Automatic cultivation system and method of medicinal hujielongs through straw hydrolysis fermentation

Abstract

The application discloses a kind of straw hydrolysis fermentation's medicinal Shanghai Earthworm automatic breeding system and method, specifically related to breeding control technical field, the system includes substrate suitable for breeding module, bed locking module, density approval module, first feeding feeding module and liquid discharge residual module;Substrate suitable for breeding module generates bed area suitable for breeding code, bed locking module generates the permission code of seedling, density approval module generates seedling density file, first feeding feeding module generates first feeding feeding single, and liquid discharge residual module generates liquid discharge residual sequence.The application is continuously associated by substrate suitable for breeding, seedling permission, density approval, first feeding and liquid discharge residual, so that the state of bed area before seedling is closed and verified, the first feeding amount is adjusted according to actual density, and subsequent feeding is constrained according to liquid discharge and residual material state, reduces early feeding, overfeeding and residual material storage risk, improves breeding process continuity and traceability.

Description

Technical Field

[0001] This invention relates to the field of aquaculture control, and in particular to an automated aquaculture system and method for medicinal earthworms using straw hydrolysis and fermentation. Background Technology

[0002] The field of aquaculture control technology involves the acquisition of aquaculture environmental parameters, adjustment of substrate conditions, control of feeding and water supply, control of ventilation and air exchange, maintenance of temperature and humidity, management of stocking density, cleaning of uneaten feed, and recording of the aquaculture process. Its core is to continuously manage the temperature, humidity, moisture content, pH, feed amount, water supply frequency, and substrate thickness in the aquaculture site based on the living habits and environmental needs of the aquaculture species, and to complete the corresponding adjustments through devices such as sensors, valves, fans, spray pipes, conveying mechanisms, weighing instruments, and controllers.

[0003] Among them, the automated breeding system for medicinal earthworms using straw hydrolysis and fermentation refers to a breeding system that uses medicinal earthworms as the breeding object and straw hydrolysate, fermented straw feed, humus substrate and water-containing breeding beds as the main carriers. The related technical matters cover straw soaking and hydrolysis, fermentation feed laying, breeding bed moisture content detection, spray water replenishment, stocking density control, feed replenishment, bed temperature maintenance, drainage collection, residual feed removal and breeding data registration.

[0004] Current automated breeding methods for medicinal earthworms often separate substrate preparation, bed water replenishment, seedling introduction, and feeding. Spraying relies on a single humidity threshold, and feeding is carried out according to a fixed cycle. It is difficult to incorporate batch differences in fermentation feed, bed moisture gradient, drainage capacity, and actual seedling density into the same judgment chain, which can easily lead to seedling introduction before the bed conditions are stable or mismatch in the initial feeding amount. Summary of the Invention

[0005] The main objective of this invention is to provide an automated breeding system and method for medicinal earthworms through straw hydrolysis and fermentation, which can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An automated breeding system for medicinal earthworms using straw hydrolysis and fermentation, the system comprising: The substrate nutrient module acquires the nutrient parameters of fermented straw material, matches the nutrient parameters of fermented straw material with the preset medicinal earthworm bed entry parameter set, and generates a bed area nutrient code. The bed entry locking module determines the target bed area that can be entered for seedling verification based on the bed area suitability code, obtains the breeding bed status parameter set of the target bed area and compares it with the preset seedling permission parameter set, and generates a seedling permission code with a value of allowing seedling or locking seedling. The density verification module collects seedling measurement parameters when the seedling permission code value is allowed to seedling, calculates the number of seedlings to be planted per unit area based on the seedling measurement parameters, and generates a seedling density profile. The first feeding module determines the first feeding weight according to the seedling density range, obtains the pre-feeding state parameter set of the target bed area and compares it with the preset feeding permission parameter set, and generates the first feeding order by combining the single-turn feeding weight of the equipment layer screw feeder. The liquid drainage and residue removal module monitors the liquid drainage and residue removal status parameter set of the target bed area after the first feeding order is executed, compares the liquid drainage and residue removal status parameter set with the preset liquid drainage and residue removal parameter set, and generates a liquid drainage and residue removal sequence.

[0007] Preferably, the substrate nutrient module first obtains the moisture content of the fermented straw material using a moisture sensor, the pH value of the fermented straw material using a pH sensor, the temperature of the fermented straw material using a temperature sensor, and the thickness of the spreading material using a scraper height sensor. Then, the moisture content, pH value, temperature, and spreading thickness of the fermented straw material are summarized into the nutrient parameters of the fermented straw material. Subsequently, the nutrient parameters of the fermented straw material are respectively assigned to the preset moisture content range, preset pH range, preset temperature range, and preset bed thickness range in the preset medicinal earthworm bed entry parameter set, and the bed area nutrient code is generated according to the assignment results.

[0008] Preferably, after the bed area nutrient suitability code points to the target bed area, the bed entry interlock module first detects the bed surface moisture content, bed middle moisture content, bed temperature, bed area pH value, and drainage tank level of the target bed area. Then, it subtracts the bed surface moisture content from the bed middle moisture content to obtain a moisture gradient value. Subsequently, it assigns the moisture gradient value, bed temperature, bed area pH value, and drainage tank level to the corresponding permission ranges in the preset seedling entry permission parameter set. When all parameters are assigned to the corresponding permission ranges, a seedling entry permission code with a value of "allowed seedling entry" is generated. When any parameter is not assigned to the corresponding permission range, a seedling entry permission code with a value of "locked seedling entry" is generated.

[0009] Preferably, when the seedling permission code value is "allowed for seedling planting", the density verification module first obtains the weight of medicinal earthworms by the seedling weighing device, obtains the sample weight and number of samples by the sample weighing grid, obtains the effective area of ​​the bed area by the bed area registration terminal, then converts the sample weight and the number of samples into the average weight of individual plants, then converts the weight of medicinal earthworms and the average weight of individual plants into the estimated number of plants in the bed area, and converts the estimated number of plants in the bed area and the effective area of ​​the bed area into the number of plants per unit area, and classifies them into a preset seedling density range according to the number of plants per unit area to generate the seedling density range.

[0010] Preferably, after the seedling density range is generated, the initial feeding module first selects the initial feeding weight corresponding to the seedling density range, then detects the moisture content in the middle of the target bed, the pH value of the bed, and the batch maturity indicator of the fermented material. Subsequently, the moisture content in the middle of the bed is classified into the allowable humidity range for feeding, the pH value of the bed is classified into the allowable pH range for feeding, the batch maturity indicator of the fermented material is judged to be consistent with the preset maturity indicator, and the initial feeding weight and the single-turn feeding weight of the spiral feeder in the equipment layer are converted into the number of feeding turns to generate the initial feeding order.

[0011] Preferably, after the first feeding order is executed, the draining and residue cleaning module first monitors the draining tank level, draining conductivity, and residue weight of the target bed area. Then, it compares the draining tank level with the upper limit of the draining level in the preset draining and residue cleaning parameter set, compares the draining conductivity with the upper limit of the draining conductivity in the preset draining and residue cleaning parameter set, and compares the residue weight with the upper limit of the residue cleaning weight in the preset draining and residue cleaning parameter set. Subsequently, it determines the execution order of draining valve opening, feeding pause, and residue cleaning according to the three judgment results, and generates the draining and residue cleaning sequence.

[0012] A method for raising medicinal earthworms using an automated straw hydrolysis and fermentation system as described above, comprising the following steps: S1. Obtain the nutrient parameters of fermented straw material, match the nutrient parameters of fermented straw material with the preset set of medicinal earthworm bed entry parameters, and generate the bed area nutrient code; S2. Based on the suitable breeding code of the breeding area, determine the target breeding area that can be entered for seedling verification, obtain the breeding bed status parameter set of the target breeding area and compare it with the preset seedling permission parameter set, and generate a seedling permission code with the value of allowing seedling or locking seedling. S3. When the seedling permission code is set to allow seedling placement, collect the seedling measurement parameters, calculate the number of seedlings to be placed per unit area based on the seedling measurement parameters, and generate a seedling density level. S4. Determine the initial feeding weight according to the seedling density range, obtain the pre-feeding state parameter set of the target bed area and compare it with the preset feeding permission parameter set, and generate the first feeding order by combining the single-turn feeding weight of the equipment layer screw feeder. S5. After the first feeding order is executed, monitor the set of drainage and residue removal status parameters of the target bed area, compare the set of drainage and residue removal status parameters with the preset set of drainage and residue removal parameters, and generate a drainage and residue removal sequence.

[0013] Compared with the prior art, the present invention has the following beneficial effects: This invention uses a sequential connection of bed area suitability code, seedling permission code, seedling density setting, and initial feeding slip to incorporate fermentation material moisture content, pH value, temperature, substrate thickness, bed moisture gradient, drainage level, and actual feeding density into a single batch control process. This allows for the elimination of uneven moisture distribution, unsuitable pH or temperature, and drainage accumulation before seedling introduction. The initial feeding amount can be adjusted according to the quantity per unit area. After feeding, drainage, feeding pauses, or residue removal can be scheduled based on drainage and residual material conditions. This creates continuous constraints between seedling introduction, resting, feeding, and subsequent maintenance, reducing the probability of early feeding, overfeeding, and residual material accumulation. Attached Figure Description

[0014] Figure 1 This is a flowchart illustrating the overall system flow of the present invention. Figure 2 This is a flowchart of the substrate adaptation module of the present invention; Figure 3 This is a flowchart of the bed entry interlocking module of the present invention; Figure 4 This is a flowchart of the density verification module of the present invention; Figure 5 This is a flowchart of the initial feeding module of the present invention; Figure 6 This is a flowchart of the drainage and residue removal module of the present invention. Detailed Implementation

[0015] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0016] An automated breeding system for medicinal earthworms using straw hydrolysis and fermentation, the system comprising: The substrate nutrient module acquires the nutrient parameters of fermented straw material, matches the nutrient parameters of fermented straw material with the preset medicinal earthworm bed entry parameter set, and generates a bed area nutrient code. The bed entry locking module determines the target bed area that can be entered for seedling verification based on the bed area suitability code, obtains the breeding bed status parameter set of the target bed area and compares it with the preset seedling permission parameter set, and generates a seedling permission code with a value of allowing seedling or locking seedling. The density verification module collects seedling measurement parameters when the seedling permission code value is allowed to seedling, calculates the number of seedlings to be planted per unit area based on the seedling measurement parameters, and generates a seedling density profile. The first feeding module determines the first feeding weight according to the seedling density range, obtains the pre-feeding state parameter set of the target bed area and compares it with the preset feeding permission parameter set, and generates the first feeding order by combining the single-turn feeding weight of the equipment layer screw feeder. The liquid drainage and residue removal module monitors the liquid drainage and residue removal status parameter set of the target bed area after the first feeding order is executed, compares the liquid drainage and residue removal status parameter set with the preset liquid drainage and residue removal parameter set, and generates a liquid drainage and residue removal sequence.

[0017] This technical solution is primarily applied to large-scale farming of medicinal earthworms using hydrolyzed straw as the breeding substrate. It is suitable for automated farming equipment that continuously controls bed moisture content, pH, temperature, bed thickness, stocking density, initial feeding, drainage, and residual material removal after the fermented material is laid in the breeding bed. This solution uses batch codes and work orders to link the substrate suitability assessment, stocking permission, density verification, and feed delivery and residue removal processes, ensuring corresponding parameter constraints for bed placement, habitat management, and feeding management within the same breeding batch.

[0018] To facilitate the explanation of the data flow relationships and control connection methods between the modules in this technical solution, the following description, based on the processing of fermented straw feed after it enters the breeding bed, explains the specific execution methods of substrate suitability judgment, seedling locking verification, density determination, initial feeding generation, and drainage and residue removal connection. It should be understood that the following implementation process is used to explain the coordination relationship between the functional units and does not limit the specific models of the sensors, actuators, and controllers.

[0019] In Implementation 1, during the operation of this embodiment, the substrate nutrient module is used to collect and classify the compatibility status of the fermented straw material before it enters the medicinal earthworm breeding bed. The substrate nutrient module first obtains the moisture content of the fermented straw material using a moisture sensor, the pH value of the fermented straw material using a pH sensor, the temperature of the fermented straw material using a temperature sensor, and the thickness of the spreading material using a scraper height sensor. Then, the moisture content, pH value, temperature, and thickness of the fermented straw material are summarized into the fermented straw material nutrient parameters, which are used as input data for generating the bed area nutrient code.

[0020] The moisture content of the fermented straw material is used to characterize the proportion of moisture in the fermented straw material to the total amount of material during the discharge or spreading stage. The moisture content sensor can be set at the discharge channel of the fermented straw material, the discharge end of the conveyor belt, or the inlet of the breeding bed. The corresponding detection value is obtained by contacting or being near the fermented straw material. The detection value is used to determine whether the fermented straw material meets the substrate moisture conditions required for the introduction of medicinal earthworms into the breeding bed after entering the breeding bed, and provides a preliminary judgment basis for subsequent bed area spraying, static placement, or seedling locking.

[0021] The pH value of the fermented straw material is used to characterize the acid-base state of the fermented straw material. The pH sensor can be set in the fermented straw material storage area, mixing area, or pre-bed detection area. After the controller reads the detection value output by the pH sensor, it is used as one of the parameters to determine whether the fermented straw material is suitable for contact and habitat of medicinal earthworm. If the pH value of the fermented straw material does not fall into the preset pH range, the result of this fall will participate in the generation of the bed area nutrient code, so that the subsequent seedling verification can identify that the bed area still has a state where the acid-base conditions are not met.

[0022] The temperature of the fermented straw material is used to characterize the thermal state of the fermented straw material before it completes hydrolysis and fermentation and enters the breeding bed. The temperature sensor can be placed at the discharge end of the fermented straw material, the spreading channel, or the feeding position in the bed area. The controller determines whether the fermented straw material is within the preset temperature range based on the temperature value obtained by the temperature sensor. The temperature value is used to prevent fermented straw material with excessively high or low temperatures from directly entering the seedling permission process, so that the bed area susceptibility code can reflect the temperature suitability of the fermented straw material.

[0023] The thickness of the spread material is obtained by a scraper height sensor, which is used to detect the height position of the scraper, spreading plate or leveling mechanism relative to the surface of the breeding bed. The controller calculates or determines the thickness of the spread material formed by the fermented straw material in the target bed area based on the height position. The spread material thickness is used to determine whether the bed layer belongs to the preset bed layer thickness range. If the bed layer is too thick, it may affect the exchange of moisture and gas inside the bed layer. If the bed layer is too thin, it may affect the carrying capacity of the medicinal earthworm habitat substrate. Therefore, this data is used as one of the nutrient parameters of fermented straw material in the generation of the bed area nutrient code.

[0024] After obtaining the above data, the controller associates the moisture content, pH value, temperature, and thickness of the fermented straw material with the same target bed area number, and matches them with the preset moisture content range, pH range, temperature range, and bed thickness range in the preset medicinal earthworm bed entry parameter set. The preset medicinal earthworm bed entry parameter set can be written from the current breeding task sheet, controller parameter table, or manually entered process parameters. The matching process is used to determine whether each fermented straw material nutrient parameter is within the corresponding allowable range.

[0025] After all the suitable nutrient parameters of the fermented straw material have been assigned to their respective ranges, the controller generates a bed area nutrient suitability code according to the assignment results. The bed area nutrient suitability code is used to indicate the bed nutrient suitability status of the target bed area after receiving the current fermented straw material. The bed area nutrient suitability code can at least distinguish the state where all parameters are assigned to their corresponding preset ranges, and the state where any one of the parameters, such as moisture content, pH value, temperature, or bed thickness, is not assigned to its corresponding preset range. This makes the fermented straw material no longer just recorded as a bed material, but also serves as a pre-control basis for the subsequent seedling insertion verification by the bed entry interlock module.

[0026] Example 2: Based on the substrate nutrient suitability module generating the bed area nutrient suitability code in Example 1, this example further verifies the target bed area before seedling placement through the bed entry lock module. After the bed area nutrient suitability code points to the target bed area, the bed entry lock module first detects the bed surface moisture content, bed middle moisture content, bed temperature, bed area pH value, and drainage tank level of the target bed area. Then, it subtracts the bed surface moisture content from the bed middle moisture content to obtain the moisture gradient value. Subsequently, the moisture gradient value, bed temperature, bed area pH value, and drainage tank level are respectively classified into the corresponding permission range of the preset seedling placement permission parameter set, and a seedling placement permission code with a value of allowing seedling placement or locking seedling placement is generated according to the classification results.

[0027] The target bed area is the breeding bed area corresponding to the bed area suitability code. The bed area suitability code can carry or be associated with the target bed area number. The controller calls the detection port and execution port in the corresponding bed area according to the target bed area number, so that the pre-seedling verification process is only performed on the bed area that receives the current fermented straw material and completes the classification of suitability parameters, avoiding the mixing of detection data between different bed areas.

[0028] The moisture content of the bed surface can be obtained by a moisture content sensor installed on the upper layer of the breeding bed or at the detection position on the bed surface. The moisture content of the middle part of the bed can be obtained by a moisture content sensor inserted at a depth in the middle of the bed. The two are used to represent the moisture state of the surface substrate and the middle substrate of the target bed area, respectively. The controller subtracts the moisture content of the bed surface from the moisture content of the middle part of the bed to obtain the moisture gradient value. The moisture gradient value is used to reflect the difference in the vertical distribution of moisture in the bed area after spreading and spraying, and is used as one of the parameters to determine whether the moisture content of the bed is approaching a suitable state before the medicinal earthworm is put into the bed.

[0029] The bed temperature can be obtained by a temperature sensor installed inside the bed layer or on the side of the bed in the target bed area. This bed temperature is used to represent the actual temperature state of the environment in contact with the medicinal earthworm before seeding. Unlike the detection of the temperature of fermented straw material in Example 1, the bed temperature in this example corresponds to the temperature state of the bed area after the fermented straw material is laid into the breeding bed and comes into contact with the original substrate of the bed area. The controller classifies the bed temperature into the temperature permission range of the preset seeding permission parameter set to determine whether the target bed area can enter the seeding permission judgment.

[0030] The pH value of the bed area can be obtained by a pH sensor placed at the substrate detection position in the target bed area. The pH value of the bed area is used to indicate the acid-base state of the bed area after the fermented straw material is laid into the target bed area. The controller classifies the pH value of the bed area into the pH permissible range of the preset seedling permission parameter set, which is used to determine whether the bed area environment in contact with the medicinal earthworm is within the permissible acid-base range, so that the seedling permission code can reflect the overall acid-base condition of the bed area after the bed is laid, rather than just the individual detection result when the fermented straw material is discharged.

[0031] The liquid level in the drainage trough can be obtained by a liquid level sensor installed in the corresponding drainage trough, collection trough, or drainage channel in the target bed area. The liquid level in the drainage trough is used to indicate the drainage capacity of the target bed area after spraying, infiltration, or substrate water release. The controller will classify the liquid level in the drainage trough into the liquid level permission range of the preset seedling permission parameter set to determine whether there is drainage accumulation or insufficient drainage capacity in the target bed area, so as to avoid releasing the seedling permission code when the liquid level in the drainage trough exceeds the permission range.

[0032] The preset seedling stocking permission parameter set can be written from the current medicinal earthworm breeding task sheet, controller parameter table, or operating terminal. The preset seedling stocking permission parameter set includes at least the permission range of moisture gradient value, the permission range of bed temperature, the permission range of bed pH value, and the permission range of drainage tank level. The controller will classify the moisture gradient value, bed temperature, bed pH value, and drainage tank level into the corresponding permission ranges and record the judgment results.

[0033] When the moisture gradient value, bed temperature, bed pH value, and drainage tank level all fall within the corresponding permissible range of the preset seeding permission parameter set, the controller generates a seeding permission code with a value indicating that seeding is permitted. When any one of these parameters does not fall within the corresponding permissible range, the controller generates a seeding permission code with a value indicating that seeding is blocked. The seeding permission code is used to limit whether the subsequent density verification module can enter the seeding measurement parameter acquisition process, thereby making the seeding action of medicinal earthworm subject to the combined constraints of the target bed area's moisture distribution, temperature, pH status, and drainage capacity.

[0034] Example 3: Based on the seedling permission code generated by the bed-entry locking module in Example 2, this example further verifies the number of medicinal earthworms to be planted in the target bed area through a density verification module. When the seedling permission code is set to allow planting, the density verification module first obtains the weight of the medicinal earthworms planted by the seedling weighing device, obtains the sample weight and sample count by the sample weighing grid, obtains the effective area of ​​the bed area by the bed area registration terminal, and then converts the sample weight and sample count into an average weight per unit. Subsequently, the weight of the medicinal earthworms planted and the average weight per unit are converted into an estimated number of units in the bed area, and the estimated number of units in the bed area and the effective area of ​​the bed area are converted into the number of units planted per unit area. The number of units planted per unit area is then assigned to a preset seedling density range to generate a seedling density file.

[0035] The seedling weighing device is used to obtain the actual weight of the medicinal earthworms placed in the target bed area. The seedling weighing device can be set at the seedling storage container, the seedling conveying end, or the seedling entrance of the target bed area. After the controller reads the weight signal output by the seedling weighing device, it uses the weight signal as the measurement source of the total amount of seedlings placed in the target bed area. The weight of the medicinal earthworms placed reflects the total weight of the cultured organisms received by the target bed area in this seedling action, and serves as the basic data for estimating the number of animals in the bed area.

[0036] The sample weighing grid is used to obtain the sample weight and the number of samples. The sample weight is the weighing result corresponding to a fixed number of samples drawn from the medicinal earthworms to be released this time. The number of samples is the actual number of medicinal earthworms counted in the sample. The controller divides the sample weight and the number of samples to obtain the average weight of the individual. The average weight of the individual is used to characterize the average weight of the medicinal earthworms released this time, so that the subsequent estimated number of samples can be adjusted according to the change of the specifications of this batch of medicinal earthworms.

[0037] The bed area registration terminal is used to obtain the effective area of ​​the target bed area. The effective area can be entered by the operating terminal or calculated by the controller based on the pre-registered bed area length, bed area width and the boundary of the aquaculture area. The effective area represents the actual carrying area of ​​the target bed area that can be used for medicinal earthworms to inhabit and feed, and serves as the area benchmark for the number of seedlings released per unit area, avoiding the evaluation of the seedling intensity in the target bed area based solely on the weight of seedlings released.

[0038] After obtaining the weight of medicinal earthworms and the average weight of individual specimens, the controller divides the weight of medicinal earthworms by the average weight of individual specimens to obtain the estimated number of specimens in the bed area. The estimated number of specimens in the bed area is used to represent the estimated number of medicinal earthworms in the target bed area this time. Subsequently, the controller converts the estimated number of specimens in the bed area into a ratio with the effective area of ​​the bed area to obtain the number of specimens per unit area. The number of specimens per unit area is used to characterize the density of medicinal earthworms per unit bearing area of ​​the target bed area.

[0039] The controller categorizes the number of seedlings placed per unit area into a preset seeding density range. This preset seeding density range can be written from the current medicinal earthworm breeding task sheet, controller parameter table, or operating terminal, and can be set according to low density, medium density, high density, or other grading methods. The controller generates a corresponding seeding density level based on the range in which the number of seedlings placed per unit area is located. This seeding density level is used to provide the initial feeding weight selection basis for the subsequent initial feeding module, so that the initial feeding is no longer based solely on a fixed feeding cycle or a fixed feeding amount.

[0040] When the seedling permission code is not set to allow seedling, the density verification module does not proceed to the verification process for the weight of medicinal earthworm, sample weight, number of samples, and effective area of ​​the bed. When the seedling permission code is set to allow seedling and all measurement data are collected, the controller associates the weight of medicinal earthworm, average weight per unit, estimated number of samples in the bed, effective area of ​​the bed, quantity per unit area, and seedling density with the same target bed number. This allows the seedling density result of the target bed to be used as a prerequisite parameter for the generation of the subsequent first feeding order.

[0041] Example 4: Based on the seedling density range generated by the density verification module in Example 3, this example further generates the initial feeding control content for the target bed area through the initial feeding module. After the seedling density range is generated, the initial feeding module first selects the initial feeding weight corresponding to the seedling density range, then detects the moisture content in the middle of the bed layer, the pH value of the bed area, and the batch maturity indicator of the fermented material in the target bed area. Subsequently, the moisture content in the middle of the bed layer is classified into the allowable humidity range for feeding, the pH value of the bed area is classified into the allowable pH range for feeding, the batch maturity indicator of the fermented material is judged to be consistent with the preset maturity indicator, and the initial feeding weight and the single-turn feeding weight of the equipment layer screw feeder are converted into the number of feeding turns to generate the initial feeding sheet.

[0042] The initial feeding weight is a feeding amount parameter corresponding to the seedling density level. The controller can call up the corresponding relationship between the preset seedling density range and the initial feeding weight. When the seedling density level is low, a smaller initial feeding weight is selected, and when the seedling density level is high, a larger initial feeding weight is selected. The corresponding relationship can be written by the current medicinal earthworm breeding task sheet, controller parameter table, or operation terminal, thereby linking the initial feeding weight with the number of seedlings per unit area in the target bed area.

[0043] The moisture content in the middle of the bed is used to indicate the substrate moisture status of the main habitat area of ​​medicinal earthworm. It can be obtained by a moisture content sensor set at the depth of the middle of the bed in the target bed area. The controller classifies the moisture content in the middle of the bed into the allowable humidity range for feeding, and is used to determine whether the target bed area has the humidity conditions required for feeding before the first feeding, so as to avoid releasing the feeding action directly when the middle of the bed is too dry or too wet.

[0044] The pH value of the bed area is used to indicate the acid-base status of the substrate in contact with the medicinal earthworm in the target bed area. It can be obtained by a pH sensor placed at the substrate detection position in the target bed area. The controller classifies the pH value of the bed area into the allowable pH range for feeding. It is used to determine whether the acid-base conditions of the bed area meet the feeding permission requirements before the first feeding. This ensures that the generation of the first feeding order is constrained by the actual acid-base status of the bed area, rather than being triggered solely based on the completion status of seedling feeding or a fixed time interval.

[0045] The batch maturity identifier of the fermented material is used to indicate the maturity status of the fermented straw material corresponding to the current target bed area. It can be recorded by the hydrolysis fermentation process, the batch code registration information, or written by the fermentation completion mark in the controller. The controller will judge whether the batch maturity identifier of the fermented material is consistent with the preset maturity identifier. When the two are consistent, it means that the batch of fermented material meets the maturity conditions for participating in the first feeding process. When the two are inconsistent, it means that the batch of fermented material has not yet reached the preset maturity status.

[0046] The single-turn feeding weight of the equipment layer screw feeder is used to represent the weight of the bait output by the screw feeder in one rotation. It can be written by weighing and calibration before start-up, feeder calibration parameters or equipment parameter table. The controller will convert the initial feeding weight with the single-turn feeding weight of the equipment layer screw feeder to obtain the number of feeding revolutions. The number of feeding revolutions is used to limit the rotation execution amount of the screw feeder during the initial feeding process, so that the initial feeding order can be converted from the feeding weight parameter into the feeding action parameter that the equipment can execute.

[0047] When generating the first feeding order, the controller associates the target bed area number, seedling density level, initial feeding weight, bed mid-section moisture content, bed area pH value, batch maturity identifier consistency judgment result, single-cycle feeding weight and number of feeding cycles of the equipment layer screw feeder. If the bed mid-section moisture content falls within the allowable feeding humidity range, the bed area pH value falls within the allowable feeding pH range, and the batch maturity identifier of the fermented material is consistent with the preset maturity identifier, the first feeding order can enter the release state. If any judgment result does not meet the corresponding condition, the first feeding order writes the corresponding unmet item and remains in the pending release state.

[0048] Therefore, the initial feeding module does not simply rely on a fixed feeding time or a fixed feeding weight to perform the first feeding. Instead, based on the initial feeding weight determined by the seedling density setting, it further combines the moisture content in the middle of the target bed area, the pH value of the bed area, and the maturity mark of the fermented material batch to determine the feeding permission. The initial feeding weight is converted into the number of feeding revolutions by the single-revolution feeding weight of the spiral feeder in the equipment layer, so that the initial feeding action can maintain a corresponding relationship with the seedling density, bed area condition, and fermented material maturity status.

[0049] Example 5: Based on the initial feeding module of Example 4 generating and executing the initial feeding order, this example further monitors the drainage load status and residual material retention status of the target bed area through the drainage and residue cleaning module. After the initial feeding order is executed, the drainage and residue cleaning module first monitors the drainage tank level, drainage conductivity, and residual material weight of the target bed area. Then, it compares the drainage tank level with the upper limit of the drainage level in the preset drainage and residue cleaning parameter set, compares the drainage conductivity with the upper limit of the drainage conductivity in the preset drainage and residue cleaning parameter set, and compares the residual material weight with the upper limit of the residual material cleaning weight in the preset drainage and residue cleaning parameter set. Subsequently, based on the three judgment results, it determines the execution order of opening the drainage valve, pausing feeding, and cleaning residual material, and generates a drainage and residue cleaning sequence.

[0050] The liquid level in the drainage trough is used to indicate the height of the accumulated drainage in the target bed area after spraying, substrate water release, and initial feeding. The liquid level in the drainage trough can be obtained by a liquid level sensor installed in the corresponding drainage trough, collection trough, or drainage channel in the target bed area. After the controller reads the liquid level signal output by the liquid level sensor, it compares the liquid level in the drainage trough with the upper limit of the drainage liquid level in the preset drainage and residue removal parameter set. When the liquid level in the drainage trough exceeds the upper limit of the drainage liquid level, it indicates that the drainage capacity of the target bed area has reached the condition that requires priority treatment.

[0051] The discharge conductivity is used to represent the relative content of conductive dissolved substances in the liquid discharged from the target bed area. The discharge conductivity can be obtained by a conductivity sensor installed in the discharge tank or discharge channel. The controller compares the discharge conductivity with the upper limit of the discharge conductivity in the preset discharge residue removal parameter set. When the discharge conductivity exceeds the upper limit, it indicates that the content of dissolved residue in the discharge is high. This judgment result is used to participate in feeding pause and discharge priority determination, so that subsequent feeding actions are constrained by the discharge status.

[0052] The residual weight is used to indicate the weight of uneaten food remaining on the bed surface or at the residual food collection location after the first feeding in the target bed area. The residual weight can be obtained by a weighing sensor installed in the residual food collection tray, residual food conveying end, or residual food weighing location, or by the residual food cleaning mechanism collecting the residual food on the surface of the target bed area and weighing it. The controller compares the residual weight with the upper limit of the residual food cleaning weight set in the preset drainage and residual food cleaning parameters. When the residual weight exceeds the upper limit of the residual food cleaning weight, it indicates that there is residual food remaining in the target bed area that needs to be cleaned.

[0053] The preset set of drainage and residue cleaning parameters can be written from the current medicinal earthworm breeding task sheet, controller parameter table, or operating terminal. The preset set of drainage and residue cleaning parameters includes at least the upper limit of drainage liquid level, the upper limit of drainage conductivity, and the upper limit of residue cleaning weight. The controller compares the drainage tank liquid level, drainage conductivity, and residue weight with the corresponding upper limit values, and associates each comparison result with the same target bed area number.

[0054] When determining the order of execution for opening the drain valve, pausing feeding, and cleaning residual material, the controller generates a drain and cleaning sequence based on the results of judging the drain tank level, drain conductivity, and residual material weight. When the drain tank level exceeds the upper limit of the drain level, the drain valve opening command is written first in the drain cleaning sequence. When the drain conductivity exceeds the upper limit of the drain conductivity, the feeding pause command is written in the drain cleaning sequence, and the next feeding release is kept in a paused state. When the residual material weight exceeds the upper limit of the residual material cleaning weight, the residual cleaning command is written in the drain cleaning sequence, and the execution time of the cleaning action is determined after the drain valve opening command or the feeding pause command.

[0055] When the liquid level in the drain tank does not exceed the upper limit of the drain liquid level, the liquid conductivity does not exceed the upper limit of the drain conductivity, and the weight of the residual material does not exceed the upper limit of the residual material cleaning weight, the controller can mark the drain and residual cleaning sequence as a hold state and retain the normal connection of the subsequent feeding process. When any one of the three judgment results meets the corresponding triggering condition, the controller generates the drain and residual cleaning sequence in the order of drain load priority, feeding pause constraint, and residual material cleaning connection. This allows the liquid accumulation, drain status, and residual material retention in the target bed area after the first feeding to jointly constrain the subsequent feeding and residual cleaning actions.

[0056] Example 6: Based on the automated breeding system for medicinal earthworms using straw hydrolysis and fermentation disclosed in Examples 1 to 5, this invention further discloses an automated breeding method for medicinal earthworms using straw hydrolysis and fermentation. This method includes the following steps: S1. Obtain the nutrient parameters of fermented straw material, match the nutrient parameters of fermented straw material with the preset set of medicinal earthworm bed entry parameters, and generate the bed area nutrient code; S2. Based on the suitable breeding code of the breeding area, determine the target breeding area that can be entered for seedling verification, obtain the breeding bed status parameter set of the target breeding area and compare it with the preset seedling permission parameter set, and generate a seedling permission code with the value of allowing seedling or locking seedling. S3. When the seedling permission code is set to allow seedling placement, collect the seedling measurement parameters, calculate the number of seedlings to be placed per unit area based on the seedling measurement parameters, and generate a seedling density level. S4. Determine the initial feeding weight according to the seedling density range, obtain the pre-feeding state parameter set of the target bed area and compare it with the preset feeding permission parameter set, and generate the first feeding order by combining the single-turn feeding weight of the equipment layer screw feeder. S5. After the first feeding order is executed, monitor the set of drainage and residue removal status parameters of the target bed area, compare the set of drainage and residue removal status parameters with the preset set of drainage and residue removal parameters, and generate a drainage and residue removal sequence.

[0057] Example 7: In a specific application instance, taking the target bed area numbered A03 receiving fermented straw material numbered SJ2026-01 as an example, the controller reads that the moisture content of this batch of fermented straw material is 68%, the pH value is 6.8, the temperature is 24℃, the thickness of the spreading material obtained by the scraper height sensor is 12cm, and the preset parameters for medicinal earthworm entering the bed are concentrated, with a moisture content range of 60% to 75%, a pH range of 6.0 to 7.5, a temperature range of 18℃ to 28℃, and a bed thickness range of 10cm to 15cm. The controller classifies the above four data into the corresponding ranges and generates a bed area suitability code pointing to the target bed area A03.

[0058] After the bed area nutrient suitability code is generated, the bed entry interlock module detects that the surface moisture content of target bed area A03 is 70%, the moisture content in the middle of the bed is 66%, the bed temperature is 23℃, the bed area pH value is 6.9, and the drainage tank level is 20mm. The controller subtracts the surface moisture content from the middle of the bed to obtain a moisture gradient value of 4%. The preset seedling permission parameters are set, with the moisture gradient value permissible within a range of no more than 8%, the bed temperature permissible within a range of 18℃ to 28℃, the bed area pH value permissible within a range of 6.0 to 7.5, and the drainage tank level permissible within a range of no more than 50mm. The controller determines that all four data points fall within the corresponding permissible range and generates a seedling permission code with a value indicating that seedling entry is permitted.

[0059] After the seedling permission code is set to allow seedling placement, the density determination module obtains the seedling weight of 50kg of medicinal earthworm from the seedling weigher, the sample weight of 120g from the sample weighing grid, and the number of samples as 100. The effective area of ​​target bed A03 is obtained as 20m² from the bed area registration terminal. The controller divides the sample weight by the number of samples to obtain the average weight of individual samples as 1.2g. Then, the seedling weight of medicinal earthworm is converted to the average weight of individual samples to obtain the estimated number of samples in the bed area as 41667. Subsequently, the estimated number of samples in the bed area is converted to the effective area of ​​the bed area to obtain the number of samples placed per unit area as 2083 / m². The controller classifies the number of samples placed per unit area into the medium density range in the preset seedling density range and generates a seedling density file.

[0060] After the seedling density range is generated, the initial feeding module selects an initial feeding weight of 8kg corresponding to the medium density range. It also detects that the moisture content in the middle of the bed in the A03 target bed area is 66%, the pH value of the bed area is 6.9, and the batch maturity mark of the fermented material is complete. The controller classifies the moisture content in the middle of the bed area into the allowable humidity range for feeding, classifies the pH value of the bed area into the allowable pH range for feeding, and determines that the batch maturity mark of the fermented material is consistent with the preset maturity mark. Then, it reads the single-circle feeding weight of the spiral feeder in the equipment layer as 0.25kg, divides the initial feeding weight by the single-circle feeding weight, obtains the number of feeding circles as 32, and generates the initial feeding order corresponding to the A03 target bed area.

[0061] After the first feeding order is executed, the drain and residue cleaning module monitors the drain tank level in the A03 target bed area as 58mm, the drain conductivity as 4.2mS / cm, and the residue weight as 1.5kg. The preset drain and residue cleaning parameters are set with the upper limit of drain level as 50mm, the upper limit of drain conductivity as 5.0mS / cm, and the upper limit of residue cleaning weight as 1.0kg. The controller determines that the drain tank level exceeds the upper limit of drain level, the drain conductivity does not exceed the upper limit of drain conductivity, and the residue weight exceeds the upper limit of residue cleaning weight. Therefore, a drain and residue cleaning sequence is generated, which first opens the drain valve, then performs residue cleaning, and resumes the subsequent feeding connection after the drain level falls back.

[0062] Through the above processing, the controller continuously completes the following steps in the same breeding batch: determining the suitability of fermented straw feed, verifying the bed area closure before seedling introduction, determining the seedling density, feeding the first feed, and connecting the drainage and residue removal. The specific values ​​in this example are only used to illustrate the operation mode of the present invention and do not constitute a limitation on the parameter range, bed area size, or equipment model.

[0063] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automated breeding system for medicinal earthworms using straw hydrolysis and fermentation, characterized in that, The system includes: The substrate nutrient module acquires the nutrient parameters of fermented straw material, matches the nutrient parameters of fermented straw material with the preset medicinal earthworm bed entry parameter set, and generates a bed area nutrient code. The bed entry locking module determines the target bed area that can be entered for seedling verification based on the bed area suitability code, obtains the breeding bed status parameter set of the target bed area and compares it with the preset seedling permission parameter set, and generates a seedling permission code with a value of allowing seedling or locking seedling. The density verification module collects seedling measurement parameters when the seedling permission code value is allowed to seedling, calculates the number of seedlings to be planted per unit area based on the seedling measurement parameters, and generates a seedling density profile. The first feeding module determines the first feeding weight according to the seedling density range, obtains the pre-feeding state parameter set of the target bed area and compares it with the preset feeding permission parameter set, and generates the first feeding order by combining the single-turn feeding weight of the equipment layer screw feeder. The liquid drainage and residue removal module monitors the liquid drainage and residue removal status parameter set of the target bed area after the first feeding order is executed, compares the liquid drainage and residue removal status parameter set with the preset liquid drainage and residue removal parameter set, and generates a liquid drainage and residue removal sequence.

2. The automated breeding system for medicinal earthworms using straw hydrolysis and fermentation according to claim 1, characterized in that: The substrate nutrient suitability module first obtains the moisture content of the fermented straw material using a moisture sensor, the pH value of the fermented straw material using a pH sensor, the temperature of the fermented straw material using a temperature sensor, and the thickness of the spreading material using a scraper height sensor. Then, the moisture content, pH value, temperature, and spreading thickness of the fermented straw material are summarized as the nutrient suitability parameters of the fermented straw material. Subsequently, the nutrient suitability parameters of the fermented straw material are respectively assigned to the preset moisture content range, preset pH range, preset temperature range, and preset bed thickness range of the preset medicinal earthworm bed entry parameter set, and the bed area nutrient suitability code is generated according to the assignment results.

3. The automated breeding system for medicinal earthworms using straw hydrolysis and fermentation according to claim 1, characterized in that: After the bed area nutrient suitability code points to the target bed area, the bed entry interlock module first detects the bed surface moisture content, bed middle moisture content, bed temperature, bed area pH value, and drainage tank level of the target bed area. Then, it subtracts the bed surface moisture content from the bed middle moisture content to obtain a moisture gradient value. Subsequently, it assigns the moisture gradient value, bed temperature, bed area pH value, and drainage tank level to the corresponding permissible ranges in the preset seedling entry permission parameter set. When all parameters are assigned to the corresponding permissible range, a seedling entry permission code with a value of "allowed seedling entry" is generated. When any parameter is not assigned to the corresponding permissible range, a seedling entry permission code with a value of "locked seedling entry" is generated.

4. The automated breeding system for medicinal earthworms using straw hydrolysis and fermentation according to claim 1, characterized in that: When the seedling permission code value is "allowed", the density determination module first obtains the weight of medicinal earthworms by the seedling weighing device, obtains the sample weight and number of samples by the sample weighing grid, obtains the effective area of ​​the bed area by the bed area registration terminal, then converts the sample weight and the number of samples into the average weight of individual plants, then converts the weight of medicinal earthworms and the average weight of individual plants into the estimated number of plants in the bed area, and converts the estimated number of plants in the bed area and the effective area of ​​the bed area into the seedling quantity per unit area, and classifies the seedling density into a preset seedling density range according to the seedling quantity per unit area, thus generating the seedling density range.

5. The automated breeding system for medicinal earthworms using straw hydrolysis and fermentation according to claim 1, characterized in that: After the seedling density range is generated, the initial feeding module first selects the initial feeding weight corresponding to the seedling density range, then detects the moisture content in the middle of the target bed area, the pH value of the bed area, and the batch maturity indicator of the fermented material. Subsequently, the moisture content in the middle of the bed area is classified into the allowable humidity range for feeding, the pH value of the bed area is classified into the allowable pH range for feeding, the batch maturity indicator of the fermented material is judged to be consistent with the preset maturity indicator, and the initial feeding weight and the single-turn feeding weight of the spiral feeder in the equipment layer are converted into the number of feeding turns to generate the initial feeding order.

6. The automated breeding system for medicinal earthworms using straw hydrolysis and fermentation according to claim 1, characterized in that: After the first feeding order is executed, the draining and residue cleaning module first monitors the draining tank level, draining conductivity, and residue weight of the target bed area. Then, it compares the draining tank level with the upper limit of the draining level in the preset draining and residue cleaning parameter set, compares the draining conductivity with the upper limit of the draining conductivity in the preset draining and residue cleaning parameter set, and compares the residue weight with the upper limit of the residue cleaning weight in the preset draining and residue cleaning parameter set. Subsequently, it determines the execution order of draining valve opening, feeding pause, and residue cleaning according to the three judgment results, and generates the draining and residue cleaning sequence.

7. A method for raising medicinal earthworms using an automated straw hydrolysis and fermentation system according to any one of claims 1-6, characterized in that, The method includes the following steps: S1. Obtain the nutrient parameters of fermented straw material, match the nutrient parameters of fermented straw material with the preset set of medicinal earthworm bed entry parameters, and generate the bed area nutrient code; S2. Based on the suitable breeding code of the breeding area, determine the target breeding area that can be entered for seedling verification, obtain the breeding bed status parameter set of the target breeding area and compare it with the preset seedling permission parameter set, and generate a seedling permission code with the value of allowing seedling or locking seedling. S3. When the seedling permission code is set to allow seedling placement, collect the seedling measurement parameters, calculate the number of seedlings to be placed per unit area based on the seedling measurement parameters, and generate a seedling density level. S4. Determine the initial feeding weight according to the seedling density range, obtain the pre-feeding state parameter set of the target bed area and compare it with the preset feeding permission parameter set, and generate the first feeding order by combining the single-turn feeding weight of the equipment layer screw feeder. S5. After the first feeding order is executed, monitor the set of drainage and residue removal status parameters of the target bed area, compare the set of drainage and residue removal status parameters with the preset set of drainage and residue removal parameters, and generate a drainage and residue removal sequence.

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