Automatic zebra fish breeding device and use method

Abstract

According to the automatic zebra fish breeding device and method, by controlling a sliding rail in the three-dimensional direction and driving a feeding device to accurately move on the sliding rail through a motor, it can be ensured that food can be accurately conveyed to a feeding opening of each artemia hatching tank during feeding every time, and the feeding efficiency is improved; and the common problem of non-uniform food distribution or omission in a traditional feeding mode can be avoided, so that the zebrafish in each artemia hatching tank can obtain a correct feed amount. The precise control not only improves the feeding uniformity, but also reduces the waste, and is beneficial to keeping the health and growth of the zebra fish.

Description

Technical Field

[0001] The invention belongs to the field of zebrafish breeding, and in particular relates to an automatic zebrafish breeding device and a use method thereof. Background Art

[0002] In the field of zebrafish farming, traditional zebrafish farming systems usually rely on manual feeding and observation of zebrafish health, which is not only time-consuming and labor-intensive, but also prone to human errors. In addition, existing zebrafish farming systems lack effective real-time monitoring methods and cannot detect zebrafish health problems or environmental changes in a timely manner. These problems lead to low farming efficiency and affect the growth and survival rate of zebrafish. Therefore, there is an urgent need for a new system that can automatically and intelligently manage the farming process to improve farming efficiency and the health level of zebrafish. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic zebrafish breeding device and a method for using the device to solve the problem of low efficiency in the prior art when breeding zebrafish, resulting in a low survival rate of zebrafish.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0005] An automatic zebrafish breeding device comprises a breeding device, wherein the breeding device comprises a plurality of zebrafish breeding tanks; and further comprises a hatching device, a positioning device and a feeding device;

[0006] The hatching device is located on one side of the breeding device, and includes a plurality of bucket-shaped Artemia hatching tanks, wherein the Artemia hatching tank 1 can accommodate live feed; a connecting pipe is provided at the bottom of each Artemia hatching tank; an oxygen pipeline can be introduced into the Artemia hatching tank, and the oxygen pipeline can be connected to an external oxygen supply device;

[0007] The positioning device is close to the breeding device, and includes a pair of first vertical slide rails, a transverse slide rail is slidably arranged on the pair of vertical slide rails through a first motor, and a feeding slider is slidably arranged on the transverse slide rail through a second motor; one end of the transverse slide rail is connected to a longitudinal slide rail through a fourth motor, and the feeding slider can enter or leave the longitudinal slide rail through the fourth motor;

[0008] The feeding device comprises a second vertical slide rail and an injection feeder arranged between the hatching device and the positioning device, wherein the injection feeder is a syringe; the pull rod of the syringe is slidably arranged on the second vertical slide rail through a third motor, and the syringe of the injection feeder is fixed at the lower part of the second vertical slide rail; the injection feeder is provided with two suction ports, one of which can be connected to the connecting pipe of the Artemia hatching tank 1), and the other suction port is connected to one end of the feeding pipe, and the other end of the feeding pipe is connected to the feeding slider;

[0009] The feeding slider can drive the other end of the feeding pipe to move to the feeding port of each zebrafish breeding tank through its own movement.

[0010] The present invention also has the following features:

[0011] Further, it also includes a control box;

[0012] All the oxygen pipelines are provided with opening and closing valves; the second suction port of the injection feeder is provided with a feeding valve; and the control box is provided with control switches corresponding to the opening and closing valves and the feeding valves.

[0013] Furthermore, it also includes a main controller, a camera device and a distance measuring device;

[0014] The camera device includes a camera arranged on the feeding slider; when the feeding slider is close to the zebrafish breeding tank, the camera can capture images in the zebrafish breeding tank;

[0015] The distance measuring device comprises a laser distance measuring device, and the laser distance measuring device is arranged on a side of the transverse slide rail close to the incubation device;

[0016] The main controller is connected to the camera device, the distance measuring device, the control box, the first motor, the second motor and the third motor respectively.

[0017] Furthermore, it also includes a cooling fan, and the heat dissipation fan is arranged on the opposite side of the breeding device.

[0018] A method for using an automatic zebrafish breeding device, based on the automatic zebrafish breeding device, comprises the following steps:

[0019] Step 1, placing live feed into an incubation device;

[0020] Step 2, setting the basic feeding amount, using the main controller to control the first motor, the second motor and the fourth motor to drive the feeding slider, the feeding slider drives the feeding pipe to move to a zebrafish breeding tank, and controls the third motor to drive the syringe to draw in feed or inject feed, the amount of injected feed is the basic feeding amount;

[0021] Among them, when injecting feed, close the corresponding opening and closing valve and feeding valve;

[0022] Step 3, after the feed injection is completed, the feeding slider stays for 10 seconds, and during the stay, a camera is used to take multiple images of the zebrafish inside the zebrafish breeding tank selected this time;

[0023] Step 4, feeding the fish for the second time according to all the images captured, and then analyzing the status of the zebrafish in the zebrafish breeding tank selected this time to determine whether to continue feeding;

[0024] If yes, then inject feed into the selected zebrafish breeding tank again and proceed to step 5;

[0025] Otherwise, go directly to step 5;

[0026] Step 5, select a zebrafish breeding tank that has not been injected with feed, repeat steps 2-4, until every zebrafish breeding tank has been traversed, and reopen the on-off valve and feeding valve that were closed in step 2.

[0027] Furthermore, step 4 includes the following sub-steps:

[0028] Step a, selecting an analysis area in each captured image and generating a corresponding binary mask image;

[0029] Step b, using the following formula, obtain the average image of each binary mask image; specifically, the calculation formula of the pixel value of the pixel position (x, y) of the average image is as follows:

[0030]

[0031] in:

[0032] (x, y) represents the pixel position within the binary mask image;

[0033] I avg (x, y) represents the pixel value at the pixel position (x, y) of the mean value image;

[0034] I i (x, y) represents the pixel value of the i-th binary mask image at the pixel position (x, y);

[0035] n represents the total number of binary mask images;

[0036] Step c, converting each average value image into a grayscale image;

[0037] Step d, select a grayscale image as the current frame; use the following formula to calculate the absolute difference image between the grayscale image of the current frame and the average value of the grayscale images of the three previous frames; repeat the above operation until every average value image is traversed;

[0038] D(x, y) = |I current (x,y)-I previous (x,y)|

[0039] in:

[0040] D(x, y) represents the absolute difference image value at coordinate (x, y);

[0041] I current (x, y) represents the grayscale value of the grayscale image of the current frame at the coordinate (x, y);

[0042] I previous (x,y) represents the grayscale value of the grayscale image of the first three frames at the coordinate (x,y)

[0043] Step e, stretching each absolute difference image according to the following scaling factor;

[0044] in:

[0045] Scaling factor = 255 / (I max -I min );

[0046] I max and I min Respectively represent the minimum and maximum pixel values ​​in the absolute difference image;

[0047] Step f, stretching all pixels in the image using the following formula, the formula is as follows; binarizing the image after stretching to obtain a binary image of each absolute difference image after stretching;

[0048]

[0049] in:

[0050] I(x,y) represents the original pixel value at coordinate (x,y);

[0051] I min and I max Respectively represent the minimum and maximum pixel values ​​in the original image;

[0052] I stretc h ed (x, y) represents the pixel value at the coordinate (x, y) after stretching, and the range is [0, 255];

[0053] Step g, using a morphological method to fill small holes and broken structures in the foreground of each binary image and remove areas with too small areas to obtain the target area;

[0054] Step h, set the reference area to 3cm 2 , determine the feeding amount according to the reference area and the target area, and inject feed into the selected zebrafish breeding tank for the second time; the amount of additional feed injected is the feeding amount minus the basic feeding amount;

[0055] Among them, feeding amount = basic feeding amount × (target area / reference area);

[0056] Step i, extracting the centroid of the connected area in each binary image obtained in step f, connecting the centroid of each frame of the grayscale image obtained in step c, obtaining a three-dimensional motion image of the zebrafish, calculating the motion trajectory of the zebrafish, and obtaining the motion speed of the zebrafish according to the motion trajectory;

[0057] Step j, determining the movement state of the zebrafish after feeding according to the movement speed of the zebrafish, and then determining whether further feeding is needed.

[0058] Furthermore, in step i, when calculating the motion trajectory of the zebrafish, the displacement and motion trajectory between two adjacent grayscale images are calculated by recording the centroid position of each grayscale image frame; the distance between the centroids of two adjacent grayscale images is calculated using the following formula, and each grayscale image frame is traversed to obtain the motion trajectory of the zebrafish, and then the motion speed of the zebrafish is obtained;

[0059]

[0060] Among them, d(A,B) represents the position of the same zebrafish between two grayscale images;

[0061] A(x1, y1) represents the position of the same zebrafish in a grayscale image;

[0062] B(x2, y2) represents the position of the same zebrafish in two adjacent grayscale images;

[0063] Furthermore, in step j, the movement states of the zebrafish in the zebrafish hatching tank after feeding include the following three categories:

[0064] Still: When the speed is lower than 0.5cm / s, it is still;

[0065] Swimming: When the speed is higher than 0.5cm / s and lower than 2.0cm / s, it is a normal swimming state;

[0066] Fast swimming: When the speed is higher than 2.0cm / s, it is a fast swimming state;

[0067] If the zebrafish in the zebrafish hatching tank are in a fast swimming state after the second injection of feed, they need to continue feeding; otherwise, they do not need to continue feeding.

[0068] Furthermore, in step 3, during the 10 seconds that the injection feeder stays, a camera is used to capture 300 images of zebrafish inside the zebrafish breeding tank selected this time.

[0069] Furthermore, in step g, the value of the region with too small an area is less than 300.

[0070] Compared with the prior art, the present invention has the following technical effects:

[0071] (I) The automatic zebrafish breeding device of the present invention controls the slide rail in three dimensions and drives the feeding device to move accurately on the slide rail through the motor, so as to ensure that the food can be accurately delivered to the feeding port of each zebrafish breeding tank during each feeding, and can avoid the common problems of uneven food distribution or omission in traditional feeding methods, thereby ensuring that the zebrafish in each zebrafish breeding tank can obtain the correct amount of feed. This precise control not only improves the uniformity of feeding, but also reduces waste and helps to maintain the health and growth of zebrafish.

[0072] (II) The automatic zebrafish breeding device of the present invention allows all zebrafish breeding tanks to be fed at once, and a specific zebrafish breeding tank can also be fed separately. This flexibility allows breeding managers to adjust feeding strategies as needed. For example, in certain zebrafish breeding tanks, it may be necessary to increase the amount of feed to promote the growth of certain fish, or to adjust the feeding amount individually when it is observed that the zebrafish in a certain zebrafish breeding tank show special health conditions. In this way, the system provides more management options to adapt to different breeding needs and situations.

[0073] (III) After the feeding of each zebrafish breeding tank in the automatic zebrafish breeding device of the present invention is completed, the system will automatically start the camera to take pictures and record the status of each zebrafish breeding tank. This real-time monitoring function can not only check the feeding effect, but also observe the health status of zebrafish and changes in water quality. In this way, breeding managers can promptly discover potential problems, such as whether zebrafish show abnormal behavior. This integrated monitoring function makes the breeding process more intelligent, reduces dependence on manual inspections, and increases the speed of problem discovery. Combined with the comprehensive functions of the position positioning system, injection feeder and camera, fully automated breeding management is achieved. The entire process from feeding to monitoring does not require human intervention, which significantly reduces human operating errors and labor intensity. This fully automated management improves the accuracy and efficiency of breeding, enables the system to remain stable and reliable during long-term operation, and provides a scientific basis for breeding decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 It is a schematic diagram of the overall structure of the automatic zebrafish breeding device of the present invention;

[0075] Figure 2 It is a schematic diagram of the structure of the injection feeder in the present invention;

[0076] The meanings of the numbers in the figure are: 1. Artemia hatching tank; 2. Connecting pipe; 3. First vertical slide rail; 4. Horizontal slide rail; 5. Injection feeder; 6. Control box; 7. Camera; 8. Laser rangefinder; 9. Second vertical slide rail. DETAILED DESCRIPTION

[0077] It should be noted that, unless otherwise specified, all components in the present invention are components known in the prior art. For example, the Artemia hatching tank is a known and commonly used Artemia hatching tank.

[0078] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0079] like Figure 1 and Figure 2 As shown, an automatic zebrafish breeding device includes a breeding device, a hatching device, a positioning device and a feeding device;

[0080] The breeding device includes a plurality of zebrafish breeding tanks;

[0081] The hatching device is located on one side of the breeding device, and includes a plurality of bucket-shaped Artemia hatching tanks 1, wherein the Artemia hatching tanks 1 can contain live feed, and a connecting pipe 2 is provided at the bottom of each Artemia hatching tank 1; an oxygen pipeline can be introduced into the Artemia hatching tank 1, and the oxygen pipeline can be connected to an external oxygen supply device;

[0082] The positioning device is close to the breeding device, and includes a pair of first vertical slide rails 3, on which a transverse slide rail 4 is slidably arranged through a first motor, and on which a feeding slider is slidably arranged through a second motor;

[0083] The feeding device includes a second vertical slide rail 9 arranged on the positioning device, and an injection feeder 5 is slidably arranged on the second vertical slide rail 9 through a third motor; the input end of the injection feeder 5 can suck live feed inside the Artemia hatching tank 1 through a pipeline, and the output end of the injection feeder 5 is connected to one end of the feeding pipeline, and the other end of the feeding pipeline is connected to the feeding slider; one end of the transverse slide rail 4 is connected to the longitudinal slide rail through a fourth motor, and the feeding slider can enter or leave the longitudinal slide rail through the fourth motor.

[0084] The feeding device comprises a second vertical slide rail (9) and an injection feeder (5) arranged between the hatching device and the positioning device, wherein the injection feeder (5) is a syringe; the pull rod of the syringe (5) is slidably arranged on the second vertical slide rail (9) through a third motor, and the syringe of the injection feeder (5) is fixed to the lower part of the second vertical slide rail (9); the injection feeder (5) is provided with two suction ports, one of which can be connected to the connecting pipe (2) of the Artemia hatching tank (1), and the other suction port is connected to one end of a feeding pipe, and the other end of the feeding pipe is connected to the feeding slider;

[0085] When it is necessary to suck feed into the injection feeder 5, the pull-out rod of the injector 5 is driven by the third motor to move upward to perform a suction action, and the live feed inside the Artemia hatching tank 1 is sucked in by a hose; when feeding is needed, the pull-out rod of the injection feeder 5 is driven by the third motor to move downward to perform a pushing action, and the feed is squeezed out by a hose.

[0086] When in use, the three-dimensional slide rails drive the feeding slider to move precisely on the slide rails through the motor, ensuring that the food can be accurately delivered to the feeding port of each zebrafish breeding tank every time feeding, avoiding the common problems of uneven food distribution or omission in traditional feeding methods, thereby ensuring that each zebrafish in the zebrafish breeding tank can get the correct amount of feed. This precise control not only improves the uniformity of feeding, but also reduces waste and helps maintain the health and growth of zebrafish.

[0087] As a preferred solution, it also includes a control box 6;

[0088] All oxygen pipes are provided with opening and closing valves; a feeding valve is provided at the outlet of the injection feeder 5;

[0089] The control box 6 is provided with control switches corresponding to the opening and closing valves and the feeding valves one by one;

[0090] Further preferably, it also includes a main controller, a camera device and a distance measuring device;

[0091] The camera device includes a camera 7 arranged on the feeding slider; when the feeding slider is close to the zebrafish breeding tank, the camera 7 can capture images in the zebrafish breeding tank;

[0092] The distance measuring device includes a laser distance measuring device 8, which is arranged on a side of the transverse slide rail 4 close to the hatching device;

[0093] The main controller is connected to the camera device, the distance measuring device, the control box 6, the first motor, the second motor and the third motor respectively.

[0094] After the feeding of each zebrafish breeding tank of the automatic zebrafish breeding device of the present invention is completed, the main controller will automatically start the camera device to take pictures and record the status of each zebrafish breeding tank.

[0095] This real-time monitoring function can not only check the feeding effect, but also observe the health of zebrafish and changes in water quality. In this way, aquaculture managers can detect potential problems in time, such as whether zebrafish show abnormal behavior.

[0096] This integrated monitoring function makes the breeding process more intelligent, reduces reliance on manual inspections, and increases the speed of problem discovery. The combined functions of the position distance measuring device, the injection feeder 5, and the camera device realize fully automated breeding management. The entire process from feeding to monitoring does not require human intervention, which significantly reduces human operating errors and labor intensity. This fully automated management improves the accuracy and efficiency of breeding, allowing the system to remain stable and reliable during long-term operation, providing a scientific basis for breeding decisions.

[0097] It should be noted that, unless otherwise specified, the contents related to components and control methods in the present invention all adopt known existing components and use known existing methods for control.

[0098] Furthermore, it also includes a cooling fan, which is arranged on the opposite side of the breeding device and is used to cool the breeding device to ensure the healthy growth of zebrafish.

[0099] A method for using an automatic zebrafish breeding device, based on the automatic zebrafish breeding device, comprises the following steps:

[0100] Step 1, placing live feed into an incubation device;

[0101] Step 2, setting the basic feeding amount, using the main controller to control the feeding slider to drive the feeding pipe to move to a zebrafish breeding tank and inject feed, the amount of injected feed is the basic feeding amount;

[0102] Among them, when injecting feed, close the corresponding opening and closing valve and feeding valve;

[0103] Step 3, after the feed injection is completed, the feeding slider stays for 10 seconds, and during the stay, the camera 7 is used to take multiple images of the zebrafish inside the zebrafish breeding tank selected this time;

[0104] Step 4, analyzing the status of the zebrafish in the selected zebrafish breeding tank according to all the captured images, and then determining whether to continue feeding;

[0105] If yes, then inject feed into the selected zebrafish breeding tank again and proceed to step 5;

[0106] Otherwise, go directly to step 5;

[0107] Step 5, select a zebrafish breeding tank that has not been injected with feed, repeat steps 2-4, until every zebrafish breeding tank has been traversed, and reopen the on-off valve and feeding valve that were closed in step 2.

[0109] Further, in step 4, the following steps are used to determine whether to continue feeding;

[0110] Step a, selecting an analysis area in each captured image and generating a corresponding binary mask image;

[0111] Step b, using the following formula, obtain the average value image of each generated binary mask image;

[0112]

[0113] (x, y) represents the pixel position within the binary mask image;

[0114] I avg (x, y) represents the pixel value in the mean image at the pixel location (x, y);

[0115] I i (x, y) represents the pixel value of the i-th binary mask image at the pixel position (x, y);

[0116] n represents the total number of binary mask images;

[0117] Step c, reading each average value image frame by frame, and converting each frame of each average value image into a grayscale image;

[0118] Step d, selecting an average image, and selecting any grayscale image in the selected average image as the current frame;

[0119] Use the following formula to calculate the absolute difference image between the grayscale image of the current frame and the average value of the grayscale images of the three previous frames; repeat the above operation until every average value image is traversed;

[0120] D(x, y) = |I current (x,y)-I previous (x,y)|

[0121] D(x, y) represents the difference image value at coordinate (x, y);

[0122] I current (x, y) represents the grayscale value of the grayscale image of the current frame at the coordinate (x, y);

[0123] Iprevious (x, y) represents the grayscale value of the grayscale image of the first three frames at the coordinate (x, y);

[0124] Step e, stretching each absolute difference image according to the following scaling factor;

[0125] in:

[0126] Scaling factor = 255 / (I max -I min );

[0127] I max and I min Respectively represent the minimum and maximum pixel values ​​in the absolute difference image;

[0128] Step f, stretching all pixels in the image using the following formula, the formula is as follows; binarizing the image after stretching to obtain a binary image of each absolute difference image after stretching;

[0129]

[0130] in:

[0131] I(x,y) represents the original pixel value at coordinate (x,y);

[0132] I min and I max Respectively represent the minimum and maximum pixel values ​​in the original image;

[0133] I stretc h ed (x, y) represents the pixel value at the coordinate (x, y) after stretching, and the range is [0, 255];

[0134] Step g, using morphological closing operation to fill small holes and disconnected structures in the foreground of the binary image and remove areas with too small areas to obtain the target area;

[0135] Step h, set the reference area to 3cm 2 , determine the feeding amount according to the reference area and the target area, and add feed to the zebrafish breeding tank selected this time; the amount of additional feed is the feeding amount minus the basic feeding amount;

[0136] Among them, feeding amount = basic feeding amount × target area area / reference area;

[0137] Step i, extracting the centroid of the connected area in the binary image, connecting the centroid of each frame of the grayscale image, obtaining a three-dimensional motion image of the zebrafish, calculating the motion trajectory of the zebrafish, and obtaining the motion speed of the zebrafish according to the motion trajectory;

[0138] Step j, determining the movement state of the zebrafish after feeding according to the movement speed of the zebrafish, and then determining whether further feeding is needed.

[0139] Furthermore, in step i, when calculating the motion trajectory of the zebrafish, the displacement and motion trajectory between two adjacent grayscale images are calculated by recording the centroid position of each grayscale image frame; the distance between the centroids of two adjacent grayscale images is calculated using the following formula, and each grayscale image frame is traversed to obtain the motion trajectory of the zebrafish, and then the motion speed of the zebrafish is obtained;

[0140]

[0141] Among them, d(a,B) represents the position of the same zebrafish between two grayscale images;

[0142] A(x1, y1) represents the position of the same zebrafish in a grayscale image;

[0143] B(x2, y2) represents the position of the same zebrafish on the grayscale image of adjacent frames;

[0144] Furthermore, in step j, the movement states of the zebrafish in the zebrafish hatching tank after feeding include the following three categories:

[0145] Still: When the speed is lower than 0.5cm / s, it is still;

[0146] Swimming: When the speed is higher than 0.5cm / s and lower than 2.0cm / s, it is a normal swimming state;

[0147] Fast swimming: When the speed is higher than 2.0cm / s, it is a fast swimming state;

[0148] If the zebrafish in the zebrafish hatching tank are in a fast swimming state after the additional feed is injected, they need to continue feeding; otherwise, they do not need to continue feeding.

[0149] Furthermore, in step 3, during the 10 seconds that the injection feeder 5 stays, the camera 7 is used to take 300 images of the zebrafish inside the zebrafish breeding tank selected this time.

[0150] Furthermore, in step g, the value of the region with too small an area is less than 300.

Claims

1. An automatic zebrafish breeding device, comprising a breeding device, wherein the breeding device comprises a plurality of zebrafish breeding tanks; characterized in that: It also includes an incubation device, a positioning device and a feeding device; The hatching device is located on one side of the breeding device, and comprises a plurality of bucket-shaped Artemia hatching tanks (1), wherein the Artemia hatching tanks (1) can contain live feed; a connecting pipe (2) is arranged at the bottom of each Artemia hatching tank (1); an oxygen pipeline can be introduced into the Artemia hatching tank (1), and the oxygen pipeline can be connected to an external oxygen supply device; The positioning device is close to the breeding device and comprises a pair of first vertical slide rails (3), a transverse slide rail (4) is slidably arranged on the pair of vertical slide rails (3) by a first motor, and a feeding slider is slidably arranged on the transverse slide rail (4) by a second motor; one end of the transverse slide rail (4) is connected to a longitudinal slide rail by a fourth motor, and the feeding slider can enter or leave the longitudinal slide rail by the fourth motor; The feeding device comprises a second vertical slide rail (9) and an injection feeder (5) arranged between the hatching device and the positioning device, wherein the injection feeder (5) is a syringe; the pull rod of the syringe (5) is slidably arranged on the second vertical slide rail (9) through a third motor, and the syringe of the injection feeder (5) is fixed to the lower part of the second vertical slide rail (9); the injection feeder (5) is provided with a first suction port and a second suction port, wherein the first suction port can be connected to the connecting pipe (2) of the Artemia hatching tank (1), and the second suction port is connected to one end of a feeding pipe, and the other end of the feeding pipe is connected to the feeding slider; The feeding slider can drive the other end of the feeding pipe to move to the feeding port of each zebrafish breeding tank through its own movement.

2. The automatic zebrafish breeding device according to claim 1, characterized in that: Also includes a control box (6); All the oxygen pipes are provided with an opening and closing valve; the second suction port of the injection feeder (5) is provided with a feeding valve; and the control box (6) is provided with a control switch corresponding to the opening and closing valve and the feeding valve.

3. The automatic zebrafish breeding device according to claim 2, characterized in that: It also includes a main controller, a camera device and a distance measuring device; The camera device comprises a camera (7) arranged on the feeding slider; when the feeding slider is close to the zebrafish breeding tank, the camera (7) can capture images in the zebrafish breeding tank; The distance measuring device comprises a laser distance measuring device (8), and the laser distance measuring device (8) is arranged on a side of the transverse slide rail (4) close to the incubation device; The main controller is connected to the camera device, the distance measuring device, the control box (6), the first motor, the second motor and the third motor respectively.

4. The automatic zebrafish breeding device according to claim 3, characterized in that: It also includes a cooling fan, and the cooling fan is arranged on the opposite side of the breeding device.

5. A method for using an automatic zebrafish breeding device, the method being based on the automatic zebrafish breeding device according to claim 4, characterized in that: The steps include: Step 1, placing live feed into an incubation device; Step 2, setting the basic feeding amount, using the main controller to control the first motor, the second motor and the fourth motor to drive the feeding slider, the feeding slider drives the feeding pipe to move to a zebrafish breeding tank, and controls the third motor to drive the syringe to draw in feed or inject feed, the amount of injected feed is the basic feeding amount; Among them, when injecting feed, close the corresponding opening and closing valve and feeding valve; Step 3, after the feed injection is completed, the feeding slider stays for 10 seconds, and during the stay, a camera (7) is used to take multiple images of the zebrafish inside the zebrafish breeding tank selected this time; Step 4, feeding the fish for the second time according to all the images captured, and then analyzing the status of the zebrafish in the zebrafish breeding tank selected this time to determine whether to continue feeding; If yes, then inject feed into the selected zebrafish breeding tank again and proceed to step 5; Otherwise, go directly to step 5; Step 5, select a zebrafish breeding tank that has not been injected with feed, repeat steps 2-4, until every zebrafish breeding tank has been traversed, and reopen the on-off valve and feeding valve that were closed in step 2.

6. The method for using the automatic zebrafish breeding device according to claim 5, characterized in that: Step 4 includes the following sub-steps: Step a, selecting an analysis area in each captured image and generating a corresponding binary mask image; Step b, using the following formula, obtain the average image of each binary mask image; specifically, the calculation formula of the pixel value of the pixel position (x, y) of the average image is as follows: in: (x, y) represents the pixel position within the binary mask image; I avg (x, y) represents the pixel value at the pixel position (x, y) of the mean value image; I i (x, y) represents the pixel value of the i-th binary mask image at the pixel position (x, y); n represents the total number of binary mask images; Step c, converting each average value image into a grayscale image; Step d, select a grayscale image as the current frame; use the following formula to calculate the absolute difference image between the grayscale image of the current frame and the average value of the grayscale images of the three previous frames; repeat the above operation until every average value image is traversed; D(x,y)=|I current (x,y)-I prepious (x,y)| in: D(x, y) represents the absolute difference image value at coordinate (x, y); I current (x, y) represents the grayscale value of the grayscale image of the current frame at the coordinate (x, y); I previous (x,y) represents the grayscale value of the grayscale image of the first three frames at the coordinate (x,y) Step e, scaling each absolute difference image according to the following scaling factor; in: Scaling factor = 255 / (maxVal-minVal); maxVal and minVal represent the minimum and maximum pixel values ​​in the absolute difference image, respectively; Step f, using the following formula, performing histogram stretching on each scaled absolute difference image; and binarizing the image after the histogram stretching to obtain a binarized image of each scaled absolute difference image; in: I(x,y) represents the original pixel value at coordinate (x,y); I min and I max Respectively represent the minimum and maximum pixel values ​​in the original image; I stretched (x, y) represents the pixel value at the coordinate (x, y) after stretching, and the range is [0, 255]; Step g, using a morphological method to fill small holes and broken structures in the foreground of each binary image and remove areas with too small areas to obtain the target area; Step h, set the reference area to 3cm 2 , determine the feeding amount according to the reference area and the target area, and inject feed into the selected zebrafish breeding tank for the second time; the amount of additional feed injected is the feeding amount minus the basic feeding amount; Among them, feeding amount = basic feeding amount × (target area / reference area); Step i, extracting the centroid of the connected area in each binary image obtained in step f, connecting the centroid of each frame of the grayscale image obtained in step c, obtaining a three-dimensional motion image of the zebrafish, calculating the motion trajectory of the zebrafish, and obtaining the motion speed of the zebrafish according to the motion trajectory; Step j, determining the movement state of the zebrafish after feeding according to the movement speed of the zebrafish, and then determining whether further feeding is needed.

7. The method for using the automatic zebrafish breeding device according to claim 6, characterized in that: In step i, when calculating the motion trajectory of the zebrafish, the displacement and motion trajectory between two adjacent grayscale images are calculated by recording the centroid position of each grayscale image frame; the distance between the centroids of two adjacent grayscale images is calculated using the following formula, and each grayscale image frame is traversed to obtain the motion trajectory of the zebrafish, and then the motion speed of the zebrafish is obtained; Among them, d(A,B) represents the position of the same zebrafish between two grayscale images; A(x1, y1) represents the position of the same zebrafish in a grayscale image; B(x2, y2) represents the position of the same zebrafish in two adjacent grayscale images.

8. The method for using the automatic zebrafish breeding device according to claim 7, characterized in that: In step j, the movement states of the zebrafish in the zebrafish hatching tank (1) after feeding include the following three categories: Still: When the speed is lower than 0.5cm / s, it is still; Swimming: When the speed is higher than 0.5cm / s and lower than 2.0cm / s, it is a normal swimming state; Fast swimming: When the speed is higher than 2.0cm / s, it is a fast swimming state; If the zebrafish in the zebrafish hatching tank are in a fast swimming state after the second injection of feed, they need to continue feeding; otherwise, they do not need to continue feeding.

9. The method for using the automatic zebrafish breeding device according to claim 8, characterized in that: In step 3, during the 10 seconds that the injection feeder (5) stays, a camera (7) is used to take 300 images of the zebrafish inside the zebrafish breeding tank selected this time.

10. The method for using the automatic zebrafish breeding device according to claim 8, characterized in that: In step g, the value of the region with too small area is less than 300.

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