CN115836653B - Intelligent feed feeding control method for automatic cultivation - Google Patents
Intelligent feed feeding control method for automatic cultivation Download PDFInfo
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- CN115836653B CN115836653B CN202310125580.6A CN202310125580A CN115836653B CN 115836653 B CN115836653 B CN 115836653B CN 202310125580 A CN202310125580 A CN 202310125580A CN 115836653 B CN115836653 B CN 115836653B
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Abstract
The invention discloses an intelligent control method for feeding feed for automatic cultivation, 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 each time point in the time point sequence as the residual amount of the feed at the time point; obtaining the variation of the residual feed amount corresponding to all the two time points; obtaining feeding pre-measurement according to the feeding amount of all the time periods corresponding to the continuous variation amounts smaller than zero; and controlling the feed throwing equipment to throw the feed corresponding to the feed throwing amount into the feed trough according to the feed residual amount and the feed throwing amount at the current time point. The invention realizes the accurate control of the feeding amount of a single feeding trough, reduces the food accumulation amount in the feeding trough, thereby reducing the possibility of food mildew and being beneficial to the healthy growth of the cultured animals.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an intelligent control method for feeding feed for automatic cultivation.
Background
In the process of raising animals, the formulated feed is fed into each material housing tower through a material pipe by adopting an automatic feeding mechanical technology of raising feed, then the feed is input into a corresponding feed trough of each animal through a conveyor, and then the feed of each animal is controlled by timing and quantitative feeding through an automatic computer control box, so that the feeding is fully automated, and inaccurate feeding and waste of the feed during manual feeding are avoided.
At present, in the automatic cultivation of adopting current stopper formula automatic feeding system, often put in the manger for every turn, all be quantitative throwing, but the different feed intake of breeding the animal is different, probably leads to different mangers to have the residual fodder of different degree, if remain too much too long, then lead to accumulating the fodder moldy easily, be unfavorable for the growth of breeding the animal.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an intelligent control method for feeding of automatic breeding, which realizes accurate control of feeding amount of a single feeding trough and reduces food accumulation amount in the feeding trough, thereby reducing possibility of food mildew and being beneficial to healthy growth of breeding animals.
The invention aims to provide an intelligent control method for feeding feed for automatic cultivation, which comprises the following steps:
acquiring a pressure curve of the feed trough through a pressure sensor; wherein, the abscissa of the pressure curve is a time point, and the ordinate is a pressure value of the time point corresponding to the feed trough;
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 each 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 each time point in the time point sequence as the residual amount of the feed at the time point; wherein, the residual feed amount at the time point corresponding to the variance is not zero is set to be zero;
obtaining the variation of the feed residue corresponding to all two time points according to the feed residue corresponding to all two adjacent time points in the time point sequence;
according to the accumulated value of the variation quantity which is continuously smaller than zero, obtaining the feeding quantity of the feeding trough corresponding to the period of time corresponding to the variation quantity which is continuously smaller than zero; obtaining feeding pre-measurement according to the feeding amount of all the time periods corresponding to the continuous variation amounts smaller than zero;
acquiring feed feeding quantity according to the feed residue quantity of the feeding trough corresponding to the current time point;
and controlling the feed throwing equipment to throw the feed corresponding to the feed throwing amount into the feed trough according to the feed residual amount and the feed throwing amount at the current time point.
In one embodiment, the feeding prediction amount is obtained by nonlinear fitting of the feeding amounts of all the periods corresponding to the continuously less than zero variation amounts by a least square method.
In one embodiment, the variance for each time point is obtained as follows:
acquiring a pressure value sequence taking the pressure value corresponding to each time point as a center according to the pressure value corresponding to each time point and a plurality of time points in the neighborhood of each 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 padding treatment on the data points which are missing in the pressure value sequences 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 the neighborhood on the left and right sides of each time point.
In one embodiment, the amount of change in the residual feed amount corresponding to two time points is obtained from the difference in the residual feed amounts corresponding to two adjacent time points in the time point sequence.
In one embodiment, in the process of throwing the feed with the corresponding feed feeding amount into the feed trough,
setting a residual quantity threshold;
if the residual amount of the feed at the current time point is smaller than the residual amount threshold, controlling the equipment for feeding the feed to feed the feed corresponding to the feed feeding amount in the feed trough and adding the feed with the residual amount threshold of 0.5 times;
if the residual feed amount at the current time point is larger than the residual amount threshold and smaller than 1.5 times of the residual amount threshold, controlling the feed throwing equipment to throw feed with the corresponding feed throwing amount into the feed trough;
and if the residual amount of the feed at the current time point is greater than a residual amount threshold value which is 1.5 times, controlling the equipment for feeding the feed to feed the feed tank with the feed corresponding to the feed feeding amount and subtracting the residual amount threshold value which is 0.5 times.
In one embodiment, the residual amount threshold is set at 50 grams.
The beneficial effects of the invention are as follows: according to the intelligent control method for feeding of automatic breeding provided by the invention, the feeding quantity of each feeding trough is accurately estimated by recording the pressure curve of each feeding trough and calculating the residual quantity of the feed in each feeding trough, the feeding quantity of the breeding animals can be estimated according to the residual quantity of the current time point and the change value of the feeding quantity, the feeding quantity of the breeding animals can be obtained according to the feeding quantity of the breeding animals, and the intelligent control for feeding of the automatic breeding feed is completed; the accurate control of the feeding quantity of a single feeding trough is realized, and the food accumulation quantity in the feeding trough is reduced, so that the possibility of food mildew is reduced, and the healthy growth of the cultured animals is facilitated.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic flow chart of the overall steps of an embodiment of an intelligent control method for feeding fodder for automatic cultivation.
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.
The invention mainly aims at the problem that in the process of breeding animals, residual feed with different degrees exists in a feed trough due to different eating amounts of the animals, and if the residual feed is too long, accumulated feed is easy to mould, so that the growth of the breeding animals is not facilitated. Therefore, the invention calculates the residual feed amount in each feed trough by recording the pressure curve of each feed trough. The feeding amount of each feeding trough corresponding to the cultivated animals is accurately estimated, and the feeding amount of each feeding trough is accurately controlled, so that the food accumulation amount in the feeding trough is reduced, the possibility of food mildew is reduced, and healthy growth of the cultivated animals is facilitated.
The invention provides an intelligent control method for feeding feed for automatic cultivation, which is shown in fig. 1 and comprises the following steps:
s1, acquiring a pressure curve of a feed trough through a pressure sensor; wherein, the abscissa of the pressure curve is a time point, and the ordinate is a pressure value of the time point corresponding to the feed trough;
the pressure curve of each feed trough can be obtained through the pressure sensor by additionally installing the pressure sensor at the bottom of each feed trough, and the residual quantity in the feed trough at different moments can be obtained when the pressure curve is not changed. Each trough corresponds to one farmed animal; the farmed animals can include cattle, sheep, pigs, etc.;
in this embodiment, a pressure sensor is additionally installed at the bottom of each feeding trough, and a pressure curve of each feeding trough can be obtained through the pressure sensor, where in the pressure curve of each feeding trough, an abscissa is a time point, and an ordinate is a pressure value of the corresponding feeding trough at the time point. Wherein each feed trough corresponds to a feed trough pressure curve.
After the pressure curve of each feed trough is obtained, the pressure curve is used for impacting the feed trough when feeding the feed and feeding the bred animals, so that the pressure value is changed, and the residual feed amount of each feed trough can be obtained by obtaining the pressure value in a stable time period. The method comprises the following steps:
s2, obtaining the residual feed amount 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 each 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 each time point in the time point sequence as the residual amount of the feed at the time point; wherein, the residual feed amount at the time point corresponding to the variance is not zero is set to be zero; the residual amount of feed at each time point was obtained in turn.
Since only the pressure in the pressure stabilization period can represent the residual amount of the feed trough, the pressure value of the nth feed trough at the ith stabilization time point is acquired; wherein the abscissa is in seconds and the ordinate is in grams. The variance corresponding to each time point is obtained according to the following steps: acquiring a pressure value sequence taking the pressure value corresponding to each time point as a center according to the pressure value corresponding to each time point and a plurality of time points in the neighborhood of each 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 padding treatment on data points which are missing in a pressure value sequence corresponding to time points at two ends of a pressure curve; in the process of acquiring the variance corresponding to each time point, at least 11 time points are acquired from the neighborhood of the left side and the right side of each time point.
In this embodiment, a time window may be established, so that the time points on the pressure curve may be traversed, and each time point may be used as a center point in the window; the variance value of the pressure value corresponding to the time point in each window is given to the variance corresponding to the central time point in each window; when the variance value is 0, a time period formed by the time points in the corresponding window is a stable time period, and then the average value of the pressure values corresponding to the time points in the window is given to the residual amount of the feed at the central time point in the window. It should be noted that, in this embodiment, a time length of 11 seconds is selected as a length of a time period window, where the length of the window may be adjusted according to a specific implementation scenario; calculating variance values among 11 pressure values in the time period window by taking the time point as a central point of the time period window, wherein the variance values are windows corresponding to 0; and (3) giving the average value of the pressure values corresponding to the time points in the window corresponding to the variance value of 0 to the residual amount of the feed at the central time point in the window. Wherein, the zero-filling operation is carried out on insufficient data points at two ends of the pressure curve.
For the time point corresponding to the variance value not being zero, the measured data cannot be used as a reason for effective evaluation due to the fact that feed is currently being put in or animals are bred, and further when the residual feed amount in the corresponding feed trough at each time point is calculated, for the time point with the variance value not being 0, the residual feed amount in the corresponding feed trough is marked as empty, namely no record is made.
So as to obtain the residual feed amount corresponding to each feed trough at different time points.
After the residual feed amount of each feed trough corresponding to different time points is obtained, the feeding amount can be automatically adjusted according to the change of the residual feed amount; the method comprises the following steps:
s3, obtaining the feeding quantity of the cultured animals corresponding to the feeding trough;
obtaining the variation of the feed residue corresponding to all two time points according to the feed residue corresponding to all two adjacent time points in the time point sequence; according to the accumulated value of the variation quantity which is continuously smaller than zero, obtaining the feeding quantity of the feeding trough corresponding to the period of time corresponding to the variation quantity which is continuously smaller than zero;
the amount of change in the residual amount of feed corresponding to two time points is obtained from the difference in the residual amounts of feed corresponding to two adjacent time points in the time point series.
In this embodiment, the method for obtaining the variation value of the residual feed amount in each feed trough is as follows: after obtaining the residual feed amount corresponding to each trough at different time points, the method comprises the steps of
The residual amount of feed corresponding to each time point is recorded as +.>
And +.o in time-point sequence>
The residual amount of feed corresponding to the time point is marked as +.>
Performing difference to obtain a variation value of residual feed amount between two time points, which is recorded as +.>
The method comprises the steps of carrying out a first treatment on the surface of the It is noted that->
Time points and->
The points in time are not necessarily continuous in time.
Obtaining a variation value of the residual feed amount between two adjacent time points in the time point sequence
After that, the value is changed
The amount of change in the trough during the current period is indicated, wherein if +.>
Then this means that the corresponding farmed animal of the trough is eating, if +.>
Indicating that the trough is fed again;
since the farmed animals are likely to eat after one feeding, the farmed animals are likely to eat for a plurality of times, so that the total food consumption of the farmed animals is obtained between each feeding; so that all the change values which continuously occur and are smaller than zero
Adding up when a change value greater than zero is encountered>
After that, a change value less than zero can be +.>
The accumulated value is marked as->
A variation value of +.about.zero for the corresponding farmed animals as the trough>
Food intake during the period of (2)>
. Wherein t is the variation of the t th segment continuously smaller than zero +.>
Is a time period of (a).
Thereby obtaining the feeding amount of the cultured animals corresponding to each feeding trough in the t time period
And can obtain two variation values greater than zero adjacent to the t period +.>
As the feed for two times.
S4, obtaining feed feeding amount;
obtaining feeding pre-measurement according to the feeding amount of all the time periods corresponding to the continuous variation amounts smaller than zero; acquiring feed feeding quantity according to the feed residue quantity of the feeding trough corresponding to the current time point;
the predicted feeding amount is obtained by nonlinear fitting by least square method of feeding amounts for all time periods corresponding to continuous less than zero variation amounts.
In this embodiment, since the feeding amount is necessarily changed due to the growth of the farmed animals, after the feeding amount of the farmed animals is obtained in different time periods, nonlinear fitting is performed by a least square method to obtain the feeding amount of the farmed animals after each feeding, namely, the feeding prediction amount of the farmed animals; the residual amount of the feed in the feeding trough obtained currently can be obtained in the step S1, and the predicted feeding prediction amount in the next feeding is subtracted from the residual amount of the feed in the current feeding trough, so that the current feeding amount of the feed can be obtained.
S5, controlling the feed throwing equipment to throw feed into the feed trough according to the feed residual quantity and the feed throwing quantity at the current time point.
In the embodiment, in the process of throwing the feed with the corresponding feed throwing amount into the feed trough,
setting a residual quantity threshold;
if the residual amount of the feed at the current time point is smaller than the residual amount threshold value, the feed can be properly added when the bred animals eat the feed cleanly, and certain errors exist in prediction; a feed value wherein the increase value is 0.5 times the residual quantity threshold weight; controlling the feed throwing equipment to throw feed with the feed throwing amount being 0.5 times the residual amount threshold value into the feed trough;
if the residual feed amount at the current time point is larger than the residual amount threshold and smaller than 1.5 times of the residual amount threshold, considering the internal reference of the current feed trough and the feed amount as a reasonable range; the device for throwing the feed is controlled to throw the feed with the feed throwing amount corresponding to the feed throwing amount into the feed trough;
if the residual feed amount at the current time point is greater than a residual amount threshold value which is 1.5 times, the feeding is excessive until the time, and the cultured animals have more residues, so that the feed can be properly detected and reduced during the current feeding; because there is some error in the prediction, feed values with a 0.5-fold reduction in residual threshold weight; the device for feeding the feed is controlled to feed the feed corresponding to the feed feeding amount and minus 0.5 times of the residual amount threshold value.
The residual amount threshold is set according to the specific implementation scenario, and 50 g is taken in this embodiment.
In this embodiment, a fixed time interval may be set when the feed is fed into the feed trough each time, when each feeding time point is taken as a current time point, all pressure values before the current time point are analyzed by S1-S4 to obtain a current feeding prediction amount, and the device for feeding the feed is controlled to feed the feed trough by the current feeding prediction amount and the residual feed amount at the current time point.
According to the intelligent control method for feeding of automatic breeding provided by the invention, the feeding quantity of each feeding trough is accurately estimated by recording the pressure curve of each feeding trough and calculating the residual quantity of the feed in each feeding trough, the feeding quantity of the breeding animals can be estimated according to the residual quantity of the current time point and the change value of the feeding quantity, the feeding quantity of the breeding animals can be obtained according to the feeding quantity of the breeding animals, and the intelligent control for feeding of the automatic breeding feed is completed; the accurate control of the feeding quantity of a single feeding trough is realized, and the food accumulation quantity in the feeding trough is reduced, so that the possibility of food mildew is reduced, and the healthy growth of the cultured animals is facilitated.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. An intelligent control method for feeding fodder for automatic cultivation is characterized by comprising the following steps:
acquiring a pressure curve of the feed trough through a pressure sensor; wherein, the abscissa of the pressure curve is a time point, and the ordinate is a pressure value of the time point corresponding to the feed trough;
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 each 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 each time point in the time point sequence as the residual amount of the feed at the time point; wherein, the residual feed amount at the time point corresponding to the variance is not zero is set to be zero;
obtaining the variation of the feed residue corresponding to all two time points according to the feed residue corresponding to all two adjacent time points in the time point sequence;
according to the accumulated value of the variation quantity which is continuously smaller than zero, obtaining the feeding quantity of the feeding trough corresponding to the period of time corresponding to the variation quantity which is continuously smaller than zero; obtaining feeding pre-measurement according to the feeding amount of all the time periods corresponding to the continuous variation amounts smaller than zero;
acquiring feed feeding quantity according to the feed residue quantity of the feeding trough corresponding to the current time point;
and controlling the feed throwing equipment to throw the feed corresponding to the feed throwing amount into the feed trough according to the feed residual amount and the feed throwing amount at the current time point.
2. The method according to claim 1, wherein the feeding prediction amount is obtained by nonlinear fitting of feeding amounts of all periods corresponding to continuously less than zero variation by a least square method.
3. The intelligent control method for feeding in an automated farming 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 the pressure value corresponding to each time point as a center according to the pressure value corresponding to each time point and a plurality of time points in the neighborhood of each 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 padding treatment on the data points which are missing in the pressure value sequences corresponding to the time points at the two ends of the pressure curve.
4. The intelligent control method for feeding in automatic cultivation according to claim 3, wherein at least 11 time points are taken from the neighborhood of the left side and the right side of each time point in the process of obtaining the variance corresponding to each time point.
5. The method according to claim 1, wherein the amount of change in the amount of residual feed for the two time points is obtained based on the difference in the amount of residual feed for the two adjacent time points in the time point sequence.
6. The intelligent control method for feeding fodder for automatic cultivation according to claim 1, wherein, in the feeding process of feeding fodder corresponding to the feeding amount of fodder into the fodder trough,
setting a residual quantity threshold;
if the residual amount of the feed at the current time point is smaller than the residual amount threshold, controlling the equipment for feeding the feed to feed the feed corresponding to the feed feeding amount in the feed trough and adding the feed with the residual amount threshold of 0.5 times;
if the residual feed amount at the current time point is larger than the residual amount threshold and smaller than 1.5 times of the residual amount threshold, controlling the feed throwing equipment to throw feed with the corresponding feed throwing amount into the feed trough;
and if the residual amount of the feed at the current time point is greater than a residual amount threshold value which is 1.5 times, controlling the equipment for feeding the feed to feed the feed tank with the feed corresponding to the feed feeding amount and subtracting the residual amount threshold value which is 0.5 times.
7. The intelligent control method for feed placement for automated farming according to claim 6, wherein the residual amount threshold is set to 50 grams.
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