Mariculture pond substrate intelligent improvement device and method based on biological-physical synergistic effect

Abstract

The invention relates to a mariculture pond substrate intelligent improvement device based on a biological-physical synergistic effect, which comprises an unmanned ship mobile platform, a substrate regulation and control assembly and a monitoring feedback assembly arranged on the unmanned ship mobile platform, after the monitoring feedback assembly detects, the monitoring feedback assembly feeds back and guides the substrate regulation and control assembly to regulate and control the substrate, the substrate of the seawater pond is improved through a chemical method and a physical method, and the purpose of improving the seawater substrate is achieved. When the device runs, bottom mud is treated and then flows back into the seawater pond, so that water in the pond does not need to be completely drained firstly, and the device can run in the culture period of the seawater pond. Meanwhile, the PH value and the ORP value of the bottom mud are detected in real time through the monitoring feedback assembly to control the amount and the type of the modifying agent put in the bottom modifying agent put-in assembly, the amount of discharged bottom mud is increased through the suction assembly, and the bottom mud improving effect is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of seawater pond environmental monitoring and improvement, and in particular to a device and method for intelligently improving the bottom sediment of a seawater aquaculture pond based on biological-physical synergy. Background Art

[0002] In recent years, the scale of marine aquaculture ponds in my country has continued to expand, and production has increased significantly. However, the relevant pond aquaculture machinery and equipment have remained largely unchanged. After several years of operation, large amounts of organic matter, such as leftover bait and aquatic feces, settle at the bottom of marine aquaculture ponds. This sediment, mixed with sediment and other materials at the bottom of the ponds, forms sediment. A certain amount of sediment can provide and retain fertilizer, and regulate and buffer pond water quality. However, this sediment also accumulates a large amount of organic matter. The decomposition of this organic matter consumes oxygen, leading to chronic hypoxia in the lower water layer, excessive concentrations of ammonia nitrogen, methane, and hydrogen sulfide, deteriorating water quality, and promoting the proliferation of pathogens. Heavy metals accumulated in the sediment can also lead to heavy metal contamination of aquatic products. Therefore, deteriorating pond sediment is a major cause of disease outbreaks and high mortality rates in aquatic products. Therefore, it is crucial to develop equipment to regulate pond sediment to fully realize its ecological functions and mitigate its negative effects.

[0003] Currently, physical and chemical methods are primarily used to improve pond sediment. Physical methods involve mechanically removing some of the sediment. This involves draining the pond and using a hydraulic dredging unit to remove the silt. This process, followed by freezing and sun exposure, promotes the fractionation of organic matter and eliminates pathogens and other harmful organisms. However, this method is primarily used in off-season conditions such as winter or early spring. Chemical methods primarily utilize chemical composite sediment conditioners to improve pond sediment.

[0004] However, the former method involves complex procedures and requires only off-seasonal procedures, such as winter or early spring, which restricts timeframes and makes it difficult to implement during the aquaculture period in seawater ponds. The latter method also has limited effectiveness in improving the sediment. Therefore, a device is needed that can regulate and improve the sediment during the aquaculture period in seawater ponds. Summary of the Invention

[0005] The technical solution adopted by the present invention to solve the technical problem is to provide an intelligent device for improving the bottom sediment of aquaculture ponds based on biological-physical synergy, comprising:

[0006] An unmanned boat mobile platform, the unmanned boat mobile platform is used to move in a seawater pond, and the unmanned boat mobile platform is equipped with a monitoring feedback component;

[0007] A bottom sediment control component, comprising a suction component, a bottom modification agent delivery component, and an ozone generator component, wherein the suction component and the ozone generator component are both mounted on an unmanned boat mobile platform, the suction component being used to extract bottom sediment and discharge the disinfected bottom sediment to the surface of the seawater pond, the bottom modification agent delivery component being used to deliver an improvement agent into the seawater pond, the ozone generator component being connected to the suction component, and the ozone generator component being used to deliver ozone to the bottom sediment sucked by the suction component;

[0008] The monitoring feedback component is used to detect the pH value and ORP value of the bottom mud extracted by the suction component, and to control the amount of the improving agent released by the bottom improvement agent release component and the amount of the bottom mud lifted and discharged by the suction component.

[0009] Furthermore, the monitoring feedback component includes a pH detection sensor and an ORP detection sensor, as well as a driving module for controlling the bottom modification agent delivery component and the suction component. The detection end of the pH detection sensor and the detection end of the ORP detection sensor are both in contact with the bottom mud in the suction component. The pH detection sensor and the ORP detection sensor are used to detect the pH value and ORP value of the bottom mud, respectively.

[0010] Furthermore, the unmanned boat mobile platform runs in a U-shaped trajectory.

[0011] Furthermore, the bottom modifying agent delivery component includes a drone and a rotating motor arranged on the drone, the output end of the rotating motor is connected to a rotating frame, the rotating frame is connected to an outer cylinder, the inner cylinder is rotatably connected to the outer cylinder, the inner cylinder is connected to a driving member, the cylinder wall of the inner cylinder is provided with a plurality of first connecting holes, the inner cylinder is provided with a feeding hole, the feeding hole is connected to a feeding pipe, the feeding pipe is used to input the modifying agent into the inner cylinder, the outer cylinder is provided with a plurality of second connecting holes, the first connecting holes and the second connecting holes are staggered, the rotating motor is used to drive the first connecting hole to rotate until it coincides with the second connecting hole, and the driving member is used to drive the modifying agent to be sprayed out.

[0012] Furthermore, the driving member is a stirring motor connected to the inner cylinder, the output shaft of the stirring motor is connected to the stirring shaft, the stirring shaft is connected to a plurality of stirring blades, the stirring blades are located in the inner cylinder, and the stirring motor is used to drive the stirring shaft to rotate.

[0013] Furthermore, the stirring shaft is connected to a movable screw, a movable block is threadedly connected to the movable screw, a support block for installing the movable screw is connected to the drone, a movable groove is provided in the support block, the inner cylinder is connected to a feeding pipe, a feeding pipe connected to the feeding pipe is connected to the support block, and the support block is slidably arranged in the movable groove.

[0014] Furthermore, the delivery pipe includes a connecting part, an outward expansion part and a delivery part which are connected in sequence, the connecting part is connected to the feeding pipe, the tube wall of the outward expansion part is inclined, and the inner diameter of the connection between the outward expansion part and the connecting part is smaller than the inner diameter of the connection between the outward expansion part and the delivery part.

[0015] Furthermore, the outer cylinder is provided with a through-groove, the through-groove is in a circular shape, and the width of the through-groove is adapted to the diameter of the feeding pipe.

[0016] Furthermore, the support block is connected to a guide block, the guide block is provided with a sliding groove, and the feeding pipe is slidably arranged in the sliding groove.

[0017] Based on the technical problems existing in the above-mentioned prior art, a second object of the embodiment of the present invention is to provide a method for applying a device for intelligently improving the bottom sediment of a seawater aquaculture pond based on biological-physical synergy provided in any of the above-mentioned solutions, the method comprising:

[0018] S1, drives the unmanned boat mobile platform to move in a U-shaped trajectory in the seawater pond, and activates the suction component to absorb the bottom mud;

[0019] S2, obtaining the pH value and ORP value of the bottom mud at a certain position of the seawater pond extracted by the suction component through the pH detection sensor and the ORP detection sensor respectively;

[0020] The pH value and ORP value of the bottom mud at a certain position of the seawater pond extracted by the suction component are obtained by the pH detection sensor and the ORP detection sensor respectively, including:

[0021] The pH detection sensor and the ORP detection sensor obtain and calibrate and compensate the obtained pH value and ORP value before outputting;

[0022] The pH value output by the pH detection sensor after temperature compensation and salinity compensation is:

[0023]

[0024] Where T is the current water temperature in °C;

[0025] T0 is the reference temperature, in °C;

[0026] S is the current salinity in ppt;

[0027] S0 is the reference salinity, in ppt;

[0028] a i is the temperature compensation coefficient;

[0029] b is the salinity compensation coefficient;

[0030] The OPR value after temperature compensation tested by the OPR detection sensor is:

[0031]

[0032] Among them, E 参比 (t) = E 参比 (25℃)+α(t-25)+β(t-25) 2

[0033] E 参比 is the potential value of the reference electrode;

[0034] t is the test time;

[0035] T is the current water temperature, in °C;

[0036] T0 is the reference temperature, in °C;

[0037] α is the linear temperature correction coefficient, in mV / ℃;

[0038] β is the secondary temperature correction coefficient, in mV / ℃;

[0039] The OPR value after salinity compensation based on temperature compensation is:

[0040]

[0041] Where R is the ideal gas constant, which is approximately 8.314, and the unit is J / (mol·K);

[0042] T is the absolute temperature in Kelvin;

[0043] n is the number of electrons transferred in the reaction;

[0044] F is the Faraday constant, which is approximately 96485 and is expressed in C / mol;

[0045] γ ox and γ red represent the activity coefficients of the oxidized and reduced species, respectively;

[0046] S3, the driving module obtains the pH value and ORP value of the bottom mud at a certain location in the seawater pond, and determines the amount of the bottom mud improver required to be added and the type of the improver and the amount of the bottom mud to be discharged according to the pH value and ORP value of the bottom mud at a certain location in the seawater pond;

[0047] S4, the driving module controls the amount and type of the modifying agent released by the bottom modifying agent releasing component, and the amount of the bottom sludge discharged by the suction component according to the above judgment.

[0048] The beneficial effects of the present invention are as follows: (1) the suction component is driven by the unmanned boat mobile platform to extract the bottom mud from multiple locations in the seawater pond, and the monitoring feedback component controls the bottom improvement agent delivery component to deliver the improver after detection, thereby improving the bottom quality of the seawater pond by chemical methods. At the same time, the bottom mud is disinfected by the ozone generator component and then released to the surface of the seawater pond for exposure to the sun. At the same time, the nutrients in the bottom mud are absorbed by the algae photosynthesis, providing a physical method of primary productivity to improve the bottom mud. By improving the bottom mud of the seawater pond by both chemical and physical methods, the effect of improving the bottom mud of the seawater is improved.

[0049] (2) Since the physical method in this scheme does not require the removal of bottom sludge during implementation, but rather the bottom sludge is treated and then discharged into the seawater pond, there is no need to drain the water in the pond first, and the method can be operated during the aquaculture period of the seawater pond.

[0050] (3) The monitoring feedback component detects the pH value and ORP value of the bottom sediment in real time to control the amount and type of the improver released by the bottom modification agent release component, and the amount of the discharged bottom sediment by the suction component, thereby further improving the effect of improving the bottom sediment. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention will be further described below with reference to the accompanying drawings and examples.

[0052] In the picture: Figure 1 This is an overall structural diagram of a device for intelligently improving the bottom sediment of a marine aquaculture pond based on biological-physical synergy provided by the present invention;

[0053] Figure 2 for Figure 1 The motion trajectory diagram of the unmanned boat mobile platform in the seawater pond is shown;

[0054] Figure 3 for Figure 2 A top view of the unmanned vessel mobile platform, monitoring feedback assembly, suction assembly, and ozone generator assembly is shown;

[0055] Figure 4 for Figure 1 The three-dimensional structural diagram of the bottom modification agent delivery assembly shown;

[0056] Figure 5 for Figure 4 The bottom modification agent delivery assembly is shown as a three-dimensional cross-sectional view with some of its structures hidden;

[0057] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0058] Figure 7 for Figure 5 Enlarged view of point B in the middle;

[0059] Figure 8 for Figure 5 A cross-sectional view of the middle structure from a top-down perspective;

[0060] Figure 9 for Figure 5 A cross-sectional view of the middle structure from a side view;

[0061] Figure 10 for Figure 9 A cross-sectional view of the guide pad is shown.

[0062] Explanation of Reference Numerals: 10, unmanned boat mobile platform; 11, monitoring and feedback assembly; 12, suction assembly; 13, ozone generator assembly; 20, soil modification agent delivery assembly; 21, drone; 211, support block; 2111, moving groove; 212, delivery pipe; 2121, connecting portion; 2122, expansion portion; 2123, delivery portion; 213, guide block; 2131, sliding groove; 2132, first guide groove; 2133, second guide groove; 22, rotating motor; 23, rotating frame; 24. Outer cylinder; 241. Second connecting hole; 242. Rotating groove; 243. Nozzle; 244. Outlet groove; 25. Inner cylinder; 251. First connecting hole; 252. Feed hole; 253. Feed pipe; 254. Sealing plug; 255. Rotating ring; 256. Feeding pipe; 26. Stirring motor; 261. Stirring shaft; 2611. First bevel gear; 262. Stirring blade; 27. Moving screw; 271. Second bevel gear; 28. Moving block; 30. Seawater pond; 31. Bottom mud. DETAILED DESCRIPTION

[0063] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention is now described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only illustrates the basic principles of the present invention in an illustrative manner, and therefore only shows the structures related to the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0064] Please refer to Figure 1 and Figure 2 The embodiment of the present invention provides a device for improving the bottom sediment of a seawater aquaculture pond based on biological-physical synergy, comprising an unmanned boat mobile platform 10 and a bottom sediment control component. The unmanned boat mobile platform 10 is equipped with a monitoring feedback component 11. The unmanned boat mobile platform 10 is used to move in a seawater pond 30. Specifically, in this embodiment, the unmanned boat mobile platform 10 is as follows: Figure 2 The zigzag trajectory shown is run so as to expand the extraction range to the entire seawater pond 30 .

[0065] Please refer to Figure 3 The bottom sediment control component includes a suction component 12, a bottom modification agent delivery component 20 and an ozone generator component 13. The suction component 12 and the ozone generator component 13 are both loaded on the unmanned boat mobile platform 10. The suction component 12 is used to extract the bottom mud and discharge the disinfected bottom mud to the surface of the seawater pond 30. The bottom modification agent delivery component 20 is used to deliver the modifying agent into the seawater pond 30. The ozone generator component 13 is connected to the suction component 12, and the ozone generator component 13 is used to transport ozone into the bottom mud sucked by the suction component 12.

[0066] The monitoring and feedback component 11 is used to detect the pH and ORP values ​​of the sediment extracted by the suction component, and to control the amount of modifying agent released by the sediment modification agent delivery component 20 and the amount of sediment discharged by the suction component. The monitoring and feedback component 11 includes a pH sensor and an ORP sensor, as well as a drive module for controlling the sediment modification agent delivery component 20 and the suction component. The detection ends of the pH sensor and the ORP sensor are both in contact with the sediment within the suction component. The pH sensor and the ORP sensor are used to detect the pH and ORP values ​​of the sediment, respectively.

[0067] The unmanned boat mobile platform 10 drives the suction assembly to extract the bottom mud from multiple locations in the seawater pond 30. After detection, the monitoring and feedback assembly 11 controls the bottom modification agent delivery assembly to deliver the modifying agent, thereby chemically modifying the bottom sediment of the seawater pond 30. Simultaneously, the bottom mud is disinfected by the ozone generator assembly 13 and then released to the surface of the seawater pond 30 for exposure to the sun. At the same time, the nutrients in the bottom mud are absorbed by algae through photosynthesis, providing a physical method for improving the bottom sediment of the primary productivity. By improving the bottom sediment of the seawater pond 30 through both chemical and physical methods, the effect of improving the bottom sediment of the seawater pond 30 is enhanced. Since the physical method in this scheme does not require the removal of the bottom mud 31 during implementation, but rather the treatment of the bottom mud 31 before discharge into the seawater pond 30, it is not necessary to drain the water in the pond first, and the system can operate during the aquaculture period of the seawater pond 30. By monitoring the pH and ORP values ​​of the bottom mud in real time by the monitoring and feedback assembly 11, the amount and type of modifying agent delivered by the bottom modification agent delivery assembly 20 is controlled, and the amount of discharged bottom mud 31 by the suction assembly 12 is increased, further enhancing the effect of improving the bottom sediment.

[0068] Specifically, in this embodiment, the specific structures of the unmanned boat mobile platform 11 and the suction assembly 12 are referenced, respectively, to the intelligent unmanned feeding boat disclosed in Chinese Design Patent Publication No. CN308861699S and the pond mud agitator disclosed in Chinese Utility Model Patent Publication No. CN102165931B. The specific structure of the ozone generator assembly 13 is referenced to the ozone generator disclosed in Chinese Utility Model Patent Publication No. CN212127517U. The unmanned boat mobile platform 11 and the ozone generator assembly 13 can also be other unmanned boat mobile platforms 11 with intelligent mobility functions or other ozone generators disclosed in the prior art that also generate ozone for disinfection. The specific structures of the unmanned boat mobile platform 11 and the ozone generator assembly 13 are not limited to the above structures. It is understood that the first or second air outlet nozzle of the ozone generator assembly 13 is connected to the interior of the water pump via a pipe and an air pump (the pipe and air pump are not shown in the figure). The specific structures of the pH detection sensor and ORP detection sensor involved in this embodiment are prior art and are therefore not shown in the drawings. In order to facilitate maintenance and disassembly, the pH detection sensor and the ORP detection sensor are detachably connected to the outer wall of the water lifting cylinder of the suction assembly 12 by bolts and other connecting parts. The outer wall of the water lifting cylinder is provided with a through hole for the detection ends of the pH detection sensor and the ORP detection sensor to penetrate.

[0069] Optional, such as Figure 3 The number of the suction assembly, ozone generator assembly 13 and monitoring feedback assembly 11 shown in the figure, as well as their positions relative to the unmanned ship mobile platform 10, are only one possible implementation. In other embodiments not shown, the number of the suction assembly, ozone generator assembly 13 and monitoring feedback assembly 11 can also be multiple, and the positions of the suction assembly 12, ozone generator assembly 13 and monitoring feedback assembly 11 relative to the unmanned ship mobile platform 10 can also be adjusted. The number of the suction assembly 12, ozone generator assembly 13 and monitoring feedback assembly 11 and their positions relative to the unmanned ship mobile platform 10 are not limited to Figure 3 Quantities and locations shown.

[0070] Please refer to Figure 4 、 Figure 5 and Figure 8The bottom modifying agent delivery component 20 includes a drone 21 and a rotating motor 22 arranged on the drone 21. The output end of the rotating motor 22 is connected to a rotating frame 23, the rotating frame 23 is connected to an outer cylinder 24, and an inner cylinder 25 is rotatably connected in the outer cylinder 24. A driving member is connected to the inner cylinder 25. The cylinder wall of the inner cylinder 25 is provided with a first connecting hole 251, and a feeding hole 252 is provided on the inner cylinder 25. The feeding hole 252 is connected to a feeding pipe 253, and the feeding pipe 253 is used to input the modifying agent into the inner cylinder 25. The pipe mouth of the feeding pipe 253 is provided with a sealing plug 254. The outer cylinder 24 is provided with a plurality of second connecting holes 241. The first connecting hole 251 and the second connecting hole 241 are staggered. The rotating motor 22 is used to drive the first connecting hole 251 to rotate until it coincides with the second connecting hole 241, and the driving member is used to drive the modifying agent to spray out. When the corresponding improver is driven to be delivered by the driving member, the delivery amount of the improver is controlled by controlling the overlap degree of the first communicating hole 251 and the second communicating hole 241 by rotating the motor 22, thereby improving the uniformity of the improver spraying.

[0071] Specifically, in this embodiment, the driving module includes a ground terminal provided on the ground, and a wireless communication module provided on the drone 21 and the suction assembly 12. The wireless communication module and the ground terminal are not shown in the figure. The wireless communication module is electrically connected to the ground terminal, and the wireless communication module is used to drive the operation of the bottom modification agent delivery assembly 20 and the suction assembly. The pH detection sensor and the ORP detection sensor are both electrically connected to the ground terminal. It can be understood that Figure 1 and Figure 4 The UAV 21 in the figure is only for illustration. The UAV 21 in this embodiment is based on existing technology, and its specific structure will not be described in detail in this embodiment.

[0072] Specifically, in this embodiment, the improvers are a pH regulator and a bacterial flora. The inner cylinder 25 and outer cylinder 24 are concentrically arranged. Before the pH regulator and bacterial flora are introduced into the inner cylinder 25, makeup water is introduced to facilitate adjustment of the improver concentration. First communication holes 251 are evenly distributed along the circumference of the inner cylinder 25, and second communication holes 241 are evenly distributed along the circumference of the outer cylinder 24. Specifically, in this embodiment, if the pH value of the water in the seawater pond 30 is detected to be low, the pH regulator is a peroxidase. If the pH value of the water in the seawater pond 30 is detected to be high, the pH regulator is an acidic solution. The bacterial flora used to adjust the ORP value are EM bacterial flora.

[0073] Optionally, in some other embodiments not shown, two structures other than the drone 21 are provided in the substrate modification agent delivery component 20, thereby achieving the delivery of the pH regulator and the bacterial flora at the same time.

[0074] Please refer to Figure 5 and Figure 7The inner wall of the inner cylinder 25 is provided with a rotating ring 255, and the outer cylinder 24 is provided with a rotating groove 242 that matches the rotating ring 255. The rotating ring 255 is rotatably disposed within the rotating groove 242. The arrangement of the rotating ring 255 and the rotating groove 242 ensures a rotational connection between the inner cylinder 25 and the outer cylinder 24, and also provides axial positioning for the inner cylinder 25. When the outer cylinder 24 rotates relative to the inner cylinder 25, the outer cylinder 24 and the inner cylinder 25 are unlikely to separate from each other.

[0075] Please refer to Figure 4 The second connecting hole 241 is connected to the nozzle 243, which is set to expand outward to facilitate the addition of the improver after it diffuses through the nozzle 243 along the feeding pipe 256, thereby reducing the flow rate of the improver, reducing the turbulence and eddy current of the improver, and making the improver addition more uniform.

[0076] Please refer to Figure 5 The driving element is a stirring motor 26 connected to the inner drum 25. The output shaft of the stirring motor 26 is connected to a stirring shaft 261, which is connected to a plurality of stirring blades 262. The stirring blades 262 are located in the inner drum 25. The stirring motor 26 is used to drive the stirring shaft 261 to rotate. The stirring motor 26 drives the stirring blades 262 to mix the bacterial flora or pH regulator in the inner drum 25 with the feed water to obtain an appropriate concentration of the improver, thereby improving the uniformity of the improver in the inner drum 25 and providing centrifugal force for the addition of the improver.

[0077] Please refer to Figure 4 and Figure 5 The stirring shaft 261 is connected to a moving screw 27, and a moving block 28 is threadedly connected to the moving screw 27. The drone 21 is connected to a support block 211 for installing the moving screw 27. A moving groove 2111 is provided in the support block 211. The inner cylinder 25 is connected to a feeding pipe 256. A feeding pipe 212 connected to the feeding pipe 256 is connected to the support block 211, and the support block 211 is slidably set in the moving groove 2111.

[0078] Furthermore, a first bevel gear 2611 is coaxially connected to the stirring shaft 261 , and a second bevel gear 271 is coaxially connected to the moving screw 27 . The first bevel gear 2611 and the second bevel gear 271 are meshed with each other.

[0079] When the stirring motor 26 drives the stirring shaft 261 to rotate, the moving screw 27 is driven to rotate through the first bevel gear 2611 and the second bevel gear 271, and the moving block 28 drives the delivery tube 212 to slide along the moving groove 2111, so that the improver in the inner cylinder 25 is delivered outward through the nozzle 243, and the delivery range of the improver is expanded through the movement of the moving block 28.

[0080] Please refer to Figure 9 and Figure 10The delivery tube 212 includes a connecting portion 2121, an outward expansion portion 2122, and a delivery portion 2123, which are sequentially connected. The connecting portion 2121 is connected to the feeding tube 256. The wall of the outward expansion portion 2122 is inclined, and the inner diameter of the connection between the outward expansion portion 2122 and the connecting portion 2121 is smaller than the inner diameter of the connection between the outward expansion portion 2122 and the delivery portion 2123. The provision of the outward expansion portion 2122 facilitates diffusion of the improver after it enters the delivery tube 212 along the feeding tube 256 and is then delivered. This reduces the flow rate of the improver, reduces turbulence and eddy currents of the improver, and ensures more uniform delivery of the improver.

[0081] Please refer to Figure 6 The outer cylinder 24 is provided with a through groove 244 , which is in a circular shape, and the width of the through groove 244 is adapted to the diameter of the feeding pipe 256 .

[0082] Please refer to Figure 5 、 Figure 9 and Figure 10 The support block 211 is connected to a guide block 213, which is provided with a sliding groove 2131. The feeding tube 256 is slidably arranged in the sliding groove 2131. The feeding tube 256 is guided by the sliding groove 2131, so that the feeding tube 256 is not easy to shake when moving with the moving block 28, thereby improving the stability of the feeding tube 256.

[0083] Please refer to Figure 9 and Figure 10 The sliding groove 2131 includes a first guide groove 2132 and a second guide groove 2133. The first guide groove 2132 is an arc-shaped groove that matches the feeding tube 256. The outer diameter of the connecting portion 2121 is smaller than the outer diameter of the feeding tube 256, and the groove width of the second guide groove 2133 matches the outer diameter of the connecting portion 2121. Specifically, in this embodiment, the arc formed by the cross section of the first guide groove 2132 is a major arc. The first guide groove 2132 and the second guide groove 2133 cooperate to limit the feeding tube 256, making it difficult for the feeding tube 256 to escape from the first guide groove 2132 when moving with the movable block 28.

[0084] When implementing the scheme described in the above embodiment, it is necessary to carry out under a certain light intensity so that the nutrients in the bottom mud, especially nitrogen, phosphorus, carbon, etc., can be fully utilized by phytoplankton, thereby promoting the increase of primary productivity and converting primary productivity into the productivity of aquaculture objects as much as possible; the accumulated organic matter such as leftover bait and aquatic product feces in the bottom mud can also be decomposed by microorganisms such as beneficial bacteria, reducing bottom mud deposition; the bottom mud and the lower water body are lifted to the surface of the pond, and the effect of sterilization and disinfection can be achieved through exposure to the sun.

[0085] An embodiment of the present invention further provides a method for improving the bottom sediment of a marine aquaculture pond based on bio-physical synergy, which is used in the intelligent device for improving the bottom sediment of a marine aquaculture pond based on bio-physical synergy as described in any of the above embodiments. The method comprises:

[0086] S1, driving the unmanned boat mobile platform 10 to move in a U-shaped trajectory in the seawater pond 30, and starting the suction component 12 to suck the bottom mud;

[0087] S2, using a pH detection sensor and an ORP detection sensor to respectively obtain the pH value and ORP value of the bottom mud 31 at a certain position of the seawater pond 30 extracted by the suction component 12;

[0088] S3, the driving module obtains the pH value and ORP value of the bottom mud at a certain location in the seawater pond 30, and determines the amount of the modifier required to be added to the bottom mud 31 at that location and the type of the modifier, as well as the amount of the bottom mud 31 that needs to be discharged based on the pH value and ORP value of the bottom mud at that location in the seawater pond 30;

[0089] In the actual ORP and pH value testing process, temperature and water salinity are two extremely critical interfering factors. Specifically, temperature fluctuations can significantly affect the test electrode potential of the pH and ORP sensors. At the same time, temperature changes can further cause changes in the flow rate and turbulence of the water in the seawater pond. When the unmanned boat carrying the pH and ORP sensors moves, the change in the water flow rate in the seawater pond can cause the liquid layer around the pH and ORP sensors to become unstable, resulting in deviations in the test results. On the other hand, water bodies with high salinity and high organic matter content may interfere with the normal response of the test electrodes of the pH and ORP sensors, and may even form a polarization layer on their surface, which will also affect the test results of the pH and ORP sensors.

[0090] Based on the principle that the response characteristics of the test electrodes of pH and ORP sensors are affected by temperature and salinity, during ORP and pH value testing, since the output of the pH and ORP sensors will change with temperature and salinity, when the ambient temperature and salinity of the seawater pond during testing differ from the standard temperature and salinity values, we will use a polynomial model to perform calibration compensation (the standard temperature value is usually 25°C, and the standard salinity value is 0 for freshwater and 35 for seawater, both expressed in ppt).

[0091] Therefore, the pH value and ORP value of the bottom mud at a certain position of the seawater pond extracted by the suction component are obtained by the pH detection sensor and the ORP detection sensor respectively, including:

[0092] The pH detection sensor and the ORP detection sensor obtain and calibrate and compensate the obtained pH value and ORP value before outputting;

[0093] The pH value tested by the pH sensor after temperature compensation and salinity compensation is:

[0094]

[0095] Where T is the current water temperature in °C;

[0096] T0 is the reference temperature in °C, usually 25 °C;

[0097] S is the current salinity in ppt;

[0098] S0 is the reference salinity, in ppt. The standard salinity value is 0 in fresh water and 35 in sea water, in ppt;

[0099] a i is the temperature compensation coefficient (obtained through calibration);

[0100] b is the salinity compensation coefficient (obtained through calibration);

[0101] The OPR value after temperature compensation tested by the OPR detection sensor is:

[0102]

[0103] Among them, E 参比 (t) = E 参比 (25℃)+α(t-25)+β(t-25) 2

[0104] E 参比 is the potential value of the reference electrode;

[0105] t is the test time;

[0106] T is the current water temperature, in °C;

[0107] T0 is the reference temperature in °C, usually 25 °C;

[0108] α is the linear temperature correction coefficient, in mV / °C (obtained through calibration);

[0109] β is the secondary temperature correction coefficient, in mV / °C (obtained through calibration);

[0110] The OPR value after salinity compensation based on temperature compensation is:

[0111]

[0112] Where R is the ideal gas constant, which is approximately 8.314 and is expressed in J / (mol·K);

[0113] T is the absolute temperature in Kelvin;

[0114] n is the number of electrons transferred in the reaction;

[0115] F is the Faraday constant, which is approximately 96485 and is expressed in C / mol;

[0116] γ ox and γ red represent the activity coefficients of the oxidized and reduced species, respectively.

[0117] The pH value and ORP value obtained by the pH detection sensor and the ORP detection sensor are calibrated and compensated by the above-mentioned polynomial model before being output, thereby improving the accuracy of the output of the actually measured pH value and ORP value, thereby improving the accuracy of the subsequent judgment of the amount of modifier required for the bottom mud, the type of modifier, and the amount of bottom mud that needs to be discharged.

[0118] The amount of modifier required for the bottom mud 31 at a certain location in the seawater pond 30 and the type of modifier to be added are determined based on the pH value and ORP value of the bottom mud at that location.

[0119] The pH detection sensor and the ORP detection sensor respectively transmit the detected data to the ground terminal, which processes and judges the acquired data. If the pH value of the water quality in the seawater pond 30 is detected to be low, the pH regulator introduced into the inner tube 25 in advance is a peroxidase. If the pH value of the water quality in the seawater pond 30 is detected to be high, the pH regulator introduced into the inner tube 25 in advance is an acidic solution.

[0120] S4, the driving module controls the amount and type of the modifying agent released by the bottom modifying agent releasing component, and the amount of the bottom sludge 31 discharged by the suction component 12 according to the above judgment.

[0121] The ground terminal transmits the received data to wireless communication modules installed on drone 21 and suction assembly 12. Drone 21 moves to the corresponding position on seawater pond 30 and the location of the sediment 31 to be extracted. It then drives the release of the amendment by rotating motor 22 and stirring motor 26. The suction assembly 12 controls the speed of the submersible motor to control the amount of sediment 21 discharged by the suction assembly 12.

Claims

1. An intelligent device for improving the bottom sediment of aquaculture ponds based on biological-physical synergy, characterized in that: include: An unmanned boat mobile platform, the unmanned boat mobile platform is used to move in a seawater pond, and the unmanned boat mobile platform is equipped with a monitoring feedback component; A bottom sediment control component, comprising a suction component, a bottom modification agent delivery component, and an ozone generator component, wherein the suction component and the ozone generator component are both mounted on an unmanned boat mobile platform, the suction component being used to extract bottom sediment and discharge the disinfected bottom sediment to the surface of the seawater pond, the bottom modification agent delivery component being used to deliver an improvement agent into the seawater pond, the ozone generator component being connected to the suction component, and the ozone generator component being used to deliver ozone to the bottom sediment sucked by the suction component; The monitoring feedback component is used to detect the pH value and ORP value of the bottom mud extracted by the suction component, and to control the amount of the improving agent released by the bottom improvement agent release component and the amount of the bottom mud lifted and discharged by the suction component.

2. The intelligent device for improving seawater aquaculture pond bottom sediments based on biological-physical synergy according to claim 1, characterized in that: The monitoring feedback component includes a pH detection sensor and an ORP detection sensor, as well as a driving module for controlling the bottom modification agent delivery component and the suction component. The detection end of the pH detection sensor and the detection end of the ORP detection sensor are both in contact with the bottom mud in the suction component. The pH detection sensor and the ORP detection sensor are used to detect the pH value and ORP value of the bottom mud, respectively.

3. The intelligent device for improving seawater aquaculture pond bottom sediment based on biological-physical synergy according to claim 1 is characterized in that: The unmanned boat mobile platform runs in a U-shaped track.

4. The intelligent device for improving seawater aquaculture pond bottom sediment based on biological-physical synergy according to claim 1, characterized in that: The bottom modifying agent delivery component includes a drone and a rotating motor arranged on the drone, the output end of the rotating motor is connected to a rotating frame, the rotating frame is connected to an outer cylinder, the inner cylinder is rotatably connected to the outer cylinder, the inner cylinder is connected to a driving member, the cylinder wall of the inner cylinder is provided with a plurality of first connecting holes, the inner cylinder is provided with a feeding hole, the feeding hole is connected to a feeding pipe, the feeding pipe is used to input the modifying agent into the inner cylinder, the outer cylinder is provided with a plurality of second connecting holes, the first connecting holes and the second connecting holes are staggered, the rotating motor is used to drive the first connecting hole to rotate until it coincides with the second connecting hole, and the driving member is used to drive the modifying agent to be sprayed out.

5. The intelligent device for improving seawater aquaculture pond bottom sediments based on biological-physical synergy according to claim 4, characterized in that: The driving member is a stirring motor connected to the inner cylinder. The output shaft of the stirring motor is connected to a stirring shaft. The stirring shaft is connected to a plurality of stirring blades. The stirring blades are located in the inner cylinder. The stirring motor is used to drive the stirring shaft to rotate.

6. The intelligent device for improving seawater aquaculture pond bottom sediments based on biological-physical synergy according to claim 5, characterized in that: The stirring shaft is connected to a movable screw, a movable block is threadedly connected to the movable screw, a support block for installing the movable screw is connected to the drone, a movable groove is provided in the support block, the inner cylinder is connected to a feeding pipe, a feeding pipe connected to the feeding pipe is connected to the support block, and the support block is slidably arranged in the movable groove.

7. The intelligent device for improving seawater aquaculture pond bottom sediments based on biological-physical synergy according to claim 5, characterized in that: The delivery pipe includes a connecting part, an outward expansion part and a delivery part which are connected in sequence. The connecting part is connected to the feeding pipe. The pipe wall of the outward expansion part is inclined, and the inner diameter of the connection between the outward expansion part and the connecting part is smaller than the inner diameter of the connection between the outward expansion part and the delivery part.

8. The intelligent device for improving seawater aquaculture pond bottom sediments based on biological-physical synergy according to claim 5, characterized in that: The outer cylinder is provided with a through-groove, which is in a circular shape and has a width that matches the diameter of the feeding pipe.

9. The intelligent device for improving seawater aquaculture pond bottom sediments based on biological-physical synergy according to claim 5, characterized in that: The support block is connected with a guide block, the guide block is provided with a sliding groove, and the feeding pipe is slidably arranged in the sliding groove.

10. A method for improving the bottom soil of aquaculture ponds based on biological-physical synergy, characterized in that: The intelligent device for improving the bottom sediment of a marine aquaculture pond based on biological-physical synergy according to any one of claims 1 to 9, wherein the method comprises: S1, drives the unmanned boat mobile platform to move in a U-shaped trajectory in the seawater pond, and activates the suction component to absorb the bottom mud; S2, obtaining the pH value and ORP value of the bottom mud at a certain position of the seawater pond extracted by the suction component through the pH detection sensor and the ORP detection sensor respectively; The pH value and ORP value of the bottom mud at a certain position of the seawater pond extracted by the suction component are obtained by the pH detection sensor and the ORP detection sensor respectively, including: The pH detection sensor and the ORP detection sensor obtain and calibrate and compensate the obtained pH value and ORP value before outputting; The pH value output by the pH detection sensor after temperature compensation and salinity compensation is: Where T is the current water temperature in °C; T0 is the reference temperature, in °C; S is the current salinity in ppt; S0 is the reference salinity, in ppt; a i is the temperature compensation coefficient; b is the salinity compensation coefficient; The OPR value after temperature compensation tested by the OPR detection sensor is: Among them, E 参比 (t)=E 参比 (25℃)+α(t-25)+β(t-25) 2 E 参比 is the potential value of the reference electrode; t is the test time; T is the current water temperature, in °C; T0 is the reference temperature, in °C; α is the linear temperature correction coefficient, in mV / ℃; β is the secondary temperature correction coefficient, in mV / ℃; The OPR value after salinity compensation based on temperature compensation is: Where R is the ideal gas constant, which is approximately 8.314 and is expressed in J / (mol·K); T is the absolute temperature in Kelvin; n is the number of electrons transferred in the reaction; F is the Faraday constant, which is approximately 96485 and is expressed in C / mol; γ ox and γ red represent the activity coefficients of the oxidized and reduced species, respectively; S3, the driving module obtains the pH value and ORP value of the bottom mud at a certain location in the seawater pond, and determines the amount of the bottom mud improver required to be added and the type of the improver and the amount of the bottom mud to be discharged according to the pH value and ORP value of the bottom mud at a certain location in the seawater pond; S4, the driving module controls the amount and type of the modifying agent released by the bottom modifying agent releasing component, and the amount of the bottom sludge discharged by the suction component according to the above judgment.

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