CN101334473B - Deep water net cage fish school status remote real time monitoring instrument based on acoustic multi-beam - Google Patents
Deep water net cage fish school status remote real time monitoring instrument based on acoustic multi-beam Download PDFInfo
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- CN101334473B CN101334473B CN2008100715314A CN200810071531A CN101334473B CN 101334473 B CN101334473 B CN 101334473B CN 2008100715314 A CN2008100715314 A CN 2008100715314A CN 200810071531 A CN200810071531 A CN 200810071531A CN 101334473 B CN101334473 B CN 101334473B
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Abstract
The invention discloses an acoustic multi-beam-based remote real-time monitor of fish shoals in a deep water net cage, relating to a monitoring device. The invention provides the acoustic multi-beam-based remote real-time monitor of the fish shoals in the deep water net cage which has flexible marine operation, easy placement and strong anti-wave capability. The acoustic multi-beam-based remote real-time monitor is provided with a detection signal transmitting and echo collection device, a data analysis and image display device and a data wireless transmission device. The detection signal transmitting and echo collection device is provided with an annular transducer array and a control box, and the annular transducer array is provided with single beam transducer array elements; the control box is provided with a power supply, a controller, a detection signal generator, a power amplifier, a signal collection and preservation circuit and a signal pre-treatment circuit. The data analysis and image display device is used for realizing the remote detection and the control operations on a bank station, carrying out the analysis of the received monitoring data of the fish shoals in the net cage and carrying out the image display of the result. The data wireless transmission device is connected with the detection signal transmitting and echo collection device and the data analysis and image display device.
Description
Technical field
The present invention relates to a kind of monitoring device, especially relate to a kind of deep water net cage fish school safe condition remote real time monitoring instrument based on the acoustic multi-beam technology.
Background technology
Usually, existing fishing row can't resist the typhoon billow and attack, and there are many problems in cage culture production.For example calendar year 2001 " flies swallow " typhoon urges the seawater cage of residual China to reach 210,000 casees, 11.8 hundred million yuan of direct economic losses.It is strong and culture characteristics such as high-yield and high-efficiency that deep water mesh cage has a capacity of anti-storm, is used widely in sea fishery is cultured at present and has good growth momentum.Yet, more traditional cage culture, deep water mesh cage is because net cage waters of living in is dark, shoal of fish scope of activities is bigger, and naked eyes are not easy to observe the active state of the shoal of fish in etting and the net cage usually.Therefore, how the active state of the shoal of fish in the net cage, the size variation of shoal of fish amount etc. are monitored in real time, can report to the police effectively and timely when finding that the shoal of fish escapes, be the problem that an extremely presses for solution, is a gordian technique of promoting in the deep water mesh cage breed.
In China except Hainan seawater is comparatively limpid, the southeast and northern most coastland, seawater is comparatively muddy, use optical means to carry out only 1～2m of the effective distance of observing of submarine target, in order to obtain preferable image, adopt with great visual angle and the high again lens of precision, the cost height adopts optical detection also to need the electric power system that provides bigger.
Mainly contain masschusetts, u.s.a Polytechnics and Woods Hole institute of oceanography abroad, and developed long-range net cage monitoring system in 2002 in conjunction with optics and acoustics dual mode.The acoustic method central module is 881-000-420 type digital imagery/section sonar that Imagenex company produces, and this sonar works in 1MHz, the frequency of 675kHz and 310kHz, and corresponding beam angle is 1.4 °, 2.4 ° and 4.8 °; Imaging scope 10～50m; Direct-current working volts 22～48V, maximum current 1A; Maximum working depth 1000m; Thereby on level and vertical both direction axle, scan whole net cage by the stepper motor rotation.The WIN881A software of the Satellite of Toshiba type notebook computer operation that supporting with it is, by two-wire RS-485 serial ports control, demonstration and data recording.Its advantage is to be suitable for more waters, and big physical efficiency is estimated the shoal of fish total amount in the net cage.Its shortcoming is to advance the scanning of motor rotated detection, and echoed signal can't be distinguished the monomer fish; The acoustics imaging time is long, and this system standard imaging time is 3min, and the imaging time of minimum scan period correspondence is also greater than 1min, so can produce a large amount of repeating for the shoal of fish that moves about in the net cage estimates, cause bigger error, special owing to adopt the acoustics imaging technology, cost an arm and a leg.Control and remote data transmission partly are made up of the CF1 microprocessor of Persistor company and the SRM6000 spread-spectrum radio modulator-demodular unit of Data-Linc company in the system, are encapsulated in the waterproof PVC box with the accumulator of 3 12V.
Domestic, how tame units such as East China Sea Research Station, Chinese Academy of Sciences, INST OF FIESHERY MACHINES AND, ocean system of Xiamen University have all carried out the net cage Research of Monitor System.
The etting safety monitoring that station, the Chinese Academy of Sciences East Sea was born in Zhejiang Province's major scientific and technological projects " waters deep water mesh cage monitoring equipment is mixed in Zhejiang " in 2002, the monitoring mode that has adopted a kind of underwater robot to make an inspection tour.The principle of this method is: carry sonar sensor in the robot under water, and set the action route for it, it is maked an inspection tour repeatedly by default route, thereby form a warning elt, in this warning elt, if the abnormal occurrence of fish movement, robot will report to managerial personnel, reaches the warning purpose.This method mobility strong has certain experiences and is worth, but replenish at stability, fault restoration, the energy of robot operation, layman's operation, under water data remote transmission and realize all having bigger problem on the cost.
In addition, relevant expert, researchist have also proposed various different scenario, for example: 1) cloth set point acoustics warning elt: the large-scale net cage of One's name is legion is placed in marine site one " plant " of formation, then lay the single beam sonar of some quantity, to implementing the acoustics warning around the net cage zone in " plant " seabed on every side.The advantage of this method is to monitor the net cage group, reduces input cost, and once can use for a long time as long as lay.But, also exist variety of issue, for example marine power supply, data transmission and cable laying etc.Owing to be that fixed point is installed, also must consider the impact of Chinese People's Anti-Japanese Military and Political College's stormy waves, monitoring also exists hysteresis quality, especially for the net cage that is in monitoring band center, breaks in case etting takes place, and system can't detect information at once and give the alarm.2) vertical detection mode: transducer is placed net cage internal sea surface, vertical to net cage inside (and seabed) detecting fish school situation.This method transducer has adopted vertical detection mode, and it is convenient to realize.But can't monitor the etting situation around the net cage, net cage bottom shoal of fish echoed signal is subjected to the influence of bottom reverberation easily.
Summary of the invention
The object of the present invention is to provide a kind of operation at sea dexterous, be easy to settle the deep water net cage fish school status remote real time monitoring instrument that capacity of anti-storm is strong based on acoustic multi-beam.
Technical scheme of the present invention is to constitute multi-beam Annular Transducer battle array by several single beam transducers, be used for carrying out deep water mesh cage shoal of fish safe condition long-range, reach comprehensive monitoring in real time.Multi-beam Annular Transducer battle array is fixed in the net cage center, make it in the horizontal direction (and the vertical direction of certain limit, can adjust flexibly by connecting link) go up and survey whole net cage.Adopt the multi-beam acoustic method to carry out the detection of the shoal of fish under water, can realize that shoal of fish fish amount long-range, that reach in the comprehensive monitoring deep water mesh cage breed in real time distributes and active state, when unusual circumstance, monitoring system can be sent alerting signal automatically.
The present invention is provided with detectable signal emission and echo acquirement device, data analysis and image display device and data wireless conveyer.
Detectable signal emission and echo acquirement device are laid in the deep water mesh cage cultivation site, and detectable signal emission and echo acquirement device are provided with Annular Transducer battle array and control enclosure, and the Annular Transducer battle array is provided with at least 2 single beam transducer array elements; Control enclosure is provided with power supply, controller, detection signal generator, power amplifier, signals collecting and preservation circuit and at least 2 road signal pre-processing circuits; The input end of detection signal generator is connected with the output terminal of controller, detection signal generator produces the periodical high-frequency narrow pulse signal that detecting fish school is used, the output termination power amplifier input end of detection signal generator, the input end of each array element of power amplifier output terminal T-Ring shape transducer array, each array element output terminal of Annular Transducer battle array emission detection signal in deep water mesh cage; The work enabling signal output termination collection of controller and the analog to digital converter in the preservation circuit and the control end of data-carrier store; Each array element output terminal in the input end T-Ring shape transducer array of prime amplifier.
Data analysis and image display device are positioned on the bank station.Data analysis and device used for image display fish school status Monitoring Data in realization remote probe control operation reaches the net cage that receives on bank station analyzes and result's image shows.
The data wireless conveyer connects detectable signal emission and the echo acquirement device on the deep water mesh cage respectively and is located at data analysis and image display device on the bank station.The data wireless conveyer sends to the shoal of fish echoed signal that detects in the deep water mesh cage in the data analysis and image display device on the bank station by radio transmission device.
The Annular Transducer battle array preferably is arranged at 2～3m place under water, deep water mesh cage center, and control enclosure preferably is arranged at any place on the water surface of deep water mesh cage.The level detection angle of each single beam transducer array element is preferably equal in the Annular Transducer battle array, the vertical sounding angle is preferably also equal, and its value is decided on the number N and the net cage size of single beam transducer array element.The level detection angle equals 360 ° divided by number N, makes the level detection scope of Annular Transducer battle array cover 360 ° of omniranges of level of deep water mesh cage just; The vertical sounding angle is by the degree of depth h and the radius r of net cage, and probably determines according to formula 2arctan (h/2r), makes the vertical coverage of Annular Transducer battle array can cover the activity space of the shoal of fish on the net cage vertical direction.The set single beam transducer array element number of Annular Transducer battle array is many more, and detection accuracy is high more, but also makes detection system more complicated.The number of the prime amplifier in the signal pre-processing circuit, bandpass filter and detecting circuit is corresponding to the array element number in the Annular Transducer battle array.
Detection signal generator preferably adopts the high-frequency narrow-pulse signal generator, and the repetition period, detection range was far away more by the operating rate decision of detection range and analog to digital converter and storer, and operating rate is slow more, and the required repetition period is just long more.Operated by rotary motion arrives the hundreds of millisecond tens; Mainly by the size decision of fish individuality, individual big, pulsewidth can be provided with broad to pulsewidth, is traditionally arranged to be hundreds of microseconds; Carrier frequency is high more to help resisting the marine background low frequency noises more and suppresses reverberation, but is decided by factor such as acoustic propagation loss, generally selects tens to the hundreds of KHz.
Power supply preferably adopts battery.Power amplifier can adopt transformer-coupled D class push-pull amplifier.
Signal pre-processing circuit is provided with prime amplifier, bandpass filter and detecting circuit.The output terminal of the input termination prime amplifier of bandpass filter, the output terminal of the input end tape splicing bandpass filter of detecting circuit.Signals collecting is provided with analog to digital converter (ADC) and data-carrier store with the preservation circuit.
The data wireless conveyer can adopt a pair of serial ports wireless communication module.The serial ports wireless communication module can adopt the serial ports wireless communication module of FSK modulation system, and carrier frequency can be 420～450.3MHz.
The present invention has shortened the needed time of scanning omni-directional net cage imaging greatly owing to adopt multi-beam emission and multipath reception parallel signal processing mode, really accomplishes real-time comprehensive monitoring.The imaging time that the present invention finishes a net cage scanning is approximately 40s.If improve the speed of wireless communication module data transmission, can also further reduce imaging time to improve speed of detection.The raising of speed of detection just can obtain meticulousr shoal of fish time distributed intelligence, the estimated accuracy that helps obtaining shoal of fish distribution under the dynamic environment that deep water net cage fish school moves about and improve shoal of fish amount size.
The present invention raises the length of electroacoustical detection owing to adopt the comprehensive detection mode of multi-beam of Annular Transducer array, the weak point of keeping away mechanical rotation scanning offshore operations inconvenience and being easy to break down.System avoids using into surveying different azimuth stepper motor that needs and the aquatic work platform of placing stepper motor, has not only simplified system equipment, also greatly reduces the energy power consumption of system.Prolong stand-by time simultaneously, alleviated the inconvenience that frequent handling system brings because electric weight is not enough.
Marine experiment shows that the present invention operates dexterity at sea, is easy to settle, and capacity of anti-storm is strong.
Description of drawings
Fig. 1 is the artwork of Annular Transducer battle array, connecting link, control enclosure and data wireless conveyer of the embodiment of the invention and the detection synoptic diagram of single transducer array element.
Fig. 2 is the main assembly block diagram based on the deep water net cage fish school status remote real time monitoring instrument of acoustic multi-beam of the embodiment of the invention.
Fig. 3 is each block diagram cut-away view (frame of broken lines part) based on the deep water net cage fish school status remote real time monitoring instrument composition frame chart of acoustic multi-beam of the embodiment of the invention.
Fig. 4 is that the circuit of the fourth-order band-pass wave filter that becomes of 2 second order assistant warden joint groups of the embodiment of the invention is formed schematic diagram.
Fig. 5 is amplitude-frequency, the phase frequency simulation curve figure of the wave filter of the embodiment of the invention.In Fig. 5, a represents the amplitude frequency curve of bandpass filter, and b represents the phase frequency curve of bandpass filter.Horizontal ordinate is frequency (kHz), and ordinate is amplitude (decibel), angle (degree).
Fig. 6 is the controller of the embodiment of the invention and the control flow chart of signals collecting and preservation circuit.
Embodiment
Following examples will the present invention is further illustrated in conjunction with the accompanying drawings.
Referring to Fig. 1 and 2, present invention includes the detectable signal emission and the echo acquirement device that are arranged at the deep water mesh cage cultivation site, be positioned at data analysis and image display device on the bank station of land, be connected the two data wireless conveyer.
Detectable signal emission and echo acquirement device are located at marine cage culture scene, and detectable signal emission and echo acquirement device are made up of Annular Transducer battle array 1 and control enclosure 2.The Annular Transducer battle array is arranged at 2～3m place under water, deep water mesh cage center, and control enclosure is arranged at (as shown in Figure 1, other code name is 3. connecting links among the figure, 4. the data wireless conveyer) on the net cage water surface.
Fig. 2 provides the main assembly block diagram based on the deep water net cage fish school status remote real time monitoring instrument of acoustic multi-beam of the embodiment of the invention.In Fig. 2, comprise the Annular Transducer battle array 1, control enclosure 2, the connecting link 3 that are set in marine cage culture scene (frame of broken lines part); Be set in data analysis and image display apparatus 5 on the bank station; Connect the data wireless conveyer 4 on marine and the bank station.
Connected mode based on the deep water net cage fish school status remote real time monitoring instrument of acoustic multi-beam is: the input end of control enclosure 2 (or output terminal) connects the output terminal (or input end) of data wireless conveyer 4, the output terminal of control enclosure 2 (or input end) is received ring-like transducer array 1 through connecting link 3, and the input end of data wireless conveyer 4 (or output terminal) is connected to the output terminal (or input end) of data analysis and image display apparatus 5.
Fig. 3 provides each block diagram cut-away view (frame of broken lines part) based on the deep water net cage fish school status remote real time monitoring instrument of acoustic multi-beam of the embodiment of the invention.Control enclosure 2 among Fig. 3 (seeing frame of broken lines 2) has comprised controller 21, detection signal generator 22, power amplifier 23, prime amplifier 24, bandpass filter 25, detecting circuit 26, electronic switch 27, analog to digital converter 28, first-in first-out mode data storer 29, system power supply 210.Wherein, prime amplifier 24 is made up of 8 sub-prime amplifiers, be respectively prime amplifier 241, prime amplifier 242 ..., prime amplifier 247, prime amplifier 248; Bandpass filter 25 also is made up of 8 sub-bandpass filter, be respectively bandpass filter 251, bandpass filter 252 ..., bandpass filter 257, bandpass filter 258; Detecting circuit 26 is made up of 8 sub-detecting circuits, be respectively detecting circuit 261, detecting circuit 262 ..., detecting circuit 267, detecting circuit 268.Data wireless conveyer 4 among Fig. 3 (seeing frame of broken lines 4) has comprised the serial ports wireless communication module 41 that is arranged on the net cage, the serial ports wireless communication module 42 on the bank station.Data analysis among Fig. 3 and image display apparatus 5 (seeing frame of broken lines 5) have comprised that system start-up signaling module 51, Data Receiving processing module 52, image show, the fish amount is estimated and early warning module 53.
Below in conjunction with Fig. 3, introduce implementation process and principle of work based on the deep water net cage fish school status remote real time monitoring instrument of acoustic multi-beam.
The detectable signal emission mode of connection is: the input end of control enclosure 2 middle controllers 21 is connected to the output terminal that is arranged in the serial ports wireless communication module 41 on the net cage in the data wireless conveyer 4, the input end of serial ports wireless communication module 41 receives the system start-up signal that the output terminal from the serial ports wireless communication module 42 on the bank station sends, the input end linking number of the serial communication modular 42 on the bank station according to one's analysis with image display apparatus 5 in the output terminal of system start-up signaling module 51.The output terminal of controller 21 is connected to the input end of detection signal generator 22, the output terminal of detection signal generator 22 is connected to the input end of power amplifier 23, the output terminal of power amplifier 23 is connected to the input end of Annular Transducer 1, and the output terminal radiative acoustic wave of last Annular Transducer 1 is to net cage hydrospace detection target.
The echo acquirement device mode of connection is: the output terminal of ring-like transducer array 1 (is made as 8 single beam transducer array elements, 8 sub-output terminals are arranged) receive the input end (8 tunnel of prime amplifier 24 through connecting link 3,8 sub-input ends are arranged), the output terminal of prime amplifier 24 (8 sub-output terminals are arranged) is received the input end (8 sub-input ends are arranged) of bandpass filter 25, the output terminal of wave filter 25 (8 sub-output terminals are arranged) is connected to the input end (8 sub-input ends are arranged) of detecting circuit 26, the output terminal of detecting circuit 26 (8 sub-output terminals are arranged) is connected to the input end of electronic switch 27, the output terminal of electronic switch 27 is connected to the input end of analog to digital converter 28, the output terminal of analog to digital converter 28 is connected to the input end of first-in first-out mode memory 29, the output terminal of first-in first-out mode memory 29 is connected to the input end of the serial communication modular 41 on the net cage, in addition, the output terminal of control controller 21 also connects electronic switch 27 simultaneously, analog to digital converter 28, the control end of first-in first-out mode data storer 29.The output terminal of the serial ports wireless communication module 41 on the net cage sends the echo data that detects and passes through the wireless input end that transmits back serial ports wireless communication module 42 to bank station, the output terminal of the serial communication modular 42 on the bank station is connected to the input end of Data Receiving processing module 52, and the output terminal of Data Receiving processing module 52 is connected to the input end of image demonstration, shoal of fish estimation, early warning module 53.
The flow process of system works: A, at first receive the system start-up signal that sends from system start-up signaling module 51 on the long-range bank station by data wireless conveyer 4, controller 21 start-up systems by controller 21; B, the periodical high-frequency narrow pulse signal of being used by controller 21 control detection signal generators 22 generation detecting fish schools then amplify the back by Annular Transducer battle array 1 comprehensive emission in net cage by power amplifier 23; C, then controller 21 is to electronic switch 27, analog to digital converter 28, first-in first-out mode data storer 29 sends the work enabling signal, notice analog to digital converter (ADC) is to being received by transducer array 1, through prime amplifier 24, bandpass filter 25 and detecting circuit 26 circuit carried out the echoed signal of Signal Pretreatment and sampled, and the data after will sampling are stored in the data-carrier store 29 of first-in first-out pattern in order, wait for after controller 21 sends the data transfer control instruction and successively serial ports wireless communication module 41 on the net cage of data in data wireless conveyer 4 that detects being sent; D, pending data collection and sending finishes, finish once complete detection process after, enter armed state except controller 21 in the control enclosure 2, wait for that other each several part quits work outside the system action command of bank station, the minimizing power consumption; Serial ports wireless communication module 42 on E, the bank station receive from serial ports wireless communication module 41 on the net cage send detect data after, after sending into Data Receiving and processing module 52 and carrying out data analysis, output to image demonstration, shoal of fish estimation, early warning module 53, carry out monitoring result and show.
One, detectable signal emission and echo acquirement device
1. Annular Transducer battle array
Characteristic of the present invention is the multi-beam detection mode that has adopted the Annular Transducer array, need not to rotate the comprehensive distribution situation that transducer just can detect the inner shoal of fish of whole net cage.The Annular Transducer battle array is arranged with loop configuration by the single beam transducer array element that several level detection angles equate, the vertical sounding angle is also identical and is formed.Under this structure, each transducer array element all is responsible for a certain specific area detection in the net cage.Transducer array element number in the array is many more, and the division of each transducer search coverage is just meticulous more, and echoed signal just can reflect the space distribution characteristics of the shoal of fish in the net cage more; The echoed signal of a plurality of transducer array elements in certain period can reflect time, the space distribution characteristics of the shoal of fish in the net cage.This array detection mode, compared to traditional single beam transducer rotary scanning mode, can not only reduce because omnirange scans mechanical gyro units such as needed motor, make the simple to operation of marine scene, but also can improve the estimated accuracy of interior shoal of fish spatial resolution of net cage and shoal of fish amount widely.But along with increasing of numbers of transducers, the realization of monitoring system will be all the more complicated.Present embodiment has adopted 8 Annular Transducer battle arrays that single beam transducer array unit forms, the horizontal direction search angle that designs each transducer array element is 45 °, the vertical direction search angle is 60 °, can make the search coverage of monitoring system cover the interior shoal of fish activity space of deep water mesh cage basically (in the present embodiment like this, the size of selecting the deep water mesh cage of marine field experiment is that diameter D is 12m, high h is 6m, as shown in Figure 1).
2, control enclosure
Having gathered system power supply, controller (being made of two AT89S52 single-chip microcomputers and some peripheral circuits), detection signal generator, power amplifier, signals collecting and preservation circuit and 8 road signal pre-processing circuits (corresponding to array element number in the Annular Transducer) in the control enclosure, is the core part of system.It is installed in net cage optional position on the water surface by the compartment enclosed package, makes things convenient for the fisherman to load and unload.
1) power supply
Deep water mesh cage monitoring system for offshore is laid generally adopts powered battery, so how to reduce the power consumption of system, guarantees that the continuous firing of system's long period is an important problem.The power supply of this system by two the joint 12V common battery truck accumulators be in series, provide system works needed ± the 12V DC voltage.Continue to receive enabled instruction and be under the situation of continuous firing in system, system can work more than 3 days, and if adopt the intermittent work mode, only in the specific time start-up system work then the power work time can extend to first quarter moon and even longer.
2) detection signal generator
Detection signal generator is controlled by controller, produces periodical high-frequency pulse detection signal.The design of detectable signal depends on average-size (decision pulse width) and the entire system processing speed factors such as (decision repetition periods) that neighbourhood noise distributes (decision carrier frequency), surveys fish body in the net cage, and what generally adopt all is the high-frequency narrow-pulse signal.High frequency carrier helps resisting the marine background low frequency noises, and the resolution that improves the fish body.It is that 100 μ s, carrier wave are that 50kHz, repetition period are the pulse signal of 100ms that detectable signal of the present invention adopts pulsewidth.
3) power amplifier
System adopts transformer-coupled D class push-pull amplifier, and the electromotive power output of design system is about 50W.Locating fish signal sends with impulse form, and its maximum instantaneous electromotive power output can reach 100W, therefore near the locating fish of the finite space reaching in the net cage, is enough to guarantee that echo has bigger signal to noise ratio (S/N ratio).
4) 8 road signal pre-processing circuits
8 echoed signals that array element receives in 8 road signal pre-processing circuit alignment processing Annular Transducer battle arrays, every road signal pre-processing circuit is provided with prime amplifier, bandpass filter and detecting circuit.
A), prime amplifier adopts the systems programming analog device ispPAC10 of Lattice company, it is by 4 identical basic element circuits---signal Processing piece (PAC piece) constitutes.Each PAC piece is made up of two instrument amplifiers and an output amplifier, is equipped with the basic amplifying unit of resistance, a differential-input differential output of electric capacity formation; The PAC piece can constitute multistage amplifier circuit by cascade, and this 4 PAC pieces cascade can be configured to the various gains between-160000～160000 times.Form the two-way prime amplifier with a slice ispPAC10, the gain amplifier on every road can be regulated between-400～400 according to on-the-spot needs.
B), bandpass filter adopts the integrated active filtering chip of MAX274 monolithic of MAXIM company, it contains 4 second order variable filter unit (second order joint), do not need external capacitor, only need outer meeting resistance, just can realize that frequency of operation is up to the 8 rank bandpass filter of 150kHz.According to the needs of real system, with every MAX274 be designed to two quadravalences, centre frequency is that 50kHz, bandwidth are the fertile bandpass filter now of Bart of 4kHz.By MAX274 Filter Design software, can calculate the outer meeting resistance value of wave filter easily.The circuit that Figure 4 shows that the fourth-order band-pass wave filter that two second order assistant warden joint groups become is formed schematic diagram, and each second order joint can be regulated the parameters such as centre frequency, Q value, passband width of wave filter by the value of outer meeting resistance R1, R2, R3 and R4; LPO, BPO represent low-pass filter, bandpass filter output terminal.
Figure 5 shows that designed wave filter transport property simulation curve.Table 1 has provided the design parameter of two second order joints that constitute wave filter.
Table 1
| The second order joint | F 0(kHz) | Q | R 1(kΩ) | R 2(kΩ) | R 3(kΩ) | R 4(kΩ) |
| 1 | 47.247 | 8.853 | 52.913 | 42.331 | 74.95 | 37.331 |
| 2 | 52.913 | 8.853 | 47.247 | 37.398 | 66.925 | 32.798 |
C), present embodiment adopts energy detection method to judge shoal of fish amount size.After bandpass filter, increase detecting circuit in the design, extracted the amplitude information of echoed signal.Because the signal of modulus converter A/D sampling is envelope signal rather than carrier signal after the detection, therefore, needed modulus converter A/D sample frequency reduces greatly, what reduce is the data volume of the required transmission of data wireless conveyer thereupon, and system can be monitored in real time in long-range realization.
5) signals collecting and preservation circuit
Signals collecting constitutes with the data-carrier store (IDT7208) of preservation circuit by analog to digital converter (ADC0820BCN) and first-in first-out pattern, and its work is controlled by controller.Controller control electronic switch selects the output of a certain road signal pre-processing circuit to receive on the analog to digital converter, saves the data in the transmission signal that the medium device to be controlled of data-carrier store comes after finishing analog to digital conversion, thereby sends data to bank station.
The analog to digital converter ADC0820BCN the shortest configurable sampling time is 1.5 μ s, and promptly sampling rate can satisfy envelope signal sampling fully up to 660kHz.In the present embodiment, sampling rate is disposed by the control signal that controller sends, and is set to 10kHz.Transducer arrangement as shown in Figure 1 is at the detection mode at net cage center, and detection range is as long as just can cover whole net cage greater than 6m, and present embodiment designs detection range 9m, and going out this according to sampling rate conversion is 120 points apart from the corresponding sampling points number.
First-in first-out mode data memory I DT7208 has the data buffer area of 64K, independently reading-writing port and read-write control clock independently, can carry out reading and writing data simultaneously.When controller write clock signal to the transmission of first-in first-out mode data storer, storer was written to analog to digital converter fan-out factor certificate in the buffer area in order by write port; When controller sent read clock signal to storer, storer was read successively by the data of reading port and will be kept at buffer zone, sends to bank station by the data wireless conveyer.
6) controller
Controller is made of two AT89S52 single-chip microcomputers and some peripheral circuits, is the logic control center of total system work.Its control flow as shown in Figure 6.Single-chip Controlling command reception and data send.Its workflow is: (1) initialization, set communication baud rate systematic parameters such as (9600bps), and enter the system action command waiting status; (2) receive the system action command that bank station sends by the wireless data dispensing device after, send the sampling instruction to No. two single-chip microcomputers; (3) enter the 10ms time-delay, wait for that sampled data is saved in the first-in first-out mode data storer (FIFO); (4) read data in the first-in first-out mode data storer (FIFO), behind the identification information such as additional channel number, flag of frame, data are sent it back bank station; Whether be empty, whether " non-NULL " then continues (4) step, finish otherwise further detect No. two monolithic processor controlled samplings if (5) detecting first-in first-out mode data storer (FIFO); (6) not finishing the expression sampling still continues, data just temporarily send in the first-in first-out mode data storer (FIFO), program rebound (3) state, detection finishes if sampling finishes this time of expression, enters after bank station sends feedback signal and surveys the enabled instruction waiting status next time.No. two Single-chip Controlling data acquisitions, its workflow is: (1) initialization, systematic parameters such as sampling rate (10kHz), detection range, each passage collection echo times are set, entering sampling instruction waiting status; (2) sampling that receives a single-chip microcomputer transmission is instructed; (3) start detection signal generator and send the pulsatile once detectable signal; (4) controller control electronic switch successively to 8 pretreated echoed signal once sampling of passages process, is realized the 10k sampling rate of " 8 tunnel is parallel ", the echo acquirement that repeated sampling is finished certain detectable signal for 120 times in 100 μ s; (5), finish and survey omnidistance data acquisition according to the number of times repeating step (3) that is provided with; (6) behind a single-chip microcomputer feedback sample end signal, enter the waiting status of sampling instruction.
Two, data wireless conveyer
The data wireless conveyer is made up of a pair of serial ports wireless communication module.Select the SRWF-501-50 serial ports wireless module of a pair of Shanghai Sunray Technology Co., Ltd. in the system for use.This module adopts the FSK modulation system; The carrier frequency of selecting for use is 420-450.3MHz (be divided into 8 frequency ranges, the user can select for use one to disturb channel on the weak side according to the characteristic distributions of site environment noise, reduces and transmits the bit error rate); Gathered three kinds of interface types of UART TTL/RS-232/RS-485, satisfied the needs of different situations, interface rate is 9600bps; The emission electric power is 50mW; Reliable transmission distance under the open space environmental baseline is 1200m; Working temperature is-25～80 ℃; Working relative humidity is 10%～90% relative humidity; Physical dimension is 47mm * 26mm * 10mm.Afloat detectable signal emission and echo acquirement device end, this module adopt UART TTL interface to connect the UART port of a single-chip microcomputer in the controller, and the system that receives the user surveys enabled instruction and sends sampled data; At bank station data analysis and image display device end, this module adopts RS-232 interface to connect the PC serial ports, system start-up signal that transmitting system is surveyed and reception sampled data.
Three, data analysis and image display device
The data analysis and the image display device that are used for control system startup and net cage fish school active state monitoring result are positioned on the bank long-range.User's monitoring facilities of system support is developed based on the laboratory virtual instrument the integration environment (LaboratoryVirtual Instrument Engineering Workbench is called for short LabVIEW) of American National instrument company.LabVIEW is widely used in data acquisition, instrument control, process monitoring and the automatic test etc. in laboratory study and the industrial control automation field, and it has adopted a large amount of knobs, switch, oscillogram etc., makes the objective interface image.
Program mainly is divided into 5 functions: the one, and data acquisition part, its function are that serial communication modular 42 receives the data that detect that serial communication modular 41 is sent on the net cages on the bank station on the PC by being installed in; The 2nd, data processing is partly finished as signal Processing such as temporal gain control, related operation, amplitude judgements; The 3rd, image processing program shows the pattern of the data after handling with radar map; The 4th, the image save routine; The 5th, fish amount estimates and alarm program, if the fish of estimating amount reduces to 75% or the signal that gives the alarm when having what abnormal conditions to take place of former normal fish amount estimated value in observation process.
Program at first sends enabled instruction (instruction is made of a string sexadecimal number, and its form can freely be provided with by the user, the command forms of 6 16 system numbers of employing such as FAFAFA in the present embodiment) by the controller 21 of data wireless conveyer 4 to the net cage scene; Program enters the serial ports query State then, in case find to receive data in the serial ports buffer memory, just data is saved in the file of program appointment successively; Meanwhile, the data that the program butt joint is got back are carried out channel recognition, carry out necessary digital signal processing according to the computing parameter of setting, as time gain compensation, digital filtering, Reverberation Rejection etc.; Data after then will handling are carried out image and are shown; Receiving after transmitting terminal transmits the data of returning, according to the shoal of fish echo volume in the backward energy integral method estimation net cage, if the estimated value difference of the normal fish amount of shoal of fish value that detects and former setting acquires a certain degree (present embodiment is set at 25%), system will send warning information to the user, and escape phenomenon may appear in the shoal of fish in the expression net cage.
Data imaging principle of the present invention is to be foundation with shoal of fish distribution figure in the radar map simulation net cage, according to the number of transducer in the Annular Transducer battle array radar map is divided into 8 viewing areas, each viewing area corresponding respectively a transducer.Receive the data of respectively organizing of returning and be presented in the corresponding radar map subregion according to the channel number separately that determines, each subregion reflects the space distribution information of the shoal of fish in the net cage; And same channels number respectively organize data, be presented in the same subregion time distributed intelligence when reflecting fish swarming successively according to receiving order.Space distribution information has not only reflected the space distribution situation of the shoal of fish, also can reflect the damaged situation of etting; And the time distributed intelligence has reflected the situation of movement of the shoal of fish, thereby estimates the shoal of fish amount in the net cage more accurately.
Claims (4)
1. based on the deep water net cage fish school status remote real time monitoring instrument of acoustic multi-beam, it is characterized in that being provided with detectable signal emission and echo acquirement device, data analysis and image display device and data wireless conveyer;
Detectable signal emission and echo acquirement device are laid in the deep water mesh cage cultivation site, detectable signal emission and echo acquirement device are provided with Annular Transducer battle array and control enclosure, the Annular Transducer battle array is provided with at least 2 single beam transducer array elements, control enclosure is provided with power supply, controller, detection signal generator, power amplifier, signals collecting and preservation circuit and at least 2 road signal pre-processing circuits, the input end of detection signal generator is connected with the output terminal of controller, detection signal generator produces the periodical high-frequency narrow pulse signal that detecting fish school is used, the output termination power amplifier input end of detection signal generator, the input end of each array element of power amplifier output terminal T-Ring shape transducer array, each array element output terminal of Annular Transducer battle array emission detection signal in deep water mesh cage, the work enabling signal output termination collection of controller and the analog to digital converter in the preservation circuit and the control end of data-carrier store, each array element output terminal in the input end T-Ring shape transducer array of prime amplifier, described Annular Transducer battle array is arranged at 2～3m place under water, deep water mesh cage center, described detection signal generator is the high-frequency narrow-pulse signal generator, described power amplifier is transformer-coupled D class push-pull amplifier, described signal pre-processing circuit is provided with prime amplifier, bandpass filter and detecting circuit, the output terminal of the input termination prime amplifier of bandpass filter, the output terminal of the input end tape splicing bandpass filter of detecting circuit;
Data analysis and image display device are positioned on the bank station, and data analysis and device used for image display fish school status Monitoring Data in realization remote probe control operation reaches the net cage that receives on bank station analyzes and result's image shows;
The data wireless conveyer connects detectable signal emission and the echo acquirement device on the deep water mesh cage respectively and is located at data analysis and image display device on the bank station, the data wireless conveyer sends to the shoal of fish echoed signal that detects in the deep water mesh cage in the data analysis and image display device on the bank station by radio transmission device, described data wireless conveyer is a pair of serial ports wireless communication module, the serial ports wireless module that described serial ports wireless module is the FSK modulation system, carrier frequency are 420～450.3MHz.
2. the deep water net cage fish school status remote real time monitoring instrument based on acoustic multi-beam as claimed in claim 1 is characterized in that control enclosure is arranged on the water surface of deep water mesh cage.
3. the deep water net cage fish school status remote real time monitoring instrument based on acoustic multi-beam as claimed in claim 1 is characterized in that the level detection angle of each single beam transducer in the Annular Transducer battle array equates, the vertical sounding angle equates.
4. the deep water net cage fish school status remote real time monitoring instrument based on acoustic multi-beam as claimed in claim 1 is characterized in that power supply is a battery.
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| CN101833097B (en) * | 2010-05-19 | 2012-08-08 | 华南理工大学 | Underwater net cage multi-beam fish driving monitoring system and method |
| CN104285849B (en) * | 2014-02-28 | 2016-06-15 | 中国农业大学 | A kind of cage culture Biomass monitoring sound system and method |
| CN104304114B (en) * | 2014-10-14 | 2016-07-06 | 浙江海洋学院 | A kind of method that deep water net cage net clothing based on ultra-short baseline is monitored and device |
| CN105785968A (en) * | 2014-12-25 | 2016-07-20 | 中国科学院声学研究所 | Marine ranch acoustic monitoring system and monitoring method |
| CN104899992B (en) * | 2015-06-19 | 2017-06-20 | 广西钦州保税港区欧博科技开发有限公司 | A kind of ultrasonic listening warning device of aquiculture net cage |
| CN106801753A (en) * | 2017-03-06 | 2017-06-06 | 阎玉浩 | Intelligent water flow controller |
| CN107678031B (en) * | 2017-09-13 | 2020-06-30 | 陕西千山航空电子有限责任公司 | Underwater positioning module with identification information |
| CN107801671B (en) * | 2017-12-07 | 2023-04-28 | 浙江海洋大学 | Fishing fish reef |
| CN109769173B (en) * | 2018-12-29 | 2020-02-04 | 厦门大学 | Large yellow croaker sound induction underwater sound signal design and feedback regulation method |
| TWI757602B (en) * | 2019-05-24 | 2022-03-11 | 國立臺灣海洋大學 | Interactive underwater sensor system for aquatic creatures and method thereof |
| CN112859056B (en) * | 2020-12-31 | 2024-02-20 | 中国水产科学研究院南海水产研究所 | Remote early warning system and method for large marine organisms |
| CN113016682B (en) * | 2021-03-12 | 2023-06-16 | 湖北海洋工程装备研究院有限公司 | Deepwater net cage monitoring system |
| CN113259291B (en) * | 2021-05-26 | 2022-01-18 | 哈尔滨工程大学 | Phase compensation method realized by dynamic Doppler tracking of underwater sound continuous signals |
| CN113311439B (en) * | 2021-06-10 | 2024-04-09 | 浙江省海洋水产研究所 | Method for investigating stem-squid resources by water acoustic navigation-stopping |
| CN115047468B (en) * | 2022-04-28 | 2023-03-28 | 中国水产科学研究院南海水产研究所 | Fish shoal amount monitoring system of large-scale deep and open sea aquaculture fishing ground |
| CN116449376B (en) * | 2023-04-26 | 2023-09-15 | 青岛森科特智能仪器有限公司 | Cross-section moving cultivation net cage biological statistics device and working method thereof |
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