CN103444613B - Feeding control system and method for fish culture - Google Patents
Feeding control system and method for fish culture Download PDFInfo
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- CN103444613B CN103444613B CN201310385274.2A CN201310385274A CN103444613B CN 103444613 B CN103444613 B CN 103444613B CN 201310385274 A CN201310385274 A CN 201310385274A CN 103444613 B CN103444613 B CN 103444613B
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Abstract
The invention discloses a feeding control system and method for fish culture. The system comprises a split beam transducer, a feeding unit and a signal collecting, processing and control unit, wherein the split beam transducer is used for converting acoustic waves and electric signals and transmitting and receiving the acoustic waves in water, the feeding unit is used for receiving a control instruction to feed the cultured fishes, the signal collecting, processing and control unit is used for receiving an echo signal which is collected by the split beam transducer, and converting the echo signal into echo images through phase difference detection and wave detection, and the weight of single fish and the total weight of a fish school in the feeding water area are respectively calculated after target identification and acoustic wave image processing, so the feeding amount is adjusted. The system and the method have the advantage that the growth change of the fishes in the feeding water area can be monitored, and the feeding amount is adjusted in real time, so the waste on culture baits is reduced.
Description
Technical field
The present invention relates to the technology of information-based fish culture, more specifically relate to a kind of throw something and feed control system and method for fish culture.
Background technology
Along with the continuous expansion of intensive aquaculture scale, breeding process more and more depends on the manufactured feed of manually throwing something and feeding, and it is increasing that the breeding bait cost in cultivation accounts for whole aquaculture cost proportion.In aquaculture process, the height of breeding bait feeding technology directly affects conversion ratio and the culture efficiency of breeding bait.And the important evidence of throwing something and feeding is exactly the situation of growing of the shoal of fish in waters of throwing something and feeding.The quantity of the shoal of fish, weight real-time change, only have and grasped growing of the shoal of fish and could adjust targetedly feeding volume, to reach the requirement of precisely throwing something and feeding.
At present, there is no the control method of throwing something and feeding of effective intensive culture fish.In production, conventional method is to calculate according to production practices in the past.As grasp each growth period rate of same size and the survival rate in feeding process, and can extrapolate the shoal of fish gross weight in the stage of respectively raising, can determine feeding rate and daily ration, feeding quantity thus; Or adopt stocking rate, survival rate, weightening finish than and experience feed coefficient estimate annual daily ration, feeding quantity, then by water temperature height month by month by ten days distribute feeding rate and daily ration, feeding quantity.
According to above description, can find out, prior art cannot the Real-Time Monitoring shoal of fish growth and development state, but with its growth and development state of empirical estimating, and determine thus daily ration, feeding quantity, therefore unavoidably there is larger error, thereby cause the not enough or waste of breeding bait, the not good and aquaculture cost of culture efficiency raises.
Summary of the invention
(1) technical problem that will solve
The technical problem that will solve of the present invention is exactly the monitoring how realizing the quantity and weight of the waters shoal of fish of throwing something and feeding, usings this as the foundation of throwing something and feeding, and avoids breeding bait feeding volume error to occur too greatly the situation that breeding bait is not enough or waste.
(2) technical scheme
As an aspect of of the present present invention, a kind of control system of throwing something and feeding for fish culture is provided, this system comprises split beam transducer, signal acquisition process and control module, the unit of throwing something and feeding, wherein:
Described split beam transducer, be placed in water, be connected with described signal acquisition process and control module, under the control of signal acquisition process and control module, to the waters transmitting sound wave of throwing something and feeding, receive the sound wave after reflecting and be converted to echo-signal and send again described signal acquisition process and control module to;
Described signal acquisition process and control module, with described split beam transducer with described in the unit of throwing something and feeding be connected, the echo-signal that described in analyzing and processing, split beam transducer detects, obtain the general objective intensity of the target strength of wall scroll fish and the waters shoal of fish of throwing something and feeding, calculate wall scroll fish weight and shoal of fish gross weight, calculate thus the feeding volume of each breeding bait, generate the control instruction of throwing something and feeding that comprises feeding volume;
The described unit of throwing something and feeding, is connected with described signal acquisition process and control module, for receiving the control instruction of throwing something and feeding, comprise time switching device, at the Feeding time point of setting, time switching device is opened, and throws something and feeds by the breeding bait of the feeding volume of the control instruction regulation of throwing something and feeding.
Preferably, also comprise rotary unit, be connected with described signal acquisition process and control module, described split beam transducer is fixed on described rotary unit, described rotary unit receives the rotation control instruction of described signal acquisition process and control module and drives described split beam transducer rotation, adjusts the orientation of transmitting sound wave.
Preferably, described in, be connected to wireless connections and/or wired connection.
Preferably, wherein said signal acquisition process and control module comprise: detectable signal transmitter module, by detection signal generator and power amplifier, to described transducer output, launch the signal of sound wave; Echo signal processing module, the echo-signal that receiving transducer detects forms the echoes of fish after amplitude limit, preposition amplification, bandpass filtering, detection; Audiograph picture is processed and control module, echo is carried out after target signature identification, obtain the target strength of wall scroll fish, calculate wall scroll fish weight, recycling echo integration method obtains the general objective intensity of the shoal of fish in the waters of throwing something and feeding, calculate shoal of fish gross weight, and according to the rate of throwing something and feeding of setting, generate the control instruction of throwing something and feeding that comprises feeding volume, the unit of throwing something and feeding described in sending to.
Preferably, wherein said signal acquisition process and control module also comprise memory cell, store weight, target strength, the rate of throwing something and feeding corresponding under the every individual long sizes of the fish of throwing something and feeding, and target strength minimum threshold and target strength max-thresholds.
As another aspect of the present invention, a kind of control method of throwing something and feeding for fish culture is provided, comprise the following steps:
S1: launch sound wave to the waters of throwing something and feeding before throwing something and feeding in water, receive the sound wave reflecting, and be converted to echo-signal, generate the pre-echo image of throwing something and feeding, obtain wall scroll fish weight according to the target strength of throwing something and feeding in pre-echo image; Breeding bait is fed in trial throw, and the shoal of fish gathers throws something and feeds behind waters, in water, to the waters of throwing something and feeding, launches sound wave, the sound wave that reception reflects, and be converted to echo-signal, and generating trial throw and feed echo, the target strength of feeding in echo according to trial throw obtains shoal of fish gross weight.
S2: according to the rate of throwing something and feeding of the shoal of fish gross weight getting and setting, the feeding volume of the breeding bait that calculating throws something and feeds at every turn needs, regularly throws something and feeds.
Preferably, wherein step S1 also comprises:
S1.1: under experiment condition, it is a specification that the fish of throwing something and feeding often differ certain length by body length, some of every specifications, divide another name its weight, average, and measure the target strength of the wall scroll fish of every kind of specification, a plurality of target strengths that get are rejected after numerical value is offset larger target strength and averaged, record throws something and feeds under every kind of specifications of fish that the body of wall scroll fish is long, average weight and target strength, sets up target signature table.
Preferably, wherein step S1 also comprises:
S1.2: identify and Threshold Analysis by target signature, identify the echo of wall scroll fish, from the target strength of the echoes of several wall scroll fishes obtain the throwing something and feeding average criterion intensity of fish, be the target strength of wall scroll fish, by comparing average wall scroll fish weight in the waters that obtains throwing something and feeding with described target signature table;
S1.3: the target strength of utilizing echo integration method to feed echo by trial throw is carried out the general objective intensity that integration obtains the shoal of fish in the waters of throwing something and feeding, divided by the target strength of described wall scroll fish, the number of fish in the waters that obtains throwing something and feeding;
S1.4: described wall scroll fish weight is multiplied by the number of described fish, the shoal of fish gross weight in the waters that obtains throwing something and feeding.
Preferably, wherein said target signature identification and Threshold Analysis, be by the minimum threshold of the target strength of echo and setting and max-thresholds comparison, if be less than minimum threshold or be greater than max-thresholds, do not think the echo of wall scroll fish; If between minimum threshold and max-thresholds, regard as the echo of wall scroll fish.
(3) beneficial effect
System of the present invention, by adopting split beam transducer, monitor, and the target strength of echo-signal is carried out to analytical calculation, can obtain wall scroll fish weight and shoal of fish gross weight, thereby accurately calculate the feeding volume of the breeding bait that each needs throw something and feed, avoid the larger error that only estimation brings by rule of thumb, prevent that breeding bait is not enough or waste, adopt time switching device, avoided manual operation, alleviated the labour intensity of aquaculture; By adopting rotary unit, can rotate split beam transducer, under the control of signal acquisition process and control module, adjust the orientation of acoustic emission, thereby can realize the mensuration to the target strength of wall scroll fish and the total target strength of the shoal of fish; By memory cell is set, can realize the target strength and the threshold value of storage and the automatic comparison of target strength that record, do not need manual intervention can obtain wall scroll fish weight.
Method of the present invention, by the target strength of echo-signal is carried out to analytical calculation, can obtain wall scroll fish weight and shoal of fish gross weight, thereby accurately calculate the feeding volume of the breeding bait that each needs throw something and feed, avoided the larger error that only estimation brings by rule of thumb, prevented that breeding bait is not enough or waste; By experiment measuring in advance, set up target signature table, thereby when actual detection, can compare target strength easily and obtain wall scroll fish weight and shoal of fish gross weight; By target signature, identify and the method for Threshold Analysis, got rid of interference, can calculate more accurately the average criterion intensity of wall scroll fish.
Accompanying drawing explanation
Fig. 1 is according to the structured flowchart of the control system of throwing something and feeding for fish culture of one embodiment of the invention;
Fig. 2 is according to the flow chart of the control method of throwing something and feeding for fish culture of one embodiment of the invention.
Embodiment
Below in conjunction with drawings and Examples, embodiments of the present invention are described in further detail.Following examples are used for illustrating the present invention, but can not be used for limiting the scope of the invention.
Basic principle of the present invention is reflection sounding principle, and with light wave, electromagnetic wave phase ratio, sound wave is little in water transmission loss, and propagation distance is far away, is the best means of underwater small target detection and identification.During reflection sounding, transducer converts electronic signal to sound wave pulse and is transmitted in water, when sound wave runs into barrier in water transmission process, different due to the specific acoustic impedance of object and aqueous medium, this object can produce scattering and reflex to incident acoustic wave, the backscattering of part voice signal is to split beam transducer, if signal level surpasses the threshold value that user selects, can be received and be converted into electronic signal and transfer to signal acquisition process and control module by split beam transducer, generate reflectogram.Interval time and the spread speed (1500m/s, standard conditions under) of sound wave in water according to receiving target echo signal after acoustic emission, can record the residing position of target, and echo signal power and structure are analyzed, and can estimate target strength.Compare simple beam or multiple-beam array, utilize split beam technology can determine the position of target in wave beam, and compensate departing from the echo signal of acoustic axis according to the directive property of wave beam, thereby realizing the objective estimation to fish target strength, measurement result is more accurate.
Target strength is an important parameter of marine acoustics assessment, and it is the parameter of a tolerance target object acoustic reflection performance, comparatively approaching with reflectance factor in its physical significance.The definition of target strength is the acoustic centres 1m place at distance objective, and the ratio of incidence sound intensity levels in the sound intensity being reflected by target and same direction is multiplied by 10 after getting denary logarithm again.Target strength (TS) is expressed as:
TS=10×lg(Ir/Ii)=20×lg(Pr/Pi) （1）
(1) in formula, Ir, Ii are the reflection sound intensity and incidence sound intensity levels, and Pr, Pi are reflecting acoustic pressure and incident sound pressure.Had afterwards scholar again target strength to be defined as:
TS=20×lg(σ/4π) （2）
(2) in formula, TS represents target strength (dB), and σ represents the marine acoustics cross section (m of target object
2).σ can be regarded as target object and incidence wave is produced to the acoustics equivalent area of scattering.
Under certain frequency of sound wave, for fish of the same race, the target strength of wall scroll fish and its body live forever at certain corresponding relation, and fish of the same race are the in the situation that of body appearance etc., and weight also about equally.Therefore can find the target strength weight single with it of fish and the relation of gross weight with this corresponding relation.
Fig. 1 shows a kind of according to an embodiment of the invention control system of throwing something and feeding for fish culture, and this system comprises: signal acquisition process and control module 4, the unit 3 of throwing something and feeding, rotary unit 2, split beam transducer 1.
Split beam transducer 1, is placed in water, is fixed on rotary unit 2, is connected with signal acquisition process and control module 4.Compare simple beam or multiple-beam array, utilize split beam technology can determine the position of target in wave beam, and compensate departing from the echo signal of acoustic axis according to the directive property of wave beam, thereby realizing the objective estimation to fish target strength, measurement result is more accurate.
Rotary unit 2, is connected with signal acquisition process and control module 4, and receives its control instruction drive transducer rotation, thereby adjusts the orientation of transmitting sound wave.
The unit 3 of throwing something and feeding, be connected with signal acquisition process and control module 4, be used for receiving its control instruction to the fish breeding bait of throwing something and feeding, the unit 3 of throwing something and feeding comprises time switching device, the Feeding time point of setting, time switching device is opened, and throws something and feeds by the breeding bait of the feeding volume of the control instruction regulation of throwing something and feeding.
Signal acquisition process and control module 4, be connected with split beam transducer 1, rotary unit 2, the unit 3 of throwing something and feeding, comprise: detectable signal transmitter module 41, comprise power amplifier, wave filter, detection signal generator, analog-digital converter, for passing through detection signal generator and power amplifier to split beam transducer 1 output detection signal; Echo signal processing module 42, comprise signal preamplifier, bandpass filter, analog-digital converter, detecting circuit, amplitude limiter circuit, the echo signal detecting for receiving transducer, nurse one's health echo-signal, after amplitude limit, preposition amplification, bandpass filtering, detection, form the echo of fish; Memory cell (not shown in Figure 1), stores weight, target strength, the rate of throwing something and feeding corresponding under the every individual long sizes of the fish of throwing something and feeding, and target strength minimum threshold and max-thresholds; Audiograph picture is processed and control module 43, comprise controller, man-machine interface, echo is carried out after target signature identification, obtain the target strength of wall scroll fish, calculate wall scroll fish weight, recycling echo integration method obtains the general objective intensity of the shoal of fish in the waters of throwing something and feeding, calculates shoal of fish gross weight, and according to the rate of throwing something and feeding of cell stores, generate the control instruction of throwing something and feeding that comprises feeding volume, send to the unit 3 of throwing something and feeding.
Above-mentioned single target feature identification, is by the target strength minimum threshold of the target strength recording and regulation and max-thresholds comparison, if be less than minimum threshold or be greater than max-thresholds, does not use current target strength to calculate; If between minimum threshold and max-thresholds, be considered as the target strength of wall scroll fish, then find out cell stores and target strength its absolute difference minimum, using its corresponding weight, length, the rate of throwing something and feeding as the wall scroll fish weight, length, the rate of throwing something and feeding that detect.The rate of throwing something and feeding refers to breeding bait amount that each needs are thrown something and fed and the ratio of fish weight, and the fish of the different vegetative stages of variety classes has the different rates of throwing something and feeding, and can set according to GB.
Above-mentioned calculating general objective intensity is achieved in that because of the fish person's character of ingesting, while throwing something and feeding, will gathers the waters of throwing something and feeding.Therefore before throwing something and feeding, try to shoot and feed, now adjust rotary unit and drive described split beam transducer, the aligning waters of throwing something and feeding, from water, launch sound wave, obtain the echo that comprises most shoal of fish echoes, utilize echo integration method that target strength discrete and that overlap is carried out to total target strength that integration obtains the shoal of fish ingesting in the waters of throwing something and feeding, thereby obtain a total target strength.
Above-mentioned total weight, is the target strength divided by wall scroll fish by total target strength, obtains the sum of fish, is then multiplied by wall scroll fish weight, obtains shoal of fish gross weight.
Above-mentioned audiograph picture is processed with control module 43 and is generated the control instruction of throwing something and feeding, and is gross weight is multiplied by the breeding bait amount that the rate of throwing something and feeding of setting obtains throwing something and feeding at every turn, and the control instruction that comprises breeding bait amount is sent to the unit 3 of throwing something and feeding.
Throw something and feed the time switching device of unit 3 to the just unlatching of Feeding time point of each regulation, throw something and feed by the breeding bait amount of the control instruction defined of throwing something and feeding.Quantitatively for example can being realized by following mode of breeding bait amount.The unit 3 of throwing something and feeding comprises control device, breeding bait storehouse and the case of throwing something and feeding, breeding bait storehouse and throw something and feed and have valve to be connected between case, and the case of throwing something and feeding has weighing device, and valve has and is connected with control device with weighing device.Before the weight indication of weighing device reaches the breeding bait amount of regulation, control device by-pass valve control is opened, breeding bait enters from breeding bait storehouse the case of throwing something and feeding, when the weight indication of weighing device reaches the breeding bait amount of regulation, control device by-pass valve control is closed, and the case of now throwing something and feeding just has the breeding bait amount of regulation.Time switching device just sends signal to the time point of setting, and the breeding bait that control device is controlled the case of throwing something and feeding enters in water.
Fig. 2 shows according to an embodiment of the invention for the control method of throwing something and feeding of fish culture, and the method mainly comprises step:
S1: obtain wall scroll fish weight by the pre-echo image of throwing something and feeding, by trial throw, feed echo and obtain shoal of fish gross weight: before throwing something and feeding, in water, to the waters of throwing something and feeding, launch sound wave, the sound wave that reception reflects, and be converted to echo-signal, the generation pre-echo image of throwing something and feeding, obtains wall scroll fish weight according to the target strength of throwing something and feeding in pre-echo image; Breeding bait is fed in trial throw, and the shoal of fish gathers throws something and feeds behind waters, in water, to the waters of throwing something and feeding, launches sound wave, the sound wave that reception reflects, and be converted to echo-signal, and generating trial throw and feed echo, the target strength of feeding in echo according to trial throw obtains shoal of fish gross weight.
S2: according to the rate of throwing something and feeding of the shoal of fish gross weight getting and setting, the feeding volume of the breeding bait that calculating throws something and feeds at every turn needs, regularly throws something and feeds.
Preferably, wherein step S1 can also comprise:
S1.1: under experiment condition, it is a specification that the fish of throwing something and feeding often differ certain length by body length, some of every specifications, divide another name its weight, average, and measure the target strength of the wall scroll fish of every kind of specification, a plurality of target strengths that get are rejected after numerical value is offset larger target strength and averaged, record throws something and feeds under every kind of specifications of fish that the body of wall scroll fish is long, average weight and target strength, sets up target signature table;
S1.2: identify and Threshold Analysis by target signature, identify the echo of wall scroll fish, from the target strength of the echoes of several wall scroll fishes obtain the throwing something and feeding average criterion intensity of fish, be the target strength of wall scroll fish, by comparing average wall scroll fish weight in the waters that obtains throwing something and feeding with described target signature table;
S1.3: the target strength of utilizing echo integration method to feed echo by trial throw is carried out the general objective intensity that integration obtains the shoal of fish in the waters of throwing something and feeding, divided by the target strength of described wall scroll fish, the number of fish in the waters that obtains throwing something and feeding;
S1.4: described wall scroll fish weight is multiplied by the number of described fish, the shoal of fish gross weight in the waters that obtains throwing something and feeding.
Wherein said target signature identification and Threshold Analysis, be by the minimum threshold of the target strength of echo and setting and max-thresholds comparison, if be less than minimum threshold or be greater than max-thresholds, do not think the echo of wall scroll fish; If between minimum threshold and max-thresholds, regard as the echo of wall scroll fish.
Above-mentioned minimum threshold and max-thresholds can so be set: target strength minimum in target signature table is multiplied by one and is less than 1 coefficient and is minimum threshold, target strength maximum in target signature table is multiplied by one and is greater than 1 coefficient and is max-thresholds, above-mentioned coefficient can be rule of thumb given.The target strength that also can should be able to have according to the residing growth and development stage of fish, retains certain nargin and sets minimum threshold and max-thresholds.
Beyond all doubt, system of the present invention can realize the part or all of step of method of the present invention, and method of the present invention also can adopt the likely system of the Nomenclature Composition and Structure of Complexes of the present invention.
The system and method for the present embodiment can be realized the monitoring to the wall scroll fish weight of cultured fishes and shoal of fish gross weight, and adjusts feeding volume according to fish growth situation in good time, thereby reaches less breeding bait waste, prevents the object of water pollution.
Above embodiment is only for the present invention, but not limitation of the present invention.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is carried out to various combinations, revises or is equal to replacement, do not depart from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim of the present invention and scope.
Claims (2)
1. for the control method of throwing something and feeding of fish culture, it is characterized in that, the method comprises the following steps:
S1: launch sound wave to the waters of throwing something and feeding before throwing something and feeding in water, receive the sound wave reflecting, and be converted to echo-signal, generate the pre-echo image of throwing something and feeding, obtain wall scroll fish weight according to the target strength of throwing something and feeding in pre-echo image; Breeding bait is fed in trial throw, and the shoal of fish gathers throws something and feeds behind waters, in water, to the waters of throwing something and feeding, launches sound wave, the sound wave that reception reflects, and be converted to echo-signal, and generating trial throw and feed echo, the target strength of feeding in echo according to trial throw obtains shoal of fish gross weight;
S2: according to the rate of throwing something and feeding of the shoal of fish gross weight getting and setting, the feeding volume of the breeding bait that calculating throws something and feeds at every turn needs, regularly throws something and feeds;
Wherein step S1 also comprises:
S1.1: under experiment condition, it is a specification that the fish of throwing something and feeding often differ certain length by body length, some of every specifications, divide another name its weight, average, and measure the target strength of the wall scroll fish of every kind of specification, a plurality of target strengths that get are rejected after numerical value is offset larger target strength and averaged, record throws something and feeds under every kind of specifications of fish that the body of wall scroll fish is long, average weight and target strength, sets up target signature table;
S1.2: identify and Threshold Analysis by target signature, identify the echo of wall scroll fish, from the target strength of the echoes of several wall scroll fishes obtain the throwing something and feeding average criterion intensity of fish, be the target strength of wall scroll fish, by comparing average wall scroll fish weight in the waters that obtains throwing something and feeding with described target signature table;
S1.3: the target strength of utilizing echo integration method to feed echo by trial throw is carried out the general objective intensity that integration obtains the shoal of fish in the waters of throwing something and feeding, divided by the target strength of described wall scroll fish, the number of fish in the waters that obtains throwing something and feeding;
S1.4: described wall scroll fish weight is multiplied by the number of described fish, the shoal of fish gross weight in the waters that obtains throwing something and feeding.
2. according to the control method of throwing something and feeding of claim 1, wherein said target signature identification and Threshold Analysis, be by the minimum threshold of the target strength of echo and setting and max-thresholds comparison, if be less than minimum threshold or be greater than max-thresholds, do not think the echo of wall scroll fish; If between minimum threshold and max-thresholds, regard as the echo of wall scroll fish.
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