CN117689491A - Automatic shrimp feed throwing method, device, system, electronic equipment and storage medium - Google Patents
Automatic shrimp feed throwing method, device, system, electronic equipment and storage medium Download PDFInfo
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- CN117689491A CN117689491A CN202410149058.6A CN202410149058A CN117689491A CN 117689491 A CN117689491 A CN 117689491A CN 202410149058 A CN202410149058 A CN 202410149058A CN 117689491 A CN117689491 A CN 117689491A
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- 241000238557 Decapoda Species 0.000 title claims abstract description 125
- 238000000034 method Methods 0.000 title claims abstract description 58
- 239000000463 material Substances 0.000 claims abstract description 215
- 239000006260 foam Substances 0.000 claims abstract description 166
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 165
- 238000012545 processing Methods 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 9
- 239000010421 standard material Substances 0.000 claims description 7
- 238000002716 delivery method Methods 0.000 claims description 2
- 238000009360 aquaculture Methods 0.000 abstract description 2
- 244000144974 aquaculture Species 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 11
- 238000004422 calculation algorithm Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 210000003608 fece Anatomy 0.000 description 4
- 235000012054 meals Nutrition 0.000 description 4
- 238000012806 monitoring device Methods 0.000 description 4
- 238000006213 oxygenation reaction Methods 0.000 description 4
- 102000004169 proteins and genes Human genes 0.000 description 4
- 108090000623 proteins and genes Proteins 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000012258 culturing Methods 0.000 description 2
- 230000029087 digestion Effects 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000005276 aerator Methods 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- WUKWITHWXAAZEY-UHFFFAOYSA-L calcium difluoride Chemical compound [F-].[F-].[Ca+2] WUKWITHWXAAZEY-UHFFFAOYSA-L 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000002801 charged material Substances 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000010436 fluorite Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000037406 food intake Effects 0.000 description 1
- 235000012631 food intake Nutrition 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention provides an automatic shrimp feed throwing method, an automatic shrimp feed throwing device, an automatic shrimp feed throwing system, electronic equipment and a storage medium, which are applied to the technical field of aquaculture. The method comprises the following steps: the ratio of the residual coverage area of the material obtaining platform to the ratio of the coverage area of the water surface foam; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
Description
Technical Field
The invention relates to the technical field of aquaculture, in particular to an automatic shrimp feed feeding method, an automatic shrimp feed feeding device, an automatic shrimp feed feeding system, electronic equipment and a storage medium.
Background
In the process of culturing the shrimps, an automatic feeding table is generally adopted for feeding the feed, and the establishment of a feeding strategy of the automatic feeding table is important for improving the growth speed of the cultured shrimps.
In the prior art, a separate meal feeding strategy is generally adopted, namely feeding of a fixed amount of feed is carried out in a fixed feeding time according to fixed feeding times, and then the feeding amount of each time is adjusted by manually checking the surplus materials of a material table.
However, since the feeding frequency of the shrimps is high, the digestion time is short, and the feeding interval of the separate meal feeding strategy is long, the shrimps can not feed for a long time in the feeding interval, thereby affecting the growth speed of the shrimps.
Disclosure of Invention
The invention provides an automatic shrimp feed throwing method, an automatic shrimp feed throwing device, an automatic shrimp feed throwing system, electronic equipment and a storage medium, which are used for solving the problem that a feeding strategy in the prior art can influence the growth speed of shrimps.
The invention provides an automatic shrimp feed throwing method, which comprises the following steps: the ratio of the residual coverage area of the material obtaining platform to the ratio of the coverage area of the water surface foam; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
According to the automatic shrimp feed throwing method provided by the invention, before the material station surplus coverage area occupation rate level and the water surface foam coverage area occupation rate level are obtained, the method further comprises the following steps: obtaining a real-time image of the material taking platform; identifying the material platform residual materials in the material platform real-time image, and determining the coverage area occupation ratio of the material platform residual materials; determining a material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio according to the standard material piling area and the total material station area; wherein, the higher the residual coverage area of the material platform is, the more the feeding amount is.
According to the automatic shrimp feed throwing method provided by the invention, before the material station surplus coverage area occupation rate level and the water surface foam coverage area occupation rate level are obtained, the method further comprises the following steps: acquiring a real-time image of a pond; identifying water surface foam in the pool real-time image, and determining a water surface foam coverage area; determining the water surface foam coverage area occupation ratio according to the water surface foam coverage area and the total area of the pond; determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard; in the preset foam coverage standard, the larger the water surface foam coverage area occupation ratio is, the smaller the corresponding water surface foam coverage area occupation ratio level is, and the higher the water surface foam coverage area occupation ratio level is, the more the feeding amount is.
According to the automatic shrimp feed throwing method provided by the invention, the feeding amount adjustment proportion is determined according to the residual feed coverage area occupation ratio level of the material table and the water surface foam coverage area occupation ratio level, and the method comprises the following steps: determining a feeding amount adjustment ratio corresponding to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level based on a preset feeding adjustment standard; in the preset feeding adjustment standard, the higher the residual coverage area occupation ratio level of the material table and the water surface foam coverage area occupation ratio level are, the lower the corresponding feeding amount adjustment proportion is.
According to the automatic shrimp feed throwing method provided by the invention, if the residual feed coverage area of the material platform is at the highest level, stopping throwing until the residual feed coverage area of the material platform is at other levels, determining the feed amount adjustment proportion as the preset proportion, wherein the preset proportion is smaller than the feed amount adjustment proportion corresponding to the other levels in the preset feed adjustment standard.
According to the automatic shrimp feed feeding method provided by the invention, the feeding time interval is updated according to the feeding amount adjustment proportion, and the method comprises the following steps: determining the ratio of a historical feeding time interval to an adjustment parameter, wherein the adjustment parameter is the sum of the feeding amount adjustment ratio and 1; and updating the historical feeding time interval to the ratio to obtain an updated feeding time interval.
The invention also provides an automatic shrimp feed throwing device, which comprises: the device comprises an acquisition module and a processing module; the acquisition module is used for acquiring the residual coverage area occupation level of the material taking table and the water surface foam coverage area occupation level; the processing module is used for determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
According to the automatic shrimp feed throwing device provided by the invention, the acquisition module is used for acquiring real-time images of the material taking platform; the processing module is used for identifying the material table residues in the material table real-time image and determining the coverage area occupation ratio of the material table residues; determining a material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio according to the standard material piling area and the total material station area; wherein, the higher the residual coverage area of the material platform is, the more the feeding amount is.
According to the automatic shrimp feed throwing device provided by the invention, the acquisition module is used for acquiring real-time images of the pond; the processing module is used for identifying the water surface foam in the real-time image of the pond and determining the coverage area of the water surface foam; determining the water surface foam coverage area occupation ratio according to the water surface foam coverage area and the total area of the pond; determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard; in the preset foam coverage standard, the larger the water surface foam coverage area occupation ratio is, the smaller the corresponding water surface foam coverage area occupation ratio level is, and the higher the water surface foam coverage area occupation ratio level is, the more the feeding amount is.
According to the automatic shrimp feed throwing device provided by the invention, the processing module is used for determining the feed amount adjustment proportion corresponding to the residual feed coverage area occupation ratio level of the material table and the water surface foam coverage area occupation ratio level based on the preset feed adjustment standard; in the preset feeding adjustment standard, the higher the residual coverage area occupation ratio level of the material table and the water surface foam coverage area occupation ratio level are, the lower the corresponding feeding amount adjustment proportion is.
According to the automatic shrimp feed throwing device provided by the invention, the processing module is used for stopping feeding if the residual feed coverage area of the material platform is at the highest level, and determining the feeding quantity adjusting proportion as the preset proportion until the residual feed coverage area of the material platform is at other levels, wherein the preset proportion is smaller than the feeding quantity adjusting proportion corresponding to the other levels in the preset feeding adjusting standard.
According to the automatic shrimp feed throwing device provided by the invention, the processing module is used for determining the ratio of the historical feed time interval to the adjustment parameter, wherein the adjustment parameter is the sum of the feed amount adjustment ratio and 1; and updating the historical feeding time interval to the ratio to obtain an updated feeding time interval.
The invention also provides an automatic shrimp feed throwing system, which comprises: the automatic material feeding device comprises a central controller, automatic material viewing platform equipment and water surface monitoring equipment, wherein the automatic material feeding equipment, the automatic material viewing platform equipment and the water surface monitoring equipment are connected with the central controller; the automatic material viewing platform equipment is used for obtaining real-time images of the material taking platform and determining the occupation ratio of the residual material coverage area of the material taking platform according to the real-time images of the material taking platform; the water surface monitoring equipment is used for acquiring real-time images of the pond; determining the coverage area occupation ratio of the water surface foam according to the real-time image of the pond; the central controller is used for determining a material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio according to the standard material piling area and the total material station area; determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating a feeding time interval according to the feeding amount adjustment proportion, and sending a feeding instruction to the automatic feeding equipment according to the updated feeding time interval; the automatic feeding equipment is used for receiving the feeding instruction and automatically feeding the shrimp feed according to the instruction of the feeding instruction.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the shrimp feed automatic feeding method according to any one of the above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the shrimp feed automatic feeding method as described in any one of the above.
The shrimp feed automatic throwing method, the device, the system, the electronic equipment and the storage medium provided by the invention can obtain the residual feed coverage area occupation level of the material table and the water surface foam coverage area occupation level; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density. According to the scheme, the feeding time interval can be updated based on the determined feeding amount adjustment proportion, and automatic feeding of shrimp feed is performed according to the updated feeding time interval by fixing the feeding amount.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the automatic shrimp feed feeding system provided by the invention;
FIG. 2 is a schematic flow chart of the automatic shrimp feed feeding method provided by the invention;
FIG. 3 is a second flow chart of the automatic shrimp feed feeding method according to the present invention;
FIG. 4 is a schematic structural view of the automatic shrimp feed feeding device provided by the invention;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present invention is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
In order to clearly describe the technical solution of the embodiment of the present invention, in the embodiment of the present invention, the words "first", "second", etc. are used to distinguish identical items or similar items having substantially the same function and effect, and those skilled in the art will understand that the words "first", "second", etc. are not limited in number and execution order.
Embodiments of the invention some exemplary embodiments have been described for illustrative purposes, it being understood that the invention may be practiced otherwise than as specifically shown in the accompanying drawings.
In the process of culturing the shrimps, an automatic feeding table is generally adopted for feeding the feed, and the establishment of a feeding strategy of the automatic feeding table is important for improving the growth speed of the cultured shrimps. In general, an ideal feeding strategy would achieve the effect that there is a small surplus of feed, which means that the shrimp are full, without wasting feed excessively or affecting the water quality because of the surplus feed.
In the prior art, a separate meal feeding strategy is generally adopted, namely feeding of a fixed amount of feed is carried out in a fixed feeding time according to fixed feeding times, and then the feeding amount of each time is adjusted by manually checking the surplus materials of a material table. However, since the feeding frequency of the shrimps is high, the digestion time is short, and the feeding interval of the separate meal feeding strategy is long, the shrimps can not feed for a long time in the feeding interval, thereby affecting the growth speed of the shrimps.
In order to solve the problems, the embodiment of the invention provides an automatic shrimp feed throwing method, an automatic shrimp feed throwing device, an automatic shrimp feed throwing system, electronic equipment and a storage medium, wherein the residual feed coverage area occupation level of a feed table and the water surface foam coverage area occupation level can be obtained; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density. According to the scheme, the feeding time interval can be updated based on the determined feeding amount adjustment proportion, and automatic feeding of shrimp feed is performed according to the updated feeding time interval by fixing the feeding amount.
The following describes in detail the implementation manner of the shrimp feed automatic feeding method, the device, the system, the electronic equipment and the storage medium provided by the embodiment of the invention with reference to specific embodiments and drawings.
As shown in fig. 1, an embodiment of the present invention provides an automatic shrimp feed feeding system, which includes a central controller 101, an automatic feeding device 102 connected to the central controller 101, an automatic viewing platform device 103, and a water surface monitoring device 104.
The automatic viewing platform device 103 is configured to obtain a real-time image of the material platform, and determine a coverage area occupation ratio of the material platform according to the real-time image of the material platform.
Alternatively, the automated viewing stage apparatus 103 may automatically lift the stage frequently, take real-time images of the stage and automatically analyze the stage residue coverage area occupancy using an algorithm.
The water surface monitoring device 104 is configured to acquire a real-time image of the pond; and determining the coverage area ratio of the water surface foam according to the real-time image of the pond.
Alternatively, the water surface monitoring device 104 may take a photograph of the shrimp pond water surface foam, i.e., a real-time image of the pond, and automatically analyze the water surface foam coverage area occupancy rate using an algorithm.
The central controller 101 is configured to determine a level of a coverage area of the material table corresponding to the coverage area of the material table according to a standard stacking area and a total area of the material table; determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; and updating the feeding time interval according to the feeding amount adjustment proportion, and sending a feeding instruction to the automatic feeding equipment according to the updated feeding time interval.
Optionally, the central controller 101 includes a table residue area ratio-feeding amount adjustment model, a water surface foam coverage area ratio-feeding amount adjustment model, a table and a water surface foam-integrated feeding amount adjustment model. The central controller 101 may determine the corresponding coverage area occupation level of the material platform through the adjustment model of the material platform coverage area occupation-feeding amount after obtaining the coverage area occupation of the material platform; after the water surface foam coverage area occupation ratio is obtained, determining a corresponding water surface foam coverage area occupation ratio level through a water surface foam coverage area occupation ratio-feeding amount adjustment model; and then determining a material quantity adjustment ratio corresponding to the material station surplus coverage area occupation ratio level and the water surface foam coverage area occupation ratio level through a material station and a water surface foam-comprehensive material quantity adjustment model, updating a material feeding time interval based on the material quantity adjustment ratio, and finally sending a material feeding instruction to automatic material feeding equipment according to the updated material feeding time interval.
Alternatively, the central controller 101 may be a local hardware device installed in a shrimp farm; the cloud server can also be used for receiving and transmitting data through the Internet to achieve the control purpose.
The automatic feeding device 102 is configured to receive the feeding instruction, and perform automatic feeding of the shrimp feed according to the instruction of the feeding instruction.
Alternatively, the automatic feeding device 102 can perform high-frequency small-amount feeding all the day, so as to maximally improve the growth performance of the cultured shrimps.
As shown in fig. 2, the embodiment of the invention provides an automatic shrimp feed feeding method, which can be applied to the automatic shrimp feed feeding system. The automatic shrimp feed feeding method can comprise S201-S203:
s201, acquiring a material station residue coverage area occupation ratio level and a water surface foam coverage area occupation ratio level.
Optionally, the shrimp feed automatic feeding system can acquire real-time images of the feed table; identifying the material platform residual materials in the material platform real-time image, and determining the coverage area occupation ratio of the material platform residual materials; determining a material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio according to the standard material piling area and the total material station area; wherein, the higher the residual coverage area of the material platform is, the more the feeding amount is.
The shrimp feed particles are yellow brown after being soaked in water, so that the residual feed of the feed table, shrimp bodies, feed tables and other objects can be distinguished according to the color, and the coverage area occupation ratio of the residual feed of the feed table can be determined. Specifically, the process of determining the coverage area ratio of the residual materials of the material platform by the shrimp material automatic feeding system can comprise the following steps: at a first moment after feeding, the material platform can be controlled to rise out of the water surface, a real-time image of the material platform is shot, and then the residual coverage area occupation ratio of the material platform is calculated according to the real-time image of the material platform, and the method specifically comprises the following steps: 1. the difference of the overall hue of the image in different time periods and different weather is reduced through white balance processing; 2. binarization using a canny edge detection algorithm with 127 as a threshold Obtaining an edge image; 3. detecting a circular material table by using Hough transformation on the edge image to obtain an inside diameter pixel value of the material table; 4. performing threshold segmentation on the image obtained in the first step by using color information, removing shrimp bodies and a material table background, and obtaining a mask of a material table residue and a shrimp excrement area; 5. masking the edge image obtained in the second step, reserving edge image information of the positions of the feces and the feed, and setting the pixel points of other areas to zero; 6. sliding the frame using square panes whose side length e can be the ratio of the diameter pixel value of the table to 100, and then calculating the average value of each window if the average value is greater than ee/4, setting all pixel points of the pane to be 1, otherwise setting the pixel points to be 0, and obtaining a binary image; 7. and adding the binary image to obtain an adding result, and determining the ratio of the adding result to the area of the material table as the ratio of the area of the residual material coverage of the material table.
Optionally, the table residue coverage area duty cycle level includes a first residue level, a second residue level, a third residue level, and a fourth residue level. The first surplus material level indicates insufficient feeding, the second surplus material level indicates normal feeding, the third surplus material level indicates more feeding, and the fourth surplus material level indicates excessive feeding. The setting standard of the material station surplus coverage area occupation ratio level is as follows:
When the material station residue coverage area occupation ratio is 0, the corresponding material station residue coverage area occupation ratio level is a first residue level;
when the residual coverage area of the material platform is larger than 0 and smaller than the preset standard coverage ratio, the corresponding residual coverage area of the material platform is of a second residual level;
when the residual coverage area of the material table is larger than the preset standard ratio and smaller than (2Presetting a standard duty ratio), wherein the corresponding material station residual coverage area duty ratio level is a third residual level;
when the coverage area of the material rest of the material table is larger than (2Preset standard duty ratio), the corresponding bin residue coverage area duty ratio level is the fourth residue level.
After the material station residue coverage area occupation ratio is determined through the steps, the material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio can be accurately determined according to the setting standard of the material station residue coverage area occupation ratio level.
It should be noted that the preset standard duty ratio is the ratio of the standard stacking area AF to the stacking area AT, namely AF/AT, where the standard stacking area AF refers to the standard stacking area AF obtained by placing the feed with the smallest single feeding amount of the automatic feeding device on the stacking table under the conditions of no shrimp and operation of the oxygenation and flow-making device, and soaking for 2 minutes to lift the stacking table.
The material table residue and the shrimp feces are similar, and the material table residue and the shrimp feces are separated by texture because the material table residue has a granular feel from the appearance and the shrimp feces have less edges and corners.
Optionally, the shrimp feed automatic throwing system can acquire real-time images of the pond; identifying water surface foam in the pool real-time image, and determining a water surface foam coverage area; determining the water surface foam coverage area occupation ratio according to the water surface foam coverage area and the total area of the pond; determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard; in the preset foam coverage standard, the larger the water surface foam coverage area occupation ratio is, the smaller the corresponding water surface foam coverage area occupation ratio level is, and the higher the water surface foam coverage area occupation ratio level is, the more the feeding amount is.
The excrement of the shrimps in the water can cause protein accumulation, and then, the viscous substance can increase the tension of the water surface, and the phenomenon of foam accumulation can be generated under the pushing of oxygen-enriched water flow. Grease exists in the shrimp feed, and if the shrimp feed is not timely ingested by the shrimp after the shrimp feed is left in the water for a period of time, the grease can be dissolved in the water, so that protein in the water is decomposed, and further, the foam on the water surface is reduced. Thus, the surface foam coverage area can be used to measure the amount of material dosed.
Specifically, the shrimp feed automatic throwing system can acquire real-time images of the pond; and identifying the water surface foam in the real-time image of the pond through a water surface foam analysis algorithm, and then determining the ratio of the area of the water surface foam to the total area of the pond as the coverage area of the water surface foam. And determining the water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area according to a preset foam coverage standard.
It should be noted that the key of the water surface foam analysis algorithm is to distinguish the bubbles generated by the aerator from the foams generated by the water body proteins. The bubbles generated by the oxygenation equipment are white, the bubbles are smaller and dense, the bubbles immediately collapse and disappear from the water surface, and the bubbles only appear at the oxygenation position; the foam caused by the water protein is yellow or white, the bubbles are large and are not easy to break, the bubbles are easy to push and accumulate above the water surface, and the bubbles are generally gathered near the central sewage outlet of the pond along with the water flow. The method can be used for manually marking oxygenation bubbles, water surface foam and other areas respectively to obtain a training set and a testing set, and then comparing and selecting the mask RCNN as a final algorithm based on mAP predictive evaluation indexes for segmenting the water surface foam in the real-time image of the pond.
Optionally, the water surface foam coverage area duty ratio level includes a first foam level, a second foam level and a third foam level, wherein the first foam level indicates that the feeding amount is insufficient, the second foam level indicates that the feeding amount is normal, and the third foam level indicates that the feeding amount is excessive. The preset foam coverage criteria include:
When the water surface foam coverage area occupation ratio is larger than a first threshold value, the corresponding water surface foam coverage area occupation ratio level is a first foam level;
when the water surface foam coverage area occupation ratio is larger than the second threshold value and smaller than the first threshold value, the corresponding water surface foam coverage area occupation ratio level is a second foam level;
when the water surface foam coverage area occupation ratio is smaller than the second threshold value, the corresponding water surface foam coverage area occupation ratio level is a third foam level;
wherein the first threshold is greater than the second threshold, for example, the first threshold may be 5%, and the second threshold may be 1%.
S202, determining a feeding amount adjustment ratio according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level.
Optionally, the shrimp feed automatic feeding system can determine a feeding amount adjustment ratio corresponding to the residual coverage area occupation ratio level of the material platform and the water surface foam coverage area occupation ratio level based on a preset feeding adjustment standard; in the preset feeding adjustment standard, the higher the residual coverage area occupation ratio level of the material table and the water surface foam coverage area occupation ratio level are, the lower the corresponding feeding amount adjustment proportion is.
Specifically, as shown in table 1, the feed adjustment criteria are preset. Under the condition that the material table residual coverage area occupation rate level is a first residual level and the water surface foam coverage area occupation rate level is a first foam level, the feeding amount adjustment ratio is 5%;
under the condition that the residual coverage area of the material table is in a second residual level and the water surface foam coverage area is in a first foam level, the feeding amount adjustment ratio is 3%; under the condition that the material station residual coverage area occupation rate level is a first residual level and the water surface foam coverage area occupation rate level is a second foam level, the feeding amount adjustment ratio is 3%;
under the condition that the coverage area of the material table is at a third residue level, the feeding amount adjustment ratio is 0; under the condition that the ratio of the residual coverage area of the material table is the first residual level and the ratio of the residual coverage area of the water surface foam is the third foam level, the feeding amount adjustment ratio is 0; under the condition that the ratio of the residual coverage area of the material table is the second residual level and the ratio of the residual coverage area of the water surface foam is the third foam level, the feeding amount adjustment ratio is 0; under the condition that the material station residual coverage area occupation rate level is a third residual level and the water surface foam coverage area occupation rate level is a third foam level, the feeding amount adjustment ratio is 0;
Under the condition that the coverage area of the material table is at the fourth residue level, the feeding amount adjustment proportion is-10%.
TABLE 1
Optionally, if the level of the coverage area of the material table is the highest level, stopping feeding until the level of the coverage area of the material table is other levels, determining the feeding amount adjustment ratio as a preset ratio, where the preset ratio is smaller than the feeding amount adjustment ratio corresponding to the other levels in the preset feeding adjustment standard.
Specifically, in the case that the material station residue coverage area occupation ratio level is the fourth residue level, the material feeding is stopped first, and after the material feeding is stopped, if the material station residue coverage area occupation ratio level of the lower wheel is other than the fourth residue level, the material feeding amount adjustment ratio is determined to be-10%, instead of executing the corresponding material feeding amount adjustment ratio.
Illustratively, if the stage residue coverage area duty ratio level is the third residue level at the first round of judgment, determining the feeding amount adjustment ratio to be 0; if the coverage area of the material table is in the fourth residue level in the second round of judgment, determining the feeding quantity adjustment ratio to be-10%; if the coverage area of the material table is at the second residue level in the third round of judgment, the adjustment proportion of the feeding amount is still determined to be-10%.
S203, updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp feed according to the updated feeding time interval.
Wherein, the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
Optionally, the shrimp feed automatic feeding system can determine the ratio of the historical feeding time interval to the adjustment parameter, wherein the adjustment parameter is the sum of the feeding quantity adjustment ratio and 1; and updating the historical feeding time interval to the ratio to obtain an updated feeding time interval.
Specifically, the shrimp feed automatic feeding system can be used for feeding shrimp feed according to the formulaDetermining an updated dosing time interval, wherein +.>For historical dosing time interval, < >>For updated dosing time interval +.>For single fixed feeding amount +.>The proportion is adjusted for the feeding amount.
Optionally, the amount of material fed is fixed onceThe calculation formula of (2) is as follows: />Wherein b is the culture density, i.e. the number of shrimps per cubic meter of water, c is the total water volume,/->For adjusting the coefficients, the adjustment coefficients can be empirically determined, for example, by +.>May be 0.0008.
It should be noted that the amount of the material to be fed was fixedThe whole cultivation period is kept unchanged, the feeding time interval is changed by using the fixed feeding quantity, and the reason is that after the feeding strategy is continuously modified for many times by changing the single feeding quantity, the single feeding quantity is too much or too little, and the single feeding is too much feed, so that shrimps in one area are not easy to feed completely, and the feed loss is caused; the feed is fed less at a time, but the frequency is too high, and the unit is that The area and time of the feed are too small, the food calling effect is poor, and the stimulation of food intake is not facilitated.
Illustratively, as shown in FIG. 3, in a 50 ton circular pool of 8 meters in diameter, the shrimp larvae are dosed at 400 tails/cube. The pond is configured with 1 automatic feeding equipment, an automatic material viewing platform equipment and a water surface monitoring device, all of which have the function of the Internet of things and can transmit information with a central controller of a cloud end.
The automatic material viewing platform equipment can control the stepping motor to lift the material platform, control the camera module to shoot real-time images of the material platform, and determine the material platform residual coverage area occupation ratio through a material platform residual coverage area occupation ratio analysis algorithm.
The water surface monitoring equipment can be a fluorite cloud camera, after shooting a real-time image of a pond, the water surface monitoring equipment can be accessed to a cloud platform for taking flow through a national standard method, another computing power server for taking flow, capturing a screen, and determining the water surface foam coverage area occupation ratio based on a water surface foam coverage area occupation ratio image analysis algorithm.
The central controller is a cloud server and can receive the material platform residue coverage area occupation ratio output by the automatic material platform observation equipment and the water surface foam coverage area occupation ratio output by the water surface monitoring equipment, then determine the material platform residue coverage area occupation ratio level and the water surface foam coverage area occupation ratio level, and then determine the feeding quantity adjustment proportion according to the material platform residue coverage area occupation ratio level and the water surface foam coverage area occupation ratio level; and updating the feeding time interval according to the feeding amount adjustment proportion, and finally sending a feeding instruction to the automatic feeding equipment based on the updated feeding time interval.
The automatic feeding device can use the ESP32 as a core controller, control the relay, drive the direct-drive synchronous motor to drive the auger to feed, and fall into the rotary throwing disc to throw the feed to the water surface after feeding. The equipment can be remotely instructed to control start and stop, set the feeding interval to the second level and control the motor driving time. For example, the motor is rotated for 1 second, and the amount of the charged material is 2g.1 g/tail shrimp larvae have a throwing density of 400 tails/square in the water body, and the minimum daily feeding amount of 50 tons of water body is 1 g/tail400 tails/cube->50 cubic->0.0008 =16g. The motor rotation time period was set to 8 seconds accordingly. The automatic viewing station apparatus and the water surface monitoring apparatus are executed every 1 hour.
According to the embodiment of the invention, the feeding time interval can be updated based on the determined feeding amount adjustment proportion, and the feeding amount is replaced by the adjustment of the feeding time interval to automatically feed the shrimp according to the updated feeding time interval, so that the shrimp can be stimulated to feed for multiple times while the shrimp can be completely fed after each feeding, the high-frequency small-amount feeding strategy can be realized, the growth speed of the cultured shrimp is improved, and the feed-meat ratio is reduced.
The foregoing description of the solution provided by the embodiments of the present invention has been mainly presented in terms of a method. To achieve the above functions, it includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
According to the automatic shrimp feed throwing method provided by the embodiment of the invention, the execution main body can be an automatic shrimp feed throwing device or a control module for automatic shrimp feed throwing in the automatic shrimp feed throwing device. In the embodiment of the invention, the shrimp feed automatic feeding device is taken as an example to execute the shrimp feed automatic feeding method.
It should be noted that, according to the embodiment of the present invention, the automatic feeding device for prawn material may be configured to perform division of functional modules according to the above method, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. Optionally, the division of the modules in the embodiment of the present invention is schematic, which is merely a logic function division, and other division manners may be implemented in practice.
As shown in fig. 4, an embodiment of the present invention provides an automatic shrimp feed dispensing device 400. This shrimp feed automatic feeding device 400 includes: an acquisition module 401 and a processing module 402. The obtaining module 401 is configured to obtain a remaining coverage area occupation level of the material taking platform and a water surface foam coverage area occupation level; the processing module 402 is configured to determine a feeding amount adjustment ratio according to the level of the remaining coverage area of the material table and the level of the coverage area of the water surface foam; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
Optionally, the acquiring module 401 may be configured to acquire a real-time image of the material taking platform; a processing module 402, configured to identify a material stage residue in the material stage real-time image, and determine a material stage residue coverage area occupation ratio; determining a material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio according to the standard material piling area and the total material station area; wherein, the higher the residual coverage area of the material platform is, the more the feeding amount is.
Optionally, an acquiring module 401 is configured to acquire a real-time image of the pond; a processing module 402, configured to identify water surface foam in the real-time image of the pond, and determine a water surface foam coverage area; determining the water surface foam coverage area occupation ratio according to the water surface foam coverage area and the total area of the pond; determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard; in the preset foam coverage standard, the larger the water surface foam coverage area occupation ratio is, the smaller the corresponding water surface foam coverage area occupation ratio level is, and the higher the water surface foam coverage area occupation ratio level is, the more the feeding amount is.
Optionally, the processing module 402 is configured to determine a feeding amount adjustment ratio corresponding to the level of the remaining coverage area of the material platform and the level of the coverage area of the water surface foam based on a preset feeding adjustment standard; in the preset feeding adjustment standard, the higher the residual coverage area occupation ratio level of the material table and the water surface foam coverage area occupation ratio level are, the lower the corresponding feeding amount adjustment proportion is.
Optionally, the processing module 402 is configured to stop feeding if the remaining coverage area of the material platform is at the highest level, until the remaining coverage area of the material platform is at other levels, determine a feeding amount adjustment ratio as a preset ratio, where the preset ratio is smaller than feeding amount adjustment ratios corresponding to the other levels in the preset feeding adjustment standard.
Optionally, a processing module 402 is configured to determine a ratio of a historical feeding time interval to an adjustment parameter, where the adjustment parameter is a sum of the feeding amount adjustment ratio and 1; and updating the historical feeding time interval to the ratio to obtain an updated feeding time interval.
According to the embodiment of the invention, the feeding time interval can be updated based on the determined feeding amount adjustment proportion, and the feeding amount is replaced by the adjustment of the feeding time interval to automatically feed the shrimp according to the updated feeding time interval, so that the shrimp can be stimulated to feed for multiple times while the shrimp can be completely fed after each feeding, the high-frequency small-amount feeding strategy can be realized, the growth speed of the cultured shrimp is improved, and the feed-meat ratio is reduced.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform an automatic shrimp feed delivery method comprising: the ratio of the residual coverage area of the material obtaining platform to the ratio of the coverage area of the water surface foam; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for automatically feeding shrimp feed provided by the methods described above, the method comprising: the ratio of the residual coverage area of the material obtaining platform to the ratio of the coverage area of the water surface foam; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the shrimp feed automatic feeding methods provided above, the method comprising: the ratio of the residual coverage area of the material obtaining platform to the ratio of the coverage area of the water surface foam; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic shrimp feed delivery method is characterized by comprising the following steps:
the ratio of the residual coverage area of the material obtaining platform to the ratio of the coverage area of the water surface foam;
determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level;
updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval;
the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
2. The automatic shrimp feed dispensing method of claim 1, wherein prior to the obtaining the table residue coverage area duty cycle level and the surface foam coverage area duty cycle level, the method further comprises:
Obtaining a real-time image of the material taking platform;
identifying the material platform residual materials in the material platform real-time image, and determining the coverage area occupation ratio of the material platform residual materials;
determining a material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio according to the standard material piling area and the total material station area;
wherein, the higher the residual coverage area of the material platform is, the more the feeding amount is.
3. The automatic shrimp feed dispensing method of claim 1, wherein prior to the obtaining the table residue coverage area duty cycle level and the surface foam coverage area duty cycle level, the method further comprises:
acquiring a real-time image of a pond;
identifying water surface foam in the pool real-time image, and determining a water surface foam coverage area;
determining the water surface foam coverage area occupation ratio according to the water surface foam coverage area and the total area of the pond;
determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard;
in the preset foam coverage standard, the larger the water surface foam coverage area occupation ratio is, the smaller the corresponding water surface foam coverage area occupation ratio level is, and the higher the water surface foam coverage area occupation ratio level is, the more the feeding amount is.
4. The automatic shrimp feed dispensing method of claim 1, wherein the determining the feed amount adjustment ratio according to the table residue coverage area duty ratio level and the water surface foam coverage area duty ratio level comprises:
determining a feeding amount adjustment ratio corresponding to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level based on a preset feeding adjustment standard;
in the preset feeding adjustment standard, the higher the residual coverage area occupation ratio level of the material table and the water surface foam coverage area occupation ratio level are, the lower the corresponding feeding amount adjustment proportion is.
5. The method according to claim 4, wherein if the level of the residual coverage area of the material table is the highest level, stopping feeding until the level of the residual coverage area of the material table is the other level, determining the feeding amount adjustment ratio as a preset ratio, wherein the preset ratio is smaller than the feeding amount adjustment ratio corresponding to the other level in the preset feeding adjustment standard.
6. The automatic shrimp feed feeding method according to claim 1, wherein the updating the feeding time interval according to the feeding amount adjustment ratio comprises:
Determining the ratio of a historical feeding time interval to an adjustment parameter, wherein the adjustment parameter is the sum of the feeding amount adjustment ratio and 1;
and updating the historical feeding time interval to the ratio to obtain an updated feeding time interval.
7. An automatic shrimp feed delivery device, which is characterized by comprising: the device comprises an acquisition module and a processing module;
the acquisition module is used for acquiring the residual coverage area occupation level of the material taking table and the water surface foam coverage area occupation level;
the processing module is used for determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating the feeding time interval according to the feeding amount adjustment proportion, and automatically feeding shrimp materials according to the updated feeding time interval; the single feeding amount of the automatic feeding is a fixed feeding amount determined according to the cultivation density.
8. An automatic shrimp feed delivery system, comprising: the automatic material feeding device comprises a central controller, automatic material viewing platform equipment and water surface monitoring equipment, wherein the automatic material feeding equipment, the automatic material viewing platform equipment and the water surface monitoring equipment are connected with the central controller;
the automatic material viewing platform equipment is used for obtaining real-time images of the material taking platform and determining the occupation ratio of the residual material coverage area of the material taking platform according to the real-time images of the material taking platform;
The water surface monitoring equipment is used for acquiring real-time images of the pond; determining the coverage area occupation ratio of the water surface foam according to the real-time image of the pond;
the central controller is used for determining a material station residue coverage area occupation ratio level corresponding to the material station residue coverage area occupation ratio according to the standard material piling area and the total material station area; determining a water surface foam coverage area occupation ratio level corresponding to the water surface foam coverage area occupation ratio based on a preset foam coverage standard; determining a feeding amount adjustment proportion according to the residual coverage area occupation level of the material table and the water surface foam coverage area occupation level; updating a feeding time interval according to the feeding amount adjustment proportion, and sending a feeding instruction to the automatic feeding equipment according to the updated feeding time interval;
the automatic feeding equipment is used for receiving the feeding instruction and automatically feeding the shrimp feed according to the instruction of the feeding instruction.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the method for automatically feeding shrimp feed as in any one of claims 1-6.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor performs the steps in the shrimp feed automatic feeding method of any one of claims 1-6.
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