CN112243919A

CN112243919A - Automatic feeding method and system for fishing ground

Info

Publication number: CN112243919A
Application number: CN202010968988.6A
Authority: CN
Inventors: 吴旭; 刘际; 李骜; 汪琛玮; 程起群; 孙红娟
Original assignee: Hefei Lanzhou Intelligent Technology Co ltd
Current assignee: Hefei Lanzhou Intelligent Technology Co ltd
Priority date: 2020-09-15
Filing date: 2020-09-15
Publication date: 2021-01-22
Anticipated expiration: 2040-09-15
Also published as: CN112243919B

Abstract

The invention discloses an automatic feeding method and a feeding system for a fishing ground, wherein the feeding method comprises the following steps: s1, laying a rail network at the position of a fishing ground to cover and serve the feeding areas and feeding points of the fishponds; s2, setting a feed storage place and a power supply position for charging a feeding vehicle on the track network; s3, providing a feeding vehicle running on a rail network and an upper computer in communication connection with the feeding vehicle; s4, executing automatic feeding software on the upper computer, interacting with a user, making a feeding plan, and generating a nameable feeding task; and S5, the upper computer sends a feeding vehicle task, the feeding vehicle loads task information, and after receiving a feeding instruction, the upper computer executes a corresponding feeding task according to the feeding instruction. The invention can automatically generate various feeding tasks by only one person spending a little time to make a feeding plan, completes the feeding operation of the whole fishing ground, and is suitable for most domestic fishing grounds.

Description

Automatic feeding method and system for fishing ground

Technical Field

The invention relates to an automatic feeding/dosing method and a feeding system for a fishing ground.

Background

With the concept of protecting the fishery environment being deeply conscious, the development of artificial fishery breeding is increasingly vigorous, the cost of the input manpower is more obvious, and particularly, the repeated heavy labor of feeding and dosing increasingly restricts the development of the artificial fishery.

Through inspection, the existing feeding systems have the problems of intelligentization loss, single execution scene and the need of assistance of some people from side.

Based on the development requirements of the real society, an automatic system for replacing manual feeding and dosing needs to be researched and developed, so that the market blank is filled, and the wide market requirements are met.

Disclosure of Invention

The invention aims to provide an automatic feeding method for a fishing ground so as to realize automatic feeding of the fishing ground.

The invention also aims to provide an automatic feeding system for the fishing ground so as to realize automatic feeding of the fishing ground.

Therefore, the invention provides an automatic feeding method for a fishing ground on one hand, which comprises the following steps: s1, laying a rail network at the position of a fishing ground to cover and serve the feeding areas and feeding points of the fishponds; s2, setting a feed storage place and a power supply position for charging a feeding vehicle on the track network; s3, providing a feeding vehicle running on a rail network and an upper computer in communication connection with the feeding vehicle; s4, executing automatic feeding software on the upper computer, interacting with a user, making a feeding plan, and generating a nameable feeding task; and S5, the upper computer sends a feeding vehicle task, the feeding vehicle loads task information, and after receiving a feeding instruction, the upper computer executes a corresponding feeding task according to the feeding instruction.

According to another aspect of the invention, an automatic feeding system for a fishing ground is provided, which comprises a network track, feeding vehicles and an upper computer, wherein the track network is laid at the position of the fishing ground to cover a feeding area and a feeding point for serving each fishpond, a feed storage part and a power supply position for charging the feeding vehicles are arranged on the track network, the feeding vehicles can run on the track network and are in communication connection with the feeding vehicles, the upper computer is used for executing automatic feeding software, interacting with a user, formulating a feeding plan and generating a nameable feeding task, and the feeding vehicles load task information after issuing the feeding tasks by the upper computer and complete feeding work according to the feeding tasks after receiving feeding instructions.

The intelligent feeding method realizes intelligence through software control hardware and algorithm, can automatically generate a feeding task by only one person spending a little time to make a feeding plan, completes feeding operation of the whole fishing ground, and is suitable for most domestic fishing grounds.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow chart of an automatic feeding method of a fishing ground according to the present invention;

FIG. 2 is a satellite map obtained by the fishing ground automatic feeding method according to the present invention, in which the fishing ground is identified by geographical position;

FIG. 3 is a schematic view of a network of tracks laid by the method for automatic feeding in a fishing ground according to the present invention;

FIG. 4 is a schematic view of a feeding cart used in the automatic feeding method of the fishing ground according to the present invention;

FIG. 5 is a schematic diagram of the architecture of the automatic feeding system of the fishing ground according to the present invention;

FIG. 6 is a feeding state diagram of automatic feeding software in the automatic feeding method of the fishing ground according to the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The invention automatically generates a feeding task by determining the position of a fishpond and the feeding plan of the fishpond through interaction with an upper computer on the basis of a satellite map of the position of a downloaded fishery and matching with a pre-laid fishpond peripheral track network. The satellite positioning and the orbit are utilized to control the movement of the feeding vehicle, and the feeding task is automatically completed.

As shown in FIG. 1, the automatic feeding method for the fishing ground of the invention comprises the following steps:

and S1, laying a rail network at the position of the fishing ground to cover the feeding area (the edge of the fishpond) and the feeding point for serving each fishpond.

As shown in fig. 2 and 3, the present rail network passes along the feeding pond edge or point of the # 1-7 pond and is made up of a plurality of single rails, as opposed to a single rail, where two single rails are allowed to cross in a t-shape or a cross. Wherein the single track is generally a linear track and may also include arcuate segments.

Among them, a section of track that can run straight without orbital transfer is called a single track.

The first section of single track passes through the public side edge of the No. 1-3 fishpond and then vertically intersects with the second section of single track, the second section of single track passes through the public side edge of the No. 5/7 fishpond and then vertically intersects with the third section of single track, the third section of single track passes through the public long side edge of the No. 4-7 fishpond and finally intersects with the fourth section of single track, and the fourth section of single track passes through the public short side edge of the No. 4-7 fishpond.

Wherein, only one side edge of the No. 1-3 fishpond can be used for feeding, three side edges of the No. 5/7 fishpond can be used for feeding, and only two side edges of the No. 4/6 fishpond can be used for feeding.

According to the requirement, the rail network forms a feeding mode surrounding feeding at the periphery of the fishpond.

And S2, setting a feed storage place and a power supply position for charging the feeding vehicle on the track network. As shown in figure 3, the feed storage place is arranged at the tail end of the second section of single track, and the power supply position is arranged at the tail end of the fourth section of single track.

In the invention, the feed storage positions and the power supply positions are distributed dispersedly, so that the inconvenience of centralized distribution is solved, and the requirement of simultaneous operation of a plurality of feeding vehicles is met.

And S3, providing a feeding vehicle running on the rail network and an upper computer in communication connection with the feeding vehicle.

The feeding vehicle runs on a network of rails and figure 4 shows the feeding vehicle at the intersection of two

single rails

100, 200.

The feeding vehicle comprises a running trolley 300, a feed box 400 and a material spreading mechanism 500, wherein the feed box is supported on the running trolley and can rotate 360 degrees around a vertical installation shaft, so that the feeding of fishponds on two sides of a track is realized.

The travelling trolley 300 has four powered wheels distributed on the four bottom corners of the rectangular body, each of which can rotate about a vertical mounting axis, preferably the four powered wheels are in steering linkage, and switching from the guide rail 100 to the guide rail 200 requires only 90 ° rotation about the vertical axis.

The position detection mode of the running trolley reaching the cross intersection point is as follows: the sensors are arranged at the center of four sides of the bottom of the cuboid vehicle body, when the four sensors detect the rails, the running trolley is considered to be located at a cross junction point, the trolley is lifted to a certain height through the jacking mechanism at the moment, the four power wheels are separated from the rails, and the trolley falls down after reversing and is switched to another rail to run.

The running trolley can be switched to other single tracks intersected with or crossed with a single track through the track transfer function from the single track to any position of a track network, such as a charging position, a charging position and a feeding position.

And S4, executing automatic feeding software by the upper computer, interacting with a user, and making a feeding plan.

The upper computer executes automatic feeding software and implements the following steps:

s41, obtaining a satellite map of the location of the fishing ground, the satellite map of the fishing ground being obtainable through a commercial interface, such as a Baidu map, an example of which is shown in FIG. 2.

S42, calibrating the position of each fishpond in the range of the fishing ground on the satellite map, obtaining the coordinates of the peripheral positioning points of each fishpond, and drawing the peripheral edges of each fishpond edge of the fishing ground in a frame manner in figure 3, wherein in the example, the fishpond comprises 7 fishponds and is marked as a No. 1-7 fishpond.

And S43, generating a computer software interactive interface by taking the satellite map as a background, and allowing a user to visually select a fishpond and a feeding mode (fixed point or area). For example, the fed fish pond edge is clicked, wherein only fish pond edges that are accessible to the rail network are selectable.

And S44, automatically generating a feeding task according to the fishpond and feeding mode selected by the user and the subsection definition of the track network, and generating a naming task after interactive confirmation. A track network such as that shown in fig. 3 is defined as four segments of a single track.

The feeding task comprises a feeding date, a feeding path finding path of a feeding vehicle, a feeding section corresponding to the feeding fishpond, a feeding mode, a feeding amount and the like.

For example, task one: feeding the 1# fishpond by the 1# feeding vehicle on 1 month and 1 day.

A user selects a No. 1-3 fishpond on a computer software interactive interface with a satellite map as a background, and the feeding mode defaults to an area (namely, the single-side edge which can be reached by an orbit in the fishpond).

Task one generated by the automatic dosing software is described as follows:

after the trolley moves to a first section of single track from a charging position, feeding materials between two feeding boundary points of a No. 1 fishpond of the first track at the first end, starting feeding materials when the trolley moves to the No. 1 boundary point, feeding materials on the left side by default, stopping feeding materials when the position reaches the No. 2 boundary point, and reciprocating and feeding materials at the section until the feeding amount is 5 kilograms.

When the trolley runs to the 3# boundary position, the 2# fishpond starts to feed materials, the left side feeding is defaulted, the feeding is stopped when the 4# boundary position is reached, and the trolley walks to and fro at the section to feed materials until the feeding amount is 5 kilograms.

And when the trolley runs to the 5# boundary position, feeding in the 3# fishpond, defaulting to left feeding, stopping feeding when the trolley reaches the 6# boundary position, and reciprocating and feeding in the section until the feeding amount is 5 kg.

The feeding boundary point can be realized by a marker which can be detected by a sensor at the bottom of the feeding vehicle, and can also be realized by other common triggering modes.

The user interacts with computer software interactive interface, can formulate a plurality of different and throw the material calculation, and then forms a plurality of tasks of throwing the material, and the user can appoint a batch charging instruction of throwing the material task and give and throw the skip.

When the feeding vehicle downloads a plurality of feeding tasks, the tasks are sequentially executed or the execution order of the tasks is distributed according to the weight.

As shown in fig. 6, the upper computer is used for issuing tasks and feeding instructions to the feeding machine, and the feeding vehicle feeds back information such as geographical position information (GPS), feed residual amount and electric quantity.

Wherein, the feed surplus is detected by an electronic weighing sensor on the feeding vehicle.

And S5, the upper computer assigns a task and then sends out the feeding vehicle, the feeding vehicle loads task information, and after receiving a feeding instruction sent by the upper computer, the feeding vehicle follows the feeding task to complete feeding.

The feeding accident treatment process comprises the following steps: 1. when the feed is insufficient, the feed automatically moves to a feed storage point; 2. when the electric quantity is insufficient, the electric vehicle automatically moves to a charging field for charging; and after the treatment is finished, automatically continuing the unfinished feeding task.

And S6, the upper computer tracks the position information, the feed remaining information and the electric quantity information of the feeding trolley in real time and dynamically displays the position information, the feed remaining information and the electric quantity information in a feeding state diagram of the upper computer.

And marking the finished travel, the fed fishpond, the planned travel, the planned fed fishpond and the current positions of the feeding vehicle in the feeding state diagram respectively.

The feeding method of the invention has obvious expansibility in agriculture and fishery, and can be used for fertilizer spraying and pesticide spraying operation of orchards and economic crops through local transformation.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic feeding method for a fishing ground is characterized by comprising the following steps:

s1, laying a rail network at the position of a fishing ground to cover and serve the feeding areas and feeding points of the fishponds;

s2, setting a feed storage place and a power supply position for charging a feeding vehicle on the track network;

s3, providing a feeding vehicle running on a rail network and an upper computer in communication connection with the feeding vehicle;

s4, executing automatic feeding software on the upper computer, and interacting with a user to formulate a feeding plan and generate a nameable feeding task; and

and S5, the upper computer issues a feeding task, the feeding vehicle loads task information, and after receiving a feeding instruction, the corresponding feeding task is executed according to the feeding instruction.

2. The method according to claim 1, wherein the network of rails is made up of a plurality of single rails, wherein two single rails allow a t-intersection or a cross-intersection.

3. The automatic feeding method for the fishing ground according to claim 2, wherein the feeding vehicle comprises a running trolley, a feed box and a material spreading mechanism, wherein the feed box is supported on the running trolley and can rotate 360 degrees around a vertical installation shaft to realize feeding of fishponds on two sides of the track, and the running trolley can be switched from one single track to another single track crossed with a T shape or a cross shape through orbital transfer.

4. The automatic feeding method for the fishing ground according to claim 3, wherein the running trolley can be provided with four power wheels distributed on four bottom corners of the rectangular body, sensors are arranged at the center positions of four sides of the bottom surface of the rectangular body, and a jacking mechanism, wherein the four power wheels can rotate around the vertical mounting shaft, when the four sensors detect the track, the running trolley is considered to be located at the intersection point of the two tracks, at the moment, the running trolley is lifted by the jacking mechanism until the four power wheels are separated from the track, and the four power wheels fall down after reversing and changing the track, and are switched to another single track to run.

5. The fishing ground automatic feeding method according to claim 1, wherein the upper computer executes automatic feeding software for realizing the following steps:

s41, obtaining a satellite map of the position of the fishing ground;

s42, calibrating the position of each fishpond in the range of the fishing ground on a satellite map, and acquiring the coordinates of the positioning points around each fishpond;

s43, generating a computer software interactive interface with the satellite map as the background, and allowing a user to visually select a feeding fishpond and a feeding mode;

and S44, automatically generating a feeding task according to the fishpond and feeding mode selected by the user and the subsection definition of the track network, and generating a naming task after interactive confirmation.

6. The automatic feeding method for the fishing ground according to claim 5, wherein the feeding task comprises feeding time, a feeding addressing path of a feeding vehicle, a feeding section corresponding to a feeding fishpond, a feeding mode and a feeding amount.

7. The automatic feeding method of the fishing ground according to claim 1, further comprising a step S6 of tracking the position information, the feed remaining information and the electric quantity information of the feeding car in real time by the upper computer and dynamically displaying the feeding state of the fishpond and the position state of the trolley in a feeding state diagram of the upper computer.

8. The utility model provides an automatic feeding system of fishing ground, its characterized in that includes the network track, throws skip and host computer, wherein, the track network is laid at the fishing ground position to cover the material feeding area and throw the material point of serving each pond, is provided with the fodder on the track network and deposits the department, throws the power position that skip charges, throw skip can move on the track network and with throw skip communication connection, the host computer is used for carrying out automatic material throwing software, and is interactive with the user, formulates and throws the material plan, generates the material task of throwing that can be named, throw skip after the host computer assigns the skip task, load task information, after receiving throw the material instruction, according to throwing the corresponding material task of throwing the material instruction execution.

9. The method for automatically feeding in a fishing ground according to claim 8, wherein the track network is composed of a plurality of single tracks, wherein two single tracks are allowed to cross in a T-shape or a cross, the feeding cart comprises a running cart, a bin, and a spreading mechanism, wherein the bin is supported on the running cart and can rotate 360 degrees around a vertical installation shaft, feeding to fishponds on two sides of the tracks is realized, and the running cart can be switched from one single track to another single track which is crossed or crossed by rail change.

10. The fishing ground automatic feeding method according to claim 8, wherein the upper computer executes automatic feeding software for realizing the following steps:

s41, obtaining a satellite map of the position of the fishing ground;

s43, generating a computer software interactive interface with the satellite map as the background, and allowing a user to visually select a feeding fishpond and a feeding mode; and