An aquarium monitoring method, apparatus, device and medium

Abstract

The application provides an aquarium monitoring method, device, equipment and medium. In the method, a millimeter wave radar and an electronic water gauge are installed on a fish tank. A point cloud diagram currently output by the millimeter wave radar can be received to obtain the identification of an active fish. If there is an active target identification at the last moment and the target identification is not active at the current moment, it is further determined whether the fish at the last moment is located at the water surface of the fish tank or the bottom of the fish tank. If yes, the fish may be abnormal, first information of fish abnormality is output, and a user is reminded to check, so that the health of a home aquarium is monitored, and the privacy of the user is protected.

Description

Technical Field

[0001] This application belongs to the field of smart home, and in particular relates to a method, device, equipment and medium for monitoring ornamental fish. Background Technology

[0002] With the rapid development of the pet industry as a whole, my country's freshwater ornamental fish industry has also benefited and continued to grow. Although the ornamental fish industry has achieved certain development in the past few years, it still faces many challenges. Compared to the most popular pets such as cats and dogs, raising ornamental fish is more difficult. Current fish monitoring solutions are all designed for aquaculture, primarily using infrared scanning and camera image data collection. These solutions are not suitable for home environments due to privacy concerns; therefore, no health monitoring solutions for home ornamental fish have yet been discovered in the existing technology. Summary of the Invention

[0003] This application provides a method, device, equipment, and medium for monitoring ornamental fish, which is used to solve the problem of health monitoring of ornamental fish in homes.

[0004] Firstly, this application provides a method for monitoring ornamental fish, the method comprising:

[0005] Receive the point cloud image currently output by the millimeter-wave radar installed on the fish tank and obtain the identification of active fish;

[0006] If any target fish was active in the previous moment but is currently inactive, the vertical distance between the millimeter-wave radar and the water surface of the aquarium is determined based on the water level height measured by the electronic water gauge installed on the aquarium.

[0007] Based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, the distance between the millimeter-wave radar and the target fish is determined; if the target fish was located at the surface of the aquarium or the bottom of the aquarium at the previous moment, the first information of fish abnormality is output.

[0008] In one possible implementation, the method further includes:

[0009] Record the moment when the target-identified fish's speed is zero; if the target-identified fish is not included in the active fish identifiers detected by the millimeter-wave radar within a set time period, then output the second information about the fish anomaly.

[0010] In one possible implementation, the method further includes:

[0011] If the target identifier is included in the identifier of the active fish detected by the millimeter-wave radar within a set time period, the recorded moment when the fish speed of the target identifier is zero will be deleted.

[0012] In one possible implementation, the method further includes:

[0013] The method further includes: receiving the first position of each monitored object currently output by the millimeter-wave radar; determining that the fish identified by any target was active at the previous moment and is currently inactive; and before determining the vertical distance between the millimeter-wave radar and the water surface of the aquarium based on the water level height measured by the electronic water level gauge installed on the aquarium. This is done by: obtaining the second position of each active fish monitored by the millimeter-wave radar at the previous moment based on the point cloud map output by the millimeter-wave radar; if there is no first position matching the second position of any active fish, determining that the active fish at that second position has jumped out of the aquarium, and outputting third information about the fish jumping out of the aquarium.

[0014] In one possible implementation, after receiving the point cloud image currently output by a millimeter-wave radar installed on the fish tank and obtaining the identifier of the active fish, the method further includes:

[0015] Based on the identifier of the active fish, determine the length of the active fish; for active fish whose length is greater than a set threshold, perform subsequent monitoring to check whether any fish with any target identifier was active at the previous moment but is currently inactive.

[0016] In one possible implementation, determining the distance between the target fish and the aquarium water surface at the previous moment, based on the vertical distance and the water entry angle of the electromagnetic waves of the target fish collected by the millimeter-wave radar at the previous moment, includes:

[0017] Based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, a first distance between the millimeter-wave radar and the water entry point of the electromagnetic wave is determined; based on the distance between the millimeter-wave radar and the target fish and the first distance, a second distance between the water entry point of the electromagnetic wave and the target fish is determined; based on the water entry angle, the refractive index of the electromagnetic wave in the water, and the second distance, the distance between the target fish and the surface of the aquarium water at the previous moment is determined.

[0018] In one possible implementation, determining the distance between the target fish and the aquarium water surface at the previous moment, based on the water entry angle, the refractive index of the electromagnetic wave in water, and the second distance, includes:

[0019] Based on the water entry angle and the refractive index of the electromagnetic wave in water, determine the angle between the electromagnetic wave and the vertical direction after it is refracted upon entering the water; based on the angle and the second distance, determine the distance between the target fish and the surface of the aquarium water at the previous moment.

[0020] Secondly, this application provides an ornamental fish monitoring device, the device comprising:

[0021] The receiving module is used to receive the point cloud image currently output by the millimeter-wave radar installed on the fish tank and obtain the identification of active fish.

[0022] The determination module is used to determine the vertical distance between the millimeter-wave radar and the water surface of the aquarium if any fish marked as a target was active in the previous moment but is currently inactive, based on the water level height measured by the electronic water level gauge installed on the aquarium; and based on the vertical distance, the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, and the distance between the millimeter-wave radar and the target fish, to determine the distance between the target fish and the water surface of the aquarium at the previous moment.

[0023] The output module is used to output the first information of fish abnormality if the target fish identified in the previous moment is located on the surface of the aquarium or at the bottom of the aquarium.

[0024] In one possible implementation, the device further includes:

[0025] The recording module is used to record the moment when the speed of the fish identified by the target is zero;

[0026] The recording module is also used to delete the recorded moment when the fish speed of the target identifier is zero if the identifier of the active fish detected by the millimeter-wave radar is received within a set time period.

[0027] The output module is further configured to output second information indicating fish abnormality if the target identifier is not included in the identifier of the active fish detected by the millimeter-wave radar within a set time period.

[0028] In one possible implementation, the receiving module is further configured to: receive the first position of each monitored object currently output by the millimeter-wave radar;

[0029] The device further includes:

[0030] The acquisition module is used to acquire the second position of each active fish detected by the millimeter-wave radar at the previous moment based on the point cloud map output by the millimeter-wave radar at the previous moment.

[0031] The output module is further configured to determine if a first position does not exist that matches the second position of any active fish, and output third information about the fish jumping out of the tank.

[0032] Thirdly, this application provides an electronic device that includes at least a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory to implement the steps of any of the methods described above.

[0033] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0034] This application utilizes millimeter-wave radar and an electronic water level gauge installed on the aquarium. By receiving the point cloud image currently output by the millimeter-wave radar, the identification of active fish can be obtained. If there is a target identification that was active in the previous moment but is currently inactive, it can be further determined whether the fish with that target identification was located at the surface or bottom of the aquarium in the previous moment. If so, the fish may be abnormal, and the application outputs the first information of the fish abnormality to remind the user to check. This enables the monitoring of the health of home ornamental fish and protects the user's privacy. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1a One of the schematic diagrams of an ornamental fish monitoring method provided for some embodiments of this application;

[0037] Figure 1b A hardware schematic diagram of an ornamental fish monitoring method provided for some embodiments of this application;

[0038] Figure 2a A second schematic diagram illustrating the process of an ornamental fish monitoring method provided for some embodiments of this application;

[0039] Figure 2b A schematic diagram of a method for monitoring ornamental fish provided for some embodiments of this application (Part 3);

[0040] Figure 2c Fourth schematic diagram of a method for monitoring ornamental fish provided for some embodiments of this application;

[0041] Figure 2dFifth schematic diagram of a method for monitoring ornamental fish provided for some embodiments of this application;

[0042] Figure 2e A schematic diagram illustrating the refraction of electromagnetic waves emitted by a millimeter-wave radar in water, provided for some embodiments of this application;

[0043] Figure 3a One of the structural schematic diagrams of an ornamental fish monitoring device provided for some embodiments of this application;

[0044] Figure 3b A second schematic diagram of the structure of an ornamental fish monitoring device provided for some embodiments of this application;

[0045] Figure 3c A third schematic diagram of the structure of an ornamental fish monitoring device provided for some embodiments of this application;

[0046] Figure 3d A fourth schematic diagram of the structure of an ornamental fish monitoring device provided for some embodiments of this application;

[0047] Figure 4 This is a schematic diagram of a terminal device structure provided for some embodiments of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0050] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0051] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0052] The term "module" refers to any known or subsequently developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code that is capable of performing the functions associated with that element.

[0053] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application. Furthermore, the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0054] This application provides a method, device, equipment, and medium for monitoring ornamental fish. In this method, the point cloud map currently output by a millimeter-wave radar installed on the fish tank is received to obtain the identification of active fish. If any fish with a target identification was active at the previous moment but is currently inactive, the vertical distance between the millimeter-wave radar and the water surface of the fish tank is determined based on the water level height of the fish tank measured by the electronic water gauge installed on the fish tank.

[0055] Based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, the distance between the millimeter-wave radar and the target fish is determined; if the target fish was located at the surface of the aquarium or the bottom of the aquarium at the previous moment, the first information of fish abnormality is output.

[0056] To facilitate the monitoring of the health of ornamental fish in households, this application provides a method for monitoring ornamental fish.

[0057] Figure 1a One of the schematic diagrams of an ornamental fish monitoring method provided for some embodiments of this application includes the following steps:

[0058] S101: Receives the point cloud map currently output by the millimeter-wave radar installed on the aquarium and obtains the identification of active fish.

[0059] The method provided in this application embodiment is applied to an electronic device, which may be a PC, a server, or other such device. The following description uses a server as an example.

[0060] Figure 1b A hardware schematic diagram of an ornamental fish monitoring method provided for some embodiments of this application, such as... Figure 1b As shown, some embodiments of this application provide a method for monitoring ornamental fish, the hardware required includes: a fish tank equipped with millimeter-wave radar and an electronic water gauge, and a server.

[0061] Millimeter-wave radar is a sensor used for object monitoring and tracking. It emits electromagnetic waves through its antenna, which are reflected by objects in their path and then received by the antenna. By processing the received electromagnetic waves, information such as the distance between the object and the radar, the object's speed, and the angle between the electromagnetic wave's path and the horizontal plane can be determined. Compared to ultrasonic, passive infrared, active infrared, and optical cameras, millimeter-wave radar offers all-weather capability, excellent environmental robustness, high distance accuracy, high speed accuracy, and high angular resolution. It also provides privacy protection in home environments and is more cost-effective than cameras.

[0062] In home aquarium fish health monitoring, millimeter-wave radar can be installed above the aquarium. This radar monitors the fish's movements by emitting electromagnetic waves towards the aquarium. Millimeter-wave radar employs technologies such as Frequency Modulated Continuous Wave (FMCW) and Multiple-Input Multiple-Output (MIMO), utilizing key algorithms like stationary object elimination, multipath interference cancellation, swarm tracking, and human / non-human object classification. This allows it to filter out stationary aquarium objects such as corals, outputting only point cloud images containing moving objects, i.e., active fish, thus eliminating interference from aquarium decorations during monitoring. The point cloud image displays the shape points of active fish. Because the outline formed by each fish shape point is different, the outline formed by each fish shape point can serve as a unique identifier for the active fish. Therefore, the outline of the active fish and other unique identifiers of the active fish are the identifiers of the active fish. The server obtains the identifiers of the active fish in the current fish tank based on the shape points of the active fish in the point cloud image currently output by the millimeter-wave radar, and determines the activity status of the fish in the current fish tank.

[0063] S102: If any target fish was active in the previous moment but is currently inactive, then the vertical distance between the millimeter-wave radar and the water surface of the aquarium is determined based on the water level height measured by the electronic water gauge installed on the aquarium.

[0064] If the current point cloud map shows the identification of active fish in the aquarium, it indicates that the fish with the corresponding identification is in good condition. In this embodiment, to identify abnormal fish, after receiving the point cloud map output by the fixed millimeter-wave radar, the identification of active fish is obtained and saved. If the number of active fish identifications obtained now is less than the number obtained in the previous moment, meaning that there are active fish that were not active in the aquarium at the previous moment, it indicates that the fish may be abnormal. If the fish was at the bottom of the aquarium or the surface of the water at the last moment of activity, it indicates that the fish may be sick or dead.

[0065] Therefore, the fish that was active in the previous moment but is currently inactive is identified as the target fish, and its corresponding marker is identified as the target marker. Further determination is needed to identify the last active position of the fish at the previous moment. However, because electromagnetic waves refract in water, ordinary millimeter-wave radar cannot detect the true position of the fish at the target marker. To determine the true position of the fish at the previous moment, in this embodiment, the vertical distance between the millimeter-wave radar and the water surface of the aquarium is first obtained. Specifically, this vertical distance can be determined by installing an electronic water level gauge on the aquarium.

[0066] Electronic water level gauges are a new generation of digital sensors that collect water depth information through a series of electrodes arranged at equal intervals. Specifically, they detect the different potentials exhibited by the electrodes at different conductivities, determining whether an electrode is submerged based on this potential. The number of submerged electrodes indicates the water depth. The error is unaffected by environmental factors and depends solely on the spacing of the electrodes within the electronic water level gauge. It can continuously and automatically monitor water levels, thus enabling the monitoring of aquarium water levels. Specifically, the electronic water level gauge can measure the water depth (water level height) of the aquarium. The vertical distance between the millimeter-wave radar and the water surface can be determined by subtracting the aquarium water level height from the installation height of the millimeter-wave radar.

[0067] S103: Based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, the distance between the millimeter-wave radar and the target fish is determined; if the target fish at the previous moment was located at the surface of the aquarium or at the bottom of the aquarium, the first information of fish abnormality is output.

[0068] Based on the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, the distance between the millimeter-wave radar and the target fish, and the determined vertical distance between the millimeter-wave radar and the water surface of the aquarium, the distance between the target fish and the water surface of the aquarium at the previous moment is determined by using the principle of water refraction.

[0069] Based on the distance between the target fish and the surface of the aquarium water at the previous moment, it can be determined whether the target fish is located at the surface or bottom of the aquarium water. If the target fish is currently inactive and located at the surface or bottom of the aquarium water, it indicates that the target fish may be abnormal, and the first abnormal information of the fish can be output to remind the user to check in time.

[0070] This application embodiment installs a millimeter-wave radar and an electronic water level gauge on the fish tank. By receiving the point cloud map currently output by the millimeter-wave radar, the identification of active fish can be obtained. If there is a target identification that was active at the previous moment but is currently inactive, it is further determined whether the fish with that target identification was located at the surface or bottom of the fish tank at the previous moment. If so, the fish may be abnormal, and the first information of the fish abnormality is output to remind the user to check. This realizes the monitoring of the health of home ornamental fish and protects the user's privacy.

[0071] To further improve the accuracy of fish monitoring, in some embodiments of this application, based on the above embodiments, the method further includes:

[0072] Record the moment when the speed of the fish identified by the target is zero;

[0073] If the target identifier is not included in the identifier of the active fish detected by the millimeter-wave radar within the set time period, then a second message indicating fish abnormality is output.

[0074] To more accurately monitor the fish's status, we can further obtain the duration of inactivity of the target fish that was active in the previous moment and is currently inactive. Specifically, we can record the moment when the speed of the target fish is zero, which is the current moment.

[0075] If the target identifier is not included in the identifier of the active fish detected by the millimeter-wave radar within the set time period, then the second information of fish abnormality will be output.

[0076] Specifically, the millimeter-wave radar can monitor the fish in the aquarium in real time and output the identifiers of the active fish detected. If the target identifier is not included in the identifiers of the active fish detected by the millimeter-wave radar within a set time period, it indicates that the fish with the target identifier has not been active in the aquarium within the set time period, and the second information of fish abnormality is output.

[0077] Figure 2a The figure is a second schematic diagram of a method for monitoring ornamental fish provided in some embodiments of this application. Figure 2a As shown, it includes the following steps:

[0078] S1201: Receives the point cloud image currently output by the millimeter-wave radar installed on the aquarium and obtains the identification of active fish.

[0079] S1202: If any target fish was active in the previous moment but is currently inactive, record the moment when the speed of the target fish is zero.

[0080] S1203: If the target identifier is not included in the identifier of the active fish detected by the millimeter-wave radar within the set time period, then output the second information of fish abnormality.

[0081] In order to more accurately monitor the state of fish in this embodiment of the application, based on the above embodiments, the method further includes:

[0082] If the target identifier is included in the identifier of the active fish detected by the millimeter-wave radar within a set time period, the recorded moment when the fish speed of the target identifier is zero will be deleted.

[0083] Each time a fish with a specific target identifier is detected to be inactive, the moment when the fish's speed reaches zero is recorded. If, within a set time period, an active fish detected by the millimeter-wave radar is identified whose identifier includes the target identifier, the recorded moment when the fish with zero speed for that target identifier is deleted.

[0084] Figure 2b This is the third schematic diagram illustrating a method for monitoring ornamental fish, provided for some embodiments of this application. Figure 2b As shown, the process includes the following steps:

[0085] S1301: Receives the point cloud image currently output by the millimeter-wave radar installed on the aquarium and obtains the identification of active fish.

[0086] S1302: If any target fish was active in the previous moment but is currently inactive, record the moment when the speed of the target fish is zero.

[0087] S1303: If the target identifier is included in the identifier of the active fish detected by the millimeter-wave radar output within the set time length, then the recorded moment when the fish speed of the target identifier is zero will be deleted.

[0088] S1304: If the target identifier is not included in the identifier of the active fish detected by the millimeter-wave radar within the set time period, then output the second information of fish abnormality.

[0089] This application embodiment records the moment when the speed of an inactive target fish is zero, and determines whether the target fish is included in the identification of active fish detected by the millimeter-wave radar output within a set time. This further determines the status of inactive fish, solves the problem of misjudgment caused by inactive fish possibly only staying in the aquarium for a short time, and improves the accuracy of ornamental fish monitoring.

[0090] To further monitor the jumping-out behavior of ornamental fish in home aquariums, based on the above embodiments, in some embodiments of this application, the method further includes:

[0091] Receive the first position of each monitored object currently output by the millimeter-wave radar;

[0092] After determining that the fish of any of the target identifiers was active at the previous moment and is currently inactive, and before determining the vertical distance between the millimeter-wave radar and the water surface of the aquarium based on the water level height measured by the electronic water gauge installed on the aquarium, the method further includes:

[0093] Based on the point cloud map output by the millimeter-wave radar at the previous moment, obtain the second position of each active fish monitored by the millimeter-wave radar at the previous moment; if there is no first position that matches the second position of any active fish, determine that the active fish at the second position has jumped out of the tank, and output the third information of the fish jumping out of the tank.

[0094] Since fish in home aquariums may jump out of the tank, millimeter-wave radar can be used to monitor the fish's location so that when a fish jumps out of the tank, a secondary information about the jump can be output in a timely manner.

[0095] Because the point cloud map output by millimeter-wave radar only contains markers for moving objects, i.e., moving fish, it can only determine the location of moving fish, not the location of inactive fish, and therefore cannot determine whether the inactive fish is dead or has jumped out of the tank. Therefore, after determining that the target fish is inactive based on the current output point cloud map of the millimeter-wave radar, the second location of each moving fish detected by the millimeter-wave radar at the previous moment is obtained based on the previous output point cloud map. If there is no first location matching the second location of any moving fish, it indicates that the moving fish at that second location at the previous moment is no longer in the tank, thus determining that the moving fish at that second location has jumped out of the tank, and outputting the third information of the fish jumping out of the tank.

[0096] Specifically, after determining that the target fish is inactive based on the current point cloud map output by the millimeter-wave radar, the coordinates of the second position of each active fish detected by the millimeter-wave radar at the previous moment are obtained based on the point cloud map output by the millimeter-wave radar at the previous moment. That is, the coordinates of the position of each active fish at the previous moment. The coordinates of the first position are the coordinates of the position of each object in the current aquarium detected by the millimeter-wave radar.

[0097] Based on the coordinates of the second position of each active fish at the previous moment, the coordinates of the current position corresponding to that second position of each active fish can be predicted, which is the coordinates of the current position of each active fish in the fish tank at the previous moment. This is because if a fish has always been in the fish tank, regardless of whether it was active in the tank at the previous moment, there should be a first position coordinate that matches the second position coordinate of that active fish at the previous moment. If there is no first position that matches the second position of any active fish, it means that the active fish at that second position at the previous moment is no longer in the fish tank, confirming that the active fish at that second position has jumped out of the tank, and outputting the third piece of information about the fish jumping out of the tank.

[0098] Figure 2c This is a fourth schematic diagram illustrating a method for monitoring ornamental fish, provided for some embodiments of this application. Figure 2c As shown, the process includes the following steps:

[0099] S1401: Receive the first position of each monitored object currently output by the millimeter-wave radar.

[0100] S1402: Receives the point cloud image currently output by the millimeter-wave radar installed on the aquarium and obtains the identification of active fish.

[0101] S1403: After determining that the fish identified by any target was active at the previous moment and is currently inactive, obtain the second position of each active fish detected by the millimeter-wave radar at the previous moment based on the point cloud map output by the millimeter-wave radar at the previous moment.

[0102] S1404: If there is no first position that matches the second position of any active fish, then determine that the active fish at the second position has jumped out of the tank, and output the third information of the fish jumping out of the tank.

[0103] This application embodiment receives the first position of each monitored object from the current output of the millimeter-wave radar. If any fish marked with a target was active at the previous moment but is currently inactive, the second position of each active fish detected at the previous moment is obtained. The second position of each active fish at the previous moment is compared with the first position of each monitored object. If there is no first position that matches the second position of any active fish, it is determined that the fish has jumped out of the tank. The third information of the fish jumping out of the tank is output to remind the user to check in time, so as to facilitate further monitoring of the jumping situation of home ornamental fish.

[0104] To further monitor the health of ornamental fish in homes, based on the above embodiments, in some embodiments of this application, after receiving the point cloud image currently output by the millimeter-wave radar installed on the fish tank and obtaining the identifier of the active fish, the method further includes:

[0105] The length of the active fish is determined based on its identification markings.

[0106] The next step is to monitor whether any fish with a target identifier that was active at the previous moment but is currently inactive is present for the active fish whose length is greater than a set threshold.

[0107] Since there may be multiple fish of different species in a home aquarium, the death of small fish may become food for larger fish and will not have a negative impact on the aquarium's ecosystem. Therefore, you can focus on monitoring valuable large fish species, such as arowanas, and eliminate the interference from small fish in the aquarium.

[0108] After receiving the point cloud image from the millimeter-wave radar installed on the aquarium and identifying the active fish, the length of the active fish can be determined based on the identification. This length is then compared to a set threshold. If the length exceeds the threshold, the fish is identified as a large species, allowing for focused monitoring of larger fish and eliminating interference from smaller fish in the aquarium. In a practical application scenario of home aquarium health monitoring, the user can pre-set a length threshold for the fish in their aquarium and store it on a server. The minimum length of the fish the user wants to monitor is the set threshold. The server, based on the received point cloud image from the millimeter-wave radar, identifies the active fish and determines its length. This length is compared to the user-set minimum length, i.e., the set threshold. If the length is less than the threshold, the fish is not monitored further. If the length exceeds the threshold, the fish is monitored closely, specifically for fish longer than the threshold, to check if any fish with the target identification was active previously but is currently inactive.

[0109] Figure 2d This is the fifth schematic diagram illustrating a method for monitoring ornamental fish, provided for some embodiments of this application. Figure 2d As shown, the process includes the following steps:

[0110] S1501: Receives the point cloud image currently output by the millimeter-wave radar installed on the aquarium and obtains the identification of active fish.

[0111] S1502: Determine the length of the active fish based on the identification of the active fish.

[0112] S1503: For active fish whose length is greater than the set threshold, if any target-identified fish was active at the previous moment but is currently inactive, then the vertical distance between the millimeter-wave radar and the water surface of the aquarium is determined based on the water level height of the aquarium measured by the electronic water gauge installed on the aquarium.

[0113] S1504: Based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, the distance between the millimeter-wave radar and the target fish is determined; if the target fish at the previous moment was located at the surface of the aquarium or at the bottom of the aquarium, the first information of fish abnormality is output.

[0114] This application embodiment obtains the point cloud map output by millimeter-wave radar, and after obtaining the identification of active fish, the length of the active fish can be determined based on the identification of the active fish. It can then determine whether the length is greater than a set threshold, thereby focusing on monitoring valuable large fish species in the aquarium and eliminating interference from small fish in the aquarium.

[0115] To accurately determine the distance between the target fish and the aquarium water surface at the previous moment, based on the above embodiments, in this embodiment of the invention, the distance between the target fish and the aquarium water surface at the previous moment is determined according to the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, and the distance between the millimeter-wave radar and the target fish, including:

[0116] Based on the vertical distance and the water entry angle of the electromagnetic wave of the fish identified by the millimeter-wave radar at the previous moment, the first distance between the millimeter-wave radar and the water entry point of the electromagnetic wave is determined.

[0117] Based on the distance between the millimeter-wave radar and the target fish and the first distance, the second distance between the entry point of the electromagnetic wave and the target fish is determined.

[0118] Based on the water entry angle, the refractive index of the electromagnetic wave in the water, and the second distance, the distance between the target fish and the surface of the aquarium water at the previous moment is determined.

[0119] Because the ratio of the vertical distance between the millimeter-wave radar and the water surface of the aquarium to the first distance between the millimeter-wave radar and the point where the electromagnetic wave enters the water is equal to the sine of the angle of entry of the electromagnetic wave of the target fish detected by the millimeter-wave radar at the previous moment. Therefore, based on the vertical distance and the angle of entry, the first distance between the millimeter-wave radar and the point where the electromagnetic wave enters the water can be determined.

[0120] Furthermore, since the distance between the millimeter-wave radar and the target fish is equal to the sum of the second distance between the electromagnetic wave's entry point into the water and the target fish, and the first distance, the second distance between the electromagnetic wave's entry point into the water and the target fish can be determined based on the distance between the millimeter-wave radar and the target fish, and the first distance.

[0121] Based on the second distance, the water entry angle, and the refractive index of the electromagnetic wave in the water, the distance between the target fish and the surface of the aquarium water at the previous moment can be determined.

[0122] Figure 2e This is a schematic diagram illustrating the refraction of electromagnetic waves in water, provided for some embodiments of this application. For example... Figure 2e As shown, specifically, an electronic water gauge is installed vertically on the left side of the fish tank (left and right as shown in the picture), and a millimeter-wave radar is installed on the upper left side of the fish tank (upper left side as shown in the picture), which is directly above the electronic water gauge (directly above the picture). The server obtains the water entry angle of the electromagnetic wave emitted by the millimeter-wave radar at the previous moment, which detects the target fish. This angle is denoted as θ, the angle between the electromagnetic wave emitted by the target fish and the surface of the aquarium water when it enters the water. The angle between the electromagnetic wave emitted by the target fish and the vertical direction is denoted as α. The angle between the electromagnetic wave emitted by the target fish and the vertical direction after refraction is denoted as β. The vertical distance between the millimeter-wave radar and the surface of the aquarium water can also be called the radar height above the water surface, h. The distance between the millimeter-wave radar and the target fish is the length of the path traveled by the electromagnetic wave after it is emitted, also known as the radar theoretical range D. The first distance between the millimeter-wave radar and the point of entry of the electromagnetic wave is denoted as d1, and the second distance between the point of entry of the electromagnetic wave and the target fish is denoted as d2.

[0123] The first distance d1 can be calculated using the following formula:

[0124]

[0125] Where h is the vertical distance between the millimeter-wave radar and the water surface of the aquarium, i.e., the height of the radar above the water surface, and θ is the angle between the electromagnetic wave and the plane of the aquarium when the electromagnetic wave enters the water.

[0126] Furthermore, although the electromagnetic waves emitted by the millimeter-wave radar refract in water, the path length remains unchanged when the electromagnetic waves are reflected by an object in their transmission path, namely a fish. Therefore, the distance between the millimeter-wave radar itself and the detected target fish, which is the radar's theoretical range D, is equal to the sum of the first distance d1 and the second distance d2. Thus, d2 can be calculated as follows:

[0127]

[0128] Based on the water entry angle θ, the second distance d2, and the refractive index of electromagnetic waves in water, the distance between the target fish and the surface of the aquarium water at the previous moment can be determined.

[0129] To accurately determine the distance between the target fish and the aquarium water surface at the previous moment, based on the above embodiments, in this embodiment of the invention, determining the distance between the target fish and the aquarium water surface at the previous moment, according to the water entry angle, the refractive index of electromagnetic waves in water, and the second distance, includes:

[0130] Based on the water entry angle and the refractive index of the electromagnetic wave in water, determine the angle between the electromagnetic wave and the vertical direction after it is refracted upon entering the water.

[0131] Based on the included angle and the second distance, the distance between the target fish and the surface of the aquarium water at the previous moment is determined.

[0132] like Figure 2e As shown, the angle between the electromagnetic wave and the vertical direction when the wave is emitted into the water is denoted as α, and the angle between the electromagnetic wave and the vertical direction after refraction in the water is denoted as β. According to the formula for the refractive index of electromagnetic waves in water:

[0133]

[0134] Where γ represents the refractive index of the electromagnetic wave in water, α represents the angle between the electromagnetic wave and the vertical direction when the electromagnetic wave is emitted into the water, β represents the angle between the electromagnetic wave and the vertical direction after the electromagnetic wave is refracted when it is emitted into the water, and θ is the angle between the electromagnetic wave and the plane of the aquarium when the electromagnetic wave enters the water, and θ and α are complementary.

[0135] From the above formula, it can be deduced that:

[0136] The actual vertical distance h1 between the target fish and the surface of the aquarium water can be further calculated using the following formula:

[0137] h1=d2*cosβ

[0138] Where d2 is the second distance between the point of entry of the electromagnetic wave into the water and the detected target fish after the electromagnetic wave is emitted into the water, and β represents the angle between the electromagnetic wave and the vertical direction after the electromagnetic wave is refracted after being emitted into the water.

[0139] Based on the vertical distance h1 between the actual position of the fish in the target area and the surface of the aquarium water, it can be determined whether the fish in the target area is located at the surface of the aquarium water or at the bottom of the aquarium. If the fish in the target area is currently inactive and located at the surface of the aquarium water or at the bottom of the aquarium, it indicates that the fish in the target area may be abnormal, and the first information of the fish abnormality can be output to remind the user to check in time.

[0140] Based on the above embodiments, this application also provides an ornamental fish monitoring device. Figure 3a One of the structural schematic diagrams of an ornamental fish monitoring device provided for some embodiments of this application is shown below. Figure 3a As shown, the device includes:

[0141] The receiving module 301 is used to receive the point cloud map currently output by the millimeter-wave radar installed on the fish tank and obtain the identification of active fish.

[0142] The determination module 302 is used to determine the vertical distance between the millimeter-wave radar and the water surface of the aquarium based on the water level height measured by the electronic water level gauge installed on the aquarium if any fish marked as a target was active in the previous moment but is currently inactive. Based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, and the distance between the millimeter-wave radar and the target fish, the distance between the target fish and the water surface of the aquarium at the previous moment is determined.

[0143] The output module 303 is used to output first information about the fish being abnormal if the fish identified by the target at the previous moment is located on the surface of the aquarium or at the bottom of the aquarium.

[0144] Figure 3b This is a second schematic diagram of the structure of an ornamental fish monitoring device provided for some embodiments of this application. (See diagram below.) Figure 3b As shown, in one possible implementation, the device further includes:

[0145] The recording module 304 is used to record the moment when the speed of the fish identified by the target is zero.

[0146] The recording module 304 is further configured to delete the recorded moment when the fish speed of the target identifier is zero if the identifier of the active fish detected by the millimeter-wave radar is received within a set time period.

[0147] The output module 303 is further configured to output second information about fish abnormality if the target identifier is not included in the identifier of the active fish detected by the millimeter-wave radar within a set time period.

[0148] In one possible implementation, the receiving module 301 is further configured to: receive the first position of each monitored object currently output by the millimeter-wave radar.

[0149] Figure 3c This is the third schematic diagram of a structure for an ornamental fish monitoring device provided for some embodiments of this application. (See diagram below.) Figure 3c As shown, the device further includes:

[0150] The acquisition module 305 is used to acquire the second position of each active fish detected by the millimeter-wave radar at the previous moment based on the point cloud map output by the millimeter-wave radar at the previous moment.

[0151] The output module 303 is further configured to determine if there is no first position that matches the second position of any active fish, and output third information about the fish jumping out of the tank.

[0152] In one possible implementation, the determining module 302 is further configured to: determine the length of the active fish based on the identifier of the active fish.

[0153] Figure 3d This is the fourth schematic diagram of a structure for an ornamental fish monitoring device provided for some embodiments of this application. Figure 3d As shown, the device further includes:

[0154] The filtering module 306 is used to trigger the determination module 302 for active fish whose length is greater than a set threshold.

[0155] In one possible implementation, the determining module 302 is specifically used to determine a first distance between the millimeter-wave radar and the water entry point of the electromagnetic wave based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment; to determine a second distance between the water entry point of the electromagnetic wave and the target fish based on the distance between the millimeter-wave radar and the target fish and the first distance; and to determine the distance between the target fish and the surface of the aquarium water at the previous moment based on the water entry angle, the refractive index of the electromagnetic wave in the water, and the second distance.

[0156] In one possible implementation, the determining module 302 is specifically used to determine the angle between the electromagnetic wave emitted into the water and the vertical direction after refraction, based on the water entry angle and the refractive index of the electromagnetic wave in the water; and to determine the distance between the target fish and the surface of the aquarium water at the previous moment based on the angle and the second distance.

[0157] This device can be specifically deployed in a terminal, and other functions of the terminal are described in the other embodiments above.

[0158] Based on the above embodiments, this application also provides an electronic device. Figure 4 This is a schematic diagram of an electronic device structure provided for some embodiments of the present invention. For example... Figure 4 As shown, it includes: processor 401, communication interface 402, memory 403 and communication bus 404, wherein processor 401, communication interface 402 and memory 403 communicate with each other through communication bus 404.

[0159] The memory 403 stores a computer program, which, when executed by the processor 401, causes the processor 401 to complete the steps of any of the above-described ornamental fish monitoring methods.

[0160] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0161] Communication interface 402 is used for communication between the above-mentioned electronic device and other devices.

[0162] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0163] The processors mentioned above can be general-purpose processors, including central processing units, network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits, field-programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0164] Based on the above embodiments, the present invention provides a computer-readable storage medium storing a computer program executable by an electronic device, wherein computer-executable instructions are used to cause a computer to perform the process executed by any of the aforementioned methods.

[0165] The aforementioned computer-readable storage medium can be any available medium or data storage device that can be accessed by the processor in an electronic device, including but not limited to magnetic storage such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), optical storage such as CDs, DVDs, BDs, HVDs, etc., and semiconductor storage such as ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs), etc.

[0166] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0167] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0168] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0169] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0170] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for monitoring ornamental fish, characterized in that, The method includes: Receive the point cloud image currently output by the millimeter-wave radar installed on the fish tank and obtain the identification of active fish; If any target fish was active in the previous moment but is currently inactive, the vertical distance between the millimeter-wave radar and the water surface of the aquarium is determined based on the water level height measured by the electronic water gauge installed on the aquarium. Based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, the distance between the millimeter-wave radar and the target fish is determined; if the target fish was located at the surface of the aquarium or the bottom of the aquarium at the previous moment, the first information of fish abnormality is output.

2. The ornamental fish monitoring method according to claim 1, characterized in that, The method further includes: Record the moment when the speed of the fish identified by the target is zero; If the target identifier is not included in the identifier of the active fish detected by the millimeter-wave radar within the set time period, then a second message indicating fish abnormality is output.

3. The ornamental fish monitoring method according to claim 2, characterized in that, The method further includes: If the target identifier is included in the identifier of the active fish detected by the millimeter-wave radar within a set time period, the recorded moment when the fish speed of the target identifier is zero will be deleted.

4. The ornamental fish monitoring method according to claim 1, characterized in that, The method further includes: Receive the first position of each monitored object currently output by the millimeter-wave radar; After determining that the fish of any of the target identifiers was active at the previous moment and is currently inactive, and before determining the vertical distance between the millimeter-wave radar and the water surface of the aquarium based on the water level height measured by the electronic water gauge installed on the aquarium, the method further includes: Based on the point cloud map output by the millimeter-wave radar at the previous moment, obtain the second position of each active fish detected by the millimeter-wave radar at the previous moment; If there is no first position that matches the second position of any active fish, then determine that the active fish at the second position has jumped out of the tank, and output the third information of the fish jumping out of the tank.

5. The ornamental fish monitoring method according to claim 1, characterized in that, After receiving the point cloud image currently output by the millimeter-wave radar installed on the aquarium and obtaining the identifier of the active fish, the method further includes: The length of the active fish is determined based on its identification markings. The next step is to monitor whether any fish with a target identifier that was active at the previous moment but is currently inactive is present for the active fish whose length is greater than a set threshold.

6. The ornamental fish monitoring method according to claim 1, characterized in that, The step of determining the distance between the target fish and the aquarium water surface at the previous moment, based on the vertical distance and the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, and the distance between the millimeter-wave radar and the target fish, includes: Based on the vertical distance and the water entry angle of the electromagnetic wave of the fish identified by the millimeter-wave radar at the previous moment, the first distance between the millimeter-wave radar and the water entry point of the electromagnetic wave is determined. Based on the distance between the millimeter-wave radar and the target fish and the first distance, the second distance between the entry point of the electromagnetic wave and the target fish is determined. Based on the water entry angle, the refractive index of the electromagnetic wave in the water, and the second distance, the distance between the target fish and the surface of the aquarium water at the previous moment is determined.

7. The ornamental fish monitoring method according to claim 6, characterized in that, The step of determining the distance between the target fish and the aquarium water surface at the previous moment based on the water entry angle, the refractive index of the electromagnetic wave in water, and the second distance includes: Based on the water entry angle and the refractive index of the electromagnetic wave in water, determine the angle between the electromagnetic wave and the vertical direction after it is refracted upon entering the water. Based on the included angle and the second distance, the distance between the target fish and the surface of the aquarium water at the previous moment is determined.

8. An ornamental fish monitoring device, characterized in that, The device includes: The receiving module is used to receive the point cloud image currently output by the millimeter-wave radar installed on the fish tank and obtain the identification of active fish. The determination module is used to determine the vertical distance between the millimeter-wave radar and the water surface of the aquarium if any fish marked as a target was active in the previous moment but is currently inactive, based on the water level height measured by the electronic water level gauge installed on the aquarium; and based on the vertical distance, the water entry angle of the electromagnetic wave of the target fish collected by the millimeter-wave radar at the previous moment, and the distance between the millimeter-wave radar and the target fish, to determine the distance between the target fish and the water surface of the aquarium at the previous moment. The output module is used to output the first information of fish abnormality if the target fish identified in the previous moment is located on the surface of the aquarium or at the bottom of the aquarium.

9. An electronic device, characterized in that, The electronic device includes at least a processor and a memory, the processor being configured to implement the steps of the method as described in any one of claims 1-7 when executing a computer program stored in the memory.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 1-7.

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