Fish monitoring method, device, electronic equipment, storage medium and program product

Abstract

This invention relates to the field of fish monitoring technology, and discloses a fish monitoring method, device, electronic equipment, storage medium, and program product. The fish monitoring method includes: acquiring the ultrasonic encoded signal of the target fish when it enters a preset detection range; verifying the ultrasonic encoded signal; when the verification result is successful, controlling the image sonar device and optical camera array to start; locating the target fish using the image sonar device to obtain sonar image data; acquiring image data of the target fish using the optical camera array; associating the sonar image data and the image data to obtain a target association result; and monitoring the target fish based on the target association result. This invention improves the accuracy of fish monitoring by using ultrasonic detection of fish and monitoring the fish using a camera and sonar device when the fish are detected.

Description

Technical Field

[0001] This invention relates to the field of fish monitoring technology, specifically to fish monitoring methods, devices, electronic equipment, storage media, and program products. Background Technology

[0002] In order to protect fish, behavioral studies of fish are needed. When conducting behavioral studies of fish, a non-invasive observation method is needed that can be monitored for a long time and automatically capture detailed behavioral data of target fish when they appear.

[0003] In related technologies, methods for monitoring fish include continuous operation of cameras or tracking via acoustic tags to monitor fish behavior. However, continuous operation of cameras generates massive amounts of invalid data, consumes high power, and makes it difficult to quickly locate key segments of the target from a large amount of data, resulting in low efficiency in fish monitoring. Similarly, tracking via acoustic tags cannot determine the spatial location of fish, leading to low accuracy in fish monitoring. Summary of the Invention

[0004] This invention provides a fish monitoring method, device, electronic device, storage medium, and program product to solve the problem of low accuracy in fish monitoring caused by related technologies.

[0005] In a first aspect, the present invention provides a fish monitoring method, comprising: when a target fish enters a preset detection range, acquiring an ultrasonic encoded signal of the target fish; the preset detection range is the detection range of an ultrasonic receiver, and the ultrasonic encoded signal is a specific ultrasonic signal of the target fish received by the ultrasonic receiver; verifying the ultrasonic encoded signal, and when the verification result is successful, controlling an image sonar device and an optical camera array to start, locating the target fish according to the image sonar device, and obtaining sonar image data; acquiring image data of the target fish according to the optical camera array, associating the sonar image data and the image data to obtain a target association result, so as to monitor the target fish according to the target association result.

[0006] The fish monitoring method of this invention acquires the ultrasonic encoded signal of the target fish when it enters a preset detection range, enabling preliminary perception of the target fish in the water. The ultrasonic encoded signal is then verified, and invalid signals are filtered to ensure accurate identification of the target fish. When the verification result is successful, the image sonar device and optical camera array are activated. Ultrasonic verification is performed first, followed by activation of the image sonar device and optical camera array to avoid the problems of continuous camera operation, generating massive amounts of invalid data, and high power consumption. The image sonar device locates the target fish, obtaining sonar image data. The optical camera array accurately determines the target fish's location information, acquiring image data of the target fish and completely capturing its image information. The sonar image data and image data are correlated to obtain a target association result, which is used to monitor the target fish. This achieves a one-to-one correspondence and association between acoustic positioning information and high-definition visual information, enabling both the understanding of the target fish's spatial location and accurate identification of its image, thus achieving comprehensive monitoring of the target fish.

[0007] In one optional implementation, when the target fish enters the preset detection range, the ultrasonic encoded signal of the target fish is acquired, including: controlling the ultrasonic receiver to monitor within the preset detection range, and when the target fish enters the preset detection range, acquiring the ultrasonic encoded signal of the ultrasonic beacon attached to the target fish.

[0008] In one optional implementation, verifying the ultrasonic encoded signal includes: obtaining the ultrasonic identifier corresponding to the ultrasonic encoded signal, matching the ultrasonic identifier with a preset identifier database, and determining the verification result as successful when the match is successful, and determining the verification result as unsuccessful when the match fails.

[0009] In one optional implementation, the image sonar device and the optical camera array are activated, and the target fish are located by the image sonar device to obtain sonar image data. This includes: sending a start command to the image sonar device and the optical camera array to activate them; and controlling the image sonar device to scan the source area of ​​the ultrasonic encoded signal to obtain sonar image data.

[0010] In one optional implementation, acquiring image data of the target fish based on an optical camera array includes: adjusting the angle of the optical camera array based on sonar image data, and acquiring image data of the target fish through the adjusted optical camera array.

[0011] In one optional implementation, sonar image data and video data are associated to obtain target association results, including: spatially aligning the sonar image data and video data, comparing the spatially aligned sonar image data and video data according to timestamps and spatial locations, and selecting target association results that match the comparison results.

[0012] Secondly, the present invention provides a fish monitoring device, comprising: an ultrasonic detection module, used to acquire the ultrasonic encoded signal of the target fish when the target fish enters a preset detection range; the preset detection range is the detection range of the ultrasonic receiver, and the ultrasonic encoded signal is a specific ultrasonic signal of the target fish received by the ultrasonic receiver; a sonar detection module, used to verify the ultrasonic encoded signal, and when the verification result is successful, controlling the image sonar device and the optical camera array to start, locating the target fish according to the image sonar device, and obtaining sonar image data; and a fish monitoring module, used to acquire image data of the target fish according to the optical camera array, associating the sonar image data and the image data to obtain a target association result, so as to monitor the target fish according to the target association result.

[0013] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the fish monitoring method of the first aspect or any corresponding embodiment described above.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the fish monitoring method of the first aspect or any corresponding embodiment described above.

[0015] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the fish monitoring method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2This is a schematic diagram of the first process of a fish monitoring method according to an embodiment of the present invention; Figure 3 This is a side view schematic diagram of a fixed-point underwater stereoscopic observation system according to an embodiment of the present invention; Figure 4 This is a top view schematic diagram of a fixed-point underwater three-dimensional observation system according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a second process for a fish monitoring method according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the third process of the fish monitoring method according to an embodiment of the present invention; Figure 7 This is a structural block diagram of a fish monitoring device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0020] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] As an optional application scenario of this invention, such as Figure 1 As shown, the fish monitoring system may include at least one terminal device and at least one server. Figure 1 The system is illustrated in the example, which includes a computer 101, a mobile terminal 102, and a server 103, and the terminal devices such as the computer 101 and the mobile terminal 102 are connected to the server 103 through a network 110.

[0022] Specifically, the terminal device can be a smartphone, tablet, laptop, PDA, desktop computer, game console, smart TV, smart wearable device, in-vehicle terminal, VR (Virtual Reality) device, AR (Augmented Reality) device, etc. Server 103 can be a standalone physical server, a server cluster, a distributed system, or a cloud server providing cloud services. Network 110 can be a wired or wireless network, examples of which include, but are not limited to, the Internet, corporate intranet, local area network, wide area network, mobile communication network, and combinations thereof.

[0023] Behavioral studies of specific rare fish species (such as the Chinese sturgeon) require a non-invasive observation method capable of long-term monitoring and automatically capturing detailed behavioral data when the target appears. Related technologies have significant shortcomings: traditional underwater video monitoring involves continuous camera operation, generating massive amounts of invalid data, consuming high power, and making it difficult to quickly locate key segments of the target's appearance from a large amount of data. Acoustic tagging and tracking systems, while capable of remotely detecting tagged fish, only provide time information, cannot determine spatial location, and lack intuitive visual verification of the fish's actual state (such as feeding or swimming posture), resulting in limited data dimensionality. Sonar or optical observation alone is insufficient; sonar can detect a wide area but the imaging is not intuitive, while optical equipment provides intuitive imaging but has a limited range. If these two methods operate independently, they cannot achieve coordinated observation.

[0024] This invention provides a fish monitoring method that uses ultrasonic detection to detect fish, and monitors the fish using a camera and sonar equipment when fish are detected, thereby improving the accuracy of fish monitoring.

[0025] According to an embodiment of the present invention, a fish monitoring method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] This embodiment provides a fish monitoring method that can be used with computer equipment. Figure 2 This is a first flowchart of a fish monitoring method according to an embodiment of the present invention, as follows: Figure 2 As shown, the process includes the following steps: Step S201: When the target fish enters the preset detection range, the ultrasonic encoded signal of the target fish is acquired; the preset detection range is the detection range of the ultrasonic receiver, and the ultrasonic encoded signal is the specific ultrasonic signal of the target fish received by the ultrasonic receiver.

[0027] Among them, the target fish is a specific rare fish, for example, the target fish can be the Chinese sturgeon; the preset detection range is a pre-defined water monitoring range, which is limited by the hardware detection distance and angle of the ultrasonic receiver; the ultrasonic receiver is an underwater acoustic receiving device that can receive ultrasonic signals emitted / bound by the fish; the ultrasonic encoded signal is an ultrasonic pulse signal with a unique code that is exclusively modulated for the target fish.

[0028] In some alternative implementations, an ultrasonic beacon is attached to the target fish, which can be fixed with nylon thread or glue. The ultrasonic beacon is used to emit ultrasonic encoded signals. When the target fish enters a preset detection range, the ultrasonic receiver is controlled to acquire the ultrasonic encoded signals emitted by the ultrasonic beacon in order to detect the target fish.

[0029] Step S202: Verify the ultrasonic encoded signal. When the verification result is successful, control the image sonar device and optical camera array to start. The image sonar device locates the target fish and obtains sonar image data.

[0030] The system verifies the legitimacy of the ultrasonic encoded signal. The verification result includes successful verification and verification failure. When the verification result is a failure, the image sonar device and optical camera array are not activated.

[0031] In some optional implementations, the image sonar device is an underwater imaging sonar that can generate two-dimensional or three-dimensional underwater acoustic images to locate target fish; the optical camera array is an imaging array composed of multiple underwater high-definition cameras; and the sonar image data is an acoustic image file and coordinate data output by the image sonar device that includes the target's position, outline, and distance.

[0032] In some optional implementations, embodiments of the present invention configure a fixed-point underwater three-dimensional observation system. Specifically, an adjustable-height iron tower support is configured in the target water area. The adjustable-height iron tower support is a tower structure made of corrosion-resistant materials (such as galvanized steel or stainless steel) with adjustable height. For example, the height of the adjustable-height iron tower support is approximately 2 meters, which can be adjusted by adding or removing sections according to the actual water depth. The bottom of the adjustable-height iron tower support is designed with a stable base, such as a counterweight or anchoring device, to ensure stability under the impact of water flow and provide a stable spatial reference for all sensors. An ultrasonic receiver is fixed near the top of the adjustable-height iron tower support to continuously monitor ultrasonic signals in a preset frequency band. For example, the preset frequency band can be 69kHz. The ultrasonic receiver operates at either 180kHz or 307kHz, maintaining a low-power standby mode year-round. The imaging sonar device is located at the top of an adjustable-height iron tower support, fixed by an underwater gimbal. It can be remotely rotated 360° horizontally and adjusted in pitch. The detection range of the imaging sonar device covers a range of 40-100 meters, used for rapid wide-area scanning and precise positioning of targets once triggered. Several underwater high-definition optical cameras, i.e., optical camera arrays, are deployed at different depths and orientations around the lower part of the adjustable-height iron tower support. The optical camera arrays are initially in standby or low-frame-rate inspection mode. When triggered, they start high-speed continuous shooting according to control commands, allowing for close-range and detailed observation of approaching target fish from multiple angles.

[0033] For example, such as Figure 3 This is a side view schematic diagram of a fixed-point underwater stereoscopic observation system according to an embodiment of the present invention. Figure 3 The red dot represents the optical camera 301, the triangle connected to each red dot represents the detection range of the optical camera 301, the hexagon represents the ultrasonic receiver 302, the pentagon represents the image sonar device 303, and the polygon connected to the image sonar device 303 represents the detection range of the image sonar device 303. Figure 4 This is a top view schematic diagram of a fixed-point underwater three-dimensional observation system according to an embodiment of the present invention. The orange cross lines represent the adjustable height iron tower support 401, the gray fan shape represents the detection range 402 of the image sonar equipment, and the blue triangle represents the detection range 403 of the optical camera.

[0034] Step S203: Based on the optical camera array, acquire image data of the target fish, associate the sonar image data and the image data to obtain the target association result, and monitor the target fish based on the target association result.

[0035] Among them, the image data is high-definition video or image of the target fish captured by the optical camera; the target association result is the mapping and association result between sonar positioning information and image data.

[0036] The fish monitoring method provided in this embodiment acquires the ultrasonic encoded signal of the target fish when it enters a preset detection range, enabling preliminary perception of the target fish in the water. The ultrasonic encoded signal is then verified, and invalid signals are filtered to ensure accurate identification of the target fish. When the verification result is successful, the image sonar device and optical camera array are activated. Ultrasonic verification is performed first, followed by activation of the image sonar device and optical camera array to avoid the problems of continuous camera operation, generating massive amounts of invalid data, and high power consumption. The image sonar device locates the target fish, obtaining sonar image data. The optical camera array accurately determines the target fish's location information, acquiring image data of the target fish and completely capturing its image information. The sonar image data and image data are correlated to obtain a target association result, which is used to monitor the target fish. This achieves a one-to-one correspondence and association between acoustic positioning information and high-definition visual information, enabling both the understanding of the target fish's spatial location and accurate identification of its image, thus achieving comprehensive monitoring of the target fish.

[0037] This embodiment provides a fish monitoring method that can be used with computer equipment. Figure 5 This is a second flowchart of a fish monitoring method according to an embodiment of the present invention, such as... Figure 5 As shown, the process includes the following steps: Step S501: When the target fish enters the preset detection range, the ultrasonic encoded signal of the target fish is acquired; the preset detection range is the detection range of the ultrasonic receiver, and the ultrasonic encoded signal is the specific ultrasonic signal of the target fish received by the ultrasonic receiver.

[0038] Specifically, step S501 includes: Step S5011: Control the ultrasonic receiver to monitor within a preset detection range. When the target fish enters the preset detection range, acquire the ultrasonic encoded signal of the ultrasonic beacon attached to the target fish.

[0039] The ultrasonic receiver is in continuous monitoring mode, while the image sonar device and optical camera array are in low-power standby or timed inspection mode. The ultrasonic receiver is controlled to monitor within a preset detection range. When a target fish carrying an ultrasonic beacon enters the preset detection range, the ultrasonic encoded signal emitted by the ultrasonic beacon attached to the target fish is received.

[0040] Step S502: Verify the ultrasonic encoded signal. When the verification result is successful, control the image sonar device and optical camera array to start. The image sonar device locates the target fish and obtains sonar image data.

[0041] Specifically, step S502 includes: Step S5021: Obtain the ultrasonic identifier corresponding to the ultrasonic coded signal, and match the ultrasonic identifier with the preset identifier database. If the match is successful, the verification result is determined to be successful; if the match fails, the verification result is determined to be unsuccessful.

[0042] Each ultrasonic coded signal corresponds to a unique ultrasonic identifier. The preset identifier database stores the ultrasonic coded signals corresponding to all ultrasonic beacons. The ultrasonic identifier is matched with the preset identifier database. If the match is successful, it means that the target fish corresponding to the ultrasonic coded signal is the Chinese sturgeon. If the match fails, it means that the target fish corresponding to the ultrasonic coded signal is not the Chinese sturgeon.

[0043] Step S5022: When the verification result is successful, a start command is sent to the image sonar device and the optical camera array to control the image sonar device and the optical camera array to start.

[0044] When the verification result is successful, a start command is sent synchronously to the image sonar device and the optical camera array. Upon receiving the start command, the image sonar device and the optical camera array start the operation mode.

[0045] Step S5023: Control the image sonar device to scan the source area of ​​the ultrasonic encoded signal to obtain sonar image data.

[0046] The system controls the rotation of the pan-tilt unit of the image sonar device to perform a rapid fan-shaped scan of the signal source area (i.e., the area where the target fish is located, which is determined by the ultrasonic encoded signal) to obtain sonar image data. The sonar image data includes the sonar image of the target fish, precise orientation, distance, and depth data, achieving meter-level spatial positioning of the target fish within the detection range.

[0047] Step S503: Based on the optical camera array, acquire image data of the target fish, associate the sonar image data and the image data to obtain the target association result, and monitor the target fish based on the target association result.

[0048] Specifically, step S503 includes: Step S5031: Adjust the angle of the optical camera array according to the sonar image data, and acquire image data of the target fish through the adjusted optical camera array.

[0049] Based on the target's location in the sonar image data, the system intelligently adjusts the orientation (if the camera has a gimbal) and focal length of the relevant optical cameras, starts recording, and collects image data of the target fish through the adjusted optical camera array. When the fish enters the shooting range (about 2m), the system controls the camera to simultaneously perform high-speed continuous shooting to ensure that clear images and behavioral details of the target are captured.

[0050] Step S5032: Spatial alignment processing is performed on the sonar image data and the video data. The spatially aligned sonar image data and video data are compared according to timestamp and spatial location, and the target association result with consistent comparison results is selected.

[0051] The sonar image data and video data are both timestamped using a unified high-precision clock and mapped to a spatial coordinate system based on an adjustable-height iron tower support, thus achieving synchronization between group monitoring and individual monitoring.

[0052] In some optional implementations, sonar image data can observe fish swimming images, which are relatively blurry and have an observation range of up to 40m, while video data can observe high-definition images of fish activity, with an observation range of no more than 2m. Spatially aligning the sonar image data and video data ensures that their observation ranges overlap. The spatially aligned sonar image data and video data are then compared according to timestamps and spatial locations. Data sets where the sonar image data and video data are identical or very similar are selected, indicating that they represent the same target fish.

[0053] Specifically, the sonar imaging equipment and the optical camera array are connected to the same underwater clock module. Both the sonar image data and the video data are stamped with millisecond-level synchronization timestamps to ensure that fish at the same location are captured at the same time. The three-dimensional coordinates of the fish in the sonar image data and the three-dimensional coordinates of the fish identified in the video data are extracted at the same timestamp. The distance difference between the two sets of three-dimensional coordinates is calculated. If the distance difference is equal to or equal to a preset threshold (which can be 0.3 meters), it is determined that the spatial location is close. If the time is completely synchronized and the position height is overlapping, it is determined that the data is consistent. Sonar-video data pairs that are close in spatial location and have consistent data are selected as the same target fish, and the target fish are monitored.

[0054] In some optional implementations, the output is a comprehensive data packet containing time, three-dimensional location, acoustic markers, and synchronized video clips for subsequent target fish behavior analysis.

[0055] The fish monitoring method provided in this embodiment boasts extremely high monitoring efficiency and data validity. It transforms continuous recording into event-driven monitoring, operating only when the target is present, significantly reducing data redundancy and post-processing workload, and lowering storage and power consumption requirements. The data exhibits high multi-dimensional fusion and reliability, achieving for the first time the simultaneous acquisition and fusion of specific individual identification, meter-level precise positioning (image sonar), and centimeter-level behavioral imagery (optical camera), with data cross-verification. It is highly automated and intelligent, requiring no human intervention throughout the entire process, enabling long-term unattended monitoring, and is particularly suitable for remote or harsh water environments. It is species-friendly, employing non-invasive observation, focusing only on individuals already marked for scientific research, without affecting their normal activities.

[0056] This embodiment provides a fish monitoring method that can be used with computer equipment. Figure 6 This is a third flowchart of the fish monitoring method according to an embodiment of the present invention, such as... Figure 6 As shown, the process includes the following steps: The tagged fish carries an ultrasonic beacon; the signal is captured by the ultrasonic receiver on the tower; the central controller determines whether it is a target signal; if it is a target signal, it triggers a synchronous command; the image sonar equipment performs a wide-area scan to locate the target's position; the underwater optical camera array captures the target's morphology and behavior at close range; the data is fused and recorded; and a behavior dataset with spatiotemporal tags is generated.

[0057] The vertically layered sensor layout structure of this invention, featuring a tower-like support, top-mounted acoustic triggering and scanning, and bottom-mounted optical detailing, achieves optimal spatial and functional configuration. A collaborative working mode using ultrasonic beacon signals as the sole trigger condition is proposed, realizing a paradigm shift from blind recording to precise capture. An intelligent scheduling algorithm for optical devices based on real-time acoustic positioning information is developed, achieving seamless connection and coordinated pointing between different sensors. The resulting structured behavioral dataset perfectly unifies traditionally separate acoustic tracking data and video behavioral data in time and space, creating a completely new data format.

[0058] This embodiment also provides a fish monitoring device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0059] This embodiment provides a fish monitoring device, such as... Figure 7 As shown, it includes: The ultrasonic detection module 701 is used to acquire the ultrasonic encoded signal of the target fish when the target fish enters the preset detection range; the preset detection range is the detection range of the ultrasonic receiver, and the ultrasonic encoded signal is the specific ultrasonic signal of the target fish received by the ultrasonic receiver.

[0060] The sonar detection module 702 is used to verify the ultrasonic encoded signal. When the verification result is successful, it controls the image sonar device and optical camera array to start. The image sonar device locates the target fish and obtains sonar image data.

[0061] The fish monitoring module 703 is used to acquire image data of target fish based on an optical camera array, associate sonar image data and image data to obtain target association results, and monitor target fish based on the target association results.

[0062] In some alternative implementations, the ultrasonic detection module 701 includes: The ultrasonic monitoring unit is used to control the ultrasonic receiver to monitor within a preset detection range. When the target fish enters the preset detection range, it acquires the ultrasonic encoded signal of the ultrasonic beacon attached to the target fish.

[0063] In some alternative implementations, the sonar detection module 702 includes: The signal verification unit is used to obtain the ultrasonic identifier corresponding to the ultrasonic coded signal, match the ultrasonic identifier with the preset identifier database, and determine the verification result as successful when the match is successful and as unsuccessful when the match fails.

[0064] The camera control unit is used to send start commands to the image sonar device and the optical camera array, and control the start-up of the image sonar device and the optical camera array.

[0065] The sonar control unit is used to control the image sonar equipment to scan the source area of ​​the ultrasonic encoded signal to obtain sonar image data.

[0066] In some alternative implementations, the fish monitoring module 703 includes: The camera adjustment unit is used to adjust the angle of the optical camera array based on sonar image data, and to acquire image data of the target fish through the adjusted optical camera array.

[0067] The fish monitoring unit is used to perform spatial alignment processing on sonar image data and video data. The spatially aligned sonar image data and video data are compared according to timestamp and spatial location, and the target association results with consistent comparison results are selected.

[0068] The fish monitoring device provided in this embodiment of the invention can execute the fish monitoring method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the various modules and units described above are the same as in the corresponding embodiments described above, and will not be repeated here.

[0069] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0070] The following is a detailed reference. Figure 8 This diagram illustrates a suitable structural schematic for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 801, which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) 802 or a program loaded from memory 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the electronic device. The processor 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0071] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 808 including, for example, magnetic tapes, hard disks, etc.; and communication devices 809. Communication device 809 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0072] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a memory 808, or installed from a ROM 802. When the computer program is executed by the processor 801, it performs the functions defined in the fish monitoring method of the embodiments of the present invention.

[0073] Figure 8The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0074] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the fish monitoring method shown in the above embodiments is implemented.

[0075] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0076] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for monitoring fish, characterized in that, The method includes: When a target fish enters a preset detection range, the ultrasonic encoded signal of the target fish is acquired; the preset detection range is the detection range of the ultrasonic receiver, and the ultrasonic encoded signal is a specific ultrasonic signal of the target fish received by the ultrasonic receiver. The ultrasonic encoded signal is verified. When the verification result is successful, the image sonar device and optical camera array are activated. The target fish is located by the image sonar device to obtain sonar image data. Image data of the target fish is acquired using the optical camera array. The sonar image data and the image data are correlated to obtain a target correlation result, which is then used to monitor the target fish.

2. The method according to claim 1, characterized in that, The step of acquiring the ultrasonic encoded signal of the target fish when it enters the preset detection range includes: The ultrasonic receiver is controlled to monitor within the preset detection range. When the target fish enters the preset detection range, the ultrasonic encoded signal of the ultrasonic beacon attached to the target fish is acquired.

3. The method according to claim 1 or 2, characterized in that, The verification of the ultrasonic coded signal includes: Obtain the ultrasonic identifier corresponding to the ultrasonic encoded signal, match the ultrasonic identifier with a preset identifier database, and if the match is successful, determine that the verification result is successful; if the match fails, determine that the verification result is unsuccessful.

4. The method according to claim 1 or 2, characterized in that, The control image sonar device and optical camera array are activated, and the target fish is located based on the image sonar device to obtain sonar image data, including: Send a start command to the image sonar device and the optical camera array to control the image sonar device and the optical camera array to start; The image sonar device is controlled to scan the source area of ​​the ultrasonic encoded signal to obtain the sonar image data.

5. The method according to claim 1 or 2, characterized in that, The step of acquiring image data of the target fish based on the optical camera array includes: The angle of the optical camera array is adjusted based on the sonar image data, and the image data of the target fish is acquired through the adjusted optical camera array.

6. The method according to claim 1 or 2, characterized in that, The step of associating the sonar image data and the video data to obtain the target association result includes: The sonar image data and the video data are spatially aligned. The spatially aligned sonar image data and the video data are compared according to timestamp and spatial location. The target association result that matches the comparison result is selected.

7. A fish monitoring device, characterized in that, The device includes: An ultrasonic detection module is used to acquire the ultrasonic encoded signal of a target fish when the target fish enters a preset detection range; the preset detection range is the detection range of an ultrasonic receiver, and the ultrasonic encoded signal is a specific ultrasonic signal of the target fish received by the ultrasonic receiver. The sonar detection module is used to verify the ultrasonic encoded signal. When the verification result is successful, it controls the image sonar device and optical camera array to start. The image sonar device locates the target fish and obtains sonar image data. The fish monitoring module is used to acquire image data of the target fish based on the optical camera array, associate the sonar image data and the image data to obtain a target association result, and monitor the target fish based on the target association result.

8. An electronic device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the fish monitoring method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the fish monitoring method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes computer instructions for causing a computer to perform the fish monitoring method according to any one of claims 1 to 6.

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