Breeding equipment cooperative scheduling method and system, and storage medium

Abstract

Embodiments of the present application provide a kind of breeding equipment collaborative scheduling method, system and storage medium, belong to equipment collaborative control technical field.The method comprises: obtaining the task data and environmental state data of each breeding equipment task in target breeding area;Based on the task data and the environmental state data, the environmental state debt corresponding to each breeding equipment task is determined;Based on the environmental state debt, environmental state debt transmission graph is constructed, and the environmental state debt transmission graph is used to represent the correlation between each breeding equipment task formed by environmental residual influence;Based on the environmental state debt transmission graph, the scheduling adaptation value of the breeding equipment task to be started at each candidate starting time is calculated;Based on the scheduling adaptation value, breeding equipment collaborative scheduling plan is generated.The present application scheme drives multi-device staggered scheduling by environmental state debt, reduces the implicit interference between breeding operations, and improves the efficiency of equipment collaboration.

Description

Technical Field

[0001] This invention relates to the field of equipment collaborative control technology, and specifically to a method, system and storage medium for collaborative scheduling of aquaculture equipment. Background Technology

[0002] As automation levels increase in large-scale farms, equipment such as manure removal, ventilation, spraying, feeding, and disinfection systems are gradually shifting from manual operation to scheduled operation or centralized control. In on-site management, these devices typically start at preset times or are scheduled by a management platform based on their idle status. This method reduces manual inspections and repetitive operations; however, in farmhouses with multiple types of equipment operating intensively, simply scheduling based on task times and equipment idle status often fails to accurately reflect the mutual influence between operations.

[0003] In actual aquaculture environments, the completion of a single equipment task does not necessarily mean the end of its impact on the on-site environment. For example, after manure removal, fluctuations in ammonia, hydrogen sulfide, and dust levels can occur in manure ditches, scraper channels, and pen floors within a short period. Spraying operations can reduce localized dust, but they can increase humidity in the pen area and affect subsequent feeding conditions. Disinfection operations require a certain period of contact after completion; if ventilation equipment is immediately switched to high-speed operation, the disinfection residue effect can be weakened. While ventilation equipment can release gas disturbances, it may carry disturbances from the upwind side of the pen area to the downwind side. Therefore, the relationship between aquaculture equipment is not a simple sequential relationship, nor merely a matter of equipment resource occupancy, but rather involves post-operation environmental residual effects and inter-pen transfer effects.

[0004] Existing scheduling methods typically focus on conditions such as equipment idleness, task completion, and whether the same equipment is repeatedly used, while neglecting implicit constraints such as the gas disturbance period after manure cleaning, the humidity recovery period after spraying, and the residual retention period after disinfection. Although some systems can collect environmental data such as temperature, humidity, and gas concentration, this data is mostly used for alarms or single-device control, and rarely further transformed into scheduling constraints between multiple equipment tasks. Therefore, even when all equipment is operational, problems such as excessively short intervals between spraying and feeding, overlap between disinfection and high-level ventilation, and premature operation in the downwind side enclosure area may still occur, causing different processes to cancel each other out, thereby reducing operational continuity and management stability.

[0005] Therefore, there is an urgent need to propose a collaborative scheduling method for aquaculture equipment that can incorporate the residual environmental impact of each equipment task into the scheduling process without increasing the number of aquaculture equipment. Furthermore, based on the environmental transmission relationship between different pen areas and the interaction relationship between equipment tasks, the method can dynamically determine the start time and execution order of subsequent equipment tasks. This would at least solve the problems of difficulty in identifying hidden environmental interference and easy mutual cancellation of equipment tasks in the existing aquaculture equipment scheduling. Summary of the Invention

[0006] The purpose of this invention is to provide a method, system, and storage medium for collaborative scheduling of aquaculture equipment, so as to at least solve the problem that it is difficult to identify residual environmental interference after operation in the existing scheduling of aquaculture equipment, resulting in poor equipment task coordination.

[0007] To achieve the above objectives, the first aspect of the present invention provides a method for collaborative scheduling of aquaculture equipment, the method comprising: acquiring task data and environmental status data of each aquaculture equipment task in a target aquaculture area; determining the environmental status debt corresponding to each aquaculture equipment task based on the task data and the environmental status data; constructing an environmental status debt transfer graph based on the environmental status debt, the environmental status debt transfer graph being used to characterize the correlation between each aquaculture equipment task formed by environmental residual effects; calculating the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time based on the environmental status debt transfer graph; and generating a collaborative scheduling plan for aquaculture equipment based on the scheduling adaptation value.

[0008] Optionally, task data and environmental status data of each aquaculture equipment task in the target aquaculture area are obtained, including: obtaining the equipment type, planned operation time, operation duration and function area of ​​each aquaculture equipment task to form the task data; collecting gas concentration data, humidity data, dust concentration data and ventilation status data corresponding to each function area to form the environmental status data; and associating the task data with the environmental status data of the corresponding function area based on the function area.

[0009] Optionally, based on the task data and the environmental state data, the environmental state debt corresponding to each aquaculture equipment task is determined, including: determining the debt type corresponding to each aquaculture equipment task based on the equipment type, wherein the debt type includes at least one of gas disturbance debt, humidity debt, dust debt, and disinfection residue debt; determining the operation end time corresponding to each aquaculture equipment task based on the planned operation time and the operation duration; calculating the initial debt value corresponding to each debt type based on the equipment type, the operation end time, and the environmental state data corresponding to the operation end time; and associating the debt type and the corresponding initial debt value with the corresponding aquaculture equipment task to obtain the environmental state debt corresponding to each aquaculture equipment task.

[0010] Optionally, constructing an environmental state debt transfer graph based on the environmental state debt includes: determining the domain association relationship between each aquaculture equipment task based on the domain of each aquaculture equipment task; determining the transfer relationship of the environmental state debt corresponding to each aquaculture equipment task between different domains based on the domain association relationship; determining the task edge weights between each aquaculture equipment task based on the release effect of each aquaculture equipment task on the environmental state debt and the destruction effect on the results of previous operations; and constructing the environmental state debt transfer graph based on the transfer relationship and the task edge weights.

[0011] Optionally, based on the release effect of each aquaculture equipment task on the environmental state debt and the destructive effect on the results of preceding operations, the task edge weights between each aquaculture equipment task are determined, including: determining the release effect value of the subsequent aquaculture equipment task on the environmental state debt formed by the preceding aquaculture equipment task; determining the destructive effect value of the subsequent aquaculture equipment task on the results of the preceding operations of the preceding aquaculture equipment task; calculating the comprehensive effect value between the preceding aquaculture equipment task and the subsequent aquaculture equipment task based on the release effect value and the destructive effect value; and using the comprehensive effect value as the task edge weight between the preceding aquaculture equipment task and the subsequent aquaculture equipment task.

[0012] Optionally, based on the environmental state debt transfer graph, the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time is calculated, including: determining the associated environmental state debt and associated task edge weights corresponding to the aquaculture equipment task to be started at each candidate start time based on the environmental state debt transfer graph; calculating the environmental adaptation value of the aquaculture equipment task to be started at each candidate start time based on the associated environmental state debt; calculating the task coordination value of the aquaculture equipment task to be started at each candidate start time based on the associated task edge weights; and obtaining the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time based on the environmental adaptation value and the task coordination value.

[0013] Optionally, calculating the task coordination value of the aquaculture equipment task to be started at each candidate start time based on the associated task edge weights includes: weighting and summing the associated task edge weights according to the corresponding candidate start time to obtain the task interference value of the corresponding candidate start time; determining the task conflict degree of the corresponding candidate start time based on the difference between the task interference value and a preset interference threshold; and generating the task coordination value according to the task conflict degree, wherein the greater the task conflict degree, the smaller the task coordination value.

[0014] Optionally, generating a collaborative scheduling plan for aquaculture equipment based on the scheduling adaptation value includes: selecting the candidate start time with the largest scheduling adaptation value from among the candidate start times as the target start time for the aquaculture equipment task to be started; determining the execution order of the aquaculture equipment task to be started based on the target start time and the corresponding aquaculture equipment task; determining the operating level and function area corresponding to the aquaculture equipment task to be started based on the environmental state debt transfer diagram; and generating a collaborative scheduling plan for aquaculture equipment based on the target start time, the execution order, the operating level, and the function area.

[0015] A second aspect of the present invention provides a collaborative scheduling system for aquaculture equipment, the system comprising: a data acquisition unit for acquiring task data and environmental status data of each aquaculture equipment task in a target aquaculture area; a debt determination unit for determining environmental status debt corresponding to each aquaculture equipment task based on the task data and the environmental status data; a correlation determination unit for constructing an environmental status debt transfer graph based on the environmental status debt, the environmental status debt transfer graph being used to characterize the correlation between each aquaculture equipment task formed by environmental residual influences; an adaptation value determination unit for calculating the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time based on the environmental status debt transfer graph; and a plan generation unit for generating a collaborative scheduling plan for aquaculture equipment based on the scheduling adaptation value.

[0016] On the other hand, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described aquaculture equipment collaborative scheduling method.

[0017] Through the above technical solution, this invention acquires task data and environmental status data for each aquaculture equipment task, transforming the environmental residual impacts after operations such as manure removal, spraying, ventilation, feeding, and disinfection into calculable environmental status debt. Furthermore, it constructs an environmental status debt transfer graph, enabling explicit expression of implicit interference relationships between different aquaculture equipment tasks. Based on this, a collaborative scheduling plan for aquaculture equipment is generated according to the scheduling adaptation values ​​at each candidate start time. This avoids scheduling solely based on equipment idle status or fixed times, reducing the impact of post-operation gas disturbance, humidity recovery, dust changes, and disinfection residue retention on subsequent tasks, and improving the degree of misaligned collaboration between multiple equipment tasks and the continuity of aquaculture operations.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of the steps of a collaborative scheduling method for aquaculture equipment provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the layout of the fattening pig pen area and the distribution of breeding equipment tasks provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the collaborative scheduling timeline of aquaculture equipment provided in one embodiment of the present invention; Figure 4 This is a system structure diagram of a collaborative scheduling system for aquaculture equipment provided in one embodiment of the present invention; Figure 5 This is an internal structural diagram of a computer device provided in one embodiment of the present invention. Detailed Implementation

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0021] like Figure 1 As shown, embodiments of the present invention provide a method for coordinated scheduling of aquaculture equipment, the method comprising: Step S1: Obtain task data and environmental status data for each aquaculture equipment in the target aquaculture area.

[0022] Specifically, the task data is generated by acquiring the equipment type, planned operation time, operation duration, and affected pen area for each aquaculture equipment task; the environmental status data is generated by collecting gas concentration data, humidity data, dust concentration data, and ventilation status data corresponding to each pen area; and the task data is correlated with the environmental status data of the corresponding pen area based on the affected pen area.

[0023] In this embodiment of the invention, the target breeding area can be a fattening pig house, a layer hen house, a dairy cow house, or other enclosed or semi-enclosed breeding area equipped with various types of automated breeding equipment. The tasks of each breeding equipment can include one or more of the following: manure cleaning, ventilation, spraying, feeding, and disinfection. The specific task type is not limited, as long as the task affects the environmental state of the breeding area during or after its execution, it can be included in the data acquisition scope of this step.

[0024] The management or edge control terminal reads the equipment type, planned operation time, operation duration, and affected pen area for each livestock equipment task from the farm's operation plan, and binds this data according to the task identifier to form task data. For example, the equipment type corresponding to the manure cleaning equipment is manure cleaning equipment, the planned operation time is 06:00, the operation duration is 8 minutes, and the affected pen areas are pens 1 to 3; the equipment type corresponding to the sprinkler equipment is sprinkler equipment, the planned operation time is 06:15, the operation duration is 4 minutes, and the affected pen area is pens 2; the equipment type corresponding to the ventilation equipment is ventilation equipment, the planned operation time is 06:10, the operation duration is 20 minutes, and the affected pen area can be the entire pen or a preset ventilation zone. In this way, each livestock equipment task has clear time and spatial boundaries, which facilitates subsequent determination of which pen areas the task will affect environmental residues.

[0025] Environmental status data can be collected by sensors deployed in or near each pen area. Gas concentration data may include at least one of ammonia concentration, hydrogen sulfide concentration, or carbon dioxide concentration; humidity data is used to characterize the air humidity or ground moisture level in the pen area. Dust concentration data is used to characterize particulate matter changes during operations such as manure removal, feeding, and ventilation. Ventilation status data may include at least one of fan start / stop status, fan speed, inlet opening, or wind speed in the pen area. The above data can be collected according to a preset collection cycle, such as every 30 seconds or every 60 seconds, and stored according to the pen area number and collection time. The collection cycle can be set according to the scale of the breeding area, sensor refresh frequency, and scheduling accuracy; this invention does not impose a fixed limitation on this.

[0026] After obtaining task data and environmental status data, based on the action area in the task data, the tasks of each aquaculture equipment are associated with the environmental status data of the corresponding pen area. If a task acts on a single pen area, the environmental status data of that pen area within a preset time range before and after the task's planned operation time is associated with that task; if a task acts on multiple pen areas, the environmental status data corresponding to each of the multiple pen areas is extracted and a multi-pen area environmental data set corresponding to that task is formed.

[0027] Taking the manure cleaning task applied to areas 1 through 3 as an example, the gas concentration, humidity, dust concentration, and ventilation status data of areas 1, 2, and 3 before and after 06:00 can be read separately and used as the task environment correlation data for this manure cleaning task. The correlation results are used to subsequently determine the gas disturbances and dust changes that occur in different areas after the manure cleaning task is completed, and their impact on subsequent tasks.

[0028] It should be noted that the task data in this step does not necessarily have to come from the same management platform; it can also be provided by the equipment controller, manual shift schedule, historical work records, or the farm's production management system. Environmental status data is not limited to data collected by fixed sensors; it can be obtained by combining mobile inspection equipment, edge acquisition nodes, or data from the equipment's built-in detection. As long as a correspondence can be established between the tasks of the aquaculture equipment and the environmental status within its designated area, it can serve as the data basis for this step.

[0029] Step S2: Based on the task data and the environmental status data, determine the environmental status debt corresponding to each aquaculture equipment task.

[0030] Specifically, based on the equipment type, the debt type corresponding to each aquaculture equipment task is determined, and the debt type includes at least one of gas disturbance debt, humidity debt, dust debt, and disinfection residue debt; based on the planned operation time and the operation duration, the operation end time corresponding to each aquaculture equipment task is determined; based on the equipment type, the operation end time, and the environmental state data corresponding to the operation end time, the initial debt value corresponding to each debt type is calculated; the debt type and the corresponding initial debt value are associated with the corresponding aquaculture equipment task to obtain the environmental state debt corresponding to each aquaculture equipment task.

[0031] In this embodiment of the invention, the environmental impact varies depending on the type of equipment. Manure removal equipment disturbs manure ditches, ground residue, and airflow within the pen area during operation, typically resulting in gas disturbance debt and dust debt upon completion. Spraying equipment can reduce some dust, but creates humidity debt within the pen area. Ventilation equipment is generally used to release gas disturbance debt and humidity debt, but entering a high ventilation state too early after disinfection may weaken the effectiveness of disinfection residue retention. Disinfection equipment creates disinfection residue debt upon completion; this debt is not a burden that needs immediate removal, but rather a result that needs to be maintained for a certain period. Therefore, environmental state debt can be understood as the amount of environmental residue that affects the starting conditions, operating levels, or waiting times of subsequent livestock equipment tasks after the completion of a task. This environmental residue can be either disturbance that needs to be released or effective residue that needs to be maintained.

[0032] Based on the planned operation time and duration in the task data, the end time of each livestock farming equipment task can be determined. For example, if a manure cleaning task is planned to start at 06:00 and last for 8 minutes, its end time is 06:08. The calculation of environmental state debt uses the end time of the operation as the key time point because the moment when the equipment task truly enters the "residual impact stage" usually occurs after the equipment stops operating. For manure cleaning tasks, the gas concentration and dust concentration after the end time of the operation can reflect the initial intensity of the manure cleaning disturbance; for spraying tasks, the humidity data after the end time of the operation can reflect the degree of restriction of spraying on subsequent feeding and ventilation; for disinfection tasks, the end time of the operation and ventilation status data can be used to determine the initial state of the disinfection residue retention window.

[0033] In one specific implementation, the debt type mapping relationship can be determined based on the equipment type. If the equipment type is a manure cleaning device, the corresponding debt types include gas disturbance debt and dust debt; if the equipment type is a spraying device, the corresponding debt types include humidity debt and dust release-related debt; if the equipment type is a disinfection device, the corresponding debt types include disinfection residue debt; if the equipment type is a ventilation device, its gas release effect or residue reduction effect on other tasks can be determined based on its operating level and function area. The above debt types do not require all equipment to possess them simultaneously; each equipment task only needs to be associated with a debt type that matches its own operational impact. After this processing, when constructing the environmental state debt transfer map subsequently, the relationship between different equipment tasks can be determined based on debt types, rather than simply by fixed scheduling based on equipment name or task order.

[0034] The initial debt can be calculated using a normalization method, allowing for comparison of different environmental indicators within the same scheduling model. Taking gas disturbance debt as an example, it can be calculated based on the gas concentration data of the corresponding pen area at the end of the operation, the baseline gas concentration of that pen area before the operation, the preset allowable upper limit of the corresponding gas concentration, and the disturbance coefficient of the equipment type. If the gas concentration at the end of the operation is significantly higher than the baseline value before the operation, the gas disturbance debt is high; if the ventilation is already in a strong release state, the initial debt value can be adjusted accordingly. Humidity debt can be determined based on the deviation between the humidity data after the spraying operation and the allowable humidity for feeding or disinfection. Dust debt can be determined based on the deviation between the dust concentration data and the dust baseline level. Disinfection residue debt can be determined based on the disinfection equipment type, the end time of the operation, and the ventilation status; its essence is to maintain constraints on subsequent spraying and high-level ventilation tasks.

[0035] It should be noted that environmental state debt is not limited to a single fixed formula. Different initial debt calculation rules can be used for different breeding areas, different livestock and poultry types, and different sensor configurations. As long as the calculation rule can obtain the initial debt value used to characterize the strength of subsequent scheduling constraints based on the equipment type, the time of operation completion, and the corresponding environmental state data at the time of operation completion, it falls within the protection scope of this step. For example, in pig houses with simpler sensor configurations, gas disturbance debt and humidity debt can be calculated using only ammonia concentration, humidity, and ventilation status; in poultry houses with more complete configurations, dust concentration data and carbon dioxide concentration data can be further introduced to calculate dust debt and gas disturbance debt separately.

[0036] After calculating the initial debt value, the debt type and its corresponding initial value are associated with the corresponding livestock equipment task to obtain the environmental state debt for each livestock equipment task. For example, the environmental state debt for manure cleaning task C1 can be represented as gas disturbance debt of 0.72 and dust debt of 0.31; the environmental state debt for spraying task S1 can be represented as humidity debt of 0.66; and the environmental state debt for disinfection task D1 can be represented as disinfection residue debt of 0.81. This environmental state debt is included in the subsequent environmental state debt transfer graph along with the corresponding task, and is used to determine whether subsequent livestock equipment tasks need to be delayed, have their operating speed restricted, or have their execution order changed at different candidate start times.

[0037] In one specific embodiment, let the first... The task of each breeding equipment is The aquaculture equipment task The corresponding device type is The planned operation time is The assignment duration is The end time of the assignment is The function bar area is The end time of the operation. satisfy: ; in, Indicates the task of aquaculture equipment The end time of the assignment; Indicates the task of aquaculture equipment The planned work schedule; Indicates the task of aquaculture equipment The duration of the assignment.

[0038] For tasks involving manure removal or other livestock equipment that may cause fluctuations in gas concentration, the initial value of gas disturbance debt is... It can be calculated using the following formula: ; in, Indicates the task of aquaculture equipment The corresponding initial value of the gas disturbance debt; Indicator bar area At the end of the task Corresponding gas concentration data; Indicator bar area The corresponding gas reference value; Indicator bar area The corresponding gas limit values; Indicator bar area At the end of the task The corresponding normalized value for ventilation status; Indicates the disturbance coefficient for the equipment type; Indicates the ventilation correction factor; This indicates that the calculation result within the parentheses is restricted to... to between.

[0039] For spraying tasks or other aquaculture equipment tasks that cause humidity changes, the initial humidity debt value is... It can be calculated using the following formula: ; in, Indicates the task of aquaculture equipment The corresponding initial value of humidity debt; Indicator bar area At the end of the task Corresponding humidity data; Indicator bar area Corresponding humidity value; Indicator bar area The corresponding humidity limit value; This indicates the humidity influence coefficient corresponding to the spraying equipment.

[0040] For a disinfection task, the disinfection residue retention debt represents the strength of the effective residue constraint that must be maintained after the disinfection task is completed. The initial value of the disinfection residue debt is... It can be calculated using the following formula: ; in, Indicates the task of aquaculture equipment The corresponding initial value of disinfection residue debt; This indicates the residual retention coefficient corresponding to the disinfection equipment; This represents the normalized value of the workload corresponding to the disinfection task; Indicates the ventilation attenuation factor; Indicator bar area At the end of the task The corresponding normalized value for ventilation status.

[0041] If the aquaculture equipment task For multiple debt types, the initial debt values ​​corresponding to each debt type can be combined into an environmental state debt vector. Its expression is: ; in, Indicates the task of aquaculture equipment Corresponding environmental state debt; Indicates the initial value of the gas disturbance debt; Indicates the initial value of the humidity debt; This represents the initial value of the dust debt; This represents the initial value of disinfection residue debt. For debt types where a certain aquaculture equipment task does not exist, the corresponding component can be set to [value missing]. Alternatively, this component may not be included in the environmental state debt corresponding to the aquaculture equipment task. Specifically, for tasks such as manure removal, feeding, or other aquaculture equipment tasks that cause changes in dust concentration, the initial dust debt value is determined based on the dust concentration data of the corresponding work area at the end of the operation. Specifically, the dust concentration data is compared with the dust baseline value and the dust limit value, and combined with the dust disturbance coefficient corresponding to the equipment type to determine the initial dust debt value; when the dust concentration is not higher than the dust baseline value, the initial dust debt value can be set to zero or a lower preset value.

[0042] Step S3: Construct an environmental state debt transfer graph based on the environmental state debt. The environmental state debt transfer graph is used to characterize the correlation between the tasks of each aquaculture equipment formed by the impact of environmental residues.

[0043] Specifically, constructing an environmental state debt transfer graph based on the environmental state debt includes: determining the domain association relationship between each aquaculture equipment task based on the domain of each aquaculture equipment task; determining the transfer relationship of the environmental state debt corresponding to each aquaculture equipment task between different domains based on the domain association relationship; determining the task edge weights between each aquaculture equipment task based on the release effect of each aquaculture equipment task on the environmental state debt and the destruction effect on the results of previous operations; and constructing the environmental state debt transfer graph based on the transfer relationship and the task edge weights.

[0044] Furthermore, based on the release effect of each aquaculture equipment task on the environmental state debt and the destructive effect on the results of preceding operations, the task edge weights between each aquaculture equipment task are determined, including: determining the release effect value of the subsequent aquaculture equipment task on the environmental state debt formed by the preceding aquaculture equipment task; determining the destructive effect value of the subsequent aquaculture equipment task on the results of the preceding operations of the preceding aquaculture equipment task; calculating the comprehensive effect value between the preceding aquaculture equipment task and the subsequent aquaculture equipment task based on the release effect value and the destructive effect value; and using the comprehensive effect value as the task edge weight between the preceding aquaculture equipment task and the subsequent aquaculture equipment task.

[0045] In this embodiment of the invention, each aquaculture equipment task is treated as a task node in the graph, and the influence relationship of environmental state debt between different task nodes is treated as an edge in the graph. Each task node includes at least an aquaculture equipment task identifier, equipment type, affected pen area, debt type, and initial debt value. Whether an edge exists between two task nodes is not determined solely by the order of operation, but rather by considering whether their affected pen areas have spatial or ventilation connections, and whether the environmental state debt will affect subsequent tasks. For example, after the manure cleaning task in pen area 1 is completed, a gas disturbance debt is generated. If pen area 2 is located downwind of pen area 1, this gas disturbance debt can be transmitted to pen area 2 along the ventilation direction, constraining the feeding, disinfection, or spraying tasks in pen area 2. If a subsequent task is located in a distant pen area without ventilation connectivity, or if the corresponding debt type has no substantial impact on the subsequent task, then no task edge needs to be established between them.

[0046] Pen area relationships serve as the basis for defining the spatial transmission of environmental state liabilities. These relationships can be determined by data such as pen adjacency, ventilation direction, number of pen spacings, and the effective range of ventilation equipment. For a fattening pig house with ventilation along its length, directional relationships can be established between pens near the air inlet and pen near the exhaust. Gas disturbance liabilities generated in upwind pens are generally more easily transmitted to downwind pens, while liabilities generated in downwind pens are transmitted to upwind pens at a lower rate. Humidity liabilities generated by sprinkler systems primarily affect the pen itself and adjacent pens, while dust liabilities may vary between adjacent pens depending on ventilation conditions. By establishing these pen area relationships, it is possible to avoid simply averaging the entire pig house environment and to prevent environmental anomalies in a particular pen from being mistakenly amplified as overall pig house scheduling constraints.

[0047] After establishing the transmission relationship, it is necessary to further determine the specific nature of the interactions between different aquaculture equipment tasks. Here, we introduce two dimensions: release effects and disruptive effects. Release effects represent the weakening, dissipation, or stabilizing effect of subsequent aquaculture equipment tasks on the environmental state debt created by preceding tasks. For example, ventilation can release the gas disturbance debt after manure removal, spraying can reduce dust debt, and low-level ventilation can assist in the reduction of humidity after spraying. Disruptive effects represent the weakening effect of subsequent aquaculture equipment tasks on the operational results already formed or needing to be maintained by preceding tasks. For example, after disinfection, a certain residual contact time needs to be maintained; if high-level ventilation is started immediately, it will reduce the effectiveness of disinfection residue retention. If spraying is started during the disinfection retention period, it will dilute or wash away disinfection residue. Feeding immediately after spraying may also affect the feeding environment due to excessive humidity. Therefore, it is evident that the same type of subsequent task has different effects after different preceding tasks and cannot be simply set as permissible or prohibited.

[0048] Task edge weights are used to express the combined strength of the interaction between preceding and subsequent aquaculture equipment tasks. In this embodiment, the releasing effect value of the subsequent aquaculture equipment task on the environmental state debt formed by the preceding aquaculture equipment task is first determined, and then the destructive effect value of the subsequent aquaculture equipment task on the preceding operational results of the preceding aquaculture equipment task is determined. The larger the releasing effect value, the more beneficial the subsequent task is to reducing the environmental state debt left by the preceding task; the larger the destructive effect value, the more likely the subsequent task is to affect the operational results already formed or needing to be maintained by the preceding task. The task edge weight is obtained by combining the two. This task edge weight can be positive, zero, or negative. Positive values ​​usually indicate that there is a conflict or destructive tendency between the subsequent task and the preceding task, requiring delayed start-up or reduced operational intensity; negative values ​​usually indicate that the subsequent task has a releasing effect on the environmental state debt formed by the preceding task, and can intervene earlier when other conditions are met; values ​​close to zero indicate that the influence between the two is weak, and they can participate in scheduling according to the normal task order.

[0049] For example, after a manure removal task is completed, a gas disturbance debt is created. Subsequent ventilation tasks significantly release this gas disturbance debt while having minimal impact on the results of preceding manure removal tasks. Therefore, the task edge weight from manure removal to ventilation can be negative or a small positive value. After a disinfection task is completed, a disinfection residue debt is created. While subsequent high-level ventilation tasks can improve air quality, they can disrupt the retention of disinfection residue. Therefore, the task edge weight from disinfection to high-level ventilation can be set to a large positive value. After a spraying task is completed, a humidity debt is created. Subsequent feeding tasks cannot release this humidity debt; in fact, they are easily constrained by it. Therefore, the task edge weight from spraying to feeding can reflect a high degree of conflict.

[0050] Based on the above processing, the environmental state debt transfer diagram not only records the temporal sequence between tasks, but also the transfer relationship of environmental residue impacts between pen areas, as well as the edge weight relationships formed between tasks due to release and destruction effects. In subsequent steps, when calculating the scheduling adaptation value of the tasks to be started for aquaculture equipment, the environmental state debts, transfer relationships, and task edge weights related to the tasks to be started can be directly read from this diagram to determine whether there are unreleased gas disturbances, unrecovered humidity, destroyed disinfection residues, or unstable dust conditions at a particular candidate start time. The diagram structure can be adjusted according to the actual scale of the aquaculture farm; the number of pen areas, equipment types, debt types, and edge weight calculation rules can all be configured according to on-site management needs without affecting the basic idea of ​​establishing task relationships based on environmental residue impacts in this step.

[0051] In one specific embodiment, let the first... The task of each breeding equipment is , No. The task of each breeding equipment is ,in For the preceding aquaculture equipment tasks. This is for subsequent aquaculture equipment tasks. Aquaculture equipment tasks. The function bar area is Aquaculture equipment task The function bar area is Aquaculture equipment task The corresponding environmental state debt is Its role in aquaculture equipment tasks Corresponding function area The transfer of debt in the context can be represented as: ; in, Indicate the type of debt. This represents the debt decay coefficient from the end of the preceding task to the start of the candidate task. Thus, the subsequent... Only then can there be a source. Indicates the task of aquaculture equipment The corresponding environmental status debt is transferred to the aquaculture equipment task. The subsequent transfer of debt; Indicator bar area To the function area The transmission coefficient of the fence area is determined by the adjacent relationship of the fence areas and the relationship of the ventilation direction. Indicates the task of aquaculture equipment With aquaculture equipment task The debt type matching coefficient between them is used to characterize the tasks of aquaculture equipment. Will the type of debt incurred affect the task of aquaculture equipment? ; Indicates the task of aquaculture equipment The corresponding environmental status debt. If the aquaculture equipment task... Corresponding to multiple debt types, The environment state debt vector can be used to represent the debt, and the transfer calculation can be performed on each debt component separately.

[0052] For task edge weights, the release effect value and the destruction effect value can be included in the same comprehensive effect calculation. Let's assume aquaculture equipment task... Tasks related to aquaculture equipment The value of the released environmental state debt is Aquaculture equipment task Tasks related to aquaculture equipment The destructive effect value of the preceding operation results Then the task of aquaculture equipment With aquaculture equipment task Between task edge weights It can be represented as: ; in, Indicates the task of aquaculture equipment With aquaculture equipment task The task weights between them; Indicates subsequent aquaculture equipment tasks Tasks related to preceding aquaculture equipment The destructive effect value of the results of the preceding operations; Indicates subsequent aquaculture equipment tasks Tasks related to preceding aquaculture equipment The value of releasing environmental debt formed; This represents the release effect conversion factor, used to adjust the proportion of the release effect value in the task edge weights.

[0053] In the above calculations, when When the value exceeds the preset threshold, it indicates that subsequent aquaculture equipment tasks will be activated. Tasks related to preceding aquaculture equipment It has a strong destructive impact; subsequent scheduling can be adjusted to manage aquaculture equipment. Delay or limit operation; when When the value is less than the preset threshold, it indicates that the subsequent aquaculture equipment task will be activated. Tasks related to preceding aquaculture equipment The release effect is dominant or the conflict is weak, and the tasks of aquaculture equipment can be prioritized in subsequent scheduling. Include earlier candidate launch times. (Based on the manure removal task) and ventilation tasks For example, if , , ,but This indicates that ventilation has a releasing effect on the gas disturbance debt after the manure cleaning task. (The text abruptly ends here, likely due to an incomplete sentence or a missing section.) and high-end ventilation tasks For example, if , , ,but This indicates that high-level ventilation tasks have a strong destructive effect on the results of preceding disinfection tasks and need to be restricted in subsequent coordinated scheduling plans.

[0054] Debt transfer between various aquaculture equipment tasks and task side rights It is possible to construct environmental state debt transmission written as This should be a task related to aquaculture equipment; This represents a set of task edges, where each task edge includes at least a preceding aquaculture equipment task, a subsequent aquaculture equipment task, and a debt transfer task. and task side rights Through this graph structure, the relationships between tasks of various aquaculture equipment caused by environmental residues are uniformly preserved, and the scheduling adaptation value at the candidate start time can be directly calculated based on the environmental state debt transfer graph.

[0055] Step S4: Based on the environmental state debt transfer graph, calculate the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time.

[0056] Specifically, based on the environmental state debt transfer graph, the associated environmental state debt and associated task edge weights of the aquaculture equipment task to be started at each candidate start time are determined; based on the associated environmental state debt, the environmental adaptation value of the aquaculture equipment task to be started at each candidate start time is calculated; based on the associated task edge weights, the task coordination value of the aquaculture equipment task to be started at each candidate start time is calculated; based on the environmental adaptation value and the task coordination value, the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time is obtained.

[0057] Furthermore, calculating the task coordination value of the aquaculture equipment task to be started at each candidate start time based on the associated task edge weights includes: weighting and summing the associated task edge weights according to the corresponding candidate start time to obtain the task interference value of the corresponding candidate start time; determining the task conflict degree of the corresponding candidate start time based on the difference between the task interference value and a preset interference threshold; and generating the task coordination value according to the task conflict degree, wherein the greater the task conflict degree, the smaller the task coordination value.

[0058] In this embodiment of the invention, after step S3, the environmental state debt transfer graph has saved the environmental state debt formed by the preceding aquaculture equipment task, the transfer relationship of the environmental state debt between different pen areas, and the task edge weights between the preceding and subsequent aquaculture equipment tasks. When the aquaculture equipment task to be started enters the scheduling calculation, it no longer only determines whether the corresponding equipment is idle, nor only determines whether the current time has reached the planned operation time, but also calculates the corresponding scheduling adaptation value by combining the associated environmental state debt that has not yet been released at the candidate start time and the associated task edge weights that still exist.

[0059] In practice, multiple candidate start times can be set around the task of starting the livestock equipment. For example, if the current time is 06:10, the task to be started is feeding in pen 4, and the original planned start time was 06:16, then multiple candidate start times can be generated between 06:16 and 06:30 with a scheduling step size of 1 minute or 2 minutes. The range of candidate start times can be set according to the farm's operational rhythm, the number of equipment, the urgency of the task, and the animals' feeding patterns, and is not required to be fixed to a certain time length. For each candidate start time, the preceding livestock equipment tasks that are related to the task to be started are extracted from the environmental state debt transfer graph, and the associated environmental state debts of these preceding livestock equipment tasks that still affect the pen area of ​​the task to be started at this candidate start time are read.

[0060] The associated environmental state debt can be understood as the residual environmental burden that a livestock farming equipment task needs to bear at a certain candidate start time. This associated environmental state debt can come from previous tasks within the same pen area, or from previous tasks in adjacent pens or upwind pens. For example, if the manure cleaning task in pen 3 ends at 06:08, creating a gas disturbance debt, and if pen 4 is located downwind of it, then the feeding task in pen 4 needs to consider the remaining value of this gas disturbance debt at the candidate start time of 06:16; if pen 4 performed a spraying task at 06:14, then the humidity debt created by the spraying task also needs to be considered at the candidate start time of 06:16. For feeding tasks, both gas disturbance debt and humidity debt reduce environmental adaptability; for low-level ventilation tasks, some gas disturbance debt can actually be used as a release target for early intervention, but it is still necessary to judge whether its operational intensity is appropriate based on the task's edge weights.

[0061] The environmental fit value represents the degree of fit between the task of the aquaculture equipment to be started and the current residual environmental state at the candidate start time. A higher associated environmental state debt generally indicates a stronger impact of residual environmental conditions at the candidate start time, which is more detrimental to tasks such as feeding, disinfection, and spraying, resulting in a lower environmental fit value. For some subsequent tasks with a release effect, such as low-level ventilation tasks, different fit rules can be set according to the debt type. In other words, the environmental fit value does not require all debts to be deducted in the same way; instead, different weights can be assigned to different debt types based on the equipment type of the aquaculture equipment task to be started. Feeding tasks can increase the weight of gas disturbance debt and humidity debt; disinfection tasks can increase the weight of humidity debt and ventilation disturbance; ventilation tasks can decrease the negative weight of gas disturbance debt while increasing the restrictive weight corresponding to disinfection residual debt.

[0062] The task synergy value represents the synergistic relationship between the task to be started and the preceding task at the candidate start time. This value is calculated from the edge weights of the associated tasks. The edge weights of the associated tasks reflect the combined effect of the subsequent task on the releasing and disrupting effects of the preceding task. If the edge weight between the preceding manure cleaning task and the subsequent low-level ventilation task is low or negative, it indicates that the subsequent ventilation task can release the gas disturbances created by the preceding manure cleaning task, resulting in a high task synergy value. Conversely, if the edge weight between the preceding disinfection task and the subsequent high-level ventilation task is high, it indicates that the subsequent high-level ventilation task will weaken the preceding disinfection task's operational results, resulting in a low task synergy value. This approach ensures that the same ventilation task receives different synergy evaluations after the manure cleaning task and after the disinfection task, avoiding the simplistic treatment of ventilation equipment as a fixed permissible or prohibited task.

[0063] In the process of summarizing the edge weights of associated tasks, the edge weights can be weighted according to the candidate start time. The closer a preceding task is to the candidate start time, the higher its remaining environmental state debt, and the closer its action area, the greater the impact of its corresponding edge weight on the task interference value. The impact of the edge weights of preceding tasks that have been fully released or have weak spatial associations can be reduced. This yields the task interference value corresponding to the candidate start time. The difference between the task interference value and a preset interference threshold is used to determine the degree of task conflict. When the task interference value significantly exceeds the preset interference threshold, it indicates that there is still a strong conflict between the subsequent and preceding tasks at that candidate start time, and the task coordination value should be reduced; when the task interference value is lower than the preset interference threshold, it indicates that the task relationship at that candidate start time is already in an acceptable state, and the task coordination value should be increased accordingly.

[0064] Environmental adaptability and task coordination values ​​evaluate candidate start times from two perspectives. The environmental adaptability value focuses on whether the current area is suitable for executing the task, while the task coordination value focuses on whether the task will disrupt the results of previous tasks or release debts from previous tasks. Together, they form the scheduling adaptability value. A higher scheduling adaptability value indicates that the task for the aquaculture equipment to be started is more suitable for execution at that candidate start time. Subsequent steps can select the target start time based on the scheduling adaptability value, or use it as the basis for generating operating levels, task order, and constraints.

[0065] For example, in a morning operation scenario in a fattening pig house, the candidate start times for the feeding task in pen 4 include 06:16, 06:18, 06:20, 06:22, and 06:24. The environmental state debt transfer diagram shows that the gas disturbance debt transferred from the manure removal task in pen 3 to pen 4 is still 0.42 at 06:16, decreasing to 0.31 at 06:20, and further decreasing to 0.22 at 06:24. The spraying task in pen 4 ends at 06:14, with humidity debt at 0.60 at 06:16, 0.45 at 06:20, and 0.32 at 06:24. For the feeding task, the environmental fitness value is lower at 06:16 and higher at 06:24. Meanwhile, the task edge weight from the spraying task to the feeding task is higher, indicating that residual humidity significantly interferes with the feeding task. As the candidate start time shifts later, the task interference value decreases, and the task synergy value increases. The final calculated scheduling adaptation value will tend to be 06:22 or 06:24, rather than the originally planned 06:16.

[0066] It should be noted that the specific calculation method for the scheduling adaptation value can be adjusted according to the farm management objectives. For scenarios prioritizing animal feeding stability, the weight of the environmental adaptation value can be increased; for scenarios prioritizing continuous equipment operation, the weight of the task coordination value or plan deviation penalty can be appropriately increased; for scenarios such as disinfection and disease prevention, the weights corresponding to disinfection residual debt and destructive effects can be increased. This invention does not limit the scheduling adaptation value to a single formula; as long as it determines the associated environmental state debt and associated task edge weights based on the environmental state debt transfer graph, and further obtains the adaptation evaluation results at the candidate start time, it falls within the scope of this step.

[0067] In one specific embodiment, let the task of starting the aquaculture equipment be: Candidate start time is The task of the aquaculture equipment to be started The set of related preceding aquaculture equipment tasks is For any preceding aquaculture equipment task At the candidate launch time The corresponding transferable debt is Pre-breeding equipment tasks Tasks related to aquaculture equipment to be started The task edge weights between them are .

[0068] Candidate Startup Time The associated environmental state debt can be represented as total: ; The output will be a scalar, and the subsequent environment adaptation value formula can be used directly.

[0069] in, Indicates the task of starting aquaculture equipment. At the candidate launch time The associated environmental state debt; Indicates the task of starting aquaculture equipment. A set of related preceding aquaculture equipment tasks; Indicates the task of the preceding aquaculture equipment. The transfer of debt to start the task of breeding equipment Environmental impact weight; Indicates the task of the preceding aquaculture equipment. At the candidate launch time Transfer to the aquaculture equipment to be started Environmental state debt.

[0070] Based on the associated environmental state debt, the environmental fit value can be calculated. : ; in, Indicates the task of starting aquaculture equipment. At the candidate launch time The following environment adaptation values; Indicates the task of starting aquaculture equipment. The corresponding environmental debt limit value is greater than zero; This indicates that the calculation result within the parentheses is restricted to... to between.

[0071] For task coordination values, candidate start times can be calculated first. The task interference value is calculated. Considering that the influence of preceding tasks decays over time, a time decay weight can be introduced. for: ; in, Indicates the task of starting aquaculture equipment. At the candidate launch time The task interference value below; Indicates the task of the preceding aquaculture equipment. At the candidate launch time The corresponding time decay weight; Indicates the task of the preceding aquaculture equipment. Tasks related to aquaculture equipment to be started The task weights between them.

[0072] Based on the task interference value and the preset interference threshold, the task collaboration value can be calculated. : ; in, Indicates the task of starting aquaculture equipment. At the candidate launch time The task coordination value below; Indicates the task of starting aquaculture equipment. The corresponding preset interference threshold; Indicates the task of starting aquaculture equipment. The corresponding maximum interference reference value; This means that no conflict penalty will be added when the task interference value does not exceed the preset interference threshold.

[0073] After obtaining the environment adaptation value and task coordination value, the candidate start time can be calculated. Scheduling adaptation value Based on this rule, a unified evaluation can be formed among environmental residual impacts, task coordination relationships, and plan deviations, providing a clear calculation basis for the subsequent generation of coordinated scheduling plans for aquaculture equipment.

[0074] Step S5: Generate a collaborative scheduling plan for aquaculture equipment based on the scheduling adaptation value.

[0075] Specifically, the candidate start time with the largest scheduling fit value is selected from all candidate start times as the target start time for the aquaculture equipment task to be started; based on the target start time and the corresponding aquaculture equipment task, the execution order of the aquaculture equipment task to be started is determined; based on the environmental state debt transfer diagram, the operating level and function area corresponding to the aquaculture equipment task to be started are determined; based on the target start time, the execution order, the operating level, and the function area, a collaborative scheduling plan for aquaculture equipment is generated.

[0076] In this embodiment of the invention, after determining the target start time, the execution order of the livestock equipment tasks to be started is determined based on the target start time and the corresponding livestock equipment tasks. This execution order can be understood as the arrangement of tasks within a scheduling window according to the target start time. For example, the manure cleaning task is scheduled to be executed at 06:00, and the spraying task was originally scheduled to be executed at 06:10. However, due to the unresolved gas disturbance debt caused by the manure cleaning task, the target start time for the spraying task is adjusted to 06:14. The feeding task was originally scheduled to be executed at 06:16, but due to the humidity debt caused by the spraying task, the target start time is adjusted to 06:24. In this case, the execution order in the collaborative scheduling plan is reflected in the staggered connection between the manure cleaning task, the spraying task, and the feeding task, rather than simply being arranged directly according to the original planned time.

[0077] For the operating speed and target area, the environmental state debt transfer diagram can be used for further determination. This diagram records the transfer debt and task edge weights between tasks of various aquaculture equipment, thus allowing us to determine whether the tasks of the aquaculture equipment to be started need to be executed in a restricted mode. Taking ventilation as an example, if the preceding task is manure removal and the task edge weights show that ventilation has a releasing effect on gas disturbance debt, the ventilation task can be set to low or medium speed operation, and then switched to a stable speed after the gas disturbance debt decreases. If the preceding task is disinfection and the task edge weights show that high-speed ventilation will destroy the disinfection residue retention results, the ventilation task can be restricted to low speed operation within the disinfection retention window, or ventilation can be performed only on non-disinfection target areas. For spraying, feeding, and disinfection tasks, we can also determine whether they should be executed according to the original target area, or whether some areas need to be delayed, based on the associated environmental state debts in the corresponding target areas.

[0078] The resulting collaborative scheduling plan for aquaculture equipment includes at least the target start time, execution sequence, operating gear, and function area. Depending on actual management needs, it can further include the task end time, task hold window, restrictive operating conditions, allowed offset time, and corresponding equipment identifier. This information can be distributed to the equipment control terminal of the aquaculture farm or displayed as a work plan in the management platform, with the control terminal triggering the corresponding equipment to execute based on the target start time. For rolling scheduling scenarios, the collaborative scheduling plan for aquaculture equipment can cover only a future scheduling window, such as the next 30 or 60 minutes, and recalculate subsequent task plans after the next round of environmental status data updates.

[0079] For example, in a fattening pig pen divided into six sections, the target start time for manure cleaning task C1 is 06:00, affecting sections 1 through 3; the target start time for ventilation task F1 is 06:08, operating at low speed, affecting the entire pen; the target start time for spraying task S1 is 06:14, affecting section 2; and the target start time for feeding task P1 is 06:24, affecting sections 1 through 3. If the environmental debt transfer diagram shows that section 4 has disinfection residue debt, then ventilation task F1 can maintain low speed in the ventilation branch corresponding to section 4, and operate at medium speed in other sections. The above plan can clearly define when each task starts, at what speed, and which sections it affects within the same scheduling window, and transform the environmental residue impact into an actual executable task arrangement.

[0080] It should be noted that the maximum scheduling adaptation value in this step is not limited to a one-time global optimization. For scenarios with large-scale aquaculture areas and a large number of devices, target start times can be selected separately according to pen area grouping, equipment type grouping, or time window grouping, and then the results of each group can be merged into a collaborative scheduling plan for aquaculture equipment. As long as the generated scheduling plan is based on the scheduling adaptation value of the candidate start times and can clearly define the start time, execution order, operating level, and affected pen area of ​​the aquaculture equipment tasks, it falls within the scope of this step.

[0081] In other implementations, during nighttime operations in the pigsty, the activity level of the pigs is low. Directly activating manure cleaning, spraying, or high-level ventilation can easily cause localized disturbances and amplify short-term dust and gas disturbances. Therefore, sound collection points or video activity recognition points can be set up in each pen area to generate pen area activity intensity values ​​according to a preset collection cycle. These pen area activity intensity values ​​are then used as correction factors for environmental state debt. When the activity intensity value of a certain pen area is lower than a preset low activity threshold, and the task to be started is a manure cleaning or spraying task, the scheduling terminal does not directly delay the task but generates a segmented activation strategy. For example, the scraper speed for the manure cleaning task is limited to 40% of the standard speed for the first 2 minutes, and then restored to the standard speed after the pen area activity intensity value rises to the transition threshold; for the spraying task, the spraying branch near the passageway is activated first, and the spraying branch near the rest area is activated later. This process can incorporate both animal activity status and environmental status debt into the calculation of candidate start-up times, avoiding additional disturbances caused by sudden equipment start-up during low-activity periods at night. This allows the collaborative scheduling plan to consider not only the residual environmental impact between equipment, but also the amplifying effect of animal behavior status on the spread of operational disturbances.

[0082] Example: like Figure 2As shown, the target breeding area is a fattening pig house, 72m long and 12m wide, divided into sections 1 through 6 along its length, each holding approximately 120 pigs. The pig house uses a negative pressure ventilation system with air intake on the left and exhaust on the right, with ventilation from section 1 to section 6. Eight negative pressure fans are installed on the exhaust side. Ammonia, humidity, dust, and wind speed sensors are installed in each section, and environmental data is collected and uploaded to the dispatching terminal every 30 seconds. The dispatching terminal simultaneously reads task data for each breeding equipment, including manure cleaning task T1, manure cleaning task T2, spraying task T3, ventilation task T4, feeding task T5, and disinfection task T6. Manure cleaning task T1 applies to pens 1 to 3, manure cleaning task T2 applies to pens 4 to 6, spraying task T3 applies to pen 2, ventilation task T4 applies to the entire pen, feeding task T5 applies to pens 1 to 3, and disinfection task T6 applies to pen 4.

[0083] The dispatcher acquires initial environmental status data at 06:00. In areas 1 to 3, the ammonia concentration is 14.5 ppm, humidity is 66%, dust concentration is 0.22 mg / m³, and the normalized ventilation value is 0.35. In areas 4 to 6, the ammonia concentration is 13.2 ppm, humidity is 65%, dust concentration is 0.19 mg / m³, and the normalized ventilation value is 0.35. Based on the task data's function field, the above environmental status data is associated with the corresponding tasks. Manure cleaning task T1 is scheduled to start at 06:00 with a duration of 8 minutes, and manure cleaning task T2 is scheduled to start at 06:05 with a duration of 8 minutes. After T1 ends at 06:08, based on the gas and dust concentrations at the end of operations in areas 1 to 3, its gas disturbance debt is determined to be 0.72 and its dust debt to be 0.31. After T2 ends at 06:13, its gas disturbance debt is determined to be 0.66 and its dust debt to be 0.28. If the spraying task T3 is started, it will create a humidity debt; in this example, the predicted humidity debt after the spraying ends is 0.62. After the disinfection task T6 is completed, a disinfection residue debt will be created, with a predicted value of 0.81.

[0084] The scheduling terminal is based on Figure 2The layout and ventilation direction of the shown pen areas are used to construct an environmental state debt transfer diagram. Since pens 1 to 3 are located on the air intake side, the gas disturbance debt formed by T1 will preferentially affect these pens and their downwind side pens; the gas disturbance debt formed by T2 mainly constrains the ventilation status of pens 4 to 6 and the exhaust side. For task relationships, the scheduling terminal calculates the release effect value and the destruction effect value respectively, and obtains the task edge weights. For example, the task edge weight of T1 to T4 is -0.426, indicating that the ventilation task T4 has a release effect on the gas disturbance after manure cleaning; the task edge weight of T3 to T5 is 0.585, indicating that the humidity debt after spraying will limit subsequent feeding; the task edge weight of T6 to T4 is 0.58, indicating that high-level ventilation after disinfection will destroy the retention of disinfection residue.

[0085] like Figure 3 As shown, the scheduler calculates the scheduling adaptation value for each task to be started within the candidate start times. For the spraying task T3, its original planned start time is 06:10. The scheduling adaptation values ​​for the candidate start times of 06:10, 06:12, 06:14, 06:16, and 06:18 are 0.54, 0.63, 0.75, 0.78, and 0.74, respectively. Since the scheduling adaptation value for 06:16 is the largest, the scheduler adjusts T3 to be executed from 06:16 to 06:20. For the feeding task T5, its original planned start time is 06:18. The scheduling adaptation values ​​for the candidate start times of 06:18, 06:20, 06:22, 06:24, and 06:26 are 0.58, 0.66, 0.76, 0.82, and 0.80, respectively. Therefore, T5 is adjusted to be executed from 06:24 to 06:34.

[0086] The final collaborative scheduling plan for aquaculture equipment is as follows: Figure 3 As shown: T1 is executed from 06:00 to 06:08; T2 is executed from 06:05 to 06:13; T4 runs at low speed from 06:12 to 06:18, at medium speed from 06:18 to 06:26, and at low speed for section 4 and at medium speed for the remaining sections from 06:26 to 06:38; T3 is adjusted from 06:10 to 06:16; T5 is adjusted from 06:18 to 06:24; T6 performs disinfection from 06:26 to 06:32, and a hold window is set from 06:32 to 06:44. Through this scheduling result, the tasks did not simply wait sequentially, nor did they mechanically run in parallel as originally planned, but rather executed in a staggered manner based on environmental status debt and task edge weights.

[0087] like Figure 4As shown, this invention provides a collaborative scheduling system for aquaculture equipment. The system includes: a data acquisition unit for acquiring task data and environmental status data of each aquaculture equipment task in a target aquaculture area; a debt determination unit for determining the environmental status debt corresponding to each aquaculture equipment task based on the task data and the environmental status data; a correlation determination unit for constructing an environmental status debt transfer graph based on the environmental status debt, wherein the environmental status debt transfer graph is used to characterize the correlation between each aquaculture equipment task formed by environmental residual effects; an adaptation value determination unit for calculating the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time based on the environmental status debt transfer graph; and a plan generation unit for generating a collaborative scheduling plan for aquaculture equipment based on the scheduling adaptation value.

[0088] The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described method for coordinated scheduling of aquaculture equipment.

[0089] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The network interface A02 is used for communication with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a method for collaborative scheduling of aquaculture equipment.

[0090] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0091] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe the various possible combinations.

[0092] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A method for collaborative scheduling of aquaculture equipment, characterized in that, The method includes: Acquire task data and environmental status data for each aquaculture equipment in the target aquaculture area; Based on the task data and the environmental status data, determine the environmental status debt corresponding to each aquaculture equipment task; An environmental state debt transfer graph is constructed based on the aforementioned environmental state debt, which is used to characterize the correlation between the tasks of various aquaculture equipment formed by the impact of environmental residues. Based on the environmental state debt transfer diagram, calculate the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time; A collaborative scheduling plan for aquaculture equipment is generated based on the aforementioned scheduling adaptation value.

2. The method for coordinated scheduling of aquaculture equipment according to claim 1, characterized in that, Obtain task data and environmental status data for each aquaculture device in the target aquaculture area, including: The equipment type, planned operation time, operation duration, and function area of ​​each aquaculture equipment task are obtained to form the task data. Collect gas concentration data, humidity data, dust concentration data, and ventilation status data corresponding to each column area to form the environmental status data; Based on the function area, the task data is associated with the environmental status data of the corresponding area.

3. The method for coordinated scheduling of aquaculture equipment according to claim 2, characterized in that, Based on the task data and the environmental status data, the environmental status debt corresponding to each aquaculture equipment task is determined, including: Based on the equipment type, the debt type corresponding to each aquaculture equipment task is determined. The debt type includes at least one of gas disturbance debt, humidity debt, dust debt, and disinfection residue debt. Based on the planned operation time and the operation duration, determine the operation end time corresponding to each aquaculture equipment task; Based on the equipment type, the job completion time, and the environmental status data corresponding to the job completion time, calculate the initial debt value for each debt type; By associating the debt type and the corresponding initial debt value with the corresponding aquaculture equipment task, the environmental state debt corresponding to each aquaculture equipment task is obtained.

4. The method for coordinated scheduling of aquaculture equipment according to claim 2, characterized in that, Based on the aforementioned environmental state debt, an environmental state debt transfer graph is constructed, including: Based on the functional areas of each aquaculture equipment task, determine the relationship between the areas of each aquaculture equipment task; Based on the aforementioned pen area association relationship, the transmission relationship of environmental status debt corresponding to each aquaculture equipment task between different pen areas is determined; Based on the role of each aquaculture equipment task in releasing the environmental state debt and the destructive effect on the results of previous operations, the task edge weights between each aquaculture equipment task are determined. Based on the aforementioned transitive relationship and the aforementioned task edge weights, the environmental state debt transitive graph is constructed.

5. The method for coordinated scheduling of aquaculture equipment according to claim 4, characterized in that, Based on the role of each aquaculture equipment task in releasing the environmental state debt and its destructive effect on the results of previous operations, the task edge weights between each aquaculture equipment task are determined, including: Determine the release effect value of the environmental state debt formed by the preceding aquaculture equipment tasks on the subsequent aquaculture equipment tasks; Determine the destructive effect value of the subsequent aquaculture equipment task on the preceding operation results of the preceding aquaculture equipment task; Based on the release effect value and the destruction effect value, calculate the comprehensive effect value between the preceding aquaculture equipment task and the subsequent aquaculture equipment task; The combined effect value is used as the task edge weight between the preceding aquaculture equipment task and the subsequent aquaculture equipment task.

6. The method for coordinated scheduling of aquaculture equipment according to claim 1, characterized in that, Based on the aforementioned environmental state debt transfer graph, the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time is calculated, including: Based on the environmental state debt transfer graph, the associated environmental state debt and associated task edge weights of the aquaculture equipment task to be started are determined at each candidate start time. Based on the associated environmental state debt, calculate the environmental adaptation value of the aquaculture equipment task to be started at each candidate start time; Based on the associated task edge weights, calculate the task coordination value of the aquaculture equipment task to be started at each candidate start time; Based on the environmental adaptation value and the task coordination value, the scheduling adaptation value of the aquaculture equipment task to be started is obtained at each candidate start time.

7. The method for coordinated scheduling of aquaculture equipment according to claim 6, characterized in that, Based on the associated task edge weights, the task coordination value of the aquaculture equipment task to be started is calculated at each candidate start time, including: The associated task edge weights are weighted and summarized according to the corresponding candidate start times to obtain the task interference value for the corresponding candidate start times. Based on the difference between the task interference value and the preset interference threshold, the degree of task conflict at the corresponding candidate start time is determined. The task coordination value is generated based on the degree of task conflict, wherein the greater the degree of task conflict, the smaller the task coordination value.

8. The method for coordinated scheduling of aquaculture equipment according to claim 2, characterized in that, Based on the aforementioned scheduling adaptation value, a collaborative scheduling plan for aquaculture equipment is generated, including: Select the candidate start time with the largest scheduling fit value from all candidate start times as the target start time for the aquaculture equipment task to be started; Based on the target start time and the corresponding aquaculture equipment task, the execution order of the aquaculture equipment task to be started is determined; Based on the environmental state debt transfer diagram, determine the operating level and function area corresponding to the aquaculture equipment task to be started; Based on the target start time, the execution order, the operating level, and the function area, a collaborative scheduling plan for aquaculture equipment is generated.

9. A collaborative scheduling system for aquaculture equipment, characterized in that, The system includes: The data acquisition unit is used to acquire task data and environmental status data of each aquaculture equipment in the target aquaculture area; The debt determination unit is used to determine the environmental status debt corresponding to each aquaculture equipment task based on the task data and the environmental status data. The correlation determination unit is used to construct an environmental state debt transfer graph based on the environmental state debt, and the environmental state debt transfer graph is used to characterize the correlation between the tasks of each aquaculture equipment formed by the impact of environmental residues. The adaptation value determination unit is used to calculate the scheduling adaptation value of the aquaculture equipment task to be started at each candidate start time based on the environmental state debt transfer diagram. The plan generation unit is used to generate a collaborative scheduling plan for aquaculture equipment based on the scheduling adaptation value.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the aquaculture equipment collaborative scheduling method as described in any one of claims 1-8.

Images