CN111557277A - Intelligent three-dimensional production system for insect breeding and breeding method - Google Patents
Intelligent three-dimensional production system for insect breeding and breeding method Download PDFInfo
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- 238000009395 breeding Methods 0.000 title claims abstract description 169
- 230000001488 breeding effect Effects 0.000 title claims abstract description 161
- 241000238631 Hexapoda Species 0.000 title claims abstract description 152
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 45
- 238000012544 monitoring process Methods 0.000 claims abstract description 30
- 238000005303 weighing Methods 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 24
- 238000007726 management method Methods 0.000 claims description 87
- 230000007613 environmental effect Effects 0.000 claims description 76
- 210000001503 joint Anatomy 0.000 claims description 36
- 238000005457 optimization Methods 0.000 claims description 26
- 238000003032 molecular docking Methods 0.000 claims description 17
- 238000005096 rolling process Methods 0.000 claims description 17
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- 239000007789 gas Substances 0.000 claims description 12
- 239000001301 oxygen Substances 0.000 claims description 12
- 229910052760 oxygen Inorganic materials 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 7
- 238000012364 cultivation method Methods 0.000 claims description 4
- 239000003337 fertilizer Substances 0.000 claims description 3
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- 241000282414 Homo sapiens Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
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- 238000003708 edge detection Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses an intelligent three-dimensional production system and a breeding method for insect breeding, and relates to the technical field of Internet of things and artificial intelligence, wherein the intelligent three-dimensional production system comprises a management server, an automatic production line system of breeding boxes, a plurality of three-dimensional placing racks arranged in a breeding area, an environment control device, an environment monitoring sensor system and a plurality of breeding boxes arranged in the three-dimensional placing racks; the automatic assembly line system of the cultivation box comprises an annular belt conveying device, a weighing device, a camera and an automatic feeder, wherein the weighing device, the camera and the automatic feeder are connected with a management server; this application utilizes management server and breeds the automatic assembly line system of case and carry out video detection, weigh and throw the fodder with breeding the case timing transmission, combines breed specialty and scientific and technological means, realizes insect breeding process's standardization, specialization, unmanned.
Description
Technical Field
The invention relates to the technical field of Internet of things and artificial intelligence, in particular to an intelligent three-dimensional production system and a breeding method for insect breeding.
Background
Insects are the animal groups with the largest number on the earth, account for more than 50% of all biological species, are valuable resources which are fully utilized by human beings, are one of important ways for solving the shortage of animal proteins, are novel ways for guaranteeing food supply, and are the best choices for improving the environment. The insect generation is short, the breeding is rapid, the food conversion rate is high, and the overall biomass may exceed the total biomass of all animals on land. The insect world contains abundant resources, which are important renewable biological resources, and the insect is the last cake left by the god to human beings. The industrialized utilization of insect resources has the characteristics of emerging industrial fields and has a long history.
Modern insect breeding mainly focuses on agricultural breeding technology, relies on manpower in a large number to carry out environmental management, throw and feed, growth monitoring, and needs to rely on the rich experience of breeders, and work is painstaking, and the breed degree of difficulty is big, and the profit margin is not high. The invention also provides devices for insect breeding, but the devices are not based on a traditional plane breeding structure, are improved aiming at a certain link in breeding, and the standardization, specialization and unmanned aerial vehicle of the insect breeding process cannot be realized without fully utilizing the existing advanced Internet of things and artificial intelligence technology, so that the large-scale breeding production cannot be realized, and the application and popularization of insect products are hindered.
Disclosure of Invention
The invention aims at the problems and the technical requirements, and provides an intelligent three-dimensional production system and a breeding method for insect breeding, wherein a management server and an automatic assembly line system of a breeding box are used for carrying out video detection, weighing and feeding on the breeding box in a timing mode, a three-dimensional rack is used for carrying out three-dimensional management and stacking on the breeding box, a machine vision technology built in the management server is used for carrying out insect growth monitoring, an internet of things perception technology is used for carrying out environmental parameter feedback adjustment, breeding specialties and technological means are combined, and standardization, specialization and unmanned insect breeding processes are realized.
The technical scheme of the invention is as follows:
an intelligent three-dimensional production system for insect breeding comprises a management server, an automatic production line system of breeding boxes, a plurality of three-dimensional placing racks arranged in a breeding area, an environment control device, an environment monitoring sensor system and a plurality of breeding boxes arranged in the three-dimensional placing racks;
the automatic assembly line system of the cultivation box comprises an annular belt conveying device, a weighing device, a camera and an automatic feeder, wherein the weighing device is arranged below a belt of the annular belt conveying device;
the management server is respectively connected with the environment control device, the environment monitoring sensor system, the weighing device, the camera, the automatic feeding device, the butt joint module and the conveyor belt motor; the conveyer motor is connected with the belt of the control annular belt conveyer and the butt joint module to act; the management server analyzes the environmental information acquired by the environmental monitoring sensor system through a built-in environmental feedback adjustment algorithm to control the environmental control device; the management server analyzes the insect images in the breeding box collected by the camera through a built-in machine vision algorithm to obtain the insect state, wherein the insect state comprises the size, activity and peeling degree of the insects; the management server analyzes the insect state and the insect mass acquired by the weighing device through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, and the automatic feeder feeds the breeding box according to the optimal feeding amount; the management server analyzes the insect state and the environmental information through a built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placing rack;
the breeding box placed on the three-dimensional placing frame is transmitted to the annular belt conveying device through the butt joint module to be subjected to line production, and after the breeding box sequentially passes through the camera, the weighing device and the automatic feeding device, the breeding box is transmitted back to the optimal position of the three-dimensional placing frame through the butt joint module appointed by the management server.
The technical scheme is that the butt joint module comprises a first butt joint track, a second butt joint track, a stacker and a two-dimensional code scanner arranged in front of the second butt joint track, wherein the stacker and the two-dimensional code scanner are respectively connected with a management server; in the culture area, every two three-dimensional placing racks are placed back to form a group of three-dimensional placing racks, a first butt joint rail is arranged between every two three-dimensional placing racks to serve as a shared access of every two three-dimensional placing racks, the three-dimensional placing racks are respectively arranged on the opposite sides of the first group of three-dimensional placing racks and the last group of three-dimensional placing racks, the front sides of the three-dimensional placing racks are opposite to each other, and first butt joint rails are respectively arranged between one three-dimensional placing rack and the first group of three-dimensional placing racks and; the stacker moves on the first butt-joint rail, the second butt-joint rail is used as a fork passage of the annular belt conveying device to be in butt joint with the corresponding first butt-joint rail, and the breeding box placed on the three-dimensional placing frame is conveyed to the corresponding second butt-joint rail through the stacker and the first butt-joint rail to enter the annular belt conveying device for flow production.
The method comprises the following steps that a corresponding two-dimensional code is arranged on each cultivation box, each two-dimensional code corresponds to a cultivation box number, when the cultivation boxes perform line production in an automatic assembly line system of the cultivation boxes, a camera collects the two-dimensional codes of the cultivation boxes and transmits the two-dimensional codes to a management server, and the management server correspondingly records the insect state and the environment information of the cultivation boxes according to the acquired cultivation box numbers; after the optimal position of the three-dimensional placing frame is determined, the management server issues an optimal position instruction to the two-dimensional code scanner and the stacker, the two-dimensional code scanner sequentially scans the two-dimensional codes of the cultivation boxes and judges whether the cultivation boxes pass through the current fork channel or not, a gate is arranged on the second butt-joint track, if the two-dimensional code scanner passes through the two-dimensional code scanner, the gate is opened, the cultivation boxes are conveyed to the optimal position through the stacker, if the two-dimensional code scanner does not pass through the fork channel, the gate is closed, and the cultivation boxes are conveyed to the next two-dimensional code scanner through the annular belt conveying device to be scanned and judged until the fork channel corresponding to.
The stacking machine comprises a vertical lifting rail and a first rolling belt, a second rolling belt is arranged on each grid of the three-dimensional placing frame, the stacking machine moves to the corresponding horizontal position of the three-dimensional placing frame through a first butt joint rail according to an optimal position instruction, and then moves to the corresponding vertical position of the three-dimensional placing frame through the vertical lifting rail, and a conveyor belt motor controls the rotation of the first rolling belt to convey the cultivation box to the optimal position of the three-dimensional placing frame; when the flow process is ready to start, the breeding boxes are conveyed to the stacking machine through the second rolling belt in the warehouse-out process, conveyed to the corresponding second butt joint rail through the vertical lifting rail, the first butt joint rail and the first rolling belt, and enter the annular belt conveying device after the gate is opened to carry out flow process.
The further technical scheme is that the bottom of the breeding box is provided with a mesh structure, the stacker further comprises a vibrating motor and a collecting box, the vibrating motor is started by the stacker in the process of delivering the breeding box out of the warehouse, insect excrement and residual feed in the breeding box as fertilizer drops in the collecting box through the mesh structure, and only insects are reserved in the breeding box after the breeding box is delivered out of the warehouse.
The further technical proposal is that the environment control device comprises an air conditioner, an exhaust fan, a humidifier and an automatic curtain; the environment monitoring sensor system is connected with the management server through a wireless gateway, the wireless gateway is arranged in the culture area, the environment monitoring sensor system is respectively arranged on each grid of the three-dimensional placing frame and used for collecting environment information of each grid of the three-dimensional placing frame, and the environment monitoring sensor system comprises a temperature and humidity sensor, an illumination sensor, an oxygen sensor, a harmful gas sensor and a sound sensor.
A breeding method of an intelligent three-dimensional production system for breeding insects is suitable for the intelligent three-dimensional production system, and comprises the following steps:
placing a batch of insect larvae in each breeding box in equal mass, and placing the breeding boxes on a three-dimensional placing rack;
according to the growth habit of insects, the management server takes out the breeding boxes needing to be fed through the butt-joint module at regular time and transmits the breeding boxes to the annular belt conveying device for flow process;
when the breeding box reaches the position below the camera, the annular belt conveying device pauses, the management server analyzes the insect image in the breeding box collected by the camera through a built-in machine vision algorithm to obtain the insect state, the insect state comprises the size, activity and peeling degree of the insect, meanwhile, the serial number of the breeding box is determined through the two-dimensional code collected by the camera and is recorded in the management server, and the annular belt conveying device continues to transmit;
when the breeding box reaches the weighing device, the annular belt conveying device pauses, the weighing device sends the collected current insect mass to the management server, the management server compares the current insect mass with the insect mass of the previous round, the insect growth condition is obtained and recorded in the corresponding breeding box number, and the annular belt conveying device continues to transmit;
when the breeding box reaches the position below the automatic feeding device, the annular belt conveying device pauses, the management server analyzes the insect state and the insect growth condition through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, the automatic feeding device feeds the breeding box according to the optimal feeding amount and records the optimal feeding amount in the corresponding breeding box number, and the annular belt conveying device continues to transmit;
the management server analyzes the insect state and the environment information acquired by the environment monitoring sensor system through a built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placing frame, and the breeding box is returned to the optimal position of the three-dimensional placing frame through a docking module designated by the management server;
and the management server is re-executed to take out the breeding box to be fed through the butt joint module at regular time and transmit the breeding box to the annular belt conveyer for line production until the batch of insect larvae grow into adults meeting the factory requirements.
The further technical scheme is that the management server analyzes the insect state and the insect growth condition through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, and the method comprises the following steps:
firstly, distinguishing whether the insects are in a larva or an adult stage according to the insect state, and if the insects are in the larva stage, obtaining the optimal feeding amount by y-nxm, wherein y is the optimal feeding amount, n is the breeding coefficient of the current insect species, and m is the current insect mass; if the insects are in an adult stage, obtaining the optimal feeding amount through y ═ a × m-b, wherein a and b are breeding coefficients of the current insect species; when the growth of the adult insects meets the requirement that m is b/a, the automatic feeding device stops feeding, and the management server reminds the adults meeting the factory requirements to be harvested.
The further technical scheme is that the management server analyzes the insect state through a built-in breeding box position optimization algorithm and obtains the optimal position of the three-dimensional placing rack through the environmental information collected by the environmental monitoring sensor system, and the method comprises the following steps:
determining the presence of insects according to insect breeding techniquesThe optimal environmental parameter of the long stage is the temperature TQHumidity HQIlluminance LQOxygen concentration OQAnd concentration of harmful gas GQ(ii) a Initializing parameter weights and evenly distributing, including setting:
the actually measured environmental parameters of the breeding box in the lattices corresponding to the three-dimensional placing rack before delivery are respectively the temperature tnHumidity hnIlluminance lnOxygen concentration onAnd concentration g of harmful gasnBy passing
varietyn＝c×(TQ-tn)+d×(HQ-hn)+e×(LQ-ln)+f×(OQ-on)+g×(GQ-gn) Calculating the environmental mass deviation degree of each grid in the three-dimensional placing rack, wherein the variancenC, d, e, f and g are parameter weights for the environmental quality deviation degree; when the cultivation box is put in a warehouse, the cultivation box is placed in vacant lattices with the minimum environmental quality deviation degree in the three-dimensional placing rack; after all the breeding boxes pass through one round of warehousing and ex-warehouse, optimizing and adjusting the parameter weight by adopting a linear programming algorithm, wherein the optimization function is
And satisfy the constraint condition
Solving the weight of each parameter when the optimization function F is minimum, updating the environmental mass deviation degree of each grid for the optimal position of the next round of three-dimensional placing rack, and when the next round of cultivation boxes starts to be put in storage, re-executing the actual measurement environmental parameters of the cultivation boxes before being taken out of the storage in the grids corresponding to the three-dimensional placing racks to be the temperature tnHumidity hnIlluminance lnOxygen concentration onAnd concentration g of harmful gasnThe step (2).
The further technical scheme is that the culture method further comprises the following steps:
the management server analyzes the environmental information through a built-in environmental feedback adjustment algorithm and controls an environmental control device to meet the average requirement of the insect growth environment, and the control aim is to minimize the sum of variance values of all environmental parameters of all lattices of the three-dimensional placing rack and the required optimal environmental parameters corresponding to the cultivation box;
the environment feedback adjustment algorithm is based on a PID control algorithm, the sampling interval time of a temperature sensor is assumed to be T, and the actual environment parameter of the nth grid at the kT moment is monitored to be the temperature Tn(k) The optimal temperature value required by each grid culture box is
The variance is
Calculating an environmental adjustment incremental value of Δ u (k) kp[v(k)-v(k-1)]+kiv(k)+kd[v(k)-2v(k-1)+v(k-2)]Wherein k ispIs the proportionality coefficient, kiIs the integral coefficient, kdIs a differential coefficient, according to an empirical value kp＝0.5，ki＝0.2，kdWhen the temperature value is equal to 0.1, the temperature value adjusted by the air conditioner is
Repeatedly monitoring the actual environmental parameter of the nth grid at the moment of kT as the temperature tn(k) The step (2).
The beneficial technical effects of the invention are as follows:
the method comprises the steps that a management server is used for conveying breeding boxes placed in a three-dimensional placing rack to an automatic production line system of the breeding boxes at regular time for carrying out video detection, weighing and feeding, then a docking module specified by the management server is used for returning to the optimal position of the three-dimensional placing rack, three-dimensional management stacking of the breeding boxes is realized by using the three-dimensional placing rack and the docking module, growth monitoring of insect states is automatically carried out by using a machine vision algorithm built in the management server, environment parameter feedback adjustment of an environment control device is controlled by using an environment feedback adjustment algorithm built in the management server, the optimal feeding amount of insects in each growth stage is obtained by using a feed feeding optimization algorithm built in the management server, and the optimal position of the three-dimensional placing rack is determined by using a breeding box position optimization algorithm built in the management server; this application combines breed specialty and scientific and technological means, and the cooperation real time environment index carries out accurate fodder and throws something and feeds, need not artificial intervention, forms complete breed closed loop system, improves to all links of insect breeding in-process, forms systematic intelligent three-dimensional production system, realizes the standardization, specialization and the unmanned of breeding the process, and the help realizes large-scale breed production, the application and the popularization of helping hand insect product.
Drawings
Fig. 1 is a schematic block diagram of an intelligent stereoscopic production system provided by the present application.
FIG. 2 is a schematic structural diagram of an automated flow-line system for cultivation boxes provided by the present application.
Fig. 3 is a schematic structural diagram of a three-dimensional rack provided by the present application.
Fig. 4 is a flow chart of a cultivation method based on an intelligent three-dimensional production system provided by the application.
FIG. 5 is a flow chart of a habitat position optimization algorithm provided by the present application.
Fig. 6 is a flow chart of an environmental feedback adjustment algorithm provided herein.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses intelligent three-dimensional production system that insect was bred, it is shown with combination fig. 1-3 that intelligent three-dimensional production system includes management server, breeds the automatic assembly line system of case, sets up a plurality of three-dimensional rack 1, environmental control device and environmental monitoring sensor system 2 in breeding the district and places a plurality of in three-dimensional rack 1 and breed case 3. Every breeds and all is equipped with the two-dimensional code that corresponds on the case 3, and every two-dimensional code corresponds a breed case serial number, breeds the bottom of the case and is equipped with mesh structure.
As shown in fig. 2, the automatic assembly line system of the cultivation box comprises an annular belt conveying device 4, a weighing device 5 arranged below a belt of the annular belt conveying device 4, a camera 6 arranged above the annular belt conveying device and an automatic feeder 7, wherein the annular belt conveying device 4 is connected with the three-dimensional placing frame 1 through a butt joint module.
The docking module comprises a first docking track 8, a second docking track 9, a stacker 10 and a two-dimensional code scanner 11 arranged in front of the second docking track 9, wherein the stacker 10 and the two-dimensional code scanner 11 are respectively connected with the management server. The stacker 10 comprises a vertical lifting track 101, a first rolling belt, a vibrating motor and a collecting box, wherein each grid of the three-dimensional placing frame 1 is provided with a second rolling belt, and a gate 901 is arranged on the second butt-joint track 9. As shown in fig. 3, in the cultivation area, every two three-dimensional racks 1 are placed back to back as a group of three-dimensional racks, a first docking rail 8 is arranged between each group of three-dimensional racks as a shared entrance and exit of each group of three-dimensional racks, the three-dimensional racks are respectively arranged opposite to the first group of three-dimensional racks and the last group of three-dimensional racks, the front sides of the three-dimensional racks are opposite to each other, and a first docking rail 8 is respectively arranged between each three-dimensional rack and each first group of three-dimensional racks. The stacker 10 moves on the first butt rail 8, and the second butt rail 9 as a fork passage of the endless belt conveyor 4 is butted against the corresponding first butt rail 8. This application utilizes three-dimensional rack and butt joint module to realize breeding the three-dimensional management of case and stacks, places through establishing per two three-dimensional racks into a set of back to back, has utilized the breed space comprehensively and has practiced thrift the cost.
As shown in fig. 1, the management server is connected to an environment control device, an environment monitoring sensor system 2, a weighing device 5, a camera 6, an automatic feeder 7, a docking module and a conveyor motor, respectively. The environment control device comprises an air conditioner, an exhaust fan, a humidifier and an automatic curtain. The environmental monitoring sensor system 2 is connected with the management server through the wireless gateway 12, the wireless gateway 12 is arranged in the culture area, the wireless gateway 12 and the management server are in wireless connection through WiFi/Zigbee/Bluetooth/LoRa technologies, the environmental monitoring sensor system 2 is arranged on each lattice of the three-dimensional rack 1 respectively and used for collecting environmental information of each lattice of the three-dimensional rack, and the environmental monitoring sensor system 2 comprises a temperature and humidity sensor, an illumination sensor, an oxygen sensor, a harmful gas sensor and a sound sensor. The present invention is not limited to the above-described embodiments, and various modifications and changes may be made without departing from the spirit and scope of the present invention. The conveyor motor is connected to control the belt motion (i.e., the first rolling belt and the second rolling belt) of the endless belt conveyor 4 and the docking module. The management server analyzes the environmental information collected by the environmental monitoring sensor system 2 through a built-in environmental feedback adjustment algorithm to control the environmental control device. The management server obtains the insect state through the built-in machine vision algorithm analysis by the breed incasement insect image of camera 6 collection, and the insect state includes the size, activity and the desquamation degree of insect, and is specific, and the machine vision algorithm includes edge detection, motion detection and colour detection, obtains the size of insect through edge detection, obtains the activity of insect through motion detection, obtains the desquamation degree of insect through colour detection. The management server analyzes the insect state and the insect mass acquired by the weighing device 5 through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, and the automatic feeding device 7 feeds the breeding box 3 according to the optimal feeding amount. The management server analyzes the insect state and the environmental information through a built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placing rack.
The breeding box 3 placed on the three-dimensional placing frame 1 is transmitted to the annular belt conveying device 4 through the butt joint module to be subjected to line production, and after the breeding box sequentially passes through the camera 6, the weighing device 5 and the automatic feeding device 7, the breeding box is returned to the optimal position of the three-dimensional placing frame through the butt joint module appointed by the management server.
The application also discloses a breeding method using the intelligent three-dimensional production system for insect breeding, and as shown in fig. 4, the breeding method comprises the following steps:
step 1: the equal-mass cultivation of a batch of insect larvae is carried out in each cultivation box 3, and the cultivation boxes 3 are placed on the three-dimensional placing rack 1.
After the initial mass of the insects in each breeding box is obtained through the weighing device 5, the corresponding records are recorded in the serial numbers of each breeding box in the management server, and the breeding boxes 3 are sequentially placed on the three-dimensional placing frame 1 through the annular belt conveying device 4 and the butt joint module.
Step 2: according to the growth habit of insects, the management server takes out the breeding boxes needing feeding through the butt joint module at regular time and transmits the breeding boxes to the annular belt conveying device 4 for flow process.
Specifically, when the flow line operation is prepared, the culture box is taken out of the warehouse: the breeding box 3 placed on the three-dimensional placing frame 1 is conveyed to the stacker 10 through a second rolling belt, the breeding box is conveyed to the corresponding second butt joint rail 9 through the vertical lifting rail 101, the first butt joint rail 8 and the first rolling belt, the running water operation is carried out on the annular belt conveyer 4 after the gate 901 is opened, meanwhile, the stacker 10 starts the vibrating motor, the insect excrement and the residual feed in the breeding box 3 fall into the collecting box through a mesh structure as fertilizer, the breeding box can be sold outwards or used internally after being fully collected, and only insects are reserved in the breeding box 3 after being taken out of the warehouse.
And step 3: when the breeding box 3 reaches the position below the camera 6, the annular belt conveying device 4 is paused, the management server analyzes the insect image in the breeding box collected by the camera 6 through a built-in machine vision algorithm to acquire the insect state, meanwhile, the two-dimensional code collected by the camera 6 determines the serial number of the breeding box and records the serial number in the management server, and the annular belt conveying device 4 continues to transmit.
When the breeding box carries out line production in the automatic assembly line system of the breeding box, the camera 6 collects the two-dimensional codes of the breeding box and transmits the two-dimensional codes to the management server, and the management server correspondingly records the insect state and the environmental information of the breeding box according to the obtained serial number of the breeding box.
And 4, step 4: when breeding case 3 and arriving weighing device 5, endless belt conveyer 4 pauses, and weighing device 5 sends the current insect mass of gathering to management server, and management server compares current insect mass and last round insect mass, acquires the insect growth condition and takes notes in the breeding case serial number that corresponds, and endless belt conveyer 4 continues the transmission.
And 5: when the breeding box 3 reaches the position below the automatic feeding device 7, the annular belt conveying device 4 is stopped temporarily, the management server analyzes the insect state and the insect growth condition through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, the automatic feeding device 7 feeds the breeding box 3 according to the optimal feeding amount, the optimal feeding amount is recorded in the corresponding breeding box number, and the annular belt conveying device 4 continues to transmit.
First, the insect is distinguished by its insect status as being in the larval or adult stage. If the insects are in the larva stage, the optimal feeding amount is obtained through y which is n multiplied by m, the quick growth of the larvae is guaranteed, wherein y is the optimal feeding amount, n is the breeding coefficient of the current insect species, and m is the current insect quality. And if the insects are in an adult stage, obtaining the optimal feeding amount through y ═ a x m-b, and gradually reducing the feeding amount, wherein a and b are breeding coefficients of the current insect species, specifically, the breeding coefficients are determined by breeding technologies of different insects, and the breeding coefficients of different adult insects and larvae are different. And when the growth of the adult insects meets the requirement that m is b/a, the automatic feeding device 7 stops feeding, and the management server reminds the adults meeting the factory requirements to be harvested.
Step 6: the management server analyzes the insect state through a built-in breeding box position optimization algorithm and obtains the optimal position of the three-dimensional placing frame through the environmental information collected by the environmental monitoring sensor system, and the breeding box 3 returns the optimal position of the three-dimensional placing frame through a docking module designated by the management server.
Step 601: as shown in FIG. 5, according to the insect breeding technique, the optimal environmental parameters of the insects in the growth stage are determined to be the temperature TQHumidity HQIlluminance LQOxygen concentration OQAnd concentration of harmful gas GQ。
Step 602: initializing parameter weights and evenly distributing, including setting:
step 603: the cultivation boxes correspond to the three-dimensional placing racks before being taken out of the warehouseThe measured environmental parameters in the grid are respectively the temperature tnHumidity hnIlluminance lnOxygen concentration onAnd concentration g of harmful gasn。
Step 604: by passing
varietyn＝c×(TQ-tn)+d×(HQ-hn)+e×(LQ-ln)+f×(OQ-on)+g×(GQ-gn) Calculating the environmental mass deviation degree of each grid in the three-dimensional placing rack, wherein the variancenAnd c, d, e, f and g are parametric weights for the degree of environmental mass deviation.
Step 605: the cultivation boxes 3 are placed in the vacant lattices with the minimum environmental quality deviation degree in the three-dimensional placing rack 1 when being put in storage.
When the cultivation box is put in storage: after the optimal position of the three-dimensional placing frame is determined to place the cultivation box, the management server issues an optimal position instruction to the two-dimensional code scanner 11 and the stacker 10, the two-dimensional code scanner 11 sequentially scans the two-dimensional codes of the cultivation box 3 and judges whether the cultivation box 3 passes through the current fork passage, if the two-dimensional code passes through the current fork passage, the gate 901 is opened, the stacker 10 moves to the corresponding horizontal position of the three-dimensional placing frame 1 through the first butt-joint rail 8 according to the optimal position instruction, and then moves to the corresponding vertical position of the three-dimensional placing frame 1 through the vertical lifting rail 101, and the conveyor motor controls the steering of the first rolling belt to convey the cultivation box 3 to the optimal position of the three-dimensional placing frame 1 (namely, the optimal position is in the vacant grid. If the breeding box does not pass through the gate 901, the breeding box 3 is conveyed to the next two-dimensional code scanner 11 through the endless belt conveying device 4 for scanning and judgment until the fork passage corresponding to the optimal position is reached. Step 601 and 605 are based on a greedy algorithm and realize the optimization of the position distribution of the culture box in the vacant lattices of the three-dimensional placing rack.
Step 606: after all the breeding boxes 3 pass through one round of warehousing and ex-warehouse, optimizing and adjusting the parameter weight by adopting a linear programming algorithm, wherein the optimization function is
And satisfy the constraint condition
Solving the weight of each parameter when the optimization function F is minimum, updating the environmental mass deviation degree of each grid for the optimal position of the next round of three-dimensional placing rack 1, and when the next round of cultivation boxes starts to be put in storage, re-executing the actually measured environmental parameters of the cultivation boxes before being taken out of the storage in the grids corresponding to the three-dimensional placing racks to be the temperature tnHumidity hnIlluminance lnOxygen concentration onAnd concentration g of harmful gasnStep (2), namely step 603.
And 7: the management server analyzes the environmental information through a built-in environmental feedback adjustment algorithm and controls the environmental control device to meet the average requirement of the insect growth environment, and the control aim is to minimize the sum of variance values of all environmental parameters of all the lattices of the three-dimensional placing rack 1 and the required optimal environmental parameters corresponding to the cultivation boxes 3.
The environment feedback adjustment algorithm is based on a PID control algorithm, and a flow chart thereof is shown in fig. 6, taking temperature feedback adjustment as an example, the feedback adjustment of other environment parameters is consistent with the temperature feedback adjustment. Assuming that the sampling interval time of the temperature sensor is T, the actual environment parameter of the monitored nth grid at the kT moment is temperature Tn(k) The optimal temperature value required by each grid culture box is
The variance is
The variance is zero, which is the most ideal case, and the purpose of using the incremental PID control algorithm is to make the variance approach to zero and calculate the environment adjustment increment value as
Δu(k)＝kp[v(k)-v(k-1)]+kiv(k)+kd[v(k)-2v(k-1)+v(k-2)]Wherein k ispIs the proportionality coefficient, kiIs the integral coefficient, kdIs a differential coefficient, according to an empirical value kp＝0.5，ki＝0.2，kdWhen the temperature value is equal to 0.1, the temperature value adjusted by the air conditioner is
Repeatedly monitoring the actual environmental parameter of the nth grid at the moment of kT as the temperature tn(k) The step (2).
And 8: and the management server is re-executed to take out the breeding box to be fed through the butt joint module at regular time and transmit the breeding box to the annular belt conveying device 4 for flow process till the batch of insect larvae grow into adults meeting the factory requirements.
This application combines breed specialty and scientific and technological means, and the cooperation real time environment index carries out accurate fodder and throws something and feeds, need not artificial intervention, forms complete breed closed loop system, improves to all links of insect breeding in-process, forms systematic intelligent three-dimensional production system, realizes the standardization, specialization and the unmanned of breeding the process, and the help realizes large-scale breed production, the application and the popularization of helping hand insect product.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (10)
1. An intelligent three-dimensional production system for insect breeding is characterized by comprising a management server, an automatic production line system of breeding boxes, a plurality of three-dimensional placing racks arranged in a breeding area, an environment control device, an environment monitoring sensor system and a plurality of breeding boxes arranged in the three-dimensional placing racks;
the automatic assembly line system of the cultivation box comprises an annular belt conveying device, a weighing device, a camera and an automatic feeder, wherein the weighing device is arranged below a belt of the annular belt conveying device, the camera and the automatic feeder are arranged above the annular belt conveying device, and the annular belt conveying device is connected with the three-dimensional placing frame through a butt joint module;
the management server is respectively connected with the environment control device, the environment monitoring sensor system, the weighing device, the camera, the automatic feeding device, the butt joint module and the conveyor belt motor; the conveyer belt motor is connected with and controls the belt motion of the annular belt conveyer and the butt joint module; the management server analyzes the environmental information collected by the environmental monitoring sensor system through a built-in environmental feedback adjustment algorithm to control the environmental control device; the management server analyzes the insect images in the breeding box collected by the camera through a built-in machine vision algorithm to obtain insect states, wherein the insect states comprise the size, activity and peeling degree of insects; the management server analyzes the insect state and the insect mass acquired by the weighing device through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, and the automatic feeder feeds the breeding box according to the optimal feeding amount; the management server analyzes the insect state and the environmental information through a built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placing rack;
the breeding box placed on the three-dimensional placing frame is transmitted to the annular belt conveying device through the butt joint module to be subjected to line production, and the breeding box passes through the camera, the weighing device and the automatic feeding device in sequence and then is transmitted back to the optimal position of the three-dimensional placing frame through the butt joint module appointed by the management server.
2. The intelligent three-dimensional production system for insect breeding according to claim 1, wherein the docking module comprises a first docking track, a second docking track, a stacker and a two-dimensional code scanner arranged in front of the second docking track, and the stacker and the two-dimensional code scanner are respectively connected to the management server; in the culture area, every two three-dimensional placing racks are placed back to form a group of three-dimensional placing racks, a first butt joint rail is arranged between every two three-dimensional placing racks to serve as a shared access of each group of three-dimensional placing racks, the three-dimensional placing racks are respectively arranged on the opposite sides of the first group of three-dimensional placing racks and the last group of three-dimensional placing racks, the front sides of the three-dimensional placing racks are opposite to each other, and the first butt joint rail is respectively arranged between each three-dimensional placing rack and the corresponding one of the first group of three-dimensional placing racks and the corresponding; the stacking machine moves on the first butt-joint rail, the second butt-joint rail is used as a fork passage of the annular belt conveying device to be in butt joint with the corresponding first butt-joint rail, and the breeding box placed on the three-dimensional placing frame is conveyed to the corresponding second butt-joint rail through the stacking machine and the first butt-joint rail to enter the annular belt conveying device for flow production.
3. The intelligent three-dimensional production system for insect breeding according to claim 2, wherein each breeding box is provided with a corresponding two-dimensional code, each two-dimensional code corresponds to a breeding box number, when the breeding boxes perform line production in the automatic breeding box assembly line system, the cameras collect the two-dimensional codes of the breeding boxes and transmit the two-dimensional codes to the management server, and the management server correspondingly records the insect states and the environmental information of the breeding boxes according to the obtained breeding box numbers; after the situation that the breeding box is placed at the optimal position of the three-dimensional placing frame is determined, the management server issues an optimal position instruction to the two-dimensional code scanner and the stacker, the two-dimensional code scanner sequentially scans the two-dimensional codes of the breeding box and judges whether the breeding box passes through a current fork channel or not, a gate is arranged on the second butt-joint track, if the two-dimensional code scanner passes through the gate, the breeding box is conveyed to the optimal position through the stacker, if the two-dimensional code scanner does not pass through the stacker, the gate is closed, and the breeding box is conveyed to the next two-dimensional code scanner through the annular belt conveying device to be scanned and judged until the fork channel corresponding to the optimal position is reached.
4. Intelligent three-dimensional production system for insect breeding according to claim 3,
the stacking machine comprises a vertical lifting rail and a first rolling belt, a second rolling belt is arranged on each grid of the three-dimensional placing frame, the stacking machine moves to the corresponding horizontal position of the three-dimensional placing frame through the first butt rail according to the optimal position instruction, then moves to the corresponding vertical position of the three-dimensional placing frame through the vertical lifting rail, and the conveying motor controls the steering of the first rolling belt to convey the cultivation box to the optimal position of the three-dimensional placing frame; when the line production is ready to start, in the process of delivering the cultivation boxes out of the warehouse, the cultivation boxes are conveyed to the stacker through the second rolling belt, conveyed to the corresponding second butt joint rail through the vertical lifting rail, the first butt joint rail and the first rolling belt, and enter the annular belt conveying device to perform line production after the gate is opened.
5. The intelligent three-dimensional production system for insect cultivation according to any one of claims 2 to 4, wherein the bottom of the cultivation box is provided with a mesh structure, the stacker further comprises a vibration motor and a collection box, the stacker starts the vibration motor during the warehouse-out process of the cultivation box, the insect feces and the residual feed in the cultivation box fall into the collection box through the mesh structure as fertilizer, and only the insects are retained in the cultivation box after the cultivation box is warehouse-out.
6. The intelligent three-dimensional production system for insect breeding according to claim 1, wherein the environmental control device comprises an air conditioner, an exhaust fan, a humidifier and an automatic curtain; the environment monitoring sensor system is connected with the management server through a wireless gateway, the wireless gateway is arranged in the breeding area, the environment monitoring sensor system is respectively arranged on each grid of the three-dimensional placing rack and used for collecting environment information of each grid of the three-dimensional placing rack, and the environment monitoring sensor system comprises a temperature and humidity sensor, an illumination sensor, an oxygen sensor, a harmful gas sensor and a sound sensor.
7. A cultivation method of an intelligent three-dimensional production system for insect cultivation, which is suitable for the intelligent three-dimensional production system of any one of claims 1 to 6, and is characterized by comprising the following steps:
placing a batch of insect larvae in each breeding box in equal mass, and placing the breeding boxes on the three-dimensional placing rack;
according to the growth habit of insects, the management server takes out the breeding boxes needing to be fed through the butt joint module at regular time and transmits the breeding boxes to the annular belt conveying device for flow process;
when the breeding box reaches the position below the camera, the endless belt conveyer is paused, the management server analyzes an insect image in the breeding box collected by the camera through a built-in machine vision algorithm to obtain an insect state, the insect state comprises the size, activity and peeling degree of the insect, meanwhile, the number of the breeding box is determined through the two-dimensional code collected by the camera and is recorded in the management server, and the endless belt conveyer continues to transmit;
when the breeding box reaches the weighing device, the annular belt conveying device pauses, the weighing device sends the collected current insect mass to the management server, the management server compares the current insect mass with the insect mass of the previous round, the insect growth condition is obtained and recorded in the corresponding breeding box number, and the annular belt conveying device continues to transmit;
when the breeding box reaches the position below the automatic feeding device, the annular belt conveying device pauses, the management server analyzes the insect state and the insect growth condition through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, the automatic feeding device feeds the breeding box according to the optimal feeding amount and records the optimal feeding amount in the corresponding breeding box number, and the annular belt conveying device continues to transmit;
the management server analyzes the insect state and the environmental information acquired by the environmental monitoring sensor system through a built-in cultivation box position optimization algorithm to obtain the optimal position of the three-dimensional placing rack, and the cultivation box is returned to the optimal position of the three-dimensional placing rack through a docking module designated by the management server;
and re-executing the step that the management server takes out the breeding box needing feeding through the butt joint module at regular time and transmits the breeding box to the annular belt conveyer for line production until the batch of insect larvae grow into adults meeting the factory requirements.
8. The cultivation method of the intelligent three-dimensional insect cultivation production system according to claim 7, wherein the management server analyzes the insect state and the insect growth condition through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, and the method comprises the following steps:
firstly, distinguishing that the insects are in a larva or adult stage according to the insect state, and if the insects are in the larva stage, acquiring the optimal feeding amount by taking y as n multiplied by m, wherein y is the optimal feeding amount, n is the breeding coefficient of the current insect species, and m is the current insect quality; if the insects are in the adult stage, acquiring the optimal feeding amount by y ═ a × m-b, wherein a and b are breeding coefficients of the current insect species; and when the growth of the adult insects meets the requirement that m is b/a, the automatic feeding device stops feeding, and the management server reminds the adult insects meeting the factory requirements to be harvested.
9. The cultivation method of the intelligent three-dimensional insect cultivation production system according to claim 7, wherein the management server analyzes the insect status and obtains the optimal position of the three-dimensional placement rack from the environmental information collected by the environmental monitoring sensor system through a built-in cultivation box position optimization algorithm, and comprises:
according to the insect breeding technology, the optimal environmental parameter of the insects in the growth stage is determined to be the temperature TQHumidity HQIlluminance LQOxygen concentration OQAnd concentration of harmful gas GQ(ii) a Initializing parameter weights and evenly distributing, including setting:
before delivery, the actual measurement environmental parameters of the breeding boxes in the lattices corresponding to the three-dimensional placing rack are respectively temperature tnHumidity hnIlluminance lnOxygen concentration onAnd concentration g of harmful gasnThrough variityn＝c×(TQ-tn)+d×(HQ-hn)+e×(LQ-ln)+f×(OQ-on)+g×(GQ-gn) Calculating the environmental mass deviation degree of each grid in the three-dimensional placing rack, wherein the variancenC, d, e, f and g are parameter weights for the environmental quality deviation degree; when the cultivation boxes are put in a warehouse, the cultivation boxes are placed in vacant lattices with the minimum environmental mass deviation degree in the three-dimensional placing rack; after all the cultivation boxes pass through one round of warehousing and ex-warehouse, optimizing and adjusting the parameter weight by adopting a linear programming algorithm, wherein the optimization function is
And satisfy the constraint condition
Solving the weight of each parameter when the minimum value of the optimization function F is obtained, updating the environmental mass deviation degree of each grid for the optimal position of the next round of the three-dimensional placing frame, and when the next round of the cultivation box is put into the warehouse, re-executing the actually measured environmental parameters of the cultivation box in the grid corresponding to the three-dimensional placing frame before the cultivation box is taken out of the warehouse as the temperature tnHumidity hnIlluminance lnOxygen concentration onAnd concentration g of harmful gasnThe step (2).
10. The method of claim 7, further comprising:
the management server analyzes the environmental information through a built-in environmental feedback adjustment algorithm and controls the environmental control device to meet the average requirement of the insect growth environment, and the control aim is to minimize the sum of variance values of all environmental parameters of all lattices of the three-dimensional placing rack and the required optimal environmental parameters corresponding to the breeding box;
the environment feedback adjustment algorithm is based on a PID control algorithm, the sampling interval time of a temperature sensor is assumed to be T, and the actual environment parameter of the nth grid at the kT moment is monitored to be the temperature Tn(k) The optimal temperature value required by each grid culture box is
The variance is
Calculating an environmental adjustment incremental value of Δ u (k) kp[v(k)-v(k-1)]+kiv(k)+kd[v(k)-2v(k-1)+v(k-2)]Wherein k ispIs the proportionality coefficient, kiIs the integral coefficient, kdIs a differential coefficient, according to an empirical value kp＝0.5，ki＝0.2，kdWhen the temperature value is equal to 0.1, the temperature value adjusted by the air conditioner each time is
The actual environmental parameter of the monitoring nth grid at the kT moment is the temperature tn(k) The step (2).
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