Hermetia illucens breeding method and breeding device

Abstract

The invention discloses a hermetia illucens breeding method and breeding device, and belongs to the technical field of environmental protection, and the method comprises the steps: configuring a verification table, setting a plurality of regulation and control strategies, and enabling the regulation and control strategies to correspond to response numbers; acquiring environmental parameters near the seedling raising plate and the working temperature of the vinasse, reading the target parameters, the environmental parameters and the working temperature by the server, and outputting a response number; the verification table is matched with the response number, a regulation and control strategy is called according to the matching result and issued to the ventilation system, micro-communication can be formed between the interior of the vinasse and the external environment by means of the structural characteristics of the seedling raising disc, the corresponding regulation and control strategy is directly obtained by means of the configured verification table, and therefore the ventilation system is controlled to output different air volumes. Therefore, the internal environment condition of the vinasse is changed, a ventilation environment is expected to be formed through cooperation of the seedling raising disc and the vinasse, then a server is used for obtaining related parameters, and a ventilation system is used for self-adaptive air volume adjustment to change the temperature of the vinasse.

Description

Technical Field

[0001] The invention belongs to the technical field of environmental protection, and particularly relates to a black soldier fly breeding method and a breeding device. Background Art

[0002] In related technologies, traditional methods of distiller's grains disposal are mainly landfill and incineration, which easily lead to the consumption of land resources and the generation of greenhouse gases. At the same time, there is also a certain loss of usable substances such as crude protein and crude fiber contained in the distiller's grains.

[0003] As a resource insect, black soldier flies can be used to make animal protein feed additives after simple processing, thus having broad application prospects in the field of animal feed. After research, it was found that black soldier flies can degrade toxins such as aflatoxin in distiller's grains, kill harmful bacteria such as Escherichia coli, and inhibit the breeding of houseflies, cutting off the pollution chain at the source; at the same time, combined with the living habits of black soldier flies, their adults only live for 7-10 days, do not feed, and can die naturally after mating and laying eggs. Their excrement "insect sand" is rich in nitrogen, phosphorus and potassium, which can be used as a high-quality organic fertilizer raw material, and can meet the closed-loop application of "distiller's grains → insects → fertilizer".

[0004] In actual research, the use of distiller's grains to cultivate black soldier fly larvae was limited by the self-fermentation of the grains. When placed in the seedling tray, the grains would cause their own temperature to rise due to fermentation, resulting in a suboptimal survival rate for the black soldier fly larvae. Due to the limitations of cultivation conditions, the cultivation methods during the experimental phase often required frequent manual intervention, usually turning the grains to reduce the temperature. Although this method improved the stability of the grains temperature, at the end of the experiment, when all the larvae were manually separated from the residual materials, it was found that some black soldier fly larvae had died due to external forces. Therefore, it is worth studying how to optimize the cultivation methods in the distiller's grains environment. Summary of the Invention

[0005] The present invention addresses the technical challenges inherent in the prior art. It proposes a method and apparatus for cultivating black soldier flies in distiller's grains, aiming to address the current issue of suboptimal grain temperature control in distiller's grains. This method utilizes seedling trays and distiller's grains to create a ventilated environment. A server then acquires relevant parameters, allowing the ventilation system to adaptively adjust air volume to alter the grain temperature.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A method for cultivating black soldier flies is disclosed. The method is suitable for adaptive cultivation using distiller's grains on seedling trays, and comprises the following steps: configuring a checksum on a server, wherein a plurality of control strategies are set in the checksum, and each control strategy corresponds to a response number; setting target parameters, obtaining environmental parameters near the seedling tray and the operating temperature of the distiller's grains, and having the server read the target parameters, environmental parameters, and operating temperature and output a response number; matching the checksum with the response number, calling the control strategy based on the matching result, and issuing it to a ventilation system, wherein the ventilation system controls the air volume output in real time according to the instruction; wherein both the target parameters and the environmental parameters include indicators of temperature, humidity, and light intensity.

[0008] The technical concept is: taking advantage of the diverse diet of black soldier fly larvae, they are laid out and cultured on seedling trays with sufficient permeability. Although the lees are fermented on the seedling trays, the structural characteristics of the seedling trays, while being permeable, are used to facilitate the formation of micro-connectivity between the inside of the lees and the external environment. By obtaining the target parameters, environmental parameters and working temperature, based on the parameter differences, the corresponding control strategy is directly obtained using the configured calibration table, thereby controlling the ventilation system to output different air volumes, thereby changing the environmental conditions inside the lees.

[0009] Preferably, before the server outputs a response number, the server performs the following steps: obtaining the temperature index of the current working temperature and the environmental parameter, calculating the difference trend between the index and the target parameter, and obtaining a first steady-state error value; obtaining the corresponding humidity index in the environmental parameter, calculating the difference trend with the target parameter, and obtaining a second steady-state error value; obtaining the corresponding light intensity index in the environmental parameter, calculating the difference trend with the target parameter, and obtaining a third steady-state error value; taking the total value of the weighted proportions of the first steady-state error value, the second steady-state error value, and the third steady-state error value as the response number; wherein the first steady-state error value, the second steady-state error value, and the third steady-state error value are all calculated and obtained by the server using a PID control algorithm.

[0010] The technical concept is: to use the PID adjustment algorithm to calculate the calculation deviation of each parameter for multiple possibly related indicators, and then use the weighted proportion addition method to consider the performance and trust of each controller under specific conditions to make multiple calculation deviations merge into a response number, so as to match the checksum through the response number to determine the current strategy, and adjust the strategy every time a response number is obtained, forming a basis for gradual adjustment.

[0011] Preferably, the seedling tray is provided with a first zone, a second zone and a third zone, the projection of the geometric center of the seedling tray in the height direction is located in the first zone, the second zone is arranged around the outer peripheral edge of the first zone, and the third zone is arranged around the outer peripheral edge of the second zone; wherein, air flow holes are opened at the bottom of the seedling tray and a gauze is laid, and several rows of first fans are placed under the seedling tray, and the first fans form positive or negative air pressure to the bottom of the seedling tray.

[0012] A further technical solution is that the areas of the first zone, the second zone and the third zone are equal, and the first zone, the second zone and the third zone are respectively provided with a number of temperature detection points, the number of temperature detection points in the first zone is greater than the number of temperature detection points in the second zone, and the number of temperature detection points in the second zone is greater than the number of temperature detection points in the third zone; the temperature detection points are numbered by coordinates, and the temperature data of each temperature detection point is obtained.

[0013] A further technical solution is that the temperature detection points include at least three monitoring points, and the monitoring points are installed at least at the bottom, middle and top of the lees; the monitoring point in the middle is set as the key point, and the temperature of the key point is the working temperature; the monitoring point at the bottom is set as the adjustment point, and the server obtains the difference between the temperature data of the adjustment point and the key point, and the server adjusts the first fan to a negative pressure state or a positive pressure state according to the difference, so that the temperature data of the adjustment point and the key point tend to be consistent; the monitoring point at the top is set as an auxiliary point, and the server is used to monitor the temperature changes of the auxiliary point and verify the effectiveness of the first fan.

[0014] Preferably, when using the PID adjustment algorithm for calculation, the following steps are performed: when calculating the first steady-state error value, if the temperature error is ≤5 degrees Celsius, the proportional term of the PID adjustment algorithm is set to 2; if the temperature error is greater than 5, the proportional term is set to 3.5; wherein, when calculating the second steady-state error value, if the percentage of the humidity error is ≤20%, the proportional term of the PID adjustment algorithm is set to 1; if the percentage of the humidity error is greater than 20%, the proportional term of the PID adjustment algorithm is set to 2. wherein, when calculating the third steady-state error value, if the light intensity error is ≤1200 lux, the proportional term of the PID adjustment algorithm is set to 0.8; if the light intensity index is greater than 1200 lux, the proportional term of the PID adjustment algorithm is set to 1.4.

[0015] Preferably, the server is also connected to a spraying device and a lighting device, and the server is used to control the spraying device to spray water mist into the seedling tray and control the lighting device to adjust the power; the control strategies all set humidity and light change thresholds and sampling times. When the server executes the control strategy, it obtains environmental parameters according to the sampling time, determines the degree of change of light and humidity in two adjacent environmental parameters, and whether the degree of change exceeds the change threshold; if any deviation degree exceeds the change threshold; the server adjusts the corresponding spraying device or lighting device according to the deviation degree; if the deviation degree is within the change threshold, the current control strategy is maintained until the humidity and light intensity of the environmental parameters are consistent with the target parameters.

[0016] Preferably, when the server adjusts the spraying equipment and the lighting equipment, the server records the indicators of light and humidity in the environmental parameters in real time and generates a curve graph in real time; wherein, when generating the curve graph, the light indicator and humidity indicator of the target parameter are mapped to the curve graph and two baselines are generated, and the baselines form a shaded area on the curve graph according to the allowable error range; the server identifies whether the change trend of the curve graph is decreasing, and when the change trend on the curve graph is close to the shaded area, the server stops the spraying equipment and / or maintains the current light intensity.

[0017] A breeding device includes a seedling tray, a server and a ventilation system, wherein the server is connected to the ventilation system signal; wine lees are placed in the seedling tray; the server is suitable for executing the black soldier fly breeding method; and the ventilation system is suitable for controlling the air volume to increase or decrease according to the instructions of the server.

[0018] Preferably, a temperature sensor is further included, which is placed at a monitoring point and is connected to a server signal; wherein the temperature sensor is constructed in multiple configurations, and more than three temperature sensors are placed in the seedling tray in a liftable manner and are suitable for detecting the temperature index of the lees in the seedling tray.

[0019] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0020] The present invention places wine lees on a seedling tray, utilizes the permeability of the bottom of the seedling tray to ensure the airflow permeability of the wine lees, and modifies the growth environment of black soldier flies in the wine lees through changes in the overall environmental airflow. More importantly, by setting a number of strategies, using target parameters as a benchmark, and according to the changing trends of environmental parameters and working temperature toward the target parameters, a response number is obtained, and the air volume output is gradually adjusted according to the response number. Thus, by modifying the target parameters, adaptive risk control can be achieved, so that the environmental parameters and working temperature gradually approach the target parameters. This makes the temperature control process have a smooth transition, avoids being more reasonable and stable than the existing linear adjustment; especially in the mass production process of the intelligent workshop, while reducing manual participation, the survival rate of black soldier flies is ensured as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are intended only to explain relative positional relationships and movement conditions within a specific operating state. If the specific posture changes, the directional indication will also change accordingly. In the present invention, unless otherwise specified or limited, the term "connection" and the like should be understood broadly. For example, "connection" can refer to an electrical signal connection or a signal connection; it can also refer to the internal connection between two components or the interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0024] If there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0025] Current black soldier fly larvae can convert over 80% of the organic matter in distiller's grains into their own protein. Adults typically survive for 10 days. After mating and laying eggs, larvae do not feed, dying naturally. Therefore, distiller's grains are only used for the larvae. Based on the consumption of larvae to adulthood, one ton of distiller's grains normally yields approximately 180 kilograms of black soldier fly worms. Dried black soldier fly worms have a protein content of 40%-45%, with an amino acid ratio that approaches or exceeds the protein utilization rate of fish meal. These dried black soldier fly worms can be used as pet feed, enriched with taurine and unsaturated fatty acids. Taurine helps maintain the normal function of various organs in pets, while unsaturated fatty acids are beneficial for the development of pet skin and hair. Furthermore, the antimicrobial peptides contained in black soldier flies have broad-spectrum antimicrobial properties, which can enhance pet immunity and reduce the risk of inflammation and infection.

[0026] Current black soldier fly larval farming is limited by its developmental processes at varying temperatures, resulting in suboptimal yields. Since black soldier flies grow through stages—egg, larvae, prepupae, pupae, and adults—the heat tolerance of each stage reveals distinct trends, leading to low yields. The larval blood system is relatively open, making it prone to water loss. While the larval lipids help reduce transpiration and store unabsorbed water, maintaining a reasonable moisture content in distiller's grains is crucial to avoid larval heat stress. For prepupae and pupae, the use of distiller's grains or other feed materials has no effect on pupal development. Instead, the impact lies in temperature control during development to promote growth. Adults exhibit significant aging, making this a less relevant topic for research. In principle, controlling adult eggs to the point of egg production is sufficient.

[0027] Based on this, one embodiment of the present invention is to refer to Figure 1A method for cultivating black soldier flies using distiller's grains on seedling trays for adaptive cultivation is described. The method includes the following steps: configuring a checksum on a server, wherein a plurality of control strategies are set in the checksum, each corresponding to a response number. The checksum is an embedded configuration table stored in the server that stores instructions. The checksum includes a plurality of control strategies, each with a representative response number. Using the response number as a quantitative value facilitates the server to evaluate the control quantity based on specific environmental and status data. Furthermore, using the response number as a preset value to match the control strategy facilitates real-time monitoring of environmental parameters and distiller's grains temperature. The control strategy is automatically adjusted based on changes in the response number, gradually changing the optimal growth conditions for black soldier flies. Target parameters are set, and the environmental parameters near the seedling tray and the operating temperature of the distiller's grains are obtained. The server reads the target parameters, environmental parameters, and operating temperature and outputs a response number. The checksum is matched with the response number. Based on the matching result, the control strategy is invoked and assigned to the ventilation system. The ventilation system controls the air volume output in real time according to the instruction. The target parameters and environmental parameters include temperature, humidity, and light intensity. It can be understood that the wine lees in the seedling tray of the present application are the direct food and habitat of the black soldier fly larvae. Therefore, the temperature of the wine lees in the seedling tray will directly affect the growth of the black soldier fly larvae. The present application monitors the real-time temperature of the wine lees in the seedling tray, that is, the working temperature, in the seedling tray. Considering that the ambient temperature, ambient humidity and ambient light intensity will indirectly affect the temperature and humidity of the wine lees, when obtaining the environmental parameters, indicators including temperature, humidity and light intensity are required.

[0028] The response number is for reference only. It indicates the degree of correspondence between the temperature of the distiller's grains, the moisture content of the culture environment, the temperature of the culture environment, and the lighting conditions of the culture environment. Based on the response number, the server matches the most appropriate control strategy from the calibration table to ensure that the black soldier flies can grow in the optimal environment, thereby improving yield and quality.

[0029] For reference, when setting target parameters, the target temperature corresponds to the target culture temperature. This is based on the adaptive temperature range for black soldier flies, which typically ranges from 20°C to 33°C. Temperatures below 20°C may slow growth, while temperatures above 33°C can increase mortality. The target humidity corresponds to the target relative humidity (RH). Based on the adaptive requirements for black soldier flies, this range typically ranges from 50% to 80% relative humidity (RH). RH below 50% can affect their growth and development, while RH above 80% can stunt their growth. More importantly, RH above 80% fosters the growth of bacteria and other microorganisms, significantly increasing the risk of disease infection among black soldier fly larvae. The target temperature parameter corresponds to the target aquaculture light intensity. Black soldier flies typically adapt to light intensities between 800 and 1200 lux. Light intensities below 800 lux restrict their growth, while light intensities above 1200 lux can cause damage or even death. Therefore, considering the risks of aquaculture and the potential for temperature fluctuations, the target temperature parameter set during the experimental phase was 25°C. The target humidity parameter was 60%, and the target light intensity was 1000 lux.

[0030] For reference, the server reads the target parameters, environmental parameters and working temperature and outputs a response number; wherein, considering that the applicable scenario of the breeding method is indoor breeding, the breeding product is black soldier fly larvae, and in the indoor environment, the light intensity and humidity are relatively easy to control, and the wine lees in the seedling tray may easily cause the temperature of the wine lees in the seedling tray to rise during the breeding process due to reasons such as the wine lees' own fermentation, thereby affecting the growth of the black soldier fly larvae. Considering that the light intensity and breeding humidity will also affect the temperature of the wine lees, but the interference process is relatively insignificant, this embodiment mainly controls the air volume. The most direct factor that can be affected is temperature, so it is necessary to monitor the working temperature, and the light intensity and breeding humidity are used as auxiliary factors to correct the degree of air volume control, that is, the response number can be output by maximizing the weight of temperature, and the weights of humidity and light intensity are consistent and less than temperature.

[0031] The checklist details the known possible combinations of environmental parameters and their corresponding response numbers, so that one response number typically corresponds to several combinations, and each response number corresponds to at least one control strategy. The control strategies are numbered, and each strategy number is assigned a corresponding ventilation system instruction and monitoring frequency. The response number corresponds to the strategy number in the form of a numerical range.

[0032] If necessary, the response number is allowed to cross the corresponding strategy number using a numerical range. To better determine the specific strategy number, the operating temperature indicator can be used as the core for interval division and optimized in the following way: When it is determined that there are more than two strategy numbers in the response number, first determine the conflicting strategy number and obtain each environmental parameter combination in the conflicting strategy number; identify the environmental parameter combination whose temperature indicator is closest to the current operating temperature in the environmental parameter combination, and select the strategy number corresponding to the environmental parameter combination.

[0033] For easier understanding, let's take the following example: assuming there are N control strategies, where the response range for control strategy N is {X+0.5, X+1}, and the response range for control strategy N-1 is {X+0.2, X+0.8}. When the response range is X+0.7, the range conditions for both control strategies N-1 and N are covered. The environmental parameter combinations corresponding to control strategies N-1 and N are retrieved. These environmental parameter combinations include temperature, humidity, and light intensity. The difference between the temperature and the operating temperature for each environmental parameter combination is calculated. The environmental parameter combination with the second smallest global difference is selected, and the control strategy corresponding to this environmental parameter combination is obtained. If the response range corresponds to more than two control strategies, the environmental parameter combination with the second smallest global difference is selected. The control strategy that best matches the current operating environment is selected based on the closest temperature index to the current operating temperature. This eliminates environmental parameter combinations that differ significantly from the actual operating temperature, ensuring that the current environmental parameter combination is more compatible with the current operating temperature, thereby improving the adaptability of the strategy during the control process. In particular, when the response numbers of multiple combined calculations are consistent, one response number allows the setting of multiple control strategies. During the control process, continuous time-sharing sampling, as the response number changes, is conducive to the connection of multiple control strategies.

[0034] Based on the above embodiments, another embodiment of the present invention is that before the server outputs a response number, the server performs the following steps: obtaining the temperature index of the current working temperature and the environmental parameters, calculating the difference trend between the index and the target parameter, and obtaining a first steady-state error value; obtaining the corresponding humidity index in the environmental parameters, calculating the difference trend with the target parameter, and obtaining a second steady-state error value; obtaining the corresponding light intensity index in the environmental parameters, calculating the difference trend with the target parameter, and obtaining a third steady-state error value; taking the total value of the weighted ratio of the first steady-state error value, the second steady-state error value, and the third steady-state error value as the response number; wherein the first steady-state error value, the second steady-state error value, and the third steady-state error value are all calculated and obtained by the server using a PID adjustment algorithm.

[0035] Exemplarily, the first steady-state error value, the second steady-state error value, and the third steady-state error value all adopt an existing PID adjustment algorithm, which is mainly used to perform feedback control through proportional, integral, and differential factors. The PID adjustment algorithm is an existing common formula:

[0036] ;

[0037] Where, For input data, is the proportionality coefficient, is the integration coefficient, is the differential coefficient, is the data change rate; is the data integration;

[0038] When calculating the first steady-state error, the input data is primarily the temperature error relative to the target parameter, calculated from the operating temperature and the representative value of the temperature index. The second and third steady-state errors are calculated directly using the humidity error between the ambient parameter and the target parameter, as well as the light intensity error.

[0039] Before the traditional PID adjustment algorithm, the average of the working temperature and the temperature index in the environmental parameters is usually taken as the representative value. However, in the present invention, the influence of the environmental parameters is usually smaller than the influence of the working temperature. Therefore, compared with the traditional PID adjustment algorithm, the output result of directly taking the average of the working temperature and the temperature index in the environmental parameters as the representative value is not ideal. Therefore, in order to highlight the relative importance of the working temperature of the lees, the representative value usually requires the working temperature to be multiplied by the amplification value and then analyzed in combination with the temperature index, that is, the representative value is the working temperature multiplied by the amplification value plus the average of the temperature index. Among them, the value range of the amplification value is set to 1.2 to 1.3 to ensure the degree of amplification of the working temperature, while avoiding the amplification value being too large or too small, resulting in the final [temperature error] result exceeding the allowable fault tolerance limit.

[0040] Based on the above embodiment, taking into account the influence of the proportional coefficient, integral coefficient and differential coefficient on the response number when calculating the first steady-state error value, the second steady-state error value and the third steady-state error value, in order to ensure the validity of the conclusions of the first steady-state error value, the second steady-state error value and the third steady-state error value in the breeding process, another embodiment of the present invention is to perform the following steps when calculating using the PID adjustment algorithm:

[0041] Considering that the adaptive temperature for the growth of black soldier flies is usually in the range of 20 to 33°C, when calculating the first steady-state error value, if the temperature error is ≤5 degrees Celsius, the proportional coefficient of the PID adjustment algorithm is set to 2; if the temperature error is greater than 5, the proportional coefficient is set to 3.5.

[0042] If the Temperature Error is ≤5 degrees Celsius, the representative value is relatively close to the target parameter, giving priority to deviation. A proportional coefficient of 2 creates a moderate ratio, preventing temperature-related overshoots in the response number. This helps smooth the response number trend as the temperature changes, preventing drastic fluctuations. Conversely, if the Temperature Error is greater than 5 degrees Celsius, it could indicate a significant and abnormal increase in the operating and ambient temperatures, hindering the growth of black soldier flies. In this case, the proportional coefficient should be set to 3.5 to achieve a more significant response number, allowing for a quicker reversal of the current situation and minimizing damage to the insects. Once the Temperature Error is ≤5 degrees Celsius, the proportional coefficient should be set to 2.

[0043] Considering that the adaptive humidity for the growth of black soldier flies is usually in the range of 50% to 80% relative humidity (RH), when calculating the second steady-state error value, if the percentage of humidity error is ≤20%, the proportional term of the PID adjustment algorithm is set to 1; if the percentage of humidity error is greater than 20%, the proportional term of the PID adjustment algorithm is set to 2.

[0044] For example, if the absolute value of the humidity error is ≤ 20% (i.e., the difference between the actual humidity and the target humidity is within ±20% RH), the proportional coefficient is set to 1. This is primarily used to prevent unstable humidity system output and maintain slow and gradual adjustment of the aquaculture environment. If the absolute value of the humidity error is greater than 20%, the ambient humidity deviates significantly from the target, and the proportional coefficient is increased to 2 to accelerate the humidity adjustment rate until the absolute value of the humidity error is ≤ 20%.

[0045] Considering that the adaptive light intensity for the growth of soldier flies is usually in the range of 800 lux to 1200 lux, when calculating the third steady-state error value, if the light intensity error is ≤1200 lux, the proportional term of the PID adjustment algorithm is set to 0.8; if the light intensity is greater than 1200 lux, the proportional term of the PID adjustment algorithm is set to 1.4.

[0046] For example, the error in light intensity is generally regarded as the absolute value difference between the actual light and the target light. If the light intensity error is ≤1200 lux, the proportional term of the PID control algorithm is set to 0.8 to slowly adjust the output to change the response number. If the light intensity index is greater than 1200 lux, there is a risk of damage or even death of black soldier flies, so a higher proportional term is required to increase the response number, that is, the proportional term is set to 1.4. It should be noted that the condition of light intensity less than 800 lux is not set here because light intensity less than 800 lux mainly restricts the growth of black soldier flies and does not directly lead to the death of black soldier flies, so the proportional term is allowed to be set to 0.8 for gradual adjustment.

[0047] One embodiment is that, in the integral term, mainly when the error exists for a long time and cannot be automatically reset to zero, the output is continuously adjusted through the integral term, which is conducive to the error moving towards zero.

[0048] Considering the significant impact of temperature on black soldier flies, if the integral term is set too small when calculating the first steady-state error value, the integration speed will be slow, and the ability to eliminate steady-state errors will be weak. If the temperature deviates continuously, the system will be slow to correct, and black soldier flies may be exposed to a suboptimal environment for a long time, which is not conducive to their growth. Based on on-site commissioning, the thermal inertia of lees heating is large and changes slowly. The integral coefficient of the first steady-state error value is set to a constant 0.5 to balance adjustment speed and smooth change. Therefore, a value of 0.5 can effectively eliminate the steady-state temperature error. An integral coefficient greater than 0.5 can eliminate the steady-state temperature error more quickly, but it can easily cause overshoot or oscillation in the first steady-state error value.

[0049] For reference, the integral coefficient of the first steady-state error value is constantly set to 1, and the calculated temperature will increase rapidly in the integral term. As the temperature gradually rises, the output response number increases significantly and easily exceeds the normal corresponding adjustment frequency. When the normal adjustment frequency is exceeded, it is easy to cause the actual output result to exceed the target parameter and overshoot, and its response number will increase significantly. At the same time, the control strategy must output a rapid action to reduce the output result. In the process of reducing the output result, due to the large integral coefficient, the wine tank temperature is prone to rapid increase or decrease, and may fluctuate above and below the temperature corresponding to the target parameter, affecting the accuracy of the adjustment, especially in the process of alternating the use of the control strategy. The direct manifestation is that the ventilation system repeatedly changes the air volume, but the temperature change is unstable.

[0050] In terms of the integral coefficient of the integral term, humidity has an interfering effect on black soldier flies. Humidity is a secondary parameter and its impact on black soldier flies is not as drastic as that of temperature. In the present invention, compared with wine lees fermentation, changes in humidity parameters are usually more agile than changes in working temperature. Therefore, when calculating the second steady-state error value, fluctuations in the humidity system will cause the integral term to exert too much thrust on the response number. Therefore, a fixed value of 0.2 is set on the integral coefficient to reserve a certain offset correction capability, while reducing the risk of large overshoot during the correction process.

[0051] When calculating the third steady-state error value, since the light intensity is generally constant, in principle, it is sufficient to satisfy the deviation adjustment of the integral term. Therefore, the integral coefficient of the light intensity usually only takes a small value. In order to ensure that the light intensity will affect the humidity and temperature to a certain extent, the present invention takes the integral term of the light intensity, and the integral coefficient thereof is set to 0.1.

[0052] Based on the above embodiment, the seedling tray is provided with a first zone, a second zone and a third zone, the projection of the geometric center of the seedling tray in the height direction is located in the first zone, the second zone is arranged around the outer periphery of the first zone, and the third zone is arranged around the outer periphery of the second zone. Among them, air flow holes are opened at the bottom of the seedling tray and a gauze is laid, and a plurality of first fans are placed in a row below the seedling tray, and the first fans form a positive or negative air flow pressure to the bottom of the seedling tray. Among them, the first zone is the geometric center area of the seedling tray, and most of the black soldier flies are cultured in the first zone. The second zone surrounds the periphery of the first zone, and the third zone surrounds the outer side of the second zone to form the edge area of the seedling tray; the thickness of the wine lees in the first zone gradually decreases from the first zone to the third zone. The first fans are arranged in a row below the seedling tray, and each first fan is numbered, and the first fans act on the first zone, the second zone and the third zone respectively.

[0053] For reference, when the first fan operates at the bottom of the seedling tray, it can drive airflow at the bottom of the first, second, and third zones, respectively, to specifically cool the lees placed in these zones. At the same time, based on the thickness of the lees, the ventilation system has different cooling efficiencies in the first, second, and third zones. However, by coordinating the first fan below the seedling tray, these differences in cooling efficiency can be improved.

[0054] It should also be emphasized that the setting of the first, second and third zones is conducive to observing the distribution of black soldier flies. On the one hand, it is conducive to studying and identifying the escape behavior of black soldier flies, thereby correcting the target parameters. On the other hand, in the process of the server calling the control strategy, the rationality of the control strategy can be verified through the distribution of black soldier flies in different areas.

[0055] Furthermore, the areas of the first zone, the second zone and the third zone are equal, and the first zone, the second zone and the third zone are respectively provided with a number of temperature detection points, the number of temperature detection points in the first zone is greater than the number of temperature detection points in the second zone, and the number of temperature detection points in the second zone is greater than the number of temperature detection points in the third zone; the temperature detection points are numbered by coordinates, and temperature data of each temperature detection point is obtained.

[0056] For reference, the first, second, and third zones are considered independent breeding zones. Independent calibration tables are set for each zone, and the solutions described in the previous embodiments are independently executed using the fans corresponding to the first, second, and third zones. The average of all temperature detection points within each zone can be considered the temperature of that zone.

[0057] For example, in order to effectively unify the temperature trends of various areas within the lees, a ventilation system is set up to control the air volume of the entire seedling tray. Several temperature detection points are set up inside the lees to collect the temperatures of the first, second, and third areas respectively. When the temperature between two adjacent areas exceeds the set threshold, the first fan set under the seedling tray selects the area with higher temperature for targeted operation, so that the heat inside the lees is slowly dissipated, thereby making the lees temperature in different areas tend to be consistent.

[0058] Furthermore, to control the temperature of different areas of the lees using the fan, the temperature detection points include at least three monitoring points, installed at least at the bottom, middle, and top of the lees. The middle monitoring point is set as the key point, and the temperature of the key point is the operating temperature. The bottom monitoring point is set as the adjustment point. The server obtains the difference in temperature data between the adjustment point and the key point. Based on this difference, the server adjusts the first fan to a negative or positive pressure state to ensure that the temperature data at the adjustment point and the key point are consistent. The top monitoring point is set as an auxiliary point, and the server monitors the temperature changes at the auxiliary point and verifies the effectiveness of the first fan.

[0059] When the ventilation system drives airflow over the seedling tray, the temperature changes most noticeably at the auxiliary points, followed by the regulating points. The temperature at the key points generally changes gradually, following changes in both the auxiliary and regulating points. When the first fan is in use, air flows slowly from the bottom of the tray to the top. The server then obtains the temperature difference between the regulating and key points, allowing the first fan to be set to either negative or positive pressure.

[0060] For example, when the first fan is in a negative pressure state, it mainly creates a negative pressure near the adjustment point, using the pressure difference to extract the airflow in the adjustment point, allowing the hot air at the key point to act on the adjustment point, causing the temperature of the adjustment point to slowly rise to the key point temperature and then slowly drop. The temperature of the key point directly decreases linearly. Among them, when the first fan is in a positive pressure state, it mainly transports air into the adjustment point, directly affecting the external airflow at the adjustment point, and directly lowering the temperature of the adjustment point and the key point temperature. Although the temperature of the auxiliary point will increase under positive pressure conditions, the temperature will also drop more rapidly.

[0061] It should also be noted that, by synchronously operating the negative pressure of the first fan and the ventilation system, hot air at the key point can be extracted from the auxiliary point and the regulating point at the same time, thereby achieving rapid cooling of the key point.

[0062] Based on the above embodiment, another embodiment of the present invention is that the server is also connected to a spraying device and a lighting device, and the server is used to control the spraying device to spray water mist into the seedling tray and control the lighting device to adjust the power. Among them, the control strategy sets the humidity and light change thresholds and sampling time. When the server executes the control strategy, it obtains the environmental parameters according to the sampling time, and determines the degree of change of light and humidity in two adjacent environmental parameters and whether the degree of change exceeds the change threshold. If any deviation degree exceeds the change threshold; the server adjusts the corresponding spraying device or lighting device according to the deviation degree; if the deviation degree is within the change threshold, the current control strategy is maintained until the humidity and light intensity of the environmental parameters tend to be consistent with the target parameters.

[0063] Based on the above embodiment, another embodiment of the present invention is that when the server adjusts the sprinkler and lighting equipment, the server records the light and humidity indicators of the environmental parameters in real time and generates a graph in real time. When generating the graph, the light and humidity indicators of the target parameters are mapped onto the graph and two baselines are generated. The baselines form a shaded area on the graph within an allowable error range. The server identifies whether the trend of change in the graph is decreasing. When the trend on the graph approaches the shaded area, the server stops the sprinkler and / or maintains the current light intensity.

[0064] The server will monitor and record the light intensity and humidity level in the environment in real time, and convert the indicators of light intensity and humidity level into a curve graph in real time. In the process of generating the curve graph, the server will map the light index and humidity index in the target parameters to the graph and create two baselines. The two baselines define the allowable error range on the curve graph, that is, a shadow area is formed on the basis of the baseline. With the appearance of the shadow area, when the server monitors the changing trend of the curve graph, in addition to judging whether it is decreasing, it can also detect that the changing trend on the curve graph begins to approach this shadow area. The server will take measures to stop the operation of the sprinkler equipment or maintain the current light intensity unchanged to ensure that the environmental parameters are maintained within the set reasonable range.

[0065] This embodiment provides a breeding device, including a seedling tray, a server and a ventilation system. The server is connected to the ventilation system signal, and wine dregs are placed in the seedling tray; the server is suitable for executing the black soldier fly breeding method; the ventilation system is suitable for controlling the increase or decrease of air volume according to the instructions of the server.

[0066] It also includes a temperature sensor, which is placed at a monitoring point and is connected to a server signal; wherein the temperature sensor is constructed in multiple configurations, and more than three temperature sensors are placed in the seedling tray in a liftable manner and are suitable for detecting the temperature index of the wine lees in the seedling tray.

[0067] For example, the temperature sensor is fixed in the detection rod by a clamp, the relative positions of two adjacent temperature sensors are adjusted, and the detection rod is inserted into the lees, so that more than three temperature sensors are at different heights in the seedling tray.

[0068] For example, the temperature sensor can be slidably set on a vertical guide rail, and the temperature sensor can be fixed to the guide rail by bolts. By erecting the guide rail in the lees, more than three temperature sensors can be placed at different heights in the seedling tray.

[0069] It is understandable that the breeding device of the present application provides an environment suitable for the growth of black soldier fly larvae. By accurately monitoring and adjusting the air volume, an ideal environment suitable for the growth of black soldier fly larvae is created, thereby effectively promoting the healthy development of black soldier fly larvae and improving breeding efficiency and yield. The device uses multiple temperature sensors to simultaneously obtain real-time temperature information of the lees in different areas of the seedling tray, thereby constructing a comprehensive temperature field map to ensure a detailed understanding of the temperature conditions inside the lees of the entire seedling tray. Moreover, since the lees layer may have uneven thickness or temperature stratification, the design of the multiple first sensors of the present application that can be selectively moved in the height direction enables the multiple first sensors to measure at any height, improving the representativeness and accuracy of the monitoring data.

[0070] References in this specification to "one embodiment," "another embodiment," "an embodiment," "preferred embodiment," etc., refer to specific features, structures, or characteristics described in conjunction with that embodiment as included in at least one embodiment generally described in this application. The appearance of the same term in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in conjunction with any embodiment, it is intended that such feature, structure, or characteristic, when implemented in conjunction with other embodiments, also fall within the scope of the present invention.

[0071] Although the present invention has been described herein with reference to a number of illustrative embodiments thereof, it will be understood that numerous other modifications and implementations may be devised by those skilled in the art that fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope of the present disclosure, the drawings, and the claims, numerous variations and modifications may be made to the components and / or layout of the subject combination arrangement. In addition to variations and modifications to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. A method for cultivating black soldier flies, which is suitable for adaptive cultivation using distiller's grains on seedling trays, characterized in that: The method comprises the following steps: a server configures a checklist, and a plurality of control strategies are set in the checklist, each control strategy corresponding to a response number; Set target parameters, obtain environmental parameters near the seedling tray and the working temperature of the lees, and the server reads the target parameters, environmental parameters and working temperature and outputs the response number; Match the checklist with the response number, call the control strategy based on the matching result and send it to the ventilation system, which then controls the air volume output in real time according to the command; Among them, the target parameters and environmental parameters both include indicators of temperature, humidity and light intensity.

2. The black soldier fly breeding method according to claim 1, wherein: Before the server outputs the response number, the server performs the following steps: Obtaining temperature indicators of the current operating temperature and environmental parameters, calculating the difference trend between the indicators and the target parameters, and obtaining a first steady-state error value; Obtain the corresponding humidity index in the environmental parameters, calculate the difference trend with the target parameters, and obtain the second steady-state error value; Obtain the corresponding light intensity index in the environmental parameters, calculate the difference trend with the target parameters, and obtain the third steady-state error value; The total value of the weighted sum of the first steady-state error value, the second steady-state error value, and the third steady-state error value is taken as the response number; The first steady-state error value, the second steady-state error value, and the third steady-state error value are all calculated and obtained by the server using a PID adjustment algorithm.

3. The black soldier fly breeding method according to claim 2, wherein: When using the PID adjustment algorithm for calculation, perform the following steps: When calculating the first steady-state error value, if the temperature error is ≤5 degrees Celsius, the proportional term of the PID control algorithm is set to 2; if the temperature error is greater than 5 degrees Celsius, the proportional term is set to 3.5; When calculating the second steady-state error value, if the percentage of humidity error is ≤20%, the proportional term of the PID adjustment algorithm is set to 1; if the percentage of humidity error is greater than 20%, the proportional term of the PID adjustment algorithm is set to 2; When calculating the third steady-state error value, if the light intensity error is ≤1200 lux, the proportional term of the PID adjustment algorithm is set to 0.8; if the light intensity index is greater than 1200 lux, the proportional term of the PID adjustment algorithm is set to 1.

4.

4. The black soldier fly breeding method according to claim 1, wherein: The seedling tray is provided with a first area, a second area and a third area, the projection of the geometric center of the seedling tray in the height direction is located in the first area, the second area is arranged around the outer periphery of the first area, and the third area is arranged around the outer periphery of the second area; Among them, air flow holes are opened at the bottom of the seedling tray and a gauze is laid, and a plurality of first fans are placed in an array below the seedling tray, and the first fans form positive or negative air pressure to the bottom of the seedling tray.

5. The black soldier fly breeding method according to claim 4, wherein: The areas of the first zone, the second zone and the third zone are equal, and the first zone, the second zone and the third zone are respectively provided with a plurality of temperature detection points, the number of temperature detection points in the first zone is greater than the number of temperature detection points in the second zone, and the number of temperature detection points in the second zone is greater than the number of temperature detection points in the third zone; The temperature detection points are numbered and the temperature data of each temperature detection point is obtained.

6. The method for breeding black soldier flies according to claim 5, wherein: The temperature detection points include at least three or more monitoring points, and the monitoring points are installed at least at the bottom, middle and top of the lees; The monitoring point in the middle is set as a key point, and the temperature of the key point is the working temperature; The monitoring point at the bottom is set as the regulating point, and the server obtains the difference between the temperature data of the regulating point and the key point. The server adjusts the first fan to a negative pressure state or a positive pressure state according to the difference, so that the temperature data of the regulating point and the key point tend to be consistent; The monitoring point at the top is set as an auxiliary point, and the server is used to monitor the temperature change of the auxiliary point and verify the effectiveness of the first fan.

7. The method for breeding black soldier flies according to claim 1, wherein: The server is also connected to a spraying device and a lighting device, and the server is used to control the spraying device to spray water mist into the seedling tray and control the lighting device to adjust the power; Among them, the control strategy sets the humidity and light change threshold and sampling time. When the server executes the control strategy, it obtains the environmental parameters in time according to the sampling time, determines the degree of change of light and humidity in two adjacent environmental parameters, and whether the degree of change exceeds the change threshold; If any deviation exceeds the change threshold, the server adjusts the corresponding sprinkler equipment or lighting equipment according to the deviation. If the degree of deviation is within the change threshold, the current control strategy is maintained until the humidity and light intensity of the environmental parameters tend to be consistent with the target parameters.

8. The method for breeding black soldier flies according to claim 7, wherein: When the server adjusts the spray equipment and the lighting equipment, the server records the indicators of light and humidity in the environmental parameters in real time and generates a curve graph in real time; When generating the curve graph, the illumination index and humidity index of the target parameters are mapped onto the curve graph and two reference lines are generated. The reference lines form a shaded area on the curve graph according to the allowable error range. The server identifies whether the changing trend of the curve graph is decreasing. When the changing trend on the curve graph is close to the shadow area, the server stops the spraying equipment and / or maintains the current light intensity.

9. A breeding device, characterized in that: It includes a seedling tray, a server and a ventilation system, the server is connected to the ventilation system signal, and wine lees are placed in the seedling tray; the server is suitable for executing the black soldier fly breeding method described in any one of claims 1-8; the ventilation system is suitable for controlling the air volume to increase or decrease according to the instructions of the server.

10. The breeding device according to claim 9, characterized in that: It also includes a temperature sensor, which is placed at a monitoring point and is connected to a server signal; There are multiple temperature sensors, and more than three temperature sensors are arranged in the seedling tray in a liftable manner and are suitable for detecting the temperature index of the wine lees in the seedling tray.

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