Intelligent farming system and control method based on behavior-environment two-way feedback

Abstract

The present application discloses an intelligent breeding system based on behavior-environment bidirectional feedback and a control method thereof, belonging to the field of aquaculture technology. The system includes a breeding pond, a monitoring module, a control module, a lighting module, a delivery module, an oxygen supply module, a water circulation module, a sub-pool isolation module and a sound module. The monitoring module includes a variety of sensors, which can accurately obtain breeding information including the biological characteristics, behavioral characteristics, body characteristics, position, feeding sounds, water quality parameters, water level, eddy flow rate and water temperature of the fish. Based on the breeding information, the control module accurately controls each module for lighting, delivery, oxygen supply, water circulation, sub-pool and sound generation, generates analysis results, provides a comfortable growth environment for fish, prevents excrement accumulation, water pollution, disease outbreak and waste of resources, can train fish to cultivate their behavioral performance, optimize the parameters of each module, thereby realizing bidirectional intervention and feedback between the system and fish.

Description

Technical Field

[0001] The present application relates to the field of aquaculture technology, and in particular to an intelligent aquaculture system based on behavior-environment bidirectional feedback and a control method thereof. Background Art

[0002] As fish grow from juveniles to adults, their aquaculture requirements for food, temperature, light, oxygen, and water cleanliness are constantly changing. Only by accurately obtaining information on the fish's growth process and aquaculture environment and regulating food, temperature, light, oxygen, and water cleanliness can we effectively ensure the growth of fish.

[0003] However, current aquaculture ponds lack precise control over bait placement, temperature and lighting regulation, oxygen supply, waste removal, and identification and tracking of sick fish. This leads to numerous challenges and difficulties in fish farming, such as waste accumulation, water pollution, disease outbreaks, and resource waste, severely hindering large-scale, intensive production and healthy development. Furthermore, current aquaculture systems are unable to train fish and cultivate their behavioral characteristics. Therefore, a new aquaculture system is urgently needed to address these issues. Summary of the Invention

[0004] In view of this, the present application provides an intelligent aquaculture system and its control method based on behavior-environment bidirectional feedback, which can accurately obtain aquaculture information, accurately regulate the lighting, stocking, oxygen supply and water circulation of the aquaculture pond, provide a comfortable growth environment for fish, prevent excrement accumulation, water pollution, disease outbreaks and waste of resources, and train fish to cultivate their behavioral performance and optimize the parameters of each module, thereby realizing bidirectional intervention and feedback between the system and the fish.

[0005] Specifically, the following technical solutions are included:

[0006] In a first aspect, the present application provides an intelligent farming system based on behavior-environment bidirectional feedback, the intelligent farming system based on behavior-environment bidirectional feedback comprising a farming pond, a monitoring module, a control module, a lighting module, a delivery module, an oxygen supply module, a water circulation module, a sub-tank isolation module, and a sound module;

[0007] The bottom of the culture pond has an inverted truncated cone structure, and the side of the inverted truncated cone structure is distributed with multiple oxygen supply ports and multiple arc-shaped protrusions, the oxygen supply ports are connected to the oxygen supply module, and the center position of the bottom of the culture pond has a lower opening;

[0008] The monitoring module includes a polarization camera, a sound sensor, a water quality sensor, a water level sensor, a flow rate sensor, and a temperature sensor. The polarization camera is located at the edge of the aquaculture pond. The monitoring module is used to obtain aquaculture information including biological characteristics, behavioral characteristics, body characteristics, position, feeding sounds, water quality parameters, water level, eddy flow rate, and water temperature of the aquaculture pond;

[0009] The lighting module is located above the breeding pond and includes a frame and a lighting lamp. The frame includes a bracket, an outer ring, an inner disc, and a strip track extending from the inner edge of the outer ring to the outer edge of the inner disc. The bracket is supported and connected to the outer ring and the pond mouth of the breeding pond. The lighting lamp is slidably connected to the strip track and is used to provide light with a threshold color, threshold intensity, threshold period, threshold aperture, and threshold angle for the fish in the breeding pond, so as to regulate the growth rate of the fish and increase the weight of the fish.

[0010] The delivery module is located on the inner disc and is used for sterilizing, stirring and delivering bait and / or medicine;

[0011] The oxygen supply module is located at the bottom of the culture pond and is used for supplying oxygen;

[0012] The sub-tank isolation module is located at the bottom of the breeding pond and includes a plurality of sub-tank partitions, which are used to receive control from the control module and isolate fish in the growth stage, breeding stage, mating stage and market stage in separate ponds;

[0013] The sound module is located at the bottom of the breeding pond and is used to attract and drive fish, so as to train fish to feed and assist in pond division;

[0014] The water circulation module is located in the aquaculture pond and includes a water inlet unit, a sewage discharge unit, a water outlet unit, and a heating unit, and is used to circulate water and adjust water quality and vortex flow rate. The sewage discharge unit is located at the center of the bottom of the aquaculture pond. The heating unit is located on the water inlet unit and is used to adjust water temperature. The sewage discharge unit includes a sewage discharge channel, an upper disc, a sewage outlet adjustment plate, and a lower disc, which are arranged in sequence from top to bottom. The sewage outlet adjustment plate is used to be rotatably and slidingly connected to the upper disc and is slidably connected to the lower disc to form a sewage outlet. The sewage discharge channel 724 is connected to the water outlet unit;

[0015] The control module is connected to the monitoring module, lighting module, delivery module, oxygen supply module, water circulation module, sub-pool isolation module and sound module. The control module is used to control the lighting module, delivery module, oxygen supply module, water circulation module, sub-pool isolation module and sound module to perform lighting, delivery, oxygen supply, water circulation, sub-pool and sound respectively based on the breeding information obtained by the monitoring module, and generate analysis results to train the fish. According to the feedback information of the fish after the lighting, delivery, oxygen supply, water circulation, sub-pool and sound control, the training status of the fish is determined to optimize the control of each module.

[0016] In some embodiments, the drainage channel includes a drainage channel and a slag discharge channel, and the centers of the upper disc, the lower disc, the drainage outlet adjustment plate, the drainage channel, and the slag discharge channel are located on the same straight line:

[0017] The drain outlet adjustment plate is a regular hexagonal plate composed of six equilateral triangular plates, and the upper and lower surfaces near the center of each side of the drain outlet adjustment plate are provided with cylindrical protrusions, and each corner of the drain outlet adjustment plate has a notch;

[0018] The lower disc is sealed and connected to the lower opening. The lower disc has a regular hexagonal groove, and the regular hexagonal groove is used to provide a sliding track for the cylindrical protrusion on the lower surface of the equilateral triangular plate;

[0019] A rounded rectangular through hole is provided at a position of the upper disc opposite to the cylindrical protrusion, the rounded rectangular through hole being used to provide a rotational sliding track for the cylindrical protrusion on the upper surface of the equilateral triangular plate, and a circular opening of the same size is provided at the center position of the lower disc and the center position of the upper disc;

[0020] The drainage channel and the slag discharge channel are located on the upper side of the upper disc. The drainage channel is sleeved on the outside of the slag discharge channel for draining sewage. The slag discharge channel is connected to the circular opening of the upper disc for draining slag. A control valve is provided on the upper part of the slag discharge channel, and a filter port is provided on the side of the slag discharge channel to discharge sewage into the drainage channel.

[0021] In some embodiments, the monitoring module further includes a camera moving unit, the camera moving unit being located at the edge of the pool opening and including a first track, a second track, a rack track, a first slider, a motor, a frame, a second slider, a third slider, a first connecting rod, and a second connecting rod;

[0022] The third slider is arranged on the second track, and is used to drive the polarization camera to slide on the second track. The second slider is rotatably connected to one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected to one end of the second connecting rod. The other end of the second connecting rod is connected to the frame. The rack track is detachably connected to one end of the third slider, and the first track is slidably connected to the second slider.

[0023] The frame is L-shaped and includes a first part and a second part. The first part is used to install the first rail 271. The second part has a through hole, which is used to connect with the output shaft of the motor. The first slider has a built-in gear, which is detachably connected to the other end of the output shaft and meshes with the rack track.

[0024] In some embodiments, the intelligent farming system based on behavior-environment bidirectional feedback further includes an alarm module and a display module;

[0025] The alarm module is connected to the control module and is used to alarm when sick fish appear and water quality parameters are not within the water quality threshold range;

[0026] The display module is connected to the control module and is used to display the breeding information of the fish, the regulation information of the control module, the analysis results and the training status of the fish.

[0027] In some embodiments, the delivery module includes a bait pipe, a drug pipe, a stirring unit and a sterilization unit. The stirring unit is connected to the bait outlet of the bait pipe and the drug outlet of the drug pipe, and the sterilization unit is located inside the stirring unit.

[0028] In a second aspect, the present application provides a control method for an intelligent farming system based on behavior-environment bidirectional feedback, which is applied to the intelligent farming system based on behavior-environment bidirectional feedback as described in the first aspect above. The control method includes:

[0029] The monitoring module acquires aquaculture information and sends the aquaculture information to the control module, wherein the aquaculture information includes biological characteristics, behavioral characteristics, body characteristics, position, feeding sounds, water quality parameters, water level, eddy current velocity and water temperature of the aquaculture pond;

[0030] Based on the breeding information, the control module controls the lighting module to perform lighting, controls the delivery module to sterilize, stir and deliver bait and / or medicine, controls the oxygen supply module to supply oxygen, controls the water circulation module to circulate water, controls the sub-pool isolation module to perform sub-pooling, controls the sound module to produce sound, and generates analysis results, separates fish in the growth stage, breeding stage, mating stage and market stage into sub-pools, and determines the training status of the fish based on the feedback information of the fish after lighting, delivery, oxygen supply, water circulation, sub-pooling and sounding control, so as to optimize the control of each module, wherein the analysis results include growth rate, breeding density, fish qualification rate, breeding cost, economic benefit, fish health status and fish quality.

[0031] In some embodiments, the control module is loaded with a fish behavior analysis library, an environmental parameter library, and an equipment parameter library. When providing daily growth lighting for fish, the control method includes:

[0032] The control module determines the growth stage based on the biological characteristics and the fish behavior analysis library;

[0033] Based on the growth stage, the environmental parameter library and the equipment parameter library, the lighting lamp is controlled to emit light with a color, intensity, period and aperture size corresponding to the life habits of the growth stage.

[0034] In some embodiments, when feeding bait and medicine to fish, the control method includes:

[0035] The control module determines the initial delivery amount and initial delivery position of the delivery module based on the biological characteristics, the position and the fish behavior analysis library acquired by the polarization camera;

[0036] The control module determines the fish school behavior based on the behavior characteristics acquired by the polarization camera and the fish behavior analysis library, wherein the fish school behavior includes group feeding, group swimming, bottom lying, isolated behavior, floating behavior, frightened behavior and abnormal behavior;

[0037] In response to the school of fish behavior being group feeding, the control module determines a feeding progress and a feeding amount based on the feeding sound acquired by the sound sensor;

[0038] The control module determines the delivery frequency, the delivery amount and the delivery position of the delivery module based on the feeding progress, the feeding amount, the behavior characteristics, the position and the fish behavior analysis library;

[0039] After determining the placement position and the amount of the bait, based on the device parameter library and the environmental parameter library, the control module controls the sound-generating module to emit a sound at the placement position, controls the sterilization unit, the bait pipe, the drug pipe, and the stirring unit to sterilize, stir, and place the bait and / or drug, and controls the lighting lamp to slide along the strip track to the placement position to emit light with a color, intensity, period, and aperture size corresponding to the fish feeding, so as to attract fish that are far away from the placement position to swim to the placement position for feeding, wherein the placement position includes an initial placement position and a secondary placement position, and the placement amount includes an initial placement amount and a secondary placement amount;

[0040] During the fish feeding process, based on the device parameter library and the environmental parameter library, the control module controls the heating unit to heat the water in the water inlet unit, controls the oxygen supply module to supply oxygen at the placement position, and controls the flow of the water inlet unit and the water outlet unit to be reduced multiple times based on the eddy flow velocity obtained in real time by the flow velocity sensor, reducing the step flow rate each time until the eddy flow velocity reaches the feeding flow velocity, and the feeding flow velocity is less than the daily breeding flow velocity;

[0041] After the fish finish feeding, based on the equipment parameter library and the environmental parameter library, the control module controls the rotation of the upper disc of the sewage discharge unit to form a sewage outlet for sewage discharge, and the control module controls the flow of the water inlet unit and the water outlet unit to the threshold flow rate to restore the vortex flow rate to the daily breeding flow rate.

[0042] In some embodiments, determining the training status of the fish based on the feedback information of the fish after lighting, stocking, oxygen supply, water circulation, pool division, and sound control to optimize the control of each module specifically includes:

[0043] Determine the training status of fish based on the fish feedback information after lighting, stocking, oxygen supply, water circulation, pool division, and sound control and the fish behavior analysis library;

[0044] Recording and storing parameter information of the current monitoring module, lighting module, delivery module, oxygen supply module, water circulation module, sub-tank isolation module and sounding module corresponding to the training status of the fish in the device adjustment parameters;

[0045] The current external environment information corresponding to the training status of the fish is recorded and stored in an environmental parameter library, wherein the external environment information includes environmental sound, water quality parameters, water level of the breeding pond, eddy current velocity, water temperature and light.

[0046] In some embodiments, the control method further includes:

[0047] The control module determines, marks and tracks breeding fish and sick fish based on the biological characteristics, behavioral characteristics, body characteristics, position and fish behavior analysis library acquired by the polarization camera, and isolates fish in the growth stage, breeding stage, mating stage and market stage in different ponds;

[0048] The control module generates a fish file based on the breeding information and analysis results, wherein the fish file includes the health status, feeding status, growth rate and quality status of each fish;

[0049] The control module determines the type of bait, the brand of bait and the amount of medicine to be added based on fish market demand data, fish market price data and fish residual medicine standards.

[0050] The beneficial effects of the technical solutions provided by the embodiments of the present application include at least:

[0051] The embodiment of the present application provides an intelligent breeding system based on behavior-environment bidirectional feedback and its control method, the intelligent breeding system based on behavior-environment bidirectional feedback includes a breeding pond, a monitoring module, a control module, a lighting module, a delivery module, an oxygen supply module, a water circulation module, a sub-pool isolation module and a sound module, the monitoring module includes a variety of sensors, which can accurately obtain breeding information including biological characteristics, behavioral characteristics, body characteristics, position, feeding sound, water quality parameters, water level, eddy flow rate and water temperature of the breeding pond, and the control module accurately adjusts the lighting module, delivery module, oxygen supply module and sound module based on the breeding information. The block, water circulation module, sub-tank isolation module and sound module respectively perform lighting, stocking, oxygen supply, water circulation, sub-tank and sound, and generate analysis results to train fish. According to the feedback information of fish after lighting, stocking, oxygen supply, water circulation, sub-tank and sound control, the training status of fish is determined to optimize the control of each module, thereby providing a comfortable growth environment for fish, preventing excrement accumulation, water pollution, disease outbreak and waste of resources, and fish can be trained to cultivate their behavioral performance and optimize the parameters of each module, thereby realizing two-way intervention and feedback between the system and fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 A schematic diagram of the structure of an intelligent farming system based on behavior-environment bidirectional feedback provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of the structure of a rack of an intelligent farming system based on behavior-environment bidirectional feedback provided in an embodiment of the present application;

[0055] Figure 3 A schematic diagram of the structure of a camera mobile unit of an intelligent farming system based on behavior-environment bidirectional feedback provided in an embodiment of the present application;

[0056] Figure 4 A schematic diagram of the structure of a sewage outlet regulating plate and a lower disc of an intelligent aquaculture system based on behavior-environment bidirectional feedback provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of the structure of a sewage discharge unit of an intelligent farming system based on behavior-environment bidirectional feedback provided in an embodiment of the present application;

[0058] Figure 6 A schematic structural diagram of an upper disc, a sewage outlet adjustment plate, and a lower disc of an intelligent farming system based on behavior-environment bidirectional feedback provided in an embodiment of the present application;

[0059] Figure 7 A schematic diagram of the structure of a sewage discharge channel of an intelligent farming system based on behavior-environment bidirectional feedback provided in an embodiment of the present application;

[0060] Figure 8 A flow chart of a method for controlling an intelligent farming system based on behavior-environment bidirectional feedback provided in an embodiment of the present application.

[0061] The reference numerals in the figures represent respectively:

[0062] 1-breeding pond, 11-oxygen supply port, 12-lower opening, 13-pond mouth, 14-water gate seat, 15-rolling water gate, 16-row frame, 17-fish prevention net, 2-monitoring module, 21-polarization camera, 22-sound sensor, 23-water quality sensor, 24-water level sensor, 25-flow rate sensor, 26-temperature sensor, 27-camera moving unit, 271-first track, 272-second track, 273-rack track, 274-first slider, 275-motor, 276-frame, 277-second slider, 278-third slider, 279-first connecting rod, 280-second connecting rod, 3-control module, 4-lighting module, 4 1-frame, 42-lighting lamp, 411-bracket, 412-outer ring, 413-inner disc, 414-strip track, 5-dispensing module, 6-oxygen supply module, 7-water circulation module, 71-water inlet unit, 72-sewage discharge unit, 721-upper disc, 7211-rounded rectangular through hole, 722-sewage outlet adjustment plate, 7221-equilateral triangle plate, 72211-cylindrical protrusion, 72212-notch, 723-lower disc, 7231-regular hexagonal groove, 724-sewage discharge channel, 7241-drainage channel, 7242-slag discharge channel, 73-water outlet unit, 74-heating unit, 8-sub-tank isolation module, 9-sound module.

[0063] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0065] Figure 1 This is a schematic diagram of the structure of an intelligent farming system based on behavior-environment bidirectional feedback provided in the embodiment of the present application, see Figure 1 The system includes a breeding pond 1, a monitoring module 2, a control module 3, a lighting module 4, a delivery module 5, an oxygen supply module 6, a water circulation module 7, a sub-pool isolation module 8 and a sound module 9.

[0066] The bottom of the culture pond 1 has an inverted truncated cone structure, and the side of the inverted truncated cone structure is distributed with multiple oxygen supply ports 11 and multiple arc-shaped protrusions. The oxygen supply port 11 is connected to the oxygen supply module 6, and the center position of the bottom of the culture pond 1 has a lower opening 12.

[0067] The breeding pond 1 is the core area where fish live. The inverted frustum-shaped structure at the bottom can increase the bottom area and provide more oxygen supply ports 11 for fish. Multiple arc-shaped protrusions help form vortices, which are beneficial to water circulation and sewage discharge. The lower opening 12 at the bottom of the breeding pond 1 is used to connect the sewage discharge unit 72 of the water circulation module 7.

[0068] In some embodiments, the culture pond 1 has a hexagonal prism structure, which can save space resources and reduce internal water flow resistance.

[0069] In some embodiments, the culture pond 1 further has a water gate seat 14 , a rolling water gate 15 , a row frame 16 and a fish-proof net 17 .

[0070] The monitoring module 2 includes a polarization camera 21, a sound sensor 22, a water quality sensor 23, a water level sensor 24, a flow rate sensor 25 and a temperature sensor 26. The polarization camera 21 is located at the edge of the breeding pond 1. The monitoring module 2 is used to obtain breeding information including the biological characteristics, behavioral characteristics, body characteristics, position, feeding sounds, water quality parameters, water level, eddy flow rate and water temperature of the breeding pond 1.

[0071] In some embodiments, the polarization camera 21 obtains biological characteristics, behavioral characteristics, body characteristics and position of the fish.

[0072] It should be noted that the polarization camera 21 has a polarized light imaging detection function, can perform real-time detection, and has the characteristics of small size, clear imaging, removal of reflections and reflections, and dark environment imaging. It cooperates with the image algorithm to construct a three-dimensional image of the fish, thereby observing the fish more intuitively and clearly.

[0073] In some embodiments, see Figure 1 and Figure 2 The monitoring module 2 further includes a camera moving unit 27, which is located at the edge of the pool opening 13 and includes a first track 271, a second track 272, a rack track 273, a first slider 274, a motor 275, a frame 276, a second slider 277, a third slider 278, a first connecting rod 279 and a second connecting rod 280;

[0074] The third slider 278 is disposed on the second track 272 and is used to drive the polarization camera 21 to slide on the second track 272. The second slider 277 is rotatably connected to one end of the first connecting rod 279. The other end of the first connecting rod 279 is rotatably connected to one end of the second connecting rod 280. The other end of the second connecting rod 280 is connected to the frame 276. The rack track 273 is detachably connected to one end of the third slider 278. The first track 271 is slidably connected to the second slider 277.

[0075] The frame 276 is L-shaped and includes a first part and a second part. The first part is used to install the first rail 271, and the second part has a through hole, which is used to connect to the output shaft of the motor 275. The first slider 274 has a built-in gear, and the gear is detachably connected to the other end of the output shaft, and the gear is engaged with the rack rail 273.

[0076] Through the cooperation of various components in the camera moving unit 27, the polarization camera 21 can move in multiple dimensions, so that the polarization camera 21 can comprehensively collect information such as biological characteristics, behavioral characteristics and position of fish in the breeding pond 1, and can also accurately locate and track the fish.

[0077] In some embodiments, there can be multiple camera movement units 27 and polarization cameras 21, distributed at different locations around the edge of the aquaculture pond 1. These cameras can be controlled by the control module 3 to collect information and move. In some embodiments, there can be multiple sound sensors 22 located at the bottom of the aquaculture pond 1. These sound sensors 22 can detect the sounds of fish feeding, thereby better determining the fish's feeding progress and enabling the control module 3 to control other modules and devices.

[0078] Since the feeding sounds of fish acquired by the sound sensor 22 contain environmental noise, in some embodiments, the sound sensor 22 can send the acquired feeding sounds of fish to the control module 3, and the control module 3 can denoise the feeding sounds of fish containing environmental noise to ensure the accuracy of the sound.

[0079] In some embodiments, the water quality sensor 23 obtains water quality parameters, which may include dissolved oxygen, turbidity, pH, ion composition and salinity in the aquaculture pond 1, so that the control module 3 can better control the water quality.

[0080] In some embodiments, the water quality sensors 23 can be distributed at different underwater locations in the aquaculture pond 1, and there can be multiple sensors, including but not limited to dissolved oxygen sensors, turbidity sensors, pH sensors, ion composition sensors and salinity sensors, to comprehensively monitor the water quality.

[0081] It should be noted that water quality parameters affect the growth of fish. Poor water quality or water quality parameters that are not within the range of suitable growth environment parameters for fish will cause fish to become sick, so obtaining water quality parameters is crucial for fish farming.

[0082] In some embodiments, the water level sensor 24 is located in the water of the breeding pond 1 and is used to obtain the water level so that the control module 3 can control the water level of the breeding pond 1 .

[0083] It should be noted that the water inlet unit 71, sewage discharge unit 72 and water outlet unit 73 of the water circulation module 7 perform water inlet, sewage discharge and water outlet, which will form vortexes in the breeding pond 1. The flow rate of the vortexes affects the food intake, feeding progress and movement of fish.

[0084] In some embodiments, the flow rate sensor 25 obtains the vortex flow rate, so that the control module 3 controls the flow rate by controlling the water circulation module 7 .

[0085] In some embodiments, the flow rate sensor 25 can be set at the water inlet of the water inlet unit 71 to obtain the vortex flow rate.

[0086] In some embodiments, the temperature sensor 26 is located on the underwater side wall of the breeding pond 1, and there can be multiple temperature sensors 26 to obtain the temperature of the breeding pond 1 to ensure the growth of fish.

[0087] It should be noted that water temperature will also affect the food intake, feeding progress and movement of fish. By obtaining the water temperature, the control module 3 controls the heating unit 74 of the water circulation module 7 to adjust the water temperature.

[0088] The lighting module 4 is located above the breeding pond 1, and includes a frame 41 and a lighting lamp 42. The frame 41 includes a bracket 411, an outer ring 412, an inner disc 413 and a strip track 414 extending from the inner edge of the outer ring 412 to the outer edge of the inner disc 413. The bracket 411 is supported and connected to the outer ring 412 and the pool mouth 13 of the breeding pond 1. The lighting lamp 42 is slidably connected to the strip track 414, and is used to provide light with threshold color, threshold intensity, threshold period, threshold aperture and threshold angle for the fish in the breeding pond 1, so as to adjust the growth rate of the fish and increase the weight of the fish.

[0089] like Figure 1 and Figure 2 As shown, the bracket 411 supports the entire lighting module 4 above the breeding pond 1, so that the lighting lamp 42 can be focused on different areas to illuminate the fish. The number of lighting lamps 42 and strip tracks 414 can be multiple. The strip track 414 is the moving track of the lighting lamp 42, which facilitates the lighting lamp 42 to move to different areas to regulate the growth of fish, increase the weight of fish, or move to the area where fish cluster to feed, to ensure the feeding effect of fish.

[0090] In some embodiments, the lighting module 4 receives control from the control module 3 and emits light with a threshold intensity, a threshold period, a threshold aperture, and a threshold angle.

[0091] The delivery module 5 is located on the inner disc 413 and is used for sterilizing, stirring and delivering bait and / or medicine.

[0092] In some embodiments, the delivery module 5 includes a bait conduit, a drug conduit, a stirring unit, and a sterilization unit. The stirring unit is connected to both the bait and drug outlets of the bait conduit, and the sterilization unit is located within the stirring unit. This configuration allows the delivery module 5 to deliver both bait and drug, mixing the bait and drug in a proportional manner within the stirring unit. Furthermore, the sterilization unit sterilizes and disinfects the bait prior to delivery to ensure fish safety.

[0093] In some embodiments, the delivery module 5 can receive the control of the control module 3 and perform periodic variable speed rotation on the inner disc 413 around a straight line passing through the center of the inner disc 413 and perpendicular to the ground, so that the falling material can evenly cover the entire pond or be fed at a certain location, which is conducive to fish finding food and improving feeding efficiency.

[0094] The oxygen supply module 6 is located at the bottom of the breeding pond 1 and is used to supply oxygen. The oxygen supply module 6 is an important component of the intelligent breeding system based on behavior-environment two-way feedback. It can adjust the dissolved oxygen content in the water in the breeding pond 1, maintain the oxygen content in the water, and improve the survival rate and growth effect of the fish.

[0095] In some embodiments, the oxygen supply module 6 is composed of oxygen devices distributed in an array at the bottom of the culture pond 1, and oxygen is supplied from bottom to top through the oxygen supply port 11.

[0096] The sub-pond isolation module 8 is located at the bottom of the breeding pond 1 and includes multiple sub-pond partitions. It can receive control from the control module 3 to separate fish in the growth stage, breeding stage, mating stage and market stage into sub-ponds to adjust the breeding density, promote fish growth and cultivation, prevent and control diseases, and facilitate changing ponds for fishing.

[0097] The sound-generating modules 9 are located at the bottom of the culture pond 1 and may be multiple in number, and are used to attract and drive away fishes, so as to facilitate fish feeding and auxiliary pond division.

[0098] It should be noted that the sound module 9 can receive the control of the control module 3 and emit sound waves of different frequencies. It can not only emit sound waves in frequency bands related to attracting fish to feed and promoting fish to feed, thereby attracting fish to approach or feed, but also emit sound waves in frequency bands that drive away fish but do not affect the growth and health of fish, and drive away fish. Relying on the attraction and driving functions of the sound module 9, it can assist in pool division.

[0099] In some embodiments, the sound module 9 can be a sonar. The water circulation module 7 is located in the aquaculture pond 1 and includes a water inlet unit 71, a sewage unit 72, a water outlet unit 73 and a heating unit 74, which are used to circulate water and adjust water quality and vortex flow rate. The sewage unit 72 is located at the center of the bottom of the aquaculture pond 1. The heating unit 74 is located on the water inlet unit 71 and is used to adjust the water temperature. The sewage unit 72 includes a sewage channel 724, an upper disc 721, a sewage outlet adjustment plate 722 and a lower disc 723, which are arranged in sequence from top to bottom. The sewage outlet adjustment plate 722 is used to rotate and slide with the upper disc 721 and slide with the lower disc 723 to form a sewage outlet. The sewage channel 724 is connected to the water outlet unit to discharge sewage.

[0100] The water circulation module 7 can adjust the water quality and eddy flow rate, maintain the water activity inside the breeding pond 1, keep the water quality of the breeding pond 1 clean and stable, prevent the growth of bacteria and toxins, and ensure the health and growth of fish.

[0101] In some embodiments, as Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, the sewage discharge channel 724 includes a drainage channel 7241 and a slag discharge channel 7242. The centers of the upper disc 721, the lower disc 723, the sewage outlet adjustment plate 722, the drainage channel 7241 and the slag discharge channel 7245 are located on the same straight line to form a sewage outlet.

[0102] In some embodiments, the sewage outlet adjustment plate 722 is a regular hexagonal plate composed of six equilateral triangular plates 7221. The upper and lower surfaces near the center of each side of the sewage outlet adjustment plate 722 have cylindrical protrusions 72211, and each corner of the sewage outlet adjustment plate 722 has a notch 72212.

[0103] In some embodiments, the lower disc 723 is sealed with the lower opening 12 and has a regular hexagonal groove 7231. The regular hexagonal groove 7231 is used to provide a sliding track for the cylindrical protrusion 72211 on the lower surface of the equilateral triangular plate 7221. This arrangement allows the cylindrical protrusion 72211 on the lower surface of the equilateral triangular plate 7221 to slide in the regular hexagonal groove 7231.

[0104] In some embodiments, a rounded rectangular through-hole 7211 is defined at a position on the upper disk 721 opposite the cylindrical protrusion 72211. The rounded rectangular through-hole 7211 is used to provide a rotational sliding track for the cylindrical protrusion 72211 on the upper surface of the equilateral triangular plate 7221. The center of the lower disk 723 and the center of the upper disk 721 have circular openings of the same size. With this arrangement, the cylindrical protrusion 72211 on the lower surface of the equilateral triangular plate 7221 engages with the rounded rectangular through-hole 7211 of the upper disk 721. When the upper disk 721 rotates, it drives the equilateral triangular plate 7221 to rotate via the rounded rectangular through-hole 7211, thereby causing the central opening of the sewage outlet adjustment plate 722 to discharge sewage.

[0105] In some embodiments, the drainage channel 7241 and the slag discharge channel 7242 are located on the upper side of the upper disc 721. The drainage channel 7241 is mounted on the outside of the slag discharge channel 7242 for draining sewage. The slag discharge channel 7242 is connected to the circular opening of the upper disc 721 for draining slag. A control valve is provided on the upper part of the slag discharge channel 7242, and a filter port is provided on the side of the slag discharge channel 7242 to discharge sewage into the drainage channel 7241.

[0106] During sewage discharge, the control module 3 controls the control valve located at the upper portion of the slag discharge channel 7242 to open, the sewage outlet regulating plate 722 is not opened, and the water outlet unit 73 discharges water. Due to the existence of vortex in the water, the material residue and the excrement of the fish gather at the central position of the bottom of the culture pond 1 and enter from the upper opening of the slag discharge channel 724 to be discharged. The sewage passes through the filter port on the side of the slag discharge channel 724 to reach the drainage channel 7241, and is then discharged out of the culture pond 1 by the water outlet unit 73 connected to the drainage channel 7241; at this time, the control module 3 controls the control valve located at the upper portion of the slag discharge channel 7242 to close, and the water outlet unit 73 discharges water, so that the drainage channel 7241 and the slag discharge channel 7242 form a cavity; the control module 3 controls the sewage outlet regulating plate 722 to open, The upper disc 721 is controlled to rotate counterclockwise or clockwise. Since the rounded rectangular through hole 7211 of the upper disc 721 is sleeved on the cylindrical protrusion 72211 on the upper surface of the six equilateral triangular plates 7221, the upper disc 721 drives the cylindrical protrusion 72211 on the upper surface of the six equilateral triangular plates 7221 to rotate and slide in the rounded rectangular through hole 7211, and drives the cylindrical protrusion 72211 on the lower surface of the six equilateral triangular plates 7221 to slide in the regular hexagonal groove 7231, so that the six equilateral triangular plates 7221 form a sewage outlet at the bottom of the breeding pond 1, and cooperate with the water circulation module 7 to form a vortex in the center of the breeding pond, so that the material residue and fish excrement fall by gravity and are discharged out of the breeding pond 1.

[0107] In some embodiments, the control module 3 controls the upper disc 721 to rotate by controlling a pneumatic device, and the pneumatic device is connected to the upper disc 721 .

[0108] The control module 3 is the core control and analysis module of the aquaculture pond 1. It receives feedback from each module and integrates it, matches the analytical model, environmental parameter library, and equipment parameter library, and intelligently controls the operation of each module and device. In some embodiments, the control module 3 is connected to the monitoring module 2, the lighting module 4, the delivery module 5, the oxygen supply module 6, and the water circulation module 7. The control module 3 is used to control the lighting module 4, the delivery module 5, the oxygen supply module 6, and the water circulation module 7 to respectively perform lighting, delivery, oxygen supply, and water circulation based on the aquaculture information obtained by the monitoring module 2, and generate analysis results to train the fish. Based on the feedback information of the fish after lighting, delivery, oxygen supply, water circulation, pool division, and sound control, the training status of the fish is determined to optimize the control of each module.

[0109] The control module 3 can realize intelligent management and precise control of the growth and breeding process of fish, improve the output and quality, and reduce the breeding cost.

[0110] In some embodiments, the intelligent breeding system based on behavior-environment bidirectional feedback also includes an alarm module and a display module; the alarm module is connected to the control module 3 and is used to alarm when sick fish appear and water quality parameters are not within the water quality threshold range; the display module is connected to the control module 3 and is used to display the breeding information of the fish, the control information of the control module 3, the analysis results and the training status of the fish.

[0111] The intelligent farming system based on behavior-environment bidirectional feedback can not only farm fish, but also other aquatic products such as shellfish.

[0112] The intelligent farming system based on behavior-environment bidirectional feedback provided in the embodiment of the present application can provide a comfortable growth environment for fish, prevent excrement accumulation, water pollution, disease outbreaks and waste of resources, and can train fish to cultivate their behavioral performance and optimize the parameters of each module, thereby achieving bidirectional intervention and feedback between the system and the fish.

[0113] The embodiment of the present application also provides a control method for an intelligent farming system based on behavior-environment bidirectional feedback, which is applied to the above-mentioned intelligent farming system based on behavior-environment bidirectional feedback, such as Figure 8 As shown, the control method includes:

[0114] In step 801, the monitoring module 2 obtains aquaculture information and sends the aquaculture information to the control module 3. The aquaculture information includes biological characteristics, behavioral characteristics, body characteristics, position, feeding sounds, water quality parameters, water level, eddy flow rate and water temperature of the aquaculture pond 1.

[0115] In step 802, the control module 3 controls the lighting module 4 to perform lighting based on the breeding information, controls the delivery module 5 to sterilize, stir and deliver the bait and / or medicine, controls the oxygen supply module 6 to supply oxygen, controls the water circulation module 7 to circulate water, controls the sub-pool isolation module 8 to perform sub-pooling, controls the sound module 9 to make sounds, and generates analysis results. According to the feedback information of the fish after the lighting, delivery, oxygen supply, water circulation, sub-pooling and sounding control, the training status of the fish is determined to optimize the control of each module.

[0116] The analysis results include growth rate, stocking density, fish qualification rate, stocking cost, economic benefits, fish health status and fish quality.

[0117] In some embodiments, the control module 3 is loaded with a fish behavior analysis library, an environmental parameter library, and an equipment parameter library to provide a basis for data analysis.

[0118] In some embodiments, when providing daily growth lighting for fish, the control method includes: the control module 3 determines the growth stage based on biological characteristics and fish behavior analysis library; based on the growth stage, environmental parameter library and equipment parameter library, controls the lighting lamp 42 to emit light with color, intensity, period and aperture size corresponding to the living habits of the growth stage.

[0119] Fish have different habits at different growth stages, requiring adjustments to the color, intensity, cycle, and aperture size of the lighting. Fish biological characteristics, such as body size, swimming posture, appearance, and surface features, reflect their growth stage. Adjusting lighting based on growth stage can meet the fish's needs for their specific habits, ensuring healthy and comfortable growth, and ultimately, fostering high-quality fish.

[0120] In some embodiments, the fish behavior analysis library loaded by the control module 3 includes the biological characteristics of fish at different growth stages and the corresponding living habit information, the body characteristics of fish and the corresponding common disease information, the environmental parameter library includes the behavioral characteristics of fish in different states and the corresponding growth environment information, and the equipment parameter library includes the equipment parameter information corresponding to different growth environment information and fish living habit information; the fish behavior analysis model, the environmental parameter library and the equipment parameter library can enable the control module 3 to adjust and control each device and module based on this information, so that the environment of the breeding pond 1 meets the growth needs of fish, and can identify common diseases suffered by fish according to the body characteristics of fish.

[0121] In some embodiments, when feeding bait and medicine to fish, the control method includes:

[0122] (1) The control module 3 determines the initial release amount and initial release position of the release module 5 based on the biological characteristics, position and fish behavior analysis library obtained by the polarization camera 21.

[0123] Since most farmed fish are clustered fish, in some embodiments, the control module 3 can first control any one of the multiple polarization cameras 21 to conduct overall observation and monitoring of the breeding pond 1 to determine the location of the fish cluster, and then control the polarization camera 21 closest to the location of the fish cluster to move to the location closest to the fish cluster to collect detailed information of the fish cluster at close range, such as biological characteristics and location. Other polarization cameras 21 can also collect information on the fish cluster from multiple angles. The biological characteristics and location can reflect the number of fish in the fish cluster, thereby determining the initial release amount and initial release location for accurate feeding, preventing waste, reducing breeding costs, and improving economic benefits.

[0124] In some embodiments, the control module 3 may upload the acquired biological characteristics and positions to a fish behavior analysis library for storage and analysis.

[0125] (2) The control module 3 determines the fish school behavior based on the behavioral characteristics obtained by the polarization camera 21 and the fish behavior analysis library. The fish school behavior includes group feeding, group swimming, lying still on the bottom of the water, isolated behavior, floating behavior, frightened behavior and abnormal behavior.

[0126] The fish behavior analysis library loaded in the control module 3 can determine the behavior of the fish school based on the acquired behavioral characteristics, thereby deciding the control strategy.

[0127] (3) In response to the school of fish behavior being group feeding, the control module 3 determines the feeding progress and feeding amount based on the feeding sound acquired by the sound sensor 22.

[0128] When the fish school behavior is cluster feeding, it means that the fish have a need to feed. The sound sensor 22 can collect the feeding sound of the fish school. The control module 3 determines the feeding progress and feeding amount of the fish based on the feeding sound, so as to determine the feeding amount of the next feeding module 5 according to the feeding progress and feeding amount.

[0129] (4) The control module 3 determines the release frequency, re-release amount and re-release location of the release module 5 based on the feeding progress, feeding amount, behavioral characteristics, location and fish behavior analysis library.

[0130] Behavioral characteristics can reflect whether the fish want to continue feeding. Based on feeding progress, food intake, behavioral characteristics and location, it can be determined whether to stock, stocking frequency, restocking amount and stocking location, thus preventing waste, reducing breeding costs and improving economic benefits.

[0131] (5) After determining the placement location and the amount of placement, based on the device parameter library and the environment parameter library, the control module 3 controls the sound module to make a sound at the placement location, controls the sterilization unit, the bait pipe, the drug pipe and the stirring unit to sterilize, stir and place the bait and / or drug, and controls the lighting lamp 42 to slide along the strip track 414 to the top of the placement location to emit light with a color, intensity, period and aperture size corresponding to the fish feeding, so as to attract fish that are far away from the placement location to swim to the placement location for feeding.

[0132] The placement location includes the initial placement location and the secondary placement location, and the placement amount includes the initial placement amount and the secondary placement amount.

[0133] After determining the placement location and amount, the sound-generating module 9 emits a sound at the placement location to attract fish from a distance to feed, thereby increasing the overall feeding enthusiasm of the fish. The control module 3 also controls the sterilization unit, bait pipeline, drug pipeline, and stirring unit to sterilize, stir, and release the bait and / or drugs, allowing the delivery module 5 to deliver both bait and drugs. The stirring unit can also mix the bait and drugs in proportion and release them. The sterilization unit will sterilize and disinfect the bait before delivery to ensure the safety of the fish. To better stimulate the fish to feed, the control module 3 controls the lighting 42 to adjust the color, intensity, cycle, and aperture size suitable for the fish to feed.

[0134] (6) During the fish feeding process, based on the equipment parameter library and the environmental parameter library, the control module 3 controls the heating unit 74 to heat the water in the water inlet unit 71, controls the oxygen supply module 6 to supply oxygen at the placement position, and controls the flow of the water inlet unit 71 and the water outlet unit 73 to be reduced multiple times based on the eddy flow rate obtained in real time by the flow rate sensor 25, and reduces the step flow rate each time until the eddy flow rate is the feeding flow rate, and the feeding flow rate is less than the daily breeding flow rate.

[0135] The control module 3 controls the heating unit 74 to adjust the overall water temperature in the breeding pond 1 to a temperature suitable for fish to eat, so as to promote fish to eat.

[0136] Since the oxygen consumption of fish increases greatly during feeding, in some embodiments, the oxygen supply module 6 can receive control from the control module 3 to discharge oxygen from the oxygen supply port located below the placement position, i.e., the position where the fish gather, to provide oxygen.

[0137] This flow rate control is based on real-time feedback of the eddy current velocity. The environmental parameter library loaded into the control module 3 includes daily breeding flow rates and feeding flow rates. To increase the time the fish spend feeding, based on the equipment parameter library and the environmental parameter library, the control module 3 controls the water circulation module 7 to reduce the inlet and outlet flow rates to reduce the eddy current velocity in the breeding pond 1. The flow rate sensor provides real-time feedback of the eddy current velocity. When the feedback eddy current velocity is greater than the feeding flow rate, the control module 3 controls the water inlet unit 71 and the water outlet unit 73 to reduce the step flow rate and circulate the water until the eddy current velocity feedback from the flow rate sensor equals the feeding flow rate, thereby ensuring the time and quality of the fish's feeding.

[0138] (7) After the fish have finished feeding, based on the equipment parameter library and the environmental parameter library, the control module 3 controls the upper disc 721 of the sewage discharge unit 72 to rotate to form a sewage outlet for sewage discharge. The control module 3 controls the flow rate of the water inlet unit 71 and the water outlet unit 73 to the threshold flow rate so that the vortex flow rate is restored to the daily breeding flow rate.

[0139] When the fish finish feeding, the control module 3 controls the sewage discharge unit 72, the water inlet unit 71 and the water outlet unit 73 to circulate water and discharge sewage, and adjusts the vortex flow rate to the daily breeding flow rate to meet the living habits of the fish, ensure the normal growth of the fish, and improve the cleaning efficiency to prevent the decomposition of residual bait, drugs and feces to produce harmful substances.

[0140] In some embodiments, the sound sensor 22 can detect the feeding sounds of the fish in real time, and the polarization camera 21 can collect the behavioral characteristics of the fish so that the control module 3 can determine whether the fish have finished feeding.

[0141] Because fish generally swim in groups, their clustering behavior can significantly increase oxygen consumption in that area, potentially causing an imbalance in dissolved oxygen levels in the water. In some embodiments, the polarization camera 21 captures the behavioral characteristics and location of the fish. Based on these characteristics and location, the control module 3 determines that the fish are gathering at that location and controls the oxygen supply module 6 to discharge oxygen from the oxygen supply port below the fish gathering location, thereby releasing oxygen into the water and increasing the dissolved oxygen content, ensuring a favorable growth environment for the fish population.

[0142] In addition to the deterioration of water quality after fish feed, fish also experience deterioration during their daily activities, such as metabolism. In some embodiments, water quality sensors 23 located at various locations in the aquaculture pond 1 acquire water quality parameters. When the water quality parameters at a particular location are outside the threshold range, the control module 3 controls the oxygen supply module 6 to supply oxygen at that location, thereby achieving targeted oxygen supply. The control module 7 controls water circulation and wastewater removal, thereby improving wastewater cleaning efficiency and preventing the decomposition of residual bait, drugs, and feces from producing harmful substances. Water quality parameters may include dissolved oxygen, turbidity, pH, ion composition, and salinity.

[0143] In some embodiments, in response to a water quality parameter at a certain location being outside a water quality threshold range, the control module 3 controls the alarm module to sound an alarm and controls the display module to display a prompt message including "water quality does not meet aquaculture requirements".

[0144] In some embodiments, the training status of the fish is determined based on the feedback information of the fish after lighting, release, oxygen supply, water circulation, pool separation and sound control, so as to optimize the control of each module. Specifically, the following steps are performed: the training status of the fish is determined based on the feedback information of the fish after lighting, release, oxygen supply, water circulation, pool separation and sound control and the fish behavior analysis library; the parameter information of the current monitoring module 2, lighting module 4, release module 5, oxygen supply module 6, water circulation module 7, pool separation module 8 and sound module 9 corresponding to the training status of the fish is recorded and stored in the equipment adjustment parameters; the current external environment information corresponding to the training status of the fish is recorded and stored in the environmental parameter library, and the external environment information includes environmental sound, water quality parameters, water level of the breeding pond 1, eddy flow rate, water temperature and light, so as to adjust the optimal growth environment.

[0145] For example, each time the fish is fed, the sound module 9, the lighting lamp 42 and other modules and devices are turned on and the receiving control module 3 controls them to work under certain equipment parameters, so that the fish can be trained to have a conditioned reflex of eating. After multiple feedings, the fish will consciously feed when the sound module 9, the lighting lamp 42 and other modules and devices are turned on and work under the equipment parameters. The control module 3 can also determine the training status of the fish based on the feedback information of the fish and optimize the equipment parameters of each module and device.

[0146] It's important to note that this control not only allows for control of each module and component based on the fish's needs, but also allows for training of the fish through temperature, light, oxygen, water quality, food, and sound, cultivating their performance and optimizing the parameters of each module, thereby achieving two-way intervention and feedback between the system and the fish. Control Module 3's fish training is divided into two parts: physical training to ensure the fish's activity, enhance their immunity, and improve their health; and stress training to ensure the fish can adapt to changes in the external environment, reduce fear, and improve their survival rate.

[0147] In some embodiments, the control method also includes: the control module 3 determines, marks and tracks breeding fish and sick fish based on the biological characteristics, behavioral characteristics, body characteristics, position and fish behavior analysis library obtained by the polarization camera 21, so that the breeding staff can promptly detect breeding fish and sick fish, and isolate the fish in the growth stage, breeding stage, mating stage and market stage in different ponds; the control module 3 generates a fish file based on the breeding information and analysis results, and the fish file includes the health status, feeding status, growth rate and quality status of each fish, so that the breeding staff can know the relevant information of each fish, control the quality of the fish, and take relevant measures to intervene in time; the control module 3 determines the type of bait, bait brand and drug dosage based on fish market demand data, fish market price data and fish residual drug standards, so as to regulate the farmed fish in combination with market demand, keep up with the market pace, grasp the quality of fish, reduce operating costs and improve economic benefits.

[0148] In some embodiments, when the fish market price is at its peak, the control module 3 displays the fish in the mature stage (market stage) in the breeding pond 1 through the display module to facilitate the breeding staff to sell them in time. When it is at a low point, the control module 3 controls the display module to give suggestions and postpone the sale of fish.

[0149] In some embodiments, the control module 3 can also form an optimization evaluation mechanism for environmental control decisions, by calculating the relevance and influence weight of each module and device on fish behavior, learning, self-training, and self-generating better decisions to adapt to the needs of fish in the breeding pond 1, thereby making economic decisions and improving economic benefits.

[0150] It should be noted that the current health of the fish is judged in detail through parameters such as the size, state, traits, activity data and development speed reflected by the biological characteristics, behavioral characteristics, body characteristics and position of the fish. The collected information of each fish is stored in the fish behavior analysis library of the control module 3, and the information of each fish is analyzed to determine healthy, strong, fast-growing and less sick fry for assisted breeding. The genetic iteration of fish in multiple cycles can be observed in a targeted manner. At the same time, those breeding fish that have lost their reproductive ability can also be screened out, further improving the breeding efficiency of the breeding pond 1, while protecting the precious breeding fish resources in the breeding pond 1, so as to better carry out breeding; identify stray fish, diseased fish, etc., analyze whether the stray fish are sick, analyze the type and degree of lesions of the sick fish, so as to prevent other fish from getting sick and better prevent large-scale outbreaks of diseases.

[0151] The control module 3 can obtain market demand data, analyze whether the current market demand for the farmed fish is strong, whether high-end fish have requirements for the use of drugs, and use fish market price data and fish residual drug standards to regulate whether the release module 5 should change the bait type, bait brand and drug release amount. When the market demand is strong and the fish price is high, high-quality feed should be selected and the quality of the fish should be improved by increasing the number of water changes and reducing the drug usage rate, thereby improving economic benefits.

[0152] In some embodiments, the control module 3, through the integration of various modules and components, can assess aquaculture costs based on analysis results. By calculating the control records of each module and component, the operating costs of the aquaculture pond 1 can be accurately calculated. Based on this data, the control module 3 can further determine cost-effectiveness based on market prices. If the current cost is unacceptable relative to market prices, the feeding amount or other module and component operation plans may need to be adjusted to reduce costs while ensuring fish growth quality.

[0153] Sick fish may exhibit stray behavior. In some embodiments, the control module 3 determines that a fish or multiple fish have strayed from the school based on the behavioral characteristics, position, and fish behavior analysis library of the fish acquired by the polarization camera 21, marks the stray fish, controls the polarization camera 21 to track them, controls the alarm module to sound an alarm, and controls the display module to display the position, behavioral characteristics, biological characteristics, and physical characteristics of the marked and tracked stray fish, and saves them in the fish file.

[0154] In some embodiments, the control module 3 can determine whether the fish need population reproduction at this time based on the behavioral characteristics, position and fish behavior analysis library of the fish obtained by the polarization camera 21. If it is determined that population reproduction is needed, the control module 3 controls the monitoring module 2, lighting module 4, delivery module 5, oxygen supply module 6, water circulation module 7, sub-pool isolation module 8 and sound module 9 to provide a population reproduction environment for the fish; otherwise, the sound module 9, lighting module 4 and sub-pool isolation module 8 are controlled to inhibit reproduction; based on the breeding information obtained by the monitoring module 2, the fish behavior analysis library is supplemented to improve the decision-making stability and accuracy of the control module 3.

[0155] In some embodiments, the control module 3 can construct a three-dimensional animation image based on the breeding information, information in the database and distribution information of each device and module in the breeding pond, which can intuitively and in real time reflect the breeding information, the status of each module and device.

[0156] In some embodiments, sick fish will be marked in red on the display module to remind breeders to take measures, and breeding fish will be marked in green on the display module to enable breeders to intuitively obtain relevant information about the breeding fish.

[0157] In some embodiments, the analysis results generated by the control module 3 include but are not limited to growth rate, breeding density, fish qualification rate, breeding cost, economic benefits, fish health status and fish quality, so that the breeding personnel can know the growth status of fish, breeding density, qualification status of fish in the breeding pond, breeding cost, economic benefits and fish health status and fish quality.

[0158] It should be noted that as the fish grow gradually, their body size will continue to increase, and the breeding density in the breeding pond 1 will gradually increase. The breeding pond 1 cannot meet the breeding density requirements, which affects the breeding efficiency of the fish. The breeding density generated by the control module 3 can remind the breeding personnel to change the pond and improve the breeding efficiency.

[0159] In some embodiments, the environmental parameter changes, fish behavior responses and formulas in the environmental parameter library, the equipment parameter library and the fish behavior analysis library are given:

[0160] (1) When the water temperature is not within the range of 16-18°C or the salinity is not within the range of 25‰-30‰, fish exhibit frenetic swimming behavior and active feeding. The behavioral expression formula is as follows:

[0161]

[0162] in, Indicates the activity of fish at different times, represents the weighted speed change index, represents the weighted steering frequency index, represents the weighted acceleration index, Indicates the speed change at different times, Represents the frequency at different times, represents the acceleration at different times, t Indicates time.

[0163] (2) When fish are cultured at high density in aquaculture ponds, they will exhibit abnormal behaviors such as aggressive behavior, jumping behavior, swimming behavior, and escape behavior. The culture density is expressed by convergence.

[0164] In some embodiments, the vergence of the fish Obtained through the following steps:

[0165] The first step is to calculate the distance between the two fish , in the three-dimensional space coordinate system, the position coordinates of the two fish are (x1, y1, z1) and (x2, y2, z2) respectively, and the distance between them can be calculated as the Euclidean distance:

[0166]

[0167] in, i andj The numbers of the two fish indicate i Article and j fish.

[0168] The second step is to calculate the gathering direction vector , so as to better examine whether the fish school has obvious aggregation behavior and more comprehensively evaluate the aggregation state of the fish school. The aggregation direction vector can provide an indicator of the movement trend of the fish school, which can supplement the information of the two indicators of distance average and speed standard deviation, so as to more accurately describe the degree of aggregation of the group. In a given time period, assuming that i There are fish around k adjacent fish, their position coordinates are ( x i _1, y i _1, z i _1), ( x i _2, y i _2, z i _2),...,( x i _ k , y i _ k , z i _ k ). Then i The gathering direction vector of the fish during this time period It can be defined as:

[0169]

[0170] The third step is to calculate the speed standard deviation, which is defined as the standard deviation of the fish's swimming speed.

[0171]

[0172] in, Indicates the i The speed of the fish, Represents the average speed of the entire fish school, n Indicates the total number of fish.

[0173] The fourth step is to calculate the average distance between each fish according to the following formula:

[0174]

[0175] in, Indicates the i Fish and j The distance between the fish.

[0176] Step 5: Calculate vergence according to the following formula F :

[0177]

[0178] It should be noted that when the convergence index F When the convergence index is small, it means that fish gather together; F When it is larger, it means that the fish are dispersed. When the behavior of fish is abnormal, its convergence index F For example, if some individuals in the fish exhibit abnormal behavior, such as overactivity or lack of response, these individuals may affect the aggregation and dispersion of the entire group, resulting in the aggregation index F Changes have occurred.

[0179] (3) Changes in temperature, daylight cycle, and air pressure can cause changes in fish spawning behavior.

[0180] (4) When fed live bait intermittently, fish tend to eat more actively.

[0181] (5) The physical properties of bait, such as size, shape, color, buoyancy, and hardness, will affect the feeding activity of fish. The influencing formula is as follows:

[0182]

[0183] in, A Indicates the feeding activity level, x 、 y 、 z 、 w Respectively represent the influence coefficients of feeding cycle, bait variety, light color, and light intensity, v represents the influence coefficient of the photoperiod, a and b are the speed and acceleration of the fish, s The influence intensity index representing the same type of eating sound signal is determined based on the eating sound acquired by the sound sensor 22 .

[0184] (6) The lighting lamp 42 is near the red light wavelength, which inhibits the growth and feeding of fish; the lighting lamp 42 is near the cool white light wavelength, which promotes the growth and feeding of fish; the lighting lamp 42 is within the weak light range of 25~300lx, which promotes the growth and feeding of fish.

[0185] (7) The lighting lamp 42 has a short photoperiod of 0 to 12 hours, which promotes the growth and feeding of fish. The evaluation formula for fish feeding amount and growth shape is:

[0186]

[0187] Among them, B represents the food intake and growth status of fish, k represents the sensitivity of fish to light intensity and photoperiod, f ( I , T ) represents the function between the growth and feeding response of fish and the light intensity I and the light period T, represents the mortality constant of turbot, d Indicates the duration of fish growth and feeding.

[0188] (8) Increased carbon dioxide inhibits fish growth; fish are more active at night; when the dissolved oxygen concentration in water is below 5-6 mg / L, fish will float to the surface; the sound module 9 can stimulate fish feeding by making sounds in the frequency range of 0-20 kHz.

[0189] (9) Fish juveniles have positive phototaxis under light intensities of 1–1000 μW cm; in complete darkness, they show no obvious activity; in environments with white, black, red, or brown lighting, they tend to favor white backgrounds and exhibit strong adaptability;

[0190] (10) When the vortex velocity in the water is in the range of 200 L / h to 800 L / h, as the vortex velocity increases, the specific growth of fish first increases and then tends to stabilize.

[0191] In some embodiments, the control method of the intelligent aquaculture system based on behavior-environment bidirectional feedback further includes: predicting the market price of the fish in the aquaculture pond 1 based on health indicators such as the number of illnesses, body size, and activity level of the fish and fish market price data. The specific price prediction model used in this process is as follows:

[0192]

[0193] in, E represents a set of sample parameters, x m It represents the health index on the mth day, which can reflect the number of times the fish has been sick, its size and activity level, etc. y m represents the fish market price data on the mth day, represents the predicted market price of fish, w The weight vector of the hyperplane is used to represent the importance of these different health indicators to the price of turbot. b represents the bias term, Cis a regularization parameter used to balance the complexity and fitting error of the price prediction model. Represents the fault tolerance range.

[0194] In some embodiments, the training process of the price prediction model can be: the number of times the fish are sick, the size, the activity level and the actual market price are used to train the price prediction model, and a prediction result value can be output. Through training, the output value is continuously approached to the actual market price value, so that the prediction error value gradually decreases. When it is less than the set error value, it is considered that the prediction meets the requirements, thereby completing the training of the price prediction model and obtaining the price prediction model used in the end.

[0195] The control method of the intelligent aquaculture system based on behavior-environment bidirectional feedback provided in the embodiment of the present application can accurately obtain aquaculture information, accurately regulate the lighting, stocking, oxygen supply and water circulation of the aquaculture pond, provide a comfortable growth environment for fish, prevent excrement accumulation, water pollution, disease outbreaks and waste of resources, and train fish to cultivate their behavioral performance and optimize the parameters of each module, thereby realizing bidirectional intervention and feedback between the system and the fish.

[0196] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the present invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only.

[0197] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An intelligent farming system based on behavior-environment bidirectional feedback, characterized in that: The intelligent aquaculture system based on behavior-environment bidirectional feedback comprises a breeding pond (1), a monitoring module (2), a control module (3), a lighting module (4), a delivery module (5), an oxygen supply module (6), a water circulation module (7), a sub-pond isolation module (8) and a sound generation module (9); The bottom of the culture pond (1) has an inverted truncated cone structure, and the side of the inverted truncated cone structure is provided with a plurality of oxygen supply ports (11) and a plurality of arc-shaped protrusions, the oxygen supply ports (11) are connected to the oxygen supply module (6), and the center position of the bottom of the culture pond (1) has a lower opening (12); The monitoring module (2) includes a polarization camera (21), a sound sensor (22), a water quality sensor (23), a water level sensor (24), a flow rate sensor (25), and a temperature sensor (26). The polarization camera (21) is located at the edge of the aquaculture pond (1). The monitoring module (2) is used to obtain aquaculture information including biological characteristics, behavioral characteristics, body characteristics, position, feeding sounds, water quality parameters, water level, eddy flow rate, and water temperature of the aquaculture pond (1); The lighting module (4) is located above the culture pond (1), and includes a frame (41) and a lighting lamp (42). The frame (41) includes a bracket (411), an outer ring (412), an inner disc (413), and a strip track (414) extending from the inner edge of the outer ring (412) to the outer edge of the inner disc (413). The bracket (411) is supported and connected to the outer ring (412) and the pond mouth (13) of the culture pond (1). The lighting lamp (42) is slidably connected to the strip track (414) and is used to provide light with a threshold color, threshold intensity, threshold period, threshold aperture, and threshold angle for the fish in the culture pond (1), so as to adjust the growth rate of the fish and increase the weight of the fish. The delivery module (5) is located on the inner disc (413) and is used for sterilizing, stirring and delivering bait and / or medicine; The oxygen supply module (6) is located at the bottom of the culture pond (1) and is used for supplying oxygen; The sub-tank isolation module (8) is located at the bottom of the breeding pond (1), and includes a plurality of sub-tank partitions, which are used to receive control from the control module (3) and isolate fish in the growth stage, breeding stage, mating stage and market stage in separate ponds; The sound-generating module (9) is located at the bottom of the breeding pond (1) and is used to attract and drive away fish, so as to train the fish to feed and assist in pond division; The water circulation module (7) is located in the culture pond (1), and includes a water inlet unit (71), a sewage discharge unit (72), a water outlet unit (73) and a heating unit (74), and is used for water circulation and regulating water quality and vortex flow rate. The sewage discharge unit (72) is located at the center of the bottom of the culture pond (1). The heating unit (74) is located on the water inlet unit (71) and is used for regulating water temperature. The sewage discharge unit (72) includes a sewage discharge channel (724), an upper disc (721), a sewage outlet regulating plate (722) and a lower disc (723) arranged in sequence from top to bottom. The sewage outlet regulating plate (722) is used to be rotatably and slidingly connected to the upper disc (721) and slidably connected to the lower disc (723) to form a sewage outlet. The sewage discharge channel (724) is provided with a plurality of channels, each of which is connected to the upper disc (721) and the lower disc (723). 4) is connected to the water outlet unit; the control module (3) is connected to the monitoring module (2), the lighting module (4), the delivery module (5), the oxygen supply module (6), the water circulation module (7), the sub-pool isolation module (8) and the sound module (9); the control module (3) is used to control the lighting module (4), the delivery module (5), the oxygen supply module (6), the water circulation module (7), the sub-pool isolation module (8) and the sound module (9) to respectively perform lighting, delivery, oxygen supply, water circulation, sub-pooling and sounding based on the breeding information obtained by the monitoring module (2), and generate analysis results to train the fish; according to the feedback information of the fish after the lighting, delivery, oxygen supply, water circulation, sub-pooling and sounding control, the training status of the fish is determined to optimize the control of each module.

2. The intelligent farming system based on behavior-environment bidirectional feedback according to claim 1 is characterized in that: The sewage discharge channel (724) comprises a drainage channel (7241) and a slag discharge channel (7242), and the centers of the upper disc (721), the lower disc (723), the sewage outlet adjustment plate (722), the drainage channel (7241), and the slag discharge channel (7242) are located on the same straight line: The sewage outlet regulating plate (722) is a regular hexagonal plate composed of six equilateral triangular plates (7221), and the upper and lower surfaces near the center of each side of the sewage outlet regulating plate (722) are provided with cylindrical protrusions (72211), and each corner of the sewage outlet regulating plate (722) is provided with a notch (72212); The lower disc (723) is sealedly connected to the lower opening (12), and the lower disc (723) has a regular hexagonal groove (7231). The regular hexagonal groove (7231) is used to provide a sliding track for the cylindrical protrusion (72211) on the lower surface of the equilateral triangle plate (7221); A rounded rectangular through hole (7211) is provided at a position opposite to the cylindrical protrusion (72211) on the upper disc (721). The rounded rectangular through hole (7211) is used to provide a rotational sliding track for the cylindrical protrusion (72211) on the upper surface of the equilateral triangular plate (7221). The center position of the lower disc (723) and the center position of the upper disc (721) have circular openings of the same size. The drainage channel (7241) and the slag discharge channel (7242) are located on the upper side of the upper disc (721). The drainage channel (7241) is sleeved on the outside of the slag discharge channel (7242) and is used to drain sewage. The slag discharge channel (7242) is connected to the circular opening of the upper disc (721) and is used to discharge slag. A control valve is provided on the upper part of the slag discharge channel (7242), and a filter port is provided on the side of the slag discharge channel (7242) to discharge sewage into the drainage channel (7241).

3. The intelligent farming system based on behavior-environment bidirectional feedback according to claim 1 is characterized in that: The monitoring module (2) further includes a camera moving unit (27), the camera moving unit (27) being located at the edge of the pool opening (13), and including a first track (271), a second track (272), a rack track (273), a first slider (274), a motor (275), a frame (276), a second slider (277), a third slider (278), a first connecting rod (279), and a second connecting rod (280); The third slider (278) is arranged on the second track (272) and is used to drive the polarization camera (21) to slide on the second track (272). The second slider (277) is rotatably connected to one end of the first connecting rod (279). The other end of the first connecting rod (279) is rotatably connected to one end of the second connecting rod (280). The other end of the second connecting rod (280) is rotatably connected to the frame (276). The rack track (273) is detachably connected to one end of the third slider (278). The first track (271) is slidably connected to the second slider (277). The frame (276) is L-shaped and includes a first part and a second part, wherein the first part is used to install the first track (271), and the second part has a through hole, which is used to connect with the output shaft of the motor (275). The first slider (274) has a built-in gear, which is detachably connected to the other end of the output shaft and meshes with the rack track (273).

4. The intelligent farming system based on behavior-environment bidirectional feedback according to claim 1 is characterized in that: The intelligent farming system based on behavior-environment bidirectional feedback also includes an alarm module and a display module; The alarm module is connected to the control module (3) and is used to issue an alarm when sick fish appear and water quality parameters are outside the water quality threshold range; The display module is connected to the control module (3) and is used to display fish farming information, control information of the control module (3), analysis results and the training status of the fish.

5. The intelligent farming system based on behavior-environment bidirectional feedback according to claim 1 is characterized in that The delivery module (5) comprises a bait pipeline, a drug pipeline, a stirring unit and a sterilization unit. The stirring unit is connected to the bait outlet of the bait pipeline and the drug outlet of the drug pipeline. The sterilization unit is located inside the stirring unit.

6. A control method for an intelligent farming system based on behavior-environment bidirectional feedback, characterized in that: Applied to the intelligent farming system based on behavior-environment bidirectional feedback according to any one of claims 1 to 5, the control method includes: The monitoring module (2) acquires aquaculture information and sends the aquaculture information to the control module (3), wherein the aquaculture information includes biological characteristics, behavioral characteristics, body characteristics, position, feeding sounds, water quality parameters, water level, eddy current velocity and water temperature of the aquaculture pond (1); Based on the breeding information, the control module (3) controls the lighting module (4) to perform lighting, controls the delivery module (5) to sterilize, stir and deliver bait and / or medicine, controls the oxygen supply module (6) to perform oxygen supply, controls the water circulation module (7) to perform water circulation, controls the sub-tank isolation module (8) to perform sub-tank separation, controls the sounding module (9) to perform sounding, and generates analysis results. According to the feedback information of the fish after the lighting, delivery, oxygen supply, water circulation, sub-tank separation and sounding control, the training status of the fish is determined to optimize the control of each module, wherein the analysis results include growth rate, breeding density, fish qualification rate, breeding cost, economic benefit, fish health status and fish quality.

7. The control method of the intelligent farming system based on behavior-environment bidirectional feedback according to claim 6, characterized in that: The control module (3) is loaded with a fish behavior analysis library, an environmental parameter library, and an equipment parameter library. When providing daily growth lighting for fish, the control method includes: The control module (3) determines the growth stage based on the biological characteristics and the fish behavior analysis library; Based on the growth stage, the environmental parameter library and the equipment parameter library, the lighting lamp (42) is controlled to emit light with a color, intensity, cycle and aperture size corresponding to the life habits of the growth stage.

8. The control method of the intelligent farming system based on behavior-environment bidirectional feedback according to claim 7, characterized in that: When feeding bait and medicine to fish, the control method includes: The control module (3) determines the initial delivery amount and initial delivery position of the delivery module (5) based on the biological characteristics, the position, and the fish behavior analysis library acquired by the polarization camera (21); The control module (3) determines the behavior of the fish school based on the behavior characteristics acquired by the polarization camera (21) and the fish behavior analysis library, wherein the fish school behavior includes group feeding, group swimming, lying still on the bottom of the water, isolated behavior, floating behavior, frightened behavior and abnormal behavior; In response to the school of fish behavior being group feeding, the control module (3) determines the feeding progress and feeding amount based on the feeding sound acquired by the sound sensor (22); The control module (3) determines the delivery frequency, the delivery amount and the delivery position of the delivery module (5) based on the feeding progress, the feeding amount, the behavioral characteristics, the position and the fish behavior analysis library; After determining the placement position and the amount of the bait, based on the device parameter library and the environment parameter library, the control module (3) controls the sound module (9) to emit a sound at the placement position, controls the sterilization unit, the bait pipe, the drug pipe and the stirring unit to sterilize, stir and place the bait and / or drug, and controls the lighting lamp (42) to slide along the strip track (414) to the placement position to emit light with a color, intensity, cycle and aperture size corresponding to the fish feeding, so as to attract fish far away from the placement position to swim to the placement position for feeding, wherein the placement position includes the initial placement position and the secondary placement position, and the placement amount includes the initial placement amount and the secondary placement amount; During the fish feeding process, based on the device parameter library and the environmental parameter library, the control module (3) controls the heating unit (74) to heat the water in the water inlet unit (71), controls the oxygen supply module (6) to supply oxygen at the placement position, and controls the flow of the water inlet unit (71) and the water outlet unit (73) to be reduced multiple times based on the eddy flow velocity obtained in real time by the flow velocity sensor (25) until the eddy flow velocity is the feeding flow velocity, which is less than the daily breeding flow velocity; After the fish have finished feeding, based on the equipment parameter library and the environmental parameter library, the control module (3) controls the upper disc (721) of the sewage discharge unit (72) to rotate to form a sewage outlet for sewage discharge, and the control module (3) controls the flow rate of the water inlet unit (71) and the water outlet unit (73) to a threshold flow rate so that the vortex flow rate is restored to the daily aquaculture flow rate.

9. The control method of the intelligent farming system based on behavior-environment bidirectional feedback according to claim 8, characterized in that: The method of determining the training status of the fish based on the feedback information of the fish after lighting, stocking, oxygen supply, water circulation, pool division and sound control to optimize the control of each module specifically includes: Determine the training status of fish based on the fish feedback information after lighting, stocking, oxygen supply, water circulation, pool division, and sound control, and the fish behavior analysis library; Recording and storing parameter information of the current monitoring module (2), lighting module (4), delivery module (5), oxygen supply module (6), water circulation module (7), sub-tank isolation module (8) and sound generation module (9) corresponding to the training status of the fish in the device adjustment parameters; The current external environment information corresponding to the training status of the fish is recorded and stored in an environmental parameter library, wherein the external environment information includes environmental sound, water quality parameters, water level of the breeding pond (1), eddy current velocity, water temperature and light.

10. The control method of the intelligent farming system based on behavior-environment bidirectional feedback according to claim 6, characterized in that: The control method further includes: The control module (3) determines, marks and tracks breeding fish and sick fish based on the biological characteristics, behavioral characteristics, body characteristics, position and fish behavior analysis library acquired by the polarization camera (21), and isolates fish in the growth stage, breeding stage, mating stage and market stage by pond; The control module (3) generates a fish file based on the breeding information and analysis results, wherein the fish file includes the health status, feeding status, growth rate and quality status of each fish; The control module (3) determines the type of bait, the brand of bait and the amount of drug added based on the fish market demand data, the fish market price data and the fish drug residue standard.

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