and conveying device (15) stretches out and passes over the fish blocking net after stopping in place, the feeding device controller finishes quantitative, fixed-point and timing feeding of the feed, and the telescopic automatic feeding and conveying device (15) retracts after feeding is finished and continues automatic feeding of the next culture water tank according to a feeding scheme.
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| CN201911163933.1A CN110731293B (en) | 2019-11-25 | 2019-11-25 | Automatic feeding system of track type culture water tank and control method thereof |
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Application publication date: 20200131 Assignee: SUZHOU DINGXINGSWAN AQUATOOL Co.,Ltd. Assignor: FRESHWATER FISHERIES RESEARCH CENTER,CAFS Contract record no.: X2023980053294 Denomination of invention: Automatic feeding system and control method for track type aquaculture tank Granted publication date: 20230829 License type: Common License Record date: 20231221 |