CN103766257A - Fish vision and temperature response research device and method - Google Patents
Fish vision and temperature response research device and method Download PDFInfo
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- CN103766257A CN103766257A CN201410030766.4A CN201410030766A CN103766257A CN 103766257 A CN103766257 A CN 103766257A CN 201410030766 A CN201410030766 A CN 201410030766A CN 103766257 A CN103766257 A CN 103766257A
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Abstract
The invention discloses a fish vision and temperature response research device and method. A fish tank is arranged in a display combined surface which is consistent with the appearance of the fish tank, and a left camera, a right camera and an adjustable light source are vertically downwards arranged right above the fish tank. A video stimulation image is created on a display device, the brightness of the display device is controlled, and the temperature is controlled in a way that a resistance wire is used for heating, and cold water is used for reducing the temperature. A chemical storage controller is used for controlling the chemical charging. The fish vision and temperature response research device is controlled by a control circuit board comprising a system control microprocessor, a display device control circuit, a heating control circuit, a refrigerating control circuit, a chemical charging control circuit and a brightness control circuit. A luminescence sensor and a waterproof temperature sensor are used for transmitting data, and a data collection and analysis server is connected with the two cameras and the control circuit board. Under the program control, fish three-dimensional image coordinate data is collected, analyzed and researched under a fish tank three-dimensional coordinate system. By adopting the fish vision and temperature response research device, the behavior of the fish can be widely and further researched, and an important significance on researching the life science can be realized.
Description
One, affiliated field
The present invention relates to animal life scientific domain, belong to animal behavior research category, specifically fish are widely used in various physiology, pharmacology and the other diseases such as tumour, angiocardiopathy, ophthalmology disease, nervous system and the research for the treatment of mechanism 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.
Two, background technology
Fish are widely used in various physiology, pharmacology and the other diseases such as tumour, angiocardiopathy, ophthalmology disease, nervous system and the research for the treatment of mechanism in life science research.Fish vision and temperature-responsive research are of great importance to the mankind.Chinese patent 201120049737.4 " zebra fish behavior inducing device " has been announced eye movement reaction and the optomotor response behaviouristics data analysis system of a kind of zebra fish.Chinese patent 201210064120.9 " oceanic pasture fish vocal behavior controller " announced a kind of at oceanic pasture to fish vocal behavior control system.Chinese patent 201120237172.2 " a kind of inducing device of pet fish swimming behavior " has been announced a kind of pet fish swimming behavior inducing device.Chinese patent 201210100988.X " a kind of be applicable to research small fishes become the ethological device of light " has announced a kind of small fishes and has driven the ethological research device of light.More than invention has all only related to the research of certain single behavior of fish, and the limitation of research is larger, does not all record the three-dimensional behavior of fish and response, particularly vision to environment and the response of temperature.
Three, summary of the invention
The object of the invention is Fish behavior more to have the research of breadth and depth, particularly fish visual behaviour and the response to thermotonus.Use the present invention, can researching fish to the behavior of varying environment visual stimulus with react, can the reaction of researching fish to varying environment thermal stimulus behavior, can the composite reaction of researching fish to environmental temperature and environment vision, for the neural research of fish provides research equipment.
The object of the invention is to reach like this: fish vision and temperature-responsive research device comprise fish culture box, data collection and analysis server, control circuit board, demonstration combinatorial surface, video camera, tunable light source, illuminance transducer, temperature sensor and resistance wire.Fish culture box is opened top, and other faces are transparent, sealing, fluid-tight rectangle, and fish culture box is placed in the demonstration combinatorial surface that profile is consistent, shows that combinatorial surface is made up of surrounding and 5 of bottom surfaces display, and display screen is just in the face of the region of interest of fish culture box.
Fish culture box top inward flange device one encloses cold water pipe and a circle chemical feed pipe, cold water pipe and chemical feed pipe are evenly opened some apertures down, cold water pipe is connected with cold water store controller, medicine store controller respectively with chemical feed pipe, and cold water store controller and medicine store controller are arranged on top, fish culture box outside.
An illuminance transducer is installed at edge, fish culture box top, in the same position on four every limits of perpendicular edge of fish culture box, two anti-water temperature sensors is installed, wherein four are positioned at the position slightly lower than the water surface, and all the other four are positioned at fish culture box near basal surface position.At the bottom of fish culture box, around bottom surface one circle, the resistance wire through water-proofing treatment is set, the length of resistance wire and wide length with inside fish culture box and wide consistent.
Two video cameras in left and right are set directly over fish culture box, and two video cameras vertically downward, are arranged in the axial plane top, symmetrical on the Centromedian vertical line of fish culture box both sides of fish culture box left and right directions; Centre at two video cameras in left and right arranges tunable light source.
Control circuit board is arranged on the outside of fish culture box, with resistance wire, temperature sensor, cold water store controller, medicine store controller, tunable light source, illuminance transducer, shows that each display of combinatorial surface connects.Data wire on data collection and analysis server connects respectively two video cameras and control circuit board.
Described control circuit board by system control microprocessor, display control circuit, add temperature control circuit, refrigeration control circuit, dosing control circuit, intednsity circuit and form; Display control circuit is connected with display, adding temperature control circuit is connected with resistance wire, refrigeration control circuit is connected with cold water store controller, dosing control circuit is connected with medicine store controller, intednsity circuit is connected with tunable light source, respectively display, resistance wire, cold water store controller, medicine store controller and tunable light source is controlled; Receive the data of 8 temperature sensors and 1 illuminance transducer simultaneously.
Described demonstration combinatorial surface is made up of 5 displays, lays respectively at both sides, front, back, the bottom surface of fish culture box, is called front display, back display, the right display, left side display, bottom surface display.The length of the right display, left side display and be widely slightly larger than the wide and high of fish culture box outside, the length of front display, back display and wide length and the height that is slightly larger than fish culture box outside, the length of bottom surface display and the wide length that is slightly larger than fish culture box and wide; Each display has corresponding display control circuit.
The described temperature control circuit that adds is control relay circuit; Control relay circuit one end is connected to system control microprocessor, and the other end is connected to resistance wire.
The control of described brightness circuit is: tunable light source is multiple light emitting diodes, and the digital potentiometer of connecting on each light emitting diode regulates the brightness of light emitting diode by controlling digital potentiometer resistance value or the luminous quantity of luminous tube.
Described display control circuit is controlled microprocessor and is shown that output control circuit forms by showing; Show and control micro-ARM control circuit that is treated to, display output control circuit is connected with display.
Described refrigeration control circuit is the control that the frozen water to storing in the fluid reservoir in cold water store controller flows into fish culture box, and described dosing control circuit is the control that the liquid medicine to storing in fluid reservoir in medicine store controller flows into fish culture box.
Described cold water store controller, containing fluid reservoir, infusion pump and liquid output pump, connects liquid input tube at the front end of infusion pump, and rear end connects fluid reservoir, is provided with liquid output pipe entrance at the front end of liquid output pump, and rear end connects liquid output pipe.
Described medicine store controller, containing fluid reservoir, infusion pump and liquid output pump, connects liquid input tube at the front end of infusion pump, and rear end connects fluid reservoir, is provided with liquid output pipe entrance at the front end of liquid output pump, and rear end connects liquid output pipe.In the fluid reservoir of cold water store controller, store frozen water, storage of pharmaceutical in the fluid reservoir of medicine store controller.
In the time carrying out fish research, fish is placed in to the fish culture box of fish vision and temperature-responsive research device, setting demonstrates front display, back display, the right display, the left side display of combinatorial surface work, the display of video content of bottom surface display, builds a kind of ambient image and to fish visual stimulus image; Brightness, temperature, chemical feeding quantity are set; Take fish culture box water surface centre as the origin of coordinates, set up three-dimensional cartesian coordinate system; Adjust two video cameras that arrange directly over fish culture box, make video camera vertically downward, video camera sensitization plane is parallel with the fish culture box water surface; Data collection and analysis server, according to the program of setting, arranges control circuit board by system control microprocessor and carries out corresponding brightness, temperature, dosing control according to brightness, temperature, the chemical feeding quantity set; Video camera is taken the view data in set environment, the video data of data collection and analysis collection of server video camera; The three-dimensional imaging coordinate that calculates and store fish position according to video data, carries out the correlative study of the respondent behavior of fish to environment vision and temperature.
The described display of video content that front display, back display, the right display, left side display, bottom surface display are set comprises following aspect:
A, front display, back display, the right display, left side display, bottom surface display show a kind of ambient image, and select certain to stimulate figure on each display, to move in every way;
The variation of B, ambient image;
C, the striped of various width and color is set, conversion and the movement of design striped;
D, divide into the demonstration of putting the food of fish or the various actions video of natural enemy at diversity of settings environment figure.
Described take fish culture box water surface centre as the origin of coordinates, the detailed process of setting up three-dimensional cartesian coordinate system is:
Take fish culture box water surface centre as origin of coordinates O (0,0,0); The vertical line of the middle of fish culture box is Z axis, is upwards positive direction; The left and right directions of fish culture box is X-axis, is positive direction to right; Fish culture box fore-and-aft direction is Y-axis, and forward direction is positive direction;
If the lens focus of left side video camera and the right video camera is f, photosensitive sensor Pixel Dimensions is nn × nn, and the horizontal pixel of left side video camera and the right video camera adds up to M, and longitudinally sum of all pixels is N;
The imager coordinate that described video camera is taken pictures is: take the pixel of photo as 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.
Described calculating fish the imager coordinate on taking a picture be according to carrying out as follows: calculate fish the imager coordinate on taking a picture be respectively left side video camera and the right video camera photo to be carried out to following computing:
1) according to the ambient image of 5 displays of set environment displaying contents filtering of 5 known display screens, the picture filtering after ambient image is converted to gray scale form,
2) experiment test goes out the brightness higher than fish, and be less than and there is no the binaryzation of the waters of fish brightness threshold value,
3) by binaryzation threshold value, picture is carried out to binaryzation calculating, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of employing 3 × 3 carries out open and close computing to image,
5) system point of employing 3 × 3 carries out repeatedly erosion operation to image, until in image, do not get 1 pixel,
6) select last to have the picture of 1 pixel, take the pixel of photo as coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate, calculate the Y coordinate of all pixels of getting 1 and the mean value of X coordinate, the mean value of the right video camera Y coordinate and X coordinate is designated as to Ry, Rx, and Ry is the Y coordinate of the right fish of calculating of video camera, the X coordinate of the fish that Rx calculates for the right video camera; The mean value of left side video camera Y coordinate and X coordinate is designated as to Ly, Lx, the Y coordinate of the fish that Ly calculates for left side video camera, the X coordinate of the fish that Lx calculates for left side video camera.
Video camera vertically downward, video camera sensitization plane is parallel with the fish culture box water surface, be arranged in XOZ plane take Z axis as symmetry axis symmetry, and the camera lens of left side video camera is positioned at L point, establishes its optical center coordinate to be: (c, 0, h), cross L and make a line vertical with plane X OY, hand over X-axis in A point; The camera lens of the right video camera is positioned at R point, establishes its optical center coordinate and is: (c, 0, h), cross R and make a line vertical with plane X OY, hand over X-axis in B point; C is the distance that project to the origin of coordinates of camera lens center at plane X OY, and h is the height of camera lens apart from the water surface.
The three-dimensional imaging coordinate that calculates and store fish position according to video data carries out in accordance with the following steps:
A, straight line according to the fish position that the imager coordinate of video camera on taking pictures determined fish on the right in water:
Make DX=(Rx-M/2) × nn × h/f, DY=(Ry-N/2) × nn × h/f; Point (DX+c, DY, 0) is the intersection point of fish place straight line and Z=0 plane, is designated as a N, and the plane that order point N and straight line RB determine is RBN; On plane RBN, cross N point and be parallel to straight line RB and do straight line, making it is straight line NK, and mistake N point and straight line NR negative direction are straight line NC, make the angle of straight line NC and straight line NK negative direction be
fish is on straight line NC;
B, imager coordinate on taking pictures according to left side video camera are determined the plane at the place, position of fish:
Make EX=(Lx-M/2) × nn × h/f, EY=(Ly-M/2) × nn × h/f, point (EX-c, EY, 0) is the intersection point of fish place straight line and Z=0 plane, is designated as a M, the plane that order point M and straight line LA determine is face LAM;
C, determine the coordinate points of fish: straight line NC and plane LAM exist a unique intersection point, and this intersection point is exactly the physical location of fish; Calculate the coordinate of this intersection point according to the equation of the equation of straight line NC and plane LAM, establish it and be: (Sx, Sy, Sz);
The described correlative study of carrying out the respondent behavior of fish to environment vision and temperature:
Carve at a time, get the fish coordinate of front 2 frames of this moment as starting point, establish its coordinate for (Xs, Ys, Zs), after this moment, the fish coordinate of 2 frames, as terminal, is established its coordinate for (Xe, Ye, Ze); Starting point and terminal are connected into straight line, the angle beta that the angle [alpha] that length L x that can calculated line according to starting point, terminal point coordinate and the sign left and right directions in coordinate system move and above-below direction move;
If sampled images per second is fx frame, the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; Can know the parade direction of fish according to angle [alpha], β, according to α, β, the time is got to the actions such as differential can calculate the turning to of fish, floats, sinking, according to the turning to of action speed, route and each moment in each moment, float, the behavior such as sinking, analysis need to be added up various actions performance data, carries out the behavioural analysis of fish.
Described data collection and analysis server is according to the program of setting, and the programme-control of carrying out corresponding brightness, temperature, dosing control according to brightness, temperature, the chemical feeding quantity set by microprocessor control circuit plate is divided into data collection and analysis server controls program and system control microprocessor control program;
Data collection and analysis server controls program is:
Start, the first step, arranges brightness, and set temperature arranges chemical feeding quantity, and the display of video content of front display, back display, the right display, left side display, bottom surface display is set; Second step, calculates administration timing of drug according to chemical feeding quantity; Data are passed to system control microprocessor by the 3rd step; The 4th step, receiving system control microprocessor environment has been adjusted signal; The 5th step, gathers and stored video signal; The 6th step, calculates and stores the three-dimensional coordinate of fish position according to video data; The 7th step, carries out the behavioural analysis of fish, finishes;
System control microprocessor control flow is:
Start, the first step, arranges upper and lower bound, the upper and lower bound of illumination, medication amount, the display contents of water temperature; Second step, calculates administration timing of drug according to medication amount; The 3rd step, controls medicine store controller and adds appropriate medicine; The 4th step, according to the displaying contents of 5 display control circuits of display contents control; The 5th step, reads illuminance transducer illumination data; Does the 6th step, judge that illumination is greater than the upper limit? be, reduce the luminous number of luminous tube of tunable light source or the resistance value of the digital potentiometer that increase is connected with light emitting diode, return to the 5th step; Does no, the 7th step, judge that illumination is less than lower limit? that the resistance value of the digital potentiometer that the increase luminous number of tunable light source luminous tube or reduction are connected with light emitting diode, returns to the 5th step; No, the 8th step, reads 8 temperature sensor temperature datas; The 9th step, searches the maximum temperature data Tmax of temperature sensor senses, searches the minimum temperature data Tmix of temperature sensor senses; The tenth step, judges Tmax-Tmix>1 degree, is, waits for 1 minute, returns to the 8th step; Does no, the 11 step, judge the Tmax> water temperature upper limit? be, control cold water store controller with frozen water, return to the 8th step; Does no, the 12 step, judge Tmin< water temperature lower limit? that the heating of controlling resistance silk, returns to the 8th step; No, the 13 step, the image of collection left side video camera and the right video camera; The 14 step, according to the right camera review calculated line NC equation; The 15 step, according to the equation of the image calculation plane LAM of left side video camera; The 16 step, according to the coordinate (Sz, Sy, Sz) of straight line NC, plane LAM calculating fish; The 17 step, carries out the behavioural analysis of fish according to the long coordinate record of fish, finishes.
Good effect of the present invention is:
1, adopt this research device, can more have to Fish behavior research, particularly fish visual behaviour and the response to thermotonus of breadth and depth.Use the present invention, can researching fish to the behavior of varying environment visual stimulus with react, can the reaction of researching fish to varying environment thermal stimulus behavior, can the composite reaction of researching fish to environmental temperature and environment vision, human life's scientific research is had to significant role.
2, apparatus structure of the present invention is simple, practical, very easy to use, for the neural research of fish provides a kind of exercisable research equipment.
3, make to computerized control and data processing, the control of medicine, ambient humidity, light and temperature is meticulous accurately, and result of study is reliable, has more practical function.
4, data-handling efficiency is high, simple to operate.
Four, accompanying drawing explanation
Fig. 1 is these fish vision and temperature-responsive research device overall structure schematic diagram.
Fig. 2 is fish culture box structural representation.
Fig. 3 shows combinatorial surface structural representation.
Fig. 4 is control circuit board structured flowchart.
Fig. 5-Figure 11 is system control microprocessor ARM control circuit figure in control circuit board.
Figure 12 is display control circuit structured flowchart.
Figure 13 shows output control circuit figure.
Figure 14 adds temperature control circuit figure.
Figure 15 is control relay circuit figure.
Figure 16 is refrigeration control circuit and dosing control circuit figure.
Figure 17 is tunable light source and intednsity circuit figure.
Figure 18 is refrigeration control and dosing control structure schematic diagram.
Figure 19 is that three-dimensional coordinate calculates schematic diagram.
Figure 20 is data collection and analysis server controls program circuit.
Figure 21 is system control microprocessor control program flow chart.
In figure, 1 data collection and analysis server, 2 control circuit boards, 3 resistance wires, 4 cold water pipes, 5 chemical feed pipes, 6-1, 6-2, 6-3, 6-4, 6-5, 6-6, 6-7, 6-8 is temperature sensor, 7 illuminance transducers, 8-1, 8-2 is video camera, 9 cold water store controllers, 10 medicine store controllers, 11 tunable light sources, 12 show combinatorial surface, 13 fish culture boxes, 14 left side displays, 15 front displays, 16 bottom surfaces show, 17 the right displays, 18 back displays, 19 liquid input tubes, 20 liquid output pipe entrances, 21 liquid output pumps, 22 liquid output pipes, 23 fluid reservoirs, 24 infusion pumps.
Five, embodiment
Referring to accompanying drawing 1,2.
Research device comprises fish culture box 13, data collection and analysis server 1, control circuit board 2, shows combinatorial surface 12, video camera, tunable light source 11, illuminance transducer 7, temperature sensor and resistance wire.Fish culture box is transparent cube fish culture box, can be made by the transparent material such as glass, lucite, and opened top, other face sealings are waterproof.
Fish culture box top edge device one encloses cold water pipe 4 and a circle chemical feed pipe 5.Cold water pipe and chemical feed pipe are evenly opened some apertures down, and for spilling of cold water and liquid medicine, the cold water spilling and medicine flow in fish culture box.An illuminance transducer 7 is installed at edge, fish culture box top, for gathering the brightness of fish culture box.4 perpendicular edge of fish culture box, 2 anti-water temperature sensors are installed on every limit, altogether use eight anti-water temperature sensor 6-1,6-2,6-3,6-4,6-5,6-6,6-7,6-8,4 are positioned at the position slightly lower than the water surface and install for gathering the temperature at 4 angles of the water surface, install other 4 positions that are positioned at bottom surface, for gathering the temperature at 4 angles, bottom surface.Resistance wire 3 encloses around bottom surface one, and in the inner side of fish culture box, resistance wire does waterproofing design bubble at the bottom of fish culture box, its long and wide length with inside fish culture box and wide consistent.Fish culture box is arranged on and shows that in combinatorial surface, four sides of fish culture box contact with the display of demonstration combinatorial surface with bottom surface, and 5 displays that show combinatorial surface can be seen in transparent fish culture box side and bottom surface.Left and right two video camera 8-1,8-2 are set directly over fish culture box, and two video cameras vertically downward, are arranged in the axial plane top, symmetrical on the Centromedian vertical line of fish culture box both sides of fish culture box left and right directions; Centre at two video cameras in left and right arranges tunable light source 11.
Referring to accompanying drawing 3.
Show that combinatorial surface is made up of 5 displays, lay respectively at both sides, front, back, the bottom surface of fish culture box, be called front display, back display, the right display, left side display, bottom surface display.Display panel, towards fish culture box, makes the fish in fish culture box can see displaying contents.The length of the right display, left side display and be widely slightly larger than the wide and high of fish culture box outside, length and the height of growing and be wider than fish culture box outside of front display, back display, the length of bottom surface display and the wide length that is slightly larger than fish culture box and wide.The displaying contents of each display by data collection and analysis server by control circuit board control.
Referring to Fig. 4, Fig. 5-Figure 11.
Control circuit board by system control microprocessor, display control circuit, add temperature control circuit, refrigeration control circuit, dosing control circuit, brilliance control and form.Display control circuit is connected with display, adds temperature control circuit and is connected with resistance wire, and refrigeration control circuit is connected with cold water store controller 9, and dosing control circuit is connected with medicine store controller 10, and intednsity circuit is connected with tunable light source 11.Respectively display, resistance wire, cold water store controller, medicine store controller and tunable light source are controlled; Receive the data of 8 temperature sensors and 1 illuminance transducer simultaneously.
Control circuit board is accepted the order of data processing and Analysis server by system control microprocessor, receive and according to the order of data processing and Analysis server, system is controlled, according to received order to display control circuit, add temperature control circuit, refrigeration control circuit, dosing control circuit, intednsity circuit and control, and receive the data of 8 temperature sensors and 1 illuminance transducer.
Temperature sensor adopts the digital temperature sensor DS18B20 of American Dallas semiconductor company, and its communication interface is connected with the universal input/output interface of system control microprocessor; Digital temperature sensor DS18B20 does waterproofing design while use.
Illuminance transducer adopts the T-10A/T-10MA illuminometer of Mao Di mechanical & electronic equipment corporation, Ltd of Shenzhen, and its communication interface is connected with system control microprocessor general-purpose input/output interface.
System control microprocessor adopts ARM control circuit, and ARM control circuit as shown in Figure 11-Figure 5.In figure,
U10: American ATMEL: AT91RM9200.
U11: Micron Technology company of the U.S.: 48LC4M32.
U16: TaiWan, China Realtek Semiconductor company: RTL8201.J4:RJ45 connector
System control microprocessor uses netting twine to be connected with Analysis server with data processing by J4.
Referring to Figure 12,13.
Each display has corresponding display control circuit, amounts to 5 display control circuits.Display control circuit is controlled microprocessor and is shown that output control circuit forms by showing.Show and control micro-ARM control circuit that is treated to, identical with system control microcontroller circuit structure.Display output control circuit is connected with display, for display provides display.
Show that output control circuit figure is as Figure 13.In figure, chip selection: the Japanese EPSON S1D13506 of company,
MA[0..23 in circuit], MD[0..15] be connected with the parallel interface of display control circuit.
Referring to Figure 14,15.
Adding temperature control circuit is control relay circuit.Whether control relay circuit is connected to system control microprocessor, be connected with disconnection control and heat under the control of system control microprocessor by power supply with resistance wire.
In Figure 15, P1.0, P1.1 is connected to two different universal input/output interfaces of system control microprocessor.U4: the relay HE721C that German HAMLIN company produces.POWER is connected with resistance wire.
Referring to Figure 16.Refrigeration control circuit and dosing control circuit are all the input and output control to liquid, are actually the control to infusion pump and liquid output pump.Circuit is as Figure 16, and in figure, P1.1 is connected with the universal input/output interface of system control microprocessor.The 24th, infusion pump or liquid output pump.
Referring to Figure 17, tunable light source and intednsity circuit figure.
Tunable light source is made up of multiple light emitting diodes, and intednsity circuit is by controlling the brightness of the numerical control current potential adjusting light emitting diode of connecting with light emitting diode, or by increase or reduce light emitting diode luminous come brightness adjusting.Digital potentiometer is selected the X9313 of Xicor company of the U.S.; The communication interface of digital potentiometer is connected with the universal input/output interface of system control microprocessor, and changes resistance under the control of system control microprocessor.
Figure 18 is refrigeration control and dosing control structure schematic diagram.Refrigeration control is identical with the control module of medicine control, all adopt liquid input/output control module, liquid input/output control module structure is as Figure 18, all containing fluid reservoir 23, infusion pump 24 and liquid output pump 21, front end at infusion pump 24 connects liquid input tube 19, rear end connects fluid reservoir 23, is provided with liquid output pipe entrance at the front end of liquid output pump 21, and rear end connects liquid output pipe 22.
In the fluid reservoir of cold water store controller, store frozen water, storage of pharmaceutical in the fluid reservoir of medicine store controller.
Fluid reservoir stores the liquid of input, and the fluid reservoir of refrigeration control stores frozen water, medicine control storage of pharmaceutical.Infusion pump is by the liquid suction liquid input tube of fluid reservoir, and liquid flows into fish culture box by liquid input tube.Liquid input tube is at the edge device of the upper edge of fish culture box fish culture box, and input pipe evenly bores the aperture that several can trickle below.One of liquid output pipe is placed in liquid, and one is connected with liquid output pump input port, and the delivery outlet of liquid output pump connects liquid output pipe.Liquid output pump is identical with the power of infusion pump, and control circuit is identical, and its control circuit is connected with system control microprocessor, under the control of system control microprocessor, and the liquid of control inputs output equivalent respectively.
In the time carrying out the research of fish vision and temperature-responsive, fish is placed in to the fish culture box of fish vision and temperature-responsive research device, arrange and show front display, back display, the right display, the left side display of combinatorial surface work, the display of video content of bottom surface display, build a kind of ambient image and to fish visual stimulus image; Brightness, temperature, chemical feeding quantity are set; Take fish culture box water surface centre as the origin of coordinates, set up three-dimensional cartesian coordinate system; Adjust two video cameras that arrange directly over fish culture box, make video camera vertically downward, sensitization plane is parallel with the fish culture box water surface, data collection and analysis server, according to the program of setting, arranges control circuit board by system control microprocessor and carries out corresponding brightness, temperature, dosing control according to brightness, temperature, the chemical feeding quantity set; Video camera is taken the view data in set environment, the video data of data collection and analysis collection of server video camera; The three-dimensional imaging coordinate that calculates and store fish position according to video data, carries out the correlative study of the respondent behavior of fish to environment vision and temperature.
The display of video content that front display, back display, the right display, left side display, bottom surface display are set comprises following aspect:
A, front display, back display, the right display, left side display, bottom surface display show a kind of ambient image, and select certain to stimulate figure on each display, to move in every way;
The variation of B, ambient image;
C, the striped of various width and color is set, conversion and the movement of design striped;
D, divide into the demonstration of putting the food of fish or the various actions video of natural enemy at diversity of settings environment figure.
Referring to accompanying drawing 19.
Described take fish culture box water surface centre as the origin of coordinates, the detailed process of setting up three-dimensional cartesian coordinate system is:
Take fish culture box water surface centre as origin of coordinates O (0,0,0); The vertical line of the middle of fish culture box is Z axis, is upwards positive direction; The left and right directions of fish culture box is X-axis, is positive direction to right; Fish culture box fore-and-aft direction is Y-axis, and forward direction is positive direction;
If the lens focus of left side video camera and the right video camera is f, photosensitive sensor Pixel Dimensions is nn × nn, and the horizontal pixel of left side video camera and the right video camera adds up to M, and longitudinally sum of all pixels is N;
The coordinate that described video camera is taken pictures is: take the pixel of photo as 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.
Described calculating fish the imager coordinate on taking a picture be according to carrying out as follows: calculate fish the imager coordinate on taking a picture be respectively left side video camera and the right video camera photo to be carried out to following computing:
1) according to the ambient image of 5 displays of set environment displaying contents filtering of 5 known display screens, the picture filtering after ambient image is converted to gray scale form,
2) experiment test goes out the brightness higher than fish, and be less than and there is no the binaryzation of the waters of fish brightness threshold value,
3) by binaryzation threshold value, picture is carried out to binaryzation calculating, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of employing 3 × 3 carries out open and close computing to image,
5) system point of employing 3 × 3 carries out repeatedly erosion operation to image, until in image, do not get 1 pixel,
6) select last to have the picture of 1 pixel, take the pixel of photo as coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate, calculate the Y coordinate of all pixels of getting 1 and the mean value of X coordinate, the mean value of the right video camera Y coordinate and X coordinate is designated as to Ry, Rx, and Ry is the Y coordinate of the right fish of calculating of video camera, the X coordinate of the fish that Rx calculates for the right video camera; The mean value of left side video camera Y coordinate and X coordinate is designated as to Ly, Lx, the Y coordinate of the fish that Ly calculates for left side video camera, the X coordinate of the fish that Lx calculates for left side video camera.
Video camera vertically downward, video camera sensitization plane is parallel with the fish culture box water surface, be arranged in XOZ plane take Z axis as symmetry axis symmetry, and the camera lens of left side video camera is positioned at L point, establishes its optical center coordinate to be: (c, 0, h), cross L and make a line vertical with plane X OY, hand over X-axis in A point; The camera lens of the right video camera is positioned at R point, establishes its optical center coordinate and is: (c, 0, h), cross R and make a line vertical with plane X OY, hand over X-axis in B point; C is the distance that project to the origin of coordinates of camera lens center at plane X OY, and h is the height of camera lens apart from the water surface;
The three-dimensional imaging coordinate that calculates and store fish position according to video data carries out in accordance with the following steps:
A, straight line according to the fish position that the imager coordinate of video camera on taking pictures determined fish on the right in water:
Make DX=(Rx-M/2) × nn × h/f, DY=(Ry-N/2) × nn × h/f; Point (DX+c, DY, 0) is the intersection point of fish place straight line and Z=0 plane, is designated as a N, and the plane that order point N and straight line RB determine is RBN; On plane RBN, cross N point and be parallel to straight line RB and do straight line, making it is straight line NK, and mistake N point and straight line NR negative direction are straight line NC, make the angle of straight line NC and straight line NK negative direction be
fish is on straight line NC;
B, imager coordinate on taking pictures according to left side video camera are determined the plane at the place, position of fish:
Make EX=(Lx-M/2) × nn × h/f, EY=(Ly-M/2) × nn × h/f, point (EX-c, EY, 0) is the intersection point of fish place straight line and Z=0 plane, is designated as a M, the plane that order point M and straight line LA determine is face LAM;
C, determine the coordinate points of fish: straight line NC and plane LAM exist a unique intersection point, and this intersection point is exactly the physical location of fish; Calculate the coordinate of this intersection point according to the equation of the equation of straight line NC and plane LAM, establish it and be: (Sx, Sy, Sz);
The described correlative study of carrying out the respondent behavior of fish to environment vision and temperature:
Carve at a time, get the fish coordinate of front 2 frames of this moment as starting point, establish its coordinate for (Xs, Ys, Zs), after this moment, the fish coordinate of 2 frames, as terminal, is established its coordinate for (Xe, Ye, Ze); Starting point and terminal are connected into straight line, the angle beta that the angle [alpha] that length L x that can calculated line according to starting point, terminal point coordinate and the sign left and right directions in coordinate system move and above-below direction move;
If sampled images per second is fx frame, the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; Can know the parade direction of fish according to angle [alpha], β, according to α, β, the time is got to the actions such as differential can calculate the turning to of fish, floats, sinking, according to the turning to of action speed, route and each moment in each moment, float, the behavior such as sinking, analysis need to be added up various actions performance data, carries out the behavioural analysis of fish.
Referring to accompanying drawing 20,21.
Data collection and analysis server is according to the program of setting, and the programme-control of carrying out corresponding brightness, temperature, dosing control according to brightness, temperature, the chemical feeding quantity set by microprocessor control circuit plate is divided into data collection and analysis server controls program and system control microprocessor control program;
Data collection and analysis server controls program is:
Start, the first step, arranges brightness, and set temperature arranges chemical feeding quantity, and the display of video content of front display, back display, the right display, left side display, bottom surface display is set; Second step, calculates administration timing of drug according to chemical feeding quantity; Data are passed to system control microprocessor by the 3rd step; The 4th step, receiving system control microprocessor environment has been adjusted signal; The 5th step, gathers and stored video signal; The 6th step, calculates and stores the three-dimensional coordinate of fish position according to video data; The 7th step, carries out the behavioural analysis of fish, finishes.
System control microprocessor control flow is:
Start, the first step, arranges upper and lower bound, the upper and lower bound of illumination, medication amount, the display contents of water temperature; Second step, calculates administration timing of drug according to medication amount; The 3rd step, controls medicine store controller and adds appropriate medicine; The 4th step, according to the displaying contents of 5 display control circuits of display contents control; The 5th step, reads illuminance transducer illumination data; Does the 6th step, judge that illumination is greater than the upper limit? be, reduce the luminous number of luminous tube of tunable light source or the resistance value of the digital potentiometer that increase is connected with light emitting diode, return to the 5th step; Does no, the 7th step, judge that illumination is less than lower limit? that the resistance value of the digital potentiometer that the increase luminous number of tunable light source luminous tube or reduction are connected with light emitting diode, returns to the 5th step; No, the 8th step, reads 8 temperature sensor temperature datas; The 9th step, searches the maximum temperature data Tmax of temperature sensor senses, searches the minimum temperature data Tmix of temperature sensor senses; The tenth step, judges Tmax-Tmix>1 degree, is, waits for 1 minute, returns to the 8th step; Does no, the 11 step, judge the Tmax> water temperature upper limit? be, control cold water store controller with frozen water, return to the 8th step; Does no, the 12 step, judge Tmin< water temperature lower limit? that the heating of controlling resistance silk, returns to the 8th step; No, the 13 step, the image of collection left side video camera and the right video camera; The 14 step, according to the right camera review calculated line NC equation; The 15 step, according to the equation of the image calculation plane LAM of left side video camera; The 16 step, according to the coordinate (Sz, Sy, Sz) of straight line NC, plane LAM calculating fish; The 17 step, carries out the behavioural analysis of fish according to the long coordinate record of fish, finishes.
Claims (8)
1. fish vision and a temperature-responsive research device, is characterized in that: research device comprises fish culture box 13, data collection and analysis server (1), control circuit board (2), shows combinatorial surface (12), video camera, tunable light source (11), illuminance transducer (7), temperature sensor and resistance wire (3); Fish culture box is opened top, other faces are transparent, sealing, fluid-tight rectangle, fish culture box (13) is placed in the demonstration combinatorial surface (12) that profile is consistent, shows that combinatorial surface is made up of surrounding and 5 of bottom surfaces display, and display screen is just being faced the region of interest of fish culture box;
Fish culture box top inward flange device one encloses cold water pipe (4) and a circle chemical feed pipe (5), cold water pipe and chemical feed pipe are evenly opened some apertures down, cold water pipe (4) is connected with cold water store controller (9), medicine store controller (10) respectively with chemical feed pipe (5), and cold water store controller (9) and medicine store controller (10) are arranged on top, fish culture box outside;
An illuminance transducer (7) is installed at edge, fish culture box top, same position on four every limits of perpendicular edge of fish culture box is installed two anti-water temperature sensors (6-1,6-2,6-3,6-4,6-5,6-6,6-7,6-8), wherein four are positioned at the position slightly lower than the water surface, and all the other four are positioned at fish culture box near basal surface position; At the bottom of fish culture box, around bottom surface one circle, the resistance wire (3) through water-proofing treatment is set, the length of resistance wire and wide length with inside fish culture box and wide consistent;
Two video cameras in left and right (8-1,8-2) are set directly over fish culture box, and two video cameras vertically downward, are arranged in the axial plane top, symmetrical on the Centromedian vertical line of fish culture box both sides of fish culture box left and right directions; In the centre of two video cameras in left and right, tunable light source (11) is set;
Control circuit board (2) is arranged on the outside of fish culture box, is connected with each display of resistance wire (3), temperature sensor (6), cold water store controller (9), medicine store controller (10), tunable light source (11), illuminance transducer (7), demonstration combinatorial surface; Data wire on data collection and analysis server (1) connects respectively two video cameras and control circuit board.
2. fish vision as claimed in claim 1 and temperature-responsive research device, is characterized in that: described control circuit board by system control microprocessor, display control circuit, add temperature control circuit, refrigeration control circuit, dosing control circuit, intednsity circuit and form; Display control circuit is connected with display, adding temperature control circuit is connected with resistance wire (3), refrigeration control circuit is connected with cold water store controller (9), dosing control circuit is connected with medicine store controller (10), intednsity circuit is connected with tunable light source (11), respectively display, resistance wire, cold water store controller, medicine store controller and tunable light source is controlled; Receive the data of 8 temperature sensors and 1 illuminance transducer simultaneously.
3. fish vision as claimed in claim 2 and temperature-responsive research device, it is characterized in that: described demonstration combinatorial surface is made up of 5 displays, lay respectively at both sides, front, back, the bottom surface of fish culture box, be called front display, back display, the right display, left side display, bottom surface display; The length of the right display, left side display and be widely slightly larger than the wide and high of fish culture box outside, the length of front display, back display and wide length and the height that is slightly larger than fish culture box outside, the length of bottom surface display and the wide length that is slightly larger than fish culture box and wide; Each display has corresponding display control circuit.
4. fish vision as claimed in claim 2 and temperature-responsive research device, is characterized in that: described in to add temperature control circuit be control relay circuit; Control relay circuit one end is connected to system control microprocessor, and the other end is connected to resistance wire;
Described intednsity circuit is: tunable light source is multiple light emitting diodes, and the digital potentiometer of connecting on each light emitting diode regulates the brightness of light emitting diode by controlling digital potentiometer resistance value or the luminous quantity of luminous tube;
Described display control circuit is controlled microprocessor and is shown that output control circuit forms by showing; Show and control micro-ARM control circuit that is treated to, display output control circuit is connected with display;
Described refrigeration control circuit is the control that the frozen water to storing in the fluid reservoir in cold water store controller flows into fish culture box, and described dosing control circuit is the control that the liquid medicine to storing in fluid reservoir in medicine store controller flows into fish culture box.
5. fish vision as claimed in claim 4 and temperature-responsive research device, it is characterized in that: described cold water store controller is containing fluid reservoir (23), infusion pump (24) and liquid output pump (21), front end at infusion pump (24) connects liquid input tube (19), rear end connects fluid reservoir (23), front end at liquid output pump (21) is provided with liquid output pipe entrance, and rear end connects liquid output pipe (22);
Described medicine store controller is containing fluid reservoir (23), infusion pump (24) and liquid output pump (21), front end at infusion pump (24) connects liquid input tube (19), rear end connects fluid reservoir (23), front end at liquid output pump (21) is provided with liquid output pipe entrance, and rear end connects liquid output pipe (22);
In the fluid reservoir of cold water store controller, store frozen water, storage of pharmaceutical in the fluid reservoir of medicine store controller.
6. a fish vision and temperature-responsive research method, it is characterized in that: the fish culture box that fish is placed in to fish vision and temperature-responsive research device, arrange and show front display, back display, the right display, the left side display of combinatorial surface work, the display of video content of bottom surface display, build a kind of ambient image and to fish visual stimulus image; Brightness, temperature, chemical feeding quantity are set; Take fish culture box water surface centre as the origin of coordinates, set up three-dimensional cartesian coordinate system; Adjust two video cameras that arrange directly over fish culture box, make video camera vertically downward, video camera sensitization plane is parallel with the fish culture box water surface; Data collection and analysis server, according to the program of setting, arranges control circuit board by system control microprocessor and carries out corresponding brightness, temperature, dosing control according to brightness, temperature, the chemical feeding quantity set; Video camera is taken the view data in set environment, the video data of data collection and analysis collection of server video camera; The three-dimensional imaging coordinate that calculates and store fish position according to video data, carries out the correlative study of the respondent behavior of fish to environment vision and temperature.
7. fish vision as claimed in claim 6 and temperature-responsive research method, is characterized in that: the described display of video content that front display, back display, the right display, left side display, bottom surface display are set comprises following aspect:
A, front display, back display, the right display, left side display, bottom surface display show a kind of ambient image, and select certain to stimulate figure on each display, to move in every way,
The variation of B, ambient image,
C, the striped of various width and color is set, conversion and the movement of design striped,
D, divide into the demonstration of putting the food of fish or the various actions video of natural enemy at diversity of settings environment figure;
Described take fish culture box water surface centre as the origin of coordinates, the detailed process of setting up three-dimensional cartesian coordinate system is: take fish culture box water surface centre as origin of coordinates O (0,0,0); The vertical line of the middle of fish culture box is Z axis, is upwards positive direction; The left and right directions of fish culture box is X-axis, is positive direction to right; Fish culture box fore-and-aft direction is Y-axis, and forward direction is positive direction;
If the lens focus of left side video camera and the right video camera is f, photosensitive sensor Pixel Dimensions is nn × nn, and the horizontal pixel of left side video camera and the right video camera adds up to M, and longitudinally sum of all pixels is N;
The imager coordinate that described video camera is taken pictures is: take the pixel of photo as 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;
Described calculating fish the imager coordinate on taking a picture be according to carrying out as follows: calculate fish the imager coordinate on taking a picture be respectively left side video camera and the right video camera photo to be carried out to following computing:
1) according to the ambient image of 5 displays of set environment displaying contents filtering of 5 known display screens, the picture filtering after ambient image is converted to gray scale form,
2) experiment test goes out the brightness higher than fish, and be less than and there is no the binaryzation of the waters of fish brightness threshold value,
3) by binaryzation threshold value, picture is carried out to binaryzation calculating, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of employing 3 × 3 carries out open and close computing to image,
5) system point of employing 3 × 3 carries out repeatedly erosion operation to image, until in image, do not get 1 pixel,
6) select last to have the picture of 1 pixel, take the pixel of photo as coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate, calculate the Y coordinate of all pixels of getting 1 and the mean value of X coordinate, the mean value of the right video camera Y coordinate and X coordinate is designated as to Ry, Rx, and Ry is the Y coordinate of the right fish of calculating of video camera, the X coordinate of the fish that Rx calculates for the right video camera; The mean value of left side video camera Y coordinate and X coordinate is designated as to Ly, Lx, the Y coordinate of the fish that Ly calculates for left side video camera, the X coordinate of the fish that Lx calculates for left side video camera;
Video camera vertically downward, video camera sensitization plane is parallel with the fish culture box water surface, be arranged in XOZ plane take Z axis as symmetry axis symmetry, and the camera lens of left side video camera is positioned at L point, establishes its optical center coordinate to be: (c, 0, h), cross L and make a line vertical with plane X OY, hand over X-axis in A point; The camera lens of the right video camera is positioned at R point, establishes its optical center coordinate and is: (c, 0, h), cross R and make a line vertical with plane X OY, hand over X-axis in B point; C is the distance that project to the origin of coordinates of camera lens center at plane X OY, and h is the height of camera lens apart from the water surface;
The three-dimensional imaging coordinate that calculates and store fish position according to video data carries out in accordance with the following steps:
A, straight line according to the fish position that the imager coordinate of video camera on taking pictures determined fish on the right in water:
Make DX=(Rx-M/2) × nn × h/f, DY=(Ry-N/2) × nn × h/f; Point (DX+c, DY, 0) is the intersection point of fish place straight line and Z=0 plane, is designated as a N, and the plane that order point N and straight line RB determine is RBN; On plane RBN, cross N point and be parallel to straight line RB and do straight line, making it is straight line NK, and mistake N point and straight line NR negative direction are straight line NC, make the angle of straight line NC and straight line NK negative direction be
fish is on straight line NC;
B, imager coordinate on taking pictures according to left side video camera are determined the plane at the place, position of fish:
Make EX=(Lx-M/2) × nn × h/f, EY=(Ly-M/2) × nn × h/f, point (EX-c, EY, 0) is the intersection point of fish place straight line and Z=0 plane, is designated as a M, the plane that order point M and straight line LA determine is face LAM;
C, determine the coordinate points of fish: straight line NC and plane LAM exist a unique intersection point, and this intersection point is exactly the physical location of fish; Calculate the coordinate of this intersection point according to the equation of the equation of straight line NC and plane LAM, establish it and be: (Sx, Sy, Sz);
The described correlative study of carrying out the respondent behavior of fish to environment vision and temperature:
Carve at a time, get the fish coordinate of front 2 frames of this moment as starting point, establish its coordinate for (Xs, Ys, Zs), after this moment, the fish coordinate of 2 frames, as terminal, is established its coordinate for (Xe, Ye, Ze); Starting point and terminal are connected into straight line, the angle beta that the angle [alpha] that length L x that can calculated line according to starting point, terminal point coordinate and the sign left and right directions in coordinate system move and above-below direction move;
If sampled images per second is fx frame, the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; Can know the parade direction of fish according to angle [alpha], β, according to α, β, the time is got to the actions such as differential can calculate the turning to of fish, floats, sinking, according to the turning to of action speed, route and each moment in each moment, float, the behavior such as sinking, analysis need to be added up various actions performance data, carries out the behavioural analysis of fish.
8. fish vision as claimed in claim 6 and temperature-responsive research method, it is characterized in that: described data collection and analysis server is according to the program of setting, and the programme-control of carrying out corresponding brightness, temperature, dosing control according to brightness, temperature, the chemical feeding quantity set by microprocessor control circuit plate is divided into data collection and analysis server controls program and system control microprocessor control program;
Data collection and analysis server controls program is:
Start, the first step, arranges brightness, and set temperature arranges chemical feeding quantity, and the display of video content of front display, back display, the right display, left side display, bottom surface display is set; Second step, calculates administration timing of drug according to chemical feeding quantity; Data are passed to system control microprocessor by the 3rd step; The 4th step, receiving system control microprocessor environment has been adjusted signal; The 5th step, gathers and stored video signal; The 6th step, calculates and stores the three-dimensional coordinate of fish position according to video data; The 7th step, carries out the behavioural analysis of fish, finishes.
System control microprocessor control flow is:
Start, the first step, arranges upper and lower bound, the upper and lower bound of illumination, medication amount, the display contents of water temperature; Second step, calculates administration timing of drug according to medication amount; The 3rd step, controls medicine store controller and adds appropriate medicine; The 4th step, according to the displaying contents of 5 display control circuits of display contents control; The 5th step, reads illuminance transducer illumination data; Does the 6th step, judge that illumination is greater than the upper limit? be, reduce the luminous number of luminous tube of tunable light source or the resistance value of the digital potentiometer that increase is connected with light emitting diode, return to the 5th step; Does no, the 7th step, judge that illumination is less than lower limit? that the resistance value of the digital potentiometer that the increase luminous number of tunable light source luminous tube or reduction are connected with light emitting diode, returns to the 5th step; No, the 8th step, reads 8 temperature sensor temperature datas; The 9th step, searches the maximum temperature data Tmax of temperature sensor senses, searches the minimum temperature data Tmix of temperature sensor senses; The tenth step, judges Tmax-Tmix>1 degree, is, waits for 1 minute, returns to the 8th step; Does no, the 11 step, judge the Tmax> water temperature upper limit? be, control cold water store controller with frozen water, return to the 8th step; Does no, the 12 step, judge Tmin< water temperature lower limit? that the heating of controlling resistance silk, returns to the 8th step; No, the 13 step, the image of collection left side video camera and the right video camera; The 14 step, according to the right camera review calculated line NC equation; The 15 step, according to the equation of the image calculation plane LAM of left side video camera; The 16 step, according to the coordinate (Sz, Sy, Sz) of straight line NC, plane LAM calculating fish; The 17 step, carries out the behavioural analysis of fish according to the long coordinate record of fish, finishes.
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| CN112243931A (en) * | 2020-10-21 | 2021-01-22 | 中国水产科学研究院黄海水产研究所 | Aquatic animal exercise behavior testing device and testing method |
| CN112243931B (en) * | 2020-10-21 | 2022-04-29 | 中国水产科学研究院黄海水产研究所 | Aquatic animal exercise behavior testing method |
| CN113917952A (en) * | 2021-03-04 | 2022-01-11 | 成都企汇奕泽科技有限公司 | Anti-wrinkle whitening essence production system |
| CN113917952B (en) * | 2021-03-04 | 2022-12-27 | 广州金海优品生物科技有限公司 | Anti-wrinkle whitening essence production system |
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