CN108040948B - Breed in stew automatic feeding system - Google Patents
Breed in stew automatic feeding system Download PDFInfo
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- CN108040948B CN108040948B CN201711332371.XA CN201711332371A CN108040948B CN 108040948 B CN108040948 B CN 108040948B CN 201711332371 A CN201711332371 A CN 201711332371A CN 108040948 B CN108040948 B CN 108040948B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
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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 present invention relates to a kind of breed in stew automatic feeding systems, comprising: pillar construction is made of left side column and right side uprights, and the left side column and the right side uprights are separately positioned on the two sides of radical length maximum width position on fish pond；Cross bar is monitored, is supported by the pillar construction, with across the surface of the radical length maximum width position on fish pond, height of the monitoring cross bar apart from fish pond is that dynamic is adjustable；Panoramic shooting equipment, for carrying out panoramic picture acquisition to the fish pond level immediately below the monitoring cross bar, to obtain and export real time panoramic image；Automatic spraying equipment extracts the edible feed of respective volume out of feed storage tank based on the instant fish body quantitative analysis result to the real time panoramic image to be sprayed on fish pond.By means of the invention it is possible to replace the artificial feed work of breed in stew, the operating cost of breed in stew is reduced.
Description
Technical field
The present invention relates to cultivation field more particularly to a kind of breed in stew automatic feeding systems.
Background technique
The place that fish pond refers to fishing or breeds fish, refers in particular to the inside layout on the tuck seine pool or encloses the purse seine of fish.It is general ideal
Fish pond, it is desirable that area is larger, and water is deeper, and illumination is abundant, and water source is unimpeded, and water quality is fertile, has a good transport service, in favor of fish
The raising of growth and yield, and it is conducive to production management.
Specifically, qualified fish pond is in the condition that should have following several respects:
1, area and the depth of water.The size and the depth in pond have very close relationship with the height of fish crop.Production is real
Proof is trampled, at the area in fish pond with 4-10 mu with suitable, the depth of water is preferably 2-3 meters.The area on the fingerling pool then can at 5 mu hereinafter,
1.5 meters of the depth of water or so.
2, soil property and substrate.Fish pond is mostly to cut the earth to build, and influence of the soil property to water quality is very big.The soil property in pond is with black
Native best, clay takes second place, and sand is worst.After breeding fish after a period of time, pool bottom gradually forms the mud of a thickness in pond, this is
The constantly deposition such as remaining feed, fertilizer, fish excrement and organism of death, mixes with the silt particle of bottom of pond.Have one in pond
Fixed mud, pool water are easy to grow fat, and are conducive to breed fish and high yield.But mud can excessively make water quality deterioration, influence the growth of fish,
Even cause the death of fish.Therefore, mud must excessively be removed in time, to keep good water quality.
3, water source and water quality.Good water quality, it is desirable that dissolved oxygen is sufficient, and soda acid is moderate (pH value 7-8.5), and water temperature is preferably (most
25-30 DEG C), nutritive salt is abundant, and water quality is more fertile, and (water colour is that mung bean color, yellow green, yellowish-brown and light color of soy sauce, transparency are
25-30cm), be free of noxious material.
4, the shape in pond and direction.The shape in pond is preferably rectangle.Length-width-ratio is 2-3: 1, and width edge length is
It 30-50 meters, is fished in order to manage and draw in the net.The direction in pond is advisable for East and West direction, is conducive to extend the sunshine-duration in this way,
To the planktonic organism in water and to increase dissolved oxygen all beneficial.Should not there are high mountain and tall trees wood shading to keep out the wind around pond.
If breed in stew cultivation side wishes to obtain sufficiently high economy return, carried out timely to the fish body in fish pond
Feeding is the main points of most critical, however breed in stew feeding is being wasted using artificial regular Feeding way in the prior art
Except cost of labor, feeding employee can not determine the fish body quantity in fish pond, can not accurately determine the feed for needing to launch naturally
Volume, on the one hand, if feeding is very few, be easy to cause fish body to starve thin, reduce economic benefit, on the other hand, if feeding mistake
It is more, it is easy to cause the waste of feed, while the water body environment in fish pond will be deteriorated.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of breed in stew automatic feeding system, which can be accurate
Identify the real-time fish body quantity in fish pond, and can realize that automatically appropriate feed is launched based on real-time fish body quantity, to save
About cost of labor and feed cost, ensure that the normal growth of fish body in fish pond.
The present invention at least has following three important inventive points:
(1) by the image recognition mode customized accurately identify into fish pond to feeding fish body quantity, and introduce automatic
Feeding equipment is with based on the automatic spraying for realizing feed to feeding fish body quantity, thus by people from heavy nursing work
In free, improve the intelligent level of aquaculture industry；
(2) to the nontarget area in image to be processed without any filtering processing, to the different mesh of image to be processed
The different filtering mechanisms that the geometric dimension based on target area and signal-to-noise ratio accordingly are formulated in region are marked, thus reducing at filtering
While managing data volume, the filter effect of target data in image is improved；
(3) needle to acquisition image is realized by target area detection device, the first enhancing equipment and the second enhancing equipment
To the image procossing of property, the wherein analysis of target area detection device combination pixel value and the comparison of area is improved effectively
The judgement precision of target area.
The present invention provides a kind of breed in stew automatic feeding system, the system comprises:
Pillar construction is made of left side column and right side uprights, and the left side column and the right side uprights are respectively set
The two sides of radical length maximum width position on fish pond；
Cross bar is monitored, is arranged on right above fish pond, one end is stood by the left side upright supports, the other end by the right side
Column support, with across the surface of the radical length maximum width position on fish pond, the monitoring cross bar is apart from fishpond water
The height in face is that dynamic is adjustable；
The center of the monitoring cross bar is arranged in panoramic shooting equipment, for the fish pond immediately below the monitoring cross bar
Level carries out panoramic picture acquisition, to obtain and export real time panoramic image；
Height adjustment motor is connect with the panoramic shooting equipment, for receiving the panoramic shooting equipment in acquisition institute
The preview image shot before real time panoramic image is stated, the imaging effect based on preview image adjusts the monitoring cross bar apart from fish
The height of the pool water surface；
Automatic spraying equipment, based on the instant fish body quantitative analysis result to the real time panoramic image from feed storage tank
The interior edible feed for extracting respective volume is to be sprayed on fish pond.
Detailed description of the invention
Embodiment of the present invention is described below with reference to attached drawing, in which:
Fig. 1 is the structural schematic diagram according to the breed in stew automatic feeding system shown in embodiment of the present invention.
Fig. 2 is the structure that equipment is executed according to the filtering of the breed in stew automatic feeding system shown in embodiment of the present invention
Schematic diagram.
Specific embodiment
The embodiment of breed in stew automatic feeding system of the invention is described in detail below with reference to accompanying drawings.
In order to overcome above-mentioned deficiency, the present invention has built a kind of breed in stew automatic feeding system, and specific technical solution is such as
Under.
Fig. 1 is the structural schematic diagram according to the breed in stew automatic feeding system shown in embodiment of the present invention, the system
System includes:
Pillar construction is made of left side column (not shown) and right side uprights 2, the left side column and the right side uprights
It is separately positioned on the two sides of radical length maximum width position on the water surface in fish pond 1；
Cross bar 3 is monitored, is arranged on right above fish pond, one end is by the left side upright supports, and the other end is by the right side
Upright supports, with across the surface of the radical length maximum width position on fish pond, the monitoring cross bar is apart from fish pond
The height of the water surface is that dynamic is adjustable；
The center of the monitoring cross bar is arranged in panoramic shooting equipment 4, for the fish pond immediately below the monitoring cross bar
Level carries out panoramic picture acquisition, to obtain and export real time panoramic image；
Height adjustment motor is connect with the panoramic shooting equipment, for receiving the panoramic shooting equipment in acquisition institute
The preview image shot before real time panoramic image is stated, the imaging effect based on preview image adjusts the monitoring cross bar apart from fish
The height of the pool water surface；
Wireless data receiving device 5, for receiving the data of fish pond on-site wireless transmission；
The server 6 at control centre is cultivated, is connect with the wireless data receiving device, for receiving the no line number
The fish pond field data forwarded according to receiving device.
Then, continue that the specific structure of breed in stew automatic feeding system of the invention is further detailed.
Can also include: in the breed in stew automatic feeding system
Target area detection device is connect with the height adjustment motor, for receiving real time panoramic image, to the reality
When each of panoramic picture pixel carry out object pixel analysis, by all object pixel groups in the real time panoramic image
At multiple pending areas, the pending area that area is greater than preset area threshold value is determined as target area, exports multiple mesh
Mark region；
Wherein, the object pixel analysis includes: by the Y channel value of pixel and the progress of goal-selling Y channel value range
Match, the U channel value of each pixel matched with goal-selling U channel value range, by the V channel value of each pixel with
Goal-selling V channel value range is matched, when the Y channel value of pixel is fallen within the scope of goal-selling Y channel value, the U of pixel
When channel value is fallen within the scope of goal-selling U channel value and the V channel value of pixel is fallen within the scope of goal-selling V channel value,
The pixel is judged for object pixel, otherwise judges the pixel for non-targeted pixel；
First enhancing equipment, connect with the target area detection device, for receiving the multiple target area, and
The gray value grade of all pixels of each target area is improved in the real time panoramic image with obtain with it is described complete in real time
The corresponding first enhancing image of scape image；
Second enhancing equipment is connect with the first enhancing equipment, sharp for executing edge to the first enhancing image
Change processing, to obtain Edge contrast image, and enhances the highlights region in the Edge contrast image, while reducing the sharpening
The dark portion region in image is handled, to obtain the second enhancing image；
State analysis equipment, connect with the second enhancing equipment, enhances image for receiving described second, to described the
Multiple target areas carry out state analysis in two enhancing equipment, to determine the geometric dimension and signal-to-noise ratio of each target area；
Filtering executes equipment, connect with the state analysis equipment, for the geometric dimension based on each target area
The filter patterns executed to each target area are determined with signal-to-noise ratio, and based on determining filter patterns to each target area
Domain executes independent filtering processing accordingly, and by the target area after each independent filtering processing and without the institute of filtering processing
It states nontarget area in the second enhancing image to merge, to obtain identification reference picture；Wherein, the filter patterns include same
State filtering, Wiener filtering, the median filtering of different filter window and different dimensions wavelet filtering；
Fig. 2 is a kind of embodiment that the filtering executes equipment, and it includes filtering selection switch that the filtering, which executes equipment,
With homomorphic filtering execution unit, Wiener filtering execution unit, median filtering execution unit and wavelet filtering execution unit, wherein
Filtering selection switch respectively with the homomorphic filtering execution unit, the Wiener filtering execution unit, the median filtering
Execution unit is connected with the wavelet filtering execution unit.
Fish body searches for equipment, executes equipment with the filtering and connect, for receiving the identification reference picture, and based on pre-
If benchmark fish body profile searches for multiple fish bodies from the identification reference picture, and using the quantity of the fish body searched as immediately
The output of fish body quantity；
Feed storage tank, is arranged near fish pond, and for storing edible feed, the edible feed is for feeding fish pond
Interior fish body；
Automatic spraying equipment is connect with the feed storage tank and fish body search equipment respectively, described for receiving
Instant fish body quantity, and the sprinkling volume of the edible feed in the unit time is determined based on the instant fish body quantity, and be based on
The sprinkling volume of edible feed in the determining unit time extracts the edible feed of respective volume out of described feed storage tank
To be sprayed on fish pond.
Can also include: in the breed in stew automatic feeding system
SD storage chip is connect with the target area detection device, for storing the goal-selling Y channel value model
It encloses, the goal-selling U channel value range and the goal-selling V channel value range, is also used to store the preset area threshold
Value.
In the breed in stew automatic feeding system:
The automatic spraying equipment is arranged near fish pond, is searched for equipment by bluetooth communication interface and the fish body and is connected
It connects.
In the breed in stew automatic feeding system:
The SD storage chip also executes equipment with the filtering and connect；
Wherein, the SD storage chip is also used to store and filter from the intermediate value of homomorphic filtering, Wiener filtering, different filter windows
The corresponding filtering method of wavelet filtering of wave and different dimensions.
In the breed in stew automatic feeding system:
The SD storage chip is also connect with fish body search equipment, for storing the preset reference fish body profile.
In the breed in stew automatic feeding system:
The median filtering of the difference filter window includes circular filter window, rectangular filter window, cross spectral window
The median filtering of mouth and star filter window.
Can also include: in the breed in stew automatic feeding system
Servicing lighting is arranged near the panoramic shooting equipment, for for the real-time of the panoramic shooting equipment
The Image Acquisition of panoramic picture provides live floor light.
In addition, the acquisition that cmos image sensor carries out the real time panoramic image can be used in the panoramic shooting equipment.
CMOS (Complementary Metal-Oxide-Semiconductor), Chinese scientific name are complementary metal oxidation
Object semiconductor, he is originally a kind of important chip in computer system, saves the most basic data of System guides.The system of CMOS
It makes technology and general computer chip does not have a difference, the semiconductor being mainly made into using silicon and germanium both elements is made
It co-exists the semiconductor with N (band-electricity) and P (band+electricity) grade, electric current caused by the two complementary effects on CMOS
Image is noted down and be interpreted to chip processed.Discovery CMOS can also be used as the image sensing in digital photography by processing later
Device.
For the portable use independently of power grid, the CMOS technology famous with low power consumption characteristic is bright with one
Aobvious advantage: cmos image sensor is designed for 5V and 3.3V supply voltage.And CCD chip then needs about 12V
Supply voltage, therefore have to using an electric pressure converter, so as to cause power consumption increase.In terms of total power consumption, control
Another benefit will be brought by being integrated into cmos sensor with system function: he eliminates all outer with other semiconductor elements
Portion's connecting line.Nowadays the driver of its high power consumption has been abandoned, this is because portion carries out communicating consumed energy in the chip
It is more much lower than the external implementation by PCB or substrate.
Cmos sensor can also be subdivided into passive type element sensor (Passive Pixel Sensor CMOS) and active
Formula element sensor (Active Pixel Sensor CMOS).
Passive type element sensor (Passive Pixel Sensor, abbreviation PPS), is called passive type element sensor,
He is made of the photodiode of reverse bias and a switching tube.Photodiode is substantially one is partly led by p-type
Body and N-type semiconductor composition PN junction, he can be equivalent to a reverse bias diode and a mos capacitance parallel connection.When opening
When closing pipe unlatching, photodiode is connected to vertical alignment (Column bus).Charge integration positioned at alignment end amplifies
Device reading circuit (Charge integrating amplifier) holding column line voltage is a constant, when photodiode stores
Signal charge when being read, voltage is reset to column line voltage level, at the same time, the charge directly proportional to optical signal by
Charge integration amplifier is converted to charge output.
Active pixel sensor (Active Pixel Sensor, abbreviation APS), is called active element sensor.It is several
While the invention of CMOS PPS dot structure, it is rapidly be recognized that introducing buffer or amplifier in pixel can change
The performance of kind pixel has the amplifier of oneself in CMOS APS in each pixel.The amplifying transistor for being integrated in surface subtracts
The effective surface area for having lacked pixel element reduces " packaging density ", reflects 40%~50% incident light.This sensing
Another problem of device is how to make having preferable matching between the multi-channel amplifier of sensor, this can be residual by reducing
The fixed pattern noise of remaining level is preferably realized.Quilt during only being read herein due to each amplifier in CMOS APS pixel
Excitation, so the power dissipation ratio ccd image sensor of CMOS APS is also small.
Using breed in stew automatic feeding system of the invention, for breed in stew in the prior art manually launch feed without
Method takes into account the technical problem that economic cost and fish body are normally eaten, and is accurately obtained in fish pond and is supported using the image recognition mechanism of customization
The fish body quantity grown is launched corresponding feed based on the fish body quantity automatically, so that cumbersome manual operation be substituted, is being passed through
Reach balance between Ji cost and fish body normal growth.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of variation.Therefore, anything that does not depart from the technical scheme of the invention are right according to the technical essence of the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection
It is interior.
Claims (3)
1. a kind of breed in stew automatic feeding system, which is characterized in that the system comprises:
Pillar construction is made of left side column and right side uprights, and the left side column and the right side uprights are separately positioned on fish
The two sides of radical length maximum width position on the water surface of the pool；
Cross bar is monitored, is arranged on right above fish pond, one end is by the left side upright supports, and the other end is by the right side uprights branch
Support, with across the surface of the radical length maximum width position on fish pond, the monitoring cross bar is apart from fish pond
Height is adjustable for dynamic；
The center of the monitoring cross bar is arranged in panoramic shooting equipment, for horizontal to the fish pond immediately below the monitoring cross bar
Panoramic picture acquisition is carried out, to obtain and export real time panoramic image；
Height adjustment motor is connect with the panoramic shooting equipment, is acquiring the reality for receiving the panoramic shooting equipment
When panoramic picture before the preview image that shoots, imaging effect based on preview image adjusts the monitoring cross bar apart from fishpond water
The height in face；
Target area detection device is connect with the height adjustment motor, for receiving real time panoramic image, to described complete in real time
Each of scape image pixel carries out object pixel analysis, and all object pixels composition in the real time panoramic image is more
The pending area that area is greater than preset area threshold value is determined as target area, exports multiple target areas by a pending area
Domain；Wherein, the object pixel analysis includes: to match the Y channel value of pixel with goal-selling Y channel value range, will
The U channel value of each pixel is matched with goal-selling U channel value range, by the V channel value of each pixel and is preset
Target V channel value range is matched, when the Y channel value of pixel is fallen within the scope of goal-selling Y channel value, the channel U of pixel
When value is fallen within the scope of goal-selling U channel value and the V channel value of pixel is fallen within the scope of goal-selling V channel value, judgement
The pixel is object pixel, otherwise judges the pixel for non-targeted pixel；
First enhancing equipment, connect, for receiving the multiple target area, and described with the target area detection device
The gray value grade of all pixels of each target area is improved in real time panoramic image to obtain and the real time panoramic figure
As corresponding first enhancing image；
Second enhancing equipment is connect with the first enhancing equipment, for executing at edge sharpening to the first enhancing image
Reason, to obtain Edge contrast image, and enhances the highlights region in the Edge contrast image, while reducing the Edge contrast
Dark portion region in image, to obtain the second enhancing image；
State analysis equipment is connect with the second enhancing equipment, for receiving the second enhancing image, is increased to described second
Multiple target areas carry out state analysis in strong equipment, to determine the geometric dimension and signal-to-noise ratio of each target area；
Filtering executes equipment, connect with the state analysis equipment, for geometric dimension and letter based on each target area
It makes an uproar than determining the filter patterns executed to each target area, and each target area is held based on determining filter patterns
The corresponding independent filtering processing of row, and by after each independent filtering processing target area with without described the of filtering processing
Nontarget area merges in two enhancing images, to obtain identification reference picture；Wherein, the filter patterns include homomorphism filter
Wave, Wiener filtering, the median filtering of different filter window and different dimensions wavelet filtering；
Fish body searches for equipment, executes equipment with the filtering and connect, for receiving the identification reference picture, and based on default base
Quasi- fish body profile searches for multiple fish bodies from the identification reference picture, and using the quantity of the fish body searched as instant fish body
Quantity output；
Feed storage tank, is arranged near fish pond, and for storing edible feed, the edible feed is for feeding in fish pond
Fish body；
Automatic spraying equipment is connect with the feed storage tank and fish body search equipment respectively, described instant for receiving
Fish body quantity, and determine based on the instant fish body quantity sprinkling volume of the edible feed in the unit time, and based on determining
Unit time in the sprinkling volume of edible feed the edible feed of respective volume is extracted out of described feed storage tank to spray
It is spread across on fish pond；
Further include: SD storage chip is connect with the target area detection device, for storing the goal-selling Y channel value
Range, the goal-selling U channel value range and the goal-selling V channel value range, are also used to store the preset area
Threshold value；
The automatic spraying equipment is arranged near fish pond, is searched for equipment with the fish body by bluetooth communication interface and is connect；
The SD storage chip also executes equipment with the filtering and connect；
Wherein, the SD storage chip be also used to store from the median filtering of homomorphic filtering, Wiener filtering, different filter windows with
And the corresponding filtering method of wavelet filtering of different dimensions；
The SD storage chip is also connect with fish body search equipment, for storing the preset reference fish body profile.
2. breed in stew automatic feeding system as described in claim 1, it is characterised in that:
It is described difference filter window median filtering include circular filter window, rectangular filter window, cross filter window with
And the median filtering of star filter window.
3. the breed in stew automatic feeding system as described in claim 1-2 is any, which is characterized in that further include:
Servicing lighting is arranged near the panoramic shooting equipment, for the real time panoramic for the panoramic shooting equipment
The Image Acquisition of image provides live floor light.
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| 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 |
| CN104966122A (en) * | 2015-07-11 | 2015-10-07 | 浙江大学宁波理工学院 | System for automatically counting live fishes based on machine vision |
| CN106355589A (en) * | 2016-09-20 | 2017-01-25 | 北京农业信息技术研究中心 | Estimation system and method of factory-like circulating water cultured fish space |
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2017
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104542411A (en) * | 2014-12-19 | 2015-04-29 | 浙江大学 | Intelligent bait feeding device and method based on image processing technology |
| 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 |
| CN104966122A (en) * | 2015-07-11 | 2015-10-07 | 浙江大学宁波理工学院 | System for automatically counting live fishes based on machine vision |
| CN106355589A (en) * | 2016-09-20 | 2017-01-25 | 北京农业信息技术研究中心 | Estimation system and method of factory-like circulating water cultured fish space |
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