CN111443744A - Recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback - Google Patents
Recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback Download PDFInfo
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- CN111443744A CN111443744A CN202010305566.0A CN202010305566A CN111443744A CN 111443744 A CN111443744 A CN 111443744A CN 202010305566 A CN202010305566 A CN 202010305566A CN 111443744 A CN111443744 A CN 111443744A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/003—Aquaria; Terraria
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/045—Filters for aquaria
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/047—Liquid pumps for aquaria
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention discloses a circulating water culture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback, which comprises a culture pond, a biological filter, a feeder, a high-definition camera, a variable-frequency water pump and the like; the system mainly utilizes machine vision and deep learning technology to carry out real-time analysis and evaluation on fish shoal behaviors and ammonia discharge rules, so as to make a variable speed flow strategy. The system has a simple structure, the method is accurate and simple, and the variable-speed flow intelligent control system can ensure that fish shoals live at a better flow speed, promote the growth of the fish shoals, reduce energy consumption and ensure the water quality of the aquaculture water body.
Description
Technical Field
The invention relates to a variable-speed flow intelligent control device for recirculating aquaculture, in particular to a recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback.
Background
With the improvement of living standard of people and the enhancement of health consciousness, the demand of people for protein is gradually increased. The fish meat is used as a source of high-quality protein, and the consumption of the fish meat is remarkably increased in recent years, so that the rapid development of the aquaculture industry is greatly promoted. The recirculating aquaculture mode is gradually accepted by people and is increasingly applied to production practice due to the advantages of environmental friendliness, energy conservation, water conservation and the like. The Recirculating Aquaculture System (RAS) can provide a controllable environment, the size of the system is not limited by environmental conditions, the growth rate of the aquaculture products can be controlled, and even the yield can be predicted. Compared with the traditional culture mode, the production mode of the circulating water culture can save 90-99% of water consumption and 99% of land occupation per unit yield, and hardly pollutes the environment. In the process of circulating water culture, the flow rate is a very important factor, and the circulating water culture system generally adopts a circulating water strategy with a rated speed at present. The high flow rate is favorable for keeping good water quality condition, but the water pump can be in a high-speed running state, so that the energy consumption of the system is increased, and the cost is not favorably saved; the low flow rate can reduce the energy consumption of the system, but the treatment rate of the biological filter tank is also slowed down, so that the culture water quality is deteriorated, and the growth of fish is not facilitated. And improper flow rate can influence fish growth, swimming behavior and motor metabolism, and the output of recirculating aquaculture is restricted.
Based on the problems, the invention provides a circulating water culture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback. Through a computer vision technology, the behavior and the growth condition of the fish school are obtained in real time, and the flow rate is regulated and controlled according to the behavior and the growth condition, so that the aims of saving energy, reducing emission and creating a suitable fish school growth environment are fulfilled on the basis of meeting the water quality requirement.
Disclosure of Invention
The invention aims to provide a circulating water aquaculture variable-speed flow intelligent control system based on fish school behavior and ammonia discharge law feedback, which comprises two stages of pre-feeding and post-feeding, wherein a fish school swimming state is obtained through a computer vision system before feeding and is used as the simulation input of P L C, the rotating speed of a variable-frequency water pump is changed according to the currently obtained fish school swimming state by P L C, and the current variable-speed flow strategy is adjusted, and on the basis of fish school swimming state evaluation after feeding, the rotating speed of the variable-frequency water pump is changed according to the currently obtained average body length of the fish school and an ammonia discharge law model of the fish school by P L C, and the current variable-speed flow strategy is adjusted.
The technical scheme adopted by the invention is as follows:
the utility model provides a circulating water aquaculture variable speed flows intelligence control system based on fish shoal action and ammonia discharge law feedback, includes breed pond, biological filter, camera, frequency conversion water pump, P L C controller, throws and raises machine, computer, throw and raise the machine and be used for throwing to raising the pond in and raise, the camera is installed directly over raising the pond, and camera, computer, P L C controller, frequency conversion water pump link to each other in proper order, frequency conversion water pump install in biological filter bottom, frequency conversion water pump, biological filter all pass through the pipe connection with breeding the pond, and the continuous suction of water of breeding the pond is in the biological filter, gets rid of the particulate matter and degrades organic matter through biological filter and handles the back and pour into raising the pond again.
The control method of the system comprises the following steps:
before feeding:
1) the camera above the culture pond transmits the real-time shot picture to the computer;
2) then, calculating a motion vector v (5 frames per interval) of a segmented pixel point by using an L ukas-Kanade optical flow method, and when abs (v) is greater than 2.4 × R '/R, considering that the current pixel point belongs to a fish school target foreground, wherein R is the resolution of a camera, and R' is the total number of the pixel points of the current aquaculture water body area in the field of view of the camera;
3) calculating current fish school swimming coordination capacity
Wherein n is the number of fish individuals in the current picture, m is the number of fish targets within a range of twice the fish body length from the centroid of the focal fish j, v1jThe velocity vector of the fish in focus (with the length of the fish body B L as the current flow rate unit), dijA centroid straight-line distance (in units of fish body length B L, converting the distance on the image to an actual distance) of the focal fish j from the neighboring individual i (i.e., a fish target within twice the fish body length from the centroid of the focal fish j);
4) when SC is less than threshold
When the water pump is running, the computer controls the frequency-variable water pump to change its rotation speed by the P L C controller to regulate its flow rate
Wherein T is a set SC threshold value, and Vc is the current flow rate; otherwise, the original flow rate is maintained.
After feeding:
1) the camera above the culture pond transmits the real-time shot picture to the computer;
2) the computer carries out color model conversion on the current picture and realizes pixel-level segmentation on the culture object under the current picture; obtaining the average body length
L thereinjThe body length of a single fish j;
3) establishing an ammonia discharge model of the fish:
wherein M is a set ammonia nitrogen threshold value, the setting is carried out according to an empirical value, and L is the average body length of the fish school, so that the time t when the ammonia nitrogen in the water body reaches the threshold value is obtained.
4) When the time after feeding reaches t and the current fish swimming cooperative capacity SC is larger than the threshold value
When the flow rate starts to increase until SC equals the threshold value; when the time after feeding reaches (t +4h), the flow rate is recovered.
The invention has the advantages that;
the recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback is simple in structure and convenient to operate, the control of the flow speed is executed by P L C, the labor cost is greatly reduced, meanwhile, the variable-speed flow strategy can be dynamically adjusted according to different growth stages of the fish, the growth environment of the fish is improved on the basis of energy conservation and emission reduction, and the growth of the fish is promoted.
Drawings
FIG. 1 is a structural diagram of a circulating water aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback.
In the figure, 1-a feeder, 2-a camera, 3-a computer, 4-P L C controller, 5-a biological filter, 6-a variable frequency water pump and 7-a culture pond.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the circulating water culture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback comprises a feeder 1, a high-definition camera 2, a computer 3, a P L C controller 4, a biological filter 5, a variable-frequency water pump 6 and a culture pond 7;
The device is applied to the variable-speed flow intelligent regulation and control of the circulating water culture, and the regulation and control method comprises the following steps:
in the stage before feeding:
1) a high-definition camera above the culture pond transmits a real-time shooting picture to a computer;
2) the computer converts the current picture from an RGB color model to a YCrCb color model, pixel-level segmentation of a culture object under the current picture is realized by a Deeplab v3+ model in the YCrCb color model, then a L ukas-Kanade optical flow method is used for calculating a motion vector v (5 frames at each interval) of segmented pixels, and when abs (v) is greater than 2.4 × R '/R, the current pixel is considered to belong to a fish school target foreground, wherein R is high-definition camera resolution, and R' is the total number of pixels occupied by the current culture water body area in the camera view field;
3) calculating current fish school swimming coordination capacity
Wherein n is the number of fish individuals in the current picture, m is the number of fish targets in the range of twice the body length of the focal fish j by the centroid, v1jThe velocity vector of the fish in focus (in units of fish body length B L), dijThe centroid straight-line distance (in units of fish body length B L) of the fish j which is the focal point and the fish closest to the individual i;
4) when SC is less than threshold
When the water pump is running, the computer controls the three-phase water pump via P L C to change its rotation speed and regulate its flow rate
Wherein T is a set SC threshold value, and Vc is the current flow rate; otherwise, the original flow rate is maintained.
At the post-feeding stage:
1) setting an ammonia nitrogen threshold value M;
2) a high-definition camera above the culture pond transmits a real-time shooting picture to a computer;
3) the control center converts the current picture from an RGB color model to a YCrCb color model, then the pixel-level segmentation of the culture object under the current picture is realized by utilizing a Deeplab v3+ model in the YCrCb color model, and the average body length is obtained
L thereinjThe body length of a single fish;
4) establishing an ammonia discharge model of the fish:
wherein M is a set ammonia nitrogen threshold value, set according to an empirical value, L is the average fish school length, and t is the time after ingestion.
5) When the time after feeding reaches t and SC is greater than the threshold value
Then, the flow rate is increased until SC reaches the threshold value; when the time after feeding reaches (t +4h), the flow rate is recovered.
The above disclosure is only for the specific embodiment of the present invention, but the present invention is not limited thereto, and it should be understood by those skilled in the art that the modifications made without departing from the present invention shall fall within the protection scope of the present invention.
Claims (1)
1. A recirculating aquaculture variable-speed flow intelligent control system based on fish shoal behavior and ammonia discharge law feedback is characterized by comprising a culture pond (7), a biological filter (5), a camera (2), a variable-frequency water pump (6), a P L C controller (4), a feeder (1) and a computer (3), wherein the feeder (1) is used for feeding into the culture pond, the camera (2) is installed right above the culture pond (7), the camera (2), the computer (3), the P L C controller (4) and the variable-frequency water pump (6) are sequentially connected, the variable-frequency water pump (6) is installed at the bottom of the biological filter (5), and the variable-frequency water pump (6) and the biological filter (5) are both connected with the culture pond (7) through a water pipe;
the system is characterized in that before feeding:
1) the camera above the culture pond transmits the real-time shot picture to the computer;
2) then, calculating a motion vector v of a segmented pixel point by using an L ukas-Kanade optical flow method, and when abs (v) >2.4 × R '/R, considering that the current pixel point belongs to a fish school target foreground, wherein R is the resolution of a camera, and R' is the total number of the pixel points occupied by the current aquaculture water body area in the field of view of the camera;
3) calculating current fish school swimming coordination capacity
Wherein n is the number of fish individuals in the current picture, m is the number of fish targets within a range of twice the fish body length from the centroid of the focal fish j, v1jVelocity vector of the fish in focus, dijThe centroid straight-line distance between the focal point fish j and the adjacent individual i, namely the fish i within the range of twice the fish body length from the centroid of the focal point fish j;
4) when SC is less than threshold
When the water pump is running, the computer controls the frequency-variable water pump to change its rotation speed by the P L C controller to regulate its flow rate
Wherein T is a set SC threshold value, and Vc is the current flow rate; otherwise, the original flow rate is maintained;
after feeding:
1) the camera above the culture pond transmits the real-time shot picture to the computer;
2) the computer carries out color model conversion on the current picture and realizes pixel-level segmentation on the culture object under the current picture; obtaining the average body length
L thereinjThe body length of a single fish j;
3) establishing an ammonia discharge model of the fish:
wherein M is a set ammonia nitrogen threshold value, the average fish body length is L according to the empirical value, so as to obtain the time t for the ammonia nitrogen in the water body to reach the threshold value;
4) when the time after feeding reaches t and the current fish swimming cooperative capacity SC is larger than the threshold value
When the flow rate starts to increase until SC equals the threshold value; when the time after feeding reaches (t +4h), the flow rate is recovered.
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| CN113040081A (en) * | 2021-03-24 | 2021-06-29 | 浙江大学 | Intelligent feeding decision making system for recirculating aquaculture fishes based on fish shoal swimming energy consumption analysis |
| CN113170758A (en) * | 2021-04-21 | 2021-07-27 | 浙江大学 | Variable-speed flow intelligent control system based on fish shoal behaviors and bottom pollution discharge characteristics |
| CN114847209A (en) * | 2022-04-14 | 2022-08-05 | 华中农业大学 | Intelligent fish feeding method and system based on multi-factor comprehensive control |
| WO2024052897A1 (en) * | 2022-09-05 | 2024-03-14 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | System for monitoring and controlling ammonium or ammonia concentration in soil and water |
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| CN113040081A (en) * | 2021-03-24 | 2021-06-29 | 浙江大学 | Intelligent feeding decision making system for recirculating aquaculture fishes based on fish shoal swimming energy consumption analysis |
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