An experimental system for monitoring and quantifying the acoustic behavioral responses of fish

Abstract

The present invention discloses an experimental method for monitoring and quantifying the acoustic behavioral responses of fish, comprising: an experimental system, which includes: a circulating water tank for placing a fish school; a 3D optical sensor for obtaining a set of spatial coordinates of the fish school; a plurality of first acoustic wave transmitters for simulating an underwater dynamic acoustic environment; and a plurality of second acoustic wave transmitters for directionally transmitting acoustic waves, the directivity of which is controlled by the set of spatial coordinates of the fish school. The experimental system of the present invention integrates an acoustic stimulation emission system, a circulating water temporary culture system, and a fish behavior recording system, providing an efficient, accurate, and comprehensive means for studying the acoustic stimulation behavior of fish. It is used to monitor, evaluate, and quantify the three-dimensional behavioral responses of experimental fish schools under scenario acoustic stimulations of different intensities and types in conditions simulating natural aquaculture sea conditions, and to characterize their kinematic parameters. When no experiment is being carried out, the experimental fish can also be stably temporarily cultured in the experimental system to achieve stable and real-time regulation of water quality.

Description

Technical Field

[0001] The present invention relates to the technical field of fish acoustic behavior response, and particularly to an experimental method for monitoring and quantifying fish acoustic behavior response. Background Art

[0002] In recent years, with the increase of human activities, the anthropogenic noise component in the marine soundscape of the coastal area has become increasingly rich, especially the overlap with aquaculture areas. This phenomenon may cause harm to fish. Many research results at home and abroad have reported that anthropogenic noise will interfere with the behaviors of fish such as communication, foraging, migration, homeostasis, and reproduction, thus affecting the balance of the entire aquatic ecosystem. Although the response of fish to sound stimuli is of great significance in aspects such as ecology, aquaculture, and animal behavior, the existing fish acoustic behavior experimental systems generally have problems such as low efficiency, low precision, and incomplete functions. For example, the limitations of the existing technology in sound stimulus emission, circulating water rearing system, and fish behavior recording limit the diversity and complexity of the experiment, and also affect the true simulation of fish natural behavior. Therefore, in response to this challenge, it is crucial to develop an advanced fish sound stimulus behavior experimental system to provide an integrated, efficient, and accurate research platform. This will not only help to deeply understand the specific impact of anthropogenic noise on fish, but also provide key support for ecological protection and the sustainable development of the aquaculture industry, promoting the further development and innovation of related fields. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to propose an experimental method for monitoring and quantifying fish acoustic behavior response, which can be used to study the kinematic characteristics of fish behavior in response to sound stimuli.

[0004] According to one aspect of the present invention, an experimental system for monitoring and quantifying fish acoustic behavior response is provided, including:

[0005] A circulating water tank for placing a fish group;

[0006] A 3D optical sensor for obtaining a set of fish group spatial coordinates;

[0007] A plurality of first acoustic wave transmitters for simulating an underwater dynamic acoustic environment;

[0008] A plurality of second acoustic wave transmitters for directionally transmitting acoustic waves, and the directivity is controlled by the set of fish group spatial coordinates.

[0009] In the above technical solution, fish will have a certain stress response after receiving sound waves. For this reason, the existing 3D optical sensors are used to collect the movement trajectories of fish, and based on this, the movement trajectory data that can be objectively extracted is established. Further, the underwater acoustic environment is extremely complex, such as the calls of fish, the sound waves generated by water waves, the calls of mammals, the sounds emitted by the friction between water currents and reefs, etc. We cannot truly fit an underwater dynamic acoustic environment. However, if the noisy environmental factors are not considered, the final experimental results are difficult to be practically applied in practice. But it does not prevent us from looking at the problem of the underwater noisy environment from another perspective; assuming that various sound sources underwater are independent of each other and there is no dependence relationship (such as the sound communication between animals), then the sound waves emitted by each sound source are omnidirectional sound sources, that is, radiated 360 degrees with itself as the origin, and the fish just receives the sound waves within the sound wave attenuation range. Then we can swap their positions and infer that the fish is an omnidirectional receiver to receive directional sound waves. The reason for such a setting is that the sound that fish can hear is sound waves below 4 kHz, which means that fish cannot hear some of the underwater environmental sounds. Then the original need to fit an underwater dynamic acoustic environment becomes the need to fit a relatively noisy underwater dynamic acoustic environment that fish can hear. In this way, based on the idea that fish is an omnidirectional receiver to receive directional sound waves, we only need to simulate the directional sound waves within the range of sound waves roughly below 4 kHz. For this reason, we try to place several first sound wave transmitters around the water tank, and these transmitters are used to emit a fixed frequency or a certain range of frequencies to simulate a part of the underwater acoustic environment; further, in practical applications, it is found that this way of directional sound waves can only play a simulation role and cannot achieve the function of noise, that is, after being directional, it can achieve fixed output or pulse output, etc. focused on a certain point. Although the frequency band of the sound waves emitted by the first sound wave transmitter can be changed, it still cannot well simulate "noise"; for this reason, based on the idea that fish is an omnidirectional receiver to receive directional sound waves, we set several second sound wave transmitters. The purpose of the second sound wave transmitter is to transmit sound waves directionally to disrupt the sound field established by several first sound wave transmitters, or to disturb the sound field established by the first sound wave transmitters. At the same time, it can be adjusted according to the position of the fish school to achieve the problem of directivity. In this way, the real underwater noisy environment can be further simulated. For example, if two certain types of fish communicate through a specific frequency, then the directional orientation can be set according to this specific frequency to further understand the stress response of the fish. Another example is that different frequencies of sound waves can be transmitted specifically in the upper, lower, front, back, left, and right areas of the fish school, so that the underwater dynamic acoustic environment can be complex enough.However, it should still be noted that the entire solution is based on the fact that fish are non-directional receiving sources to receive directional sound waves, so as to establish a "relatively realistic" underwater dynamic acoustic environment. The specific sound wave frequency band can obtain data based on real underwater monitoring and then use a sound wave transmitter for simulation, which will not be elaborated here.

[0010] In some embodiments, the first sound wave transmitter and the second sound wave transmitter include:

[0011] A sound wave transmitter and a transmitting transducer.

[0012] In this embodiment, the reason for selecting these two types of sound wave transmitters is that the speaker has a better dynamic range and can better simulate the underwater noisy environment, while the transmitting transducer can provide sound waves within a fixed frequency band range, which has good research significance for the study of the communication between fish schools. How to specifically allocate these two depends on the size, dimensions of the circulation water tank, and the fish species being studied, and it is not limited in this embodiment. It should be understood that this application provides an idea based on the fact that fish are non-directional receiving sources to receive directional sound waves, and an experimental system is established based on this idea. For what specific sound wave transmitters are used in different research topics, researchers can set them according to actual needs, which will not be elaborated here.

[0013] In this embodiment, a plurality of the first sound wave transmitters are arranged around the inner wall of the water tank, and the emitted sound waves are directed towards the center of the water tank.

[0014] In the above technical solution, as previously mentioned, this application is based on the idea that fish are non-directional receiving sources to receive directional sound waves. Then, in order to cooperate with the directional sound waves, it is more desirable that the activity range of the fish school is limited to the central area of the water tank, to avoid the fish school moving at the sensing edge of the 3D optical sensor and increasing the error of the coordinate set. Generally speaking, the transmission of sound waves is also accompanied by sound pressure, and the position of the fish school can be adjusted by external force through sound pressure. It should be noted that it is not excluded that a certain fish species is more sensitive to a certain sound wave, or has a tendency to gather after receiving this kind of sound wave, and the sound wave can be set according to actual research, which will not be elaborated here.

[0015] In some embodiments, a plurality of the second sound wave transmitters are arranged around the inner wall of the water tank, and / or are arranged directly above the water tank, and the emitted sound waves are directed towards any azimuth of the water tank.

[0016] In the above technical solution, as previously mentioned, this application is based on the idea that fish are non-directional receiving sources for receiving directional sound waves, and the directional focusing position needs to rely on the fish school spatial coordinate set to achieve. Therefore, considering the coordinate system transformation, in this embodiment, the second sound wave emitter is also arranged in a surrounding manner. This is because in the subsequent coordinate system transformation, a three-dimensional coordinate system is established based on the center point of the water tank, and the surrounding inner wall of the water tank helps to reduce the calculation amount. Further, considering that many underwater sound waves are affected by the water surface environment, in this embodiment, it is further optionally arranged directly above the water tank.

[0017] In some embodiments, the system further includes:

[0018] A wave maker: used to simulate water waves;

[0019] A protein skimmer: used to filter proteins and other organic substances in the water body;

[0020] An aquarium light: used to directly irradiate the water tank to simulate light conditions.

[0021] In the above technical solution, in addition to the underwater dynamic acoustic environment, it is also necessary to consider the survival environment problems of waves, water quality, and light. Because in different survival environments, fish have different sensitivities to sound wave reception, which will also have a certain impact on the acoustic behavior response of fish. Therefore, it is necessary to set up some devices specifically to simulate the real survival environment.

[0022] According to another aspect of the present invention, an experimental method for monitoring and quantifying the acoustic behavior response of fish is proposed, based on the above experimental system for monitoring and quantifying the acoustic behavior response of fish; including:

[0023] Place the fish school and turn on the circulating water tank to allow the fish school to adapt to the circulating water tank;

[0024] Turn on several first sound wave emitters to simulate the underwater dynamic acoustic environment;

[0025] Turn on the 3D optical sensor to collect the fish school spatial coordinate set;

[0026] Turn on several second sound wave emitters and emit directional sound waves to any position in the fish school area through the fish school spatial coordinate set;

[0027] Use the 3D optical sensor to collect the movement trajectory of the fish school after receiving the directional sound wave.

[0028] In the above technical solution, fish will have a certain stress response after receiving sound waves. Therefore, the existing 3D optical sensors are used to collect the movement trajectories of fish, and based on this, the movement trajectory data that can be objectively extracted is established. Further, the underwater acoustic environment is extremely complex, such as the calls of fish, the sound waves generated by water waves, the calls of mammals, the sounds emitted by the friction between water currents and reefs, etc. We cannot truly fit an underwater dynamic acoustic environment. However, if the noisy environmental factors are not considered, the final experimental results will be difficult to be practically applied in practice. But it does not prevent us from looking at the problem of the underwater noisy environment from another perspective. Assuming that various sound sources underwater are independent of each other and there is no dependence relationship (such as sound communication between animals), then the sound waves emitted by each sound source are omnidirectional sound sources, that is, radiated 360 degrees around itself as the origin, and the fish just receives the sound waves within the sound wave attenuation range. Then we can swap their positions and infer that the fish is an omnidirectional receiver to receive directional sound waves. The reason for this setting is that the sound that fish can hear is sound waves below 4 kHz, which means that fish cannot hear some of the underwater ambient sounds. Then, the original need to fit an underwater dynamic acoustic environment becomes the need to fit a relatively noisy underwater dynamic acoustic environment that fish can hear. In this way, based on the idea that the fish is an omnidirectional receiver to receive directional sound waves, we only need to simulate the directional sound waves within the range of approximately below 4 kHz. For this reason, we try to place several first sound wave transmitters around the water tank. These transmitters are used to emit fixed frequencies or a certain range of frequencies to simulate a part of the underwater acoustic environment. Further, in practical applications, it is found that this way of directional sound waves can only play a simulation role and cannot achieve the effect of noise. That is to say, after being directional, it can achieve fixed output or pulse output focused on a certain point, etc. Although the frequency band of the sound waves emitted by the first sound wave transmitter can be changed, it still cannot well simulate "noise". For this reason, based on the idea that the fish is an omnidirectional receiver to receive directional sound waves, we set several second sound wave transmitters. The purpose of the second sound wave transmitter is to transmit sound waves directionally to disrupt the sound field established by several first sound wave transmitters, or to disturb the sound field established by the first sound wave transmitters. At the same time, it can be adjusted according to the position of the fish school to achieve the problem of directivity. In this way, the real underwater noisy environment can be further simulated. For example, if two certain types of fish communicate through a specific frequency, then the directivity direction can be set according to this specific frequency to further understand the stress response of the fish. Another example is that different frequencies of sound waves can be specifically transmitted in the upper, lower, front, back, left, and right areas of the fish school, so that the underwater dynamic acoustic environment can be complex enough.However, it should still be noted that the entire solution is based on the fish as a non-directional receiving source to receive directional sound waves to establish a "relatively real" underwater dynamic acoustic environment. The specific sound wave frequency band can obtain data based on real underwater monitoring and then use a sound wave transmitter to simulate it, which will not be elaborated here.

[0029] In some embodiments, turn on the 3D optical sensor to collect the fish school space coordinate set. Specifically:

[0030] The 3D optical sensor collects a video stream;

[0031] Perform image processing on each frame of the video, and define the coordinates of the images obtained on the XZ plane and the YZ plane as and respectively, and define the image coordinates as ;

[0032] Use the size of the circulating water tank and the optical imaging geometric analysis method to analytically obtain the fish school space coordinate set inside the machine.

[0033] In the above technical solution, this embodiment adopts a computer vision algorithm based on 3D image technology to record the position coordinates of the fish school at different times and analyze the movement changes of the fish school. By performing image processing on each frame of the computer video in the XZ direction and the YZ direction. Define the coordinates of the images obtained on the XZ plane and the YZ plane as and respectively, and define the image coordinates as . Use the optical imaging geometric analysis method to analyze from the XZ direction and the YZ direction respectively, and the three-dimensional movement trajectory of the fish school can be obtained. Through the measurement of the experimental tank, it can be obtained that , , the values of, and for the image processing of the XZ and YZ videos, it can be obtained that , , , , , the values of. Then the calculation of the actual coordinates of the fish school is transformed into the solution problem of the following system of ternary linear equations, and then the position coordinates of the fish school are calculated.

[0034]

[0035] In some embodiments, turn on several second sound wave transmitters, and emit directional sound waves to any position in the fish school area through the fish school space coordinate set. Specifically:

[0036] Establish a world coordinate system at the center of the bottom of the circulating water tank;

[0037] Convert the set of spatial coordinates of the fish school into a set of world coordinates of the fish school according to the installation position of the 3D optical sensor;

[0038] Define the range of the fish school area according to the set of world coordinates of the fish school;

[0039] Convert the set of world coordinates of the fish school into a set of acoustic directivity coordinates according to the installation positions of several second acoustic wave transmitters;

[0040] Control several second acoustic wave transmitters to adaptively emit directivity acoustic waves to any position in the fish school area through the set of acoustic directivity coordinates.

[0041] In the above technical solution, based on the technical idea, it can be known that this case involves a total of three coordinate systems: one is the camera coordinate system of the 3D optical sensor, the second is the world coordinate system centered on the water tank, and the third is the directivity coordinate system of the second acoustic wave transmitter itself. Then, in order to control the directivity direction of the acoustic wave transmitter using the identified fish school coordinates, it is necessary to convert and unify these three coordinates. In this embodiment, only one solution is proposed, but the specific conversion method can refer to the existing technology. This is because the shapes of different water tanks and the layout positions of the acoustic wave transmitters at different positions need to be defined according to actual needs, but the overall conversion idea can refer to this case. It should be noted that those skilled in the art can refer to the existing technology to achieve this, and it will not be further elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a schematic diagram of the system architecture of one of the embodiments of an experimental system for monitoring and quantifying the acoustic behavior response of fish according to the present invention;

[0044] Figure 2 It is one of the layout diagrams of the acoustic wave transmitters of one of the embodiments of an experimental system for monitoring and quantifying the acoustic behavior response of fish according to the present invention;

[0045] Figure 3 It is another layout diagram of the acoustic wave transmitters of one of the embodiments of an experimental system for monitoring and quantifying the acoustic behavior response of fish according to the present invention;

[0046] Figure 4 It is yet another layout diagram of the acoustic wave transmitters of one of the embodiments of an experimental system for monitoring and quantifying the acoustic behavior response of fish according to the present invention;

[0047] Figure 5 It is a schematic flow chart of the method of the second embodiment of the experimental system for monitoring and quantifying the acoustic behavior response of fish according to the present invention. Detailed implementation manners

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be specifically pointed out that the following embodiments are only used to illustrate the present invention, but do not limit the scope of the present invention. Similarly, the following embodiments are only partial embodiments of the present invention rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0049] The present invention provides an experimental system for monitoring and quantifying the acoustic behavior response of fish, which can be used to study the kinematic characteristics of the response of fish behavior to sound stimuli. The present invention is used to monitor, evaluate and quantify the three-dimensional behavior response of experimental fish groups under scene sound stimuli of different intensities and types in the conditions of imitating natural aquaculture sea conditions, and characterize their kinematic parameters. When no experiment is carried out, the experimental fish can also be stably temporarily cultured in the experimental system to achieve stable and real-time adjustment of water quality.

[0050] Embodiment 1

[0051] Please refer to Figure 1 , Figure 1 It is a schematic diagram of the system architecture of the first embodiment of the experimental system for monitoring and quantifying the acoustic behavior response of fish according to the present invention.

[0052] It includes a behavior monitoring and temporary rearing tank 1, a computer 2, a digital acquisition card 3, a power amplifier 4, a sound wave emitter 5, a 3D optical sensor 6, a wave maker 7, a water pump 8, a filter box 9, a protein skimmer 10, and an aquarium light 11. Among them, the behavior monitoring and temporary rearing tank 1 is a place for temporarily rearing experimental fish groups and conducting acoustic behavior response stimulation experiments on fish groups; the computer 2 is set outside the behavior monitoring and temporary rearing tank, connected to the signal input end of the digital acquisition card 3, and is used to generate and design different types of scene sounds required and trigger stimuli; the digital acquisition card 3 is set outside the behavior monitoring and temporary rearing tank 1, and its signal input end and signal output end are respectively connected to the computer 2 and the power amplifier 4, and is used to realize the conversion between digital signals and analog signals during the signal transmission and reception process; the power amplifier 4 is set outside the behavior monitoring and temporary rearing tank 1, the signal input end is connected to the digital acquisition card 3, and the signal output end is connected to the sound wave emitter 5, and it changes the output power according to the set sound source level size and sends the signal to the sound wave emitter; the sound wave emitter 5 is set inside the behavior monitoring and temporary rearing tank 1, and the signal input end is connected to the power amplifier 4, and is used to output different sound source levels and different types of sound stimuli set into the behavior monitoring and temporary rearing tank 1; the computer 2, the digital acquisition card 3, and the power amplifier 4 are set on the same side and form a sound stimulus emission system with the sound wave emitter 5. The 3D optical sensor 6 is built on a profile frame and set above the behavior monitoring and temporary rearing tank 1, and the signal output end is connected to the computer 2. The computer 2 is combined with a terminal control program and is used to monitor and evaluate the changes in the behavior responses of experimental fish groups to different types and intensities of sound stimuli from a three-dimensional perspective; the 3D optical sensor 6 and the computer 2 form a fish behavior recording system. The wave maker 7 is set in the middle of the water layer of the behavior monitoring and temporary rearing tank 1 to simulate the ocean current in the offshore aquaculture cage environment and is used to create sea wave environments of different intensities and types; the water pump 8 is set on the opposite side of the wave maker 7 and pumps the experimental seawater into the filter box 9 and the protein skimmer 10, and is used to circulate the temporarily reared seawater inside the behavior monitoring and temporary rearing tank 1 to form a circulating water flow; the filter box 9 is set in a stack of boxes, and is built on a storage rack and level with the upper edge of the behavior monitoring and temporary rearing tank 1. Inside, an anti-overflow filter bag, an adsorption filter cotton, and coral bone activated carbon are laid from high to low, and are used to adsorb and filter impurities in the pumped experimental seawater; the protein skimmer 10 is set in the same stack of boxes as the filter box 9, and based on the principle of adsorption of organic substances during the rising process of introduced microbubbles, filters out proteins and other organic substances in the pumped seawater and improves the water environment of the experimental seawater; the aquarium light 11 is set above the behavior monitoring and temporary rearing tank 1 and is laid parallel between the 3D optical sensors 6, and is used to simulate the change of the sunlight photoperiod in the natural aquaculture cage environment.A square lidless net 12 is arranged in the behavior monitoring and temporary rearing water tank 1 for placing experimental fish as an experimental space, which is convenient for calculating kinematic parameters. At the same time, it can isolate the experimental fish from the water pump 8 to prevent accidental suction, and its mesh can also, to a certain extent, even out the waves of the wave maker 7.

[0053] Further, on the basis of the above device, please refer to Figure 2 、 Figure 3 ; The acoustic wave transmitter of the system includes:

[0054] A number of first acoustic wave transmitters 51 for simulating an underwater dynamic acoustic environment;

[0055] A number of second acoustic wave transmitters 52 for directionally transmitting acoustic waves, and the directivity is controlled by the fish school space coordinate set.

[0056] After fish receive sound waves, they will have a certain stress response. Therefore, the existing 3D optical sensors are used in this project to collect the movement trajectories of fish, and based on this, motion trajectory data that can be objectively extracted is established. Further, the underwater acoustic environment is extremely complex, such as the calls of fish, the sound waves generated by water waves, the calls of mammals, the sounds emitted by the friction between water currents and reefs, etc. We cannot truly fit an underwater dynamic acoustic environment. However, if we do not consider the noisy environmental factors, the final experimental results will be difficult to be practically applied in practice. But it does not prevent us from looking at the problem of the underwater noisy environment from another perspective; assuming that various sound sources underwater are independent of each other and there is no dependence relationship (such as the sound communication between animals), then the sound waves emitted by each sound source are omnidirectional sound sources, that is, they radiate 360 degrees with themselves as the origin, and the fish just receive the sound waves within the sound wave attenuation range. Then we can swap their positions and inversely infer that the fish is an omnidirectional receiving source to receive directional sound waves. The reason for this setting is that the sound that fish can hear is sound waves below 4 kHz, which means that fish cannot hear some of the underwater environmental sounds. Then, the original need to fit an underwater dynamic acoustic environment becomes the need to fit a relatively noisy underwater dynamic acoustic environment that fish can hear. In this way, based on the idea that fish are omnidirectional receiving sources to receive directional sound waves, we only need to simulate directional sound waves within the range of approximately below 4 kHz. For this purpose, we try to place several first sound wave transmitters around the water tank. These transmitters are used to emit fixed frequencies or frequencies within a certain range to simulate a part of the underwater acoustic environment; further, in practical applications, it is found that this way of directional sound waves can only play a simulation role and cannot achieve the effect of being noisy. That is to say, after being directional, it can achieve fixed output or pulse output, etc. focused on a certain point. Although we can still not simulate "noisy" well by changing the frequency band of the sound waves emitted by the first sound wave transmitters; for this reason, based on the idea that fish are omnidirectional receiving sources to receive directional sound waves, we set several second sound wave transmitters. The purpose of the second sound wave transmitters is to transmit sound waves directionally to disrupt the sound field established by several first sound wave transmitters, or to disturb the sound field established by the first sound wave transmitters. At the same time, it can be adjusted according to the position of the fish school to achieve the problem of directivity. In this way, the real underwater noisy environment can be further simulated. For example, if two certain types of fish communicate through a specific frequency, then the directivity direction can be set according to this specific frequency to further understand the stress response of the fish. Another example is that different frequencies of sound waves can be transmitted specifically in the upper, lower, front, back, left, and right areas of the fish school, so that the underwater dynamic acoustic environment can be complex enough.However, it should still be noted that the entire solution is based on the idea that fish, as non-directional receiving sources, receive directional sound waves to establish a "relatively realistic" underwater dynamic acoustic environment. The specific sound wave frequency band can be obtained by collecting data from real underwater monitoring and then simulated using a sound wave transmitter, which will not be elaborated here.

[0057] In this embodiment, in addition to the underwater dynamic acoustic environment, the survival environment issues of waves, water quality, and light also need to be considered. Because in different survival environments, fish have different sensitivities to sound wave reception, which will also have a certain impact on the acoustic behavior response of fish. Therefore, some devices need to be specifically set up to simulate the real survival environment.

[0058] In this embodiment, the first sound wave transmitter 51 and the second sound wave transmitter 52 can be sound wave transmitters or transmitting transducers. The reason for choosing these two types of sound wave transmitters is that the speaker has a better dynamic range and can better simulate the underwater noisy environment, while the transmitting transducer can provide sound waves within a fixed frequency band range, which has good research significance for the study of communication between fish schools. How to specifically allocate these two will be set according to the size, dimensions of the circulation water tank, and the fish species being studied, and it is not limited in this embodiment. It should be understood that this application provides an idea based on the fact that fish are non-directional receiving sources to receive directional sound waves, and an experimental system is established based on this idea. For different research topics, which specific sound wave transmitters to use can be set by researchers according to actual needs, which will not be elaborated here.

[0059] In this embodiment, several first sound wave transmitters 51 are arranged around the inner wall of the water tank, and the emitted sound waves are directed towards the center of the water tank 1. As mentioned before, this application is based on the idea that fish are non-directional receiving sources to receive directional sound waves. Then, in order to cooperate with the directional sound waves, it is more desirable that the activity range of the fish school is limited to the central area of the water tank, avoiding the fish school moving at the sensing edge of the 3D optical sensor 6 and increasing the error of the coordinate set. Generally speaking, sound wave transmission is also accompanied by sound pressure, and the position of the fish school can be adjusted by external force through sound pressure. It should be noted that it cannot be excluded that a certain fish species is more sensitive to a certain sound wave, or has a tendency to gather after receiving this kind of sound wave, and the sound wave can be set according to actual research, which will not be elaborated here.

[0060] In this embodiment, several of the second acoustic wave transmitters 52 are arranged around the inner wall of the water tank 1, and / or are arranged directly above the water tank 1, and the emitted acoustic waves are directed towards any direction of the water tank. As previously mentioned, this application is based on the idea that fish are non-directional receiving sources for receiving directional acoustic waves, and this directional focusing position needs to be achieved by relying on the set of fish school spatial coordinates. Therefore, considering the transformation of the coordinate system, in this embodiment, the second acoustic wave transmitters are also arranged in a surrounding manner. This is because in the subsequent coordinate system transformation, a three-dimensional coordinate system is established based on the center point of the water tank, and arranging them around the inner wall of the water tank helps to reduce the amount of calculation. Further, considering that many underwater acoustic waves are affected by the water surface environment, in this embodiment, it is further optionally arranged directly above the water tank. It should be noted that when the second acoustic wave transmitter 52 is installed inside the water tank 1, an underwater pan-tilt head is used, such as the Sidus underwater pan-tilt head series, etc. Since it is a prior art, it will not be further described here.

[0061] In this embodiment, it should be noted that the number of the first acoustic wave transmitter 51 and the second acoustic wave transmitter 52 needs to be set according to specific experiments, and this embodiment cannot limit them one by one. However, the point to note is that if a transmitting transducer is used, not too many can be set, or after setting, it is necessary to further weaken the originally preset sound pressure. The reason is that the acoustic waves radiated by the transducer transmitter are relatively concentrated. The more of them there are, the better the focusing effect of the acoustic waves in this surrounding arrangement. However, as the number increases, higher-order focusing effects appear, and the energy being superimposed will further lead to the failure of the experiment. Therefore, a reasonable number of transducers should be selected according to specific requirements.

[0062] In this embodiment, although the first acoustic wave transmitter 51 is limited to transmitting acoustic waves towards the center, it can also be slightly offset to avoid the occurrence of higher-order focusing effects, such as Figure 4 shown. The dashed line in the figure is the direction of acoustic wave transmission; of course, this choice needs to be made according to actual applications, and this embodiment does not limit it too much. It should be noted that in this embodiment, the issue of directivity has been emphasized all the time. For this point, reference can be made to the existing transducer directivity technology or speaker directivity technology. Both of these technologies are relatively mature, so they will not be further described in this embodiment.

[0063] Embodiment Two

[0064] Please refer to Figure 5 , an experimental method for monitoring and quantifying the acoustic behavior response of fish includes:

[0065] S101. Place the fish school and turn on the circulating water tank to allow the fish school to adapt to the circulating water tank;

[0066] In this embodiment, specifically for S101: Fill the behavior monitoring and temporary rearing water tank 1 with seawater, and place the acoustic transmitter 5, wave maker 7, and water pump 8 at the positions shown in, for example, Figure 2 , 3 . Turn on the aquarium light 11, adjust the light intensity, and simulate the lighting conditions of a natural sea area aquaculture cage;

[0067] S102: Turn on several first acoustic transmitters to simulate an underwater dynamic acoustic environment;

[0068] In this embodiment, specifically for S102: Turn on the computer 2, digital acquisition card 3, and power amplifier 4, design different types and intensity gradients of acoustic stimuli, and ensure the normal operation of the acoustic stimulus emission system; Put in the experimental fish group and let it stand until the fish group state is stable; Turn on the 3D optical sensor 6 and set the monitoring frame rate and the duration of each monitoring;

[0069] S103: Turn on the 3D optical sensor to collect the fish group space coordinate set;

[0070] In this embodiment, specifically for S103:

[0071] The 3D optical sensor collects a video stream;

[0072] Perform image processing on each frame of the video, and define the coordinates of the images obtained from the XZ plane and the YZ plane as and respectively, and define the image coordinates as ;

[0073] Use the size of the circulating water tank and the optical imaging geometric analysis method to analyze and obtain the fish group space coordinate set inside the machine.

[0074] This embodiment adopts a computer vision algorithm based on 3D image technology to record the position coordinates of the fish group at different times and analyze the movement changes of the fish group. By performing image processing on each frame of the computer video in the XZ direction and the YZ direction. The coordinates of the images obtained from the XZ plane and the YZ plane are respectively defined as and respectively, and define the image coordinates as . Using the optical imaging geometric analysis method to analyze from the XZ direction and the YZ direction respectively, the three-dimensional movement trajectory of the fish group can be obtained. Through the measurement of the experimental tank, we can obtain , , values, and through the image processing of the XZ and YZ videos, we can obtain , , , , , values. Then the actual coordinates of the fish group The calculation is transformed into the problem of solving the following system of three linear equations with three unknowns, and then the position coordinates of the fish school are calculated.

[0075]

[0076] S104. Turn on several second acoustic wave transmitters, and emit directional acoustic waves to any position in the fish school area through the fish school space coordinate set.

[0077] In this embodiment, S104 specifically:

[0078] Establish a world coordinate system at the center of the bottom of the circular water tank.

[0079] According to the installation position of the 3D optical sensor, convert the fish school space coordinate set into a fish school world coordinate set.

[0080] Define the range of the fish school area according to the fish school world coordinate set.

[0081] According to the installation positions of several second acoustic wave transmitters, convert the fish school world coordinate set into an acoustic wave directivity coordinate set.

[0082] Control several second acoustic wave transmitters to adaptively emit directional acoustic waves to any position in the fish school area through the acoustic wave directivity coordinate set.

[0083] In this embodiment, based on the technical idea, it can be known that this case involves three coordinate systems in total: one is the camera coordinate system of the 3D optical sensor, the second is the world coordinate system centered on the water tank, and the third is the directivity coordinate system of the second acoustic wave transmitter itself. Then, in order to control the directivity direction of the acoustic wave transmitter using the identified fish school coordinates, these three coordinates need to be converted and unified. In this embodiment, only one solution is proposed, but the specific conversion method can refer to the existing technology. This is because the shapes of different water tanks and the installation positions of acoustic wave transmitters at different positions need to be defined according to actual needs, but the overall conversion idea can refer to this case. It should be noted that those skilled in the art can refer to the existing technology to achieve this, and it will not be elaborated further here.

[0084] S105. Use the 3D optical sensor to collect the movement trajectories of the fish school after receiving the directional acoustic waves.

[0085] In this embodiment, S105 specifically: Synchronously start the acoustic wave transmitter 5 and the 3D optical sensor 6, record the changes in the behavioral responses of the fish school before and after the acoustic stimulation, and give the experimental fish school a certain recovery period between each experimental group; collect the data into the computer 2, analyze the ethological parameters of the fish school through relevant software, and establish a real behavioral response model of the fish school to the acoustic stimulation in combination with different types and intensities of acoustic stimulation.

[0086] In this embodiment, after receiving sound waves, fish will have a certain stress response. For this reason, an existing 3D optical sensor is proposed to collect the movement trajectories of fish, and based on this, motion trajectory data that can be objectively extracted is established. Further, the underwater acoustic environment is extremely complex, such as the calls of fish, the sound waves generated by water waves, the calls of mammals, the sounds emitted by the friction between water currents and reefs, etc. We cannot truly fit an underwater dynamic acoustic environment. However, if we do not consider the noisy environmental factors, the final experimental results will be difficult to be practically applied in practice. But this does not prevent us from looking at the problem of the underwater noisy environment from another perspective; assuming that various sound sources underwater are independent of each other and there is no dependency relationship (such as sound communication between animals), then the sound waves emitted by each sound source are omnidirectional sound sources, that is, they radiate 360 degrees with themselves as the origin, and the fish just receive the sound waves within the sound wave attenuation range. Then we can swap their positions and infer that the fish is an omnidirectional receiver to receive directional sound waves. The reason for such a setting is that the sounds that fish can hear are sound waves below 4 kHz, which means that fish cannot hear some of the underwater environmental sounds. Then, the original need to fit an underwater dynamic acoustic environment becomes the need to fit a relatively noisy underwater dynamic acoustic environment that fish can hear. In this way, based on the idea that the fish is an omnidirectional receiver to receive directional sound waves, we only need to simulate directional sound waves within the range of approximately below 4 kHz. For this reason, we try to place several first sound wave transmitters around the water tank. These transmitters are used to emit fixed frequencies or a certain range of frequencies to simulate a part of the underwater acoustic environment; further, in practical applications, it is found that this way of directional sound waves can only play a simulation role and cannot achieve the function of noise, that is, after being directional, it can achieve fixed output or pulse output focused on a certain point, etc. Although the frequency band of the sound waves emitted by the first sound wave transmitter can be changed, it still cannot well simulate "noise"; for this reason, based on the idea that the fish is an omnidirectional receiver to receive directional sound waves, we set several second sound wave transmitters. The purpose of the second sound wave transmitter is to transmit sound waves directionally to disrupt the sound field established by several first sound wave transmitters, or to disturb the sound field established by the first sound wave transmitters. At the same time, it can be adjusted according to the position of the fish school to achieve the problem of directivity. In this way, a more realistic underwater noisy environment can be further simulated. For example, if two certain types of fish communicate through a specific frequency, then the directivity direction can be set according to this specific frequency to further understand the stress response of the fish. Another example is that different frequencies of sound waves can be transmitted specifically in the upper, lower, front, back, left, and right areas of the fish school, so that the underwater dynamic acoustic environment can be complex enough.However, it should still be noted that the entire solution is based on the fact that fish are non-directional receiving sources to receive directional sound waves to establish a "relatively real" underwater dynamic acoustic environment. The specific sound wave frequency band can obtain data based on real underwater monitoring and then use a sound wave transmitter for simulation, which will not be elaborated here.

[0087] In the first and second embodiments, a circulating water flow is formed by using a water pump, a filter box, and a protein skimmer to construct an ideal temporary culture environment, which can stably temporarily culture experimental objects when no experiment is carried out; a wave maker and an aquarium light are used to simulate the sea conditions and lighting conditions of a natural water area aquaculture net cage; through the three-dimensional visual tracking technology based on a 3D optical sensor and the adjustable sound source stimulation technology based on a computer, a digital acquisition card, a power amplifier, and a sound wave transmitter, the behavioral response changes of fish when receiving different types and intensities of sound stimuli are truly monitored and evaluated.

[0088] The present invention builds an experimental system in the indoor space of an experimental station in Zhangzhou, Fujian. According to the experimental system for monitoring and quantifying the acoustic behavior response of fish described in the invention content, first, a 4m * 4m space is demarcated as the land for the experimental system. An octagonal column with a maximum distance of 3m at both ends is built as the behavior monitoring and temporary culture water tank 1. Profile frames are erected at the two farthest end points, and a 3D optical sensor 6 and an aquarium light 11 are installed. After filling with seawater, a 2m * 2m * 1m uncovered net is first arranged in the water tank, and then as Figure 1 、 Figure 2 、 Figure 3The acoustic wave emitter 5, the wave maker 7, and the water pump 8 are sequentially arranged as shown. An acoustic stimulation emission system is built on one side of the wave maker 7. Connect the signal output end of the computer 2 to the signal output end of the digital acquisition card 3, connect the signal output end of the digital acquisition card 3 to the signal input end of the power amplifier 4, and connect the signal output end of the power amplifier 4 to the acoustic wave emitter 5. A circulating water filtration system is built on the opposite side of the wave maker 7. A stacking box is placed on a storage rack to be flush with the behavior monitoring and temporary culture water tank 1. A filter material box 9 and a protein skimmer 10 are arranged in the stacking box. In the filter material box 9, an anti-overflow filter bag, an adsorption filter cotton, and coral bone activated carbon are respectively laid from high to low. Each device is powered on, and experimental fish are put in and left to stand for a period of time until the fish group is stable. In this embodiment, taking the common anthropogenic noises in coastal waters: ship shipping noise and offshore wind power project piling noise as examples, the real noise samples recorded in the wild are played back in the laboratory. It is confirmed that the main frequency response range of the noise is between 100 Hz and 10 kHz, and the sound source levels are designed to decrease in a gradient of 10 dB from 210 dB to 140 dB to conduct experiments on the responses of fish groups to different types and intensities of acoustic stimuli. The interval between each group of experiments is half an hour to enable the fish group to return to a calm swimming state. All experimental data are imported into the terminal control program in the computer 2 for processing and calculation, the behavioral parameters of the fish group are analyzed, and combined with the corresponding different types and intensities of acoustic stimuli, a real behavioral response model of the fish group to acoustic stimuli is established. After the experiment, only the circulating water temporary culture system is kept running, and it can stably culture the experimental fish group for more than 15 days.

[0089] The experimental system of this application integrates three key invention points: an acoustic stimulation emission system, a circulating water temporary culture system, and a fish behavior recording system, providing an efficient, accurate, and comprehensive means for fish acoustic stimulation behavior research. The acoustic stimulation system adopts a controllable sound source generation technology, which can emit different sound source levels and different types of scene acoustic stimuli underwater, and combines a conduction device to ensure stable conduction of sound stimuli. The circulating water temporary culture system realizes real-time water quality monitoring and adjustment, and provides a temporary culture tank design optimized for the natural environment. The fish behavior recording system uses a three-dimensional video monitoring and recording device, supplemented by behavior parameter extraction and analysis software, to realize the correlation analysis of behavior and acoustic stimulation. The integrated application of this system can be widely used in fish acoustic behavior research, providing an important research tool for the fields of ecology and aquaculture, and promoting the development and innovation of related fields.

[0090] The above are only some embodiments of the present invention, and thus do not limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An experimental method for monitoring and quantifying the acoustic behavioral responses of fish, characterized in that, Comprising: An experimental system, which includes: A circulating water tank for placing fish schools; A 3D optical sensor for obtaining the set of spatial coordinates of the fish school; Several first acoustic wave transmitters for simulating the underwater dynamic acoustic environment; Several second acoustic wave transmitters for directionally transmitting acoustic waves, and the directivity is controlled by the set of spatial coordinates of the fish school; several of the first acoustic wave transmitters are arranged around the inner wall of the water tank, and the emitted acoustic waves are directed towards the center of the water tank; several of the second acoustic wave transmitters are arranged around the inner wall of the water tank, and / or are arranged directly above the water tank, and the emitted acoustic waves are directed towards any azimuth of the water tank; The method includes: Placing the fish school and turning on the circulating water tank to allow the fish school to adapt to the circulating water tank; Turning on several first acoustic wave transmitters to simulate the underwater dynamic acoustic environment; Turning on the 3D optical sensor to collect the set of spatial coordinates of the fish school; Turning on several second acoustic wave transmitters to emit directionally acoustic waves to any position in the fish school area through the set of spatial coordinates of the fish school; Using the 3D optical sensor to collect the movement trajectory of the fish school after receiving the directionally acoustic waves.

2. An experimental method for monitoring and quantifying the acoustic behavior response of fish according to claim 1, characterized in that Turning on the 3D optical sensor to collect the set of spatial coordinates of the fish school, specifically: The 3D optical sensor collects a video stream; Perform image processing on each frame of the video, and define the coordinates of the images obtained on the XZ plane and the YZ plane as and , respectively. Define the image coordinates as ; Using the size of the circulating water tank and the optical imaging geometric analysis method to analyze and obtain the set of spatial coordinates of the fish school.

3. An experimental method for monitoring and quantifying the acoustic behavior response of fish according to claim 1, characterized in that Turning on several second acoustic wave transmitters to emit directionally acoustic waves to any position in the fish school area through the set of spatial coordinates of the fish school, specifically: Establishing a world coordinate system at the center of the bottom of the circulating water tank; According to the installation position of the 3D optical sensor, converting the set of spatial coordinates of the fish school into the set of world coordinates of the fish school; Defining the range of the fish school area according to the set of world coordinates of the fish school; According to the installation positions of several second acoustic wave transmitters, converting the set of world coordinates of the fish school into the set of acoustic wave directivity coordinates; Controlling several second acoustic wave transmitters to adaptively emit directionally acoustic waves to any position in the fish school area through the set of acoustic wave directivity coordinates.

4. An experimental method for monitoring and quantifying the acoustic behavior response of fish according to claim 1, characterized in that The first acoustic wave transmitter and the second acoustic wave transmitter include: An acoustic wave transmitter and a transmitting transducer.

5. An experimental method for monitoring and quantifying the acoustic behavior response of fish according to claim 1, characterized in that The system further includes: A wave maker: for simulating water waves; A protein skimmer: for filtering proteins and other organic substances in the water body; An aquarium light: for directly irradiating the water tank to simulate light conditions.

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