An intelligent three-dimensional production system and breeding method for insect breeding

Abstract

The invention discloses an intelligent three-dimensional production system and a breeding method for insect breeding, and relates to the technical fields of the Internet of Things and artificial intelligence. The intelligent three-dimensional production system comprises a management server, an automated production line system for breeding boxes, a plurality of three-dimensional placement racks arranged in a breeding area, an environmental control device and an environmental monitoring sensor system, and a plurality of breeding boxes placed in the three-dimensional placement racks; the automated production line system for the breeding boxes comprises an endless belt conveyor, a weighing device connected to the management server, a camera and an automatic feeder, the endless belt conveyor is connected to the three-dimensional placement rack through a docking module, and the management server is also connected to the docking module; the application utilizes the management server and the automated production line system for breeding boxes to transmit the breeding boxes at regular intervals for video detection, weighing and feeding, combines breeding expertise with scientific and technological means, and realizes standardization, specialization and unmanned operation of the insect breeding process.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things and artificial intelligence, and in particular to an intelligent three-dimensional production system and a breeding method for insect breeding. Background Art

[0002] Insects are the most numerous animal group on Earth, accounting for more than 50% of all biological species. They are a valuable resource that humans should fully utilize. They are one of the important ways to solve the shortage of animal protein, a new way to ensure food supply, and the best choice for improving the environment. Insects have a short generation, reproduce quickly, and have a high food conversion rate. Their overall biomass may exceed the total biomass of all animals on land. The insect world contains extremely rich resources and is an important renewable biological resource. "Insects are the last piece of cake God has left for mankind." The industrial utilization of insect resources has both the characteristics of an emerging industry and a long history.

[0003] Modern insect farming mainly focuses on agricultural farming technology itself, relying heavily on manpower for environmental management, feeding, growth monitoring, and the rich experience of farmers. The work is hard, the farming is difficult, and the profit margin is not high. There are also some device inventions for insect farming, but they are not based on the traditional planar farming structure, or they are aimed at improving a certain link in the farming process. Others do not make full use of the current advanced Internet of Things and artificial intelligence technologies, and cannot achieve standardization, specialization and unmanned operation of the insect farming process, nor can they achieve large-scale farming production, which hinders the application and promotion of insect products. Summary of the invention

[0004] In response to the above-mentioned problems and technical needs, the inventors have proposed an intelligent three-dimensional production system and breeding method for insect breeding. A management server and an automated assembly line system for breeding boxes are used to regularly transport the breeding boxes for video detection, weighing and feeding. A three-dimensional placement rack is used for three-dimensional management and stacking of the breeding boxes. The machine vision technology built into the management server is used to monitor the growth of insects. The Internet of Things sensing technology is used to feedback and adjust environmental parameters. The breeding profession and scientific and technological means are combined to achieve standardization, specialization and unmanned operation of the insect breeding process.

[0005] The technical solution of the present invention is as follows:

[0006] An intelligent three-dimensional production system for insect breeding, comprising a management server, an automatic production line system for breeding boxes, a plurality of three-dimensional placement racks arranged in a breeding area, an environmental control device and an environmental monitoring sensor system, and a plurality of breeding boxes placed in the three-dimensional placement racks;

[0007] The automated production line system of the breeding box includes an endless belt conveyor, a weighing device placed under the belt of the endless belt conveyor, a camera and an automatic feeder placed above the endless belt conveyor, and the endless belt conveyor is connected to the three-dimensional placement frame through a docking module;

[0008] The management server is respectively connected to the environment control device, the environment monitoring sensor system, the weighing device, the camera, the automatic feeder, the docking module and the conveyor belt motor; the conveyor belt motor is connected to control the belt movement of the endless belt conveyor and the docking module; the management server controls the environment control device by analyzing the environment information collected by the environment monitoring sensor system through the built-in environment feedback adjustment algorithm; the management server obtains the insect state by analyzing the insect image in the breeding box collected by the camera through the built-in machine vision algorithm, and the insect state includes the size, activity and degree of molting of the insect; the management server obtains the optimal feeding amount by analyzing the insect state and the insect mass collected by the weighing device through the built-in feed feeding optimization algorithm, and the automatic feeder puts feed into the breeding box according to the optimal feeding amount; the management server obtains the optimal position of the three-dimensional placement rack by analyzing the insect state and environmental information through the built-in breeding box position optimization algorithm;

[0009] The breeding boxes placed on the three-dimensional placement rack are transmitted to the ring belt conveyor through the docking module for assembly line operation. After passing through the camera, weighing device and automatic feeder in turn, they are transmitted back to the optimal position of the three-dimensional placement rack through the docking module specified by the management server.

[0010] Its further technical solution is that the docking module includes a first docking track, a second docking track, a stacker and a two-dimensional code scanner arranged in front of the second docking track, the stacker and the two-dimensional code scanner are respectively connected to the management server; in the breeding area, every two three-dimensional placement racks are placed back to back as a group of three-dimensional placement racks, and a first docking track is arranged between each group of three-dimensional placement racks as a common entrance and exit for each group of three-dimensional placement racks, and a three-dimensional placement rack is respectively provided opposite to the first group of three-dimensional placement racks and the last group of three-dimensional placement racks and facing each other frontally, and a first docking track is respectively arranged between a three-dimensional placement rack and the first group of three-dimensional placement racks and the last group of three-dimensional placement racks; the stacker moves on the first docking track, and the second docking track is docked with the corresponding first docking track as a fork channel of the circular belt conveyor device, and the breeding boxes placed on the three-dimensional placement racks are conveyed to the corresponding second docking track through the stacker and the first docking track and enter the circular belt conveyor device for assembly line operation.

[0011] Its further technical solution is that each breeding box is provided with a corresponding QR code, and each QR code corresponds to a breeding box number. When the breeding box is in assembly line operation in the breeding box automated assembly line system, the camera collects the QR code of the breeding box and transmits it to the management server. The management server records the insect status and environmental information of the breeding box according to the acquired breeding box number. After determining the optimal position for placing the breeding box on the three-dimensional placement rack, the management server sends the optimal position instruction to the QR code scanner and stacker. The QR code scanner sequentially scans the QR code of the breeding box and determines whether the breeding box passes through the current fork channel. A gate is provided on the second docking track. If it passes, the gate is opened and the breeding box is transmitted to the optimal position by the stacker. If it does not pass, the gate is closed. The breeding box is transmitted to the next QR code scanner through the circular belt conveyor for scanning and judgment until it reaches the fork channel corresponding to the optimal position.

[0012] Its further technical solution is that the stacker includes a vertical lifting track and a first rolling belt, and each grid of the three-dimensional placement rack is provided with a second rolling belt. The stacker moves to the corresponding horizontal position of the three-dimensional placement rack through the first docking track according to the optimal position instruction, and then moves to the corresponding vertical position of the three-dimensional placement rack through the vertical lifting track. The conveyor belt motor controls the steering of the first rolling belt to convey the breeding box to the optimal position of the three-dimensional placement rack; when the assembly line operation is ready to start and the breeding box is being shipped out of the warehouse, the breeding box is conveyed to the stacker through the second rolling belt, and then conveyed to the corresponding second docking track through the vertical lifting track, the first docking track and the first rolling belt, and then enters the circular belt conveyor device for assembly line operation after the gate is opened.

[0013] Its further technical solution is that a mesh structure is provided at the bottom of the breeding box, and the stacker also includes a vibration motor and a collection box. During the process of the breeding box being taken out of storage, the stacker turns on the vibration motor, and the insect feces and residual feed in the breeding box fall into the collection box through the mesh structure as fertilizer. Only insects are retained in the box after the breeding box is taken out of storage.

[0014] Its further technical solution is that the environmental control device includes air conditioning, exhaust fans, humidifiers and automatic curtains; the environmental monitoring sensor system is connected to the management server through a wireless gateway, the wireless gateway is set in the breeding area, and the environmental monitoring sensor system is respectively set on each grid of the three-dimensional placement rack to collect environmental information of each grid of the three-dimensional placement rack. The environmental monitoring sensor system includes temperature and humidity sensors, light sensors, oxygen sensors, harmful gas sensors and sound sensors.

[0015] A breeding method of an intelligent three-dimensional production system for insect breeding, which is applicable to the intelligent three-dimensional production system as described above, and the breeding method comprises:

[0016] Place a batch of insect larvae of equal mass in each breeding box, and place the breeding boxes on a three-dimensional placement rack;

[0017] According to the growth habits of insects, the management server regularly takes out the breeding boxes that need to be fed through the docking module and transmits them to the circular belt conveyor for assembly line operation;

[0018] When the breeding box reaches the bottom of the camera, the endless belt conveyor stops, and the management server uses the built-in machine vision algorithm to analyze the insect images in the breeding box captured by the camera to obtain the insect status, which includes the size, activity and degree of molting of the insect. At the same time, the breeding box number is determined through the QR code collected by the camera and recorded in the management server, and the endless belt conveyor continues to drive;

[0019] When the breeding box reaches the weighing device, the endless belt conveyor stops, and the weighing device sends the current insect mass collected to the management server. The management server compares the current insect mass with the insect mass of the previous round, obtains the insect growth status and records it in the corresponding breeding box number, and the endless belt conveyor continues to drive;

[0020] When the breeding box reaches the bottom of the automatic feeder, the circular belt conveyor stops, and the management server uses the built-in feed feeding optimization algorithm to analyze the insect status and insect growth to obtain the optimal feeding amount. The automatic feeder feeds the breeding box according to the optimal feeding amount and records the optimal feeding amount in the corresponding breeding box number. The circular belt conveyor continues to drive;

[0021] The management server uses the built-in breeding box position optimization algorithm to analyze the insect status and the environmental information collected by the environmental monitoring sensor system to obtain the optimal position of the three-dimensional placement rack. The breeding box is transmitted back to the optimal position of the three-dimensional placement rack through the docking module specified by the management server;

[0022] The management server periodically takes out the breeding boxes that need to be fed through the docking module and transmits them to the circular belt conveyor for assembly line operation, until a batch of insect larvae grow into adults that meet the factory requirements.

[0023] The further technical solution is that the management server uses the built-in feed feeding optimization algorithm to analyze the insect status and insect growth to obtain the optimal feeding amount, including:

[0024] First, the insect state is used to distinguish whether the insect is in the larval or adult stage. If the insect is in the larval stage, the optimal feeding amount is obtained through y=n×m, where 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 insect is in the adult stage, the optimal feeding amount is obtained through y=a×mb, where a and b are the breeding coefficients of the current insect species; when the growth of the adult insect satisfies m=b / a, the automatic feeder stops feeding and reminds the management server to harvest the adults that meet the factory requirements.

[0025] The further technical solution is that the management server analyzes the insect status and the environmental information collected by the environmental monitoring sensor system through the built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placement rack, including:

[0026] According to the insect breeding technology, the optimal environmental parameters for insects during their growth stage are determined as follows: temperature T Q 、Humidity Q , illuminance L Q 、Oxygen concentration O Q and harmful gas concentration G Q ; Initialize parameter weights and distribute them evenly, including setting: The measured environmental parameters of the breeding box in the grid corresponding to the three-dimensional placement rack before leaving the warehouse are temperature t n 、Humidity n , illuminance n , oxygen concentration o n and harmful gas concentration g n ,pass

[0027] variety n =c×(T Q -t n )+d×(H Q -h n )+e×(L Q -l n )+f×(O Q -o n )+g×(G Q -g n ) calculates the environmental quality deviation of each grid in the stereoscopic placement rack, where variety n is the environmental quality deviation, c, d, e, f, and g are all parameter weights; when the breeding boxes are put into storage, they are placed in the empty grid with the smallest environmental quality deviation in the three-dimensional storage rack; after all the breeding boxes have gone through a round of storage, the linear programming algorithm is used to optimize and adjust the parameter weights, and the optimization function is And satisfy the constraints Solve the weights of each parameter when the optimization function F is at its minimum value, and update the environmental quality deviation of each grid for the optimal position of the next round of stereoscopic placement racks. When the next round of breeding boxes enter the warehouse, re-execute the measured environmental parameters of the breeding boxes in the grid corresponding to the stereoscopic placement rack before leaving the warehouse, which are temperature t n 、Humidity n , illuminance n , oxygen concentration o n and harmful gas concentration g n steps.

[0028] Its further technical scheme is that the breeding method also includes:

[0029] The management server analyzes environmental information through the built-in environmental feedback adjustment algorithm and controls the environmental control device to meet the average requirements of the insect growth environment. The control goal is to minimize the sum of the variance values ​​of the environmental parameters of all grids of the three-dimensional placement rack and the optimal environmental parameters corresponding to the breeding box;

[0030] The environmental feedback adjustment algorithm is based on the PID control algorithm. Assuming that the sampling interval of the temperature sensor is T, the actual environmental parameter of the nth grid at time kT is temperature t n (k), the optimal temperature required for the breeding box on each grid is The variance is The calculated environmental adjustment increment is Δu(k)=k p [v(k)-v(k-1)]+k i v(k)+k d [v(k)-2v(k-1)+v(k-2)], where k p is the proportionality coefficient, k i is the integration coefficient, k d is the differential coefficient, according to the empirical value k p =0.5, k i =0.2, k d =0.1, then the temperature value adjusted by the air conditioner each time is Repeat the monitoring of the actual environmental parameter of the nth grid at time kT as temperature t n (k) Step.

[0031] The beneficial technical effects of the present invention are:

[0032] The present application utilizes a management server to transmit the breeding boxes placed in a three-dimensional placement rack to the breeding box automated assembly line system for video detection, weighing and feeding at a regular interval, and then transmits the transmission back to the optimal position of the three-dimensional placement rack through a docking module specified by the management server. The three-dimensional placement rack and the docking module are used to realize the three-dimensional management and stacking of the breeding boxes, and the machine vision algorithm built into the management server is used to automatically monitor the growth of the insect state, and the environmental feedback adjustment algorithm built into the management server is used to control the environmental parameter feedback adjustment of the environmental control device, and the feed feeding optimization algorithm built into the management server is used to obtain the optimal feeding amount for each growth stage of the insect, and the breeding box position optimization algorithm built into the management server is used to determine the optimal position of the three-dimensional placement rack; the present application combines breeding expertise and scientific and technological means, cooperates with real-time environmental indicators, and conducts precise feeding without human intervention, forming a complete breeding closed-loop system, improving all links in the insect breeding process, forming a systematic intelligent three-dimensional production system, realizing the standardization, specialization and unmanned breeding process, helping to realize large-scale breeding production, and facilitating the application and promotion of insect products. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a principle block diagram of the intelligent three-dimensional production system provided in this application.

[0034] Figure 2 It is a structural schematic diagram of the automated production line system of aquaculture boxes provided in this application.

[0035] Figure 3 It is a structural schematic diagram of the three-dimensional placement rack provided in this application.

[0036] Figure 4 It is a flow chart of the breeding method based on the intelligent three-dimensional production system provided by this application.

[0037] Figure 5 It is a flow chart of the breeding box location optimization algorithm provided in this application.

[0038] Figure 6 It is a flow chart of the environmental feedback adjustment algorithm provided by this application. DETAILED DESCRIPTION

[0039] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0040] The present application discloses an intelligent three-dimensional production system for insect breeding, combining Figure 1-Figure 3As shown, the intelligent three-dimensional production system includes a management server, an automated production line system for breeding boxes, a plurality of three-dimensional racks 1 arranged in the breeding area, an environmental control device and an environmental monitoring sensor system 2, and a plurality of breeding boxes 3 placed in the three-dimensional racks 1. Each breeding box 3 is provided with a corresponding QR code, each QR code corresponds to a breeding box number, and a mesh structure is provided at the bottom of the breeding box.

[0041] like Figure 2 As shown, the automated production line system for breeding boxes includes an endless belt conveyor 4, a weighing device 5 placed under the belt of the endless belt conveyor 4, a camera 6 and an automatic feeder 7 placed above the endless belt conveyor. The endless belt conveyor 4 is connected to the three-dimensional placement frame 1 through a docking module.

[0042] The docking module includes 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. The stacker 10 and the two-dimensional code scanner 11 are respectively connected to the management server. The stacker 10 includes a vertical lifting track 101, a first rolling belt, a vibration motor and a collection box. Each grid of the three-dimensional placement rack 1 is provided with a second rolling belt, and a gate 901 is provided on the second docking track 9. Figure 3 As shown, in the breeding area, every two three-dimensional placing racks 1 are placed back to back as a group of three-dimensional placing racks, and a first docking track 8 is set between each group of three-dimensional placing racks as a common entrance and exit of each group of three-dimensional placing racks. A three-dimensional placing rack is also set opposite the first group of three-dimensional placing racks and the last group of three-dimensional placing racks and facing each other in the front, and a first docking track 8 is set between a three-dimensional placing rack and the first group of three-dimensional placing racks and the last group of three-dimensional placing racks. The stacker 10 moves on the first docking track 8, and the second docking track 9 is docked with the corresponding first docking track 8 as a fork channel of the endless belt conveyor 4. The present application uses three-dimensional placing racks and docking modules to realize the three-dimensional management and stacking of breeding boxes. By setting every two three-dimensional placing racks as a group and placing them back to back, the breeding space is fully utilized and the cost is saved.

[0043] like Figure 1As shown, the management server is respectively connected to the environment control device, the environment monitoring sensor system 2, the weighing device 5, the camera 6, the automatic feeder 7, the docking module and the conveyor belt motor. The environment control device includes an air conditioner, an exhaust fan, a humidifier and an automatic curtain. The environment monitoring sensor system 2 is connected to the management server through a wireless gateway 12, and the wireless gateway 12 is arranged in the breeding area. The wireless gateway 12 and the management server are wirelessly connected using technologies such as WiFi / Zigbee / Bluetooth / LoRa. The environment monitoring sensor system 2 is respectively arranged on each grid of the three-dimensional placement rack 1, and is used to collect the environmental information of each grid of the three-dimensional placement rack. The environment monitoring sensor system 2 includes a temperature and humidity sensor, a light sensor, an oxygen sensor, a harmful gas sensor and a sound sensor. Each sensor adopts an existing sensor, so this application does not introduce the built-in circuit structure of each sensor in detail. The conveyor belt motor connects and controls the belt action (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 environment monitoring sensor system 2 through the built-in environmental feedback adjustment algorithm to control the environment control device. The management server uses the built-in machine vision algorithm to analyze the insect images in the breeding box collected by the camera 6 to obtain the insect status. The insect status includes the size, activity and degree of molting of the insect. Specifically, the machine vision algorithm includes edge detection, motion detection and color detection. The size of the insect is obtained through edge detection, the activity of the insect is obtained through motion detection, and the degree of molting of the insect is obtained through color detection. The management server uses the built-in feed feeding optimization algorithm to analyze the insect status and the insect mass collected by the weighing device 5 to obtain the optimal feeding amount. The automatic feeder 7 feeds the breeding box 3 according to the optimal feeding amount. The management server uses the built-in breeding box position optimization algorithm to analyze the insect status and environmental information to obtain the optimal position of the three-dimensional placement rack.

[0044] The breeding box 3 placed on the three-dimensional placement frame 1 is transmitted to the ring belt conveyor 4 through the docking module for assembly line operation. After passing through the camera 6, weighing device 5 and automatic feeder 7 in sequence, it is transmitted back to the optimal position of the three-dimensional placement frame through the docking module specified by the management server.

[0045] The present application also discloses a breeding method using the above-mentioned intelligent three-dimensional production system for insect breeding, such as Figure 4 As shown, the breeding method comprises the following steps:

[0046] Step 1: Place a batch of insect larvae of equal mass in each breeding box 3 , and place the breeding box 3 on a three-dimensional placement rack 1 .

[0047] After obtaining the initial mass of insects in each breeding box through the weighing device 5, the mass is recorded in the corresponding breeding box number in the management server, and the breeding boxes 3 are placed on the three-dimensional placement rack 1 in sequence through the endless belt conveyor 4 and the docking module.

[0048] Step 2: According to the growth habits of insects, the management server regularly takes out the breeding boxes that need to be fed through the docking module and transmits them to the ring belt conveyor 4 for assembly line operation.

[0049] Specifically, when preparing to start the assembly line operation, during the process of the breeding boxes being shipped out of the warehouse: the breeding boxes 3 placed on the three-dimensional placement rack 1 are transferred to the stacker 10 through the second rolling belt, and are transferred to the corresponding second docking track 9 through the vertical lifting track 101, the first docking track 8 and the first rolling belt. After opening the gate 901, they enter the circular belt conveyor 4 for assembly line operation. At the same time, the stacker 10 starts the vibration motor, and the insect feces and residual feed in the breeding boxes 3 fall into the collection box through the mesh structure as fertilizer. When the collection is full, it can be sold externally or used internally. After the breeding boxes 3 are shipped out of the warehouse, only insects are retained in the boxes.

[0050] Step 3: When the breeding box 3 reaches under the camera 6, the endless belt conveyor 4 pauses, and the management server uses the built-in machine vision algorithm to analyze the insect image in the breeding box captured by the camera 6 to obtain the insect status. At the same time, the breeding box number is determined through the QR code captured by the camera 6 and recorded in the management server, and the endless belt conveyor 4 continues to transmit.

[0051] When the breeding box is in the automated assembly line system, the camera 6 collects the QR code of the breeding box and transmits it to the management server. The management server records the insect status and environmental information of the breeding box according to the acquired breeding box number.

[0052] Step 4: When the breeding box 3 reaches the weighing device 5, the ring belt conveyor 4 is paused, and the weighing device 5 sends the current insect mass collected to the management server. The management server compares the current insect mass with the insect mass of the previous round, obtains the insect growth status and records it in the corresponding breeding box number, and the ring belt conveyor 4 continues to transmit.

[0053] Step 5: When the breeding box 3 reaches the bottom of the automatic feeder 7, the endless belt conveyor 4 is suspended, and the management server analyzes the insect status and insect growth conditions through the built-in feed feeding optimization algorithm to obtain the optimal feeding amount. The automatic feeder 7 feeds the breeding box 3 according to the optimal feeding amount, and records the optimal feeding amount in the corresponding breeding box number, and the endless belt conveyor 4 continues to transmit.

[0054] First, the insect state is used to distinguish whether the insect is in the larval or adult stage. If the insect is in the larval stage, the optimal feeding amount is obtained through y=n×m to ensure the rapid growth of the larvae, where 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 insect is in the adult stage, the optimal feeding amount is obtained through y=a×mb, and the feed amount is gradually reduced, where a and b are the breeding coefficients of the current insect species. Specifically, the breeding coefficient is determined by the breeding technology of different insects, and the breeding coefficients of different insect adults and larvae are also different. When the growth of the insect adult meets m=b / a, the automatic feeder 7 stops feeding, and reminds the management server to harvest the adults that meet the factory requirements.

[0055] Step 6: The management server analyzes the insect status and environmental information collected by the environmental monitoring sensor system through the built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placement rack. The breeding box 3 is transmitted back to the optimal position of the three-dimensional placement rack through the docking module specified by the management server.

[0056] Step 601: Figure 5 As shown in the figure, according to the insect breeding technology, the optimal environmental parameters for insects during the growth stage are determined as temperature T Q 、Humidity Q , illuminance L Q 、Oxygen concentration O Q and harmful gas concentration G Q .

[0057] Step 602: Initialize parameter weights and distribute them evenly, including setting:

[0058] Step 603: The measured environmental parameters of the breeding box in the grid corresponding to the three-dimensional placement rack before leaving the warehouse are temperature t n 、Humidity n , illuminance n , oxygen concentration o n and harmful gas concentration g n .

[0059] Step 604: Pass

[0060] variety n =c×(T Q -t n )+d×(H Q -h n )+e×(L Q -l n )+f×(O Q -o n )+g×(G Q -g n) calculates the environmental quality deviation of each grid in the stereoscopic placement rack, where variety n is the environmental quality deviation, c, d, e, f, g are parameter weights.

[0061] Step 605: When the breeding box 3 is put into storage, it is placed in the empty grid with the smallest environmental quality deviation in the three-dimensional placement rack 1.

[0062] When the breeding box is put into storage: after determining the optimal position of the breeding box on the three-dimensional placement rack, the management server sends the 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 code of the breeding box 3 and determines whether the breeding box 3 passes through the current fork channel. If it passes, the gate 901 is opened. The stacker 10 moves to the corresponding horizontal position of the three-dimensional placement rack 1 through the first docking track 8 according to the optimal position instruction, and then moves to the corresponding vertical position of the three-dimensional placement rack 1 through the vertical lifting track 101. The conveyor belt motor controls the steering of the first rolling belt to transfer the breeding box 3 to the optimal position of the three-dimensional placement rack 1 (that is, the empty grid with the smallest environmental quality deviation). If it does not pass, the gate 901 is closed, and the breeding box 3 is transferred to the next two-dimensional code scanner 11 through the endless belt conveyor 4 for scanning and judgment until it reaches the fork channel corresponding to the optimal position. Steps 601-605 are based on the greedy algorithm and realize the optimization of the position allocation of the breeding box in the empty grid of the three-dimensional placement rack.

[0063] Step 606: After all the breeding boxes 3 have gone through a round of storage, the linear programming algorithm is used to optimize and adjust the parameter weights. The optimization function is: And satisfy the constraints Solve the weights of each parameter when the optimization function F is at its minimum value, and update the environmental quality deviation of each grid for the optimal position of the next round of stereoscopic placement rack 1. When the next round of breeding boxes enter the warehouse, re-execute the measured environmental parameters of the breeding boxes in the grid corresponding to the stereoscopic placement rack before leaving the warehouse, which are temperature t n 、Humidity n , illuminance n , oxygen concentration o n and harmful gas concentration g n step, that is, step 603.

[0064] Step 7: The management server analyzes environmental information through a built-in environmental feedback adjustment algorithm and controls the environmental control device to meet the average requirements of the insect growth environment. The control goal is to minimize the sum of the variance values ​​of the environmental parameters of all grids of the three-dimensional placement rack 1 and the required optimal environmental parameters corresponding to the breeding box 3.

[0065] The environmental feedback adjustment algorithm is based on the PID control algorithm, and its flow chart is as follows: Figure 6As shown in the figure, taking temperature feedback adjustment as an example, the feedback adjustment of other environmental parameters is consistent with the temperature feedback adjustment. Assuming that the sampling interval of the temperature sensor is T, the actual environmental parameter of the nth grid at time kT is temperature t n (k), the optimal temperature required for the breeding box on each grid is The variance is The ideal situation is that the variance is zero. The purpose of using the incremental PID control algorithm is to make the variance approach zero. The calculated environmental adjustment increment is

[0066] Δu(k)=k p [v(k)-v(k-1)]+k i v(k)+k d [v(k)-2v(k-1)+v(k-2)], where k p is the proportionality coefficient, k i is the integration coefficient, k d is the differential coefficient, according to the empirical value k p =0.5, k i =0.2, k d =0.1, then the temperature value adjusted by the air conditioner each time is Repeat the monitoring of the actual environmental parameter of the nth grid at time kT as temperature t n (k) Step.

[0067] Step 8: re-execute the step of the management server taking out the breeding boxes that need to be fed through the docking module at a regular interval and transferring them to the endless belt conveyor 4 for assembly line operation until a batch of insect larvae grow into adults that meet the factory requirements.

[0068] This application combines breeding expertise and scientific and technological means, cooperates with real-time environmental indicators, and conducts precise feeding of feeds without human intervention, forming a complete breeding closed-loop system. It improves all aspects of the insect breeding process to form a systematic, intelligent, three-dimensional production system, realizes standardization, specialization and unmanned breeding process, helps realize large-scale breeding production, and promotes the application and promotion of insect products.

[0069] The above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included in the protection scope of the present invention.

Claims

1. An intelligent three-dimensional production system for insect breeding, characterized in that: The intelligent three-dimensional production system includes a management server, an automated production line system for breeding boxes, a plurality of three-dimensional placement racks arranged in the breeding area, an environmental control device and an environmental monitoring sensor system, and a plurality of breeding boxes placed in the three-dimensional placement racks; The automated production line system for breeding boxes includes an endless belt conveyor, a weighing device placed below the belt of the endless belt conveyor, a camera and an automatic feeder placed above the endless belt conveyor, and the endless belt conveyor is connected to the three-dimensional placement frame through a docking module; The management server is respectively connected to the environment control device, the environment monitoring sensor system, the weighing device, the camera, the automatic feeder, the docking module and the conveyor belt motor; the conveyor belt motor is connected to control the belt movement of the endless belt conveyor and the docking module; the management server controls the environment control device by analyzing the environment information collected by the environment monitoring sensor system through the built-in environment feedback adjustment algorithm; the management server obtains the insect state by analyzing the insect image in the breeding box collected by the camera through the built-in machine vision algorithm, and the insect state includes the size, activity and degree of molting of the insect; the management server analyzes the insect state and the insect mass collected by the weighing device through the built-in feed feeding optimization algorithm to obtain the optimal feeding amount, and the automatic feeder puts feed into the breeding box according to the optimal feeding amount; The management server analyzes the insect status and environmental information through a built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placement rack; The breeding boxes placed on the three-dimensional placement rack are transmitted to the endless belt conveyor through the docking module for assembly line operation, and after passing through the camera, weighing device and automatic feeder in sequence, they are transmitted back to the optimal position of the three-dimensional placement rack through the docking module specified by the management server; 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 breeding area, every two of the three-dimensional placement racks are placed back to back as a group of three-dimensional placement racks, and a first docking track is arranged between each group of the three-dimensional placement racks as a common entrance and exit of each group of the three-dimensional placement racks, and a three-dimensional placement rack is respectively arranged opposite to the first group of three-dimensional placement racks and the last group of three-dimensional placement racks and facing each other frontally, and the first docking track is respectively arranged between the one three-dimensional placement rack and the first group of three-dimensional placement racks and the last group of three-dimensional placement racks; the stacker moves on the first docking track, and the second docking track docks with the corresponding first docking track as a fork channel of the endless belt conveyor, and the breeding box placed on the three-dimensional placement rack is conveyed to the corresponding second docking track by the stacker and the first docking track and enters the endless belt conveyor for assembly line operation; Among them, the environmental control device includes air conditioning, exhaust fans, humidifiers and automatic curtains; the environmental monitoring sensor system is connected to the management server through a wireless gateway, and the wireless gateway is arranged in the breeding area. The environmental monitoring sensor system is respectively arranged on each grid of the three-dimensional placement rack to collect environmental information of each grid of the three-dimensional placement rack. The environmental monitoring sensor system includes temperature and humidity sensors, light sensors, oxygen sensors, harmful gas sensors and sound sensors.

2. The intelligent three-dimensional production system for insect breeding according to claim 1, characterized in that: Each of the breeding boxes is provided with a corresponding QR code, and each of the QR code corresponds to a breeding box number. When the breeding boxes are in assembly line operation in the breeding box automated assembly line system, the camera collects the QR code of the breeding box and transmits it to the management server. The management server records the insect status and environmental information of the breeding box according to the acquired breeding box number. After determining the optimal position for placing the breeding box on the three-dimensional placement rack, the management server sends an optimal position instruction to the QR code scanner and stacker. The QR code scanner sequentially scans the QR code of the breeding box and determines whether the breeding box passes through the current fork channel. A gate is provided on the second docking track. If it passes, the gate is opened and the breeding box is conveyed to the optimal position by the stacker. If it does not pass, the gate is closed. The breeding box is conveyed to the next QR code scanner through the endless belt conveyor for scanning and judgment until it reaches the fork channel corresponding to the optimal position.

3. The intelligent three-dimensional production system for insect breeding according to claim 2, characterized in that: The stacker includes a vertical lifting track and a first rolling belt, and each grid of the three-dimensional placement rack is provided with a second rolling belt. The stacker moves to the corresponding horizontal position of the three-dimensional placement rack through the first docking track according to the optimal position instruction, and then moves to the corresponding vertical position of the three-dimensional placement rack through the vertical lifting track. The conveyor belt motor controls the steering of the first rolling belt to convey the breeding box to the optimal position of the three-dimensional placement rack; when the assembly line operation is ready to start, the breeding box is conveyed to the stacker through the second rolling belt during the process of the breeding box being shipped out of the warehouse, and is conveyed to the corresponding second docking track through the vertical lifting track, the first docking track and the first rolling belt. After the gate is opened, the breeding box enters the circular belt conveyor device for assembly line operation.

4. The intelligent three-dimensional production system for insect breeding according to any one of claims 1 to 3, characterized in that: A mesh structure is provided at the bottom of the breeding box, and the stacker also includes a vibration motor and a collection box. During the process of the breeding box being unloaded, the stacker turns on the vibration motor, and the insect feces and residual feed in the breeding box fall into the collection box through the mesh structure as fertilizer. After the breeding box is unloaded, only the insects are retained in the box.

5. A breeding method of an intelligent three-dimensional production system for insect breeding, applicable to the intelligent three-dimensional production system as claimed in any one of claims 1 to 4, characterized in that: The breeding method comprises: Placing a batch of insect larvae of equal mass in each of the breeding boxes, and placing the breeding boxes on the three-dimensional placement rack; According to the growth habits of insects, the management server regularly takes out the breeding boxes that need to be fed through the docking module and transmits them to the endless belt conveyor for assembly line operation; When the breeding box reaches below the camera, the endless belt conveyor is paused, and the management server uses a built-in machine vision algorithm to analyze the insect image in the breeding box captured by the camera to obtain the insect status, which includes the size, activity and degree of molting of the insect. At the same time, the breeding box number is determined by the QR code captured by the camera and recorded in the management server, and the endless belt conveyor continues to transmit; When the breeding box reaches the weighing device, the endless belt conveyor is paused, and the weighing device sends the current insect mass collected to the management server. The management server compares the current insect mass with the insect mass of the previous round, obtains the insect growth status and records it in the corresponding breeding box number, and the endless belt conveyor continues to drive; When the breeding box reaches below the automatic feeder, the endless belt conveyor is paused, the management server analyzes the insect state and insect growth through the built-in feed feeding optimization algorithm to obtain the optimal feeding amount, the automatic feeder feeds the breeding box according to the optimal feeding amount, and records the optimal feeding amount in the corresponding breeding box number, and the endless belt conveyor continues to drive; The management server analyzes the insect status and the environmental information collected by the environmental monitoring sensor system through the built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placement rack, and the breeding box is transmitted back to the optimal position of the three-dimensional placement rack through the docking module specified by the management server; The step of the management server taking out the breeding boxes that need to be fed through the docking module at a regular interval and transmitting them to the endless belt conveyor for assembly line operation is re-executed until the batch of insect larvae grow into adults that meet the factory requirements.

6. The breeding method of the intelligent three-dimensional production system for insect breeding according to claim 5, characterized in that: The management server analyzes the insect state and insect growth conditions through a built-in feed feeding optimization algorithm to obtain the optimal feeding amount, including: First, the insect state is used to distinguish whether the insect is in the larval or adult stage. If the insect is in the larval stage, the optimal feeding amount is obtained through y=n×m, 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 insect is in the adult stage, the optimal feeding amount is obtained through y=a×mb, wherein a and b are the breeding coefficients of the current insect species; when the growth of the adult insect satisfies m=b / a, the automatic feeder stops feeding, and the management server is used to remind the harvest of the adults that meet the factory requirements.

7. The breeding method of the intelligent three-dimensional production system for insect breeding according to claim 5, characterized in that: The management server analyzes the insect state and the environmental information collected by the environmental monitoring sensor system through a built-in breeding box position optimization algorithm to obtain the optimal position of the three-dimensional placement rack, including: According to the insect breeding technology, the optimal environmental parameters for insects during their growth stage are determined as follows: temperature T Q 、Humidity Q , illuminance L Q , oxygen concentration O Q and harmful gas concentration G Q ; Initialize parameter weights and distribute them evenly, including setting: The measured environmental parameters of the breeding box in the grid corresponding to the three-dimensional placement rack before leaving the warehouse are temperature t n 、Humidity n , illuminance n , oxygen concentration o n and harmful gas concentration g n ,pass variety n =c×(T Q -t n )+d×(H Q -h n )+e×(L Q -l n )+f×(O Q -o n )+g×(G Q -g n ) Calculate the environmental quality deviation of each grid in the stereoscopic placement rack, where variety n is the environmental quality deviation, c, d, e, f, g are all parameter weights; when the breeding boxes are put into storage, they are placed in the empty grid with the smallest environmental quality deviation in the three-dimensional placement rack; after all the breeding boxes have gone through a round of storage, the linear programming algorithm is used to optimize and adjust the parameter weights, and the optimization function is: And satisfy the constraints Solve the weights of each parameter when the optimization function F is at the minimum value, and update the environmental quality deviation of each grid for the optimal position of the three-dimensional placement rack in the next round. When the next round of breeding boxes enter the warehouse, re-execute the measured environmental parameters of the breeding boxes in the grid corresponding to the three-dimensional placement rack before leaving the warehouse. They are temperature t n 、Humidity n , illuminance n , oxygen concentration o n and harmful gas concentration g n steps.

8. The breeding method of the intelligent three-dimensional production system for insect breeding according to claim 5, characterized in that: The breeding method also includes: 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 requirements of the insect growth environment. The control goal is to minimize the sum of the variance values ​​of the environmental parameters of all grids of the three-dimensional placement rack and the required optimal environmental parameters corresponding to the breeding box; The environmental feedback adjustment algorithm is based on the PID control algorithm. Assuming that the sampling interval of the temperature sensor is T, the actual environmental parameter of the nth grid at time kT is the temperature t n (k), the optimal temperature required for the breeding box on each grid is The variance is The calculated environmental adjustment increment is △u(k)=k p [v(k)-v(k-1)]+k i v(k)+k d [v(k)-2v(k-1)+v(k-2)], where k p is the proportionality coefficient, k i is the integration coefficient, k d is the differential coefficient, according to the empirical value k p =0.5, k i =0.2, k d =0.1, then the temperature value adjusted by the air conditioner each time is Repeat the monitoring of the actual environmental parameter of the nth grid at time kT as temperature t n (k) Step.

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