Automatic treatment method for pollution discharge of recirculating aquaculture based on visual identification

Abstract

The invention relates to the technical field of aquaculture pollution discharge, in particular to a circulating water aquaculture pollution discharge automatic treatment method based on visual identification, which comprises the following steps: continuously acquiring a first image of a circulating water system, preprocessing the first image to obtain a second image, and identifying according to the second image to obtain a pollution parameter; according to the sewage parameters, sewage analysis processing is carried out to determine a sewage discharge urgency index, an opening degree characterization value is obtained through calculation, and a sewage discharge device is controlled to execute a sewage discharge instruction according to the opening degree characterization value; and determining the sludge height change difference according to the change condition of the height of the sludge layer before and after pollution discharge, judging whether the current pollution discharge process meets the standard or not, and determining corresponding parameters for adjustment according to the judgment result. According to the invention, the sewage disposal capacity in recirculating aquaculture can be enhanced, and the sewage disposal efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of aquaculture wastewater technology, and in particular to an automated treatment method for recirculating aquaculture wastewater based on visual recognition. Background Technology

[0002] Aquaponics, an ecological cycle system integrating aquaculture and hydroponics, achieves sustainable production by converting fish excrement into nutrients that plants can absorb, thus enabling fish farming without water changes and vegetable cultivation without fertilizer application. In this system, ammonia nitrogen produced by fish metabolism is converted into nitrate by nitrifying bacteria, providing nutrients for vegetable growth. Simultaneously, plant roots absorb nutrients while purifying the water, and the purified water is returned to the fishpond for reuse, forming a closed-loop cycle. The core advantage of this model lies in its efficient water resource utilization and near-zero pollutant discharge. However, with increasing farming density, wastewater treatment becomes a critical bottleneck restricting the system's stability. Under high-density farming conditions (e.g., 100 kg / m³), solid waste such as fish excrement and uneaten feed accumulates continuously, leading to a rapid increase in the concentrations of total suspended solids (TSS), ammonia nitrogen, and nitrite in the water. Therefore, wastewater treatment of the circulating water is crucial.

[0003] Chinese Patent Application Publication No. CN105532551B discloses a method for waste treatment using a seawater recirculating aquaculture system with a circulating water treatment system. This technical solution includes an aquaculture pond, a sewage outlet, a sewage pipe, a waste discharge mechanism, and a circulating water discharge mechanism. The circulating water treatment mechanism includes an oxidation storage tank, a primary biological purification tank, and a micro-ecological purification tank. Wastewater is discharged into the oxidation storage tank through the circulating water discharge mechanism, undergoes sufficient oxidation and sedimentation, and then flows into the primary biological purification tank. After purification in the biological purification tank, it enters the micro-ecological purification tank for further micro-ecological treatment. Once the water quality meets standards, it is reused, achieving full recycling of aquaculture water. Although this technical solution achieves wastewater purification in the circulating water system, it lacks effective identification and detection methods for the volume or type of wastewater in the system, thus failing to achieve accurate and timely wastewater treatment. Summary of the Invention

[0004] To address this issue, the present invention provides an automated wastewater treatment method for recirculating aquaculture systems based on visual recognition, which solves the problem of low wastewater treatment efficiency caused by the lack of effective identification and detection methods for the volume or type of waste in the existing recirculating aquaculture system.

[0005] To achieve the above objectives, the present invention provides an automated wastewater treatment method for recirculating aquaculture systems based on visual recognition, comprising: Continuous image acquisition is performed on the circulating water system to obtain several first images; Acquire several first images and perform preprocessing to obtain corresponding second images; Acquire several second images and identify the corresponding sludge parameters, and perform sludge analysis based on the sludge parameters to determine the urgency index for sludge discharge. The parameters include the average height of the sludge layer, the density of fish feces, and the percentage of uneaten food. The opening degree characterization value of the sewage discharge device is determined based on the sewage discharge urgency index, and the sludge height change difference is determined based on the change in the average height of the sludge layer before and after the sewage discharge device executes the corresponding sewage discharge command. The system controls the sewage discharge device to execute the sewage discharge command based on the opening degree characterization value, and determines whether the current sewage discharge process meets the standard based on the sludge height change difference, and determines the corresponding parameters based on the determination result. The parameters include aerator power, single sewage discharge duration, and backwashing frequency.

[0006] Furthermore, the circulating water system is divided into several regions, and continuous image acquisition is performed on several regions to determine the opening degree characterization value of the sewage discharge device corresponding to each region; The sewage discharge level of the corresponding area is determined based on several opening degree characterization values, and the number of sewage discharge devices activated in the corresponding area and the corresponding sewage discharge instructions are determined based on the sewage discharge level, wherein the sewage discharge instructions are divided into multiple different levels of instructions.

[0007] Furthermore, when determining whether to perform sewage discharge treatment, the sewage discharge device executes the sewage discharge command when the sewage parameters reach the triggering conditions. The triggering conditions include the average height of the sludge layer being greater than the preset average height of the sludge layer, the fish feces density being greater than the preset fish feces density and the settling velocity being less than the preset settling velocity, and the proportion of uneaten food being greater than the preset proportion of uneaten food. Sewage discharge treatment is performed when any of the triggering conditions are met.

[0008] Furthermore, the process of determining whether the current sewage discharge process meets the standards based on the difference in sludge height includes: If the difference in sludge height meets the first monitoring condition, the sewage discharge process is determined to meet the standard. If the first monitoring condition is not met, it is determined whether the second monitoring condition is met. If the second monitoring condition is met, the reason for the non-compliance of the sewage discharge process and the corresponding treatment are determined based on the fish sinking ratio. Alternatively, if the second monitoring conditions are not met, the reasons for the non-compliance of the sewage discharge process and the corresponding treatment can be determined based on the difference in sludge height. The sinking ratio of the fish group is determined based on the second image before and after the sewage discharge device executes the corresponding sewage discharge command. The first monitoring condition is that the difference in sludge height is greater than the first preset difference in sludge height, and the second monitoring condition is that the difference in sludge height is less than or equal to the first preset difference in sludge height and greater than the second preset difference in sludge height.

[0009] Furthermore, when it is determined that the difference in sludge height does not meet the first monitoring condition but meets the second monitoring condition, the power of the aerator is adjusted based on the comparison result between the sinking ratio of the fish and the critical sinking ratio of the fish. When it is determined that the difference in sludge height change does not meet the second monitoring condition, the reason for the non-compliance of the sewage discharge process and the corresponding treatment are determined based on the comparison result between the sludge height change offset value and the critical sludge height change offset value. Wherein, the sludge height change offset value is the difference between the second preset sludge height change difference and the sludge height change difference.

[0010] Furthermore, the process of determining the aerator power based on the comparison between the fish shoal sinking ratio and the critical fish shoal sinking ratio includes: When it is determined that the oxygen content in the water is insufficient based on the comparison between the sinking ratio of the fish population and the critical sinking ratio of the fish population, the power of the aerator is increased based on the comparison between the difference in sinking ratio and the preset difference in sinking ratio. The increase in the power of the aerator is positively correlated with the difference in sinking ratio. The sinking ratio difference is the difference between the critical fish swarm sinking ratio and the fish swarm sinking ratio.

[0011] Furthermore, after adjusting the power of the aerator, based on the comparison between the sinking ratio of the fish and the critical sinking ratio of the fish, it is determined that when the oxygen content in the water is insufficient, the duration of the single discharge is extended based on the comparison between the difference in the proportion of uneaten feed and the preset difference in the proportion of uneaten feed. The extension of the duration of the single discharge is positively correlated with the difference in the proportion of uneaten feed. The difference in the percentage of uneaten bait is the difference between the percentage of uneaten bait and the preset percentage of uneaten bait.

[0012] Furthermore, after adjusting the power of the aerator or extending the duration of a single sewage discharge, if the ratio of the fish sinking to the critical ratio of the fish sinking is compared again and it is determined that there is still insufficient oxygen in the water, the reason for the sewage discharge process not meeting the standard and the corresponding treatment are determined based on the sludge height change offset value.

[0013] Furthermore, the process of determining the reasons for non-compliance with standards during wastewater discharge and the corresponding treatment based on the comparison between the sludge height change offset value and the critical sludge height change offset value includes: When it is determined that the reason for non-compliance with standards is that the sewage discharge device is clogged, the backwashing frequency is adjusted based on the inlet and outlet pressure difference. When it is determined that the cause of non-compliance is a malfunction of the sewage discharge device, an alarm will be issued to facilitate manual repair. The inlet and outlet pressure difference is the pressure difference between the inlet and outlet of the circulating water flowing through the sewage discharge device.

[0014] Furthermore, when it is determined that the reason for non-compliance with the standard is that the sewage discharge device is clogged, the backwashing frequency is increased based on the comparison result between the inlet and outlet pressure difference and the preset inlet and outlet pressure difference. The increase in the backwashing frequency is positively correlated with the inlet and outlet pressure difference.

[0015] Compared with existing technologies, the advantages of the visual recognition-based automated wastewater treatment method for recirculating aquaculture systems of the present invention are as follows: This method first continuously acquires a first image of the recirculating aquaculture system, then preprocesses the first image to obtain a second image, identifies waste parameters based on the second image, performs waste analysis based on the waste parameters to determine the wastewater discharge urgency index and calculates the opening degree characterization value, controls the wastewater discharge device to execute the wastewater discharge command based on the opening degree characterization value, determines the sludge height change difference based on the change in average sludge layer height before and after wastewater discharge, determines whether the current wastewater discharge process meets the standards, and adjusts the corresponding parameters based on the determination result, thereby enhancing wastewater treatment capacity and improving wastewater discharge efficiency.

[0016] Furthermore, by dividing the overall circulating water system into zones, the present invention can determine different sewage discharge levels based on the sewage discharge urgency index of different zones, and then determine the number of sewage discharge devices to be activated and the corresponding sewage discharge instructions based on the sewage discharge level. This allows for precise sewage discharge control and management through zoning, thereby improving sewage discharge efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the modules of the visual recognition-based automated wastewater treatment system for recirculating aquaculture in this invention. Figure 2 This is a schematic diagram of the automated wastewater treatment method for recirculating aquaculture based on visual recognition in this invention. Figure 3 This is a logic diagram for determining whether the sewage discharge process meets the standard based on the difference in sludge height and for corresponding treatment based on the sinking ratio of fish in this invention. Figure 4 This is a logic diagram for determining the reasons why the sewage discharge process does not meet the standards and the corresponding treatment based on the sludge height change offset value in this invention. Detailed Implementation

[0018] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0019] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0020] It should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] Please see Figure 1 The diagram shows a modular schematic of the automated wastewater treatment system for recirculating aquaculture systems based on visual recognition, as described in this embodiment. The system includes an image acquisition module, a data processing module, a waste identification module, a data center module, a control module, an aerator, a wastewater discharge device, and a backwashing device. The image acquisition module continuously acquires images of the recirculating aquaculture system to obtain several first images. The data processing module, connected to the image acquisition module, acquires several first images and performs preprocessing to obtain corresponding second images. The waste identification module, connected to the data processing module, acquires several second images and identifies corresponding waste parameters, and performs waste analysis based on these parameters to determine a wastewater discharge urgency index. These parameters include the average height of the sludge layer, fish feces density, and the percentage of uneaten feed. The data center module, connected to the wastewater identification module, determines the opening degree of the wastewater discharge device based on the wastewater discharge urgency index, and determines the average height of the sludge layer before and after the wastewater discharge device executes a corresponding wastewater discharge command. The changes in sludge height are determined by the control module, which is connected to the data center module and several of the discharge devices. The control module controls the discharge devices to execute the discharge command based on the opening value, determines whether the current discharge process meets the standard based on the sludge height change difference, and determines corresponding parameters based on the determination result. These parameters include aerator power, single discharge duration, and backwashing frequency. When adjusting aerator power, the control module connected to the aerator adjusts the aerator power. When adjusting single discharge duration, the control module connected to the discharge device adjusts the single discharge duration. When adjusting backwashing frequency, the control module connected to the backwashing device adjusts the backwashing frequency.

[0022] Please see Figure 2 The diagram shown is a flowchart of the automated wastewater treatment method for recirculating aquaculture systems based on visual recognition, as described in this embodiment. The process includes at least the following steps: S1: Continuously acquire images of the circulating water system to obtain several first images; S2: Acquire several first images and perform preprocessing to obtain corresponding second images; S3: Acquire several second images and identify the corresponding sludge parameters, and perform sludge analysis based on the sludge parameters to determine the sludge discharge urgency index. The parameters include the average height of the sludge layer, the density of fish feces, and the proportion of uneaten food. S4; Determine the opening value of the sewage discharge device based on the sewage discharge urgency index, and determine the sludge height change difference based on the change in the average sludge layer height before and after the sewage discharge device executes the corresponding sewage discharge command; S5: Based on the opening degree characterization value, the sewage discharge device executes the sewage discharge command, and based on the sludge height change difference, it determines whether the current sewage discharge process meets the standard, and determines the corresponding parameters according to the determination result. The parameters include aerator power, single sewage discharge duration, and backwashing frequency.

[0023] Specifically, in this embodiment, the image acquisition module uses multiple dedicated multispectral industrial cameras and underwater high-definition cameras, as well as an LED supplementary lighting system, which are rationally arranged in the space of the circulating water system. These are all existing technologies and will not be described in detail here. Before determining to carry out sewage discharge treatment, a weighted decision model is constructed, and a fuzzy PID control framework combined with a dynamic weight allocation algorithm is used to calculate the sewage discharge urgency index. Based on the sewage discharge urgency index, the opening degree characterization value is determined, and then the control module controls the sewage discharge device to execute the corresponding sewage discharge command according to the opening degree characterization value. After the sewage discharge device discharges sewage, the second image acquired continuously is compared before and after to obtain the average height of the sludge layer before and after sewage discharge. The two are compared to determine the difference in sludge height change. The average height of the sludge layer is the average height value of the overall sludge in the area. The sludge layer contains fish feces, uneaten food, and other impurities. The preprocessing process for the first image includes image enhancement, noise reduction, and normalization, which are all existing technologies and will not be described in detail here.

[0024] Furthermore, the circulating water system is divided into several regions, and continuous image acquisition is performed on several regions to determine the opening degree characterization value of the sewage discharge device corresponding to each region; the sewage discharge level of the corresponding region is determined based on several opening degree characterization values, and the number of sewage discharge devices activated in the corresponding region and the corresponding sewage discharge command are determined based on the sewage discharge level, wherein the sewage discharge command is divided into multiple different levels of command.

[0025] Specifically, in this embodiment, the circulating water system is divided into several zones. Different opening degree characterization values ​​are obtained for each zone to determine its corresponding sewage discharge level. Then, based on the sewage discharge level, corresponding sewage discharge instructions are executed, thereby achieving precise sewage discharge control and efficient resource utilization in the recirculating aquaculture system. The size of each zone in the three-dimensional space is approximately the same. Sewage discharge levels include key sewage discharge level, medium sewage discharge level, and general sewage discharge level. Higher-level zones have more sewage discharge devices activated. Sewage discharge instructions can be divided into multiple levels, such as Level 1, Level 2, and Level 3. The higher the sewage discharge level, the greater the sewage discharge intensity. Level 1 sewage discharge instructions correspond to the key sewage discharge level, and the sewage discharge intensity of the other instructions decreases sequentially. In other embodiments, if there are other sewage discharge levels, the corresponding instructions are added sequentially, such as Level 4 and Level 5 sewage discharge instructions.

[0026] Furthermore, when determining whether to perform sewage discharge treatment, the sewage discharge device executes the sewage discharge command when the sewage parameters reach the triggering conditions. The triggering conditions include the average height of the sludge layer being greater than the preset average height of the sludge layer, the fish feces density being greater than the preset fish feces density and the settling velocity being less than the preset settling velocity, and the proportion of uneaten food being greater than the preset proportion of uneaten food. Sewage discharge treatment is performed when any of the triggering conditions are met.

[0027] Specifically, in this embodiment, sewage discharge is determined when any one of the following conditions is met: the average height of the sludge layer Q is greater than the preset average height of the sludge Q0; the fish feces density W is greater than the preset fish feces density W0 and the settling velocity A is less than the preset settling velocity A0; or the proportion of uneaten feed Z is greater than the preset proportion of uneaten feed Z0. In this embodiment, historical data is used to set the corresponding preset thresholds. For example, Q0 = 30cm, W0 = 200 particles / L, A0 = 0.2cm / s, and Z0 = 60%. When Q is greater than Q0, it indicates severe sludge accumulation in the fishpond, affecting the survival of fish in the system. When W is greater than W0 and A is less than A0, it indicates a risk of waste accumulation. When Z is greater than Z0, it indicates a relatively large amount of fish food remaining in the system, which may lead to decay. Therefore, sewage discharge is required when any of the above triggering conditions are met to improve the living environment for fish and increase their survival rate.

[0028] Please see Figure 3The diagram illustrates the logic for determining whether the sewage discharge process meets standards based on the sludge height change difference and for corresponding processing based on the fish sinking ratio in this embodiment. The process of determining whether the current sewage discharge process meets standards based on the sludge height change difference includes: if the sludge height change difference meets a first monitoring condition, the sewage discharge process is determined to meet the standards; if it does not meet the first monitoring condition, it is determined whether it meets a second monitoring condition, and if it meets the second monitoring condition, the reason for the sewage discharge process not meeting the standards and the corresponding processing are determined based on the fish sinking ratio; or if it does not meet the second monitoring condition, the reason for the sewage discharge process not meeting the standards and the corresponding processing are determined based on the sludge height change difference; wherein, the fish sinking ratio is determined based on the second image before and after the sewage discharge device executes the corresponding sewage discharge command, the first monitoring condition is that the sludge height change difference is greater than a first preset sludge height change difference, and the second monitoring condition is that the sludge height change difference is less than or equal to the first preset sludge height change difference and greater than the second preset sludge height change difference.

[0029] Specifically, in this embodiment, the changes in the proportion of fish sinking in the area before and after sewage discharge are identified by using second images obtained before and after the sewage discharge to determine whether there is any abnormality in the sewage discharge process, and to make corresponding adjustments when an abnormality is found. A preset sludge height change difference Y0 corresponding to the sludge height change difference Y is set as a comparison threshold. The comparison result of Y and Y0 is used to determine whether the current sewage discharge process meets the standard, and if it does not meet the standard, the specific reason can be determined based on the comparison result of Y and Y0. The subsequent preset or critical parameter values ​​are determined based on the parameters that meet the standard in the historical sewage discharge process and combined with statistical analysis methods. In order to more accurately judge the sewage discharge process and refine the corresponding parameter adjustments, Y0 can be divided into a first preset sludge height change difference Y1 and a second preset sludge height change difference Y2, with Y1=20cm and Y2=15cm. Y1 is used as the qualified limit value and Y2 is used as the warning trigger value. The comparison process of Y with Y1 and Y2 is as follows: If Y is greater than Y1, the first monitoring condition is met, indicating that the current sewage discharge has achieved the standard sludge reduction and the waste removal efficiency meets the requirements, thus the current sewage discharge process is deemed compliant. If Y is less than or equal to Y1 and greater than Y2, the first monitoring condition is not met, but the second monitoring condition is met, indicating that although the current Y exceeds the acceptable limit, it has not exceeded the warning trigger value, suggesting that the problem in the current sewage discharge process is relatively minor. By introducing a new parameter, the fish sinking ratio, the sinking situation of the fish in the area before and after sewage treatment is determined to further assess the current sewage discharge process. Analyzing biological behavior is more sensitive and reliable than using general sensors. The new parameter avoids relying on a single indicator for judgment, thereby improving the accuracy of the judgment process. In particular, if most of the fish still float on the surface and do not sink after a period of time after sewage treatment, it indicates that the sewage discharge effect is poor, and the long-term suspension of the fish also indicates poor bottom water quality. If Y is less than or equal to Y2, the second monitoring condition is not met, indicating that the current sludge removal is insufficient and there is a relatively large amount of sludge remaining. It is determined that the current sewage discharge process does not meet the standard. At this time, the difference between Y2 and Y can be calculated to obtain the sludge height change offset value D. Based on D, the reason for not meeting the standard can be determined and corresponding adjustments can be made.

[0030] Furthermore, when it is determined that the sludge height change difference does not meet the first monitoring condition but meets the second monitoring condition, the power of the aerator is adjusted based on the comparison result of the fish sinking ratio and the critical fish sinking ratio; when it is determined that the sludge height change difference does not meet the second monitoring condition, the reason for the non-compliance of the sewage discharge process and the corresponding treatment are determined based on the comparison result of the sludge height change offset value and the critical sludge height change offset value; wherein, the sludge height change offset value is the difference between the second preset sludge height change difference and the sludge height change difference.

[0031] Specifically, in this embodiment, during the sewage discharge process, when it is determined that the sludge height change difference Y meets the second monitoring condition, the reason for non-compliance can be determined based on the fish sinking ratio K. If the reason is insufficient oxygen in the water, the circulating water quality can be improved by increasing the power of the aerator to eliminate the fish suspension problem. When it is determined that Y does not meet the second monitoring condition, the reason for non-compliance during the sewage discharge process and the corresponding treatment method can be determined based on the comparison between the sludge height change offset value D and the critical sludge height change offset value D0. A critical fish sinking ratio K0 = 80% is set. The parameter at this time is the fish sinking ratio threshold statistically obtained within 1 hour after sewage discharge. The comparison process based on K and K0 is as follows: If K is greater than K0, it indicates that the current rate of fish sinking meets the requirements, meaning the bottom water quality after the sewage discharge is suitable for the fish. In this case, even if Y does not meet the first monitoring condition, no adjustment to the sewage discharge parameters is needed. If K is less than or equal to K0, it indicates that the current rate of fish sinking does not meet the requirements, meaning the fish are unwilling to sink to the bottom. The fish perceive the bottom water quality as poor and unable to provide a good living environment. In this case, the aerator power can be increased to ensure the fish's safety while waiting for the next sewage discharge.

[0032] Furthermore, the process of determining the adjustment of the aerator power based on the comparison result of the fish sinking ratio and the critical fish sinking ratio includes: when it is determined that the oxygen content in the water is insufficient based on the comparison result of the fish sinking ratio and the critical fish sinking ratio, the aerator power is increased based on the comparison result of the sinking ratio difference and the preset sinking ratio difference, and the increase in aerator power is positively correlated with the sinking ratio difference; wherein, the sinking ratio difference is the difference between the critical fish sinking ratio and the fish sinking ratio.

[0033] Specifically, in this embodiment, the settling ratio difference F is the difference between K0 and K. The larger F is, the smaller K is, indicating poorer water quality. In this case, a greater increase in aerator power is needed to increase the oxygen content in the water. Therefore, the aerator power increases with increasing F. To more accurately determine the increase in aerator power, the preset settling ratio difference F0 can be divided into a first preset settling ratio difference F1 and a second preset settling ratio difference F2, set as F1=5% and F2=8%. The comparison process between F and F1 and F2 is as follows: If F is less than or equal to F1, a first aerator power adjustment command is generated, increasing the aerator's power by 15% based on the original power. If F is greater than F1 and less than or equal to F2, a second aerator power adjustment command is generated, increasing the aerator's power by 30% based on the original power. If F is greater than F2, a third aerator power adjustment command is generated, increasing the aerator's power by 45% based on the original power. It is understood that the aerator power increase can also be set to other acceptable values, such as increasing the power by 20% when F is less than or equal to F1. It should be noted that the aerator power increase is limited to a level that will not cause strong flow stress to the circulating water or other negative effects.

[0034] Furthermore, after adjusting the power of the aerator, based on the comparison between the sinking ratio of the fish population and the critical sinking ratio of the fish population, it is determined that when the oxygen content in the water is insufficient, the duration of the single discharge is extended based on the comparison between the difference in the proportion of uneaten feed and the preset difference in the proportion of uneaten feed. The extension of the duration of the single discharge is positively correlated with the difference in the proportion of uneaten feed; wherein, the difference in the proportion of uneaten feed is the difference between the proportion of uneaten feed and the preset proportion of uneaten feed.

[0035] Specifically, in this embodiment, after adjusting the aerator power, if the fish are still suspended in the air, the duration of each discharge from the sludge removal device needs to be extended. This allows for deeper removal of decaying feed residue during the next discharge, reducing oxygen consumption and improving the fish's living environment. The larger the residue ratio difference C, the greater the removal effort required; therefore, the duration of each discharge increases with increasing C. To more accurately determine the duration of each discharge, the preset residue ratio difference C0 can be divided into a first preset residue ratio difference C1 and a second preset residue ratio difference C2, with C1 = 6% and C2 = 12%. The comparison process between C and C1 and C2 is as follows: If C is less than or equal to C1, a first sewage discharge duration adjustment command is generated, which extends the sewage discharge device's original single sewage discharge duration by 10%. If C is greater than C1 and less than or equal to C2, a second sewage discharge duration adjustment command is generated, which extends the sewage discharge device's original single sewage discharge duration by 20%. If C is greater than C2, a third sewage discharge duration adjustment command is generated, which extends the sewage discharge device's original single sewage discharge duration by 30%. It is understood that the extension range of the single sewage discharge duration can also be set to other acceptable values, for example, when C is greater than C2, the original single sewage discharge duration can be extended by 35%. It should be noted that the extension range of the single sewage discharge duration is limited to a level that will not negatively impact the fish's living environment.

[0036] Furthermore, after adjusting the power of the aerator or extending the duration of a single sewage discharge, if the ratio of the fish sinking to the critical ratio of the fish sinking is compared again and it is determined that there is still insufficient oxygen in the water, the reason for the sewage discharge process not meeting the standard and the corresponding treatment are determined based on the sludge height change offset value.

[0037] Specifically, in this embodiment, when the reason why the sewage discharge process does not meet the standard is determined based on the sinking ratio of the fish, the adjustment of increasing the power of the aerator and extending the duration of a single sewage discharge is determined based on the comparison result of the sinking ratio difference and the preset sinking ratio difference. Then, the oxygen content in the water is verified again based on the comparison result of the sinking ratio of the fish and the critical sinking ratio of the fish. If the fish are still suspended, even if Y meets the second monitoring condition, the reason why the sewage discharge process does not meet the standard and the corresponding treatment method can be determined directly based on the comparison result of the sludge height change offset value D and the critical sludge height change offset value D0.

[0038] Please see Figure 4 As shown, this is a logic diagram illustrating the determination of the reasons for non-compliance with standards during the wastewater discharge process and the corresponding handling based on the sludge height change offset value in this embodiment. The process of determining the reasons for non-compliance with standards and the corresponding handling based on the comparison between the sludge height change offset value and the critical sludge height change offset value includes: when the cause of non-compliance is determined to be blockage of the wastewater discharge device, adjusting the backwashing frequency based on the inlet and outlet pressure difference; when the cause of non-compliance is determined to be a malfunction of the wastewater discharge device, issuing an alarm for manual repair; wherein, the inlet and outlet pressure difference is the pressure difference between the inlet and outlet of the circulating water flowing through the wastewater discharge device.

[0039] Specifically, in this embodiment, the reasons why the sewage discharge process does not meet the standards are analyzed by comparing the sludge height change offset value D with the critical sludge height change offset value D0. It is assumed that other situations will not affect this analysis process, and D0 can be set to 4cm. The comparison process based on D and D0 is as follows: If D is less than or equal to D0, it indicates that although the current sludge removal is insufficient, Y is quite close to Y2, meaning the discharge device is still removing a significant amount of sludge. In this case, the cause of non-compliance is blockage in the discharge device. The backwashing frequency needs to be adjusted based on the inlet / outlet pressure difference G and the preset inlet / outlet pressure difference G0. Increasing the backwashing frequency removes the sludge or other impurities clogging the discharge device, thereby improving discharge efficiency. If D is greater than D0, it means that Y is a smaller value than Y2, and the sludge layer height decreases very little. Therefore, the cause of non-compliance is a malfunction in the discharge device. Since the malfunction prevents sludge removal, an alarm is triggered, and personnel are dispatched to inspect and repair the entire system to resolve the fault.

[0040] Furthermore, when it is determined that the reason for non-compliance with the standard is that the sewage discharge device is clogged, the backwashing frequency is increased based on the comparison result between the inlet and outlet pressure difference and the preset inlet and outlet pressure difference. The increase in the backwashing frequency is positively correlated with the inlet and outlet pressure difference.

[0041] Specifically, in this embodiment, the larger the inlet and outlet pressure difference G, the more severe the blockage of the sewage discharge device. In this case, the greater the increase in backwashing frequency, the better. Increasing the backwashing frequency removes sludge or other impurities adhering to the sewage discharge device. To more accurately determine the increase in backwashing frequency, the preset inlet and outlet pressure difference G0 can be divided into a first preset inlet and outlet pressure difference G1 and a second preset inlet and outlet pressure difference G2, with G1 = 5 kPa and G2 = 8 kPa. The comparison process between G and G1 and G2 is as follows: If G is less than or equal to G1, a first backwash frequency adjustment command is generated, which controls the backwashing device to increase the backwash frequency to 6 times / hour. If G is greater than G1 and less than or equal to G2, a second backwash frequency adjustment command is generated, which controls the backwashing device to increase the backwash frequency to 7 times / hour. If G is greater than G2, a third backwash frequency adjustment command is generated, which controls the backwashing device to increase the backwash frequency to 8 times / hour. It is understood that the increase in backwash frequency can also be set to other acceptable values. For example, when G is less than or equal to G1, the backwash frequency can be increased to 5 times / hour, ensuring it is higher than the original backwash frequency. It should be noted that the increase in backwash frequency is limited to a level that will not negatively impact the sewage discharge device.

[0042] It is understood that no specific limitation is made to any preset parameter or critical parameter in the embodiments of the present invention, and the above values ​​are not limited thereto. Those skilled in the art can make corresponding adjustments to the preset parameters or critical parameters according to actual needs, analysis of historical data, or equipment usage.

[0043] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual recognition-based automatic processing method for sewage of recirculating aquaculture, characterized in that, The method comprises: continuously capturing images of the circulating water system to obtain a plurality of first images; obtaining and preprocessing the plurality of first images to obtain corresponding second images; obtaining the plurality of second images and identifying corresponding sewage parameters, and performing sewage analysis and processing based on the sewage parameters to determine a sewage urgency index, wherein the parameters include sludge layer average height, fish manure density, and residual bait proportion; determining an opening degree representation value of the sewage device based on the sewage urgency index, and determining a sludge height change difference based on the change in the sludge layer average height before and after the sewage device executes a corresponding sewage instruction; controlling the sewage device to execute the sewage instruction based on the opening degree representation value, and determining whether the current sewage process meets the standard based on the sludge height change difference, and determining corresponding parameters according to the determination result, wherein the parameters include oxygenator power, single sewage duration, and backwashing frequency.

2. The automatic visual recognition-based wastewater treatment method for recirculating aquaculture according to claim 1, wherein, dividing the circulating water system into a plurality of regions, and continuously capturing images of the plurality of regions to determine the opening degree representation value of the sewage device corresponding to each region; determining a sewage level of the corresponding region based on the plurality of opening degree representation values, and determining the number of sewage devices enabled in the corresponding region and the corresponding sewage instruction based on the sewage level, wherein the sewage instruction is divided into instructions of different levels.

3. The visual recognition based automatic process method for pollution treatment in recirculating aquaculture according to any one of claims 1 or 2, characterized in that, When determining whether to perform sewage treatment, the sewage device executes the sewage instruction when the sewage parameters meet a triggering condition, wherein the triggering condition includes that the sludge layer average height is greater than a preset sludge average height, the fish manure density is greater than a preset fish manure density and the settling velocity is less than a preset settling velocity, and the residual bait proportion is greater than a preset residual bait proportion, and sewage treatment is performed when any triggering condition is met.

4. The automatic visual recognition-based wastewater treatment method for recirculating aquaculture according to claim 1, wherein, The process of determining whether the current sewage process meets the standard based on the sludge height change difference comprises: if the sludge height change difference meets a first monitoring condition, it is determined that the sewage process meets the standard; if the first monitoring condition is not met, it is determined whether a second monitoring condition is met, and if the second monitoring condition is met, the reason why the sewage process does not meet the standard and the corresponding processing are determined based on the fish group sinking ratio; or if the second monitoring condition is not met, the reason why the sewage process does not meet the standard and the corresponding processing are determined based on the sludge height change difference; wherein the fish group sinking ratio is determined based on the second images before and after the sewage device executes the corresponding sewage instruction, the first monitoring condition is that the sludge height change difference is greater than a first preset sludge height change difference, and the second monitoring condition is that the sludge height change difference is less than or equal to the first preset sludge height change difference and greater than a second preset sludge height change difference.

5. The visual recognition-based automatic treatment method for pollution discharge in recirculating aquaculture according to claim 4, characterized in that, When it is determined that the sludge height change difference does not meet the first monitoring condition but meets the second monitoring condition, the oxygenator power is adjusted based on the comparison result of the fish group sinking ratio and a critical fish group sinking ratio. When it is determined that the sludge height change difference does not meet the second monitoring condition, the reason why the sewage process does not meet the standard and the corresponding processing are determined based on the comparison result of the sludge height change offset value and a critical sludge height change offset value. The sludge height change offset value is a difference between the second preset sludge height change difference and the sludge height change difference.

6. The visual recognition-based automatic treatment method for pollution discharge in recirculating aquaculture according to claim 5, characterized in that, The process of adjusting the power of the oxygenator based on the comparison result of the fish school sinking ratio and the critical fish school sinking ratio includes: When it is determined that the oxygen in the water is insufficient based on the comparison result of the fish school sinking ratio and the critical fish school sinking ratio, the power of the oxygenator is increased based on a comparison result of a sinking ratio difference and a preset sinking ratio difference, and the increase in the power of the oxygenator is positively correlated with the sinking ratio difference. The sinking ratio difference is a difference between the critical fish school sinking ratio and the fish school sinking ratio.

7. The visual recognition-based automatic treatment method for pollution discharge in recirculating aquaculture according to claim 6, characterized in that, After the adjustment of the power of the oxygenator is completed, when it is determined again that the oxygen in the water is insufficient based on the comparison result of the fish school sinking ratio and the critical fish school sinking ratio, the single sludge discharge duration is extended based on a comparison result of a residual feed ratio difference and a preset residual feed ratio difference, and the extension of the single sludge discharge duration is positively correlated with the residual feed ratio difference. The residual feed ratio difference is a difference between the residual feed ratio and a preset residual feed ratio.

8. The visual recognition-based automatic treatment method for pollution discharge in recirculating aquaculture according to claim 7, characterized in that, After the adjustment of the increase in the power of the oxygenator or the adjustment of the extension of the single sludge discharge duration is completed, when it is determined again that the oxygen in the water is insufficient based on the comparison of the fish school sinking ratio and the critical fish school sinking ratio, the reason why the sludge discharge process does not meet the standard and the corresponding treatment are determined based on the sludge height change offset value. 9.The visual recognition based automatic treatment method for pollution discharge in recirculating aquaculture according to claim 5, characterized in that, The process of determining the reason why the sludge discharge process does not meet the standard and the corresponding treatment based on the comparison result of the sludge height change offset value and a critical sludge height change offset value includes: When it is determined that the reason why the sludge discharge process does not meet the standard is that the sludge discharge device is blocked, the backwashing frequency is adjusted based on an inlet and outlet pressure difference. When it is determined that the reason why the sludge discharge process does not meet the standard is that the sludge discharge device is faulty, an alarm is sent for manual maintenance. The inlet and outlet pressure difference is a difference between pressures of an inlet and an outlet of the sludge discharge device through which the circulating water flows.

10. The visual recognition-based automatic treatment method for sewage of recirculating aquaculture according to claim 9, characterized in that, When it is determined that the reason why the sludge discharge process does not meet the standard is that the sludge discharge device is blocked, the backwashing frequency is increased based on a comparison result of the inlet and outlet pressure difference and a preset inlet and outlet pressure difference, and the increase in the backwashing frequency is positively correlated with the inlet and outlet pressure difference.

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