CN104430188A - Full-automatic uniform feeding boat for river crab culture - Google Patents
Full-automatic uniform feeding boat for river crab culture Download PDFInfo
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- CN104430188A CN104430188A CN201410557606.5A CN201410557606A CN104430188A CN 104430188 A CN104430188 A CN 104430188A CN 201410557606 A CN201410557606 A CN 201410557606A CN 104430188 A CN104430188 A CN 104430188A
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- 239000000463 material Substances 0.000 claims abstract description 6
- 241000251468 Actinopterygii Species 0.000 claims description 23
- 241000371997 Eriocheir sinensis Species 0.000 claims description 13
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000005183 dynamical system Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 235000013305 food Nutrition 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241000269801 Perca Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000021050 feed intake Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006213 oxygenation reaction Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention provides a full-automatic uniform feeding boat for river crab culture. The full-automatic uniform feeding boat for river crab culture comprises a boat body, an automatic feeding device and an electrical control device. The automatic feeding device is arranged on the stern of the boat body and comprises a hopper, pressure sensors, a plurality of funnels, bait valves, a valve motor and a plurality of material guide pipes. The funnels are arranged at the bottom of the hopper side by side, the two sides of each funnel are both provided with the pressure sensors, the bottom of each funnel is provided with one bait valve communicated with the corresponding material guide pipe, the opening degree of each bait valve is controlled by the valve motor, and the material guide pipes obliquely extend to the outside of the stern. The electrical control device comprises an embedded ARM processor, a GPS navigation module, an attitude module, a GPRS wireless remote monitoring module and an ultrasonic distance measuring sensor, wherein the GPS navigation module, the attitude module, the GPRS wireless remote monitoring module and the ultrasonic distance measuring sensor are connected with the embedded ARM processor respectively, and the embedded ARM processor is further connected with the pressure sensors and the valve motor. According to the full-automatic uniform feeding boat for river crab culture, feedback control over the feeding amount is achieved, and track control is flexible.
Description
Technical field
The present invention relates to a kind of Autoamtic bait putting ship, particularly relate to a kind of Full-automatic uniform bait-throwing-in boat for culture of Chinese mitten crab.
Background technology
Along with agricultural mechanization and the development of automatic technology and the raising of living standards of the people, the demand of market to river crab product constantly increases, the cultural technique of river crab is constantly updated with management, but because culture of Chinese mitten crab has stronger region restriction, river crab can not large area be moved, and can only look for food at self near zone; Meanwhile, strive food with bellicose be the nature of river crab, bait large in density can cut one another's throat time few; The excessive intensive reduction easily causing dissolved oxygen in water body of river crab in addition, thus cause river crab to run away because dissolved oxygen is low.But culture of Chinese mitten crab adopts three kinds of modes at present: one is by bait throwing in feeding of manually poling a boat.This mode inefficiency, labour intensity is large, is difficult to improve culture of Chinese mitten crab output; Two is by device for feeding fish bait bait throwing in feeding.Although this mode is by manual operation bait throwing at regular time and quantity, save labour, but this device for feeding fish bait is a kind of fixed point spreader, can only be fixed on a certain place and feed intake, this device for feeding fish bait is only applicable to the circular crab pool of waiting small size, and there is the phenomenon pockety of bait; Three is by boat-carrying device for feeding fish bait feeding.Be applicable to the plant that some are small, when throwing something and feeding, people's Row Your Boat is along pond side ring shape, by the device for feeding fish bait installed aboard ship, bait is invested pond again, but this Method compare bothers and effort, and a little easy operation with rowing the boat of throwing something and feeding changes and changes, and affects effect of throwing something and feeding.Not controlled also because of bait-laying device for fish of the higher Autoamtic bait putting ship of automaticity, larger interference is there is once extraneous, boats and ships are difficult to reach and at the uniform velocity navigate by water, the factor such as stormy waves as the external world may cause that boats and ships accelerate, boats and ships should decelerate to given pace and turn around or the situation such as stopping again before pulling in shore, and which results in boats and ships can not remain a constant speed always.And the bait distribution likeness in form one that traditional device for feeding fish bait is shed out is fan-shaped, the bait distribution that the device for feeding fish bait of boat-carrying is shed out is oblique covering of the fan one by one, and ship in the process of moving, easily causes blank or the overlap in the bait region be distributed in pond.
In sum, existing Sinl'Perca chuatsT is difficult to reach even bait throwing in.
Under this special breeding environment of culture of Chinese mitten crab, rely on comparatively strong to the uniformity of bait throwing in, the skewness of bait is easy to cause daily ration, feeding quantity too much or not enough, and throwing in too much bait not only can increase cost, also can cause the pollution of water quality.Therefore, study a kind of Full-automatic uniform bait throwing in machine gear for culture of Chinese mitten crab and have very high practical value.
Summary of the invention
For Shortcomings in prior art, the invention provides a kind of full-automatic independent navigation paddle wheel machine ship of the spreading uniform, controllable for culture of Chinese mitten crab.
The present invention realizes above-mentioned technical purpose by following technological means.
For a Full-automatic uniform bait-throwing-in boat for culture of Chinese mitten crab, comprise hull, automatic bait-laying device for fish, electrical control gear, it is characterized in that:
Described automatic bait-laying device for fish is placed in the stern position of hull, comprise hopper, pressure sensor, multiple funnel, bait valve, valve driving machine, multiple passage, described multiple funnel is disposed side by side on the bottom of hopper, pressure sensor is all equipped with in the both sides of each funnel, the bottom of each funnel is provided with bait valve and is connected with a passage, the aperture of described bait valve is controlled by valve driving machine, and described passage tilts to extend to the outside of stern;
Described electrical control gear comprises embedded ARM processor and the GPS navigation module be connected with embedded ARM processor respectively, gesture module, GPRS wireless remote monitering module and ultrasonic distance-measuring sensor, and described embedded ARM processor is also connected with described pressure sensor, valve driving machine.
Preferably, described passage and between be also provided with vibrating conduit between funnel, described vibrating conduit is connected with vibrating motor.
Preferably, the quantity of funnel, passage is eight, and the width of described passage is broadened by narrow from going out bait mouth to bait throwing in mouth, and the overall width of eight described bait throwing in mouths is four meters.
Preferably, described hull adopts paddlewheel propulsion device as dynamical system, described paddlewheel propulsion device is placed in the both sides in the middle of hull, described paddle wheel pusher comprises paddle wheel, brshless DC motor, electric machine controller, deceleration device, between described paddle wheel and motor, described brshless DC motor connects with the lithium battery of the bow being positioned at hull, and described electric machine controller is connected with embedded ARM processor.
Preferably, camera is installed on the top, dead ahead of described device for feeding fish bait, and described camera is connected with embedded ARM processor.
Preferably, described hull is glass steel material.
Compared with common device for feeding fish bait, the Full-automatic uniform bait-throwing-in boat for culture of Chinese mitten crab of the present invention, has the following advantages:
1. utilize gravity inertial effect, by the vibrating motor on common device for feeding fish bait and shed motor reconstruct and become vibrating conduit and valve driving machine, make daily ration, feeding quantity controlled, the pressure sensor installed in hopper, achieve the FEEDBACK CONTROL of daily ration, feeding quantity, and the surplus of bait is through certain algorithm, can determine that bait with great speeds, will could be evenly distributed on whole pond by ship.Or the regulation speed of a ship or plane, when the surplus of bait is lower than certain value, writes down current position, after charging of making a return voyage, bait throwing in is continued in the front position got back to.
2. adopt paddle wheel pusher, environmental protection is pollution-free, achieves TRAJECTORY CONTROL flexible.
3. the overall width of passage and the pipe number of passage determine the precision of bait distribution and ship ship trajectory.
4. can embedded ARM processor be S type in outer shroud by presetting ship trajectory, for ship turning bait throwing in characteristic, to go in ring outside when sailing ship round pond one enclose bait throwing in complete after, enter the curved device for feeding fish bait of S type can not work, even bait throwing in can not only be realized, and avoid the complex control algorithm of turning and bringing.
Accompanying drawing explanation
Fig. 1 is the structure chart of Full-automatic uniform bait-throwing-in boat one embodiment of the present invention.
Fig. 2 is the end view of Full-automatic uniform bait-throwing-in boat of the present invention.
Fig. 3 is described electric control structure figure.
Fig. 4 is the ship trajectory schematic diagram of described Full-automatic uniform bait-throwing-in boat.
Description of reference numerals is as follows:
1-hopper, 2-pressure sensor, 3-funnel, 5-bait valve, 6-valve driving machine, 7-paddlewheel propulsion device, 8-electric machine controller, 9-electric control box, 10-GPRS wireless remote monitering module, 11-embedded ARM processor, 12-gesture module, 13-GPS navigation module, 14-lithium battery, 15-ultrasonic distance-measuring sensor, 16-bow, 17-hull, 18-fixed station, 19-bait throwing in mouth, 20-stern, 21-passage, 22-vibrating motor, 23-goes out bait mouth, 24-vibrating conduit, 25-automatic bait-laying device for fish.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
As shown in Figure 1 and Figure 2, the Full-automatic uniform bait-throwing-in boat for culture of Chinese mitten crab of the present invention, comprises hull 17, automatic bait-laying device for fish 25, electrical control gear.Described hull 17 is glass steel material, and described automatic bait-laying device for fish 25 is fixed on the fixed station 18 at stern 20 position being positioned at hull 17.Electrical control gear is placed in electric control box 9, is positioned at the middle part of hull 17.Both sides in the middle part of hull 17 settle paddlewheel propulsion device 7 as the powered system of hull 17; Bow 16 is configured to the lithium battery 14 that whole ship provides power; Be beneficial to the stationarity of whole machine ship.Although; the propulsive efficiency of paddle wheel pusher 7 is lower than screw; but under the cultivation handling situations not pursuing ship's speed; paddle wheel pusher 7 is adopted not only to ensure that hull 17 also can pass through smoothly in pasture and water compact district; can play a protective role to the algae of culture of Chinese mitten crab; serve running water oxygenation not pollute simultaneously, reduce the effect of the river crab incidence of disease.Described paddle wheel pusher comprises paddle wheel, brshless DC motor, electric machine controller 8, deceleration device, and described brshless DC motor is connected by the lithium battery 14 being positioned at bow 16.
As shown in Figure 2, described automatic bait-laying device for fish 25 comprises hopper 1, pressure sensor 2, eight funnels 3, bait valve 5, valve driving machine 6, eight passages 21.Described multiple funnel 3 is disposed side by side on the bottom of hopper 1, and a pressure sensor 2 is all equipped with in the both sides of each funnel 3, for measuring the weight of residual bait.The bottom of each funnel 3 is provided with bait valve 5, and the aperture of described bait valve 5 is controlled by valve driving machine 6, reaches the effect controlling daily ration, feeding quantity.If bait is thrown in too much in regulation region, then the aperture of bait valve 5 is reduced, otherwise, then allow the aperture of bait valve 5 increase.In the present embodiment, in order to make the bait flowing to eight passages 21 even as much as possible, be provided with vibrating conduit 24 at described passage 21 with between funnel 3, described vibrating conduit 24 is connected with vibrating motor 22, bait out enters bait vibrating conduit 24 afterwards from bait valve 5, and bait can be allowed to enter each passage 21 more uniformly.What passage 21 was connected to vibrating conduit 24 goes out bait mouth 23 place, and tilts to extend to the outside of stern 20, and the outlet of passage 21 and bait throwing in mouth 19 are positioned at the outside of stern 20.Passage 21 is made up of the smooth aluminium of lightweight, and the width of described passage 21 is broadened by narrow from going out bait mouth 23 to bait throwing in mouth 19, and the overall width of eight described bait throwing in mouths 19 and bait throwing in scope are four meters.
Electric control box 9 is placed in above lithium battery 14, and electric control box 9 is made up of metal material, effectively can suppress outside electromagnetic interference.The electrical control gear being positioned at electric control box 9 comprises embedded ARM processor 11 and the GPS navigation module 13 be connected with embedded ARM processor 11 respectively, gesture module 12, GPRS wireless remote monitering module 10 and ultrasonic distance-measuring sensor 15.Described embedded ARM processor 11 is also connected with described pressure sensor 2, valve driving machine 6, electric machine controller 8, as shown in Figure 3.The state of the abundance of food in the hopper 1 detected, valve driving machine 6 is sent to embedded ARM processor 11 by pressure sensor 2, and embedded ARM processor 11 is according to the aperture of remaining stroke and abundance of food by-pass valve control motor 6 and then adjustment bait valve 5.Information for detecting barrier and the range information from pond bank such as ship of bamboo pole on the water surface, movement, and is sent to embedded ARM processor 11 by ultrasonic distance-measuring sensor 15, plays a part to keep away barrier protection.The rotating speed of motor in paddlewheel propulsion device 7, current and voltage signals and ship's speed, send into embedded ARM processor 11 and process after testing.
Embedded ARM processor 11 selects mini2440, carries WinCE operating system, embeds electronic chart, as navigator.Be transferred to GPS navigation module 13 by global position system, resolve through receiving, obtaining the information such as GPS longitude and latitude, realize the track following that shipping is dynamic.Meanwhile, by GPRS wireless remote monitering module 10, the duty of collected latitude and longitude information, bait throwing in speed, bait surplus, each motor is transferred to host computer and monitors, then carry out the emergent control of bait throwing in machine ship by host computer.The camera that can also connect in the dead ahead embedded ARM processor 11 of device for feeding fish bait, is transferred to host computer by image informations such as the barrier situations of the bait throwing in situation collected and periphery by embedded ARM processor 11, remote monitoring module 10 that GPRS is wireless.
The LCD trajectory planning module 26 of embedded ARM processor 11 carries out trajectory planning, is controlled by closed loop feedback, realize feedback speed governing and the track following of each motor on ship.These signals are transferred to host computer by GPRS wireless remote monitering module 10 monitor.Such as ship detects that bait is empty in the process of moving, then make a return voyage after the latitude and longitude information that activating alarm record is current.
As shown in Figure 4, Autoamtic bait putting machine ship to realize further evenly bait throwing in, then needs to be optimized the ship trajectory of ship, considers that ship is at turning bait throwing in complex, therefore to have employed in a kind of outer shroud S type track to plan foot track.Wherein, take A as starting point, according to the direction of arrow, enclose less than one around outer shroud clockwise, apart from starting point A certain distance, this distance is bait throwing in amplitude range, S type bend is entered according to the direction of arrow, B track drives to distance bend C certain distance, the bait valve 5 of bait-laying device for fish is closed, the part bait after valve closing just can just be started turning after throwing something and feeding away completely and enter C track, equally, open valve when machine ship will sail out of before C enters D track after certain distance, can just can start bait throwing in after entering D.Circulate according to the track of BCD, until after track E, go out that S type is curved enters F track, get back to starting point A.
Described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (6)
1., for a Full-automatic uniform bait-throwing-in boat for culture of Chinese mitten crab, comprise hull (17), automatic bait-laying device for fish (25), electrical control gear, it is characterized in that:
Described automatic bait-laying device for fish (25) is placed in stern (20) position of hull (17), comprise hopper (1), pressure sensor (2), multiple funnel (3), bait valve (5), valve driving machine (6), multiple passage (21), described multiple funnel (3) is disposed side by side on the bottom of hopper (1), pressure sensor (2) is all equipped with in the both sides of each funnel (3), the bottom of each funnel (3) is provided with bait valve (5), and be connected with a passage (21), the aperture of described bait valve (5) is controlled by valve driving machine (6), described passage (21) tilts to extend to the outside of stern (20),
Described electrical control gear comprises embedded ARM processor (11) and the GPS navigation module (13), gesture module (12), GPRS wireless remote monitering module (10) and the ultrasonic distance-measuring sensor (15) that are connected with embedded ARM processor (11) respectively, and described embedded ARM processor (11) is also connected with described pressure sensor (2), valve driving machine (6).
2. bait-throwing-in boat according to claim 1, it is characterized in that, described passage (21) and between be also provided with vibrating conduit (24) between funnel (3), described vibrating conduit (24) is connected with vibrating motor (22).
3. bait-throwing-in boat according to claim 1, it is characterized in that, the quantity of funnel (3), passage (21) is eight, the width of described passage (21) is broadened by narrow from going out bait mouth (23) to bait throwing in mouth (19), and the overall width of eight described bait throwing in mouths (19) is four meters.
4. bait-throwing-in boat according to claim 1, it is characterized in that, described hull (17) adopts paddlewheel propulsion device (7) as dynamical system, described paddlewheel propulsion device (7) is placed in the both sides in the middle of hull (17), described paddle wheel pusher comprises paddle wheel, brshless DC motor, electric machine controller (8), deceleration device, between described paddle wheel and motor, described brshless DC motor electrically connects with the lithium battery (14) of the bow (16) being positioned at hull (17), described electric machine controller (8) is connected with embedded ARM processor (11).
5. bait-throwing-in boat according to claim 1, is characterized in that, camera is installed on the top, dead ahead of described device for feeding fish bait, and described camera is connected with embedded ARM processor (11).
6. bait-throwing-in boat according to claim 1, is characterized in that, described hull (17) is glass steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410557606.5A CN104430188B (en) | 2014-10-20 | 2014-10-20 | A kind of Full-automatic uniform bait-throwing-in boat for culture of Chinese mitten crab |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410557606.5A CN104430188B (en) | 2014-10-20 | 2014-10-20 | A kind of Full-automatic uniform bait-throwing-in boat for culture of Chinese mitten crab |
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| Publication Number | Publication Date |
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| CN104430188A true CN104430188A (en) | 2015-03-25 |
| CN104430188B CN104430188B (en) | 2016-09-14 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116885A (en) * | 2015-07-16 | 2015-12-02 | 江苏大学 | Automatic bait casting workboat vision navigation method based on artificial identification |
| CN105284694A (en) * | 2015-12-07 | 2016-02-03 | 福建渔家傲养殖科技有限公司 | Novel automatic feeding system for aquaculture and implementation method thereof |
| CN105360040A (en) * | 2015-12-07 | 2016-03-02 | 福建渔家傲养殖科技有限公司 | Automatic feeding vessel and using method thereof |
| CN106305564A (en) * | 2016-08-23 | 2017-01-11 | 江苏大学 | Autonomous navigation raising and bait feeding device for river crabs and uniform bait feeding method |
| CN107688318A (en) * | 2017-08-31 | 2018-02-13 | 江苏大学 | A kind of full-automatic aquaculture operation ship APP design methods based on Android intelligent |
| CN109526834A (en) * | 2019-01-21 | 2019-03-29 | 上海海洋大学 | A kind of aquaculture movable type device for feeding fish bait balanced type material shaking device |
| CN109874722A (en) * | 2019-04-23 | 2019-06-14 | 上海海洋大学 | It is a kind of that nobody manipulates bait-throwing-in boat and its control method |
| CN110250069A (en) * | 2019-06-19 | 2019-09-20 | 江苏大学 | A kind of implementation method of culture of Chinese mitten crab automatic fine bait throwing in |
| CN115009418A (en) * | 2022-05-26 | 2022-09-06 | 中电建(西安)港航船舶科技有限公司 | Multifunctional aquaculture bait feeding and freight ship |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109526834A (en) * | 2019-01-21 | 2019-03-29 | 上海海洋大学 | A kind of aquaculture movable type device for feeding fish bait balanced type material shaking device |
| CN109526834B (en) * | 2019-01-21 | 2023-11-21 | 上海海洋大学 | Balanced type material shaking device of movable bait casting machine for aquaculture |
| CN109874722A (en) * | 2019-04-23 | 2019-06-14 | 上海海洋大学 | It is a kind of that nobody manipulates bait-throwing-in boat and its control method |
| CN110250069A (en) * | 2019-06-19 | 2019-09-20 | 江苏大学 | A kind of implementation method of culture of Chinese mitten crab automatic fine bait throwing in |
| CN110250069B (en) * | 2019-06-19 | 2021-11-23 | 江苏大学 | Method for realizing automatic fine feeding for river crab culture |
| CN115009418A (en) * | 2022-05-26 | 2022-09-06 | 中电建(西安)港航船舶科技有限公司 | Multifunctional aquaculture bait feeding and freight ship |
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| CN104430188B (en) | 2016-09-14 |
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