CN107372267A - A kind of intelligent feeding system based on swimming type Fish behavior profile feedback - Google Patents
A kind of intelligent feeding system based on swimming type Fish behavior profile feedback Download PDFInfo
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- CN107372267A CN107372267A CN201710686005.8A CN201710686005A CN107372267A CN 107372267 A CN107372267 A CN 107372267A CN 201710686005 A CN201710686005 A CN 201710686005A CN 107372267 A CN107372267 A CN 107372267A
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- 230000009182 swimming Effects 0.000 title claims abstract description 12
- 241000251468 Actinopterygii Species 0.000 claims abstract description 48
- 238000005303 weighing Methods 0.000 claims abstract description 15
- 230000006399 behavior Effects 0.000 claims description 11
- 238000012258 culturing Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 9
- 239000004459 forage Substances 0.000 claims description 3
- 230000000052 comparative effect Effects 0.000 claims description 2
- 230000004634 feeding behavior Effects 0.000 claims description 2
- 238000004458 analytical method Methods 0.000 abstract description 3
- 230000007306 turnover Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000009360 aquaculture Methods 0.000 description 5
- 244000144974 aquaculture Species 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 4
- 230000003031 feeding effect Effects 0.000 description 3
- 230000012010 growth Effects 0.000 description 3
- 239000013598 vector Substances 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000003642 hunger Nutrition 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 241000238557 Decapoda Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003698 anagen phase Effects 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 208000010824 fish disease Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000384 rearing effect Effects 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- 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 present invention relates to a kind of intelligent feeding system based on swimming type Fish behavior profile feedback, mainly including feeder, track, sliding block, weighing sensor, camera, controller, phonetic alarm；The video information gathered by controller analysis camera, calculates shoal of fish kinetic energy E in real timek, and then the hungry situation of fish is analyzed, fed so as to determine when stopping, feeding work with having carried out feedback, reach timely and appropriate discovery feeds purpose.Present system is simple, easy to operate, can largely avoid, save labour turnover, bait cost, to realize that the high benefit of cultured fishes, welfare provide technical support.
Description
Technical field
The invention belongs to aquaculture field, is related to a kind of intelligent feeding system of indoor circulating water cultivation, and in particular to
A kind of intelligent feeding system based on machine vision technique and Fish behavior feature.
Background technology
China is aquaculture big country, accounts for the aquaculture market share in the whole world 70%, is adjusted according to China Fisheries statistical yearbook
Display is looked into, China's aquaculture total amount reaches 4937.90 ten thousand tons within 2015, accounts for domestic water production total amount
73.70%, and swimming type fish occupy very big proportion wherein.
At present for industrial aquaculture, bait feeding relies primarily on the bait throwing at regular time and quantity of artificial bait throwing in and machine, manually
Though feed preferably to judge the desire of ingesting for cultivating object by artificial experience, the utilization rate of bait, people are improved
Work cost is higher, wastes time and energy；And although in general machine feeds save cost of labor to a certain extent at regular time and quantity,
It can only typically realize automation, i.e., feed at regular time and quantity, and the different growth phases in fish are required for change manually to feed
Amount with feed the time, can not be adjusted automatically, in time, meanwhile, the determination for feeding interval time and feeding amount be also according to
Forefathers' experience, adaptation fish growth that can not be optimal.Feeding deficiency can make the shoal of fish rob food seriously, cause mutually to wipe between fish
Wound；And feed it is excessive, then can waste feed, polluted water, trigger fish disease.Presence based on problems, the present invention carry
The intelligent feeding system based on swimming type Fish behavior profile feedback gone out, with timely and appropriate discovery can feed, formation it is anti-
Infeed mechanism can ensure the reasonability fed, in the case where cost of labor is can be effectively reduced, can improve the utilization of bait, ensure
The welfare growth of culturing fish and shrimp.
The content of the invention
It is an object of the invention to the deficiency for prior art and equipment, there is provided one kind is efficiently easily regarded based on machine
The intelligent feeding system of feel technology and swimming type Fish behavior feature, feed cost and human cost are saved, realizes fish welfare
Change cultivation.
The purpose of the present invention is achieved through the following technical solutions：It is a kind of based on swimming type Fish behavior profile feedback
Intelligent feeding system, including：Feeder, track, sliding block, weighing sensor, camera, controller, phonetic alarm；The rail
Road is arranged horizontally in above culturing pool, and sliding block is slided in orbit by the driving of servomotor, and feeder is connected with sliding block, is claimed
Retransmit sensor to be used to detect feeder weight, camera is positioned at feeding motor spindle centre position；
The feeder includes material blanking tube, auger conveyor, feed storage storehouse, bulk cargo disk；Feed in feed storage storehouse
Flowed in material blanking tube by auger conveyor, and equably shed feed into culturing pool by bulk cargo disk.
The camera, the motor of auger conveyor, servomotor, weighing sensor, phonetic alarm respectively with control
Device is connected；Camera obtains the vision signal of the shoal of fish, and controller carries out shoal of fish kinetic energy E according to vision signalkCalculating, and with setting
Fixed kinetic energy threshold value is compared, and feeder is controlled according to comparative result, when the kinetic energy of the shoal of fish is higher than given threshold,
Then feeder continues to feed, that is, keeps auger conveyor work；When shoal of fish kinetic energy is equal to or less than given threshold, show
Unobvious, then control feeder stopping are fed for the feeding behaviour of the shoal of fish.
Weighing sensor detects feeder weight, and controller obtains the forage volume wherein stored according to weight data, works as feeding
When expecting that the abundance of food in storage warehouse is less than setting Margin threshold, control voice alarm is alarmed.
Further, the camera, the motor of auger conveyor, servomotor, weighing sensor, phonetic alarm point
It is not connected with controller.
The beneficial effects of the invention are as follows：The present invention is based on machine vision technique and swimming type Fish behavior profile feedback
Intelligent feeding system, simple in construction, easy to operate, intelligence degree is higher, and used machine vision technique can extract fish
Class behavior feature, and shoal of fish kinetic energy E is carried out by controllerkCalculating, so as to judge whether to continue to feed, reach timely and appropriate discovery
Feed purpose.The present invention can realize swimming type fish on the premise of relatively low cost of labor and higher bait utilization is ensured
The welfare growth of class.Meanwhile when feeding fry, because fry can not cause more obvious water surface reflective phenomenon, fish
Behavioural characteristic extraction is more difficult, therefore can not use intelligent feeding pattern, therefore provided with the automatic mode fed at regular time and quantity.It is comprehensive
Upper described, the present invention has stronger adaptability, preferably can provide technical support for fish welfareization cultivation.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the three-dimensional axonometric drawing of feeder；
In figure：Culturing pool 1, bulk cargo disk 2, feeder 3, track 4, sliding block 5, weighing sensor 6, camera 7, material blanking tube 8,
Auger conveyor 9, feed storage storehouse 10.
Embodiment
The present invention is for the purpose of improving aquatic feeds utilization rate, reduce human input so as to increase economic efficiency, there is provided
A kind of intelligent feeding system based on swimming type Fish behavior profile feedback, full-automatic feeding can be achieved, utilize machine vision skill
Art is carried out monitoring in real time to fish school behavior, analyzed, and is obtained fish school behavior information by shedding bait and is judged whether the shoal of fish is satiated with food,
It is appropriate so as to ensure to feed.
As illustrated in fig. 1 and 2, above-mentioned intelligent feeding system, including：Feeder 3, track 4, sliding block 5, weighing sensor 6, take the photograph
As first 7, controller, phonetic alarm；The track 4 is arranged horizontally in the top of culturing pool 1, the drive that sliding block 5 passes through servomotor
Move and slided in track 4, feeder 3 is connected with sliding block 5, and weighing sensor 6 is used to detect the weight of feeder 3, and camera 7 is located at
Feed motor spindle centre position；The feeder 3 includes material blanking tube 8, auger conveyor 9, feed storage storehouse 10, bulk cargo disk 2；Raise
Feed in material storage warehouse 13 is flowed in material blanking tube 8 by auger conveyor 11, and is equably thrown feed by bulk cargo disk 2
Spread into culturing pool 1.Wherein, camera 7, the motor of auger conveyor 11, servomotor, weighing sensor 6, phonetic alarm
It is connected respectively with controller.
According to《Circulating water cultivation swimming type fish activity intensity study on assessing method》Record, ingested work by the shoal of fish
The variation characteristic of water surface retroreflective regions can reflect the intensity of shoal of fish feeding activity to a certain extent caused by dynamic.Therefore, this hair
The bright water surface retroreflective regions variation characteristic angle from breeding water body carries out the analysis of shoal of fish feeding activity intensity.Camera 7 is by fish
Group's picture transmission to controller of ingesting in real time carries out the shoal of fish and ingested kinetic energy EkCalculate, be specially：
1st, controller carries out the conversion from rgb space to HSV space to the image received first, afterwards according to following public affairs
Formula carries out the extraction of water surface retroreflective regions to image
In formula, Is (x, y) and Iv (x, y) represent saturation degree and brightness of the image at (x, y) place respectively, and Ts and Tv are respectively
Saturation degree threshold value and luminance threshold, f (x, y) represent the value of the pixel (x, y) after binary conversion treatment
2nd, the variation characteristic information of the shoal of fish in current extraction picture is carried out using Lucas-Kanade optical flow algorithms afterwards
Extraction.If the light stream between continuous 2 two field picture is F, then the amplitude of variation of target area is expressed as
1080 and 1920 be the width and length of the image extracted in formula, considers that function limitation can in actual motion
Reduce the size of image.
3rd, pace of change is divided into several angular intervals, then by the motion vector speed in continuous 2 frame target image
Amplitude is referred to different sections and counted.Friction speed occur probability calculation formula be
Wherein H (j)=k (j)
K is the statistics for falling into motion vector number in speed interval；N' is non-zero motion vectors sum in present frame.
4th, the irregular degree of water body retroreflective regions variation characteristic distribution probability is weighed using comentropy, so as to real
The existing shoal of fish moves the analysis of irregular degree, and formula is
5th, after being handled more than, carry out the shoal of fish and ingest kinetic energy EkCalculate, formula is as follows：
Compared with result of calculation is carried out in real time with input kinetic energy threshold value again, work as EkWhen reaching kinetic energy threshold value, controller is just controlled
Feeder processed stops feeding.Material is thus formed a complete looped system, can prevent from feeding at regular time and quantity being made
Into shoal of fish excessive hunger, excessively full abdomen phenomenon.Meanwhile culturist can be carried out far by the camera on feeder
Range monitoring.
Weighing sensor 6 detects the weight of feeder 3, and controller obtains the forage volume wherein stored according to weight data, when
When bait in feed storage storehouse 13 is less than the threshold value of setting, control voice alarm is alarmed, to remind user to enter
Row charging is safeguarded.
The present invention be so work (for single culturing pool, in practice can by method parallel expansion to it is multiple support
Grow pond)：
(1) shoal of fish kinetic energy model (the detailed computational methods of kinetic energy are shown in the content of the invention) is established, and sets shoal of fish kinetic energy threshold value
With shed bait interval time；
(2) when reach set when shedding the bait time, control feeder 3 starts, and moves feeder by track 4
To the corresponding top of culturing pool 1, bait is shed, video acquisition is carried out by camera 7, and by the information transmission collected to control
Device, shoal of fish kinetic energy E is carried out by controllerkReal-time calculating, obtain the hunger intensity information of the shoal of fish, judge that the state of the shoal of fish is (hungry
Hungry or full abdomen)；
(3) decide whether to continue to feed according to shoal of fish kinetic energy, if shoal of fish kinetic energy EkIt is bigger than setting kinetic energy threshold value, show the shoal of fish
Feeding activity is significantly, it is necessary to continue to feed；If shoal of fish kinetic energy EkDuring less than or equal to setting kinetic energy threshold value, show that the shoal of fish is taken the photograph
Food activity is not notable, can stop being fed；
(4) servomotor movement is controlled, is allowed to above another rearing pool, repeats (2), (3) carry out intelligent throwing
Hello.
Claims (2)
- A kind of 1. intelligent feeding system based on swimming type Fish behavior profile feedback, it is characterised in that including：Feeder (3), Track (4), sliding block (5), weighing sensor (6), camera (7), controller, phonetic alarm；The track (4) is horizontally disposed Above culturing pool (1), sliding block (5) is slided by the driving of servomotor in track (4), and feeder (3) connects with sliding block (5) Connect, weighing sensor (6) is used to detect feeder (3) weight, and camera (7) is positioned at feeding motor spindle centre position；The feeder (3) includes material blanking tube (8), auger conveyor (9), feed storage storehouse (10), bulk cargo disk (2)；Feed stores up Feed in storage (10) is flowed in material blanking tube (8) by auger conveyor (9), and by bulk cargo disk (2) that feed is uniform Shed into culturing pool (1) on ground.The camera (7), the motor of auger conveyor (11), servomotor, weighing sensor (6), phonetic alarm difference It is connected with controller；Camera (7) obtains the vision signal of the shoal of fish, and controller carries out shoal of fish kinetic energy E according to vision signalkMeter Calculate, and compared with the kinetic energy threshold value of setting, feeder (3) is controlled according to comparative result, when the kinetic energy of the shoal of fish is high When given threshold, then feeder (3) continues to feed, that is, keeps auger conveyor (11) work；When shoal of fish kinetic energy is equal to Or during less than given threshold, show the feeding behaviour of the shoal of fish unobvious, then control feeder to stop feeding.Weighing sensor (6) detects feeder (3) weight, and controller obtains the forage volume wherein stored according to weight data, when When the abundance of food in feed storage storehouse (10) is less than setting Margin threshold, control voice alarm is alarmed.
- 2. system according to claim 1, it is characterised in that the camera (7), auger conveyor (9) motor, watch Motor, weighing sensor (6), phonetic alarm is taken to be connected with controller respectively.
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| CN201710686005.8A CN107372267A (en) | 2017-08-11 | 2017-08-11 | A kind of intelligent feeding system based on swimming type Fish behavior profile feedback |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108450382A (en) * | 2018-02-05 | 2018-08-28 | 浙江大学 | A kind of intelligent feeding system based on deep learning |
| CN109588353A (en) * | 2019-01-26 | 2019-04-09 | 李良杰 | Feeding device in intelligent water |
| CN109757419A (en) * | 2019-02-15 | 2019-05-17 | 玉林师范学院 | A kind of intelligent feeding system and method based on fish meal consumption |
| CN110074030A (en) * | 2019-04-11 | 2019-08-02 | 浙江大学 | A kind of reaction type pond circulation water intelligent feeding system merging machine vision and infrared detection technology |
| CN110214726A (en) * | 2019-07-04 | 2019-09-10 | 仲恺农业工程学院 | Accurate feeding device based on fish action and big data mining |
| CN110583550A (en) * | 2019-09-20 | 2019-12-20 | 重庆工商大学 | Accurate feeding system and device are bred to fish shrimp sea cucumber based on target detection and tracking |
| CN110765930A (en) * | 2019-10-22 | 2020-02-07 | 北京海益同展信息科技有限公司 | Aquaculture inspection system, inspection method and controller |
| CN111280115A (en) * | 2020-04-09 | 2020-06-16 | 浙江省海洋水产养殖研究所 | Fish state identification device based on sound induction feedback and application method |
| CN111436386A (en) * | 2020-04-07 | 2020-07-24 | 玉林师范学院 | Swimming type cultured fish culture method and system based on ingestion intensity measurement |
| CN111443744A (en) * | 2020-04-17 | 2020-07-24 | 浙江大学 | Recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback |
| CN111713440A (en) * | 2020-04-13 | 2020-09-29 | 浙江大学 | Accurate grouper feeding and regulating method based on underwater imaging and hyperspectral technology |
| CN112005947A (en) * | 2020-09-21 | 2020-12-01 | 南京农业大学 | Movable full-automatic accurate bait casting device based on shoal distribution |
| CN112790134A (en) * | 2021-02-02 | 2021-05-14 | 山东鲁威海洋科技有限公司 | Swimming type fish self-adaptive feeding device and method based on water surface fluctuation information |
| CN112883861A (en) * | 2021-02-07 | 2021-06-01 | 同济大学 | Feedback type bait casting control method based on fine-grained classification of fish school feeding state |
| CN112931377A (en) * | 2021-02-07 | 2021-06-11 | 金华市广信网络工程有限责任公司 | Fishpond feed feeding control system and method based on image living body recognition |
| CN113040081A (en) * | 2021-03-24 | 2021-06-29 | 浙江大学 | Intelligent feeding decision making system for recirculating aquaculture fishes based on fish shoal swimming energy consumption analysis |
| CN113197139A (en) * | 2021-04-27 | 2021-08-03 | 江苏大学 | Multiple river crab fodder self-adaptation is thrown and is raised device based on image recognition |
| CN114793980A (en) * | 2022-04-08 | 2022-07-29 | 青岛浩赛机械有限公司 | Automatic breeding device for comprehensive breeding platform |
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Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108450382B (en) * | 2018-02-05 | 2019-06-25 | 浙江大学 | A kind of intelligent feeding system based on deep learning |
| CN108450382A (en) * | 2018-02-05 | 2018-08-28 | 浙江大学 | A kind of intelligent feeding system based on deep learning |
| CN109588353A (en) * | 2019-01-26 | 2019-04-09 | 李良杰 | Feeding device in intelligent water |
| CN109757419B (en) * | 2019-02-15 | 2023-12-22 | 玉林师范学院 | Intelligent feeding system and method based on fish feed consumption |
| CN109757419A (en) * | 2019-02-15 | 2019-05-17 | 玉林师范学院 | A kind of intelligent feeding system and method based on fish meal consumption |
| WO2020207092A1 (en) * | 2019-04-11 | 2020-10-15 | 浙江大学 | Feedback-type pond recirculating water intelligent feeding system fusing machine vision and infrared detection technology |
| CN110074030A (en) * | 2019-04-11 | 2019-08-02 | 浙江大学 | A kind of reaction type pond circulation water intelligent feeding system merging machine vision and infrared detection technology |
| US11369092B2 (en) * | 2019-04-11 | 2022-06-28 | Zhejiang University | Feedback feeding system for pond recirculation with fusion of machine vision and infrared detection |
| CN110214726B (en) * | 2019-07-04 | 2024-06-07 | 仲恺农业工程学院 | Accurate feeding device based on fish behavior and big data mining |
| CN110214726A (en) * | 2019-07-04 | 2019-09-10 | 仲恺农业工程学院 | Accurate feeding device based on fish action and big data mining |
| CN110583550A (en) * | 2019-09-20 | 2019-12-20 | 重庆工商大学 | Accurate feeding system and device are bred to fish shrimp sea cucumber based on target detection and tracking |
| CN110583550B (en) * | 2019-09-20 | 2021-11-09 | 重庆工商大学 | Accurate feeding system and device are bred to fish shrimp sea cucumber based on target detection and tracking |
| CN110765930A (en) * | 2019-10-22 | 2020-02-07 | 北京海益同展信息科技有限公司 | Aquaculture inspection system, inspection method and controller |
| CN111436386A (en) * | 2020-04-07 | 2020-07-24 | 玉林师范学院 | Swimming type cultured fish culture method and system based on ingestion intensity measurement |
| CN111280115A (en) * | 2020-04-09 | 2020-06-16 | 浙江省海洋水产养殖研究所 | Fish state identification device based on sound induction feedback and application method |
| CN111713440A (en) * | 2020-04-13 | 2020-09-29 | 浙江大学 | Accurate grouper feeding and regulating method based on underwater imaging and hyperspectral technology |
| CN111443744B (en) * | 2020-04-17 | 2021-03-09 | 浙江大学 | Recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback |
| CN111443744A (en) * | 2020-04-17 | 2020-07-24 | 浙江大学 | Recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback |
| CN112005947A (en) * | 2020-09-21 | 2020-12-01 | 南京农业大学 | Movable full-automatic accurate bait casting device based on shoal distribution |
| CN112790134A (en) * | 2021-02-02 | 2021-05-14 | 山东鲁威海洋科技有限公司 | Swimming type fish self-adaptive feeding device and method based on water surface fluctuation information |
| CN112931377A (en) * | 2021-02-07 | 2021-06-11 | 金华市广信网络工程有限责任公司 | Fishpond feed feeding control system and method based on image living body recognition |
| CN112883861A (en) * | 2021-02-07 | 2021-06-01 | 同济大学 | Feedback type bait casting control method based on fine-grained classification of fish school feeding state |
| CN112883861B (en) * | 2021-02-07 | 2022-06-14 | 同济大学 | Feedback type bait casting control method based on fine-grained classification of fish school feeding state |
| CN112931377B (en) * | 2021-02-07 | 2022-08-05 | 金华市广信网络工程有限责任公司 | Fishpond feed feeding control system and method based on image living body recognition |
| CN113040081A (en) * | 2021-03-24 | 2021-06-29 | 浙江大学 | Intelligent feeding decision making system for recirculating aquaculture fishes based on fish shoal swimming energy consumption analysis |
| CN113040081B (en) * | 2021-03-24 | 2022-01-18 | 浙江大学 | Recirculating aquaculture fish feeding decision-making system based on fish shoal swimming energy consumption analysis |
| CN113197139A (en) * | 2021-04-27 | 2021-08-03 | 江苏大学 | Multiple river crab fodder self-adaptation is thrown and is raised device based on image recognition |
| CN114793980A (en) * | 2022-04-08 | 2022-07-29 | 青岛浩赛机械有限公司 | Automatic breeding device for comprehensive breeding platform |
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