CN-117617169-B - Automatic feeding system of self-adaptive breeding feed and control method thereof

Abstract

The invention discloses an automatic feeding system of self-adaptive cultured feed and a control method thereof, wherein the system comprises a cultured structure body, a control system, an environment detection sensor and a feed dispersing device, the control system is respectively in communication connection with the environment detection sensor and the feed dispersing device, the environment detection sensor is arranged at the cultured structure body, the feed dispersing device is arranged at the inner periphery of the cultured structure body and is in flexible connection with the cultured structure body, the feed dispersing device is integrated with a pneumatic distributing device, a hydrodynamic distributing device and a floating body device, the environment detection sensor is used for measuring the wave current state, the feeding direction and the feeding force of the feed are intelligently adjusted through the control system to ensure the effective spraying area of the feed, so that the feed is spread and dispersed, the too fast aggregation caused by uneven scattering is avoided, the materials aggregated by the wind wave are intelligently dispersed through the feed dispersing device, the effective feeding of fish shoal is ensured, and the excessive aggregation of the fish shoal is avoided.

Inventors

• GU SHIJUN
• YANG XUEWEN
• HU BINGNAN
• WU DI
• MIAO DESHENG
• LV LINLIN
• LIU PIN

Assignees

• 海南明阳智慧能源有限公司

Dates

Publication Date

20260512

Application Date

20231201

Claims (7)

1. 1. The self-adaptive automatic feeding system for the cultured feed comprises a cultured structure body, a feed storage tank, a discharging device, a pneumatic conveying device, a distributor, a feed conveying pipeline and feeding spray heads, wherein the feed storage tank, the discharging device, the distributor and the feeding spray heads are sequentially connected through the feed conveying pipeline, the pneumatic conveying device is connected with the feed conveying pipeline, and the feeding spray heads are arranged along the cultured structure body, and the self-adaptive automatic feeding system is characterized by further comprising a control system, an environment detection sensor and a feed dispersing device; the control system is respectively in communication connection with an environment detection sensor and a feed dispersing device, the environment detection sensor is arranged at the position of the culture structure body and is used for detecting the wind speed and wind direction information of the surrounding environment of the culture structure body, the feed dispersing device is arranged at the inner periphery of the culture structure body and is in flexible connection with the culture structure body, the feed dispersing device is integrated with a wind power distributing device, a water power distributing device and a floating body device, the floating body device comprises a power device, a floating body control valve group, a water storage separation cavity and a water level detection sensor, the power device is connected with the water storage separation cavity through the floating body control valve group and is used for filling water or draining water into the water storage separation cavity, the floating body control valve group is in communication connection with the control system and is used for feeding back the real-time opening condition of the floating body control valve group into the control system, the water storage separation cavity is used for realizing the floating sedimentation of the feed dispersing device through filling water or draining water, the water level detection sensor is in communication connection with the control system and feeds back the floating sedimentation depth information of the feed dispersing device into the control system, the wind power distributing device comprises a wind power unit, a wind power control valve group, a gas path control valve, a gas nozzle and a gas path pipeline, the pneumatic power feeding device comprises a pneumatic power distribution device, a pneumatic control valve group, a plurality of pneumatic spray heads, a water power unit, a water path control valve group, water path spray heads and water path pipelines, wherein the pneumatic control valve group is in communication connection with a control system and is used for feeding back the real-time opening condition of the pneumatic control valve group into the control system, the pneumatic spray heads are arranged on a pneumatic pipeline, the spray heads are arranged in the horizontal direction, the hydraulic power distribution device comprises a water power unit, the water path control valve group, the water path spray heads and the water path pipelines, the water power unit is connected with the water path pipelines through the water path control valve group and is used for providing power for the hydraulic power distribution device, the water path control valve group is in communication connection with the control system and is used for feeding back the real-time opening condition of the water path control valve group into the control system, the water path spray heads are arranged on the water path pipelines, the spray heads are arranged in the horizontal direction, the spray heads are provided with rotating angle feedback devices, and the rotating angle feedback devices and the spray heads are in communication connection with the control system and are used for controlling and feeding back the rotating angle of the spray heads.
2. 2. The automatic feeding system of self-adaptive aquaculture feed according to claim 1, wherein the power unit is connected with a hydrodynamic unit of the hydrodynamic feed divider, and provides water filling or draining power for the floating body device through the hydrodynamic unit.
3. 3. The automatic feeding system for the adaptive aquaculture feed according to claim 1, further comprising a wind pressure detection sensor, wherein the wind pressure detection sensor is arranged on the feed delivery pipeline and is matched with the feeding spray heads for detecting the actual output force of the pneumatic conveying device on each feeding spray head.
4. 4. The automatic feeding system for the adaptive aquaculture feed according to claim 1, wherein an adjusting valve is arranged between the feed conveying pipeline and the feeding sprinkler, and the output force of the feeding sprinkler is adjusted by the opening of the adjusting valve.
5. 5. The control method of the self-adaptive automatic feeding system for the cultured feed comprises a culturing structure body, a feed storage tank, a blanking device, a pneumatic conveying device, a distributor, a feed conveying pipeline, a feeding sprinkler, a control system, an environment detection sensor, a feed dispersing device and a wind pressure detection sensor; the feed storage tank, the blanking device, the distributor and the feeding sprinkler are sequentially connected through a feed conveying pipeline, the pneumatic conveying device is connected with the feed conveying pipeline, the feeding sprinkler is arranged along the culture structure, the control system is respectively in communication connection with an environment detection sensor and a feed dispersing device, the environment detection sensor is arranged at the culture structure and is used for detecting wind speed and wind direction information of the environment around the culture structure, the feed dispersing device is arranged at the inner periphery of the culture structure and is in flexible connection with the culture structure, the feed dispersing device is integrated with a pneumatic power distributing device, a water power distributing device and a floating body device, the pneumatic power distributing device comprises a pneumatic power unit, a gas circuit control valve group, a gas circuit nozzle and a gas circuit pipeline, the pneumatic power unit is connected with the gas circuit pipeline through the gas circuit control valve group to supply power for the pneumatic power distributing device, the gas circuit control valve group is in communication connection with the control system and is used for feeding back the real-time opening condition of the gas circuit control valve group into the control system, the gas circuit is arranged on the gas circuit pipeline, the nozzle faces the horizontal direction, the nozzle outlet of the pneumatic power distributing device comprises the pneumatic power distributing device, the pneumatic power unit comprises the water power distributing device, the water power pipeline and the water power distributing device and the water channel device are connected with the water channel pipeline through the water channel and the water channel, the water path control valve bank is in communication connection with the control system and is used for feeding back the real-time opening condition of the water path control valve bank into the control system, a plurality of water path spray heads are arranged on a water path pipeline, the spray head outlets of the water path spray heads face the horizontal direction, the floating body device comprises a power device, a floating body control valve bank, a water storage separation chamber and a water level detection sensor, the power device is connected with a water power unit of the water power distribution device and is used for providing water filling or draining power for the floating body device through the water power unit, the wind pressure detection sensor is arranged on a material conveying pipeline and is matched with feeding spray heads and is used for detecting the actual output force of the pneumatic conveying device on each feeding spray head, the feeding spray heads are provided with rotating angle feedback devices, the rotating angle feedback devices and the feeding spray heads are in communication connection with the control system and are used for controlling and feeding back the rotating angle of the feeding spray heads, and a regulating valve is arranged between the material conveying pipeline and the feeding spray heads, and the size of the output force of the feeding spray heads is regulated through the opening of the regulating valve. The feed feeding positioning control is carried out, wind speed and wind direction information acquired by an environment detection sensor are acquired through a control system, the corresponding counter-wind direction feeding spray head is judged to be started to spray feeding according to the wind direction information, the judgment logic is that the wind direction is taken as 0 degree, the feeding spray head which forms an angle with the wind direction within the range of 90 degrees to 270 degrees is started, and the angle is formed between the direction of the feeding spray head and the wind direction according to the direction of the feeding spray head The output force of the feeding sprinkler is regulated, so that the feed is uniformly distributed in the feeding area; The feed distribution control is realized through a wind power distribution device and a water power distribution device, according to wind speed and wind direction information acquired by an environment detection sensor, a control system starts a waterway nozzle of the water power distribution device which is opposite to the wind direction to primarily disperse feed which is excessively densely gathered, and according to the wind speed information, the control system calculates the environmental wind pressure P 1 , starts a gas circuit nozzle of the wind power distribution device which is opposite to the wind direction, resists the blowing effect of environmental wind power to secondarily and remotely disperse the primarily dispersed material of the water power distribution device, wherein the outlet pressure of the gas circuit nozzle , As auxiliary correction coefficient of outlet pressure of the air channel spray head, confirming distance of feed counter-wind direction movement according to requirements, when the direction of the air channel spray head and the water channel spray head is inclined with wind direction Is defined as being opposite to the wind direction when the direction of the air path nozzle and the water path nozzle is in an included angle with the wind direction Defined as being co-directional with the wind direction; The position control of the feed dispersing device is carried out, the water level in the floating body device is regulated through the hydrodynamic force distributing device under the normal working condition, the spraying angle is regulated by the hydrodynamic force distributing device and the hydrodynamic force distributing device, when the sea condition is severe, the water level change condition of the feed dispersing device in the water body in unit time is measured through the water level detection sensor, the fluctuation amplitude is higher than the preset protection threshold value of the net height of the feed dispersing device, the fluctuation amplitude is kept for a preset time t 5 , the wave is considered to be too large, the control system controls the hydrodynamic force distributing device to carry out water injection operation, the integral feed dispersing device is sunk to the set water level, the fluctuation amplitude of the feed dispersing device is reduced, when the fluctuation amplitude is higher than the preset protection threshold value of the net height of the feed dispersing device, the control device stops running and gives an alarm, and when the water level change height of the feed dispersing device measured by the water level detection sensor in unit time is lower than the preset protection threshold value of the net height of the feed dispersing device, the fluctuation amplitude is considered to be smaller when the fluctuation amplitude is kept for a certain time t 6 , the control system controls the hydrodynamic force distributing device to carry out water drainage operation, and the integral device is lifted to the normal working water level.
6. 6. The method according to claim 5, wherein in the feed positioning control, the adjusting the output force of the feeding sprinkler includes: According to the wind pressure calculation formula Wherein In order to achieve an air density of the air, For the measured ambient wind speed, calculating the wind pressure value at the real-time wind speed The feeding sprinkler outputs force , The auxiliary correction coefficient of the output force of the feeding sprinkler head is confirmed according to the size and shape of the feed particles and the weight of the feed particles, The angle between the feeding sprinkler and the wind direction is adjusted under the condition of confirming the feed type Adjusting the spraying area by adjusting The value adjusts the throw distance.
7. 7. The method for controlling an automatic feeding system for adaptive aquaculture feed according to claim 5, wherein the feed dispensing control comprises: The hydrodynamic force distributing device and the aerodynamic force distributing device are operated in a cross intermittent mode, the stop and operation time of the two devices are adjusted according to the information of the wind speed and the wind direction of the environment, and the wind speed is recorded The time from the spraying position to the feed dispersing device is At wind speed The time from the spraying position to the feed dispersing device is At wind speed The time from the spraying position to the feed dispersing device is Wherein n is the number of tests before the device actually operates, and the relation of feed gathering time, wind speed and movement distance is obtained by fitting the data , For the auxiliary correction factor, 1 is the movement distance under the condition of constant wind speed, L is the movement distance, Setting the running time of the wind power distributing device to the ambient wind speed Stop time , For the movement distance of the feed against the wind direction, The air speed at the outlet of the air circuit nozzle, from the outlet area of the gas circuit nozzle determining the pressure of a gas circuit pipeline; setting the running time of the hydrodynamic force distributing device manually according to the set pressure of the hydrodynamic force outlet Stop time I.e. the sum of the running time and the stop time of the wind power distributing device, the cycle time of the alternate running of the water power distributing device and the wind power distributing device is as follows The operation circulation mode is that the hydrodynamic force distributing device is started to run to reach Then the hydrodynamic force distributing device stops, the pneumatic force distributing device starts, and the operation of the pneumatic force distributing device reaches After that, the hydrodynamic force distributing device is stopped, the pneumatic force distributing device is also stopped, and the stopping time of the hydrodynamic force distributing device and the pneumatic force distributing device reaches And then returning to the starting link of the hydrodynamic force distributing device again.

Description

Automatic feeding system of self-adaptive breeding feed and control method thereof Technical Field The invention relates to the technical field of deep and far ocean cultivation, in particular to an automatic feeding system of self-adaptive cultivation feed and a control method thereof. Background In recent years, fishery cultivation is gradually going to deep sea. Compared with offshore culture, the deep sea has wider water area, better water quality, richer variety of the farmable fish and higher quality of the farmed fish, so that the maritime fishery culture gradually goes to the deep open sea and is a future development trend. Compared with offshore culture or land water culture, the environment of deep and open sea culture is more complex, and the deep and open sea culture is in a stormy wave working condition for a long time. The density of the granular culture feed adopted in the industry at present is smaller than or close to that of sea water, in order to prevent the feed in the feeding process from being carried away from a culture area by stormy waves, conventional deep-open sea culture equipment is provided with a material blocking fine mesh net, the upper end of the material blocking net is fixed on a frame of the culture equipment, and the lower end of the material blocking net is suspended in a water body or fixedly installed up and down. The blocking type can avoid feed waste, but can not solve the problems that feed is accumulated and fish gathering can not be eaten effectively due to the action of stormy waves, and meanwhile, the problem of hypoxia is caused because of crowded and disordered fish gathering, so that fish diseases are caused, and in such a case, feeders can hardly scatter the feed through manual means. Under the condition of large stormy waves, the fish forges food on the water surface, and the stormy waves can flap the fish to the culture structure to cause damage to the fish body. There are also feeding methods in industry that spray a small amount of fish at a single time and feed at multiple times, but because of the aggregation of fish shoals, part of the fish can not eat food effectively. The long-time feeding mode can not only lead to uneven growth of fish shoal, but also possibly cause partial dead fish to be produced, thereby causing unnecessary economic loss. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a self-adaptive automatic feeding system for breeding feed and a control method thereof, which adopts an environment detection sensor to measure the wave current state, intelligently adjusts the feeding direction and feeding force of the feed through the control system to ensure the effective spraying area of the feed, make the fodder spread apart, avoid scattering inhomogeneous and lead to too fast gathering, through fodder dispersion devices, carry out effective intelligent automatic dispersion to the material because of the unrestrained gathering of wind to guarantee the effective feeding of shoal of fish, avoid the excessive gathering of shoal of fish, and then improve the growth efficiency and the survival rate of shoal of fish. The self-adaptive automatic feeding system for the cultured feed comprises a cultured structural body, a feed storage tank, a blanking device, a pneumatic conveying device, a distributor, a feed conveying pipeline and feeding spray heads, wherein the feed storage tank, the blanking device, the distributor and the feeding spray heads are sequentially connected through the feed conveying pipeline, the pneumatic conveying device is connected with the feed conveying pipeline, the feeding spray heads are arranged along the cultured structural body, the self-adaptive automatic feeding system further comprises a control system, an environment detection sensor and a feed dispersing device, the control system is respectively in communication connection with the environment detection sensor and the feed dispersing device, the environment detection sensor is arranged at the cultured structural body and used for detecting wind speed and wind direction information of the surrounding environment of the cultured structural body, the feed dispersing device is arranged at the inner periphery of the cultured structural body and forms flexible connection with the cultured structural body, and the feed dispersing device is integrated with a pneumatic distributing device, a hydrodynamic distributing device and a floating body device. The pneumatic power distribution device comprises a pneumatic power unit, a pneumatic control valve group, a pneumatic nozzle and a pneumatic pipeline, wherein the pneumatic power unit is connected with the pneumatic pipeline through the pneumatic control valve group and provides power for the pneumatic power distribution device, the pneumatic control valve group is in communication connection with a control system and is used for feeding back the real-time opening condition