Selective material distribution and larva collection device and method for hermetia illucens breeding

Abstract

The invention discloses a hermetia illucens breeding material distribution and larva collection device which comprises a rack, a feeding device and a feeding device. The binocular vision recognition device, the material distribution device and the grabbing device are movably installed on the rack, and the binocular vision recognition device comprises a binocular camera and an image analysis processor and is used for conducting image collection and analysis on hermetia illucens larvae to obtain image information; the material distributing device comprises a culture base material box fixed on the rack, a material distributing pipe communicated with the culture base material box and a pumping motor; the grabbing device comprises a telescopic mechanism and a grab bucket connected to the tail end of the telescopic mechanism. The controller is used for receiving the image information sent by the binocular vision recognition device, judging the gathering degree of the hermetia illucens larvae according to the image information so as to control the material distribution device to distribute materials, and judging the color of the hermetia illucens larvae according to the image information so as to grab the hermetia illucens larvae. The invention further provides a corresponding cloth and a grabbing method. The device and the method are high in material distribution efficiency and larva collection precision.

Description

Technical Field

[0001] The invention relates to the technical field of black soldier fly breeding, and in particular to a black soldier fly breeding cloth and a device and method for collecting larvae. Background Art

[0002] With the large-scale and intensive development of China's animal husbandry, the annual discharge of livestock and poultry waste exceeds 4 billion tons, and the comprehensive utilization rate is less than 60%, which seriously affects the low-carbon cycle and sustainable development of animal husbandry. Black soldier flies, also known as bright-spotted flat-horned soldier flies, feed on waste such as livestock and poultry manure, and obtain high-value-added black soldier fly sand through their own biotransformation, that is, black soldier fly larvae and organic fertilizer protein and a variety of amino acids. Organic fertilizer can be directly applied to fruits, vegetables, and forage, and has high fertilizer efficiency. However, in recent years, a large number of studies and explorations have been carried out at home and abroad, mainly focusing on the growth and development of black soldier fly larvae, biotransformation rate, heavy metal migration and change rules, black soldier fly larvae nutritional value and utilization, and organic fertilizer efficiency and application. However, there is little research on intelligent equipment for mechanized collection, transportation, and separation of black soldier fly sand in the process of biotransformation and utilization of black soldier flies in the current trough breeding of most farmers. In particular, how to carry out timely distribution of materials according to the breeding situation of black soldier flies in ground troughs, and timely capture and collect black soldier fly larvae before they become pre-pupae. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the above background technology and to provide a black soldier fly breeding cloth and larvae collection device and method with high cloth spreading efficiency and high larvae collection accuracy.

[0004] In order to solve the above technical problems, the technical solution proposed by the present invention is: A device for breeding cloth and collecting black soldier flies larvae, comprising: A frame, wherein a walking chassis is provided at the bottom of the frame; A binocular vision recognition device is movably mounted on the frame, and includes a binocular camera and an image analysis processor, and is used to collect images of black soldier fly larvae and analyze and obtain image information; A material distribution device is movably mounted on the frame, comprising a culture base material box fixed on the frame, a material distribution pipe connected to the culture base material box, and a pumping motor for pumping the culture base material; A grabbing device is movably mounted on the frame and includes a telescopic mechanism and a grabbing bucket connected to the end of the telescopic mechanism; The controller receives the image information sent by the binocular vision recognition device, determines the aggregation degree of the black soldier fly larvae according to the image information, thereby controlling the spreading device to spread the material, and determines the color of the black soldier fly larvae according to the image information, thereby controlling the grasping device to grasp the black soldier fly larvae.

[0005] In one embodiment, it also includes a translation mechanism installed on the frame, and the translation mechanism is used to drive the binocular vision recognition device, the cloth device and the grasping device to move. The translation mechanism includes a mounting plate, a screw support, a transverse screw and a longitudinal screw mounted on the frame. The longitudinal screw passes through the screw support and is fixed to the frame. The screw support is fixed to the top of the mounting plate. The transverse screw is arranged along the length direction of the mounting plate and is fixed to the bottom of the mounting plate.

[0006] In one embodiment, a connecting cross bar is provided at the bottom of the mounting plate along the length direction of the mounting plate, and a connecting plate is provided at the top of the binocular vision device and the grasping device. The connecting plate has an inherent connecting seat, and the connecting cross bar and the transverse screw rod are movably passed through the connecting seat.

[0007] In one embodiment, it also includes a lifting mechanism fixed to the bottom of the connecting plate, the lifting mechanism includes a first lifting rod and a second lifting rod, one end of the first lifting rod is fixed to the mounting plate, and the other end is connected to the telescopic mechanism, one end of the second lifting rod is fixed to the mounting plate, and the other end is connected to the fabric pipe.

[0008] In one embodiment, the grab bucket includes two cross-sectional fan-shaped grab buckets, and the telescopic mechanism includes a plurality of telescopic rods forming an umbrella shape, one end of the telescopic rod is installed on the first lifting rod through a fixed seat, and the other end of the telescopic rod is connected to the two cross-sectional fan-shaped grab buckets, and the opening and closing of the two cross-sectional fan-shaped grab buckets are controlled by the movement of the telescopic rod.

[0009] In one embodiment, a shading cloth is installed around the frame and an LED light source is provided on the top of the frame inside the shading cloth.

[0010] In one embodiment, it also includes a black soldier fly larvae collection box and a conveying device fixed on the frame, the conveying device includes a pulley, a pulley motor and a conveyor belt, one end of the conveyor belt is arranged above the receiving port of the black soldier fly larvae collection box, and the black soldier fly larvae grabbed by the grab bucket are transmitted to the black soldier fly larvae collection box through the conveyor belt.

[0011] Based on the same inventive concept, a black soldier fly breeding cloth and a larvae collection device and a catching method as described above are also provided, including: Mobile black soldier fly breeding cloth and larvae collection device; Start the binocular vision recognition device to translate on the rack and collect images of black soldier fly larvae in the breeding area. After edge processing of the image, determine the degree of aggregation of the black soldier fly larvae. When the aggregation degree is higher than a preset value, stop the movement and control the cloth spreading device to spread the cloth; when the aggregation degree is lower than the preset value, continue to move the black soldier fly breeding cloth and the larvae collection device.

[0012] In one embodiment, when the aggregation degree is higher than a preset value, the color of the aggregated black soldier fly larvae is further identified and judged. If the color is black, the black soldier fly larvae are determined to be in a pre-pupae state, and the black soldier fly larvae are captured using a capture device; if the color is non-black, the black soldier fly larvae are not captured.

[0013] In one embodiment, edge processing of the image includes: Gaussian filtering is performed on the acquired image to smooth the image and filter out noise; Calculate the gradient strength and direction of each edge pixel of the smoothed image; Suppress non-edge pixels of the image through non-maximum values ​​and retain possible edge pixels; Double threshold detection is used to track possible edge pixels and determine the real edge pixels.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: in the black soldier fly trough farming, it is difficult to accurately lay materials for the growth process of black soldier fly larvae, the labor cost is high, and it also causes some waste of farming base materials, uneven growth of black soldier fly larvae, etc. In the present application, the binocular vision recognition device includes a binocular camera acquisition and an image analysis processor, which is used to collect images of black soldier fly larvae and analyze them to obtain image information. Due to the characteristic that black soldier fly larvae tend to gather together when the amount of breeding base becomes less, when the collected image shows that the black soldier fly larvae are gathered, the requirement for the delivery of breeding base is met. The controller first controls the material distribution pipe to move and position, starts the pumping motor for pumping the breeding base, and accurately delivers the breeding base to the black soldier fly larvae gathering area. At the same time, the amount of pumping is adjusted and controlled by the binocular vision recognition device according to the density of the black soldier fly larvae gathering, until the black soldier fly larvae in the trough are covered by the breeding base and the pumping motor stops working, so that the breeding base can be effectively and timely supplemented to improve the breeding efficiency. In addition, because the surface of the black soldier fly larvae will turn black before they become prepupae, which forms a clear contrast with the pale yellow (light white) surface of the black soldier fly larvae, based on the images obtained by the binocular vision recognition device, it is possible to determine whether the growth stage of the black soldier fly larvae is before the prepupae stage. When the black soldier fly larvae are in the pre-prepupae stage, the grasping device is controlled to automatically collect the black soldier fly larvae, thereby reducing the difficulty of manual sorting and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 The present invention is a schematic diagram of the structure of a black soldier fly breeding cloth and larvae collection device according to one embodiment.

[0017] Figure 2 The present invention is a partial structural schematic diagram of a black soldier fly breeding cloth and larvae collection device according to one embodiment.

[0018] Figure 3 FIG. 1 is a diagram of a black soldier fly in a non-prepupal state according to an embodiment.

[0019] Figure 4 The present invention is a diagram of a black soldier fly in a pre-prepupa state according to an embodiment.

[0020] Figure 5 The present invention is a schematic diagram of a process flow of a black soldier fly breeding cloth and a larvae collection device and a catching method according to one embodiment. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the present invention, but the protection scope of the present invention is not limited to the following specific embodiments.

[0022] Unless otherwise defined, all professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0023] Unless otherwise specified, various instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0024] Ground trough black soldier fly farming is an efficient farming method with the characteristics of simple operation, low investment cost and quick results. According to the characteristics of ground trough black soldier fly farming process, its farming area is generally ground trough flat farming. The black soldier fly farming fabric and larvae collection device of this application are applied to the ground trough black soldier fly farming environment. Figure 1-4 The embodiment of the present application provides a device for collecting black soldier fly breeding materials and larvae, which mainly includes a frame 1, a binocular vision recognition device 2 installed on the frame 1, a material distribution device 3, a grabbing device 4 and a controller (not shown). The controller controls the operation functions such as the movement of the whole machine, the operation of the binocular vision recognition device 2, the placement of breeding base materials, and the grabbing of black soldier fly larvae.

[0025] Specifically, a walking chassis 11 is provided at the bottom of the frame 1. Preferably, the walking chassis 11 includes wheels and hub motors. A hub motor with high transmission efficiency and convenient arrangement is used to provide driving force for the wheels. The wheels are fixed to the bottom of the frame 1 through the wheel mounting shaft. At the same time, the whole machine is equipped with a lithium battery to facilitate the walking and steering of the whole machine. Specifically, the controller controls the hub motor to drive the whole machine to move along the guide rail, which can move forward or backward. Specifically, the controller determines the aggregation degree of the black soldier fly larvae according to the image information sent by the binocular vision recognition device 2, thereby controlling the cloth distributing device 3 to distribute the cloth, and determines the color of the black soldier fly larvae according to the image information, thereby controlling the grasping device 4 to grasp the black soldier fly larvae. Preferably, the frame 1 is a square frame structure, and the whole can be rectangular or square. The frame is divided into a multi-layer structure by steel rods. Preferably, in one embodiment, a blackout cloth is installed around the frame 1 and an LED light source is provided at the top of the frame in the blackout cloth. The blackout cloth and the matching LED light source form a relatively stable image recognition environment that is not transparent.

[0026] The binocular vision recognition device 2 is movably mounted on the frame 1. Specifically, the binocular vision recognition device 2 is mounted on the translation mechanism 5. Through the movement of the frame 1 itself and the driving of the translation mechanism 5, image acquisition and processing can be performed in the entire breeding area. The binocular vision recognition device 2 includes a binocular camera 21 and an image analysis processor 22, which are used to capture images of black soldier fly larvae and analyze them to obtain image information. Specifically, the binocular camera 21 takes pictures to obtain images for black soldier fly larvae acquisition, recognition, judgment, and positioning. In one embodiment, the binocular camera 21 uses a CMOS camera with low energy consumption and fast data reading.

[0027] The material distribution device 3 includes a culture base material box 31 fixed on the frame 1, a material distribution pipe 32 connected to the culture base material box 31, and a pumping motor 33 for pumping the culture base material. The gripping device 4 is movably mounted on the frame 1, and specifically, the gripping device 4 is mounted on the translation mechanism 5. Through the movement of the frame 1 itself and the driving of the translation mechanism 5, image acquisition and processing can be performed in the entire culture area. The gripping device 4 includes a telescopic mechanism 41 and a grabbing bucket 42 connected to the end of the telescopic mechanism 41. Preferably, the gripping device 4 also includes a black soldier fly larvae collection box 43 fixed on the frame 1 and a conveying device 44, and the conveying device 44 includes a pulley 441 connected to the frame 1 and a conveyor belt 442 driven by the pulley 441. Specifically, in one embodiment, the black soldier fly larvae collection box 43 is arranged on the side of the frame 1, and a support frame is formed by welding a plurality of steel rods. The black soldier fly larvae collection box 43 is placed in the support frame, and the top of the black soldier fly larvae collection box 43 is a material receiving port, which is fully open. One end of the conveyor belt 442 is arranged above the material receiving port of the black soldier fly larvae collection box 43, and the black soldier fly larvae captured by the grab 42 are transmitted to the black soldier fly larvae collection box 43 through the conveyor belt 442. The breeding base material box 31 is fixed to the other side of the frame 1, and the breeding base material box 31 can also be supported by the above-mentioned similar support frame. Compared with the method of directly using the grab bucket 42 to grab and lift, and then moving back and forth in a straight line to send to the black soldier fly larvae collection box 43, a conveying device 44 is added, and the grab bucket 42 is located in front of the conveyor belt 442. It directly moves up and down to complete the grabbing, and then moves to the conveyor belt 442 to deliver it. The operation of the grab bucket 42 is more flexible, and it can be more convenient to operate in the edge area of ​​the breeding tank, which is conducive to improving the operation efficiency.

[0028] Specifically, in one embodiment, the translation mechanism 5 is used to drive the binocular vision recognition device 2, the material distribution device 3 and the grasping device 4 to translate left and right on the frame 1. Specifically, the translation mechanism 5 includes a mounting plate 51, a screw support 52, a transverse screw 53 and a longitudinal screw 54 mounted on the frame 1. Specifically, the screw support 52 is provided in plurality and has an opening. The longitudinal screw 54 passes through the opening of the screw support 52. The frame 1 is a square frame structure, and a screw support 52 is provided on two parallel frame rods, respectively. The mounting plate 51 is located between the two frame rods, and the two ends of the top of the mounting plate 51 are respectively fixedly connected to one or more screw supports 52. The specific connection method of the screw support 52 and the frame rod and the mounting plate 51 can be welding or screw fixing. The transverse screw 53 is arranged along the length direction of the mounting plate 51 and fixed to the bottom of the mounting plate 51. A screw motor 55 is fixedly connected to the mounting plate 51 to provide power for the mounting plate 51 to move along the screw. The bottom of the mounting plate 51 is provided with a connecting cross bar 56 arranged along the length direction of the mounting plate 51. The tops of the binocular vision device 2 and the grasping device 2 are fixed to a connecting plate 57. The connecting plate 57 has an inherent connecting seat 58. The connecting cross bar 56 and the transverse screw rod 53 are movably inserted into the connecting seat 58.

[0029] Specifically, in one embodiment, a lifting mechanism 6 is provided at the bottom of the translation mechanism 5, and the lifting mechanism 6 includes a first lifting rod 61 and a second lifting rod (not shown), one end of the first lifting rod 61 is fixed on the mounting plate 51, and the other end is connected to the telescopic mechanism 41 and the grab bucket 42, and one end of the second lifting rod is fixed on the mounting plate 51, and the other end is connected to the material dispensing pipe 32. The first lifting rod 61 and the second lifting rod can be adjusted in height, and adjusted to the required height according to the operation needs. For example, when material dispensing is required, the material dispensing pipe 32 is first moved to the area above the gathering area of ​​black soldier fly larvae by the translation mechanism 5, and then the height of the second lifting rod is lowered to a suitable position, and the aquaculture substrate is conveyed under the action of the pumping motor 33. For another example, when the black soldier fly larvae need to be caught, the grab bucket 42 is first moved to the area above the gathering area of ​​black soldier fly larvae before the prepupa by the translation mechanism 5, and then the height of the first lifting rod 61 is lowered to a suitable position, and the grab bucket 42 is controlled by the telescopic mechanism 41 to open and close first to catch the black soldier fly larvae. Specifically, the grab 42 includes two cross-sectional fan-shaped grabs 421 used in conjunction with each other, the cross-sectional fan-shaped grab 421 includes two fan-shaped plates 4211 of the same shape and size and an arc-shaped connecting plate 4212 connected to the distal ends of the two fan-shaped plates 4211, the proximal ends of the two fan-shaped plates 4211 are rotatably connected to the end of the first lifting rod 61, specifically, they can be connected to the end of the first lifting rod 61 by a hinge shaft, the distal ends of the two fan-shaped plates 4211 are provided with a connecting rod 4213, and the telescopic mechanism 41 includes a plurality of umbrella-shaped telescopic rods 411, which are inserted on the connecting rod 4213. Specifically, in one embodiment, the first lifting rod 61 is an electric push rod, one end of the telescopic rod 411 is installed on the first lifting rod 61 through a fixing seat 412, and the other end of the telescopic rod 411 is connected to the two cross-sectional fan-shaped grabs 421, and the opening and closing of the two cross-sectional fan-shaped grabs 421 are controlled by the telescopic rod 411.

[0030] The cross-sectional fan-shaped grab bucket 421 of the grab bucket 42 is smooth inside and has a certain concave arc. The two cross-sectional fan-shaped grab buckets 421 are symmetrically installed, and when they are embraced, they form a semicircular structure with an upper open semi-enclosed space. Compared with other flat-bottomed buckets that easily cause the pile of black soldier fly larvae to collapse and escape everywhere, the grab bucket 42 formed by two cross-sectional fan-shaped grab buckets 421 of the present application has good suitability and imitation with the black soldier fly larvae aggregation pile. In the process of grabbing black soldier fly larvae, the grab bucket 42 first contacts the bottom base material of the black soldier fly larvae aggregation pile, which has less stimulation to its aggregation area, can effectively reduce disturbance, and prevent the black soldier fly larvae from creeping and escaping, causing a decrease in the grabbing efficiency.

[0031] See also Figure 5 The present invention also provides a fabric and a grabbing method for the above-mentioned black soldier fly breeding fabric and larvae collection device, including: S10, a device for moving black soldier fly breeding cloth and larvae collection; S20, start the binocular vision recognition device to translate on the rack and collect images of black soldier fly larvae in the breeding area, determine the aggregation degree of the black soldier fly larvae after edge processing of the image, and when the aggregation degree is higher than a preset value, stop the movement and control the cloth spreading device to spread the cloth; when the aggregation degree is lower than the preset value, continue to move the black soldier fly breeding cloth and the larvae collection device.

[0032] Specifically, the amount of material can be automatically adjusted according to the concentration of the gathering. For example, in a specific embodiment, the amount of material pumped can be set to three levels of low, medium and high, and the concentration of black soldier fly larvae can be set to three levels of low, medium and high. Of course, a continuous material feeding mode can also be set to continuously feed different amounts of material according to the concentration.

[0033] When material distribution is required, the height of the second lifting rod is first adjusted until the material distribution pipe 32 is located at a suitable position, and the material distribution is pumped by the pumping motor 33 .

[0034] Specifically, in one embodiment, the image edge processing is to use the Canny edge detection algorithm to perform image edge processing, including: Gaussian filtering is performed on the acquired image to smooth the image and filter out noise; Calculate the gradient strength and direction of each edge pixel of the smoothed image; Suppress non-edge pixels of the image through non-maximum values ​​and retain possible edge pixels; Double threshold detection is used to track possible edge pixels and determine the real edge pixels.

[0035] The image edge processing is to use the Canny edge detection algorithm to perform image edge processing, including: Gaussian filtering is performed on the acquired image to smooth the image and filter out noise; Calculate the gradient strength and direction of each edge pixel of the smoothed image; Suppress non-edge pixels of the image through non-maximum values ​​and retain possible edge pixels; Double threshold detection is used to track possible edge pixels and determine the real edge pixels.

[0036] Specifically, in one implementation, the edge tracking includes: Compare the gradient strength of possible edge pixels with the set high and low thresholds; When the gradient strength of a possible edge pixel is higher than a high threshold, the possible edge pixel is marked as a strong edge pixel and retained; when the gradient strength of a possible edge pixel is lower than a minimum threshold, the possible edge pixel is marked as a weak edge pixel and removed; when the gradient strength of a possible edge pixel is between a high threshold and a low threshold, multiple adjacent edge pixels adjacent to the possible edge pixel are further determined, and if at least one of the multiple adjacent edge pixels is a strong edge pixel, the possible edge pixel is retained, and if all adjacent edge pixels are weak edge pixels, the possible edge pixel is removed; The real image edge result is obtained, and the center position of the image is calculated by combining the moment method to determine the aggregation degree of the black soldier fly larvae. Preferably, the center position error is controlled within 5%.

[0037] Specifically, in one embodiment, the preset value of the aggregation degree can be set according to the three levels of 5 cm, 10 cm, and 15 cm of the height of the black soldier fly larvae at the center of the image, and the pumping amount can be set to three levels of low, medium, and high corresponding to the fixed gear setting, and the aggregation degree of the black soldier fly larvae can be set to low, medium, and high levels. Of course, a continuous feeding mode can also be set to continuously feed different amounts of materials according to the degree of aggregation.

[0038] In the above steps, the biological characteristics of the black soldier fly larvae's light-avoiding crawling or the biological crawling characteristics of thermal stimulation lead to unstable edges. Therefore, the Canny edge monitoring algorithm is used to process the edges of the collected images. The double threshold detection is used to detect and connect the relevant edge points from the possible real edge points of the collected images (where the black soldier fly larvae are gathered). The irregular edge points of the image may belong to the real image edge range, that is, they may be generated by the real aggregation image of the black soldier fly larvae, or they may be generated by noise. Specifically, in this embodiment, for the possible edge pixel point, its 8 neighboring edge pixel points are further checked.

[0039] S30. Preferably, it also includes: when the aggregation degree is higher than a preset value, further identifying and judging the color of the aggregated black soldier fly larvae; if the color is black, the black soldier fly larvae are determined to be in a pre-prepupal state, and the black soldier fly larvae are captured by a capture device; if the color is non-black, the black soldier fly larvae are not captured.

[0040] If the black soldier fly larvae are black, it is determined that the black soldier fly is in a pre-pupae state, and the grasping device is controlled to grasp the black soldier fly larvae; if the black soldier fly larvae are non-black (generally white or light yellow), the black soldier fly larvae are not grasped.

[0041] Specifically, when it is necessary to catch the black soldier fly larvae, the height of the first lifting rod 61 is first adjusted to a suitable position, and the grabbing bucket 42 is controlled by the telescopic mechanism 41 to first open and then close to catch the black soldier fly larvae.

[0042] In the device for collecting black soldier fly breeding cloth and larvae of the present application, the binocular camera 21 of the binocular vision recognition device 2 is used to collect images, and the image analysis processor 22 is used to analyze and process the collected images, so as to collect images of black soldier fly larvae and analyze them to obtain image information. Due to the characteristic that black soldier fly larvae are easy to gather and clump when the breeding base material becomes less, when the collected image shows that the black soldier fly larvae are gathered, the breeding base material delivery requirements are met, and the controller first controls the cloth pipe 32 to move and position, starts the pumping motor 33 for pumping the breeding base material, and accurately delivers the breeding base material to the top of the black soldier fly larvae gathering area. At the same time, the amount of pumping material is adjusted and controlled by the binocular vision recognition device 2 to obtain the density of the black soldier fly larvae gathering and clumping, until the black soldier fly larvae in the ground trough are covered by the breeding base material, and the pumping motor 33 stops working, so that the breeding base material can be effectively and timely supplemented, and the breeding efficiency is improved. In addition, because the surface of the black soldier fly larvae will turn black before they become prepupae, which forms a clear contrast with the pale yellow (light white) surface of the black soldier fly larvae, based on the image obtained by the binocular vision recognition device 2, it is possible to determine whether the growth stage of the black soldier fly larvae is before the prepupae stage. When the black soldier fly larvae are in the pre-prepupae stage, the grasping device 4 is controlled to automatically collect the black soldier fly larvae, thereby reducing the difficulty of manual sorting and improving work efficiency.

Claims

1. A device for breeding cloth and collecting larvae of black soldier flies, characterized in that: include: A frame, wherein a walking chassis is provided at the bottom of the frame; A binocular vision recognition device is movably mounted on the frame, and includes a binocular camera and an image analysis processor, and is used to collect images of black soldier fly larvae and analyze and obtain image information; A material distribution device is movably mounted on the frame, comprising a culture base material box fixed on the frame, a material distribution pipe connected to the culture base material box, and a pumping motor for pumping the culture base material; A grabbing device is movably mounted on the frame and includes a telescopic mechanism and a grabbing bucket connected to the end of the telescopic mechanism; The controller receives the image information sent by the binocular vision recognition device, determines the aggregation degree of the black soldier fly larvae according to the image information, thereby controlling the spreading device to spread the material, and determines the color of the black soldier fly larvae according to the image information, thereby controlling the grasping device to grasp the black soldier fly larvae.

2. The device for breeding fabric and collecting black soldier flies larvae according to claim 1, characterized in that: It also includes a translation mechanism installed on the frame, which is used to drive the binocular vision recognition device, the material distribution device and the grasping device to move. The translation mechanism includes a mounting plate, a screw rod support, a transverse screw rod and a longitudinal screw rod mounted on the frame. The longitudinal screw rod passes through the screw rod support and is fixed to the frame. The screw rod support is fixed to the top of the mounting plate. The transverse screw rod is arranged along the length direction of the mounting plate and is fixed to the bottom of the mounting plate.

3. The device for breeding black soldier flies and collecting larvae according to claim 2, characterized in that: A connecting cross bar is provided at the bottom of the mounting plate along the length direction of the mounting plate, and a connecting plate is provided at the top of the binocular vision device and the grasping device. A connecting seat is inherently arranged on the connecting plate, and the connecting cross bar and the transverse screw rod are movably passed through the connecting seat.

4. The device for breeding black soldier flies and collecting larvae according to claim 2, characterized in that: It also includes a lifting mechanism fixed to the bottom of the connecting plate, the lifting mechanism includes a first lifting rod and a second lifting rod, one end of the first lifting rod is fixed to the mounting plate, and the other end is connected to the telescopic mechanism, one end of the second lifting rod is fixed to the mounting plate, and the other end is connected to the fabric pipe.

5. The device for breeding fabric and collecting black soldier flies larvae according to claim 4, characterized in that: The grab bucket includes two cross-sectional fan-shaped grab buckets, and the telescopic mechanism includes a plurality of telescopic rods forming an umbrella shape, one end of the telescopic rod is installed on the first lifting rod through a fixed seat, and the other end of the telescopic rod is connected to the two cross-sectional fan-shaped grab buckets, and the opening and closing of the two cross-sectional fan-shaped grab buckets are controlled by the movement of the telescopic rod.

6. The device for breeding black soldier flies and collecting larvae according to claim 1, characterized in that: A shading cloth is installed around the frame, and an LED light source is arranged inside the shading cloth on the top of the frame.

7. The device for breeding black soldier flies and collecting larvae according to claim 1, characterized in that: It also includes a black soldier fly larvae collection box and a conveying device fixed on the frame. The conveying device includes a pulley, a pulley motor and a conveyor belt. One end of the conveyor belt is arranged above the material receiving port of the black soldier fly larvae collection box. The black soldier fly larvae grabbed by the grab bucket are transmitted to the black soldier fly larvae collection box through the conveyor belt.

8. The fabric and catching method of the black soldier fly breeding fabric and larvae collection device according to any one of claims 1 to 7, characterized in that: include: Mobile black soldier fly breeding cloth and larvae collection device; The binocular vision recognition device is started to translate on the frame and collect images of black soldier fly larvae in the breeding area, and the aggregation degree of the black soldier fly larvae is judged after edge processing of the image. When the aggregation degree is higher than a preset value, the movement is stopped and the material distributing device is controlled to distribute the material; When the aggregation degree is lower than the preset value, the black soldier fly breeding cloth and the larvae collecting device continue to be moved.

9. The cloth and the grabbing method according to claim 8, characterized in that: Also includes: When the aggregation degree is higher than the preset value, the color of the aggregated black soldier fly larvae is further identified and judged. If the color is black, the black soldier fly larvae are determined to be in the pre-pupae state, and the black soldier fly larvae are captured by the grasping device; if the color is non-black, the black soldier fly larvae are not captured.

10. The cloth and grabbing method according to claim 8, characterized in that: The edge processing of the image comprises: Gaussian filtering is performed on the acquired image to smooth the image and filter out noise; Calculate the gradient strength and direction of each edge pixel of the smoothed image; Suppress non-edge pixels of the image through non-maximum values ​​and retain possible edge pixels; Double threshold detection is used to track possible edge pixels and determine the real edge pixels.

Images