KR20180076083A - Aquatic animals counter - Google Patents

Abstract

The present invention provides an apparatus for counting the number of aquatic animals to measure the number of individuals of the aquatic animals, which comprises: a main body forming a passage from inflow to discharge of the aquatic animals under measurement; an infrared ray detection unit provided at one side of the main body to sense the flowing-in aquatic animals; a line scan detection unit sensing the aquatic animals flowing in the main body at a position separated from the infrared ray detection unit; and a main control unit weighting detection results of the infrared ray detection unit and the line scan detection unit and collecting the weighted results to estimate the final number of individuals of the aquatic animals passing the main body. The present invention detects the aquatic animals flowing into the main body through the infrared ray detection unit and the line scan detection unit irrespective of size and kind of the aquatic animals under measurement, and outputs the combined detection results through a display, thereby enabling a user to easily identify the measurement result with enhanced accuracy.

Description

Aquatic animals counter

The present invention provides a fish animal counting apparatus for measuring the number of marine animals.

Aquatic animals are the collective term for animals living in the water such as sea, lake and river, and they include fish and crustaceans (shrimp, crab, etc.) and shellfish (abalone, bead, etc.).

Such aquatic animals can be mass-produced through aquaculture, and in order to cultivate the produced fry and to ship the fry, a counting device for counting the number of produced fry is required.

On the other hand, in a typical farm, a person manually counts the number of fry stored in a bucket of a certain size, the number of fry stored in the bucket, calculates the average weight of the fry, measures the weight of the bucket containing the fry, Of the total weight of the bucket, excluding the weight of the water, has been calculated to accommodate the population of the bucket.

However, in the case of counting the number of individuals as described above, there is a problem that a difference occurs in the counting result every time the person who is measured varies because the counting person includes an arbitrary judgment of the counting person.

In addition, there is a problem that the accuracy is very low and a certain level of personnel to be input into equipment and measurement must be input.

On the other hand, in order to solve the problems of the related art as described above, a counter technique for measuring the number of live fishes is disclosed in Japanese Patent Laid-Open Publication No. JP1994245665, "Fish Counter".

In the prior art, a plurality of outlet portions are provided on the lower side of the formed body, and a detection sensor is disposed in the vicinity of the outlet portion to measure the number of live fishes discharged through the outlet portion .

However, in the above-described conventional art, in order to allow the live fish to be discharged one by one through the outlet, the size of the outlet is formed to correspond to the size of the live fish.

Therefore, live fishes corresponding to the size of the produced outlet can be accurately measured, but live fishes of a size larger than the size of the outlet can not be measured, and fishes of small size can be discharged in a plurality of times at once, have.

In addition, in the above-described prior art, one animal is discharged through the discharge port one at a time, so that it may take some time to measure.

JP 1994245665 A JP 1995036643 U

It is an object of the present invention to provide a measurable animal anemia counting apparatus that can be measured regardless of the size and kind of aquatic animals to be measured.

Another object of the present invention is to provide a fish-marine animal counting apparatus which improves accuracy by sensing an object through an infrared detecting unit and a line-scan detecting unit, and combining the detection results to obtain final detection results.

The present invention relates to a method for detecting a fish animal, comprising: a main body forming a path from an infant animal to a subject to be measured to be discharged; an infrared detecting unit for detecting a fish animal introduced into one side of the main body; A main controller for estimating a final number of aquatic animals passing through the main body by weighting detection results of the infrared detection unit and the line scan detection unit and collecting the results, And a control unit.

An infrared transmission control module for controlling the infrared transmission module; an infrared transmission control module for controlling the infrared transmission module, the infrared transmission module including a position corresponding to the upper slit at the lower side of the main body, And an infrared ray receiving module for controlling the infrared ray receiving module.

The line scan detecting unit includes a line camera module provided corresponding to a camera hole formed on the upper side of the main body and an illumination module provided corresponding to an illumination hole formed at a position corresponding to the camera hole from a lower side of the main body, And a control unit.

And the main control unit assigns weights to the infrared detection unit and the line scan detection unit using a least squares method.

And the main control unit outputs the estimation result in real time through the display or the user portable terminal connected through the communication means.

According to the present invention, a fish animal introduced into the main body can be detected through an infrared ray detector and a line scan detector irrespective of the size and type of the fish animal to be measured, and the detection result of the combination can be confirmed by the user through the display do.

Therefore, the user can easily confirm the measurement result with improved accuracy, and can automate the aquaculture using this.

In addition, in the present invention, a guide is further provided inside the main body so that the fish animal introduced into the main body is aligned while passing through the guide, and the inclined surface is further formed on the main body, , So that it can be stably discharged to the outside of the main body.

In addition, the fish-marine animal counting apparatus according to the present invention further includes a Bluetooth module, and can transmit the final detection result to the paired terminal, thereby allowing the user to more easily confirm the measurement result.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing an embodiment of a fish animal counter according to the present invention. Fig.
Fig. 2 is an exploded perspective view of Fig. 1; Fig.
FIG. 3 and FIG. 4 are partial cutaway views for explaining the internal flow path of a fish animal counting apparatus according to the present invention;
5 is a schematic view of a main control system structure of a marine animal counting apparatus according to the present invention;
6 is a flowchart for explaining a measurement algorithm of an infrared ray detecting unit which is a main component of the present invention;
FIG. 7 is a view for showing a measurement result according to FIG. 6; FIG.
8 is a diagram for explaining a measurement algorithm of a line scan detecting section which is a main constituent of the present invention.
9 is a view for showing a measurement result according to FIG.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. It is to be understood, however, that the spirit of the invention is not limited to the embodiments shown and that those skilled in the art, upon reading and understanding the spirit of the invention, may easily suggest other embodiments within the scope of the same concept.

FIG. 1 is an exploded perspective view of the fish animal counting apparatus according to the present invention. FIG. 3 is a perspective view of a fish animal counting apparatus according to the present invention. Fig. 5 is a view schematically showing a main control system structure of a marine animal counting apparatus according to the present invention. As shown in Fig.

Referring to these drawings, the fish marine animal counting apparatus according to the present invention includes an infrared detecting unit 200 and a line scan detecting unit 400 in a main body 110 into which a fish animal to be measured flows, To be able to measure the number of fish animals introduced into the fish.

The main body 110 includes an inlet 120 through which the aquatic animal flows together with water, a movement path of the fish animal introduced through the inlet 120, and a discharge port through which the fish animal passing through the movement path is discharged (140).

In detail, the inlet 120 is connected to the water tank through which the animal to be measured is housed. The aquatic animals flowing through the inlet port 120 are moved along the movement path of the main body 110. The movement path includes a guide 300 for aligning marine animals, 160 are further provided.

In the present embodiment, the guide 300 and the barrier ribs 160 are made of stainless steel which is resistant to corrosion and light in weight, but may be formed of a material such as PVC.

The guide 300 may be formed in a funnel shape having a smaller cross-sectional area in the progress direction, and may be provided in plurality. That is, the guide 300 may have different size, shape, and path depending on the type and size of the fish animal to be detected.

Further, a partition 160 is further provided at a rear end of the guide 300. The partition wall 160 separates a moving path of a fish animal which is divided and introduced through the guide 300 and may be provided in plural according to the number of partition paths formed in the guide 300.

In this embodiment, the guide 300 is provided with two funnels connected in series so that a fish animal introduced through the inlet 120 can be divided into two places, and the partition 160 is connected to the guide 300 To extend to the rear end of the main body 160 so that the fish animal moves along two moving paths.

In other words, since the guide 300 and the partition wall 160 may have a high measurement error when the fish animals that flow in through the inlet 120 are gathered together, the fish animals are arranged in an aligned form in order to reduce the measurement error .

In addition, the main body 110 is further formed with an inclined surface 170 at a lower portion thereof.

The inclined surface 170 is configured to prevent a fish animal that has passed through the guide 300 from returning to the direction of the guide 300 or from being stagnated after passing through the guide 300, And is formed to have an inclination.

Accordingly, the fish animal having passed through the guide 300 can smoothly move along the path defined by the movement flow and the self weight.

On the other hand, the number of marine animals moving as described above is detected by the infrared ray detecting unit 200 and the line scan detecting unit 400, and the detection result is synthesized through the main control unit 500, Lt; / RTI >

To this end, a plurality of slits and holes are formed in the main body 110 for installing the infrared ray detector 200 and the line scan detector 400.

An upper slit 114 for mounting the infrared detector 200 and a camera hole 118 for installing the line scan detector 400 are formed on the upper surface of the main body 110. [ A lower slit 116 is formed on a lower surface of the main body 110 at a position corresponding to the upper slit 114 and an illumination hole 119 is formed at a position corresponding to the camera hole 118 .

The infrared detection unit 200 includes an infrared transmission module 220 provided corresponding to the upper slit 114, an infrared transmission control unit 210 for controlling the infrared transmission module 220, And an infrared ray receiving control unit 250 for controlling the infrared ray receiving module 260. The infrared ray receiving module 260 includes an infrared ray receiving module 260,

That is, the infrared ray detecting unit 200 detects that the infrared ray transmitting module 220 provided on the upper slit 114 and the infrared ray receiving module 260 provided on the lower slit 116 are positioned on a straight line, Counted.

The upper slit 114 and the lower slit 116 further include an upper glass 230 and a lower glass 270 of a corresponding size so as to transmit and receive sensor signals while protecting the module. The glass may be made of materials such as acrylic or glass that can transmit infrared rays.

The infrared transmission control unit 210 and the infrared ray reception control unit 250 are installed on the outer side of the main body 110 by the upper housing 240 and the lower housing 280 and are connected to the infrared transmission module 220, Module 260 is connected.

Meanwhile, the line scan detector 400 according to the present invention receives a monochrome image of a fish passing by in real time and detects the number of pixels of each area. The line scan detector 400 is a C ++ language Of OpenCV software.

The line scan detector 400 includes a camera module 420 corresponding to the camera hole 118 and an illumination module 460 provided corresponding to the illumination hole 119.

The camera module 420 is configured to sense a continuously moving fish animal and has photoelectric charge proportional to the light of a fish animal that has one or more pixel lines and is exposed to the image during the camera's exposure time, Accumulate.

At the end of the exposure time, the charge of the entire pixel row is transferred to the read register, and the read register outputs the sense information by moving the pixel charge, amplifying them, correcting them, and digitizing them.

Pixel data is transmitted from the camera module 420 for processing to a vision processor or an NI frame grabber.

In this embodiment, LabVIEW is coded in conjunction with the camera module 420, and the Vision Module Software & Vision Acquisition Tool is used for histogram analysis.

The illumination module 460 may form an illumination line for line scan and may be configured as an LED array to provide high intensity illumination required for a short exposure time and may be configured according to a line rate of the camera module 420 Provides illumination of the required intensity.

The illumination module 460 is provided to illuminate a fish animal moving to correspond to the illumination hole 119 and accommodated in an interior of an illumination housing 480 coupled to the main body 110 do.

The detection information of the infrared ray detector 200 and the line scan detector 400 configured as described above is transmitted to the main controller 500 and weighted to the detection results of the infrared ray detector 200 and the line scan detector 400 And collects the information and allows the user terminal to confirm the information through the communication module such as the external display 600 or the Bluetooth module 700.

The main controller 500 may be stacked in the camera housing 440 together with the camera module 420 and the Bluetooth module 700. The main controller 500 may include processing for data interlocking and optimization of measured values .

Hereinafter, a data processing process of the fish-marine animal counting apparatus 100 according to the present invention will be described.

FIG. 6 is a flow chart for explaining the measurement algorithm of the infrared ray detecting unit, which is a main component of the present invention, and FIG. 7 is a view for showing a measurement result according to FIG.

Referring to these drawings, first, the control algorithm of the infrared ray detector 200 is configured using the rate of change of the signal with respect to time.

To this end, the infrared ray detector 200 detects three variables (signal 'C', time ') for performing the algorithm, the detection variable (Onoff) for the signal, T ', and the rate of change' S ') are declared as three arrays, and the value of the population variables to be derived is declared as' Count' and starts from '0'.

When the measurement is made using the variable declared as described above, the sensor signal Onoff for the time T is continuously generated as shown in the CT graph of FIG. 7, and the fish animal enters the sensor signal Onoff ) Becomes 0, the value of the signal variable (Count) is increased by one.

 The change rate S2 of the change rate S2 is calculated as shown in S2-T of FIG. 7, and the change rate S2 of the change rate S2 Is generated.

In the S2-T graph, a value is set to 1 when a fish animal enters and a value of -1 is maintained after passing while a fish animal is passing.

In the present invention, an algorithm is employed in which the value of the population increases by 1 every time the value of S2 is 1 in order to detect when the fish animal enters.

In the meantime, when the fish animal passes along the infrared ray detection unit 200, the value of the population increases by one. In the present invention, the fish animal that has passed through the infrared ray detection unit 200, And then detected again through the line scan detector 400 after a predetermined distance including the scan line 170 is moved.

FIG. 8 is a diagram for explaining the measurement algorithm of the line scan detecting unit, which is a main component of the present invention, and FIG. 9 is a diagram for showing the measurement result according to FIG.

Referring to these drawings, the line scan detector 400 receives a monochrome image of a fish animal moving in real time and detects the number of pixels per region.

For this, in the present invention, algorithms are performed in cooperation with OpenCV software based on C ++ language which ensures quick response of the camera module 420 and is easily corrected and supplemented.

The control algorithm of the line scan detector 400 according to the present invention includes a code for inserting code for linking the camera module 420 with software and a code for histogramming a passing fish animal in real time, Desc / Clms Page number 7 > intensity per pixel in distance.

The histogram graph obtained through the above process is shown in FIG. 9, and it is confirmed whether the histogram graph forms a triangle shape. Then, the threshold pitch is set and it is recognized that one entity has passed through the upper limit.

And, in order to prevent duplication of one critical pitch, we set the number of detection per hour by measuring the passing speed of a marine animal in the system model.

As described above, the information detected by the infrared ray detector 200 and the line scan detector 400 are given different weights, and then the fused estimates are output.

For this purpose, the detection result is fused using the least squares method as shown in Equation (1) below, and weighting can be determined through simulation.

..................................수식(1)

.................................. Equation (1)

Here, D is the estimated data, Z ₁ and Z ₂ are the data measured by the infrared detector and the data measured by the line scan detector, and σ ₁ ^{2 and} σ ₂ ² are the variances of the respective data.

...........................................수식(2)

........................................... Equation (2)

................................................수식(3)

................................................Equation( 3)

Here, x _k (N × 1) column vectors as state variables, z _k is the (m × 1) column vectors as measured values, and A is the equation of motion of the system with (n × n) matrix as the state transition matrix.

In addition, H determines how each state variable is reflected by the (m × m) matrix and is chosen as [1,0], and w _k is the noise affecting the system, The vector, v _k, is the measurement noise measured at the sensor and is a (m × 1) column vector.

And, Q is a covariance matrix of w _k , and R is experimentally determined as a covariance matrix of v _k .

Meanwhile, in the present invention, the position and velocity are estimated through the system model as described above, the detection ratio is selected by selecting the passage ratio of the marine animals relative to the flow rate, and the estimated values of the fused detection data and the system model are used And derives the estimated value.

To this end, in the present invention, a Kalman filter is applied to recursively process noise-containing data to finally estimate the number of marine animals.

The Kalman filter algorithm selects an initial value of 0., predicts an estimated value and an error covariance, 2. calculates a Kalman gain, and 3. calculates a final estimated value by substituting the calculated Kalman gain into an estimated value calculation.

After outputting the final estimate, a fourth error covariance is calculated, and the calculated error covariance is again returned to one.

As a result, in the present invention, after applying different weights to the infrared ray detector 200 and the line scan detector 400, a least square method is applied to output a measurement value obtained by fusing two pieces of information, (Differential equations) are designed for the systematic equations of motion and then the estimated pass values of the fish are output.

Then, the output estimation value is output to a recursive filter called a Kalman filter to output the final estimation value, and the final output value can be confirmed in real time through the display 600 or the user terminal through the communication module.

100 ........ Aquatic animal counting device 110 ........ Main body
112 ......... earth 114 ........ upper slit
116 ....... Lower slit 118 ......... camera hole
119 Illumination hole 120 Inlet port
140 ........ Outlet 160 .........Barrier
170 ......... slope 200 ......... infrared ray detector
210 Infrared transmission control unit 220 Infrared transmission module
230: upper glass 240: upper housing
250 Infrared receiving control unit 260 Infrared receiving module
270: Lower glass 280: Lower housing
300 Guide 400 Line scan detector
420 ........ line scan module 440 ........ camera housing
460 ........ Lighting module 480 ........ Lighting housing
500 Main control unit 600 Display
700 ........ Bluetooth module

Claims (5)

A main body which forms a path from the fish animal to be measured to the inflow and discharge thereof;
An infrared ray detecting unit provided at one side of the main body for detecting an incoming fish animal;
A line scan detector for sensing a fish animal entering the main body at a position spaced apart from the infrared detector;
And a main controller for weighting detection results of the infrared detection unit and the line scan detection unit and collecting the results to estimate the final number of fish animals that have passed through the main body.
The apparatus according to claim 1,
An infrared transmission module provided corresponding to an upper slit formed on the upper side of the main body,
An infrared transmission control unit for controlling the infrared transmission module,
An infrared receiving module provided corresponding to a lower slit formed at a position corresponding to the upper slit from a lower side of the main body; And
And an infrared ray receiving controller for controlling the infrared ray receiving module. The apparatus according to claim 1,
A line camera module provided corresponding to a camera hole formed above the main body,
And an illumination module provided corresponding to an illumination hole formed at a position corresponding to the camera hole on the lower side of the main body.
2. The apparatus according to claim 1,
And a weighting value is given to the infrared ray detecting unit and the line scan detecting unit using a least squares method.
2. The apparatus according to claim 1,
Wherein the estimation result is output in real time through a display or a user portable terminal connected through communication means.

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