CN103499954A - Fish farming feeding control system and method - Google Patents
Fish farming feeding control system and method Download PDFInfo
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- CN103499954A CN103499954A CN201310436162.5A CN201310436162A CN103499954A CN 103499954 A CN103499954 A CN 103499954A CN 201310436162 A CN201310436162 A CN 201310436162A CN 103499954 A CN103499954 A CN 103499954A
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Abstract
The invention discloses a fish farming feeding control system and method. The fish farming feeding control system comprises a split wave beam transducer, a feeding unit and a signal acquisition, processing and control unit. The split-beam transducer is used for completing conversion between sound waves and electrical signals, and transmitting and receiving the sound waves. The feeding unit is used for receiving a feeding control instruction and feeding cultured fishes. The signal acquisition, processing and control unit is used for receiving echo signals collected by the transducer, acquiring representing values of school density after analyzing and processing the echo signals, generating the feeding control instruction according to changes of the representing values along with time, and transmitting the feeding control instruction to the feeding unit to control feeding. The fish farming feeding control system and method can monitor and analyze food intake behaviors of fish schools in a feeding water area in real time, and achieve the purposes of feeding the fishes as needed and reducing fodder waste.
Description
Technical field
The present invention relates to the technology of information-based fish culture, particularly control system and the method for raising thrown in fish culture.
Background technology
Along with the continuous expansion of flood veil case intensive culture scale, breeding process more and more depends on artificial throwing feed, and the feed cost in cultivation accounts for whole aquaculture cost than great.Take the Tilapia mossambica cultivation as example, feed cost can reach 70%-80% and more than.In breeding process, the height that feed is thrown the technology of raising directly affects conversion ratio and the culture efficiency of feed.Therefore, it is significant for improving output, reduction aquaculture cost and feed coefficient that the raising fish are thrown the level that becomes more meticulous of raising in process.
The throwing feeding method of tradition fish mainly utilizes artificial cognition to throw feeding, is mainly by raise manual observation fish behavior in process in throwing, and " first rapidly, rear mitigation, until tranquil; The first water surface, the rear bottom; First large fish, rear small fish; First, rear both sides.When water surface calmness, significantly do not rob the food phenomenon, 80% fish has been left away or, when desire is not ingested in the periphery roaming, has stopped throwing and raise " each throwing amount of raising is controlled.And the artificial cognition of the widespread use at present throwing feeding throwing process of raising relies on manual observation, be subject to the impact of people's subjectivity, can not adapt to the demand of modern intensive cultivation.
Chinese patent literature CN101655706B has proposed a kind of ultrasonic throwing for fish culture cage and has raised supervisory system and throw feeding method, the main ultrasonic transducer that is arranged at net cage that utilizes sends ultrasonic pulse, whether reception runs into the residual feed in this net cage and the echo that is reflected back generates echoed signal, differentiate to need to throw according to echoed signal and raise.But because the volume of the particle of feed own is little, there will be the situation that feed can't be detected or be disturbed by other planktonic organisms, therefore easily cause to throw and raise excessive situation, be not suitable for the cultivation overall process is thrown and raised control.
From above analysis, the throwing feeding method of existing cultured fishes, can not make to throw and raise in right amount, easily causes feed waste, is difficult to meet the demand of intensive culture.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is: how, to the feeding behaviour Real Time Monitoring of fish, according to analysis result, throw and raise control, realize throwing and raising as required, avoid throwing and raise deficiency or waste.
(2) technical scheme
As an aspect of of the present present invention, provide a kind of fish culture to throw and raised control system, it is characterized in that, this system comprises that split beam transducer, signal acquisition process and control module, throwing raise unit, wherein:
Described split beam transducer, be placed in water, with described signal acquisition process and control module, be connected, signal according to signal acquisition process and control module transmission, raise waters emission sound wave to throwing, the sound wave that reception reflects is converted to echoed signal and sends described signal acquisition process and control module to again;
Described signal acquisition process and control module, raising unit with described split beam transducer, described throwing is connected, the echoed signal that described split beam transducer is detected is converted to echological picture, the analyzing and processing echological picture, obtain the characterization value of school density, generate over time to throw according to characterization value and raise steering order, send to throw and raise unit;
Unit is raised in described throwing, with described signal acquisition process and control module, is connected, and receive to throw and to raise steering order and to raise steering order according to throwing and throw and raise operation; Throwing is raised unit and is comprised warning device, raises if throw after beginning not receive to throw after the allowed time of one section setting and to raise steering order, and information gives a warning.
Preferably, the inside primitive of described split beam transducer is divided into four quadrants, generates the echoed signal of four quadrants.
Preferably, described signal acquisition process and control module are processed the echoed signal of four quadrants, obtain the echological picture of four quadrants, echological picture forms a whole, calculate the average criterion intensity of the whole echological picture in a period of time interval, as the characterization value of school density, generate over time to reduce to throw the amount of raising or stop throwing the throwing of raising according to the characterization value of the characterization value of school density and school density and raise steering order;
Preferably, described fish culture throwing is raised control system and is also comprised rotary unit, with described signal acquisition process and control module, be connected, described split beam transducer is fixed in described rotary unit, and the rotation steering order that described rotary unit receives described signal acquisition process and control module drives described split beam transducer in level and vertical direction rotation.
Preferably, wherein said signal acquisition process and control module comprise: the detectable signal transmitter module, launch the signal of sound wave to described transducer output by detection signal generator and power amplifier; The echo signal processing module, receive the echoed signal that the split beam transducer detects, and forms the echological picture of fish after amplitude limit, preposition amplification, bandpass filtering, detection; Echological picture is processed and control module, and echological picture is carried out to Treatment Analysis, generates to throw to raise steering order.
As another aspect of the present invention, the invention provides a kind of fish culture throwing and raise control method, it is characterized in that, the method mainly comprises step:
S1: raise the waters throwing to throwing and raise, and raise waters emission sound wave to throwing from water, receive the sound wave reflected, be converted to echoed signal, generate echological picture;
S2: the analyzing and processing echological picture obtains the characterization value of the school density on a period of time interval.
S3: according to the characterization value of school density and the variation of characterization value on the multi-section time interval of school density, generate to throw and to raise steering order, raise steering order according to throwing and throw and raise.
Preferably, wherein in step S1, before raising waters emission sound wave, throwing also comprises:
Adjust the orientation of emission sound wave, so that the sound wave of emission is aimed to throw, raise waters.
Preferably, wherein step S2 comprises:
Calculate the average criterion intensity of the echological picture on a period of time interval, as the characterization value of the school density of this section time interval
Preferably, wherein step S3 comprises:
S3.1: in continuous a plurality of time intervals, if each after time interval with each the preceding time interval compare, school density continues to reduce, and generates the throwing reduce to throw the amount of raising and raises steering order, throws to raise to reduce;
S3.2: generate after the throwing reduce to throw the amount of raising raises steering order, if in a plurality of time intervals, each after time interval with each the preceding time interval compare, school density still reduces, generate and stop throwing the throwing of raising and raise steering order, throw to raise and stop.
(3) beneficial effect
System of the present invention, by adopting the split beam transducer, the feeding behaviour of fish is monitored, and echological picture is carried out to analytical calculation, can obtain reflecting the characterization value of the density of fish behavior, thereby quantize the feeding behaviour of the reflection shoal of fish, the variation in time according to characterization value, throw as required and raise control fish culture, prevents the not enough or waste of feed; By adopting rotary unit, can, at level and vertical direction rotation split beam transducer, under the control of signal acquisition process and control module, reach easily selected or satisfactory orientation, thereby can realize better measuring.
Method of the present invention, by echological picture is carried out to analytical calculation, can obtain reflecting the characterization value of the school density of fish behavior, thereby quantize the feeding behaviour of the reflection shoal of fish, the variation in time according to these characterization values, fish culture is thrown as required and raised control, prevent that feed is not enough or waste; Raise the average criterion intensity of the whole echological picture in waters by the throwing in calculating a period of time interval, can reduce the error that accidentalia is brought; Adjust the orientation of emission sound wave, can be so that measurement result be more accurate.
The accompanying drawing explanation
Fig. 1 throws the system architecture diagram of raising control system according to the fish culture of one embodiment of the invention;
Fig. 2 throws the process flow diagram of raising control method according to the 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 the present invention is described, but can not be used for limiting the scope of the invention.
Ultimate principle of the present invention is the reflection sounding principle, and with light wave, electromagnetic wave phase ratio, sound wave is little in the 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 the 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 the split beam transducer, if signal level surpasses the threshold value that the user selects, can be received and be converted into electronic signal and transfer to signal acquisition process and control module by the split beam transducer, generate echoed signal.The velocity of propagation (1500m/s, under standard conditions) in water according to the interval time of receiving target echo signal after acoustic emission and sound wave, can record the residing position of target, and echoed signal power and structure are analyzed, and can estimate target strength.Compare single beam or multiple-beam array, utilize the split beam technology can determine the position of target in wave beam, and according to the directive property of wave beam, the echoed signal that departs from acoustic axis is compensated, thereby realizing the objective estimation to the fish target strength, measurement result is more accurate.
Target strength is an important parameter of underwater acoustics assessment, and it is the parameter of a tolerance target object acoustic reflection performance, comparatively approaching with reflection coefficient on 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 on the sound intensity 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 the scholar again target strength to be defined as:
TS=20×lg(σ/4π) （2）
(2) in formula, TS means target strength (dB), and σ means the underwater acoustics cross section (m2) of target object.σ can be regarded as target object and incident wave is produced to the acoustics equivalent area of scattering.
Another ultimate principle of the present invention is the rule of shoal of fish feeding behaviour.When throwing is raised, fish can focus on to throw and raises waters and ingest, and the density of the shoal of fish can increase; Fish complete not the ingesting during desire of ingesting, will raise waters from throwing and scatter, and now the density of the shoal of fish can reduce.
The target strength of echological picture can reflect throws the density of raising the waters fish, therefore can utilize Underwater Image to analyze the fish behavior, and raises steering order according to analysis result generation throwing.
As shown in Figure 1, show the throwing of fish culture according to an embodiment of the invention and raise control system, this system comprises: unit 3, rotary unit 2, split beam transducer 1 are raised in signal acquisition process and control module 4, throwing.
The inside primitive of split beam transducer 1 is divided into four parts, form four quadrants, split beam transducer 1 is fixed in rotary unit 2, with signal acquisition process and control module 4, be connected, be placed in water, according to the signal of signal acquisition process and control module 4 transmissions, raise waters emission sound wave to throwing, the sound wave that reception reflects is converted to echoed signal and sends described signal acquisition process and control module 4 to again.Compare single beam or multiple-beam array, utilize the split beam technology can determine the position of target in wave beam, and according to the directive property of wave beam, the echoed signal that departs from acoustic axis is compensated, thereby realizing the objective estimation to the fish target strength, measurement result is more accurate.
Signal acquisition process and control module 4, raise unit 3 and be connected with split beam transducer 1, rotary unit 2, throwing, comprise: detectable signal transmitter module 41, comprise power amplifier, wave filter, detection signal generator, analog to digital converter, for by 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 to digital converter, detecting circuit, amplitude limiter circuit, the echoed signal detected for receiving transducer, the conditioning echoed signal, the echological picture of formation fish after amplitude limit, preposition amplification, bandpass filtering, detection; Echological picture is processed and control module 43, comprise controller, man-machine interface, the echoed signal that analyzing and processing split beam transducer 1 detects, obtain characterizing the characterization value of school density, generate over time to throw according to characterization value and raise steering order, send to throw and raise unit 3.
The concrete echoed signal of so processing of signal acquisition process and control module 4: it processes the echoed signal of four quadrants, obtain the echological picture of four quadrants, echological picture forms a whole, calculate the average criterion intensity of the whole echological picture in a period of time interval, as the characterization value of school density, and generate over time to reduce to throw the amount of raising or stop throwing the throwing of raising according to the characterization value of school density and raise steering order.
Calculate the average criterion intensity of the whole echological picture in a period of time interval, for example can choose the target strength recorded on this section a plurality of time points of time, reject several values less than normal bigger than normal, remaining value average computation obtains average criterion intensity.
System of the present invention, by adopting the split beam transducer, the feeding behaviour of fish is monitored, and echological picture is carried out to analytical calculation, can obtain reflecting the characterization value of the density of fish behavior, thereby quantize the feeding behaviour of the reflection shoal of fish, the variation in time according to characterization value, throw as required and raise control fish culture, prevents the not enough or waste of feed; By adopting rotary unit, can, at level and vertical direction rotation split beam transducer, under the control of signal acquisition process and control module, reach easily selected or satisfactory orientation, thereby can realize better measuring.
As shown in Figure 2, show the throwing of fish culture according to an embodiment of the invention and raise control method, the method comprises the following steps:
S1: raise the waters throwing to throwing and raise, and raise waters emission sound wave to throwing from water, receive the sound wave reflected, be converted to echoed signal, generate echological picture;
S2: the analyzing and processing echological picture obtains the characterization value of the school density on a period of time interval.
S3: according to the variation of characterization value on the multi-section time interval of school density, generate to throw and to raise steering order, raise steering order according to throwing and throw and raise.
In an embodiment, in step S1, before raising waters emission sound wave, throwing also comprises:
Adjust the orientation of emission sound wave, so that the sound wave of emission is aimed to throw, raise waters.
Step S2 can comprise: calculate the average criterion intensity of the echological picture on a period of time interval, as the characterization value of the school density of this section time interval.
Calculate the average criterion intensity of the echological picture in a period of time interval, for example can choose the target strength recorded on this section a plurality of time points of time, reject several values less than normal bigger than normal, remaining value average computation obtains average criterion intensity.
In an embodiment, step S3 can comprise:
S3.1: in continuous a plurality of time intervals, if each after time interval with each the preceding time interval compare, school density continues to reduce, and generates the throwing reduce to throw the amount of raising and raises steering order, throws to raise to reduce;
S3.2: generate after the throwing reduce to throw the amount of raising raises steering order, if in a plurality of time intervals, each after time interval with each the preceding time interval compare, school density still reduces, generate and stop throwing the throwing of raising and raise steering order, throw to raise and stop.
In an embodiment, step S3 can also comprise:
S3.3: raise and start after the allowed time of one section setting from throwing, if still have generation to stop throwing the throwing of raising, do not raise steering order, send the warning message that prompting is broken down.
The length of the length of above-mentioned time interval and number and allowed time, can be set by operating personnel, for example time interval is set as corresponding with the time of the input action need that completes a foddering, the number of time interval for example is set as 3 or 4, and the length of allowed time can be set as usually completing 1.2 times of left and right that the time of action need is raised in whole throwing.
Method of the present invention, by echological picture is carried out to analytical calculation, can obtain reflecting the characterization value of the school density of fish behavior, thereby quantize the feeding behaviour of the reflection shoal of fish, the variation in time according to characterization value, fish culture is thrown as required and raised control, prevent that feed is not enough or waste; Adjust the orientation of emission sound wave, can be so that measurement result be more accurate.
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.
Above embodiment is only for the present invention is described, but not limitation of the present invention.Although with reference to embodiment, the present invention is had been described in detail; 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 break away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the protection domain of claim of the present invention.
Claims (10)
1. a fish culture is thrown and is raised control system, it is characterized in that, this system comprises that split beam transducer, signal acquisition process and control module, throwing raise unit, wherein:
Described split beam transducer, be placed in water, with described signal acquisition process and control module, be connected, signal according to signal acquisition process and control module transmission, raise waters emission sound wave to throwing, the sound wave that reception reflects is converted to echoed signal and sends described signal acquisition process and control module to again;
Described signal acquisition process and control module, raising unit with described split beam transducer, described throwing is connected, the echoed signal that described split beam transducer is detected is converted to echological picture, the analyzing and processing echological picture, obtain the characterization value of school density, generate over time to throw according to characterization value and raise steering order, send to throw and raise unit;
Unit is raised in described throwing, with described signal acquisition process and control module, is connected, and receive to throw and to raise steering order and to raise steering order according to throwing and throw and raise operation; Throwing is raised unit and is comprised warning device, raises if throw after beginning not receive to throw after the allowed time of one section setting and to raise steering order, and information gives a warning.
2. a kind of fish culture based on the behavioural analysis of intensive culture fish as claimed in claim 1 is thrown and is raised control system, it is characterized in that, the inside primitive of described split beam transducer is divided into four quadrants, generates the echoed signal of four quadrants.
3. fish culture as claimed in claim 2 is thrown and is raised control system, it is characterized in that, described signal acquisition process and control module are processed the echoed signal of four quadrants, obtain the echological picture of four quadrants, echological picture forms a whole, calculate the average criterion intensity of the whole echological picture in a period of time interval, as the characterization value of school density, generate over time to reduce to throw the amount of raising or stop throwing the throwing of raising according to this characterization value and raise steering order.
4. fish culture as claimed in claim 1 is thrown and is raised control system, also comprise rotary unit, with described signal acquisition process and control module, be connected, described split beam transducer is fixed in described rotary unit, and the rotation steering order that described rotary unit receives described signal acquisition process and control module drives described split beam transducer in level and vertical direction rotation.
According to claim 1-4 wherein the fish culture of any one throw and to raise control system, wherein said signal acquisition process and control module comprise:
The detectable signal transmitter module, launch the signal of sound wave by detection signal generator and power amplifier to described split beam transducer output;
The echo signal processing module, receive the echoed signal that the split beam transducer detects, and forms the echological picture of fish after amplitude limit, preposition amplification, bandpass filtering, detection;
Echological picture is processed and control module, and echological picture is carried out to Treatment Analysis, generates to throw to raise steering order.
6. a fish culture is thrown and is raised control method, it is characterized in that, the method comprises:
S1: raise the waters throwing to throwing and raise, and raise waters emission sound wave to throwing from water, receive the sound wave reflected, be converted to echoed signal, generate echological picture;
S2: the analyzing and processing echological picture obtains the characterization value of the school density on a period of time interval.
S3: according to the variation of characterization value on the multi-section time interval of school density, generate to throw and to raise steering order, raise steering order according to throwing and throw and raise.
7. throw and raise control method according to the fish culture of claim 6, wherein also comprise before waters emission sound wave is raised in throwing in step S1:
Adjust the orientation of emission sound wave, so that the sound wave of emission is aimed to throw, raise waters.
8. throw and raise control method according to the fish culture of claim 6, wherein step S2 comprises:
Calculate the average criterion intensity of the echological picture on a period of time interval, as the characterization value of the school density of this section time interval.
According to claim 6-8 wherein the fish culture of an item throw and to raise control method, wherein step S3 comprises:
S3.1: at continuous a plurality of time interval, if each after time interval with each the preceding time interval compare, school density continues to reduce, and generates the throwing reduce to throw the amount of raising and raises steering order, throws to raise to reduce;
S3.2: generate after the throwing reduce to throw the amount of raising raises steering order, if in a plurality of time intervals, each after time interval with each the preceding time interval compare, school density still reduces, generate and stop throwing the throwing of raising and raise steering order, throw to raise and stop.
10. throw and raise control method according to the fish culture of claim 9, step S3 can also comprise:
S3.3: raise and start after the allowed time of one section setting from throwing, if still have generation to stop throwing the throwing of raising, do not raise steering order, send the warning message that prompting is broken down.
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| CN107996487A (en) * | 2017-12-04 | 2018-05-08 | 湖南理工学院 | A kind of fish jar automatic feeder and method |
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