CN114148775B - Automatic throwing device for visually positioning water surface target and control method thereof - Google Patents
Automatic throwing device for visually positioning water surface target and control method thereof Download PDFInfo
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- CN114148775B CN114148775B CN202111458296.8A CN202111458296A CN114148775B CN 114148775 B CN114148775 B CN 114148775B CN 202111458296 A CN202111458296 A CN 202111458296A CN 114148775 B CN114148775 B CN 114148775B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 20
- 241001482311 Trionychidae Species 0.000 claims abstract description 56
- 239000000463 material Substances 0.000 claims abstract description 53
- 235000013305 food Nutrition 0.000 claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 241000251468 Actinopterygii Species 0.000 abstract description 9
- 241000270666 Testudines Species 0.000 description 12
- 230000000694 effects Effects 0.000 description 4
- 238000009360 aquaculture Methods 0.000 description 3
- 244000144974 aquaculture Species 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241000610743 Psathyrotes ramosissima Species 0.000 description 1
- 241000270708 Testudinidae Species 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 235000014510 cooky Nutrition 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/40—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight
- G01G19/42—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight for counting by weighing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M11/00—Counting of objects distributed at random, e.g. on a surface
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Image Processing (AREA)
Abstract
An automatic throwing device for visually positioning a water surface target and a control method thereof, which comprises the following steps: the machine vision part is used for positioning the food table, detecting the three-dimensional shape of the food table by an accurate algorithm in visual image processing, and acquiring the geometric center space three-dimensional coordinate of the food table to be used as the positioning coordinate of a put-in cake or object; the multistage charging barrel is internally symmetrically provided with an open type thin flat plate, and the supporting force of the thin flat plate is smaller than the weight of a self-gravity charging cake of the charging cake; an automatic feeding part for placing quantitative cakes on a table plane below, wherein the multi-stage material containing barrel is arranged above the automatic feeding part; firstly, a method for building a miniature visual platform to monitor the total amount of soft-shelled turtles in a fish pond in real time is provided, a long platform slightly higher than the water surface is built on the water surface of the fish pond according to the habit of soft-shelled turtles so that the soft-shelled turtles can climb to a table surface to shine the sun, at the moment, the total soft-shelled turtles are counted through visual image processing, and the quality of the soft-shelled turtles is calculated according to the shape of single soft-shelled turtles, so that the total quality is obtained; and then the water surface table position is positioned and quantitatively fed through machine vision.
Description
Technical Field
The utility model relates to the field of aquatic automation machinery of an automatic positioning and material throwing device for an aquatic target, in particular to an automatic tortoise and turtle throwing device based on machine vision.
Background
The turtle is one of important aquatic products in China, particularly the Chinese turtle is a unique excellent turtle species in China, and the Chinese turtle is also called soft-shelled turtle, is rich in nutrition and has high medicinal value, and is popular with the masses. In the breeding process, the turtle feed is required to be freshly prepared and fed, and is usually made into a round cake or granule shape to be put on a table fixed on the water surface, and the daily feeding amount is required to be about 5% of the total mass of the turtle body, and the turtle feed is fed twice in the morning and afternoon. At present, large-scale cultivation is carried out, and the labor intensity is high, the labor cost is increased, and automatic and intelligent feeding becomes urgent need. Although some utility models or utility models have designed feeding devices, there is still a lack of a circular cookie control method for automatically acquiring the overall quality data of soft-shelled turtles and visually locating the feeding table. Realizing automation and intellectualization aims to solve two technical problems:
firstly, calculating the feeding amount according to the total mass of soft-shelled turtles in a fish pond, and secondly, designing a device which is light and small in motor, automatically positions a food table on the water surface and places soft round cake materials.
According to the prior art, the patent search and the market research do not find the related technology, so that an automatic throwing device for visually positioning a water surface target and a control method thereof are developed.
Disclosure of Invention
The utility model aims to overcome the defects in the prior art by first providing a method for monitoring the total amount of soft-shelled turtle in a fish pond in real time by setting up a miniature vision platform, setting up a long platform slightly higher than the water surface of the fish pond according to the habit of the soft-shelled turtle so that the soft-shelled turtle can climb to a table surface to shine the sun, counting the total soft-shelled turtle through vision image processing, and calculating the quality of the soft-shelled turtle according to the shape of a single soft-shelled turtle, thereby obtaining the total quality; then, the utility model discloses a device for accurately placing soft round cake materials based on machine vision, which positions the water surface table through the machine vision, and places quantitative round cake materials on the table plane by using a throwing mechanism. The overall design of the utility model aims at realizing automatic feeding by controlling a light motor and a small number of motors, and the device can be arranged on an unmanned plane, an overwater unmanned jack or a mechanical arm to work, thus being energy-saving, environment-friendly, intelligent, automatic and accurate in feeding; greatly saves labor cost and effectively provides an aquaculture comprehensive effect cover.
In order to achieve the above object, the present utility model adopts a technical scheme that an automatic throwing device for visually positioning a water surface target is provided, which comprises:
the machine vision part is used for positioning the food table, detecting the three-dimensional shape of the food table by an accurate algorithm in visual image processing, and acquiring the geometric center space three-dimensional coordinate of the food table to be used as the positioning coordinate of a put-in cake or object;
the multistage charging barrel is internally symmetrically provided with an open type thin flat plate, and the supporting force of the open type thin flat plate is smaller than the weight of a self-gravity charging cake;
an automatic feeding part for placing quantitative cakes on a table plane below, wherein the multi-stage material containing barrel is arranged above the automatic feeding part; the automatic feeding part comprises a movable material box, a motor for providing rotary power for the movable material box and a supporting shaft connected with the motor, when the machine vision part positions the center of the food table, the motor is controlled to rotate through a network to drive the supporting shaft, so that a material cake close to an open thin flat plate of the movable material box is fed to the food table, the material cake in the multi-stage material containing barrel falls into the material discharging box by overcoming the supporting force of the open thin flat plate by means of self gravity, and meanwhile, the material cake on the upper layer falls into the next layer in sequence, so that the next working cycle is performed.
In one or more embodiments of the present utility model, the control communication between the machine vision part and the automatic delivery part is based on a 5G and network control platform, so as to realize remote monitoring.
In one or more embodiments of the present utility model, a lifting lug or a mounting rack is connected above the multi-stage charging barrel, and the multi-stage charging barrel is connected with a cover body; the table is placed on the water surface.
In one or more embodiments of the present utility model, the machine vision portion is connected to the multi-stage cartridge, the multi-stage Cheng Liao cartridge is cylindrical, and the lifting lug or the mounting frame is connected to the unmanned aerial vehicle or the mechanical arm for working.
In one or more embodiments of the present utility model, the machine vision part is used for counting total soft-shelled turtles by visual image processing, and calculating the soft-shelled turtle mass according to the shape of a single soft-shelled turtle, thereby obtaining the total mass; thereby, the feeding table is positioned, and the feeding part is used for feeding the difficult-to-eat table plane.
The utility model also provides an automatic control method for visually positioning the water surface target, which comprises the automatic throwing device for visually positioning the water surface target, and the throwing steps are as follows:
starting a machine vision part to acquire the three-dimensional coordinates of the geometric center space of the food table to serve as the positioning coordinates of the put-in material cake or object;
step two, the machine vision part detects the colony amount of the soft-shelled turtles;
step three, the soft-shelled turtle is classified and identified by YOLOV5 to calculate the number of soft-shelled turtles;
step four, collecting a soft-shelled turtle variety image sample;
step five, calculating the maximum diameter size of the back;
step six, calculating the weight of the soft-shelled turtle according to the functional relation between the diameter of the back circle and the weight;
and seventhly, calculating and executing the feeding amount according to the total mass of the soft-shelled turtles.
Further, the machine vision portion is a ZED binocular camera.
Compared with the background technology, the utility model has the following beneficial effects:
by adopting the scheme, a method for building a miniature visual platform to monitor the total amount of soft-shelled turtles in the fish pond in real time is initially proposed, a long platform slightly higher than the water surface of the fish pond is built according to the habit of soft-shelled turtles and can climb to a table surface to shine sun, at the moment, the total soft-shelled turtles are counted through visual image processing, and the quality of the soft-shelled turtles is calculated according to the shape of single soft-shelled turtles, so that the total quality is obtained; then, the utility model discloses a device for accurately placing soft round cake materials based on machine vision, which positions the water surface table through the machine vision, and places quantitative round cake materials on the table plane by using a throwing mechanism. The overall design of the utility model aims at realizing automatic feeding by controlling a light motor and a small number of motors, and the device can be arranged on an unmanned plane, an overwater unmanned jack or a mechanical arm to work, thus being energy-saving, environment-friendly, intelligent, automatic and accurate in feeding; greatly saves labor cost and effectively provides an aquaculture comprehensive effect cover. The method comprises the steps of carrying out a first treatment on the surface of the Therefore, the method has outstanding performance in technical, economical and practical aspects.
Drawings
FIG. 1 is a schematic view of an automatic throwing device for visually locating a water surface object according to an embodiment of the present utility model;
FIG. 2 is a block diagram of an automatic launch control procedure for visually locating a water surface target in accordance with one embodiment of the present utility model;
the shapes, configurations and understanding of the resulting arrangements are illustrated in the drawings, the various components of the drawings are not necessarily to scale, and the dimensions of the various components and elements of the drawings may be exaggerated or reduced to more clearly illustrate the embodiments of the present utility model described herein.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout.
The orientations shown in the drawings are not to be construed as limiting the specific scope of the utility model, and only as a reference to the preferred embodiments, variations in the positions or numbers of product components shown in the drawings or structural simplifications may be made.
The terms "connected" and "connected" as used in the specification and illustrated in the drawings refer to the components as being "connected" to each other, and are understood to mean fixedly connected or detachably connected or integrally connected; the connection can be direct connection or connection through an intermediate medium, and a person skilled in the art can understand the connection relation according to specific situations to obtain a screw connection or riveting or welding or clamping or embedding and other modes to replace the modes in different embodiments in a proper mode.
Terms of orientation such as up, down, left, right, top, bottom, and the like, as well as orientations shown in the drawings, may be used for direct contact or contact by additional features between the components; such as directly above and obliquely above, or it merely represents above the other; other orientations may be understood by analogy.
The technical scheme and the beneficial effects of the utility model are more clear and definite by further describing the specific embodiments of the utility model with reference to the accompanying drawings of the specification; and are intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
Referring to fig. 1, a preferred embodiment of the present utility model is an automatic throwing apparatus for visually locating a water surface target, which comprises a machine vision part 1, a table 2, a multi-stage cartridge 3 and an automatic throwing part 4; the machine vision part 1 is used for positioning the table 2, detecting the three-dimensional shape of the table 2 by an accurate algorithm in visual image processing, and acquiring the geometric center space three-dimensional coordinates of the table 2 to be used as positioning coordinates for putting the cake 10 or objects; the machine vision may employ a ZED binocular camera.
An open thin flat plate 31 is symmetrically arranged in the multi-stage charging barrel 3, and the supporting force of the open thin flat plate 31 is smaller than the weight of a cake self-gravity cake; the open-ended thin plate 31 is moved downward by the weight of the cake itself.
An automatic feeding section 4 for placing a fixed amount of a cake 10 on a table surface below, wherein the multi-stage cartridge 3 is provided above the automatic feeding section 4; the automatic feeding part 4 comprises a movable material box 41, a motor 42 for providing rotary power for the movable material box 41 and a supporting shaft 43 connected with the motor, when the machine vision part positions the center of the food table, the motor 42 is controlled to rotate through a network to drive the supporting shaft 43, so that the material cakes on the open thin plate 31 close to the movable material box 41 are fed to the food table 2, the material cakes in the multi-stage material containing barrel 3 fall into the material containing box against the supporting force of the open thin plate by means of self gravity, and meanwhile, the material cakes on the upper layer fall into the next layer in sequence, so that the next working cycle is carried out. The control communication between the machine vision part 1 and the automatic throwing part 4 is based on a 5G and network control platform so as to realize remote monitoring, and the device is suitable for the application of large-area water area cultivation.
A lifting lug 32 or a mounting rack is connected above the multi-stage material containing barrel 3, and the multi-stage material containing barrel 3 is connected with a cover body 33; the table 2 is placed on the water surface. The machine vision part 1 is connected above or at one side of the multi-stage material containing barrel 3, the number of the machine vision parts 1 can be one or more, the multi-stage material containing barrel 3 can be cylindrical or elliptical or other polygons, and when in use, the lifting lug 32 or the mounting frame is connected with an unmanned plane or an overwater unmanned jack or a mechanical arm for working; the machine vision part 1 is used for counting the total soft-shelled turtle 20 through visual image processing, and calculating the soft-shelled turtle mass according to the shape of the single soft-shelled turtle so as to obtain the total mass; so that the positioning of the table position is performed by means of the automatic feeding part 4 for feeding the difficult table plane.
The utility model also provides an automatic control method for visually locating the water surface target, which is combined with the above and is shown in fig. 2, and comprises the following steps of:
starting a machine vision part to acquire the three-dimensional coordinates of the geometric center space of the food table to serve as the positioning coordinates of the put-in material cake or object;
step two, the machine vision part detects the colony amount of the soft-shelled turtles;
step three, the soft-shelled turtle is classified and identified by YOLOV5 to calculate the number of soft-shelled turtles;
step four, collecting a soft-shelled turtle variety image sample;
step five, calculating the maximum diameter size of the back;
step six, calculating the weight of the soft-shelled turtle according to the functional relation between the diameter of the back circle and the weight;
and seventhly, calculating and executing the feeding amount according to the total mass of the soft-shelled turtles.
Further, the machine vision portion is a ZED binocular camera.
The aim of the utility model is achieved by the following technical scheme:
in use, the machine vision part 1 is used for detecting the soft-shelled turtle with group activities on the water surface platform, classifying and identifying the soft-shelled turtle by a deep learning method (YOLOV 5), and counting the total soft-shelled turtle amount. Because of large-scale cultivation, the fries are usually put in the same batch, and the sizes and the weights are basically similar. Therefore, according to the approximate circular geometric characteristics of the turtle back skirt, the diameter size of the maximum circle of the back is calculated, the weight of the same variety of turtles with the size section is selected as a reference standard, the functional relation between the diameter and the weight of the back circle is obtained, the function is utilized to calculate the single turtle geometric shape, the turtle mass or the turtle weight is calculated, and then the total weight is calculated.
The automatic throwing device and method for accurately placing round cake materials of a machine vision part 1 is characterized in that a square water surface food table is positioned by the machine vision part 1, a quantitative round cake material 10 is placed on the plane of the food table 2 by an automatic throwing part 4, the food table 2 is usually made to be slightly higher than the water surface, the three-dimensional shape of the food table is detected by an accurate algorithm in visual image processing, the geometric center of the three-dimensional shape is calculated, and the spatial three-dimensional coordinate of the center is obtained and is used as the positioning coordinate for throwing feed or objects. Because the water surface area is large, the putting points are more, and soft fresh cake materials need to be put on the table top one by one, therefore, the multistage material containing cylinder 3 is designed into a cylinder, the supporting force of the open thin flat plate 31 is smaller than the self gravity of the cake, one cake is placed on each layer of flat plate, the bottom is designed into a rotatable symmetrical movable material box 8, one cake is placed in the movable material box, the material box is arranged on the supporting shaft 43, and the motor 42 drives the supporting shaft 42 to rotate during work discharging. When the center of the table is positioned visually, the motor 10 is controlled by a network to rotate 90 degrees to drive the supporting shaft, the upper layer of the table is driven, the support of the open type thin flat plate 31 is reduced, the material cakes fall into the movable material box 41 against the support force of the open type flat plate by means of self-gravity, and meanwhile, the material cakes on the upper layer fall into the next layer in sequence. At this time, a work cycle is adopted, and one-time discharging task is completed. The vision and control of the scheme are based on a 5G and network control platform, so that remote monitoring can be realized. Firstly, a method for building a miniature visual platform to monitor the total amount of soft-shelled turtles in a fish pond in real time is provided, a long platform slightly higher than the water surface is built on the water surface of the fish pond according to the habit of soft-shelled turtles so that the soft-shelled turtles can climb to a table surface to shine the sun, at the moment, the total soft-shelled turtles are counted through visual image processing, and the quality of the soft-shelled turtles is calculated according to the shape of single soft-shelled turtles, so that the total quality is obtained; then, the utility model discloses a device for accurately placing soft round cakes based on machine vision, which positions the water surface table through the machine vision, and places quantitative round cakes on the table plane by using a throwing mechanism. The overall design of the utility model aims at realizing automatic feeding by controlling a light motor and a small number of motors, and the device can be arranged on an unmanned plane, an overwater unmanned jack or a mechanical arm to work, thus being energy-saving, environment-friendly, intelligent, automatic and accurate in feeding; greatly saves labor cost and effectively provides an aquaculture comprehensive effect cover.
While this utility model has been described in terms of the preferred embodiment as described above, there are alterations, permutations, and equivalents which fall within the scope of this utility model; numerous alternatives are possible to implement the utility model. It is therefore intended that the following appended claims be interpreted as including all such alterations, permutations, and equivalents as fall within the true spirit and scope of the present utility model; it will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described above, but that modifications and substitutions using techniques known in the art on the basis of the present utility model fall within the scope of the present utility model, which is defined by the claims.
Claims (3)
1. An automatic launch device for visually locating a water surface target, comprising:
the machine vision part is used for positioning the food table, detecting the three-dimensional shape of the food table by an accurate algorithm in visual image processing, and acquiring the geometric center space three-dimensional coordinate of the food table to be used as the positioning coordinate of a put-in cake or object;
the multistage charging barrel is internally symmetrically provided with an open type thin flat plate, and the supporting force of the open type thin flat plate is smaller than the weight of a self-gravity charging cake;
an automatic feeding part for placing quantitative cakes on a table plane below, wherein the multi-stage material containing barrel is arranged above the automatic feeding part; the automatic feeding part comprises a movable material box, a motor for providing rotating power for the movable material box and a supporting shaft connected with the motor, when the machine vision part positions the center of the food table, the motor is controlled to rotate through a network to drive the supporting shaft, so that a material cake on an open thin flat plate close to the movable material box is fed to the food table, the material cake in the multi-stage material containing barrel falls into the material box by overcoming the supporting force of the open thin flat plate by means of self gravity, and meanwhile, the material cake on the upper layer falls into the next layer in sequence, so that the next working cycle is performed; the control communication between the machine vision part and the automatic throwing part is based on a 5G and network control platform so as to realize remote monitoring; the upper part of the multi-stage material containing cylinder is connected with a lifting lug or a mounting rack, and the multi-stage material containing cylinder is connected with a cover body; the table is arranged on the water surface; the machine vision part is connected with the multistage material containing cylinder, the multistage Cheng Liao cylinder is cylindrical, and the lifting lug or the mounting frame is connected with an unmanned aerial vehicle or an overwater unmanned boom or a mechanical arm for working; the machine vision part is used for counting total soft-shelled turtles through visual image processing and calculating the quality of the soft-shelled turtles according to the shape of each soft-shelled turtle so as to obtain the total quality; thereby, the feeding table is positioned and aligned with the feeding table plane by means of the automatic feeding part.
2. An automatic control method for visually locating a water surface target, comprising the automatic throwing device for visually locating a water surface target according to claim 1, wherein the control steps are as follows:
starting a machine vision part to acquire the three-dimensional coordinates of the geometric center space of the food table to serve as the positioning coordinates of the put-in material cake or object;
step two, the machine vision part detects the colony amount of the soft-shelled turtles;
step three, the soft-shelled turtle is classified and identified by YOLOV5 to calculate the number of soft-shelled turtles;
step four, collecting a soft-shelled turtle variety image sample;
step five, calculating the maximum diameter size of the back;
step six, calculating the weight of the soft-shelled turtle according to the functional relation between the diameter of the back circle and the weight;
and seventhly, calculating and executing the feeding quantity according to the total mass of the soft-shelled turtle, and starting an automatic feeding part to quantitatively feed.
3. The automatic control method for visually locating a water surface object according to claim 2, wherein the machine vision part is a ZED binocular camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458296.8A CN114148775B (en) | 2021-12-01 | 2021-12-01 | Automatic throwing device for visually positioning water surface target and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111458296.8A CN114148775B (en) | 2021-12-01 | 2021-12-01 | Automatic throwing device for visually positioning water surface target and control method thereof |
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| Publication Number | Publication Date |
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| CN114148775A CN114148775A (en) | 2022-03-08 |
| CN114148775B true CN114148775B (en) | 2024-04-09 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3138825U (en) * | 2007-09-21 | 2008-01-24 | 亜紀子 並木 | Turtle breeding table |
| CN102972348A (en) * | 2012-12-20 | 2013-03-20 | 向玉堂 | Turtle culturing pond |
| CN108726193A (en) * | 2018-06-19 | 2018-11-02 | 昆山华誉自动化科技有限公司 | The feed mechanism of lithium battery PACK production lines |
| CN210580566U (en) * | 2019-06-17 | 2020-05-22 | 樊基福 | A fodder dispensing device for soft-shelled turtle is bred |
| CN113222889A (en) * | 2021-03-30 | 2021-08-06 | 大连智慧渔业科技有限公司 | Industrial aquaculture counting method and device for aquatic aquaculture objects under high-resolution images |
-
2021
- 2021-12-01 CN CN202111458296.8A patent/CN114148775B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3138825U (en) * | 2007-09-21 | 2008-01-24 | 亜紀子 並木 | Turtle breeding table |
| CN102972348A (en) * | 2012-12-20 | 2013-03-20 | 向玉堂 | Turtle culturing pond |
| CN108726193A (en) * | 2018-06-19 | 2018-11-02 | 昆山华誉自动化科技有限公司 | The feed mechanism of lithium battery PACK production lines |
| CN210580566U (en) * | 2019-06-17 | 2020-05-22 | 樊基福 | A fodder dispensing device for soft-shelled turtle is bred |
| CN113222889A (en) * | 2021-03-30 | 2021-08-06 | 大连智慧渔业科技有限公司 | Industrial aquaculture counting method and device for aquatic aquaculture objects under high-resolution images |
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| CN114148775A (en) | 2022-03-08 |
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