CN112790134A - Swimming type fish self-adaptive feeding device and method based on water surface fluctuation information - Google Patents

Swimming type fish self-adaptive feeding device and method based on water surface fluctuation information Download PDF

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Publication number
CN112790134A
CN112790134A CN202110140761.7A CN202110140761A CN112790134A CN 112790134 A CN112790134 A CN 112790134A CN 202110140761 A CN202110140761 A CN 202110140761A CN 112790134 A CN112790134 A CN 112790134A
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China
Prior art keywords
feeding
feeder
motor
floating plate
fish
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Inventor
向坤
叶章颖
倪伟强
向钧泽
曹慧敏
赵雪雅
张文明
孟甜
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Shandong Luwei Ocean Technology Co ltd
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Shandong Luwei Ocean Technology Co ltd
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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
    • A01K61/80—Feeding devices
    • 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
    • A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
    • A01K63/003—Aquaria; Terraria
    • 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
    • A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
    • A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • 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 a swimming type fish self-adaptive feeding device based on water surface fluctuation information, which comprises a circulating water culture pond and a circulating water treatment system, wherein a feeder is arranged right above the circulating water culture pond, a feeder discharge port is arranged at the lower end of the feeder, a motor and a frequency converter are also arranged below the feeder, the motor is connected with the output end of the frequency converter, the input end of the frequency converter is connected with the output end of a PLC (programmable logic controller), the input end of the PLC is connected with the output end of a digital signal processor, a floating plate is arranged on the water surface of the circulating water culture pond and is positioned right below the feeder discharge port, a three-axis acceleration sensor is fixed at the position of the circle center of the floating plate, and the three-axis acceleration sensor is connected with the input end of the digital signal processor. The invention also discloses a swimming type fish self-adaptive feeding method based on the water surface fluctuation information. The intelligent feeding device can automatically adjust the feeding amount according to the actual feeding condition of the fish, so as to achieve the purpose of intelligent and accurate feeding.

Description

Swimming type fish self-adaptive feeding device and method based on water surface fluctuation information
Technical Field
The invention belongs to the technical field of industrial circulating water aquaculture feeding machinery, and particularly relates to a swimming type fish self-adaptive feeding device and method based on water surface fluctuation information.
Background
With the rapid development of economic society and the remarkable improvement of the living standard of people, the demand of people on fish protein is continuously increased, the global fish price is in a rising channel, the increase of the income of residents in aquatic product consumption markets and the factors of population increase and farmland limitation cause the increase of the global demand on protein and other aquatic products meat to be the main reason for driving the price rise; in addition, in order to ensure the sustainability of oceans and environments, the fishery policy in China gradually reduces the yield of wild fishing fishery, and simultaneously slows down the yield increase of breeding fishery under the condition that the cost (manpower, feed, energy and the like) continuously rises.
At present, aquaculture modes in China mainly comprise industrial aquaculture, deep-water cage culture, ecological culture and the like, wherein the industrial aquaculture is most widely applied, but the problem of how to improve the aquaculture technology and the aquaculture benefit is urgently solved by the industrial aquaculture.
The industrial circulating water culture is a high-density aquaculture form, the requirements on the regulation and control of water quality are very strict, and the feed feeding is an indispensable working link of the circulating water culture every day, so that the influence on water quality parameters is great. At present, the industrial recirculating aquaculture feed feeding mainly depends on two modes of manual feeding and machine regular and quantitative feeding, and the feeding amount cannot be automatically adjusted according to the actual hunger degree of the fish, so that the feeding amount is not matched with the actual food intake requirement of the fish. When the feeding amount is less than the actual feeding demand of the fishes, the serious food snatching phenomenon can occur, so that the fishes collide with each other and even cause the surface damage of the fishes, in addition, when some fishes with poor food snatching property cannot be eaten for a long time, the growth speed of the fishes is far lower than that of other fishes in a fish swarm, the serious bipolar differentiation is caused, the fishes with damaged surfaces and weak and small fishes are more easily infected with certain fish diseases, the aquaculture water environment bears larger pressure, and the growth of the fishes is adversely affected; when the feeding amount is larger than the actual feeding demand of the fish, not only the breeding cost is increased, but also the redundant feed can seriously pollute the breeding environment, influence the optimal growth state of the fish and restrict the growth welfare of the fish. Therefore, the feeding amount of the feed is consistent with the actual feeding demand of the fish as much as possible, the breeding density is higher when the juvenile fish is bred by the circulating water system, the juvenile fish is small and weak and is more sensitive to the growth environment, the feeding amount meets the requirement of juvenile fish growth and creates good growth conditions for the juvenile fish in the breeding production process of the juvenile fish, when the feed is fed in the breeding process, the fish can swim to the water surface to take the feed floating on the water surface, the fluctuation of the water surface can be caused, and the more fish take the feed, the larger fluctuation of the water surface can be caused.
Disclosure of Invention
Based on the problems, the invention provides a swimming type fish self-adaptive feeding device and a feeding method based on water surface fluctuation information.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention relates to a swimming type fish self-adaptive feeding device based on water surface fluctuation information, which comprises a recirculating aquaculture pond and a recirculating water treatment system arranged on the left side outside the recirculating aquaculture pond, wherein a feeder is arranged right above the recirculating aquaculture pond, four feeder discharge holes are formed in the lower end of the feeder and are respectively arranged on the front side, the rear side, the left side and the right side of the feeder, a motor and a frequency converter are further arranged below the feeder, the motor is connected with the output end of the frequency converter, the input end of the frequency converter is connected with the output end of a PLC, the input end of the PLC is connected with the output end of a digital signal processor, a floating plate is placed on the water surface of the recirculating aquaculture pond and is positioned right below the feeder discharge hole, a three-axis acceleration sensor is fixed at the position of the circle center of the floating plate and is connected with the input end of the digital signal processor, the circulating water culture pond is characterized in that two round rods are fixedly arranged on the wall of the circulating water culture pond, the other ends of the two round rods are respectively connected with a baffle, the two baffles are fixed by the round rods and the floating plate is limited by the two baffles, so that the floating plate is kept in a certain motion area, the density of materials used for manufacturing the floating plate is low, a polystyrene foam plate is adopted, and the position of the lower end of the baffle is 2-3cm lower than the water surface during installation.
The invention relates to a swimming type fish self-adaptive feeding method based on water surface fluctuation information, which comprises the following steps:
step 1: the triaxial acceleration sensor transmits the acquired data to the digital signal processor in real time;
step 2: the digital signal processor preprocesses the received vibration data of the floating plate before the feeder is fed, extracts the acceleration signal value in the sampling time, and calculates the root mean square value of each axial acceleration:
Figure BDA0002928730450000031
wherein a isw(t) is the real-time acceleration value, awIs the acceleration root mean square value; t is sampling time;
and step 3: presetting the operating time and the number of times of work of motor through PLC, and then confirming the operating time and the number of times of throwing something and feeding of throwing something and raising the machine, the regional S of blanking of throwing something and raising the machine uses the center in recirculating water aquaculture pond as the centre of a circle, and the radius is:
Figure BDA0002928730450000032
wherein r is0Is the radius of the recirculating aquaculture pond, b is the number of fish cultured in the recirculating aquaculture pond, liIs the body length of the ith fish in the recirculating aquaculture pondmaxThe maximum body length of the fish in the recirculating aquaculture pond; the radius of the floating plate (11) is r1＝1.2r；
And 4, step 4: setting motor rotation speed initial value V through PLC0，
Figure BDA0002928730450000033
Wherein V1The motor rotating speed; v2The feeding rate is the feed feeding amount of the feeder per second; m is0The minimum feed feeding amount for meeting the requirements of normal growth and nutrition of the fish is met; n is the feeding frequency; t is the working time of the motor;
and 5: after feeding begins for 5s, the three-axis acceleration sensor transmits the real-time vibration acceleration of the collected floating plate to the digital signal processor in real time;
step 6: after the digital signal processor calculates and processes the vibration information, the digital signal processor inputs a processing result to the PLC, the PLC controls the frequency converter to adjust the rotating speed V of the motor,
Figure BDA0002928730450000034
delta is a motor rotating speed decision coefficient; f. of1To sample the number, fsTo sample frequency, avThe root mean square value a of the vibration weighted acceleration of the floating plate under the feeding working condition of the feeder0Is the mean value of the root mean square value of the vibration weighted acceleration of the floating plate before feeding,
Figure BDA0002928730450000041
n is the number of the sampling groups,
Figure BDA0002928730450000042
V0is an initial value of the rotation speed of the motor, wherein the maximum value V of the rotation speed of the motormax，
Figure BDA0002928730450000043
And V ismax≤Vn，VnThe rated rotating speed of the motor;
and 7: if it is
Figure BDA0002928730450000044
Or a1＜1.2a0Time G1And if the weight of the feed is fed for a single time, the PLC sends a feeding stopping instruction, the circuit is powered off, and the feeding is waited to start the next feeding work.
The invention is further improved in that: in the step (2), in order to more accurately evaluate the herd eating desire, the weighted acceleration root mean square value of the floating plate is used as a herd eating desire evaluation index:
Figure BDA0002928730450000045
awxthe mean square root value of the vibration acceleration of the triaxial acceleration sensor in the x direction is obtained; a iswyThe mean square root value of the vibration acceleration of the triaxial acceleration sensor in the y direction is obtained; a iswzThe mean square root value of the vertical vibration acceleration of the triaxial acceleration sensor is obtained; the larger the value of a, the stronger the fish herd's desire to eat.
The invention has the beneficial effects that: the method judges the actual appetite of the fish for feeding according to the water surface fluctuation information, can accurately control the feeding amount according to the appetite of the fish for feeding, is particularly suitable for the breeding and feeding process of young fish, and ensures the nutrition required by the growth of the fish; according to the actual food intake requirement of the fish, the feeding amount is automatically adjusted, and good reference and technical support are provided for the reasonable feeding operation of the recirculating aquaculture.
The device of the invention adopts a three-axis acceleration sensor, a motor, a frequency converter, a feeder, a floating plate, a digital signal processor, a PLC, a baffle plate and the like to form a complete self-adaptive feeding device, and can automatically adjust the control mode of feeding amount according to the actual feeding condition of fish, thereby achieving the purpose of intelligent and accurate feeding.
The invention has simple structure, simple and convenient control mode, lower cost and no requirement on light.
Drawings
Fig. 1 is a schematic view of the feeding device of the present invention.
Fig. 2 is a schematic structural view of the floating plate of fig. 1.
In the figure: 1-a circulating water culture pond; 2-a circulating water treatment system; 3-a feeder; 4-a discharge hole of a feeder; 5, a motor; 6-a frequency converter; 7-PLC; 8-a digital signal processor; 9-a baffle plate; 10-water surface; 11-a floating plate; 12-round bar; 13-three axis acceleration sensor.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the embodiments of the invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
As shown in fig. 1-2, the invention is a swimming type fish self-adaptive feeding device based on water surface fluctuation information, comprising a circulating water culture pond 1 and a circulating water treatment system 2 installed on the left side outside the circulating water culture pond 1, wherein the circulating water treatment system 2 conveys culture wastewater to the circulating water culture pond 1 after a series of operations such as filtration, sterilization, oxygenation and the like, so as to greatly improve the utilization rate of water resources, a feeder 3 is arranged right above the circulating water culture pond 1, four feeder discharge ports 4 are arranged at the lower end of the feeder 3 and are respectively arranged on the front side, the rear side, the left side and the right side of the feeder 3, the four feeder discharge ports can ensure that the feed can uniformly cover the whole feeding area, a motor 5 and a frequency converter 6 are further arranged below the feeder 3, the motor 5 is connected with the output end of the frequency converter 6, the input end of the frequency converter 6 is connected with the output end of the PLC7, the input end of the PLC7 is connected with the output end of the digital signal processor 8, a floating plate 11 is arranged on the water surface 10 of the recirculating aquaculture pond 1, the floating plate 11 is positioned under the discharge port 4 of the feeder, a three-axis acceleration sensor 13 is fixed at the circle center position of the floating plate 11, the three-axis acceleration sensor 13 is connected with the input end of the digital signal processor 8, two round rods 12 are fixedly arranged on the wall of the recirculating aquaculture pond 1, the other ends of the two round rods 12 are respectively connected with the baffle plates 9, the two baffle plates 9 are fixed by the round rods 12, the floating plate 11 is limited by the two baffle plates 9, so that the floating plate 11 is kept in a certain movement area, the density of materials used for manufacturing the floating plate 11 is low, and the lower ends of the baffle plates 9 are 2-3cm lower than the water surface during installation.
The output end of the digital signal processor 8 is connected with the input end of the PLC 7; digital signal processor 8 is through receiving the vibration information that triaxial acceleration sensor 13 gathered and making corresponding calculation processing, at first motor 5 is rotated by predetermined initial rotational speed, feeder 3 throws the fish and feeds, the fish arouses the vibration that is located surface of water kickboard 11 when floating in surface of water fodder feed, digital signal processor 8 analyzes the real-time desire of ingesting of fish through vibration information processing, and will handle the result and convey to PLC7, PLC7 obtains the rotational speed through converter regulation motor 5, the size of the volume of deciding to throw feed.
The self-adaptive feeding method for swimming fishes by using the device comprises the following steps:
step 1: the triaxial acceleration sensor 13 transmits the acquired data to the digital signal processor 8 in real time;
step 2: the digital signal processor 8 preprocesses the received vibration data of the floating plate 11 before the feeder 3 is fed, extracts the acceleration signal value in the sampling time, and calculates the root mean square value of each axial acceleration:
Figure BDA0002928730450000061
wherein a isw(t) is the real-time acceleration value, awIs the acceleration root mean square value; t is sampling time;
in order to more accurately evaluate the herd feeding desire, the weighted acceleration root mean square value of the floating plate is used as an evaluation index of the herd feeding desire:
Figure BDA0002928730450000062
awxis the x direction of a triaxial acceleration sensorA vibration acceleration root mean square value; a iswyThe mean square root value of the vibration acceleration of the triaxial acceleration sensor in the y direction is obtained; a iswzThe mean square root value of the vertical vibration acceleration of the triaxial acceleration sensor is obtained; the larger the value of a is, the stronger the fish school eating desire is;
and step 3: presetting the operating time and the number of times of work of motor 5 through PLC7, and then confirm the operating time and the number of times of throwing something and feeding of throwing something and raising machine 3, the regional S of blanking of throwing something and raising machine 3 uses the center in recirculating water aquaculture pond 1 as the centre of a circle, and the radius is:
Figure BDA0002928730450000071
wherein r is0Is the radius of the recirculating aquaculture pond, b is the number of fish cultured in the recirculating aquaculture pond, liIs the body length of the ith fish in the recirculating aquaculture pondmaxThe maximum body length of the fish in the recirculating aquaculture pond; the radius of the floating plate 11 is r1＝1.2r；
And 4, step 4: the PLC7 is used for setting the initial value V of the rotating speed of the motor 50，
Figure BDA0002928730450000072
Wherein V1The motor rotating speed; v2The feeding rate is the feed feeding amount of the feeder per second; m is0The minimum feed feeding amount for meeting the requirements of normal growth and nutrition of the fish is met; n is the feeding frequency; t is the working time of the motor;
and 5: after feeding begins for 5s, the triaxial acceleration sensor 13 transmits the real-time vibration acceleration of the collected floating plate 11 to the digital signal processor 8 in real time;
step 6: after the digital signal processor 8 calculates and processes the vibration information, the digital signal processor 8 inputs the processing result to the PLC7, the PLC7 controls the frequency converter 6 to adjust the rotating speed V of the motor,
Figure BDA0002928730450000073
delta is a motor rotating speed decision coefficient; f. of1To sample the number, fsTo sample frequency, avThe root mean square value a of the vibration weighted acceleration of the floating plate under the feeding working condition of the feeder0Vibration of floating plate before feedingThe weighted mean of the root mean square values of the accelerations,
Figure BDA0002928730450000074
n is the number of the sampling groups,
Figure BDA0002928730450000075
V0is an initial value of the rotation speed of the motor, wherein the maximum value V of the rotation speed of the motormax，
Figure BDA0002928730450000076
And V ismax≤Vn，VnThe rated rotating speed of the motor;
and 7: if it is
Figure BDA0002928730450000077
Or a1＜1.2a0Time G1For feeding the feed weight once, the PLC7 sends out a feeding stopping instruction, the circuit is powered off, and the next feeding operation is waited for.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (3)

1. The utility model provides a swimming type fish self-adaptation feeding device based on surface of water fluctuation information, includes recirculating aquaculture pond (1) and installs circulating water treatment system (2) in the outside left side of recirculating aquaculture pond (1), its characterized in that: a feeder (3) is arranged right above the recirculating aquaculture pond (1), four feeder discharge ports (4) are arranged at the lower end of the feeder (3) and are respectively arranged at the front side, the rear side, the left side and the right side of the feeder (3), a motor (5) and a frequency converter (6) are further arranged below the feeder (3), the motor (5) is connected with the output end of the frequency converter (6), the input end of the frequency converter (6) is connected with the output end of a PLC (7), the input end of the PLC (7) is connected with the output end of a digital signal processor (8), a floating plate (11) is placed on the water surface (10) of the recirculating aquaculture pond (1), the floating plate (11) is arranged right below the feeder discharge ports (4), and a three-axis acceleration sensor (13) is fixed at the circle center position of the floating plate (11), triaxial acceleration sensor (13) with the input of digital signal processor (8) links to each other it is provided with two round bars (12), two to fix on the pool wall in recirculating aquaculture pond (1) the other end of round bar (12) respectively with baffle (9) are connected, two baffle (9) by round bar (12) fixed position just floating plate (11) are spacing by two baffles (9), during the installation, the position of baffle (9) lower extreme is less than the surface of water 2-3 cm.
2. The self-adaptive swimming type fish feeding method based on water surface fluctuation information by using the device as claimed in claim 1, wherein: the feeding method comprises the following steps:
step 1: the three-axis acceleration sensor (13) transmits the acquired data to the digital signal processor (8) in real time;
step 2: the digital signal processor (8) preprocesses the received vibration data of the floating plate (11) before the feeder (3) is fed, extracts the acceleration signal value in the sampling time, and calculates the root mean square value of each axial acceleration:
Figure FDA0002928730440000011
wherein a isw(t) is the real-time acceleration value, awIs the acceleration root mean square value; t is sampling time;
and step 3: presetting the operating time and the number of times of work of motor (5) through PLC (7), and then confirm the operating time and the number of times of throwing something and feeding of throwing something and raising machine (3), the regional S of blanking of throwing something and raising machine (3) uses the center in recirculating water aquaculture pond (1) as the centre of a circle, and the radius is:
Figure FDA0002928730440000021
wherein r is0Is the radius of the recirculating aquaculture pond, b is the number of fish cultured in the recirculating aquaculture pond, liIs the body length of the ith fish in the recirculating aquaculture pondmaxTo circulateMaximum body length of fish in the aquaculture pond; the radius of the floating plate (11) is r1＝1.2r；
And 4, step 4: the initial value V of the rotating speed of the motor (5) is set through the PLC (7)0，
Figure FDA0002928730440000022
Wherein V1The motor rotating speed; v2The feeding rate is the feed feeding amount of the feeder per second; m is0The minimum feed feeding amount for meeting the requirements of normal growth and nutrition of the fish is met; n is the feeding frequency; t is the working time of the motor;
and 5: after feeding begins for 5s, the three-axis acceleration sensor (13) transmits the real-time vibration acceleration of the collected floating plate (11) to the digital signal processor (8) in real time;
6) after the digital signal processor (8) calculates and processes the vibration information, the digital signal processor (8) inputs the processing result to the PLC (7), the PLC (7) controls the frequency converter (6) to adjust the rotating speed V of the motor,
Figure FDA0002928730440000023
delta is a motor rotating speed decision coefficient; f. of1To sample the number, fsTo sample frequency, avThe root mean square value a of the vibration weighted acceleration of the floating plate under the feeding working condition of the feeder0Is the mean value of the root mean square value of the vibration weighted acceleration of the floating plate before feeding,
Figure FDA0002928730440000024
n is the number of the sampling groups,
Figure FDA0002928730440000025
V0is an initial value of the rotation speed of the motor, wherein the maximum value V of the rotation speed of the motormax，
Figure FDA0002928730440000026
And V ismax≤Vn，VnThe rated rotating speed of the motor;
7) if it is
Figure FDA0002928730440000027
Or a1＜1.2a0Time G1And if the weight of the feed is fed for a single time, the PLC (7) sends out a feeding stopping instruction, the circuit is powered off, and the feeding is waited to start the next feeding work.
3. The self-adaptive swimming fish feeding method based on the water surface fluctuation information as claimed in claim 2, wherein: in the step (2), in order to more accurately evaluate the herd eating desire, the weighted acceleration root mean square value of the floating plate is used as a herd eating desire evaluation index:
Figure FDA0002928730440000031
awxthe mean square root value of the vibration acceleration of the triaxial acceleration sensor in the x direction is obtained; a iswyThe mean square root value of the vibration acceleration of the triaxial acceleration sensor in the y direction is obtained; a iswzThe mean square root value of the vertical vibration acceleration of the triaxial acceleration sensor is obtained; the larger the value of a, the stronger the fish herd's desire to eat.
CN202110140761.7A 2021-02-02 2021-02-02 Swimming type fish self-adaptive feeding device and method based on water surface fluctuation information Pending CN112790134A (en)

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CN113207783A (en) * 2021-06-22 2021-08-06 重庆工商大学 Intelligent feeding system and method for fish culture
CN113325741A (en) * 2021-06-11 2021-08-31 华中农业大学 Intelligent control system and control method for aquaculture feed feeding machine
CN113749030A (en) * 2021-09-09 2021-12-07 浙江大学 Fish welfare self-adaptive feeding system suitable for recirculating aquaculture mode
CN114467825A (en) * 2022-01-30 2022-05-13 浙江大学 Intelligent classification system for recirculating aquaculture fishes
CN114847209A (en) * 2022-04-14 2022-08-05 华中农业大学 Intelligent fish feeding method and system based on multi-factor comprehensive control
CN115104582A (en) * 2022-05-16 2022-09-27 湖南芯易德科技有限公司 Vibration induction color-changing float algorithm

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CN113207783A (en) * 2021-06-22 2021-08-06 重庆工商大学 Intelligent feeding system and method for fish culture
CN113207783B (en) * 2021-06-22 2022-08-02 重庆工商大学 Intelligent feeding system and method for fish culture
CN113749030A (en) * 2021-09-09 2021-12-07 浙江大学 Fish welfare self-adaptive feeding system suitable for recirculating aquaculture mode
CN114467825A (en) * 2022-01-30 2022-05-13 浙江大学 Intelligent classification system for recirculating aquaculture fishes
CN114467825B (en) * 2022-01-30 2022-10-28 浙江大学 Intelligent classification system for recirculating aquaculture fishes
CN114847209A (en) * 2022-04-14 2022-08-05 华中农业大学 Intelligent fish feeding method and system based on multi-factor comprehensive control
CN115104582A (en) * 2022-05-16 2022-09-27 湖南芯易德科技有限公司 Vibration induction color-changing float algorithm
CN115104582B (en) * 2022-05-16 2024-01-12 湖南芯易德科技有限公司 Vibration induction color-changing fishing float algorithm

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