CN111436386A - Swimming type cultured fish culture method and system based on ingestion intensity measurement - Google Patents
Swimming type cultured fish culture method and system based on ingestion intensity measurement Download PDFInfo
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- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
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- A—HUMAN NECESSITIES
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Abstract
The invention discloses a swimming type cultured fish culture method and system based on ingestion intensity measurement, and relates to the field of fish culture. The scheme is provided aiming at the problem that the cultivation intelligence is not fine enough in the prior art. The breeding method mainly comprises the steps of obtaining images and carrying out binarization, calculating the feeding intensity and controlling feeding according to the feeding intensity. The culture system is mainly realized by controlling the culture method through an upper computer. The method has the advantages that the ingestion intensity of the fish can be described quantitatively, and the ingestion intensity is used as an important reference standard for feeding. The feeding quantity and feeding time of different culture batches are not dependent on empirical formulas any more, and can be corrected based on the change of the feeding intensity. Along with the growth of the fishes and the change of mantissas in the culture process, corresponding adjustment can be made in time, and the intelligent degree of culture production is obviously improved.
Description
Technical Field
The invention relates to a fish culture method and a fish culture system, in particular to a swimming type culture method and a swimming type culture system based on feeding intensity measurement.
Background
With the progress of science and technology, the breeding industry gradually develops from extensive artificial breeding to refined breeding. The machine system can automatically feed according to the manually set time and the feeding amount, or perform operations such as pumping oxygen at the manually preset time. However, the fish state is only preset manually, and the system cannot automatically judge the fish state to perform corresponding operation.
The artificial presetting needs to be set accurately, multiple testers can obtain the ideal feeding quantity and time of a specified breeding batch, and the change of various weather parameters cannot be changed. For example, the desire to eat fish varies significantly with changes in shade, pressure, temperature, etc. The method is finished by only depending on a system preset program, so that the feed is easy to be excessive or insufficient, or the fish in the whole batch can die due to the conditions of feeding in the absence of oxygen and the like.
The traditional culture method is difficult to realize accurate feeding of the feed, the excessive feeding of the feed can increase the quantity of residual feed and excrement in the culture environment, so that fish diseases are easy to outbreak, and the growth of the fish is influenced. The insufficient supply of the feed can lead to slow growth of the fish and influence the culture benefit. The feed cost is the main consumption in the whole breeding process, and the problem of how to realize the accurate feeding of the feed is an urgent need to be solved in the production process.
With the development of computer technology and vision technology, the vision technology is used for judging the hunger degree of fishes so as to assist a culture system to realize accurate feeding, which is a research hotspot at home and abroad at present. The application of the visual technology in fish culture at home and abroad is established on the strict experimental conditions, such as high requirement on the definition of a water body, small monitoring range of the water body, large program operation pressure, various collected parameters and the like. The present inventors previously disclosed a system, CN109389623A, that can monitor fish three-dimensional activity, but did not disclose behavioral analysis of fish activity. A feeding system based on post-feeding feed information, CN109757419A, is also disclosed, but the subject of the collection and analysis is not based on the fish themselves, and fish analysis is performed by means of other references. Therefore, how to obtain a reasonable fish physiological parameter easy to calculate and then use the fish physiological parameter as an automatic culture application is a problem to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a swimming type cultured fish culture method and system based on feeding intensity measurement.
The swimming type cultured fish culture method based on the feeding intensity measurement comprises the following steps:
acquiring a depth map with the resolution of m x n by using a somatosensory camera; taking the depth value as a contrast parameter, and carrying out binarization f (x, y) processing on each pixel in the depth map: marking the pixel with the depth value positioned in a certain effective interval above and below the water surface as 1, otherwise, marking as 0;
monitoring the feeding intensity y (k) of the fish herd by using a formula
Obtaining, wherein k is the obtaining time of the depth map;
when the ingestion intensity y (k) is kept below a threshold value within a certain time and reaches the preset feeding time, feeding the feed;
continuously monitoring the feeding intensity, and increasing the feeding intensity to the set proportion of the feeding intensity at the feeding moment again after the feeding intensity is reduced along with the time, and performing a new round of reduced feeding; the step is circulated until the feeding intensity can not rise to the set proportion of the feeding intensity at the feeding moment after the feeding intensity is reduced along with the time, and the feed feeding is stopped.
Preferably, the rate of change of fluctuation of the feeding intensity is monitored using a derivation formula when the feeding intensity is maintained above a threshold value for a certain period of time: when the absolute value of the fluctuation change rate y' (k) is larger than a preset value, judging that the fish shoal is in a normal feeding state; and when the absolute value of the fluctuation change rate is smaller than a preset value, judging that the fish school is in an anoxic state, and controlling the circulating pump to start.
Preferably, after the circulating pump is started, the feeding intensity is reduced to a threshold value and maintained for a certain time, and the circulating pump is controlled to be turned off.
Preferably, when the feeding intensity is not within the preset feeding time, the feeding intensity is higher than the threshold value, and the absolute value of the fluctuation change rate is larger than the preset value, the time is judged to be the physiological feeding time corresponding to the cultured fish school; and correcting the preset feeding time by using the physiological feeding time.
Preferably, the effective interval is 500mm below the somatosensory camera to 60mm underwater; and the somatosensory camera is arranged above the water surface by not less than 500 mm.
Preferably, the certain time is 10 minutes.
Preferably, when the intensity of the food intake exceeds a threshold value, the time, the intensity of the food intake and the corresponding depth value are recorded.
Preferably, the set ratio is 90%.
A swimming type cultured fish culture system based on ingestion intensity measurement comprises a culture pond, a somatosensory camera arranged above the culture pond, a feeding device used for feeding feed and an upper computer; the upper computer controls the motion sensing camera and the feeding device to work by applying the breeding method.
Preferably, the culture system further comprises a circulating pump, and the circulating pump is connected with the culture pond through a pipeline and is electrically connected with the upper computer; when the upper computer detects that the ingestion intensity is maintained above a threshold value within a certain time, the fluctuation change rate of the ingestion intensity is monitored by using a derivation formula: when the absolute value of the fluctuation change rate y' (k) is larger than a preset value, judging that the fish shoal is in a normal feeding state; when the absolute value of the fluctuation change rate is smaller than a preset value, judging that the fish school is in an anoxic state, and controlling a circulating pump to start; after the circulating pump is started, the ingestion intensity is reduced to a threshold value and is maintained for a certain time, and the circulating pump is controlled to be closed; when the feeding intensity is not within the preset feeding time, the feeding intensity is higher than the threshold value, and the absolute value of the fluctuation change rate is larger than the preset value, the time is judged to be the physiological feeding time corresponding to the cultured fish shoal; and correcting the preset feeding time by using the physiological feeding time.
The swimming type cultured fish culture method and system based on feeding intensity measurement have the advantages that the feeding intensity of fish can be described quantitatively, and the feeding intensity is used as an important reference standard for feeding. The feeding quantity and feeding time of different culture batches are not dependent on empirical formulas any more, and can be corrected based on the change of the feeding intensity. Along with the growth of the fishes and the change of mantissas in the culture process, corresponding adjustment can be made in time, and the intelligent degree of culture production is obviously improved.
Furthermore, the ingestion intensity and the corresponding fluctuation change rate are skillfully utilized as a judgment basis, the anoxic phenomenon of the fish school is discovered as soon as possible, and the occurrence of death accidents is greatly reduced. And finally, the physiological characteristics of different fishes can be acquired by utilizing the ingestion intensity, and the physiological ingestion time can be known as soon as possible. The system can be used for both fishes foraging at night and fishes foraging at daytime, and is automatically corrected based on physiological feeding time.
The culture method and the corresponding culture system have wide application range, simple data operation and very low requirement on hardware. The somatosensory camera mainly utilizes the light flight time of infrared rays for sampling, so that the whole culture process does not need to depend on illumination conditions, and the physiology of fishes cannot be influenced.
Drawings
FIG. 1 is a schematic diagram of a cultivation system structure of swimming type farmed fish based on feeding intensity measurement according to the invention.
FIG. 2 is a time plot of feeding intensity after dosing.
FIG. 3 is a time chart of the rate of change of the eating intensity versus time fluctuations shown in FIG. 2.
FIG. 4 is a time plot of feeding intensity when fish are hypoxic.
FIG. 5 is a time chart of the rate of change of the eating intensity versus time fluctuations shown in FIG. 4.
FIG. 6 is a time plot of feeding intensity after multiple administrations.
Reference numerals: 1-a culture pond, 2-a somatosensory camera, 3-an upper computer, 4-a feeding device, 5-a filtering pond and 6-a circulating pump. t1 corresponds to a time of 10:29:21, t2 corresponds to a time of 10:29:31, t3 corresponds to a time of 10:29:41, t4 corresponds to a time of 10:29:51, and t5 corresponds to a time of 10:30: 01. t6 corresponds to a time of 05:18:00, t7 corresponds to a time of 05:18:50, t8 corresponds to a time of 05:19:40, t9 corresponds to a time of 05:20:30, and t10 corresponds to a time of 05:21: 20. The area a is a data set of first feeding, the area b is a data set of a first foraging state, the area c is a data set of second feeding, and the area d is a data set of a second foraging state.
Detailed Description
How to digitalize and program the physiological characteristics of fishes is an important technical problem for improving intelligent culture. The invention quantitatively describes the feeding intensity of one of the physiological characteristics of the fish and utilizes the describable physiological characteristics for culture management application. Swimming fishes float on the water surface to snatch in the ingestion process, then submerge, float on the water surface to snatch and submerge again for continuous circulation until the degree of satiation is higher, and the snatching frequency and the desire are slowly reduced. The behavior of swimming fish snatching is the technical basis of the invention, and the feeding intensity of the fish is judged according to the information of the fish which is out of the water surface by the somatosensory camera.
The depth image is obtained by using the somatosensory cameras, which belong to the mature prior art, one of the somatosensory cameras is selected for use, and the KINECT 2.0 depth camera produced by Microsoft is adopted, but the technical scheme of applying other depth cameras with infrared functions is not excluded.
In the embodiment, the resolution of the depth map is set to 424 × 512, namely m is set to 424, n is set to 512, the coordinate value ranges x ∈ [0,424-1] and y ∈ [0,512-1] of pixel points in the depth map are set to be 850mm above the water surface, the shooting effective interval is set to be 500mm to 910mm, wherein 500mm corresponds to the minimum shooting distance of the somatosensory camera, 910mm corresponds to the distance of 60mm under water, and the water surface refers in particular to the water surface of the culture pond.
The fish adopts common carp in south market as an embodiment collection object, carp fry is provided by Xinjiangyan limited company in Yulin city, the length of the fry is 6-10cm, and the color is dark brown. In the actual culture process, the body size and the body color of the cultured fish are possibly not completely consistent, in order to show the actual culture scene and verify the reliability of the system under the complex condition, 10% of fancy carps with color difference are added into a grey brown carp group to be co-cultured together, the length of the fancy carps is about 15cm and is slightly larger than the body sizes of other carp fries, and the co-cultured group does not show the behavior of food snatching and fighting because the fancy carps belong to Cyprinidae (Cyprinidae). The culture method and the culture system are suitable for the conditions of various single-variety culture or mixed culture. The co-culture group is cultured in the culture pond for 30 days in the embodiment, and is fully adapted to the current culture environment. The hardware configuration adopted is associated with a brand machine, and the hardware configuration is higher than the basic requirement required by KINECT 2.0. The operating system is WINDOWS 10, and the CPU adopts a 64-bit processor. The adopted software processing platform is C # of Microsoft corporation, and the background of the database adopts ACCESS to store experimental data. The reason that the cultivation environment is adapted to the current cultivation environment for 30 days is only that the data chart of the technical scheme can be simply extracted and analyzed in the embodiment. Because this scheme has self-correction function, can automatic operation and control at the beginning of breeding the input, need not to breed in advance in the actual production just to carry out the control and the analysis of intensity of ingesting.
As shown in figure 1, the swimming type cultured fish culture system based on ingestion intensity measurement comprises a culture pond, a somatosensory camera arranged above the culture pond, a feeding device for feeding feed, a circulating pump and an upper computer. The circulating pump is connected with the culture pond through a pipeline. The host computer respectively with feel the camera, throw material device and circulating pump electric connection. The somatosensory camera is used for shooting the depth map and transmitting the depth map to the upper computer. The feeding device is used for feeding the feed according to the control of the upper computer. The circulating pump is used for starting or closing according to the control of the upper computer. The upper computer is used for realizing the operation of each computer program in the culture method and sending corresponding control signals to the circulating pump and/or the feeding device according to the operation result.
After a depth map is obtained, taking a depth value as a contrast parameter, and carrying out binarization f (x, y) processing on each pixel in the depth map: and recording the pixel with the depth value within a certain effective interval above and below the water surface as 1, otherwise recording as 0. Formula of binary expression
To complete, 500 and 910 units in the formula are both mm. Besides extracting the underwater distance, the overwater distance is also extracted, and the aim is to enable the image to more accurately restore the actual situation, because partial areas are higher than the water surface when fishes snatch food.
The feeding intensity obtained at the time k is recorded as y (k) according to the formula
And (4) calculating. The meaning is that the sum of all pixel points with the depth in the effective interval is calculated in a mode of scanning row by row and column by column, and the sum is taken as a specific numerical value of the ingestion intensity. When the fish enters the effective interval, all pixel points of the corresponding areas of the fish, the pond wall and the feed in the depth map are assigned to be 1, otherwise, the pixel points of the corresponding areas without the fish or the feed are assigned to be 0. The fish swim underwater for 60mm when not being anoxic or having no desire for food, and the value of y (k) is kept in a stable interval, such as the range of 23000 + -200 before t2 in fig. 2. The feeding intensity is still certain under the condition of no feeding, because the somatosensory camera shoots the wall of the culture pond, and the micro-fluctuation change is caused by water waves. Within one or two seconds after the fish is fed at the time t2, the fish has obvious food snatching behavior, peaks respectively appear at the time 5 seconds before and after t3, and y (k) is close to 34000. With the consumption of the feed, the phenomenon of snatching of the fish is weakened, and the time t4 begins to gradually decline. However, since the fish are not fully fed at this time, some of the fish float upward again to feed, and thus the feeding intensity slightly increases after t 5. FIG. 2 shows the corresponding relationship between the snatching behavior and the feeding intensity of the fish well, and also shows that the setting of the feeding intensity can directly feed back the real behavior of the fish.
At some point, the feeding intensity y (k) appears high, probably due to the fish being anoxic and floating on the water. Hypoxia is particularly likely to occur at night, and human participation during this period is significantly lower than during the day. If the oxygen deficiency is not accurately monitored, the phenomenon of large-area death is easily caused. When the fish is in an anoxic condition, as shown in fig. 4, the feeding intensity y (k) is obviously higher than 23000 in a non-snatching state and is maintained within the range of 28000 +/-2000. Thus, there is room for improvement in analyzing whether a predation is taken or not by the feeding intensity alone, although an anoxic condition does not necessarily occur.
In order to analyze the fish behavior more accurately through numerical analysis, the invention also introduces a mode of taking a derivative of the time variation of the feeding intensity so as to further screen whether the fish is in a state of snatching or being lack of oxygen. In this embodiment, time k is discretized data, so a discretized derivative formula is used
The schedule curve of feeding intensity was derived. The corresponding fluctuation rate schedules of fig. 2 are obtained, respectively, as shown in fig. 3. A corresponding fluctuation rate schedule of fig. 4 is obtained as shown in fig. 5. As can be seen from FIG. 3, when fish snatching occurs one or two seconds after t2, the peak of the fluctuation rate y' (k) approaches 5000, and the valley approaches-4000. When the fish is anoxic, the fluctuation rate is maintained only in the interval of 28000 plus or minus less than 2000, as shown in fig. 5. In this embodiment, the preset value for oxygen deficiency determination is set to 30000, that is, when the absolute value of the fluctuation rate is less than 30000, it is determined that oxygen deficiency occurs. After the upper computer finds that the fishes are anoxic, the circulating pump can be controlled to be started, so that oxygen in the culture pond is supplemented. And meanwhile, when the condition that the fishes obtain enough oxygen and submerge the water bottom again is monitored, the circulating pump is controlled to be closed, and energy is saved.
The method for culturing the fish can analyze and apply the fish feeding behavior through the feeding intensity, and can analyze and apply the feeding or the anoxia after the fluctuation change rate is added.
The main control machine monitors the ingestion intensity of the fish shoal in real time, and when the ingestion intensity is maintained below a threshold value within a certain time. In this embodiment, the certain time is set to 10 minutes, the threshold is set to 24000, which indicates that the fish is not in an anoxic state, and when the preset feeding time is reached, the feeding device is controlled to feed. After the feeding intensity is reduced along with the time, the feeding intensity is increased to the set proportion of the feeding intensity at the feeding moment again, and a new round of reduced feeding is carried out; the step is circulated until the feeding intensity can not rise to the set proportion of the feeding intensity at the feeding moment after the feeding intensity is reduced along with the time, and the feed feeding is stopped. The set ratio is set to 90% in the present embodiment. The parameters such as the set proportion, the monitoring time, the threshold value and the like can be automatically adjusted according to different fishes, individual sizes or co-culture groups and the like without creative labor by the technical personnel in the field according to common knowledge.
Due to the existence of the inherent pond wall, when the fishes are all submerged to the water bottom under the conditions of no food robbery and oxygen deficiency, the value of y (k) still floats around 23000, therefore, the proportion judgment in the cyclic feeding is understood as the basis for judgment, meanwhile, for the sake of clearer illustration and simplified expression, the values between 23000 and 28500 are deleted in fig. 6, when the feeding intensity y (k) is increased from 23000 to 34500 after the first feeding, the feed is reduced along with the time, the food robbing intensity is obviously reduced, but the fishes do not enter a satiation state and can swim back to forage after the first feeding, the peak value 34000, (23000), (34500), (23000), (×), (95.65%) is found along with the time, the requirement of the second feeding is met, the feeding intensity y (k) reaches the peak value 33000 after the second feeding, and the peak value 34000, (34000), (3100), (33000), (3100), (84), (2.
During the breeding cycle, the upper computer found that the co-cultured population described in the examples had a strong desire to eat at 8:00-10:00 a.m. Namely, the feeding intensity is higher than the threshold value when the period is not within the feeding time, and the absolute value of the fluctuation change rate is larger than the preset value, and the period is judged to be the physiological feeding time corresponding to the cultured fish shoal. The first feeding time was adjusted to start eight am.
The upper computer also stores time, ingestion intensity and corresponding depth values into a background database in real time when the ingestion intensity exceeds a threshold value, the database adopts an ACCESS platform of Microsoft, the ACCESS creates a relational data table, a C # program writes data exceeding a set threshold value into the table one by one, the data can be called at any time for analysis and statistics, the data table is exported into an EXC L E format during analysis, rich ingestion information can be mined by adopting various statistical functions of EXCE L, and then a corresponding data graph is drawn, so that the analysis of fish behaviors is realized.
It will be apparent to those skilled in the art that various other changes and modifications may be made in the above-described embodiments and concepts and all such changes and modifications are intended to be within the scope of the appended claims.
Claims (10)
1. A swimming type cultured fish culture method based on ingestion intensity measurement comprises the following steps:
acquiring a depth map with the resolution of m x n by using a somatosensory camera; taking the depth value as a contrast parameter, and carrying out binarization f (x, y) processing on each pixel in the depth map: marking the pixel with the depth value positioned in a certain effective interval above and below the water surface as 1, otherwise, marking as 0;
the method is characterized by further comprising the following steps:
monitoring the feeding intensity y (k) of the fish herd by using a formula
Obtaining, wherein k is the obtaining time of the depth map;
when the ingestion intensity y (k) is kept below a threshold value within a certain time and reaches the preset feeding time, feeding the feed;
continuously monitoring the feeding intensity, and increasing the feeding intensity to the set proportion of the feeding intensity at the feeding moment again after the feeding intensity is reduced along with the time, and performing a new round of reduced feeding; the step is circulated until the feeding intensity can not rise to the set proportion of the feeding intensity at the feeding moment after the feeding intensity is reduced along with the time, and the feed feeding is stopped.
2. The swimming type cultured fish farming method based on feeding intensity measurement according to claim 1, wherein when the feeding intensity is maintained above a threshold value for a certain period of time, the fluctuation rate of the feeding intensity is monitored using a derivation formula: when the absolute value of the fluctuation change rate y' (k) is larger than a preset value, judging that the fish shoal is in a normal feeding state; and when the absolute value of the fluctuation change rate is smaller than a preset value, judging that the fish school is in an anoxic state, and controlling the circulating pump to start.
3. The cultivation method of swimming type cultured fish based on feeding intensity measurement as claimed in claim 2, characterized in that after the circulation pump is started, the feeding intensity is reduced to a threshold value and maintained for a certain time, and the circulation pump is controlled to be turned off.
4. The cultivation method of swimming type cultivated fish based on feeding intensity measurement according to claim 2, characterized in that when the feeding intensity is not within the preset feeding time, the feeding intensity is higher than the threshold value, and the absolute value of the fluctuation change rate is larger than the preset value, the time is judged as the physiological feeding time of the corresponding cultivated fish; and correcting the preset feeding time by using the physiological feeding time.
5. The cultivation method of the swimming type farmed fish based on the feeding intensity measurement as claimed in claim 1, characterized in that the effective interval is 500mm to 60mm under water below the somatosensory camera; and the somatosensory camera is arranged above the water surface by not less than 500 mm.
6. The swimming farmed fish of claim 1, the certain period of time being 10 minutes, based on feeding intensity measurements.
7. The swimming farmed fish based on feeding intensity measurement as claimed in claim 1, characterized in that when the feeding intensity exceeds a threshold value, the time, the feeding intensity and the corresponding depth value are recorded.
8. The swimming farmed fish of claim 1, the farming method based on feeding intensity measurement, wherein the set ratio is 90%.
9. A swimming type cultured fish culture system based on ingestion intensity measurement comprises a culture pond, a somatosensory camera arranged above the culture pond, a feeding device used for feeding feed and an upper computer; the cultivation method is characterized in that the upper computer controls the motion sensing camera and the feeding device to work by applying the cultivation method as claimed in claim 1, 5, 6, 7 or 8.
10. The swimming type cultured fish feeding system based on feeding intensity measurement according to claim 9, which comprises a circulating pump, wherein the circulating pump is connected with the culture pond through a pipeline and is electrically connected with the upper computer; when the upper computer detects that the ingestion intensity is maintained above a threshold value within a certain time, the fluctuation change rate of the ingestion intensity is monitored by using a derivation formula: when the absolute value of the fluctuation change rate y' (k) is larger than a preset value, judging that the fish shoal is in a normal feeding state; when the absolute value of the fluctuation change rate is smaller than a preset value, judging that the fish school is in an anoxic state, and controlling a circulating pump to start; after the circulating pump is started, the ingestion intensity is reduced to a threshold value and is maintained for a certain time, and the circulating pump is controlled to be closed; when the feeding intensity is not within the preset feeding time, the feeding intensity is higher than the threshold value, and the absolute value of the fluctuation change rate is larger than the preset value, the time is judged to be the physiological feeding time corresponding to the cultured fish shoal; and correcting the preset feeding time by using the physiological feeding time.
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