CN115067257A - Bait casting method and system capable of accurately controlling feeding amount - Google Patents
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- 238000009360 aquaculture Methods 0.000 description 1
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Abstract
The invention discloses a bait casting method and a bait casting system for accurately controlling feeding amount, which particularly relate to the field of fishery breeding, and comprise the steps of observing the change of the number of fishes in the feeding process, and roughly obtaining a time-dependent change curve graph of the number of fishes foraging; wherein the change in the number of fish when foraging comprises three phases: firstly, quickly gathering the fishes to a bait feeding area; in the second stage, a large amount of fishes begin to enter the feeding area for foraging, and the quantity gradually tends to be stable; in the third stage, the amount of scattered fish after being full is rapidly reduced. From formulas
According to the formula, as the average weight of the fish increases, the precise bait casting in the macroscopic growth stage can be realized by adjusting the bait casting time (t) and the bait casting interval (tf); when the bait throwing time deviates from the normal bait throwing time by a certain value, the system increases the bait throwing time (t) and decreases the bait throwing time (t) in the next bait throwingThe feeding interval (tf) automatically corrects the feeding time to a normal value, and the feeding accuracy is relatively improved.
Description
Technical Field
The invention relates to the technical field of fishery breeding, in particular to a bait casting method and system capable of accurately controlling feeding amount.
Background
The breeding, rearing and stocking of fish, fish farming, also known as aquaculture, fish farming and fish farming, is important in maintaining food supply, fishing and expanding the fishing area, and by fish farming, many species are successfully introduced into new areas, one is the rearing of goldfish and tropical fish as occupational and hobby, others include rearing cyprinus carpio as bait and other fish in private waters, and many places in the world are rearing a large number of fish and mostly for commercial sale, however, only a few species can be successfully used for this purpose, including catfish, menhaden, carp and salmon.
In the process of fishery culture in a farm, the bait feeding amount of fishes is generally fed by the feeling of experienced culture personnel or by setting up certain weight of bait, so that the error between the actual required amount and the feeding amount in a fish pond is easy to occur, and the use in the actual culture process is influenced.
Disclosure of Invention
In order to overcome the above defects of the prior art, the embodiments of the present invention provide a feeding method and system for precisely controlling feeding amount, by which precise feeding in a macroscopic growth stage can be achieved by adjusting feeding time (t) and feeding interval (tf) as the average weight of fish increases; the single accurate feeding is realized by controlling the discharge amount (N) so as to solve the problems proposed in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a bait casting method for accurately controlling the feeding amount, which comprises the following steps,
s1: in the feeding process, the change of the number of the fishes is observed, and a curve graph of the change of the number of the fishes with time in foraging can be roughly obtained; as shown in figure 3 of the drawings,
s2: wherein the change in the number of fish when foraging comprises three phases:
firstly, quickly gathering the fishes to a bait feeding area;
in the second stage, a large amount of fishes begin to enter the feeding area for foraging, and the quantity gradually tends to be stable;
in the third stage, the scattering amount of the fish after the fish is full is rapidly reduced;
s3: the first phase is called the aggregation phase, the second phase is called the plateau phase, and the third phase is called the regression phase;
s4: setting t at the moment i +1, i, the total number of fish in the observation area is y i+1 、y i (ii) a Wherein Ymax is the maximum value of the total number of fish schools in the current observation area; defining a quantity rate of change Δ y, the rate of change at time i +1 being:
in a preferred embodiment, fig. 3 is modified to modify the rate of change of the number of foraging fish, wherein the modification rules are as follows: given a percentage λ, when the absolute value of the rate of change of the quantity | Δ y ≦ λ, y is considered to be i+1 And y i Equality and reassign y i+1 ＝y i (ii) a When | Δ y |>Lambda, this point is not corrected.
The corrected curve is shown in fig. 4, when λ is large enough, the curve shown in fig. 5 can be obtained, and the greatest advantage of introducing the number change rate is that the dependence on the fish identification accuracy rate in the picture can be reduced, and the number jump change can be realized at the same time.
In a preferred embodiment, a value of the discharge amount N is preset empirically during the gathering phase, different discharge amounts N are produced by the bait casting algorithm during the stationary phase and during the withdrawal phase according to the jump variation of the value f (t), the bait casting speed is related to N, t, tf, and is achieved by adjusting N in the precise control of a single feed.
In a preferred embodiment, in the single-step feeding model of fig. 5, only one discharge amount N value is used in the aggregation stage, the stabilization stage and the extinction stage, which is the operation mode of the current ordinary feeding machine;
defining a global variable Ymax, and recording the maximum value of the total number of fish schools in the current observation area; during the observation, if the total number of fish is greater than Ymax, Ymax is updated by this value, so Ymax is a dynamic value.
In a preferred embodiment, in theory, Ymax no longer varies during the withdrawal phase, and in the bait casting algorithm, Ymax is initially an empirical value, and the average of the total number obtained at a previous stage or an estimate of the total number of fish in the pond is taken to define the withdrawal rate Φ:
in the withdrawal stage, in order to avoid excessive feeding, a threshold lambda phi is required to be set, and feeding is stopped when the withdrawal rate of the fish is more than or equal to lambda phi.
In a preferred embodiment, the baiting algorithm based on the rate of change of quantity and the rate of withdrawal: when the quantity change rate | delta y | > lambda, the discharging quantity N is increased (or decreased) by one gear according to the increase (or decrease) of the quantity; stopping feeding when the receding rate phi of the fish is more than or equal to lambda phi; λ and λ φ are set thresholds.
In a preferred embodiment, the control software of the bait casting algorithm automatically acquires the images of the observation area through the camera every (t + tf) second and identifies and calculates the total number of the fishes, and the bait casting algorithm sends control instructions to a central processor and a controller of the bait casting machine, changes the feeding speed of the bait casting machine and realizes bait stopping and shutdown under the condition.
In a preferred embodiment, wherein fig. 2 is a bait casting flow algorithm diagram, in which:
y [ i ] refers to the ith time period, the total number of fish in the shooting area.
Δ y [ i ] refers to the i-th time period, the rate of change of fish number.
Phi i refers to the i-th time period, the rejection rate of the fish.
The initial value of the discharge quantity N and the initial value of the maximum value Ymax of the total fish school are empirical values, the average bait casting speed of the fish pond is set according to the average bait casting speed of the current fish pond and the estimated value of the total fish number, the average bait casting speed of the fish pond is related to the product of the total fish number and the average weight, and the average bait casting speed is improved along with the growth of the fish.
In a preferred embodiment, the method also comprises a precise bait casting method in a macroscopic growth stage, wherein the total weight of the fish in the fishpond is called pond storage amount, which is recorded as M, the pond storage amount is continuously increased along with the growth of the fish, the daily bait casting amount is also continuously increased, w is the total number of fish fries in the fishpond, the average weight of the fish is M, and M is w x M,
k is the daily feeding rate,
t is the time of feeding the materials,
tf is a feeding interval, and the material is fed into the furnace,
n is the amount of the discharged materials,
the total amount of the baits fed every day is M multiplied by k which is w multiplied by M multiplied by k,
the bait thrown by the bait throwing machine in unit time is Nxt/(t + tf),
the total feeding time is T, which can be defined as follows:
in the culture process, in order to prevent the fishes from damaging each other in the food robbing process, save feed and consolidate the domestication effect, the feeding time of each time is kept consistent, the daily feeding rate value is relatively stable, and the fish feeding rate fluctuates due to seasons;
from formulas
According to the formula, as the average weight of the fish increases, the precise bait casting in the macroscopic growth stage can be realized by adjusting the bait casting time (t) and the bait casting interval (tf); when the bait casting time deviates from the normal bait casting time by a certain value, the system automatically corrects the bait casting time to a normal value by increasing the bait casting time (t) and reducing the bait casting interval (tf) in the next bait casting;
in the process of breeding, the number of fish is reduced due to fish diseases and the like, and the average weight (w) value of the fish is obtained by coefficient correction of the total number of fish schools obtained in the feeding process.
In a preferred embodiment, the bait box comprises a central processor, a sensor module, a data processing module, a communication module, a controller, a bait box and an electric control gate;
wherein central processing unit, sensor module, data processing module, communication module, controller electric connection, the bait case is used for depositing bait, automatically controlled gate is used for controlling the bait of bait case and puts in the mouth.
The invention has the technical effects and advantages that:
in the process of breeding, in order to prevent fishes from damaging each other in the process of robbing food, save feed and consolidate domestication effect, the feeding time of each time is kept consistent, the daily feeding rate value is relatively stable, and the feed rate fluctuates due to seasons, so that the formula
According to the formula, as the average weight of the fish increases, the precise bait casting in the macroscopic growth stage can be realized by adjusting the bait casting time (t) and the bait casting interval (tf); when the bait casting time deviates from the normal bait casting time by a certain value, the system automatically corrects the bait casting time to a normal value by increasing the bait casting time (t) and reducing the bait casting interval (tf) in the next bait casting, so that the bait casting accuracy is relatively improved.
Drawings
FIG. 1 is a diagram of hardware modules according to the present invention.
Fig. 2 is a flow chart of the bait casting algorithm of the present invention.
Fig. 3 is a graph showing the change of the total number of fish school in the feeding process of the present invention.
Fig. 4 is a view showing a multi-step feeding model according to the present invention.
FIG. 5 is a view showing a single-step feeding model according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5 of the specification, a bait casting method for precisely controlling a feeding amount according to an embodiment of the present invention includes,
s1: in the feeding process, the change of the number of the fishes is observed, and a curve graph of the change of the number of the fishes with time in foraging can be roughly obtained; as shown in figure 3 of the drawings,
s2: wherein the change in the number of fish when foraging comprises three phases:
firstly, quickly gathering the fishes to a bait feeding area;
in the second stage, a large amount of fishes begin to enter the feeding area for foraging, and the quantity gradually tends to be stable;
in the third stage, the scattering amount of the fish after the fish is full is rapidly reduced;
s3: the first phase is called the aggregation phase, the second phase is called the plateau phase, and the third phase is called the regression phase;
s4: setting t at the moment i +1, i, the total number of fish in the observation area is y i+1 、y i (ii) a Wherein Ymax is the maximum value of the total number of fish schools in the current observation area; defining a quantity rate of change Δ y, the rate of change at time i +1 being:
in a preferred embodiment of the method of the present invention,correcting the figure 3, and correcting the change rate of the number of the fishes during foraging, wherein the correction rule is as follows: given a percentage λ, when the absolute value of the rate of change of quantity | Δ y ≦ λ, y is considered to be i+1 And y i Equality and reassign y i+1 ＝y i (ii) a When | Δ y |>Lambda, this point is not corrected.
The corrected curve is shown in fig. 4, when λ is large enough, the curve shown in fig. 5 can be obtained, and the greatest advantage of introducing the number change rate is that the dependence on the fish identification accuracy rate in the picture can be reduced, and the number jump change can be realized at the same time.
In a preferred embodiment, a value of the discharge amount N is preset empirically during the gathering phase, different discharge amounts N are produced by the bait casting algorithm during the stationary phase and during the withdrawal phase according to the jump variation of the value f (t), the bait casting speed is related to N, t, tf, and is achieved by adjusting N in the precise control of a single feed.
In a preferred embodiment, in the single-step feeding model of fig. 5, only one discharge amount N value is used in the aggregation stage, the stabilization stage and the extinction stage, which is the operation mode of the current ordinary feeding machine;
defining a global variable Ymax, and recording the maximum value of the total number of fish schools in the current observation area; during the observation, if the total number of fish is greater than Ymax, Ymax is updated by this value, so Ymax is a dynamic value.
In a preferred embodiment, in theory, Ymax no longer varies during the withdrawal phase, and in the bait casting algorithm, Ymax is initially an empirical value, and the average of the total number obtained at a previous stage or an estimate of the total number of fish in the pond is taken to define the withdrawal rate Φ:
in the withdrawal stage, in order to avoid excessive feeding, a threshold lambda phi is required to be set, and feeding is stopped when the withdrawal rate of the fish is more than or equal to lambda phi.
In a preferred embodiment, the baiting algorithm based on the rate of change of quantity and the rate of withdrawal: when the quantity change rate | delta y | > lambda, the discharging quantity N is increased (or decreased) by one gear according to the increase (or decrease) of the quantity; stopping feeding when the receding rate phi of the fish is more than or equal to lambda phi; λ and λ φ are set thresholds.
In a preferred embodiment, the control software of the bait casting algorithm automatically acquires the images of the observation area through the camera every (t + tf) second and identifies and calculates the total number of the fishes, and the bait casting algorithm sends control instructions to a central processor and a controller of the bait casting machine, changes the feeding speed of the bait casting machine and realizes bait stopping and shutdown under the conditions.
In a preferred embodiment, wherein fig. 2 is a bait casting flow algorithm diagram, in which:
y [ i ] refers to the ith time period, the total number of fish in the shooting area.
Δ y [ i ] refers to the i-th time period, the rate of change of fish number.
Phi i refers to the i-th time period, the rejection rate of the fish.
The initial value of the discharge quantity N and the initial value of the maximum value Ymax of the total fish school are empirical values, the average bait casting speed of the fish pond is set according to the average bait casting speed of the current fish pond and the estimated value of the total fish number, the average bait casting speed of the fish pond is related to the product of the total fish number and the average weight, and the average bait casting speed is improved along with the growth of the fish.
The method is different from the precise control method of single feeding, and also comprises a precise bait casting method in a macroscopic growth stage, wherein the total weight of the fishes in the fishpond is called pond storage amount, which is recorded as M, the pond storage amount is continuously increased along with the growth of the fishes, the daily bait casting amount is also continuously increased, w is the total amount of the fries in the fishpond, the average weight of the fishes is M, and M is w x M,
k is the daily feeding rate,
t is the time of feeding the materials,
tf is the interval of the feeding materials,
n is the amount of the discharged materials,
the total amount of the baits fed every day is M multiplied by k which is w multiplied by M multiplied by k,
the bait thrown by the bait throwing machine in unit time is Nxt/(t + tf),
the total feeding time is T, which can be defined as follows:
in the culture process, in order to prevent the fishes from damaging each other in the food robbing process, save feed and consolidate the domestication effect, the feeding time of each time is kept consistent, the daily feeding rate value is relatively stable, and the fish feeding rate fluctuates due to seasons;
from formulas
According to the formula, as the average weight of the fish increases, the precise bait casting in the macroscopic growth stage can be realized by adjusting the bait casting time (t) and the bait casting interval (tf); when the bait casting time deviates from the normal bait casting time by a certain value, the system automatically corrects the bait casting time to a normal value by increasing the bait casting time (t) and reducing the bait casting interval (tf) in the next bait casting;
in the process of breeding, the number of fish is reduced due to fish diseases and the like, and the average weight (w) value of the fish is obtained by coefficient correction of the total number of fish schools obtained in the feeding process.
In a preferred embodiment, the bait box comprises a central processor, a sensor module, a data processing module, a communication module, a controller, a bait box and an electric control gate;
wherein central processing unit, sensor module, data processing module, communication module, controller electric connection, the bait case is used for depositing bait, automatically controlled gate is used for controlling the bait of bait case and puts in the mouth.
The data processing module comprises a bait casting algorithm, data acquisition, data transcoding, data cleaning, data classification and bait casting algorithm intervention are sequentially carried out, and finally a corresponding control signal text is obtained and sent to the central processing unit or the controller.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A bait casting method for accurately controlling feeding amount is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
s1: in the feeding process, the change of the number of the fishes is observed, and a curve graph of the change of the number of the fishes along with time during foraging can be obtained;
s2: wherein the change in the number of fish when foraging comprises three phases:
firstly, quickly gathering the fishes to a bait feeding area;
in the second stage, a large amount of fishes begin to enter the feeding area to find food, and the quantity gradually tends to be stable;
in the third stage, the scattering amount of the fish after the fish is full is rapidly reduced;
s3: the first phase is called the aggregation phase, the second phase is called the plateau phase, and the third phase is called the regression phase;
s4: setting t at the moment i +1, i, the total number of fish in the observation area is y i+1 、y i (ii) a Wherein Ymax is the maximum value of the total number of fish schools in the current observation area; defining a quantity rate of change Δ y, the rate of change at time i +1 being:
2. a method of baiting with accurate control of feeding quantity as claimed in claim 1, characterized in that:
correcting the change rate of the number of the fishes during foraging, wherein the correction rule is as follows: given a percentage λ, when the absolute value of the rate of change of the quantity | Δ y ≦ λ, y is considered to be i+1 And y i Equality and reassign y i+1 ＝y i (ii) a When | Δ y |>Lambda, this point is not corrected.
3. A method of feeding with precise control of feeding amount according to claim 2, characterized in that: a discharging amount N value is preset according to experience in an aggregation stage, different discharging amounts N are generated according to jump changes of f (t) values in a stable stage and a fading stage through a bait casting algorithm, the bait casting speed is related to N, t and tf, and the accurate control of single feeding is realized by adjusting N.
4. A method of feeding with precise control of feeding amount according to claim 3, wherein: only one discharge N value is used in the aggregation stage, the stabilization stage and the fading stage, and the discharge N value is the working mode of the current common bait casting machine;
defining a global variable Ymax, and recording the maximum value of the total number of fish schools in the current observation area; during the observation, if the total number of fish is greater than Ymax, Ymax is updated by this value, so Ymax is a dynamic value.
5. A method of feeding with precise control of feeding amount according to claim 4, wherein: ymax does not change any more in the fading stage, in the bait casting algorithm, the initial value of Ymax is an empirical value, the average value of the total quantity obtained in the early stage or the estimated value of the total quantity of fish in the fish pond can be taken, and the fading rate phi is defined as follows:
in the withdrawal stage, in order to avoid excessive feeding, a threshold lambda phi is required to be set, and feeding is stopped when the withdrawal rate of the fish is more than or equal to lambda phi.
6. A method of feeding with precise control of feeding amount according to claim 5, wherein:
bait casting algorithm based on quantity change rate and withdrawal rate: when the quantity change rate | delta y | > lambda, the discharging quantity N is increased (or decreased) by one gear according to the increase (or decrease) of the quantity; stopping feeding when the receding rate phi of the fish is more than or equal to lambda phi; λ and λ φ are set thresholds.
7. The method of claim 6, wherein the feeding amount is controlled accurately by:
the control software of the bait casting algorithm automatically acquires images of an observation area through the camera every (t + tf) second and identifies and calculates the total amount of fish, and the bait casting algorithm sends control instructions to a central processing unit and a controller of the bait casting machine, changes the feeding speed of the bait casting machine and realizes bait stopping and shutdown under the conditions.
8. The method of claim 7, wherein the feeding amount is precisely controlled by:
the initial value of the discharge quantity N and the initial value of the maximum value Ymax of the total fish school are empirical values, the average bait casting speed of the fish pond is set according to the average bait casting speed of the current fish pond and the estimated value of the total fish number, the average bait casting speed of the fish pond is related to the product of the total fish number and the average weight, and the average bait casting speed is improved along with the growth of the fish.
9. A method of feeding with precise control of feeding amount according to claim 8, wherein: also comprises an accurate bait casting method in a macroscopic growth stage, wherein the total weight of the fishes in the fishpond is called pond storage amount, which is recorded as M, the pond storage amount is continuously increased along with the growth of the fishes, the daily bait casting amount is also continuously increased, w is the total amount of the fries when the fishes are placed in the fishpond, the average weight of the fishes is M, and M is w multiplied by M,
k is the daily feeding rate,
t is the time of feeding the materials,
tf is a feeding interval, and the material is fed into the furnace,
n is the amount of the discharged materials,
the total amount of the baits fed every day is M multiplied by k which is w multiplied by M multiplied by k,
the bait thrown by the bait throwing machine in unit time is Nxt/(t + tf),
the total feeding time is T, which can be defined as follows:
in the culture process, in order to prevent the fishes from damaging each other in the food robbing process, save feed and consolidate the domestication effect, the feeding time of each time is kept consistent, the daily feeding rate value is relatively stable, and the fish feeding rate fluctuates due to seasons;
from formulas
According to the formula, as the average weight of the fish increases, the precise bait casting in the macroscopic growth stage can be realized by adjusting the bait casting time (t) and the bait casting interval (tf); when the bait casting time deviates from the normal bait casting time by a certain value, the system automatically corrects the bait casting time to a normal value by increasing the bait casting time (t) and reducing the bait casting interval (tf) in the next bait casting;
in the process of breeding, the number of fish is reduced due to fish diseases and the like, and the average weight (w) value of the fish is obtained by coefficient correction of the total number of fish schools obtained in the feeding process.
10. A feeding system with precise control of feeding amount according to any one of claims 1-9, characterized in that: comprises a central processor, a sensor module, a data processing module, a communication module, a controller, a bait box and an electric control gate;
wherein central processing unit, sensor module, data processing module, communication module, controller electric connection, the bait case is used for depositing bait, automatically controlled gate is used for controlling the bait of bait case and puts in the mouth, automatically controlled gate passes through communication module and central processing unit electric connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210881738.8A CN115067257B (en) | 2022-07-26 | 2022-07-26 | Feeding method and system capable of accurately controlling feeding quantity |
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| Application Number | Priority Date | Filing Date | Title |
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