CN106779042B - Device and method for calculating aggregation index of aquaculture fish shoal - Google Patents
Device and method for calculating aggregation index of aquaculture fish shoal Download PDFInfo
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- CN106779042B CN106779042B CN201611229814.8A CN201611229814A CN106779042B CN 106779042 B CN106779042 B CN 106779042B CN 201611229814 A CN201611229814 A CN 201611229814A CN 106779042 B CN106779042 B CN 106779042B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M11/00—Counting of objects distributed at random, e.g. on a surface
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- 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
Abstract
The invention relates to the technical field of fishery informatization, and discloses an aquaculture fish gathering index calculation device which comprises a control processor, a near infrared image acquisition unit, a near infrared light source and an illuminance transmitter, wherein the near infrared image acquisition unit, the near infrared light source and the illuminance transmitter are respectively connected with the control processor and are respectively arranged above the water surface of a culture area; the near infrared image acquisition unit is used for acquiring near infrared images of fish shoals; the illuminance transmitter is used for acquiring the illuminance intensity data of the current environment; the near infrared light source is used for supplementing light for the near infrared image acquisition unit according to the illumination intensity data; the control processor is used for receiving the near infrared image of the fish school and processing the near infrared image to obtain the aggregation index of the fish school. The invention can effectively obtain the aggregation index of the fish shoal without affecting the normal growth of fish. The invention also discloses a method for calculating the aggregation index of the aquiculture fish shoal.
Description
Technical Field
The invention relates to the technical field of fishery informatization, in particular to an aquaculture fish shoal gathering index calculating device and an aquaculture fish shoal gathering index calculating method.
Background
As the size of aquaculture increases, it is necessary to monitor the behavior of the farmed subjects in real time. The concentration degree of the fishes is an important index for measuring behaviors of the fish population, and timely and accurately acquiring the concentration degree of the fishes can provide important basis for subsequent behavior analysis (such as early warning of fish diseases, feeding control and the like).
At present, the fish aggregation index is mainly determined by manual observation, and no effective fish aggregation index calculation method exists.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problem of how to effectively obtain the aggregation index of fish shoals without affecting the normal growth of fish.
(II) technical scheme
In order to solve the technical problems, the invention provides an aquaculture fish gathering index calculating device, which comprises a control processor, a near infrared image acquisition unit, a near infrared light source and an illuminance transmitter, wherein the near infrared image acquisition unit, the near infrared light source and the illuminance transmitter are respectively connected with the control processor, and the near infrared image acquisition unit, the near infrared light source and the illuminance transmitter are respectively arranged above the water surface of a culture area;
the near infrared image acquisition unit is used for acquiring near infrared images of fish shoals;
the illuminance transmitter is used for acquiring the illuminance intensity data of the current environment;
the near infrared light source is used for supplementing light for the near infrared image acquisition unit according to the illumination intensity data;
the control processor is used for receiving the near infrared image of the fish school and processing the near infrared image to obtain the aggregation index of the fish school.
Wherein, illuminance transmitter includes illuminance sensor, microcontroller and the communication interface that link to each other in proper order:
the illuminance sensor is used for collecting illumination intensity data;
the microcontroller is used for controlling the illuminance sensor to collect the illumination intensity data and converting analog signals of the illumination intensity data into digital signals;
the communication interface is used for transmitting the digital signal of the illumination intensity data to the control processor.
The near infrared light source is an annular point light source, and the focus of the near infrared light source is coincident with the focus of the near infrared image acquisition unit lens.
The near infrared light source is composed of a plurality of near infrared lamps which are circumferentially distributed around the near infrared image acquisition unit.
The central wavelength of the light emitted by the near infrared lamp is preferably 850nm, and the power is preferably 3W.
Wherein, near infrared image acquisition unit is near infrared industrial camera.
The near-infrared image acquisition unit and the near-infrared light source are arranged right above the water surface of the cultivation area, and the light rays of the near-infrared image acquisition unit and the near-infrared light source are perpendicular to the water surface of the cultivation area.
Wherein, the control processor is a PC or an industrial personal computer.
The invention also provides a method for calculating the aggregation index of the aquiculture fish shoal, which comprises the following steps:
step S1: acquiring a target object from the near infrared image and removing an image background;
step S2: detecting and dividing edges of the target objects in the near infrared image with the image background removed to obtain pixel points of a plurality of target objects;
step S3: removing target objects with the number of pixel points being outside the minimum preset pixel value and the maximum preset pixel value so as to obtain images of the rest target objects;
step S4: calculating the mass center of each remaining target object in the frame image;
step S5: performing Delaunay triangulation by taking all centroids in the acquired image as vertexes to obtain a Delaunay triangulation network;
step S6: and respectively calculating the perimeter of each Delaunay triangle, and taking the average value of the perimeter of all the Delaunay triangles in the frame image as the aggregation index of the shoal of the frame image.
The minimum preset pixel value and the maximum preset pixel value are obtained through the following steps:
step S31: sequencing the pixel points of all the target objects according to the sequence from big to small;
step S32: and respectively acquiring the pixel points of the target object with preset quantity from the front section and the rear section of the sequenced pixel points, and respectively calculating the average value as a maximum preset pixel value and a minimum preset pixel value.
(III) beneficial effects
Compared with the prior art, the invention has the following advantages:
the invention provides an aquaculture fish shoal gathering index calculating device and a calculating method, wherein illumination intensity data are acquired according to an illumination transmitter, near infrared images of fish shoals are acquired through arrangement of a near infrared image acquisition unit and a near infrared light source, and a control processor analyzes and processes the near infrared images to acquire the gathering index of the fish shoals.
The invention can be used in the aquiculture field with darker light, does not change the growth environment of fish, does not influence the growth of fish, can monitor the aggregation index of fish shoals in real time, and provides a reliable basis for monitoring the behaviors of fish.
Drawings
FIG. 1 is a schematic diagram of an apparatus for calculating a fish gathering index for aquaculture according to the present invention;
FIG. 2 is a schematic diagram illustrating a positional relationship between the near infrared light source and the near infrared image capturing unit in FIG. 1;
FIG. 3 is a schematic diagram of the illuminance transmitter of FIG. 1;
FIG. 4 is a flow chart of a method for calculating the aggregation index of an aquaculture fish school according to the present invention;
in the figure: 1: a near infrared light source; 2: a near infrared image acquisition unit; 3: an illuminance transmitter; 31: an illuminance sensor; 32: a microcontroller; 33: a communication interface; 34: a power module; 4: a control processor; 5: the water surface of the cultivation area.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the invention provides an aquaculture fish gathering index calculating device, which comprises a control processor 4, and a near infrared image acquisition unit 2, a near infrared light source 1 and an illuminance transmitter 3 which are respectively connected with the control processor 4, wherein the near infrared image acquisition unit 2, the near infrared light source 1 and the illuminance transmitter 3 are respectively arranged above a water surface 5 of a culture area;
the near infrared image acquisition unit 2 is used for acquiring near infrared images of fish shoals;
the illuminance transmitter 3 is used for acquiring the illumination intensity data of the current environment;
the near-infrared light source 1 is used for supplementing light to the near-infrared image acquisition unit 2 according to the requirement or the setting under the control of the control processor 4 according to the illumination intensity data so as to acquire a high-quality near-infrared image;
the control processor 4 is configured to receive the near infrared image of the fish school, and process the near infrared image to obtain an aggregation index of the fish school.
As shown in fig. 3, the illuminance transmitter 3 includes an illuminance sensor 31, a microcontroller 32, and a communication interface 33 sequentially connected, and specifically, the illuminance sensor 31 and the microcontroller 32 may pass through I 2 The C bus is connected, the communication interface 33 and the microcontroller 32 may be connected through a UART interface, and a power module 34 is provided to supply power to the illuminance sensor 31, the microcontroller 32 and the communication interface 33:
the illuminance sensor 31 is configured to collect illumination intensity data;
the microcontroller 32 is configured to control the illuminance sensor 31 to collect illumination intensity data, and convert an analog signal of the illumination intensity data into a digital signal;
the communication interface 33 is configured to transmit a digital signal of the illumination intensity data to the control processor 4. In the embodiment of the present invention, the illuminance sensor 31 is selected to be of model ISL29020, the microcontroller 32 is selected to be of model LPC832M101FDH20, and the communication interface 33 selects the level conversion chip to be MAX232.
As shown in fig. 2, the near infrared light source 1 is a ring-shaped point light source, and its focal point coincides with the focal point of the lens of the near infrared image acquisition unit 2, so as to achieve the best light supplementing effect, and the opening mode is automatic opening as required or opening according to a set value.
Wherein, the near infrared light source 1 is preferably composed of a plurality of near infrared lamps circumferentially distributed around the near infrared image acquisition unit 2, for example, the number of near infrared lamps may be 8, and the distance r between each near infrared lamp and the near infrared industrial camera is about 5cm. And, the center wavelength of the light emitted by each near infrared lamp is preferably 850nm, and the power is preferably 3W.
The near infrared image acquisition unit 2 is preferably a near infrared industrial camera, and the near infrared image acquired by the near infrared industrial camera and the reflection intensity of the light received by the physical pixels of the near infrared industrial camera are linearly distributed. In practical applications, light scattering caused by small particles in air and water is negligible relative to the absorption of light by water in fish ponds. Optionally, in the embodiment of the present invention, the near infrared industrial camera is a near infrared industrial camera with a model of Manta G-223B, and the lens model of the near infrared industrial camera is KOWA LM8HC, and the field angle of the near infrared industrial camera is 79.7x63.0.
The near infrared image acquisition unit 2 and the near infrared light source 1 are arranged right above the water surface 5 of the cultivation area, and the light rays of the near infrared image acquisition unit 2 and the near infrared light source 1 are parallel to each other and perpendicular to the water surface 5 of the cultivation area, so that an optimal image acquisition visual angle is ensured.
The control processor 4 may be a PC or an industrial personal computer, and of course, the control processor 4 may also use other processors, and select different image processing methods to obtain the centroid position coordinates.
In order to improve the calculation accuracy, the invention also provides a calculation method of the aquiculture fish shoal aggregation index, as shown in fig. 4, which can comprise the following steps:
step S1: obtaining a target object, namely a fish body, from the near infrared image and removing an image background;
in practical application, the brightness of the fish body in the near infrared image is higher than the brightness of the light returned by the fish pond, and 100 frames of pictures can be firstly taken, and the average pixel brightness of the pictures can be calculated. Average pixel brightness at position (x, y)Greater than delta I (x,y) At this time, the background brightness is I (x,y) On the contrary, the background brightness is +.>The value range of the correction coefficient delta is (0, 1), I (x,y) The pixel brightness for this location. The delta can be obtained by multiple experiments according to the field situation and will not be described here.
For the position (x, y), ifThe pixel is the background, otherwise the detected target object; wherein sigma (x,y) Is the background variance.
After determining the background in the near infrared image, the near infrared image may be split into a near infrared image containing only the background and only the target object.
Step S2: detecting and dividing edges of the target objects in the near infrared image with the image background removed to obtain pixel points of a plurality of target objects;
in practical applications, the depth of the target object is different, and the brightness is also different. Therefore, the edge of the object which is overlapped up and down is segmented by utilizing the characteristics in the embodiment of the invention. Optionally, in the segmentation of the horizontal plane overlapping target, the watershed algorithm is adopted in the embodiment of the invention to realize the edge segmentation of the target object on the near infrared image only containing the target object, so that the position and the number of the pixel points in each target object can be obtained.
Step S3: removing target objects with the number of pixel points being outside the minimum preset pixel value and the maximum preset pixel value so as to obtain images of the rest target objects;
target objects that are too large or too small compared to the fish body are removed according to the number of pixel points, noise is filtered out, and no overlapping spots are separated. And comparing the number of the pixel points in each target object with the maximum preset pixel value and the maximum preset pixel value. If the number of pixels of the target object is outside the minimum preset pixel value and the maximum preset pixel value, the target object is too large or too small, and the target object needs to be removed.
Step S4: calculating the mass center of each remaining target object in the frame image;
the target pixel area in this embodiment is a discrete image, and in this embodiment of the present invention, a first-step method is used to calculate a target centroid, and for a target image, the step is:
where p and q are nonnegative integers, i and j are image pixel indices whose target centroid coordinates (x c ，y c ) The method comprises the following steps:
and calculating the mass center of the fish body in the binary image by using the formula.
Step S5: performing Delaunay triangulation by taking all centroids in the acquired image as vertexes to obtain a Delaunay triangulation network;
the target centroid of the fish body is used as a point set P for constructing Delaunay triangulation, and according to the rule for constructing Delaunay triangulation network, the interior of the circumscribed circle of any one Delaunay triangle cannot contain any other point (empty circle characteristic). Every two adjacent triangles form the diagonal of a convex quadrilateral, and after the mutual exchange, the minimum angle of the six inner angles is not increased any more (the minimum angle characteristic is maximized). In the embodiment of the invention, the Delaunay triangulation is carried out on the point set P by using a triangulation method to obtain a Delaunay triangulation network taking the centroid as the vertex.
Step S6: and respectively calculating the perimeter of each Delaunay triangle, and taking the average value of the perimeter of all the Delaunay triangles in the frame image as the aggregation index of the shoal of the frame image.
In the Delaunay triangle, three points of each triangle correspond to their smallest circumscribed circles, so the size of each triangle in the triangle may reflect the distance of the respective vertex distances to some extent. Thus, for a plurality of fish in a multi-frame image, the average value of the perimeter of the triangle may be used to reflect the degree of aggregation. Thus, in the Delaunay triangle network, for a plurality of fish in a multi-frame image, the aggregation index FI thereof can be expressed as:
wherein n is the number of Delaunay triangles in the current frame image. P (P) i For the ith triangle perimeter, L i1 ，L i2 ，L i3 Three sides of the ith triangle. From the above definition, FI is the average perimeter value of each triangle in the Delaunay triangle net, representing the concentration degree of fish, and smaller FI indicates higher concentration degree of fish.
To further improve the calculation accuracy, step S7 may be further included: updating the background, taking the background in the step S1 as the background of the next frame of image, then re-acquiring the near infrared image, and repeating the steps S1 to S6.
The minimum preset pixel value and the maximum preset pixel value are obtained through the following steps:
step S31: sequencing the pixel points of all the target objects according to the sequence from big to small; when the fish bodies are sorted in the order from big to small, the fish bodies which are sorted earlier are larger, and the number of the contained pixels is larger;
step S32: and respectively acquiring the pixel points of the target object with preset quantity from the front section and the rear section of the sequenced pixel points, and respectively calculating the average value as a maximum preset pixel value and a minimum preset pixel value. The preset number refers to the number of a certain number of fish bodies, for example, the number of pixels corresponding to the largest 20 fish bodies and the smallest 20 fish bodies can be selected respectively, and then the average pixel value is calculated as the largest preset pixel value and the smallest preset pixel value respectively. Of course, the person skilled in the art may also vary the above-mentioned preset number to obtain a more accurate maximum preset pixel value and a minimum preset pixel value.
As can be seen from the above embodiments, the present invention obtains the background of the enhanced and removed near infrared image, then segments the edges of the target objects, and determines the fish body by using the number of pixel points in each target object; and finally, calculating the mass center of each fish, and carrying out Delaunay triangulation by taking the mass center as a vertex to obtain a Delaunay triangulation network. The average of the sum of the circumferences of all triangles in the triangular net was taken as the aggregation index characterizing the degree of aggregation of the fish school. Therefore, the aggregation index of the fish shoal can be monitored in real time, and a reliable basis is provided for monitoring the behavior of the fish.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps S to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description and to simplify the description, and are not indicative or implying that the apparatus or elements in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, numerous specific details are set forth. It may be evident, however, that the embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting the intention: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (9)
1. The method is applied to an aquaculture fish gathering index calculation device and is characterized by comprising a control processor, a near infrared image acquisition unit, a near infrared light source and an illuminance transmitter, wherein the near infrared image acquisition unit, the near infrared light source and the illuminance transmitter are respectively connected with the control processor and are respectively arranged above the water surface of a culture area;
the near infrared image acquisition unit is used for acquiring near infrared images of fish shoals;
the illuminance transmitter is used for acquiring the illuminance intensity data of the current environment;
the near infrared light source is used for supplementing light for the near infrared image acquisition unit according to the illumination intensity data;
the control processor is used for receiving the near infrared image of the fish school and processing the near infrared image to obtain the gathering index of the fish school;
the method comprises the following steps:
step S1: obtaining a target object from a near infrared image of a current frame and removing an image background;
step S2: detecting and dividing edges of the target objects in the near infrared image with the image background removed to obtain pixel points of a plurality of target objects;
step S3: removing target objects with the number of pixel points being outside the minimum preset pixel value and the maximum preset pixel value so as to obtain images of the rest target objects;
step S4: calculating the mass center of each remaining target object in the frame image;
step S5: performing Delaunay triangulation by taking all centroids in the acquired image as vertexes to obtain a Delaunay triangulation network;
step S6: respectively calculating the perimeter of each Delaunay triangle, and taking the average value of the perimeter of all Delaunay triangles in the frame image as the aggregation index of the current frame image fish shoal;
step S7: updating the background, taking the background of the current frame in the step S1 as the background of the image of the next frame, then re-acquiring the near infrared image, and repeating the steps S1 to S6.
2. The method of claim 1, wherein the illuminance transmitter comprises an illuminance sensor, a microcontroller and a communication interface connected in sequence:
the illuminance sensor is used for collecting illumination intensity data;
the microcontroller is used for controlling the illuminance sensor to collect the illumination intensity data and converting analog signals of the illumination intensity data into digital signals;
the communication interface is used for transmitting the digital signal of the illumination intensity data to the control processor.
3. The method of claim 1, wherein the near infrared light source is a ring-shaped point light source, and the focal point of the near infrared light source coincides with the focal point of the lens of the near infrared image acquisition unit.
4. A method of calculating an aquaculture fish gathering index according to claim 3 wherein said near infrared light source is comprised of a plurality of near infrared lamps circumferentially distributed around said near infrared image acquisition unit.
5. The method of claim 4, wherein the light emitted from the near infrared lamp has a center wavelength of 850nm and a power of 3W.
6. The method of any one of claims 1-5, wherein the near infrared image acquisition unit is a near infrared industrial camera.
7. The method for calculating an aquaculture fish gathering index according to claim 1, wherein the near infrared image acquisition unit and the near infrared light source are disposed directly above the water surface of the aquaculture area, and the light rays of the near infrared image acquisition unit and the near infrared light source are perpendicular to the water surface of the aquaculture area.
8. The method of claim 1, wherein the control processor is a PC or an industrial personal computer.
9. The method of claim 1, wherein the minimum and maximum preset pixel values are obtained by:
step S31: sequencing the pixel points of all the target objects according to the sequence from big to small;
step S32: and respectively acquiring the pixel points of the target object with preset quantity from the front section and the rear section of the sequenced pixel points, and respectively calculating the average value as a maximum preset pixel value and a minimum preset pixel value.
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| CN111127411B (en) * | 2019-12-17 | 2023-08-01 | 北京深测科技有限公司 | Monitoring control method for fishery cultivation |
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| CN113447952B (en) * | 2021-07-16 | 2022-05-17 | 武汉大学 | Fish shoal hunger detection method and system based on ingestion behavior |
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| WO2016092646A1 (en) * | 2014-12-10 | 2016-06-16 | 株式会社ニレコ | Fish type determination device and fish type determination method |
| CN104621021A (en) * | 2015-03-05 | 2015-05-20 | 浙江大学 | Automatic fish feeding rhythm detecting device and method based on computer vision technology |
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