CN107996528A - A kind of device and method of intelligence electric field net cage fishing - Google Patents

A kind of device and method of intelligence electric field net cage fishing Download PDF

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Publication number
CN107996528A
CN107996528A CN201711039204.6A CN201711039204A CN107996528A CN 107996528 A CN107996528 A CN 107996528A CN 201711039204 A CN201711039204 A CN 201711039204A CN 107996528 A CN107996528 A CN 107996528A
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fish
electric field
net cage
prisoner
bait
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宁静
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01KANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • A01K79/02Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)

Abstract

The present invention relates to a kind of fear using fish to electric field, by the electric field of generation/elimination diverse location, to dispatch the intelligent fishing method of the behavior of fish and position.Using this method, the present invention provides a kind of device of intelligent electric field net cage fishing, it is included with lower member:Attracting passage is used to lure Fish of interest to enter, it includes lighting source, underwater video camera, bait and sows pipe, proximity sensor, multiple drives electrode group;Prisoner's fishnet case is used to the temporary transient prisoner of fish for entering attracting passage, introducing being stranded, and which is provided with multiple electrodes group, fish outlet;Harvest net cage is used to harvesting the shoal of fish that has been captured, including positioning framework (31), enters lymphogranuloma inguinale and can open/close lattice door into lymphogranuloma inguinale;Boom hoisting is used to harvest net cage (3) hanging out the water surface;Service boxes provide the support service such as bait and electric field controls for underwater units, including feeder sleeve, multicore signal and control cable, charging pump, bait tin, intelligent controller, image identification unit etc..Advantages of the present invention includes:Default fingerling is caught in realization as required, is refused non-targeted fish and is entered;The present invention is the high-performance device of 1 year 365 days fully automatic operation.

Description

A kind of device and method of intelligence electric field net cage fishing
Technical field
The invention belongs to fish-catching apparatus field.
Background technology
The 1970's, alien species Asian carp (general designations of eight kinds of common fresh-water fishes of China such as bullhead, silver carp) are drawn Enter southern US, for improving the water quality in waste water pond.These carps run away to the water channel of locality, and finally having invaded the whole America, other are each State.Ripe bighead or silver carp can grow up to 40 kilograms, can eat up daily more than its 20% food of weight.Asian carp is tight The life condition of local fish has been destroyed again and has triggered related ecology and economic problems.
Since generation nineteen ninety, the measure of various control Asian carps all has attempted to, but all produces little effect.Current Asian carp The invasion forward of fish has arrived at the U.S. and the Michigan river of Canadian border, only has apart from freshwater system The Great Lakes the biggest in the world Tens kilometers, local government wishes to find a kind of method thoroughly prevents carp from entering Great Lakes region in Michigan river.
It is many to intercept the restrictive requirement of Asian carp, including:" environment is not endangered, does not influence local fish ecology, not shadow Sound shipping " etc. more than ten bars.
It is the electric field barrier that United States Army Engineer is built on the river of Michigan to intercept the foremost design library part editor and reuse of Asian carp System Electric Barrier System, by being laid with electrode in bottom of river channel, forming electric field barrier prevents carp from passing through. But the problem of this device is to also counteracts that migrating for local fish first, secondly carp by electric field barrier deterrent, but not from Open, assemble and wait chance always there, the 3rd, for the whole river of three-dimensional blockade, it is necessary to using high pressure, so must be provided with Swimming and diving forbidden zone, finally be also most of all, barge by when can reduce electric field, carp may seize the opportunity and mistake.Mesh It is preceding to have been found that there is carp across electric field barrier.
Fishing is to reduce the method for effecting a permanent cure of carp population quantity, but conventional various fish-catching apparatus and method herein all without Method reaches the requirement in thoroughly block river.Since the fertility of carp is extremely strong, several fish that has escape the net run the blockade into big lake, Have more than is needed several years and will result in ecocatastrophe.
So this area need a kind of 365 days 24 it is small when all weather operations, selectivity capture, efficient thoroughly fishing side Method and device.
Above-mentioned needs are realized by the present invention.
The content of the invention
The first aspect of the present invention provides a kind of device of intelligent electric field net cage fishing, it is included with lower member:
Attracting passage (1), it is used to lure Fish of interest to enter, it includes lighting source (10), underwater video camera (11), fixing bracket (12), bait sow pipe (13), proximity sensor (14), multiple electrodes group EN, wherein attracting passage (1) It is connected with prisoner's fishnet case (2) entrance (21);
Prisoner's fishnet case (2), its be used for by from attracting passage (1) lure into the temporary transient prisoner of fish be stranded, it includes multiple electrodes group EM, Enter lymphogranuloma inguinale (21), fish outlet (22), wherein fish outlet (22) are connected with the lymphogranuloma inguinale (32) that enters of harvest net cage (3);
Harvest net cage (3), it is used to harvest the shoal of fish that has been captured, it include positioning framework (31), enter lymphogranuloma inguinale (32), The lattice door (33) of unlatching/closing (32);
Boom hoisting (4), it is used to harvest net cage (3) hanging out the water surface and is put into underwater;
Service boxes (5), it is used to provide the support service such as bait and electric field controls for underwater units, it includes feeder sleeve (51), multicore signal and control cable (52), charging pump (53), bait tin (54), intelligent controller (55) image identification unit (56), power supply (57).
The second aspect of the present invention is related to a kind of fear using fish to electric field, passes through generation/elimination diverse location Electric field, carrys out the intelligent electric field net cage fishing method that prisoner is stranded and/or drives fish, it includes the following steps:
Computer picture recognition unit carries out image recognition according to underwater video camera to the fish for entering identification region, judges Whether it is Fish of interest to be caught;Then,
If not Fish of interest, intelligent controller control attracting passage (1) produces electric field and expels the fish, if mesh Mark fish, to be checked to measure after fish comes into the signal of passage, intelligent controller control attracting passage (1) produces electric field by the fish Drive and enter prisoner's fishnet case (2);Then,
The shoal of fish is driven to harvest net cage (3) from prisoner's fishnet case (2) according to preset time;Then,
Harvest net cage (3) is manually lifted by crane according to patrol time, harvest net cage (3) is put into water again after unloading the capture shoal of fish Middle entrance circulates next time.
Brief description of the drawings
Fig. 1 is the basic principle schematic of the present invention
Fig. 1-1 is the partial enlarged view of attracting passage (1) in Fig. 1
Fig. 1-2 is the partial enlarged view of prisoner's fishnet case (2) in Fig. 1
Fig. 2 (top view) is the service boxes and control device schematic diagram of the present invention
Fig. 3 (top view) is utility unit schematic diagram of the present invention
Fig. 4 (top view) is first embodiment of the present invention schematic diagram
Wherein each reference numeral implication is as follows
(1) attracting passage;(10) lighting source;(11) Underwater Camera;(12) fixing bracket;(13) bait sows pipe; (14) proximity sensor;(1EN) electrode group (wherein 1≤N≤6 positive integer);(2) prisoner's fishnet case;(21) lymphogranuloma inguinale is entered;(22) fish Mouthful;(2EM) electrode group (wherein 1≤M≤10 are positive integer);(3) net cage is harvested;(31) positioning framework;(32) lymphogranuloma inguinale is entered;(33) It can open/close the lattice door into lymphogranuloma inguinale;(4) boom hoisting;(5) service boxes;(51) bait liquid feed pipe;(52) multicore is believed Number and control cable;(53) charging pump;(54) liquid bait tin;(55) intelligent controller;(56) image identification unit;(57) match somebody with somebody Power supply;(60) riverbank;(61) water body;(62) fish;(CK) series connection of more piece prisoner's fishnet case when a section therein, wherein 2≤K≤ 200 positive integers);(TN) multiple attracting passages are with prisoner's fishnet case when being connected one of those (wherein 1≤N≤6 positive integer).
Embodiment
First aspect present invention is related to a kind of device of intelligent electric field net cage fishing, and 1 attached drawing 2 is to its institute below in conjunction with the accompanying drawings Including basic building block describe in detail.
Attracting passage (1) be used for lure Fish of interest to enter, it include lighting source (10), underwater video camera (11), It is (1E that fixing bracket (12), bait, which sow pipe (13), proximity sensor (14), multiple electrodes group #,1-1EN), attracting passage (1) it is connected with prisoner's fishnet case (2) entrance (21).
The first task that attracting passage (1) is completed is to differentiate whether the fish closed on is Fish of interest to be caught, refering to figure Shown in 1-1.It includes lighting source (10), underwater video camera (11), fixing bracket (12), multicore signal and control cable (52) and the computer picture recognition unit (56) positioned at bank.
Wherein fixing bracket (12) is connected with the entrance of attracting passage (1), and video camera (11) and lighting source (10) divide face-to-face It is not fixed on stent (12).Phototaxis and photochromic selectivity in view of fish, preferable scheme are liked using fish Purple, blueness and green light source.In view of the energy saving and long-lived performance of lighting source, preferable scheme is to use LED as light Source.When the fish (62) of unknown species is drawn into cog region (63), the shadow of cameras capture to fish (62) by bait and/or light source Picture is simultaneously sent to the species differentiation that image identification unit (56) carries out fish.
Computer picture recognition more belongs to software field therefore not more descriptions herein, since it has been widely used for Fish sorting identification in recognition of face and fish processing industry, its exploitativeness are unquestionable.
The Section 2 task that attracting passage (1) is completed is will to be determined as target fish to be caught to introduce and capture, refering to Fig. 1-1 institutes Show.It is (1E to sow pipe (13), proximity sensor (14), multiple electrode pair numberings of driveing including bait1-1EN).Attracting is led to Road (1) is connected with prisoner's fishnet case (2) entrance (21).
Bait is preferably sowed into the top that pipe (13) is placed in attracting passage (1), such bait liquid in water disperse when concentration Maximum place is in passage (1), is so easier to attract fish to enter.Due to prisoner's fish electric field 1ENNeed continuously to maintain, so luring Bait, which sows pipe (13), should be placed in prisoner's fish electric field 1ENBeyond operating distance.
Industrial proximity sensor is generally basede on the manufacture of the different principles such as electric field, magnetic field, light intensity, ultrasonic wave.These things The change of reason field is all to fish close to having a scaring effect, only optical sensor, some are photochromic to be liked by fish, some have scaring to make With.Preferably, the present invention uses purple, the proximity sensor of green and blue light intensity sensor as detection fish position (14).Scheme still more preferably, is to differentiate whether fish comes into using the image of underwater video camera (11) acquisition Attracting passage.
Prisoner's fishnet case (2) is used to the temporary transient prisoner of fish for entering attracting passage (1) introducing being stranded, and which is provided with multiple electrodes pair, Numbering is 2EM, prisoner's fishnet case (2) be equipped with fish outlet (22) with harvest net cage (3) the lymphogranuloma inguinale (32) that enters be connected;
As practical preferred solution (referring to Fig. 3), connect to form unicom among one using multiple prisoner's fishnet casees Prisoner's fishnet case, to extend to the distant place away from riverbank.The numbering of prisoner's fishnet case is C at this time1—CK(wherein 2≤K≤200, just Integer), C1For the first case of distalmost end, net after dismantling, C2—CK-1Dismantle front and rear two net, CKNet before dismantling, is serially connected into one The long case of overall unicom, CKTail end perforate enters lymphogranuloma inguinale (32) mutual unicom with harvest net cage (3).
As practical preferred solution (referring to Fig. 3), C1—CKAny one in prisoner's fishnet case long line of series connection, all A attracting passage T of N (wherein 1≤N≤6, positive integer) can be connectedNTo improve fishing efficiency.
Harvest net cage (3) is used for stable breeding and the shoal of fish that has been captured of harvest, thereon including positioning framework (31), enter lymphogranuloma inguinale (32), it can open/close the lattice door (33) of (32).During normal work, lattice door (33) is opened to allow the shoal of fish from prisoner's fishnet Case (2) or long line prisoner's fishnet case (CK) in enter, during lifting harvest net cage (3), close during lattice door (33) prevents lifting Fish escapes from mouth (32).
Boom hoisting (4) is used to harvest net cage (3) hanging out the water surface, opens the harvest case emptied after unloading the fish in nowel Lattice door (33) is opened to be placed again into water along positioning framework (31), and positioning framework ensures harvest net cage mouth (32) and prisoner's fishnet case Mouth (22) aligns.
Refering to Fig. 2, service boxes (5) are located on riverbank, for providing the supports such as bait and electric field controls clothes for underwater units Business, including feeder sleeve (51), multicore signal and control cable (52), charging pump (53), bait tin (54), intelligent controller (55) Image identification unit (56) power supply (57);
As preferred embodiment, service boxes (5), which can also be arranged on, to be swum in the water surface but is fixed on using anchor or stake On water-bed device, to use the present invention in the place away from bank.
Attracting bait is configured to liquid and is stored in bait tin (54), is matched somebody with somebody by charging pump (53) and feeding pipeline (51) The bait for being sent to each attracting passage (1) sows pipe (13).Preferable charging pump (53) is peristaltic pump, because peristaltic pump being capable of essence Really control flow rate of liquid, and the larger sticky material of particle can be conveyed.
In order to produce electric field in diverse location, different time as desired, reach block or drive the function of the shoal of fish, Intelligent controller (55) passes through multicore cable (52) and the electrode group 2E of each prisoner's fishnet caseMWith the electrode group 1E of attracting passageNWith Sensor, which corresponds to, to be connected.
The second aspect of the present invention is related to a kind of fear using fish to electric field, passes through generation/elimination diverse location Electric field come dispatch the intelligent electric field net cage of the behavior of fish and position fishing method, it includes the following steps:
Computer picture recognition unit (56) is according to underwater video camera (11) to closing on the fishes of fish cog region (63) (62) image recognition is carried out, judges whether it is Fish of interest to be caught;Then,
If not Fish of interest, intelligent controller (55) connects the electrode pair 1E of attracting passage (1) entrance1, produce electricity The entrance of the fish from passage (1) is expelled, if Fish of interest, keeps channel electrode group to close, allow target fish into Enter passage;Then,
Proximity sensor (14) in attracting passage (1) detects that fish comes into passage, triggering intelligent controller (55); Then,
Intelligent controller (55) closes prisoner's fish electric field 1E of attracting passage tail endN, while start 1E successively1-1E2-1ENWill Fish is caught up with into prisoner's fishnet case (3), maintains prisoner's fish electric field 1ENPrevent fish from fleeing back attracting passage (1) out of prisoner's fishnet case (2), close and drive Catch up with electric field 1E1-1E2-1EN-1Next fish is waited to arrive;Then,
(more attracting passage TNWith prisoner's fishnet case CKIn the case of being connected, each attracting passage TNIt can be regarded as a list Attracting passage, step and method are identical, only numbered difference)
A shoal of fish branching program is opened according to preset time (such as every 4 hours), closes successively to start at the same time and drives Electric field 2E1-2E2-2EMThe shoal of fish is driven to harvest net cage (3) from prisoner's fishnet case, maintains prisoner's fish electric field 2EMPrevent fish from harvest Prisoner's fishnet case (2) is returned in net cage (3), closes 2E1-2EM-1Again carrying out fish and waiting fish next time for attracting passage (1) is received Group's transfer;Then,
(more piece prisoner's fishnet case CKThe situation of series connection can be regarded as prisoner's fishnet case of an overlength, method and single net cage (2) It is identical)
According to patrol time (such as every 3 days), manually lifting harvest net cage (4), after emptying the fish captured, will receive again Obtain net cage (4) into the water.
Advantages of the present invention is including but not limited to as follows:
1, present invention uses the kind differentiating device of fish, it is possible to achieve catches default fingerling as required, refusal is non- Target fish enters.This is very suitable for many particular applications.Such as need to protect rare fish, or need to catch economic valency It is worth high fingerling refusal trash fish, or even needs to catch big fish and protect inadequate small fish of size etc..
2, the present invention is a kind of full automatic fish-catching apparatus, once installing, can be used continuously with the several years, and not By blowing and raining day and night, 365 days 1 year all automatic runnings, save the cost such as artificial and ship equipment fished every time.
3, the present invention is a kind of efficient fishing method.Driven from first fish into attracting passage by electric field into prisoner Fishnet case, system reset, which waits Article 2 fish to enter, only needs several seconds kinds.In contrast, fishing will be completed to pluck hook, and it is dynamic to change bait etc. Make;Net catch completion receive net again it is off line be required for for a long time.
Specific embodiment
Embodiment 1, (referring to Fig. 4) thoroughly block Michigan river, prevention Asian carp northwards invade Great Lakes region.
The original intention of the present invention is in response to the open appealing of state of Michigan environment administration, a kind of effective ways is invented, a series of Under harsh restrictive condition (do not influence shipping, do not endanger local fish etc., do not endanger environment etc. 12), it is ensured that stop all invasions Carp (priority target is bullhead and silver carp).
With the intelligent electric field long line net cage shown in more than 100 Fig. 3 for covering the present invention, according to across river and the littoral side laid Formula, is densely deployed on the river of one section of 10 kilometer +-length, forms a thorough cordon area of carp.System image recognition is set It is set to bullhead and silver carp and black carp.Any bullhead for attempting northwards to move about and silver carp and black carp, can all have thousands of in this section Chances by light and bait temptation into prisoner's fishnet case up to ten thousand time, uninterrupted work when this system one year 365 days daily 24 is small Make, bullhead and silver carp and black carp, which are had not the ghost of a chance, breaks through this cordon area.
Embodiment 2, quantitatively catches the high perch of economic value.
Chinese certain county Zhang Jiazhuan reservoirs supply the whole county with ecological way free-ranging perch, monthly periodically casted net catch in the past Drag for, selected by hand by fisherman, existing most outstanding problem is to harvest fishing day excessively, can only be by several stars of the short-term free-ranging of bummaree in county Phase, the death loss of the process fish are larger.
Using the present invention, there is provided " perch, length are more than 1 ruler, and catching amount counts daily 2000 in image recognition Bar ".Find that quantity reaches the electric field stopping fishing for being switched on attracting passway, Er Qieqi in this way, working as intelligent control daily and counting Its trash fish and the small fish of undersize are easily harvesting the predetermined kind of case yield determination quantity daily all by system exclusion Fish.
Embodiment 3, catches rare A fishes.
Scientist has found the A fishes that are considered having become extinct of living in African B marine sites, it is desirable to catches 1 and is used for scientific research.But Be due to very rare, local fisherman also seldom runs into one in several years, employ people catch or daily oneself go fishing in time and It is all improper in financial cost.
With the simplest configuration of the present invention:One prisoner's fishnet case adds an attracting passage, and image recognition is set as A fishes, control Unit and image recognition apparatus processed are connected in a flotation tank with solar panels with prisoner's fishnet case in cable and seabed Together, A fishes network capture after, with radio signal beam back the science of informing return home B marine sites salvage prisoner's fishnet case.This device is launched It need not be looked after in B marine sites, scientist successfully captures an A fish after waiting 3 months.

Claims (8)

1. a kind of device of intelligence electric field net cage fishing, it is included with lower member:
Attracting passage (1), it is used to lure Fish of interest to enter, it includes lighting source (10), underwater video camera (11), consolidates Fixed rack (12), bait sow pipe (13), proximity sensor (14), multiple electrodes group EN, wherein attracting passage (1) and prisoner's fishnet Case (2) entrance (21) is connected;
Prisoner's fishnet case (2), its be used for by from attracting passage (1) lure into the temporary transient prisoner of fish be stranded, it includes multiple electrodes group EM, enter fish Mouth (21), wherein fish outlet (22), fish outlet (22) are connected with the lymphogranuloma inguinale (32) that enters of harvest net cage (3);
Net cage (3) is harvested, it is used to harvest the shoal of fish being captured, it includes positioning framework (31), enters lymphogranuloma inguinale (32), opens Open/close the lattice door (33) of (32);
Boom hoisting (4), it is used to harvest net cage (3) hanging out the water surface and is put into underwater;
Service boxes (5), it is used to provide the support service such as bait and electric field controls for underwater units, it include feeder sleeve (51), Multicore signal and control cable (52), charging pump (53), bait tin (54), intelligent controller (55), image identification unit (56), Power supply (57).
2. the device of intelligence electric field net cage fishing described in accordance with the claim 1, it is characterized in that multiple prisoner's fishnet casees can be used Series connection forms long line prisoner's fishnet case of unicom among one.
3. according to claim 1, the intelligent electric field net cage fish-catching apparatus described in 2, it is characterized in that any in long line prisoner's fishnet case One net cage can connect multiple attracting passages.
4. the attracting passage (1) of the device of intelligence electric field net cage fishing described in accordance with the claim 1, it is characterized in that fixing bracket (12) entrance with attracting passage (1) is connected, and lighting source (10) is separately fixed at fixing bracket face-to-face with video camera (11) (12) on.
5. the device of intelligence electric field net cage fishing described in accordance with the claim 1, it is characterized in that using pump and pipeline by liquid bait The bait for expecting to be transported on attracting passage (1) sows pipe (13).
6. the attracting passage (1) of the device of intelligence electric field net cage fishing described in accordance with the claim 1, preferably sows bait Pipe is fixed on the top of attracting passage (1).
7. service boxes (5), are preferably arranged on and swim in by the device of intelligence electric field net cage fishing described in accordance with the claim 1 The water surface but it is fixed on using anchor or stake on the device at the bottom.
8. a kind of fear using fish to electric field, by the electric field of generation/elimination diverse location, carrys out prisoner and is stranded and/or drives fish The intelligent electric field net cage fishing method of class, it includes the following steps:
Computer picture recognition unit carries out image recognition according to underwater video camera to the fish for entering identification region, judges whether It is Fish of interest to be caught;Then,
If not Fish of interest, intelligent controller control attracting passage (1) produces electric field and expels the fish, if target fish Class, to be checked to measure after fish comes into the signal of passage, intelligent controller control attracting passage (1) produces electric field and drives the fish Into prisoner's fishnet case (2);Then,
The shoal of fish is driven to harvest net cage (3) from prisoner's fishnet case (2) according to preset time;Then,
According to patrol time manually lift by crane harvest net cage (3), unload capture the shoal of fish after again will harvest net cage (3) into the water into Enter and circulate next time.
CN201711039204.6A 2017-10-30 2017-10-30 A kind of device and method of intelligence electric field net cage fishing Pending CN107996528A (en)

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CN113853113A (en) * 2019-09-30 2021-12-28 炎重工株式会社 Device for selecting aquatic organisms
TWI757025B (en) * 2020-12-31 2022-03-01 國立中山大學 System and method for counting aquatic creatures
CN114208786A (en) * 2021-11-23 2022-03-22 中国水产科学研究院东海水产研究所 Directional sound control fish driving and catching method
US11297247B1 (en) * 2021-05-03 2022-04-05 X Development Llc Automated camera positioning for feeding behavior monitoring
CN117434537A (en) * 2023-12-20 2024-01-23 江苏河海环境科学研究院有限公司 Sonar layered detection driving device for fish shoal layered fishing
US11915445B2 (en) 2020-12-31 2024-02-27 National Sun Yat-Sen University System and method for counting aquatic creatures

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113853113A (en) * 2019-09-30 2021-12-28 炎重工株式会社 Device for selecting aquatic organisms
TWI757025B (en) * 2020-12-31 2022-03-01 國立中山大學 System and method for counting aquatic creatures
US11915445B2 (en) 2020-12-31 2024-02-27 National Sun Yat-Sen University System and method for counting aquatic creatures
US11297247B1 (en) * 2021-05-03 2022-04-05 X Development Llc Automated camera positioning for feeding behavior monitoring
US11711617B2 (en) 2021-05-03 2023-07-25 X Development Llc Automated camera positioning for feeding behavior monitoring
CN114208786A (en) * 2021-11-23 2022-03-22 中国水产科学研究院东海水产研究所 Directional sound control fish driving and catching method
CN114208786B (en) * 2021-11-23 2023-09-12 中国水产科学研究院东海水产研究所 Directional sound control fish-driving fishing method
CN117434537A (en) * 2023-12-20 2024-01-23 江苏河海环境科学研究院有限公司 Sonar layered detection driving device for fish shoal layered fishing
CN117434537B (en) * 2023-12-20 2024-02-20 江苏河海环境科学研究院有限公司 Sonar layered detection driving device for fish shoal layered fishing

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