CN115067257B - Feeding method and system capable of accurately controlling feeding quantity - Google Patents
Feeding method and system capable of accurately controlling feeding quantity Download PDFInfo
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- CN115067257B CN115067257B CN202210881738.8A CN202210881738A CN115067257B CN 115067257 B CN115067257 B CN 115067257B CN 202210881738 A CN202210881738 A CN 202210881738A CN 115067257 B CN115067257 B CN 115067257B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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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
Abstract
The invention discloses a feeding method and a feeding system for precisely controlling feeding quantity, and particularly relates to the field of fishery cultivation, wherein the feeding method comprises the steps of observing the quantity change of fishes in the feeding process, and roughly obtaining a time-dependent change curve chart of the quantity of the fishes during foraging; wherein the number of fish changes during foraging comprises three phases: the first stage, the fishes are gathered to a bait feeding area rapidly; in the second stage, a large number of fishes start to enter the feeding area to feed, and the quantity gradually tends to be stable; and in the third stage, the quantity of the fish scattered after the fish is full is rapidly reduced. From the formula
The formula shows that along with the increase of the average weight of the fish, the precise feeding in the macroscopic growth stage can be realized by adjusting the feeding time (t) and the feeding interval (tf); when the feeding time deviates from the normal feeding time by a certain value, the system automatically corrects the feeding time to the normal value by increasing the feeding time (t) and reducing the feeding interval (tf) when feeding for the next time, thereby relatively improving the feeding accuracy.
Description
Technical Field
The invention relates to the technical field of fishery cultivation, in particular to a feeding method and a feeding system capable of accurately controlling feeding amount.
Background
The breeding, feeding and stocking of fish, fish farming, also known as aquaculture, fish farming and fish farming, is important in maintaining food supply, fishing and expanding fishing areas, by which many species are successfully introduced into new areas, one species of fish farming being the raising of goldfish and tropical fish as occupational and hobbies, others including the raising of carp's small fish as bait and the raising of other fish in private waters, a large number of fish being cultivated in many parts of the world and most used for commercial sales, however, only few species can be successfully used for this purpose, including catfish, herring, carp and salmon.
In the process of fish farming in a farm, the feeding amount of fishes is generally fed through the sense of a rich-experience farmer or by setting a certain weight of baits, so that errors are easily caused between the actual required amount and the feeding amount in a fish pond, and the actual use in the breeding process is influenced.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, embodiments of the present invention provide a feeding method and system for precisely controlling feeding amount, wherein precise feeding in a macroscopic growth stage can be achieved by adjusting feeding time (t) and feeding interval (tf) along with the increase of average weight of fish; the single accurate feeding is realized by controlling the discharge amount (N) so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a feeding method for precisely controlling feeding quantity comprises the following steps,
s1: in the feeding process, observing the quantity change of the fishes, and roughly obtaining a time-dependent change curve chart of the quantity of the fishes during foraging; as shown in the figure 3 of the drawings,
s2: wherein the number of fish changes during foraging comprises three phases:
the first stage, the fishes are gathered to a bait feeding area rapidly;
in the second stage, a large number of fishes start to enter the feeding area to feed, and the quantity gradually tends to be stable;
in the third stage, the quantity of the fish scattered after being 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: let t be at i+1, i, the total number of fish in the observation area be y i+1 、y i The method comprises the steps of carrying out a first treatment on the surface of the Wherein Ymax is the maximum value of the total number of fish shoals in the current observation area; defining a quantity change rate deltay, wherein the change rate at the moment i+1 is as follows:
in a preferred embodiment, the correction is made with respect to fig. 3, correcting for the rate of change of the number of fish during foraging, wherein the correction rules are as follows: given a percentage λ, when the absolute value of the number change rate |Δy| is less than or equal to λ, y is considered to be i+1 And y is i Equality and reassign y i+1 ＝y i The method comprises the steps of carrying out a first treatment on the surface of the When |Δy|>Lambda, the point is not corrected.
When lambda is large enough, the curve shown in figure 5 can be obtained, and the greatest advantage of introducing the quantity change rate is that the dependence on the accuracy of fish identification in the picture can be reduced, and the jump change of quantity is realized.
In a preferred embodiment, a discharge N value is empirically preset during the aggregation phase, different discharges N are generated by the baiting algorithm during the plateau and fade phases according to the jump variation of the f (t) value, the bait casting speed is related to N, t, tf, and N is adjusted in the precise control of single feeding.
In a preferred embodiment, in the single-step bait casting model of fig. 5, only one discharge N value is present in the aggregation phase, the plateau phase and the fade phase, i.e., the current normal bait casting machine operating mode;
defining a global variable Ymax, and recording the maximum value of the total quantity of fish shoals in the current observation area; during the observation, if the current 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 is no longer changed during the fade phase, and in the feeding algorithm, the initial value of Ymax is an empirical value, and the average value of the total number obtained earlier or the estimated value of the total number of fish in the pond can be taken to define the fade rate Φ:
in the fading stage, in order to avoid overfeeding, a threshold value lambda phi is required to be set, and when the fish withdrawal rate is more than or equal to lambda phi, feeding is stopped.
In a preferred embodiment, the baiting algorithm is based on a rate of change of quantity and a rate of withdrawal: when the quantity change rate |deltay| > lambda, the discharge quantity N is increased (or decreased) by one step according to the increase (or decrease) of the quantity; stopping feeding when the fish withdrawal rate phi is more than or equal to lambda phi; lambda and lambda phi are set thresholds.
In a preferred embodiment, the control software of the bait casting algorithm automatically obtains the image of the observation area through the camera every (t+tf) seconds and recognizes and calculates the total quantity of the fishes, and the bait casting algorithm sends a control instruction to the central processor and the controller of the bait casting machine, so that the feeding speed of the bait casting machine is changed and the bait casting machine is stopped and shut down under the condition of meeting the control instruction.
In a preferred embodiment, wherein fig. 2 is a bait casting flow algorithm diagram, in which:
y [ i ] refers to the i-th time period, and the total number of fish in the shooting area.
Δy [ i ] refers to the rate of change of the fish number in the ith time period.
Phi [ i ] refers to the withdrawal rate of fish in the ith time period.
The initial value of the discharge amount N and the initial value of the maximum value Ymax of the total number of fish shoals are all empirical values, and are set according to the current average feeding speed of the fish pond and the estimated value of the total number of fish, the average feeding speed of the fish pond is related to the product of the total number of fish and the average weight, and the average feeding speed is increased along with the growth of fish.
In a preferred embodiment, the method further comprises a precise feeding method in a macroscopic growth stage, wherein the total weight of the fish in the pond is referred to as pond storage amount, denoted as M, the pond storage amount is continuously increased along with the growth of the fish, the daily feeding amount is continuously increased, w is the total amount of the fish fries when the fish fries enter the pond, the average weight of the fish is M, and then m=w×m,
k is the daily feeding rate of the feed,
t is the feeding time of the material,
tf is the feeding interval of the material,
n is the discharge quantity of the material,
the total daily bait feed amount is mxk=w×m×k,
the bait put in by the bait casting machine in unit time is N multiplied by t/(t+tf),
the total feeding time is T, which can be defined as follows:
in the breeding process, in order to prevent the fish from being injured, save the feed and consolidate the domestication effect in the process of robbing, the feeding time of each time is kept consistent, the value of daily feeding rate is relatively stable, and the season fluctuates;
from the formula
The formula shows that along with the increase of the average weight of the fish, the precise feeding in the macroscopic growth stage can be realized by adjusting the feeding time (t) and the feeding interval (tf); when the feeding time deviates from the normal feeding time by a certain value, the system automatically corrects the feeding time to the normal value by increasing the feeding time (t) and reducing the feeding interval (tf) when feeding for the next time;
in the cultivation process, the number of fishes is reduced due to fish diseases and the like, and at this time, the average weight (w) value of the fishes is obtained by correcting the coefficient of the total number of fish shoals obtained in the feeding process.
In a preferred embodiment, the device comprises a central processing unit, a sensor module, a data processing module, a communication module, a controller, a bait box and an electric control gate;
the bait box is used for storing bait, and the electric control gate is used for controlling a bait throwing port of the bait box.
The invention has the technical effects and advantages that:
in the breeding process, in order to prevent the fish from being injured, save the feed and consolidate the domestication effect in the feeding process, the feeding time of each time is kept consistent, the daily feeding rate is relatively stable, and the daily feeding rate fluctuates due to seasons, and the formula is given by the following formula
The formula shows that along with the increase of the average weight of the fish, the precise feeding in the macroscopic growth stage can be realized by adjusting the feeding time (t) and the feeding interval (tf); when the feeding time deviates from the normal feeding time by a certain value, the system automatically corrects the feeding time to the normal value by increasing the feeding time (t) and reducing the feeding interval (tf) when feeding for the next time, thereby relatively improving the feeding accuracy.
Drawings
Fig. 1 is a schematic diagram of a hardware module according to the present invention.
Fig. 2 is a flowchart of the feeding algorithm of the present invention.
FIG. 3 is a graph showing the total number of fish shoals during feeding according to the present invention.
FIG. 4 is a schematic diagram of a multi-step bait casting model according to the invention.
FIG. 5 is a single step bait casting model diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5 of the drawings, a feeding method for precisely controlling feeding amount according to an embodiment of the present invention includes,
s1: in the feeding process, observing the quantity change of the fishes, and roughly obtaining a time-dependent change curve chart of the quantity of the fishes during foraging; as shown in the figure 3 of the drawings,
s2: wherein the number of fish changes during foraging comprises three phases:
the first stage, the fishes are gathered to a bait feeding area rapidly;
in the second stage, a large number of fishes start to enter the feeding area to feed, and the quantity gradually tends to be stable;
in the third stage, the quantity of the fish scattered after being 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: let t be at i+1, i, the total number of fish in the observation area be y i+1 、y i The method comprises the steps of carrying out a first treatment on the surface of the Wherein Ymax is the maximum value of the total number of fish shoals in the current observation area; defining a quantity change rate deltay, wherein the change rate at the moment i+1 is as follows:
in a preferred embodiment, the correction is made with respect to fig. 3, correcting for the rate of change of the number of fish during foraging, wherein the correction rules are as follows: given a percentage λ, when the absolute value of the number change rate |Δy| is less than or equal to λ, y is considered to be i+1 And y is i Equality and reassign y i+1 ＝y i The method comprises the steps of carrying out a first treatment on the surface of the When |Δy|>Lambda, the point is not corrected.
When lambda is large enough, the curve shown in figure 5 can be obtained, and the greatest advantage of introducing the quantity change rate is that the dependence on the accuracy of fish identification in the picture can be reduced, and the jump change of quantity is realized.
In a preferred embodiment, a discharge N value is empirically preset during the aggregation phase, different discharges N are generated by the baiting algorithm during the plateau and fade phases according to the jump variation of the f (t) value, the bait casting speed is related to N, t, tf, and N is adjusted in the precise control of single feeding.
In a preferred embodiment, in the single-step bait casting model of fig. 5, only one discharge N value is present in the aggregation phase, the plateau phase and the fade phase, i.e., the current normal bait casting machine operating mode;
defining a global variable Ymax, and recording the maximum value of the total quantity of fish shoals in the current observation area; during the observation, if the current 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 is no longer changed during the fade phase, and in the feeding algorithm, the initial value of Ymax is an empirical value, and the average value of the total number obtained earlier or the estimated value of the total number of fish in the pond can be taken to define the fade rate Φ:
in the fading stage, in order to avoid overfeeding, a threshold value lambda phi is required to be set, and when the fish withdrawal rate is more than or equal to lambda phi, feeding is stopped.
In a preferred embodiment, the baiting algorithm is based on a rate of change of quantity and a rate of withdrawal: when the quantity change rate |deltay| > lambda, the discharge quantity N is increased (or decreased) by one step according to the increase (or decrease) of the quantity; stopping feeding when the fish withdrawal rate phi is more than or equal to lambda phi; lambda and lambda phi are set thresholds.
In a preferred embodiment, the control software of the bait casting algorithm automatically obtains the image of the observation area through the camera every (t+tf) seconds and recognizes and calculates the total quantity of the fishes, and the bait casting algorithm sends a control instruction to the central processor and the controller of the bait casting machine, so that the feeding speed of the bait casting machine is changed and the bait casting machine is stopped and shut down under the condition of meeting the control instruction.
In a preferred embodiment, wherein fig. 2 is a bait casting flow algorithm diagram, in which:
y [ i ] refers to the i-th time period, and the total number of fish in the shooting area.
Δy [ i ] refers to the rate of change of the fish number in the ith time period.
Phi [ i ] refers to the withdrawal rate of fish in the ith time period.
The initial value of the discharge amount N and the initial value of the maximum value Ymax of the total number of fish shoals are all empirical values, and are set according to the current average feeding speed of the fish pond and the estimated value of the total number of fish, the average feeding speed of the fish pond is related to the product of the total number of fish and the average weight, and the average feeding speed is increased along with the growth of fish.
The precise control method is different from the precise control method of single feeding, and also comprises a precise feeding method of macroscopic growth stage, wherein the total weight of fish in the fish pond is called as pond storage amount, which is marked as M, the pond storage amount is continuously increased along with the growth of the fish, the daily feeding amount is also continuously increased, w is the total amount of fish fries entering the pond, the average weight of the fish is M, then M=w×m,
k is the daily feeding rate of the feed,
t is the feeding time of the material,
tf is the feeding interval of the material,
n is the discharge quantity of the material,
the total daily bait feed amount is mxk=w×m×k,
the bait put in by the bait casting machine in unit time is N multiplied by t/(t+tf),
the total feeding time is T, which can be defined as follows:
in the breeding process, in order to prevent the fish from being injured, save the feed and consolidate the domestication effect in the process of robbing, the feeding time of each time is kept consistent, the value of daily feeding rate is relatively stable, and the season fluctuates;
from the formula
As shown in the formula, along with the increase of the average weight of the fish, the precise feeding in the macroscopic growth stage can be realizedThe feeding time (t) and the feeding interval (tf) are adjusted; when the feeding time deviates from the normal feeding time by a certain value, the system automatically corrects the feeding time to the normal value by increasing the feeding time (t) and reducing the feeding interval (tf) when feeding for the next time;
in the cultivation process, the number of fishes is reduced due to fish diseases and the like, and at this time, the average weight (w) value of the fishes is obtained by correcting the coefficient of the total number of fish shoals obtained in the feeding process.
In a preferred embodiment, the device comprises a central processing unit, a sensor module, a data processing module, a communication module, a controller, a bait box and an electric control gate;
the bait box is used for storing bait, and the electric control gate is used for controlling a bait throwing port of the bait box.
The data processing module comprises a bait casting algorithm, and sequentially performs data acquisition, data transcoding, data cleaning and data classification, the bait casting algorithm intervenes, and finally a corresponding control signal text is obtained and sent to the central processing unit or the controller.
The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed;
secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;
finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (1)
1. A feeding method for precisely controlling feeding quantity is characterized in that: comprising the steps of (a) a step of,
s1: in the feeding process, observing the quantity change of the fish, and obtaining a time-dependent change curve chart of the quantity of the fish during foraging;
s2: wherein the number of fish changes during foraging comprises three phases:
the first stage, the fishes are gathered to a bait feeding area rapidly;
in the second stage, a large number of fishes start to enter the feeding area to feed, and the quantity gradually tends to be stable;
in the third stage, the quantity of the fish scattered after being 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: let t be at i+1, i, the total number of fish in the observation area be y i+1 、y i The method comprises the steps of carrying out a first treatment on the surface of the Wherein Ymax is the maximum value of the total number of fish shoals in the current observation area; defining a quantity change rate y, wherein the change rate at the moment i+1 is as follows:
correcting the quantity change rate of the fish during foraging, wherein the correction rule is as follows: given a percentage λ, when the absolute value of the number change rate is y +|λ, y is considered to be y i+1 And y is i Equality and reassign y i+1 =y i The method comprises the steps of carrying out a first treatment on the surface of the When y>Lambda, the point is not corrected;
presetting a discharge amount N value according to experience in an aggregation stage, generating different discharge amounts N according to jump change of f (t) values in a stable stage and a fading stage through a feeding algorithm, wherein bait throwing speed is related to N, t and tf, and realizing through adjustment of N in precise control of single feeding;
only one discharging amount N value is provided in the aggregation stage, the stable stage and the fading stage, namely the working mode of the conventional bait casting machine;
defining a global variable Ymax, and recording the maximum value of the total quantity of fish shoals in the current observation area; during the observation, if the current total fish number is greater than Ymax, ymax is updated by this value, so Ymax is a dynamic value;
ymax no longer varies during the fade phase, and in the baiting algorithm, the initial value of Ymax is an empirical value, and the average value of the total number obtained in the earlier stage or the estimated value of the total number of fish in the pond can be taken to define the fade rate Φ:
baiting algorithm based on quantity change rate and withdrawal rate: when the quantity change rate is y > lambda, the discharge quantity N is increased (or decreased) by one step according to the increase (or decrease) of the quantity; stopping feeding when the fish withdrawal rate phi is more than or equal to lambda phi; lambda, lambda phi is a set threshold;
the control software of the bait casting algorithm automatically acquires an observation area image through a camera every (t+tf) seconds, recognizes and calculates the total quantity of the fishes, and the bait casting algorithm sends a control instruction to a central processor and a controller of the bait casting machine, so that the feeding speed of the bait casting machine is changed, and the bait stopping and shutdown are realized under the condition of meeting the control instruction;
the initial value of the discharge quantity N and the initial value of the maximum value Ymax of the total quantity of the fish shoal are empirical values, the initial value is set according to the average feeding speed of the current fish pond and the estimated value of the total quantity of the fish, the average feeding speed of the fish pond is related to the product of the total quantity of the fish and the average weight, and the average feeding speed is increased along with the growth of the fish;
the precise feeding method for the macroscopic growth stage is also disclosed, wherein the total weight of fish in the fish pond is called as pond storage amount, M is recorded, the pond storage amount is continuously increased along with the growth of the fish, the daily feeding amount is continuously increased, w is the total amount of fish fries when the fish fries enter the pond, the average weight of the fish is M, M=w×m,
k is the daily feeding rate of the feed,
t is the feeding time of the material,
tf is the feeding interval of the material,
n is the discharge quantity of the material,
the total daily bait feed amount is mxk=w×m×k,
the bait put in by the bait casting machine in unit time is N multiplied by t/(t+tf),
the total feeding time is T, which can be defined as follows:
in the breeding process, in order to prevent the fish from being injured, save the feed and consolidate the domestication effect in the process of robbing, the feeding time of each time is kept consistent, the value of daily feeding rate is relatively stable, and the season fluctuates;
from the formula
The formula shows that along with the increase of the average weight of the fish, the precise feeding in the macroscopic growth stage can be realized by adjusting the feeding time (t) and the feeding interval (tf); when the feeding time deviates from the normal feeding time by a certain value, the system automatically corrects the feeding time to the normal value by increasing the feeding time (t) and reducing the feeding interval (tf) when feeding for the next time;
in the cultivation process, the number of fishes is reduced due to fish diseases and the like, and at this time, the average weight (w) value of the fishes is obtained by correcting the coefficient of the total number of fish shoals obtained in the feeding process.
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