CN115836653A - Intelligent control method for feed delivery for automatic breeding - Google Patents
Intelligent control method for feed delivery for automatic breeding Download PDFInfo
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Abstract
The invention discloses an intelligent control method for feed delivery for automatic breeding, belonging to the technical field of intelligent control; the method comprises the following steps: acquiring a pressure curve of the feed trough through a pressure sensor; taking the average value of the pressure values corresponding to each time point and a plurality of time points in the neighborhood of the time point in the time point sequence as the feed residual amount of the time point; obtaining the variable quantity of the feed residual quantity corresponding to all the two time points; obtaining a feeding prediction amount according to the food intake of a time period corresponding to all the continuous variation smaller than zero; and controlling the equipment for feeding the feed to feed the feed trough according to the residual feed amount and the feed feeding amount at the current time point. The invention realizes the accurate control of the feed feeding amount of a single feed trough, and reduces the food accumulation amount in the feed trough, thereby reducing the possibility of food mildew and being beneficial to the healthy growth of bred animals.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an intelligent control method for feed delivery for automatic breeding.
Background
The in-process of breeding the animal, the fodder that will allocate is sent into each house material tower through the material pipe to the automatic mechanized technology of throwing something and feeding of fodder usually adopts and breeds fodder, then inputs the manger that every animal of fodder corresponds by the conveyer, recycles automatic computer control case and regularly feeds quantitatively, controls the food intake of every animal, makes to feed and realizes whole automation, and the feed is inaccurate when avoiding artifical feeding and the waste of fodder.
At present, adopt the automatic breed of current automatic feed system of plug sheet formula, often when putting in at every turn the manger, all put in the ration, but the food intake of different breed animals is different, probably leads to different mangers to have residual feed of different degrees, if remain too much of a specified duration, then lead to accumulating the fodder to go mildy easily, be unfavorable for the growth of breed animal.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the intelligent control method for the feed feeding of the automatic breeding, which realizes the accurate control of the feeding amount of a single feed trough and reduces the food accumulation amount in the feed trough, thereby reducing the possibility of food mildew and being beneficial to the healthy growth of bred animals.
The invention aims to provide an intelligent control method for feed delivery for automatic breeding, which comprises the following steps:
acquiring a pressure curve of the feed trough through a pressure sensor; the horizontal coordinate of the pressure curve is a time point, and the vertical coordinate of the pressure curve is a pressure value of the feed trough corresponding to the time point;
acquiring a variance corresponding to each time point according to the pressure value corresponding to each time point and a plurality of time points in the neighborhood of the time point in the pressure curve; acquiring a time point sequence corresponding to the variance of zero; taking the average value of the pressure values corresponding to each time point and a plurality of time points in the neighborhood of the time point in the time point sequence as the feed residual amount of the time point; setting the residual amount of the feed at a time point corresponding to the variance not being zero as zero;
obtaining the variation of the feed residual amount corresponding to all the two time points according to the feed residual amount corresponding to all the two adjacent time points in the time point sequence;
according to the accumulated value of the variable quantity which is randomly and continuously less than zero, acquiring the food intake of the feed trough corresponding to the cultured animals in the time period corresponding to the variable quantity which is randomly and continuously less than zero; obtaining a feeding prediction amount according to the food intake of a time period corresponding to all the continuous variation smaller than zero;
obtaining the feed feeding amount according to the feeding prediction amount and the feed residual amount of the feed trough corresponding to the current time point;
and controlling the equipment for feeding the feed to feed the feed trough according to the residual feed amount and the feed feeding amount at the current time point.
In one embodiment, the estimated food consumption prediction is obtained by fitting the food consumption of all time periods corresponding to the variation continuously smaller than zero through a least square method.
In one embodiment, the variance corresponding to each time point is obtained according to the following steps:
acquiring a pressure value sequence taking a pressure value corresponding to each time point as a center according to the pressure values corresponding to each time point and a plurality of time points in the neighborhood of the time point in the pressure curve; taking the variance value in the pressure value sequence as the variance corresponding to the time point; sequentially acquiring the variance corresponding to each time point; and carrying out zero filling processing on data points which are lacked in the pressure value sequence corresponding to the time points at the two ends of the pressure curve.
In an embodiment, in the process of obtaining the variance corresponding to each time point, at least 11 time points are taken from neighborhoods on the left side and the right side of each time point.
In an embodiment, the amount of change of the feed residue corresponding to two time points is obtained according to the difference of the feed residue corresponding to two adjacent time points in the time point sequence.
In one embodiment, in the process of putting the feed corresponding to the feeding amount of the feed into the feed trough,
setting a residual threshold value;
if the residual amount of the feed at the current time point is smaller than the residual amount threshold value, controlling the feed feeding equipment to feed the feed corresponding to the feed feeding amount into the feed trough, and adding the feed with the residual amount threshold value of 0.5 time;
if the feed residual amount at the current time point is larger than the residual amount threshold value and smaller than 1.5 times of the residual amount threshold value, controlling the feed throwing equipment to throw feed with the feed feeding amount corresponding to the feed throwing amount into the feed trough;
and if the residual amount of the feed at the current time point is more than 1.5 times of the residual amount threshold value, controlling the feed feeding equipment to feed the feed in the feed trough by the feed feeding amount corresponding to the feed feeding amount and subtracting 0.5 time of the residual amount threshold value.
In one embodiment, the residual threshold is set at 50 grams.
The invention has the beneficial effects that: the invention provides an intelligent control method for feeding feed for automatic breeding, which comprises the steps of recording a pressure curve of each feed trough, calculating to obtain the residual feed amount in each feed trough, accurately estimating the feed intake of bred animals corresponding to each feed trough, estimating the feed intake of the bred animals according to the residual feed amount and the change value of the feed intake at the current time point, obtaining the feed intake control amount according to the feed intake of the bred animals, and completing the intelligent control of the feed intake of the automatic breeding; the precise control of the feeding amount of a single feed trough is realized, and the food accumulation amount in the feed trough is reduced, so that the possibility of food mildew is reduced, and the healthy growth of bred animals is facilitated.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flow chart illustrating the general steps of an embodiment of an intelligent control method for feed delivery for automated farming 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.
The invention mainly aims to solve the problems that in the process of breeding animals, residual feed with different degrees is left in a feed trough due to different food intake of the animals, and if the residual feed is too long, the accumulated feed is easy to mold and is not beneficial to the growth of the bred animals. Therefore, the feed residue in each feed trough is calculated by recording the pressure curve of each feed trough. And the feed intake of each feed trough corresponding to the cultured animals is accurately estimated, so that the feed intake of a single feed trough is accurately controlled, the food accumulation in the feed trough is reduced, the possibility of food mildew is reduced, and the healthy growth of the cultured animals is facilitated.
The invention provides an intelligent control method for feed delivery for automatic breeding, which is shown in a figure 1 and comprises the following steps:
s1, acquiring a pressure curve of a trough through a pressure sensor; the horizontal coordinate of the pressure curve is a time point, and the vertical coordinate of the pressure curve is a pressure value of the feed trough corresponding to the time point;
the pressure sensor is additionally arranged at the bottom of each feed trough, so that the pressure curve of each feed trough can be obtained through the pressure sensor, and when the pressure curve is not changed, the residual amount in the feed trough at different moments can be obtained. Each feed trough corresponds to one breeding animal; the breeding animals can include cattle, sheep or pigs, etc.;
in the embodiment, the pressure sensor is additionally arranged at the bottom of each feeding trough, so that the pressure curve of each feeding trough can be obtained through the pressure sensor, wherein in the pressure curve of each feeding trough, the abscissa is a time point, and the ordinate is the pressure value of the feeding trough corresponding to the time point. Wherein each trough corresponds to a trough pressure curve.
After the pressure curve of each manger is obtained, when the pressure curve is used for feeding the feed and feeding the bred animals, the pressure curve can impact the mangers to cause the change of the pressure value, so that the residual feed amount of each manger can be obtained by obtaining the pressure value in a stable time period. The method comprises the following specific steps:
s2, obtaining the residual amount of the feed at each time point;
acquiring a variance corresponding to each time point according to the pressure value corresponding to each time point and a plurality of time points in the neighborhood of the time point in the pressure curve; acquiring a time point sequence corresponding to the variance of zero; taking the average value of the pressure values corresponding to each time point and a plurality of time points in the neighborhood of the time point in the time point sequence as the feed residual amount of the time point; setting the residual amount of the feed at a time point corresponding to the variance not being zero as zero; and sequentially obtaining the residual amount of the feed at each time point.
Obtaining the pressure value of the nth manger at the ith stationary time point, because only the pressure in the pressure stabilization period can represent the residual amount of the manger; where the abscissa time unit is seconds and the ordinate unit is grams. Specifically, the variance corresponding to each time point is obtained according to the following steps: acquiring a pressure value sequence taking a pressure value corresponding to each time point as a center according to the pressure values corresponding to each time point and a plurality of time points in the neighborhood of the time point in the pressure curve; taking the variance value in the pressure value sequence as the variance corresponding to the time point; sequentially acquiring the variance corresponding to each time point; carrying out zero filling processing on data points lacked in the pressure value sequence corresponding to the time points at the two ends of the pressure curve; in the process of acquiring the variance corresponding to each time point, at least 11 time points are taken from the neighborhoods on the left side and the right side of each time point.
In this embodiment, the time points on the pressure curve may be traversed by establishing a time window, and each time point is taken as a central point in the window; giving the variance value of the pressure value corresponding to the time point in each window to the variance corresponding to the central time point in each window; and when the variance value is 0, a time period formed by the time points in the corresponding window is a stable time period, and the average value of the pressure values corresponding to the time points in the window is given to the feed residual amount of the central time point in the window. It should be noted that, in this embodiment, a time length of 11 seconds is selected as the length of the time period window, where the length of the window may be adjusted according to a specific implementation scenario; calculating a variance value among 11 pressure values in a time period window by taking the time point as a central point of the time period window, wherein the variance value is a window corresponding to 0; and giving the average value of the pressure values corresponding to the time points in the window with the variance value of 0 to the feed residual amount at the central time point in the window. Wherein zero padding is performed at insufficient data points at both ends of the pressure curve.
And for the time point corresponding to the variance which is not zero, the measured data can not be used as the reason for effective evaluation because the feed is put in or the animals are bred at present, and further, when the residual feed amount in the corresponding feed trough of each time point is calculated, the residual feed amount in the corresponding feed trough is recorded as empty for the time point with the variance value which is not 0, namely, no record is made.
And then obtaining the feed residual amount corresponding to each feed trough at different time points.
After the feed residual amount corresponding to each feed trough at different time points is obtained, the feeding amount can be automatically adjusted according to the change of the residual amount; the method comprises the following specific steps:
s3, obtaining the food intake of the corresponding bred animals of the feed trough;
obtaining the variation of the feed residual amount corresponding to all the two time points according to the feed residual amount corresponding to all the two adjacent time points in the time point sequence; according to the accumulated value of the variable quantity which is randomly and continuously less than zero, acquiring the food intake of the feed trough corresponding to the cultured animals in the time period corresponding to the variable quantity which is randomly and continuously less than zero;
the variation of the feed residue corresponding to the two time points is obtained according to the difference of the feed residue corresponding to the two adjacent time points in the time point sequence.
In this embodiment, the variation of the residual feed volume in each trough is obtained by: after obtaining the feed residue corresponding to each feed trough at different time points, the first time point in the time point sequence is used
The corresponding residual amount of feed at the respective time point is recorded as ^ er>
And the fifth->
The corresponding residual amount of feed at the time point is recorded as->
A difference is made, and the change in the residual amount of feed between the two time points is recorded as->
(ii) a It is noted that>
A point of time and
the time points are not necessarily consecutive in time.
Obtaining the change value of the feed residue between two adjacent time points in the time point sequence
After, change the value
Indicates the amount of change in the trough in the present period of time, if>
It means that the farmed animal corresponding to the trough is eating, if->
Indicating that the feed trough is fed again;
since the farmed animals may eat several times after a single administration, the total food intake of the farmed animals between administrations is obtained; so that all successive occurrences of a change value of less than zero will occur
Is added when a change value greater than zero is encountered>
Thereafter, a change value less than zero may be->
The accumulated value is recorded as->
The change value which is taken as the value of the trough corresponding to the continuously smaller than zero for the farmed animals>
Based on the amount of food intake of the time period->
. Wherein t is the change value which is continuously smaller than zero in the tth segment->
The time period of (a).
Further obtaining the food intake of the corresponding cultured animals of each feed trough in the t time period
And two adjacent to the t time period can be obtainedGreater than zero change>
The feed is used as the feeding amount of the feed for two times.
S4, obtaining the feed feeding amount;
obtaining a feeding prediction amount according to the food intake of a time period corresponding to all the continuous variation smaller than zero; obtaining the feed feeding amount according to the feeding prediction amount and the feed residual amount of the feed trough corresponding to the current time point;
the food consumption prediction quantity is obtained by carrying out nonlinear fitting on the food consumption of all time periods corresponding to the variation quantity which is continuously less than zero through a least square method.
In this embodiment, as the feed intake of the cultured animals is changed, the feed intake of the cultured animals is obtained after different time periods, and then the non-linear fitting is performed by the least square method to obtain the feed intake of the cultured animals after each feeding, which is the feeding prediction amount of the cultured animals; and (4) obtaining the current feed residual amount in the feed trough from the S1, and subtracting the current feed residual amount in the feed trough from the predicted feeding amount predicted in the next feeding process to obtain the current feed feeding amount.
And S5, feeding the feed with the corresponding feed feeding amount into the feed trough by the feed feeding device according to the feed residual amount and the feed feeding amount of the current time point.
In the embodiment, in the process of putting the feed corresponding to the feeding amount of the feed into the feed trough,
setting a residual threshold value;
if the feed residue at the current time point is smaller than the residue threshold value, the feed can be properly added during feeding because a certain error exists in prediction, which indicates that the bred animals eat more cleanly; wherein the feed value is increased by 0.5 times of the threshold weight of the residual amount; controlling the feed throwing equipment to throw the feed with the corresponding feed throwing amount and adding 0.5 time of residual amount threshold value into the feed trough;
if the feed residual amount at the current time point is larger than the residual amount threshold value and is smaller than the residual amount threshold value by 1.5 times, the reference feed amount in the current feed trough is considered to be a reasonable range; controlling the feed throwing equipment to throw the feed with the feed throwing amount corresponding to the feed throwing amount into the feed trough;
if the residual amount of the feed at the current time point is more than 1.5 times of the residual amount threshold value, the situation that the feeding is too much and the bred animals have more residual amount before the current time point is indicated, the feed can be properly reduced in the current feeding process; because of the prediction there will be some error, where the feed value is reduced by a value 0.5 times the threshold weight of the residual quantity; the device for feeding the feed is controlled to feed the feed with the corresponding feed feeding amount and the residual amount threshold value subtracted by 0.5 times into the feed trough.
Note that, the residual threshold is set according to a specific implementation scenario, and 50 grams is taken in this embodiment.
In this embodiment, when feeding the feed into the feeding trough each time, a fixed time interval may be set, and when each measured feeding time point is taken as the current time point, all pressure values before the current time point are analyzed through S1 to S4 to obtain the current feeding prediction amount, and the device for controlling the feeding amount by the feed residue amount after passing through the current feeding prediction amount and the current time point feeds the feed with the feed feeding amount into the feeding trough.
According to the method, the feed residual amount in each feed trough is obtained through calculation by recording the pressure curve of each feed trough, so that the food intake of the bred animals corresponding to each feed trough is accurately estimated, the food intake of the bred animals can be estimated according to the residual amount and the change value of the food intake at the current time point, the food intake of the bred animals can be estimated, the food intake control amount can be obtained according to the food intake of the bred animals, and the intelligent control of the feed feeding of the automatic breeding is completed; the precise control of the feeding amount of a single feed trough is realized, and the food accumulation amount in the feed trough is reduced, so that the possibility of food mildew is reduced, and the healthy growth of bred animals is facilitated.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The intelligent control method for feeding the feed for automatic breeding is characterized by comprising the following steps of:
acquiring a pressure curve of the feed trough through a pressure sensor; the horizontal coordinate of the pressure curve is a time point, and the vertical coordinate of the pressure curve is a pressure value of the feed trough corresponding to the time point;
acquiring a variance corresponding to each time point according to the pressure value corresponding to each time point and a plurality of time points in the neighborhood of the time point in the pressure curve; acquiring a time point sequence corresponding to the variance of zero; taking the average value of the pressure values corresponding to each time point and a plurality of time points in the neighborhood of the time point in the time point sequence as the feed residual amount of the time point; setting the residual amount of the feed at a time point corresponding to the variance not being zero as zero;
obtaining the variation of the feed residual amount corresponding to all the two time points according to the feed residual amount corresponding to all the two adjacent time points in the time point sequence;
according to the accumulated value of any continuous variation smaller than zero, acquiring the food intake of the feed trough corresponding to the cultured animals in any time period corresponding to the continuous variation smaller than zero; obtaining a feeding prediction amount according to the food intake of a time period corresponding to all the continuous variation smaller than zero;
obtaining the feed feeding amount according to the feeding prediction amount and the feed residual amount of the feed trough corresponding to the current time point;
and controlling the equipment for feeding the feed to feed the feed trough according to the residual feed amount and the feed feeding amount at the current time point.
2. The intelligent control method for feeding of feed for automatic breeding according to claim 1, wherein the feeding prediction amount is obtained by non-linear fitting the feeding amount of all the time periods corresponding to the continuous variation amount smaller than zero by a least square method.
3. The intelligent control method for feed delivery for automatic breeding according to claim 1, wherein the variance corresponding to each time point is obtained according to the following steps:
acquiring a pressure value sequence taking a pressure value corresponding to each time point as a center according to the pressure values corresponding to each time point and a plurality of time points in the neighborhood of the time point in the pressure curve; taking the variance value in the pressure value sequence as the variance corresponding to the time point; sequentially acquiring the variance corresponding to each time point; and carrying out zero filling processing on data points lacked in the pressure value sequence corresponding to the time points at the two ends of the pressure curve.
4. The intelligent control method for feed delivery for automatic breeding according to claim 3, wherein in the process of obtaining the variance corresponding to each time point, at least 11 time points are taken from neighborhoods on the left side and the right side of each time point.
5. The intelligent control method for feeding of automatic breeding according to claim 1, characterized in that the variation of the feeding residual amounts corresponding to two time points is obtained according to the difference of the feeding residual amounts corresponding to two adjacent time points in the time point sequence.
6. The intelligent control method for feeding of feed for automatic culture according to claim 1, wherein in the process of feeding feed corresponding to the feeding amount of the feed into the feed trough,
setting a residual threshold value;
if the residual amount of the feed at the current time point is smaller than the residual amount threshold value, controlling the feed throwing equipment to throw the feed with the corresponding feed throwing amount and adding 0.5 time of the residual amount threshold value into the feed trough;
if the feed residual amount at the current time point is larger than the residual amount threshold value and smaller than 1.5 times of the residual amount threshold value, controlling the feed throwing equipment to throw feed with the feed feeding amount corresponding to the feed throwing amount into the feed trough;
and if the residual amount of the feed at the current time point is more than 1.5 times of the residual amount threshold value, controlling the feed feeding equipment to feed the feed in the feed trough by the feed feeding amount corresponding to the feed feeding amount and subtracting 0.5 time of the residual amount threshold value.
7. The intelligent control method for feed delivery for automated farming of claim 6, wherein the residual amount threshold is set to 50 grams.
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