CN103704164B - Fish behavior and nerve observation and research device and method - Google Patents
Fish behavior and nerve observation and research device and method Download PDFInfo
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- CN103704164B CN103704164B CN201310720188.2A CN201310720188A CN103704164B CN 103704164 B CN103704164 B CN 103704164B CN 201310720188 A CN201310720188 A CN 201310720188A CN 103704164 B CN103704164 B CN 103704164B
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Abstract
The invention discloses a fish behavior and nerve observation and research device and method. A side-face camera is installed on one side of a fish tank, and the other side of the fish tank is provided with an installation support. A top-surface camera, a stimulation controller, a rotating arm angle control stepping motor, a rotating arm and a rotating arm fixing support are installed on the installation support. Stimulation horizontal movement control devices are installed on the rotating arm, stimulation height control stepping motors are installed on the horizontal movement control devices and connected with height control connecting lines, the height control connecting lines are connected with stimulation points, and stimulation assemblies are installed on the stimulation points. A computer is used for controlling the cameras and the stimulation controller. The observation and research method includes the steps that three-dimensional calculation is performed on fish behaviors, calculation and analysis are performed on the fish behaviors, and fish nerve research is performed through sound, light, electricity, drug stimulation and fish behavior analysis. According to the fish behavior and nerve observation and research device and method, wider and deeper cognition to fish behaviors and nerves is performed, and the fish behavior and nerve observation and research device and method have a great effect in the field of human life science research.
Description
One, technical field
The present invention relates to animal life scientific domain, belong to animal behavior research category, specifically Fish behavior is observed and research device and method thereof with neural.
Two, background technology
Fish are widely used in various physiology, pharmacology and the other diseases such as tumour, angiocardiopathy, ophthalmology disease, nervous system and cure mechanism research in life science research.The finder of Fish behavior is most important for the research of fish, and research device is more tending towards variation.
Chinese patent 201120049737.4 " zebra fish behavior inducing device " discloses the dynamic reaction of eye and the optomotor response behaviouristics data analysis system of a kind of zebra fish.Chinese patent 201210064120.9 " oceanic pasture fish vocal behavior controller " discloses one at oceanic pasture to fish vocal behavior control system.Chinese patent 201120237172.2 " a kind of inducing device of pet fish swimming behavior " discloses a kind of pet fish swimming behavior inducing device.Chinese patent 201210100988.X " a kind of device of applicable research small fishes Phototactic behavior " discloses a kind of small fishes and drives the ethological research device of light.More than invent the research of certain the single behavior that all only relate to fish, the limitation of research is comparatively large, does not all record the three-dimensional behavior of fish and the response to environment.
Three, summary of the invention
The object of the invention is research Fish behavior more being had to breadth and depth, particularly fish are at three-dimensional behavior record, the method of Fish behavior being carried out to computational analysis is proposed, behavior reaction when fish being stimulated by sound, optical, electrical, medicine, combine Fish behavior Calculation results, carry out the research of fish nerve.
The object of the invention is to reach like this: install side cameras in the side of fish culture box, arrange mounting bracket at the opposite side of fish culture box, mounting bracket is inverted L shape, and the above is a platform, and there is a supporting bracket side.On mounting bracket, just end face video camera is installed to the end face of fish culture box, mounting bracket is installed constant stimulus controller, cursor Angle ambiguity stepper motor, cursor, cursor fixed support;
Two, the left and right of cursor cursor support arm A arm and cursor support arm B arm install symmetrical two irritation level mobile controllers, horizontally moving device is installed two respectively and stimulates Altitude control stepper motor, stimulate on Altitude control stepper motor and be connected with Altitude control connecting line, Altitude control connecting line connects two the spread effect points in left and right respectively, and two, left and right spread effect point being provided with two, left and right stimulates combination;
Calculator is connected with side cameras with calculator line by side cameras, be connected with end face video camera with calculator line by end face video camera, be connected with boost controller with computer connection wire by boost controller.
Stimulation control connection is provided with between boost controller and spread effect point.
Boost controller is by stimulating control single chip computer, communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuit compositions.Stimulate control single chip computer and communication interface circuit to be bi-directionally connected, stimulate control single chip computer to cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits control.Two groups of boost control circuits comprise A group to stimulate and to control and B group stimulates and controls, A group stimulation control by height stepper motor A control circuit, move horizontally stepper motor A control circuit, loading pump A control circuit, sonic stimulation A control circuit, light stimulus A control circuit form; B group stimulate control by height stepper motor B control circuit, move horizontally stepper motor B control circuit, loading pump B control circuit, sonic stimulation B control circuit, light stimulus B control circuit form.
Cursor installs connecting hole by cursor toothed disc, cursor from top to bottom and cursor support arm forms, and cursor toothed disc, cursor install connecting hole and cursor support arm integrated connection.Cursor installs connection hole in the middle position of cursor support arm and cursor toothed disc, lower end connection of rotating arm support arm, upper end connection of rotating arm gear dish.Cursor support arm is divided into symmetrical cursor support arm A arm and cursor support arm B arm.Cursor toothed disc and the Angle ambiguity gears meshing be arranged on cursor Angle ambiguity stepper motor, cursor is installed connecting hole by cursor fixed support through cursor and is installed on mounting bracket.
Cursor fixed support is the tubular construction being with outer silk screw thread, cursor supporting surface is connected with in the below of tubular construction, end face video camera installing hole is had at the middle body of tubular construction, cursor fixed support installs connecting hole through cursor, cursor is supported on cursor supporting surface, be provided with cursor fixed support in the upper outer of tubular construction and install outer silk screw thread, the cursor fixed support of the cursor fixed support outer silk screw thread of installation and mounting bracket is installed internal thread screw threads for fastening and is fastened on mounting bracket.
Irritation level mobile controller comprises and moves horizontally stepper motor runner, moves horizontally crawler belt runner, moves horizontally crawler belt, moves horizontally stepper motor, moves horizontally crawler belt runner support.Move horizontally stepper motor, move horizontally crawler belt runner support installing on cursor support arm, move horizontally stepper motor runner to be fixed on and to move horizontally on stepper motor, the two ends moving horizontally crawler belt are arranged on and move horizontally stepper motor runner and move horizontally on crawler belt runner, and be moved horizontally stepper motor runner and move horizontally the tension of crawler belt runner, move horizontally crawler belt and move to the left or to the right with the rotation forward or backwards moving horizontally stepper motor runner.
Altitude control stepper motor is stimulated to be arranged on moving horizontally on crawler belt of two the irritation level mobile controllers in left and right respectively.Stimulate Altitude control stepper motor upper end to be provided with Altitude control runner, one end of Altitude control connecting line is connected on Altitude control runner, and the other end connects spread effect point.
Stimulate control line to be springlike resilience connecting line, be the combination of multiple line, comprise the grug transportation tube line of Sound stimulat connecting line, light stimulus linking number, electro photoluminescence connecting line, loading pump.
Stimulate combination to comprise sound, optical, electrical, medicine irritation, spread effect point is installed the loudspeaker of Sound stimulat, the lamp of light stimulus, stimulating electrode, the outlet of grug transportation tube.Light stimulus comprises ruddiness, blue light, green glow stimulation, is respectively arranged with red colored lamp, blue lamp and green light in described light stimulus A control circuit and light stimulus B control circuit; Waterproofing design is done in the output of sound, light stimulus.Fish behavior and nerve observe and research method is carried out under computer program controls, first determine after one or 2 stimulation points are stimulated by one or more in sound, optical, electrical, drug regimen, fish is three-dimensional coordinate position in fish culture box, then according to the three-dimensional coordinate of fish, carry out the three-dimensional computations of Fish behavior, computational analysis to Fish behavior, in conjunction with fish behavioural analysis so that carry out the research of fish nerve.
Computer program control flow is: after starting, arranging stimulus type is the multiple stimulation combination such as sound, optical, electrical, medicine, the coordinate of one or two stimulation point is set, according to stimulation circuits such as stimulation combination control sound, optical, electrical, loadings, according to coordinate control cursor Angle ambiguity stepper motor, height stepper motor A, B of one or two stimulation point, horizontal motor A, B; Gather the image of end face video camera and side cameras, the linear equation in the coordinate place water of fish is calculated according to end face camera review, and the straight line of the coordinate of fish in water is defined as DY, according to the plane equation of coordinate in water of side cameras image calculation fish, be EMX by the plane definition of the coordinate of fish in water, calculate the three-dimensional coordinate (Sx of fish according to straight line DY, plane EMX, Sy, Sz), finally carry out the behavioural analysis of fish according to the long coordinate record of fish, terminate.
Describedly determine that fish three-dimensional coordinate (Sx, Sy, Sz) in fish culture box carries out in the following manner:
1) the straight line DY at place in water, the position of fish, is determined according to the imager coordinate of fish on end face video camera is taken pictures;
2) the plane EMX at place in water, the position of fish, is determined according to the imager coordinate of fish on side cameras is taken pictures;
3), according to unique intersection point of straight line DY and plane EMX, the three-dimensional coordinate position of fish in fish culture box (Sx, Sy, Sz) is found.
Three-dimensional computations has following process: 1) install and calibration camera, 2) take pictures, 3) calculate fish take a picture on imager coordinate, 4) straight line at place in water, the position of fish is determined according to the imager coordinate of fish on end face video camera is taken pictures, 5) take pictures according to side cameras on imager coordinate determine the plane at place in water, the position of fish, 6) determine that the straight line at place in water, the position of fish and side cameras determine that the intersection point of the position of fish plane at place in water determines the coordinate of fish according to end face video camera.
Determine that the process of the straight line of the position of fish in water is according to the imager coordinate of fish on end face video camera is taken pictures:
Make the X-coordinate FX=(Mx-M/2 that pass straight through end face water surface point of the position of fish in water) × nn × CH/f,
The Y-coordinate FY=(My-N/2 that pass straight through end face water surface point of position in water of fish) × nn × CH/f,
The point of coordinate (FX, FY, HH) is the corresponding points of fish place straight line in Z=HH plane, is designated as a DM, and the plane that order point DM and Z axis determine is DMZ; Plane DMZ crosses DM point be parallel to Z axis and do straight line, make it be straight line DL, cross and put DM and straight line DL negative direction is straight line DY, make the angle of straight line DY and straight line DL negative direction to be
Determine that fish is on straight line DY;
Describedly determine that according to the imager coordinate of fish on side cameras is taken pictures the process of the plane at the place, position of fish is: be: make EY=(Cx-M/2) × nn × CH/f, EZ=(Cy-N/2) × nn × CH/f point (LL, EY, EZ) for fish is in the corresponding points of X=LL plane, be designated as an EM, the plane that order point EM and X-axis determine is face EMX, determines that plane EMX is the plane at the place, position of fish;
Determine that the three-dimensional coordinate of fish determines after cartesian coordinate system is set up: straight line DY and plane EMX exists a unique intersection point, this intersection point is exactly the physical location of fish, calculates the coordinate of this intersection point according to the equation of straight line DY and the equation of plane EMX, if it is: (Sx, Sy, Sz);
The foundation of cartesian coordinate system is: the vertical line of the middle of fish culture box is Z axis, is upwards positive direction, middle, fish culture box side and be X-axis with the straight line of lateral vertical, be to the right positive direction, X, Z intersection point is (0,0,0) O point, and crossing the vertical line that O point is plane X OZ is Y-axis, is outwards positive direction, the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at fish box eight angles is respectively: (LL, WW, HH), (LL,-WW, HH), (-LL, WW, HH), (-LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (-LL, WW,-HH), (-LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side cameras camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side cameras is f, photosensitive sensor Pixel Dimensions is nn × nn, the horizontal pixel of end face video camera and side cameras adds up to M, longitudinal sum of all pixels is N, the Y-coordinate of the fish that My calculates for end face video camera, the X-coordinate of the fish that Mx calculates for end face video camera, the Y-coordinate of the fish that Cy calculates for side cameras, the X-coordinate of the fish that Cx calculates for side cameras.
The coordinate of video camera is set up and is: with the pixel of photo for coordinate unit, the upper left corner is (0,0) coordinate, and pixel down sorts successively as Y-coordinate, and the pixel of turning right sorts successively as X-coordinate.
The process of installing also calibration camera is:
End face video camera is arranged on Z axis, and end face video camera imaging photosensitive sensor is vertical with Z axis, Z axis through end face photosensitive sensor centre, the both sides of end face photosensitive sensor respectively with X-axis, Y-axis is parallel;
Side cameras is arranged in X-axis, and side cameras imaging photosensitive sensor is vertical with X-axis, and X-axis is through side photosensitive sensor centre, and the both sides of side photosensitive sensor are parallel with Y-axis, Z axis respectively;
If the length of fish box is 2LL, wide is 2WW, height is 2HH, then the coordinate at fish box eight angles is respectively: (LL, WW, HH), (LL,-WW, HH), (-LL, WW, HH), (-LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (-LL, WW,-HH), (-LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side cameras camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side cameras is f, photosensitive sensor Pixel Dimensions is nn × nn, the horizontal pixel of end face video camera and side cameras adds up to M, longitudinal sum of all pixels is N,
Take pictures is carry out in the following manner: arranging end face and side cameras working method is respectively that M-JPEG mode is carried out shooting and taken pictures, 25 frames per second;
Calculate fish take a picture on imager coordinate be according to carrying out as follows: calculate fish take a picture on imager coordinate be respectively following computing is carried out to end face video camera and side cameras photo:
1) photo is converted to grayscale format,
2) experiment test goes out the brightness higher than fish, is less than the binaryzation threshold value of the waters brightness not having fish,
3) carry out binaryzation calculating by binaryzation threshold value to picture, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of 3 × 3 is adopted to carry out open and close operator to image,
5) system point of 3 × 3 is adopted to carry out repeatedly erosion operation to image, until do not get the pixel of 1 in image,
6) last is selected to have the picture of the pixel of 1, with the pixel of photo for coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y-coordinate, and the pixel of turning right sorts as X-coordinate successively, calculate and allly get the Y-coordinate of the pixel of 1 and the mean value of X-coordinate, the mean value of end face video camera Y-coordinate and X-coordinate is designated as My, Mx, the Y-coordinate of the fish that My calculates for end face video camera, the X-coordinate of the fish that Mx calculates for end face video camera; The mean value of side cameras Y-coordinate and X-coordinate is designated as Cy, the Y-coordinate of the fish that Cx, Cy calculate for side cameras, the X-coordinate of the fish that Cx calculates for side cameras.
: in certain moment that get the fish coordinate of 2 frames before this moment as starting point, after this moment, the fish coordinate of 2 frames is as terminal to Fish behavior process of calculation analysis; Starting point and terminal are connected into straight line, according to the length Lx of starting point, terminal point coordinate calculated line and angle θ in a coordinate system; If sampled images per second is fx frame, then the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; Calculate the turning to of fish according to angle θ and the relation of time, float, the action in each moment such as sinking; According to the turning to of the action speed in each moment and each moment, float, the behavior such as sinking, analytic statistics various actions performance data, carries out the behavioural analysis of fish.
Good effect of the present invention is: carried out to Fish behavior the research more having breadth and depth, particularly fish are at three-dimensional behavior record, the method of Fish behavior being carried out to computational analysis is proposed, behavior reaction when fish being stimulated by sound, optical, electrical, medicine, combine Fish behavior Calculation results, carry out the research of fish nerve.Result of study obtains more extensively in the research of human life's scientific domain, actual application.
Four, accompanying drawing explanation
To be this Fish behavior observe and the structural representation of research device with neural Fig. 1.
Fig. 2 is mounting support structure schematic diagram.
Fig. 3 is cursor structural representation.
Fig. 4 is cursor fixing rack structure schematic diagram.
Fig. 5 is irritation level mobile device structural representation.
Fig. 6 stimulates Altitude control stepper motor scheme of installation.
Fig. 7 is boost controller structured flowchart.
Fig. 8 is the single chip circuit figure in boost controller.
Fig. 9 is the communication interface circuit figure in boost controller.
Figure 10 is cursor Angle ambiguity stepper motor, Altitude control stepper motor, horizontal control step circuit for controlling motor figure.
Figure 11 is loading pump control circuit figure, and in figure, MG1 is loading pump.
Figure 12 is sonic stimulation control circuit figure.
Figure 13 is light stimulus control circuit figure.
Figure 14 is electro photoluminescence control circuit figure.
Figure 15 is the three-dimensional coordinate determination schematic diagram of fish.
Figure 16 is computer program flow chart.
In figure, 1 fish culture box, 2 side cameras, 3 side cameras and computer connection wire, 4 calculators, 5 boost controllers and computer connection wire, 6 boost controllers, 7 cursor Angle ambiguity stepper motors, 8 mounting brackets, 9 cursors, 10 cursor fixed supports, 11 end face video cameras, 12-1, 12-2 stimulates Altitude control stepper motor, 13-1, 13-2 irritation level mobile controller, 14-1, 14-2 stimulates control line, 15-1, 15-2 Altitude control line, 16-1, 16-2 spread effect point, 17 end face video cameras and calculator line, 27 cursor toothed discs, 28 cursors install connecting hole, 29-1 cursor supports A arm, 29-2 cursor supports B arm, 30 Angle ambiguity gears, 31 fixing screw holes, 32 supporting brackets, 33 cursor fixed supports install internal thread screw thread, 34 cursor supporting surfaces, 35 cursor fixed supports install outer silk screw thread, 36 end face video camera installing holes, 37 cursor FX, 38 move horizontally stepper motor runner, 39 move horizontally crawler belt runner, 40 move horizontally crawler belt, 41 move horizontally stepper motor, 42 move horizontally crawler belt runner support, 43 Altitude control runners.
Five, embodiment
See accompanying drawing 1-2.
This Fish behavior and nerve observe and research device comprises fish culture box, calculator.Install side cameras 2 in the side of fish culture box, arrange mounting bracket 8 at the opposite side of fish culture box, mounting bracket is inverted L shape, and the above is a platform, and there is a supporting bracket 32 side.On mounting bracket 8, the straight end face to fish culture box installs end face video camera 11, and mounting bracket 8 is installed constant stimulus controller 6, cursor Angle ambiguity stepper motor 7, cursor, cursor fixed support.
Cursor is installed symmetrical two irritation level mobile controllers 13-1,13-2, horizontally moving device is installed two, left and right and stimulates Altitude control stepper motor 12-1,12-2, stimulate on Altitude control stepper motor 12-1,12-2 and be connected with Altitude control connecting line 15-1,15-2, Altitude control connecting line 15-1,15-2 connect left and right two spread effect points 16-1,16-2 respectively.Two the spread effect points in left and right are provided with two, left and right and stimulate combination, comprise sound, optical, electrical, medicine irritation respectively.
In the present embodiment, fish culture box is transparent cube fish culture box, can be made, opened top by the transparent material such as glass, lucite, and the sealing of other faces is waterproof.Vertical with side cameras and keep transparent from the side close to side cameras, other three sides and bottom surface painted whites.Side cameras is mounted in the video camera of the side of fish culture box, and the side of fish culture box is aimed in shooting level direction.Side cameras and computer connection wire send side cameras video data to calculator.End face video camera is mounted in the video camera of fish culture box end face, and shooting direction aims at the end face of fish culture box.End face video camera and calculator line send end face camera data to calculator.Side cameras and end face video camera type selecting: the DS-2CD886MF-E type that Hangzhou Hikvision Digital Technology Co., Ltd produces, conventional computer selected by calculator.
Boost controller and computer connection wire 5 are for the communication connection of boost controller and calculator.Boost controller 6 under the control of the computer, produces the sound needed for test, the stimulus signal such as optical, electrical, or adds medicine.Boost controller is arranged on the top of mounting bracket 8.The loudspeaker of Sound stimulat, the red colored lamp of light stimulus, green light and blue lamp do water-proofing treatment.
See accompanying drawing 3,4.Cursor Angle ambiguity stepper motor is for controlling the angle of cursor.Cursor for installing irritation level mobile controller, and changes the angle of irritation level mobile controller by the change of self-view.Cursor fixed support is for being fixed on mounting bracket by cursor.
Cursor 9 installs connecting hole 28 by cursor toothed disc 27, cursor from top to bottom and cursor support arm forms, cursor toothed disc 27, cursor install connecting hole 28 and cursor support arm integrated connection, cursor installs the middle position that connecting hole 28 is in cursor support arm and cursor toothed disc, lower end connection of rotating arm support arm, upper end connection of rotating arm gear dish.Cursor support arm is divided into symmetrical cursor support arm A arm 29-1 and cursor support arm B arm 29-2.Cursor toothed disc 27 engages with the Angle ambiguity gear 30 be arranged on cursor Angle ambiguity stepper motor 7, and cursor (9) is installed connecting hole 28 by cursor fixed support (10) through cursor and is installed on mounting bracket 8.
Cursor fixed support has a cursor supporting surface 34, install outer silk screw thread 35 with cursor fixed support and cursor FX 37 connects into as a whole, middle body has end face video camera installing hole 36 and ensures end face video camera just to the end face of fish culture box.Cursor fixed support installs connecting hole 28 through cursor, cursor is supported on cursor supporting surface, the cursor fixed support cursor fixed support installed on outer silk screw thread 35 and mounting bracket 8 is installed internal thread screw thread 33 and is fastenedly connected, and is fixed on mounting bracket 8 by cursor 9.Cursor Angle ambiguity stepper motor controls the rotation of cursor toothed disc by the Angle ambiguity gear on limit mounted thereto.
See Fig. 5,6.Irritation level mobile controller comprises and moves horizontally stepper motor runner 38, moves horizontally crawler belt runner 39, moves horizontally crawler belt 40, moves horizontally stepper motor 41, moves horizontally crawler belt runner support 42.Move horizontally stepper motor 41, move horizontally crawler belt runner support 42 and be arranged on cursor support arm, move horizontally stepper motor runner 38 to be fixed on and to move horizontally on stepper motor 41, the two ends moving horizontally crawler belt 40 are arranged on and move horizontally stepper motor runner 38 and move horizontally on crawler belt runner 39, and be moved horizontally stepper motor runner 38 and move horizontally crawler belt runner 39 and strain, make to move horizontally crawler belt 40 and move to the left or to the right with the rotation forward or backwards moving horizontally stepper motor runner 38.Stimulating Altitude control stepper motor to be arranged on moves horizontally on crawler belt, can control with moving horizontally crawler belt and move horizontally, and by rotating the height controlling spread effect point.Setting height(from bottom) control connection line on Altitude control stepper motor is stimulated to connect spread effect point.Irritation level mobile controller is for controlling the horizontal level stimulating Altitude control stepper motor.
Stimulate and control line elastic connecting line for connecting boost controller and spread effect point.Use elastic connecting line can when height change, and elastic connecting line is flexible with the height change of spread effect point.Stimulate the solderless wrapped connection of Altitude control connecting line on the rotating disk stimulating Altitude control stepper motor, one connects spread effect point, stimulates Altitude control stepper motor to rotate through Altitude control connecting line forward or backwards and regulates the height connecting spread effect point.
Spread effect point is the concrete installation site of sound, optical, electrical, medicine irritation.Spread effect point has two, can use in pairs during use, also can only with one.By the angle of cursor Angle ambiguity stepper motor regulating rotary swing arm, being regulated the horizontal level stimulating Altitude control stepper motor by irritation level mobile controller, regulating the height of spread effect point spread effect point can be moved to the optional position of fish culture box by stimulating Altitude control stepper motor.
See Fig. 7.Boost controller is by stimulating control single chip computer, communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuit compositions, control single chip computer and communication interface circuit is stimulated to be bi-directionally connected, stimulate control single chip computer to cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits control.Two groups of boost control circuits comprise A group stimulates control and B group to stimulate control, A group stimulates and controls to control the related function module on cursor support arm A arm, by height stepper motor A control circuit, move horizontally stepper motor A control circuit, loading pump A control circuit, sonic stimulation A control circuit, light stimulus A control circuit form.B group stimulates the related function module controlled on cursor support arm B arm, by height stepper motor B control circuit, moves horizontally stepper motor B control circuit, loading pump B control circuit, sonic stimulation B control circuit, light stimulus B control circuit.
See accompanying drawing 8-10.Stimulate control single chip computer for controlling communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, height stepping motor control circuit, moving horizontally stepping motor control circuit, loading pump control circuit, sonic stimulation control circuit, light stimulus control circuit.Communication interface circuit is for stimulating the communication connection between control single chip computer and calculator.Cursor angle stepping motor control circuit controls cursor angle stepper motor under stimulation control single chip computer controls, thus controls the angle of cursor.Electro photoluminescence control circuit controls electro photoluminescence and exports under stimulation control single chip computer controls.Height stepping motor control circuit controls height stepper motor under stimulation control single chip computer controls, by the height of height step motor control spread effect point.Move horizontally stepping motor control circuit level of control under stimulation control single chip computer controls and move stepper motor, by moving horizontally the distance of step motor control stimulation point from cursor central point, the angle in conjunction with cursor can control the plan-position of spread effect point.Cursor angle stepper motor, move horizontally stepper motor, height stepper motor three motors combine the locus that can control stimulation point.
Single-chip microcomputer type selecting in control single chip computer circuit is stimulated to be TI company, MSP430F135.In cursor angle stepping motor control circuit, stepper motor driver M1 selects Leisai Electromechanical Tech. Dev. Co., Ltd., Shenzhen City to produce stepper motor driver, model: DM320C,: stepper motor M2: select Leisai Electromechanical Tech. Dev. Co., Ltd., Shenzhen City to produce stepper motor, model is 35HS01.All stepper motors adopt identical stepping motor control circuit, and in figure, the P1-P8 of each stepping motor control circuit is connected with the universal input/output interface of difference single-chip microcomputer.
Figure 11 is loading pump control circuit figure, and in figure, MG1 is loading pump.Loading pump control circuit controls loading pump work under stimulation control single chip computer controls, and by the control to loading pump, realizes the control to medicine irritation.
In Figure 12, sonic stimulation control circuit controls sonic stimulation signal under stimulation control single chip computer controls.Sound control circuit speech chip UC8 is ISD2560 type, and Taiwan winbond electronics corporation produces, and YU1-YU14 connects single-chip microcomputer input and output pin.
In Figure 13 light stimulus control circuit figure, D1, D2, D3 are respectively red colored lamp, green light, blue lamp.Light stimulus A control circuit and light stimulus B control circuit adopt identical control circuit, and the node R ED in figure, GREEN, BLUE are connected different single-chip microcomputer input pins respectively for light stimulus A and light stimulus B.Light stimulus control circuit controls luminescence that is red, green, blue-light-emitting pipe under stimulating control single chip computer to control.
Figure 14 electro photoluminescence control circuit is circuit for producing high voltage, and this circuit is upset the control of control single chip computer.Stimulate control single chip computer control the connection of circuit for producing high voltage by control relay and cut off the electricity supply, produce high-tension electricity at C3 two ends.C3 two ends produce high-tension electricity and deliver to respectively on the electric stimulation electrode of two spread effect points.
This Fish behavior is utilized to observe and research device is studied with neural, first determine after one or 2 stimulation points are stimulated by one or more in sound, optical, electrical, drug regimen, fish is three-dimensional coordinate position in fish culture box, then according to the three-dimensional coordinate of fish, carry out the three-dimensional computations of Fish behavior, computational analysis to Fish behavior, in conjunction with fish behavioural analysis so that carry out the research of fish nerve.
See accompanying drawing 16.
Computer program control flow is: after starting, arranging stimulus type is the multiple stimulation combination such as sound, optical, electrical, medicine, the coordinate of one or two stimulation point is set, according to stimulation circuits such as stimulation combination control sound, optical, electrical, loadings, according to coordinate control cursor Angle ambiguity stepper motor, height stepper motor A, B of one or two stimulation point, horizontal motor A, B; Gather the image of end face video camera and side cameras, the linear equation in the coordinate place water of fish is calculated according to end face camera review, and the straight line of the coordinate of fish in water is defined as DY, according to the plane equation of coordinate in water of side cameras image calculation fish, be EMX by the plane definition of the coordinate of fish in water, calculate the three-dimensional coordinate (Sx of fish according to straight line DY, plane EMX, Sy, Sz), finally carry out the behavioural analysis of fish according to the long coordinate record of fish, terminate.
See accompanying drawing 15.
Set up cartesian coordinate system: the vertical line of the middle of fish culture box is Z axis, is upwards positive direction, middle, fish culture box side and be X-axis with the straight line of lateral vertical, be to the right positive direction, X, Z intersection point is (0,0,0) O point, and crossing the vertical line that O point is plane X OZ is Y-axis, is outwards positive direction, the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at fish box eight angles is respectively: (LL, WW, HH), (LL,-WW, HH), (-LL, WW, HH), (-LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (-LL, WW,-HH), (-LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side cameras camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side cameras is f, photosensitive sensor Pixel Dimensions is nn × nn, the horizontal pixel of end face video camera and side cameras adds up to M, longitudinal sum of all pixels is N, the Y-coordinate of the fish that My calculates for end face video camera, the X-coordinate of the fish that Mx calculates for end face video camera, the Y-coordinate of the fish that Cy calculates for side cameras, the X-coordinate of the fish that Cx calculates for side cameras.
Determine that fish three-dimensional coordinate (Sx, Sy, Sz) in fish culture box carries out in the following manner:
1) the straight line DY at place in water, the position of fish, is determined according to the imager coordinate of fish on end face video camera is taken pictures;
2) the plane EMX at place in water, the position of fish, is determined according to the imager coordinate of fish on side cameras is taken pictures;
3), according to unique intersection point of straight line DY and plane EMX, the three-dimensional coordinate position of fish in fish culture box (Sx, Sy, Sz) is found.
Three-dimensional computations has following process: 1) install and calibration camera, 2) take pictures, 3) calculate fish take a picture on imager coordinate, 4) straight line at place in water, the position of fish is determined according to the imager coordinate of fish on end face video camera is taken pictures, 5) take pictures according to side cameras on imager coordinate determine the plane at place in water, the position of fish, 6) determine that the straight line at place in water, the position of fish and side cameras determine that the intersection point of the position of fish plane at place in water determines the coordinate of fish according to end face video camera.
Determine that the process of the straight line of the position of fish in water is according to the imager coordinate of fish on end face video camera is taken pictures:
Make the X-coordinate FX=(Mx-M/2 that pass straight through end face water surface point of the position of fish in water) × nn × CH/f,
The Y-coordinate FY=(My-N/2 that pass straight through end face water surface point of position in water of fish) × nn × CH/f,
The point of coordinate (FX, FY, HH) is the corresponding points of fish place straight line in Z=HH plane, is designated as a DM, and the plane that order point DM and Z axis determine is DMZ; Plane DMZ crosses DM point be parallel to Z axis and do straight line, make it be straight line DL, cross and put DM and straight line DL negative direction is straight line DY, make the angle of straight line line DY and straight line DL negative direction to be
Determine that fish is on straight line DY;
Determine that according to the imager coordinate of fish on side cameras is taken pictures the process of the plane at the place, position of fish is: be: make EY=(Cx-M/2) × nn × CH/f, EZ=(Cy-N/2) × nn × CH/f point (LL, EY, EZ) for fish is in the corresponding points of X=LL plane, be designated as an EM, the plane that order point EM and X-axis determine is face EMX, determines that plane EMX is the plane at the place, position of fish;
Determine that the three-dimensional coordinate of fish determines after cartesian coordinate system is set up: straight line DY and plane EMX exists a unique intersection point, this intersection point is exactly the physical location of fish, calculates the coordinate of this intersection point according to the equation of straight line DY and the equation of plane EMX, if it is: (Sx, Sy, Sz);
The process of installing also calibration camera is:
End face video camera is arranged on Z axis, and end face video camera imaging photosensitive sensor is vertical with Z axis, Z axis through end face photosensitive sensor centre, the both sides of end face photosensitive sensor respectively with X-axis, Y-axis is parallel;
Side cameras is arranged in X-axis, and side cameras imaging photosensitive sensor is vertical with X-axis, and X-axis is through side photosensitive sensor centre, and the both sides of side photosensitive sensor are parallel with Y-axis, Z axis respectively;
If the length of fish box is 2LL, wide is 2WW, height is 2HH, then the coordinate at fish box eight angles is respectively: (LL, WW, HH), (LL,-WW, HH), (-LL, WW, HH), (-LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (-LL, WW,-HH), (-LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side cameras camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side cameras is f, photosensitive sensor Pixel Dimensions is nn × nn, the horizontal pixel of end face video camera and side cameras adds up to M, longitudinal sum of all pixels is N,
Take pictures is carry out in the following manner: arranging end face and side cameras working method is respectively that M-JPEG mode is carried out shooting and taken pictures, 25 frames per second;
Calculate fish take a picture on imager coordinate be according to carrying out as follows: calculate fish take a picture on imager coordinate be respectively following computing is carried out to end face video camera and side cameras photo:
1) photo is converted to grayscale format,
2) experiment test goes out the brightness higher than fish, is less than the binaryzation threshold value of the waters brightness not having fish,
3) carry out binaryzation calculating by binaryzation threshold value to picture, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of 3 × 3 is adopted to carry out open and close operator to image,
5) system point of 3 × 3 is adopted to carry out repeatedly erosion operation to image, until do not get the pixel of 1 in image,
6) last is selected to have the picture of the pixel of 1, with the pixel of photo for coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y-coordinate, and the pixel of turning right sorts as X-coordinate successively, calculate and allly get the Y-coordinate of the pixel of 1 and the mean value of X-coordinate, the mean value of end face video camera Y-coordinate and X-coordinate is designated as My, Mx, the Y-coordinate of the fish that My calculates for end face video camera, the X-coordinate of the fish that Mx calculates for end face video camera; The mean value of side cameras Y-coordinate and X-coordinate is designated as Cy, the Y-coordinate of the fish that Cx, Cy calculate for side cameras, the X-coordinate of the fish that Cx calculates for side cameras.
: in certain moment that get the fish coordinate of 2 frames before this moment as starting point, after this moment, the fish coordinate of 2 frames is as terminal to Fish behavior process of calculation analysis; Starting point and terminal are connected into straight line, according to the length Lx of starting point, terminal point coordinate calculated line and angle θ in a coordinate system; If sampled images per second is fx frame, then the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; Calculate the turning to of fish according to angle θ and the relation of time, float, the action in each moment such as sinking; According to the turning to of the action speed in each moment and each moment, float, the behavior such as sinking, analytic statistics various actions performance data, carries out the behavioural analysis of fish.
Claims (10)
1. a Fish behavior is observed and research device with neural, comprise fish culture box, calculator, it is characterized in that: in the side of fish culture box (1), side cameras (2) is installed, at the opposite side of fish culture box, mounting bracket (8) is set, mounting bracket is inverted L shape, the above is a platform, there is a supporting bracket (32) side, on mounting bracket (8), just end face video camera (11) is installed to the end face of fish culture box, at mounting bracket (8) upper installation constant stimulus controller (6), cursor Angle ambiguity stepper motor (7), cursor, cursor fixed support,
Two cursor support arm A arm (29-1) and symmetrical two the irritation level mobile controller (13-1 of the upper installation of cursor support arm B arm (29-2) in the left and right of cursor (9), 13-2), horizontally moving device is installed two respectively and stimulates Altitude control stepper motor (12-1, 12-2), stimulate Altitude control stepper motor (12-1, Altitude control connecting line (15-1 is connected with 12-2), 15-2), Altitude control connecting line (15-1, 15-2) connect two the spread effect point (16-1 in left and right respectively, 16-2), two the spread effect points in left and right are respectively provided with one and stimulate combination,
Calculator (4) is connected with calculator line (3) and side cameras (2) by side cameras, be connected with calculator line (17) and end face video camera (11) by end face video camera, be connected with computer connection wire (5) and boost controller (6) by boost controller;
Be provided with to stimulate between boost controller and spread effect point (16-1,16-2) and control line (14-1,14-2).
2. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: described boost controller (6) is by stimulation control single chip computer, communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuit compositions, control single chip computer and communication interface circuit is stimulated to be bi-directionally connected, stimulate control single chip computer to cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits control; Two groups of boost control circuits comprise A group to stimulate and to control and B group stimulates and controls, A group stimulation control by height stepper motor A control circuit, move horizontally stepper motor A control circuit, loading pump A control circuit, sonic stimulation A control circuit, light stimulus A control circuit form; B group stimulate control by height stepper motor B control circuit, move horizontally stepper motor B control circuit, loading pump B control circuit, sonic stimulation B control circuit, light stimulus B control circuit form.
3. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: described cursor (9) installs connecting hole (28) by cursor toothed disc (27), cursor from top to bottom and cursor support arm forms, cursor toothed disc (27), cursor install connecting hole (28) and cursor support arm integrated connection, cursor installs the middle position that connecting hole (28) is in cursor support arm and cursor toothed disc, upper end connection of rotating arm gear dish, lower end connection of rotating arm support arm; Cursor support arm is divided into symmetrical cursor support arm A arm (29-1) and cursor support arm B arm (29-2); Cursor toothed disc (27) engages with the Angle ambiguity gear (30) be arranged on cursor Angle ambiguity stepper motor (7), and cursor (9) is installed connecting hole (28) by cursor fixed support (10) through cursor and is installed on mounting bracket (8);
Described cursor fixed support (10) is the tubular construction of the outer silk screw thread (35) of band, cursor supporting surface (34) is connected with in the below of tubular construction, end face video camera installing hole (36) is had at the middle body of tubular construction, cursor fixed support installs connecting hole (28) through cursor, cursor is supported on cursor supporting surface (34), be provided with cursor fixed support in the upper outer of tubular construction and outer silk screw thread (35) is installed, the cursor fixed support that cursor fixed support installs outer silk screw thread (35) and mounting bracket (8) is installed internal thread screw thread (33) and is fastenedly connected and is fixed on mounting bracket (8).
4. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: described irritation level mobile controller comprises and moves horizontally stepper motor runner (38), moves horizontally crawler belt runner (39), moves horizontally crawler belt (40), moves horizontally stepper motor (41), moves horizontally crawler belt runner support (42), move horizontally stepper motor (41), moving horizontally crawler belt runner support (42) is arranged on cursor support arm, move horizontally stepper motor runner (38) to be fixed on and to move horizontally on stepper motor (41), the two ends moving horizontally crawler belt (40) are arranged on and move horizontally stepper motor runner (38) and move horizontally on crawler belt runner (39), and be moved horizontally stepper motor runner (38) and move horizontally crawler belt runner (39) tension, move horizontally crawler belt (40) to move to the left or to the right with the rotation forward or backwards moving horizontally stepper motor runner (38),
Describedly on horizontally moving device, install two stimulate Altitude control stepper motor (12-1,12-2), refer to stimulate Altitude control stepper motor to be arranged on two the irritation level mobile controllers (13-1,13-2) in left and right respectively move horizontally on crawler belt; Altitude control stepper motor upper end is stimulated to be provided with Altitude control runner (43), one end of Altitude control connecting line (15-1,15-2) is connected on Altitude control runner (43), and the other end connects spread effect point (16).
5. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: it is spring connecting line that described stimulation controls line (14), be the combination of multiple line, comprise the grug transportation tube line of Sound stimulat connecting line, light stimulus linking number, electro photoluminescence connecting line, loading pump;
Described stimulation combination comprises sound, optical, electrical, medicine irritation, spread effect point is installed the loudspeaker of Sound stimulat, the lamp of light stimulus, stimulating electrode, the outlet of grug transportation tube; Described light stimulus comprises ruddiness, blue light, green glow stimulation, is respectively arranged with red colored lamp, blue lamp and green light in described light stimulus A control circuit and light stimulus B control circuit; Water-proofing treatment is done in the output of sound, light stimulus.
6. a Fish behavior is observed and research method with neural, it is characterized in that: carry out under computer program controls, first determine after one or two stimulation point is stimulated by one or more in sound, optical, electrical, drug regimen, fish is three-dimensional coordinate position in fish culture box, then according to the three-dimensional coordinate of fish, carry out the three-dimensional computations of Fish behavior, computational analysis to Fish behavior, in conjunction with fish behavioural analysis so that carry out the research of fish nerve;
Computer program control flow is: after starting, arranging stimulus type is sound, optical, electrical, the multiple stimulation combination of medicine, the coordinate of one or two stimulation point is set, according to stimulation combination control sound, optical, electrical, loading stimulation circuit, according to coordinate control cursor Angle ambiguity stepper motor, height stepper motor A, B of one or two stimulation point, horizontal motor A, B; Gather the image of end face video camera and side cameras, the linear equation in the coordinate place water of fish is calculated according to end face camera review, and the straight line of the coordinate of fish in water is defined as DY, according to the plane equation of coordinate in water of side cameras image calculation fish, be EMX by the plane definition of the coordinate of fish in water, calculate the three-dimensional coordinate (Sx of fish according to straight line DY, plane EMX, Sy, Sz), finally carry out the behavioural analysis of fish according to the long coordinate record of fish, terminate;
Describedly determine that fish three-dimensional coordinate (Sx, Sy, Sz) in fish culture box carries out in the following manner:
1) the straight line DY at place in water, the position of fish, is determined according to the imager coordinate of fish on end face video camera is taken pictures;
2) the plane EMX at place in water, the position of fish, is determined according to the imager coordinate of fish on side cameras is taken pictures;
3), according to unique intersection point of straight line DY and plane EMX, the three-dimensional coordinate position of fish in fish culture box (Sx, Sy, Sz) is found.
7. Fish behavior as claimed in claim 6 is observed and research method with neural, it is characterized in that: described three-dimensional computations has following process: 1) install and calibration camera, 2) take pictures, 3) calculate fish take a picture on imager coordinate, 4) straight line at place in water, the position of fish is determined according to the imager coordinate of fish on end face video camera is taken pictures, 5) take pictures according to side cameras on imager coordinate determine the plane at place in water, the position of fish, 6) determine that the straight line at place in water, the position of fish and side cameras determine that the intersection point of the position of fish plane at place in water determines the coordinate of fish according to end face video camera.
8. Fish behavior as claimed in claim 6 is observed and research method with neural, it is characterized in that: describedly determine that the process of the straight line of the position of fish in water is according to the imager coordinate of fish on end face video camera is taken pictures:
Make X-coordinate FX=(Mx-M/2) × nn × CH/f that pass straight through end face water surface point of the position of fish in water,
Y-coordinate FY=(My-N/2) × nn × CH/f that pass straight through end face water surface point of position in water of fish,
The point of coordinate (FX, FY, HH) is the corresponding points of fish place straight line in Z=HH plane, is designated as a DM, and the plane that order point DM and Z axis determine is DMZ; Plane DMZ crosses DM point be parallel to Z axis and do straight line, make it be straight line DL, cross and put DM and straight line DL negative direction is straight line DY, make the angle of straight line DY and straight line DL negative direction to be
Determine that fish is on straight line DY;
Describedly determine that according to the imager coordinate of fish on side cameras is taken pictures the process of the plane at the place, position of fish is: make EY=(Cx-M/2) × nn × CH/f, EZ=(Cy-N/2) × nn × CH/f, point (LL, EY, EZ) for fish is in the corresponding points of X=LL plane, be designated as an EM, the plane that order point EM and X-axis determine is face EMX, determines that plane EMX is the plane at the place, position of fish;
Described determine the three-dimensional coordinate of fish be cartesian coordinate system set up after determine: there is a unique intersection point in straight line DY and plane EMX, this intersection point is exactly the physical location of fish, the coordinate of this intersection point is calculated according to the equation of straight line DY and the equation of plane EMX, if it is: (Sx, Sy, Sz);
The foundation of described cartesian coordinate system is: the vertical line of the middle of fish culture box is Z axis, is upwards positive direction, middle, fish culture box side and be X-axis with the straight line of lateral vertical, be to the right positive direction, X, Z intersection point is (0,0,0) O point, and crossing the vertical line that O point is plane X OZ is Y-axis, is outwards positive direction, the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at fish box eight angles is respectively: (LL, WW, HH), (LL,-WW, HH), (-LL, WW, HH), (-LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (-LL, WW,-HH), (-LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side cameras camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side cameras is f, photosensitive sensor Pixel Dimensions is nn × nn, the horizontal pixel of end face video camera and side cameras adds up to M, longitudinal sum of all pixels is N, the Y-coordinate of the fish that My calculates for end face video camera, the X-coordinate of the fish that Mx calculates for end face video camera, the Y-coordinate of the fish that Cy calculates for side cameras, the X-coordinate of the fish that Cx calculates for side cameras,
The coordinate of video camera is: with the pixel of photo for coordinate unit, and the upper left corner is (0,0) coordinate, and pixel down sorts successively as Y-coordinate, and the pixel of turning right sorts successively as X-coordinate.
9. Fish behavior as claimed in claim 7 is observed and research method with neural, it is characterized in that: described installation the process of calibration camera are:
End face video camera is arranged on Z axis, and end face video camera imaging photosensitive sensor is vertical with Z axis, Z axis through end face photosensitive sensor centre, the both sides of end face photosensitive sensor respectively with X-axis, Y-axis is parallel;
Side cameras is arranged in X-axis, and side cameras imaging photosensitive sensor is vertical with X-axis, and X-axis is through side photosensitive sensor centre, and the both sides of side photosensitive sensor are parallel with Y-axis, Z axis respectively;
If the length of fish box is 2LL, wide is 2WW, height is 2HH, then the coordinate at fish box eight angles is respectively: (LL, WW, HH), (LL,-WW, HH), (-LL, WW, HH), (-LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (-LL, WW,-HH), (-LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side cameras camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side cameras is f, photosensitive sensor Pixel Dimensions is nn × nn, the horizontal pixel of end face video camera and side cameras adds up to M, longitudinal sum of all pixels is N,
Described taking pictures is carried out in the following manner: arranging end face and side cameras working method is respectively that M-JPEG mode is carried out shooting and taken pictures, 25 frames per second;
Described calculating fish take a picture on imager coordinate be according to carrying out as follows: calculate fish take a picture on imager coordinate be respectively following computing is carried out to end face video camera and side cameras photo:
1) photo is converted to grayscale format,
2) experiment test goes out the brightness higher than fish, is less than the binaryzation threshold value of the waters brightness not having fish,
3) carry out binaryzation calculating by binaryzation threshold value to picture, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of 3 × 3 is adopted to carry out open and close operator to image,
5) system point of 3 × 3 is adopted to carry out repeatedly erosion operation to image, until do not get the pixel of 1 in image,
6) last is selected to have the picture of the pixel of 1, with the pixel of photo for coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y-coordinate, and the pixel of turning right sorts as X-coordinate successively, calculate and allly get the Y-coordinate of the pixel of 1 and the mean value of X-coordinate, the mean value of end face video camera Y-coordinate and X-coordinate is designated as My, Mx, the Y-coordinate of the fish that My calculates for end face video camera, the X-coordinate of the fish that Mx calculates for end face video camera; The mean value of side cameras Y-coordinate and X-coordinate is designated as Cy, the Y-coordinate of the fish that Cx, Cy calculate for side cameras, the X-coordinate of the fish that Cx calculates for side cameras.
10. Fish behavior as claimed in claim 6 is observed and research method with neural, it is characterized in that: describedly to Fish behavior process of calculation analysis be: in certain moment, and get the fish coordinate of 2 frames before this moment as starting point, after this moment, the fish coordinate of 2 frames is as terminal; Starting point and terminal are connected into straight line, according to the length Lx of starting point, terminal point coordinate calculated line and angle θ in a coordinate system; If sampled images per second is fx frame, then the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; Calculate the turning to of fish according to angle θ and the relation of time, float, the action in each moment of sinking; According to the turning to of the action speed in each moment and each moment, float, sinking behavior, analytic statistics various actions performance data, carries out the behavioural analysis of fish.
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| WO2019121854A1 (en) * | 2017-12-20 | 2019-06-27 | Intervet International B.V. | Method and system for external fish parasite monitoring in aquaculture |
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| CN113040084B (en) * | 2021-03-23 | 2022-10-14 | 武汉大学 | Experimental device for analyzing influence of current field in water on fish behaviors |
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