Monitoring device and monitoring method for aquatic ecological organisms

Abstract

A monitoring device for aquatic ecological organisms monitors distribution of the aquatic ecological organisms in a monitored water area, and comprises a sound sensor for irradiating ultrasonic beams into water and receiving reflected wave signals reflected by the aquatic ecological organisms; an aquatic ecological organism counting unit that counts aquatic ecological organisms within the detection range of the acoustic sensor on the basis of the reflected wave signal; a detection region area calculation unit that calculates a beam width at a predetermined depth on the basis of the spread angle of the ultrasonic beam, and calculates the area of the detection region at the predetermined depth on the basis of the beam width; and a life density calculation unit for calculating the density distribution of the aquatic organisms within the monitoring water area range on the basis of the counted number of aquatic organisms and the area of the detection area.

Description

Technical Field

[0001] The present disclosure relates to the field of aquatic ecological biological monitoring. Specifically, it relates to devices and methods for dynamically monitoring the resource distribution of aquatic ecological organisms in rivers, lakes, and reservoirs. Background Art

[0002] In recent years, due to environmental changes, the monitoring of aquatic ecological organisms has received increasing attention. For example, the Aquatic Ecological Monitoring Center of the Yangtze River Basin in China was established in May 2020. It is a specialized agency for carrying out aquatic ecological monitoring work in the Yangtze River Basin. Its main tasks are to find out the basic ecological data of the Yangtze River, explore the laws of ecological changes, and provide first-hand information and technical support for the great protection of the Yangtze River. Its main responsibilities include formulating the monitoring plan for the aquatic ecology of the basin, organizing the implementation of regular monitoring of the aquatic ecology of the basin, special monitoring of the aquatic ecology of key basins, and emergency monitoring of the aquatic ecology in major emergencies.

[0003] On the other hand, for fish in aquatic ecological organisms, in order to facilitate their migration between the upstream and downstream of the river, fishways are usually set up when building reservoirs. In most cases, the fishways are designed and used based on the topographic structure of the river and reservoir and empirical knowledge. However, there are no suitable means to monitor and investigate issues such as whether the designed fishway is effective, for example, whether there are fish passing through the fishway, when they pass through, and how many pass through. In fact, it is impossible to verify and control. Some reservoirs use the shipping method to transport fish populations between the upstream and downstream of the reservoir. Although the number and size of the fish populations can be correctly understood, it requires a large amount of manpower and material resources.

[0004] As the prior art, Patent Document 1 discloses a method for analyzing fish group behavior based on density distribution. Based on the videos recorded on-site by mobile phones and high-definition camera devices, it extracts fish group image frames, obtains the density map of a single image corresponding to a certain time point through a network model, superimposes the time dimension and the two-dimensional space dimension to generate a density map with superimposed density values, calculates the change value of the fish group density in each area, accumulates the differences in the fish group density changes calculated for all areas, obtains the total difference in the fish group density change of the entire density map, and determines the aggregation or dispersion behavior of the fish group based on the comparison relationship between the total difference in the fish group density change and the threshold. Obviously, this solution is not suitable for monitoring the dynamic distribution of fish groups near rivers or reservoir fishways.

[0005] Patent Document 2 discloses an evaluation method for the operation of a fish passage facility. A sonar fish detector is installed at the gentle position of a multi-stage fishway, and the detection angle of the sonar fish detector covers the entire pool body of the gentle section of the fishway, and the number of fish schools inside the gentle pool body of each stage of the fishway is calculated; the fish passage efficiency of the overall fishway at various water flow velocities is calculated; and the operation of the fish passage facility is evaluated. Although this solution can monitor the number of fish schools passing through the fishway, it cannot detect the total amount of fish schools existing near the fishway in the reservoir, so it is impossible to determine the actual fish passage effect. Therefore, there is an urgent need for a monitoring means that can be used for aquatic ecological organisms, especially fish, in rivers, lakes or reservoirs.

[0006] This disclosure centers around the Chinese national-level Yangtze River project and aims to obtain Chinese national standards, monitoring the distribution of aquatic ecological organisms in water in specified waters such as rivers, lakes, and reservoirs, and further monitoring and grasping the trends of aquatic ecological organisms changing over time.

[0007] Prior art documents

[0008] Patent Document 1: CN117409368A

[0009] Patent Document 2: CN116296501A Summary of the invention

[0010] The purpose of this disclosure is to provide a monitoring device and a monitoring method for aquatic ecological organisms, which can monitor and visualize the resource distribution and its temporal changes of aquatic ecological organisms living in a vast water area, thereby detecting the density distribution and dynamic changes in the distribution state of aquatic ecological organisms in the vast water area.

[0011] As an aspect of this disclosure, a monitoring device for aquatic ecological organisms is provided to monitor the distribution of aquatic ecological organisms in the monitoring water area. It includes: an acoustic sensor that irradiates an ultrasonic beam into the water and receives the reflected wave signal reflected by the aquatic ecological organisms; an aquatic ecological organism counting unit that counts the aquatic ecological organisms within the detection range of the acoustic sensor based on the reflected wave signal; a detection area area calculation unit that calculates the beam width at a specified depth based on the divergence angle of the ultrasonic beam, and calculates the area of the detection area at the specified depth based on this beam width; and a habitation density calculation unit that calculates the density distribution of the aquatic ecological organisms within the monitoring water area based on the number of the counted aquatic ecological organisms and the area of the detection area.

[0012] In the above-mentioned monitoring device for aquatic organisms, the monitored water area is divided into a number of cells. The habitat density calculation unit determines the cells that overlap with the detection area of the acoustic sensor based on the position information of the acoustic sensor and the detection area area information, and sets the number of aquatic organisms in these cells as the number of aquatic organisms detected by the acoustic sensor, and sets the number of aquatic organisms in the cells that do not overlap with the detection area of the acoustic sensor to zero.

[0013] In the above-mentioned monitoring device for aquatic organisms, the habitat density calculation unit uses the ratio of the overlapping area between the cell and the detection area of the acoustic sensor to the area of the detection area as the weighting value of this cell, and multiplies it by the number of aquatic organisms in this cell to re-obtain the number of aquatic organisms in this cell.

[0014] In the above-mentioned monitoring device for aquatic organisms, there are multiple acoustic sensors configured in an array or concentric circle shape, and the detection areas of adjacent acoustic sensors do not overlap. The habitat density calculation unit fills in the number of aquatic organisms in the cells that do not overlap with the detection area of the acoustic sensor by interpolation based on the data of adjacent cells.

[0015] In the above-mentioned monitoring device for aquatic organisms, there are multiple acoustic sensors configured in an array or concentric circle shape, and the detection areas of adjacent acoustic sensors do not overlap. The habitat density calculation unit fills in the number of aquatic organisms in the cells that do not overlap with the detection area of the acoustic sensor by interpolation based on the data of adjacent cells.

[0016] In the above-mentioned monitoring device for aquatic organisms, the habitat density calculation unit obtains the density distribution of the aquatic organisms within the monitored water area in real time, marks the distribution blocks of the aquatic organisms at each moment, calculates the centroid positions of each distribution block, connects the centroid positions of the distribution blocks with the same label to form a centroid vector, and quantifies the moving direction and moving speed of the aquatic organisms using the centroid vector.

[0017] In the above-mentioned monitoring device for aquatic organisms, the habitat density calculation unit further includes a display unit to visually display the density distribution of the aquatic organisms within the monitored water area in real time.

[0018] As another aspect of the present disclosure, a method for monitoring aquatic ecological organisms is provided to monitor the distribution of aquatic ecological organisms in a monitored water area, including the following steps: obtaining detection data of multiple acoustic sensors; counting the aquatic ecological organisms within the detection range of each acoustic sensor according to the detection data; dividing the monitored water area into several cells and calculating the area of the cells; obtaining the position information of each acoustic sensor and the area of the detection area at a required specified depth; for the cells that overlap with the detection area of the acoustic sensor, setting the number of aquatic ecological organisms in the cell to the number of aquatic ecological organisms detected by the acoustic sensor, and for the cells that do not overlap with the detection area of the acoustic sensor, setting the number of aquatic ecological organisms in the cell to zero.

[0019] In the above method for monitoring aquatic ecological organisms, the weighted value of each cell is calculated based on the ratio of the area of the overlapping part between the cell and the detection area to the area of the entire detection area, and the number of aquatic ecological organisms in each cell is multiplied by the weighted value of the cell to re - serve as the number of aquatic ecological organisms in the cell.

[0020] In the above method for monitoring aquatic ecological organisms, it further includes: for the cells that do not overlap with the detection area of the acoustic sensor, filling them in an interpolation manner based on the data of adjacent cells.

[0021] As another aspect of the present disclosure, a computer - readable storage medium is provided, on which computer programs / instructions are stored. It is characterized in that when the computer programs / instructions are executed by a processor, the steps of the above - mentioned method for monitoring aquatic ecological organisms are implemented.

[0022] As another aspect of the present disclosure, a computer program product is provided, including computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above - mentioned method for monitoring aquatic ecological organisms are implemented.

[0023] Advantages of the Invention

[0024] In the present disclosure, by visualizing the distribution of aquatic ecological organism resources in a wide area and their temporal changes, the density of aquatic ecological organisms in river areas can be clarified, the changes in the distribution status of aquatic ecological organisms in river areas can be clarified, and automatic and real - time monitoring can be carried out. Brief Description of the Drawings

[0025] Figure 1 A functional module block diagram of the monitoring device for aquatic ecological organisms according to the first embodiment of the present disclosure is shown.

[0026] Figure 2Schematic diagram showing the detection area formed by the acoustic sensor of the first embodiment emitting an ultrasonic beam.

[0027] Figure 3 Schematic diagram showing the configuration of multiple acoustic sensors of the water ecological organism monitoring device 10 of the first embodiment.

[0028] Figure 4 Example of calculating the area of the detection area of the acoustic sensor in the first embodiment.

[0029] Figures 5A - 5B Schematic diagram showing the detection mode of the acoustic sensor in the first embodiment.

[0030] Figures 6A - 6C Example of the fish population density distribution calculated by the inhabiting density calculation unit of the first embodiment.

[0031] Figure 7 Showing the change state of the fish population density distribution in the monitoring water area of the first embodiment at different times as the fish population moves.

[0032] Figure 8 Example of the calculation method of the weighting value in the first embodiment.

[0033] Figures 9A - 9C Example of the fish density distribution calculated by the inhabiting density calculation unit of the second embodiment.

[0034] Figures 10A - 10C Example of the fish density distribution calculated by the inhabiting density calculation unit of the third embodiment.

[0035] Figure 11 Showing the change state of the fish population density distribution in the monitoring water area of the third embodiment at different times as the fish population moves.

[0036] Figure 12 Schematic diagram showing the fish population centroid vector processing flow and processing results of the fourth embodiment.

[0037] Figure 13 Schematic diagram showing the flow of the monitoring method of water ecological organisms of the present disclosure. Detailed Embodiments

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0039] The monitoring device and method for aquatic organisms provided by the present disclosure are used to monitor and visualize the resource distribution and its temporal changes of aquatic organisms living in vast water areas such as rivers, lakes, and reservoirs. To this end, solutions are proposed from the following aspects:

[0040] (1) Set multiple detection areas within the entire monitoring water area, obtain the information of aquatic organisms in the multiple detection areas, and obtain the density and distribution information of aquatic organisms in the monitoring water area based on this information;

[0041] (2) Display the obtained distribution information in the order of time passage;

[0042] (3) Focus on the change in the distribution quantity within the monitoring water area and calculate the movement vector of aquatic organisms;

[0043] (4) Numerically represent the movement direction of aquatic organisms using the calculated vector.

[0044] In the following exemplary embodiments of the present disclosure, fish are taken as an example of aquatic organisms for illustration. It can be understood that the present disclosure can be used not only to monitor fish or fish schools, but also to detect other aquatic organisms such as finless porpoises and jellyfish.

[0045] The monitoring water area refers to the vast water surface area to be investigated, which can be a section of a river, a part of a river, the area near the upstream of a fishway in a reservoir, the area near the downstream of a fishway in a reservoir, etc. Usually, it is a rectangular area on the water surface, and a circular or other shaped area can also be selected according to the terrain structure.

[0046] First Embodiment

[0047] Figure 1 The functional block diagram of the monitoring device 10 for aquatic organisms according to the first embodiment of the present disclosure is shown. The monitoring device 10 for aquatic organisms in this embodiment includes an acoustic sensor 1, an aquatic organism counting unit 2, a detection area area calculation unit 3, and a habitation density calculation unit 4. The connection manner of each functional module is as Figure 1 shown. The acoustic sensor 1 is respectively connected to the aquatic organism counting unit 2 and the detection area area calculation unit 3, and the aquatic organism counting unit 2 and the detection area area calculation unit 3 are respectively connected to the habitation density calculation unit 4. Each functional module of the monitoring device 10 for aquatic organisms can be independently implemented by an independent hardware module, or can be implemented by software and programs, or can be implemented in one or more hardware modules or integrated circuits, or these functional modules can be implemented in different networks and / or processor devices and / or microcontroller devices.

[0048] The acoustic sensor 1 can adopt a sonar sensor, which is arranged on the water surface of the monitored water area, emits an ultrasonic beam underwater, and receives the ultrasonic beam reflected by underwater ecological organisms such as fish. Thus, the shape, size, and depth position of underwater ecological organisms such as fish can be detected.

[0049] Figure 2 Schematic diagram showing the detection area formed by the ultrasonic beam emitted by the acoustic sensor of the first embodiment. In Figure 2 the monitored water area 20, a first acoustic sensor 11 and a second acoustic sensor 12 are arranged, forming a first detection area 21 and a second detection area 22 respectively. The detection area refers to the planar area that can be covered by the ultrasonic beam at the maximum depth required to be detected. Therefore, the detection area changes with the depth. The deeper the depth required to be detected, the larger the area of the detection area. Usually, the detection areas 21 and 22 of the arranged acoustic sensors do not overlap with each other.

[0050] Figure 3 Schematic diagram showing the arrangement mode of multiple acoustic sensors of the water ecological organism monitoring device 10 of the first embodiment. Multiple acoustic sensors can be arranged in the monitored water area. The multiple acoustic sensors can be arranged in an array shape or in a concentric circle shape, etc. in the monitored water area. Specifically, referring to Figure 3 , according to the shape and size of the monitored water area, the multiple acoustic sensors can be arranged as a square array, a rectangular array, an oblique array, a circular array, a concentric circle array, an arc array, a triangular array, a polygon array, and an array of any shape.

[0051] The detection area area calculation unit 3 calculates the beam width at a specified depth based on the divergence angle of the ultrasonic beam of the acoustic sensor, and calculates the detection area area of the acoustic sensor at the specified depth based on the beam width. Figure 4 Schematic diagram showing an example of the area calculation of the detection area of the acoustic sensor in the first embodiment. Referring to Figure 4, the detection area calculation unit 3 calculates the radius R (or diameter, i.e., beam width) of the detection area 21 using the formula R = D×tanθ based on the divergence angle θ of the ultrasonic beam of the acoustic sensor 11 and the information of the specified depth D. Then, the area of the detection area 21 can be calculated using the radius R of the detection area 21. Usually, according to the performance of the acoustic sensor 11, the divergence angle θ is fixed, and the specified depth D can be set according to the actual situation. The larger the specified depth D, the larger the area of the detection area 21. The specified depth D can be the following situations: ① taking a fixed depth or depth range as the specified depth D, such as a depth of 100 m underwater or a depth between 100 m and 120 m underwater; ② taking the depth at the bottom of the detection area as the specified depth D; ③ taking the depth at which aquatic ecological organisms (such as fish) are detected as the specified depth D. In addition, the specified depth D can also be determined by other factors, and the present disclosure does not make special limitations. The acoustic sensor 11 can detect the size and quantity information of aquatic ecological organisms such as fish existing in the conical area as shown in Figure 4 within the range from the installation position of the acoustic sensor 11 to the specified depth D.

[0052] The aquatic ecological organism counting unit 2 counts the aquatic ecological organisms detected by each acoustic sensor, such as fish, respectively. Specifically, the working principle of the aquatic ecological organism counting unit 2 is as shown in Figures 5A - 5B shown, Figure 5A indicating the detection mode of the aquatic ecological organisms of the acoustic sensor. The acoustic sensors installed on the water surface respectively receive the ultrasonic beam reflection signals from "single aquatic ecological organisms" (such as a single fish) in the water, such as the reflection signals from the parts of fish ① to ⑤. The waveform of the received signal is as shown in Figure 5B shown. By analyzing the waveform shown in Figure 5B , information reflecting the shape and body length of the fish can be obtained. The aquatic ecological organism counting unit 2 can calculate the number and body length information of the fish school in the detection area by receiving all the reflection signals in the detection area.

[0053] The inhabitation density calculation unit 4 receives the fish school quantity information of each acoustic sensor from the aquatic ecological organism counting unit 2, as well as the position information of each acoustic sensor and the area information of the detection area calculated by the detection area calculation unit 3, divides the entire monitoring water area 20 into several cells, and thereby calculates the fish school density distribution within the entire monitoring water area 20. To improve the accuracy of the fish school density distribution, the area of the cell is usually set to be smaller than the area of the detection area. The areas of the detection areas of each acoustic sensor can be set to be the same or different. In this embodiment, the areas of each detection area are all set to be the same.

[0054] Figures 6A - 6CThe example of the fish population density distribution calculated by the fish population density calculation unit 4 of the first embodiment is shown. Figure 6A It shows the entire monitoring water area 20 and the actual distribution of the fish population at a certain moment in the monitoring water area 20. As Figure 6A shown in the right figure, first, the entire monitoring water area 20 is divided into, for example, 6×4 cells, and they are numbered in sequence as c11, c12, ……, c16, ……, c41, c42, ……, c46.

[0055] Figure 6B It shows the situation where two acoustic sensors 11 and 12 are set in the entire monitoring water area 20. The first acoustic sensor 11 and the second acoustic sensor 12 are set in sequence from left to right. Assume that the detection area 21 of the first acoustic sensor 11 is located in the cells of c21, c22, c31, and c32, and the detection area 22 of the second acoustic sensor 12 is located in the cells of c25, c26, c35, and c36. According to Figure 6A the shown fish population distribution, the first acoustic sensor 11 can detect 2 fish, and the second acoustic sensor 12 can only detect 1 fish. Therefore, 2 fish are set in each of the cells of c21, c22, c31, and c32 where the detection area 21 of the first acoustic sensor 11 is located, and 1 fish is set in each of the cells of c25, c26, c35, and c36 where the detection area 22 of the second acoustic sensor 12 is located. 0 fish are set in the cells that do not contain the detection area of the acoustic sensor, forming Figure 6B the fish population distribution map shown in the right figure.

[0056] Figure 6C It shows the situation where four acoustic sensors are set in the entire monitoring water area. In the same way as the method of setting two acoustic sensors, the detection area of the first acoustic sensor 11 is located in the cells of c11, c12, c21, and c22, the detection area of the second acoustic sensor 12 is located in the cells of c15, c16, c25, and c26, the detection area of the third acoustic sensor 13 is located in the cells of c31, c32, c41, and c42, and the detection area of the fourth acoustic sensor 14 is located in the cells of c35, c36, c45, and c46. According to Figure 6AAs shown in the fish population distribution, the first acoustic sensor 11 can detect 6 fish, the fourth acoustic sensor 14 can detect 3 fish, while the second acoustic sensor 12 and the third acoustic sensor 13 do not detect any fish. Therefore, 6 fish are set in each of the cells c11, c12, c21, and c22 where the detection area of the first acoustic sensor 11 is located, and 3 fish are set in each of the cells c35, c36, c45, and c46 where the detection area of the fourth acoustic sensor 14 is located. 0 fish are set in each of the cells c15, c16, c25, and c26 where the detection area of the second acoustic sensor 12 is located and in each of the cells c31, c32, c41, and c42 where the detection area of the third acoustic sensor 13 is located. Also, 0 fish are set in the cells c13, c14, c23, c24, c33, c34, c43, and c44 that do not contain the detection area of the acoustic sensor, forming Figure 6C the fish population distribution map shown in the right figure.

[0057] Figure 7 It shows the change state of the fish population density distribution in the monitoring water area of the first embodiment at different times as the fish population moves. Assuming that 4 acoustic sensors are set in the entire monitoring water area, according to Figures 6B - 6C the fish population density distribution calculation method shown, at different times T1, T2, T3, and T4 as the fish population moves, the change state of the fish population density distribution in the monitoring water area over time is calculated.

[0058] The inhabitation density calculation unit 4 further includes a display unit (not shown), and the display unit sequentially displays at times T1, T2, T3, and T4 in chronological order Figure 7 the fish population density distribution in the monitoring water area 20 shown, thereby visualizing the dynamic change of the fish population density distribution in the monitoring water area 20.

[0059] Second Embodiment

[0060] In the first embodiment, as Figures 6B - 6C shown, the same number of fish as detected by the acoustic sensor is set in each cell containing the detection area. In this embodiment, a weighting value is set for each cell containing the detection area, and the number of fish in the cell is reallocated according to the weighting value. In this way, the fish population density distribution in the monitoring water area 20 can be obtained more accurately. Components identical to those in the first embodiment are denoted by the same reference numerals.

[0061] As an example of the weighting value, the proportion of the partial detection area contained in the cell to the entire detection area is used as the weighting value, and the number of fish in the cell is reallocated. Figure 8This shows an example of the weighting value calculation method of this embodiment. Assume that the area of the detection area 21 is 10 and it is evenly distributed among four adjacent cells. Then the area (duplication degree) of the partial detection area contained in each cell is one-fourth, that is, 2.5. Therefore, the weighting value of each cell is the duplication degree divided by the area of the detection area, which is 2.5÷10 = 0.25. That is, the weighting value of each cell is 0.25. Multiply the weighting value by the number of fish schools detected by the acoustic sensor as the number of fish schools in this cell.

[0062] Figures 9A - 9C This shows an example of the habitat density calculation unit 4 of the second embodiment calculating the fish density distribution. And Figure 6A Similarly, Figure 9A This shows the entire monitoring water area 20 and the actual distribution of fish schools at a certain moment in this monitoring water area 20, which is divided into 6×4 cells. Figure 9B This shows the case where 2 acoustic sensors are set in the entire monitoring water area 20, Figure 9C This shows the case where 4 acoustic sensors are set in the entire monitoring water area 20.

[0063] In Figure 9B According to the proportion of the partial detection area of the first acoustic sensor 11 contained in the cells c21, c22, c31, and c32, the weighting values of the cells c21, c22, c31, and c32 are set to 0.1, 0.3, 0.2, and 0.4 respectively. According to the proportion of the partial detection area of the second acoustic sensor 12 contained in the cells c25, c26, c35, and c36, the weighting values of the cells c25, c26, c35, and c36 are set to 0.2, 0.4, 0.2, and 0.2 respectively. Multiply the weighting value of the cell by the number of fish schools detected by the acoustic sensor where this cell is located and reassign it to this cell to obtain Figure 9B The fish density distribution at a certain moment in the monitoring water area 20 shown in the right figure.

[0064] In Figure 9CAmong them, according to the proportion of the partial detection areas of the first acoustic sensor 11 included in the cells c11, c12, c21, and c22, the weighting values of the cells c11, c12, c21, and c22 are set to 0.1, 0.3, 0.2, and 0.4 respectively. According to the proportion of the partial detection areas of the second acoustic sensor 12 included in the cells c15, c16, c25, and c26, the weighting values of the cells c15, c16, c25, and c26 are set to 0.2, 0.2, 0.3, and 0.3 respectively. According to the proportion of the partial detection areas of the third acoustic sensor 13 included in the cells c31, c32, c41, and c42, the weighting values of the cells c31, c32, c41, and c42 are set to 0.1, 0.4, 0.1, and 0.4 respectively. According to the proportion of the partial detection areas of the fourth acoustic sensor 14 included in the cells c35, c36, c45, and c46, the weighting values of the cells c35, c36, c45, and c46 are set to 0.2, 0.2, 0.3, and 0.3 respectively. Multiply the weighting value of the cell by the number of fish schools detected by the acoustic sensor where the cell is located and re - assign it to the cell to obtain Figure 9C the fish school density distribution at a certain moment in the monitoring water area 20 shown in the right figure.

[0065] Similar to the first embodiment, as the fish school moves at different times T1, T2, T3, and T4, according to the method of the second embodiment, find out the change state of the fish school density distribution in the monitoring water area 20 over time, and dynamically display the fish school density distribution that changes over time on the display unit.

[0066] In this embodiment, although the proportion of the partial detection area included in the cell is used as the weighting value, the present disclosure is not limited to this. For example, the weighting value can also be determined by considering the moving direction of the fish school, or by considering the change amount of the fish school over time.

[0067] Third Embodiment

[0068] In the first and second embodiments, as Figures 6B - 6C and Figures 9B - 9C shown, the number of fish schools in the cells that do not contain detection areas are all set to 0 fish. In this embodiment, for the cells that do not contain detection areas, the number of fish schools is determined by interpolation based on the number of fish schools of adjacent acoustic sensors. In this way, the fish school density distribution in the monitoring water area 20 can be obtained more accurately. The same components as those in the first and second embodiments are labeled with the same reference numerals.

[0069] Figures 10A - 10C It shows an example of the inhabitation density calculation unit 4 of the third embodiment calculating the fish density distribution. It is in the second embodiment's Figures 9B - 9CAfter performing weighted calculation processing, for cells that do not contain a detection area, the number of fish schools in them is determined by interpolation based on the number of fish schools in adjacent acoustic sensors. And Figure 9A Similarly, Figure 10A represents the entire monitoring water area 20 and the actual distribution of fish schools at a certain moment in this monitoring water area 20, and is divided into 6×4 cells. Figure 10B represents the situation where 2 acoustic sensors are set in the entire monitoring water area 20, Figure 10C represents the situation where 4 acoustic sensors are set in the entire monitoring water area 20.

[0070] As Figure 10B shown in the right figure, for cells c23 and c24, based on the data of cells c21, c22, c25, and c26 obtained by detection, their values are determined to be 0.4 and 0.3 through horizontal interpolation. For cells c33 and c34, based on the data of cells c31, c32, c35, and c36 obtained by detection, their values are determined to be 0.6 and 0.5 through horizontal interpolation. For the remaining cells c11~c16 and c41~c46, their values are determined by vertical extrapolation.

[0071] Similarly, as Figure 10C shown in the right figure, for cells c13, c14, c23, c24, c33, c34, c43, and c44, their values are respectively determined to be 1.2, 0.6, 1.6, 0.8, 0.2, 0.4, 0.3, and 0.6 through horizontal interpolation.

[0072] Figure 11 represents the situation where 4 acoustic sensors are set in the entire monitoring water area. As the fish schools move, at different times T1, T2, T3, and T4, according to the method of the third embodiment, the change state of the fish school density distribution in the monitoring water area over time is obtained, and the fish school density distribution changing over time is dynamically displayed on the display unit. As Figure 11 shown, color marking can also be used in the display. For cells with more fish schools, a darker color is used to represent them, which can more significantly show the distribution of the fish school density.

[0073] Although in this embodiment, for cells that do not contain a detection area, the number of fish schools in them is determined by linear interpolation based on the number of fish schools in adjacent acoustic sensors. However, the present disclosure is not limited to this. For example, polynomial interpolation can also be used, and the interpolation direction is not limited to horizontal or vertical. It can also be interpolated in an oblique direction or the fish school movement direction, or interpolated according to the time before and after.

[0074] Fourth Embodiment

[0075] Based on the first to third embodiments, this embodiment further calculates the centroid position of the fish school and estimates the movement amount of the fish school according to the movement vector of the centroid position.

[0076] Figure 12 It shows the schematic diagram of the fish school centroid vector processing flow and processing results of this embodiment.

[0077] In step 41, according to the processing of the third embodiment, the change state of the fish school density distribution over time at different times T1, T2, T3, and T4 is obtained. In step 43, the fish school distribution blocks at each time are marked. In step 45, the centroid position of each fish school distribution block is obtained. In step 47, the centroid position of the fish school distribution blocks with the same label is tracked to obtain the fish school centroid vector. In step 49, the movement amount of the fish school is calculated according to the fish school centroid vector and is dynamically displayed in real time on the display unit. Thus, the movement direction and movement speed of the fish school can be quantified.

[0078] In step 41, the change state of the fish school density distribution over time at different times T1, T2, T3, and T4 can also be obtained according to the processing of the second embodiment or the third embodiment. Then, the subsequent steps are carried out.

[0079] The above has described the monitoring device for water ecological organisms of the present disclosure. Next, the monitoring method for water ecological organisms of the present disclosure will be described.

[0080] Figure 13 It is a schematic flowchart of the monitoring method for water ecological organisms of the present disclosure.

[0081] First, in step 101, the detection data of the acoustic sensor is obtained. Specifically, the acoustic sensor irradiates an ultrasonic beam with a specified divergence angle into the water, and detects the water ecological organisms at a specified depth through the reflected wave reflected by the water ecological organisms.

[0082] Then, in step 103, according to the obtained detection data, the water ecological organisms within the detection range of the acoustic sensor are counted.

[0083] On the other hand, in step 102, a vast water area to be monitored is divided into several cells in advance, and the area of the cells is calculated.

[0084] In step 104, the position information of the acoustic sensor and the detection area area are obtained. The position information of the acoustic sensor is set in advance, and the detection area area of the acoustic sensor is calculated and obtained in the manner shown at a specified depth. Figure 4 as shown.

[0085] In step 105, for the cells in the detection area containing the acoustic sensor, the number of aquatic organisms detected by the acoustic sensor is set, and for the cells in the detection area without the acoustic sensor, the number is set to 0, thereby obtaining the density distribution of aquatic organisms in the monitored water area.

[0086] In step 106, the weighted value of each cell is calculated according to the ratio of the partial detection area of the acoustic sensor contained in the cell to the entire detection area.

[0087] In step 107, the density distribution of aquatic organisms obtained in step 105 is multiplied by the weighted value for each cell.

[0088] In step 109, for the cells in the detection area without the acoustic sensor, data is filled by using the method of horizontal or vertical internal and external interpolation based on the data of the adjacent cells in the detection area containing the acoustic sensor. Thus, a more accurate density distribution of aquatic organisms is obtained.

[0089] The above describes the monitoring method of aquatic organisms of the present disclosure. The execution order of some steps can be adjusted as needed, and some steps can also be deleted or added as needed.

[0090] The above is the preferred implementation manner of the present disclosure, but the present disclosure is not limited thereto. All kinds of changes, improvements, and equivalent replacements made within the technical idea and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A monitoring device for aquatic ecological organisms, which monitors the distribution of aquatic ecological organisms in the monitored water area, wherein, Comprising: An acoustic sensor that irradiates an ultrasonic beam into water and receives a reflected wave signal reflected by aquatic organisms; An aquatic organism counting unit that counts the aquatic organisms within the detection range of the acoustic sensor based on the reflected wave signal; A detection area area calculation unit that calculates the beam width at a specified depth based on the divergence angle of the ultrasonic beam, and calculates the area of the detection area at the specified depth based on the beam width; And An inhabitation density calculation unit that calculates the density distribution of the aquatic organisms within the monitoring water area based on the number of the counted aquatic organisms and the area of the detection area.

2. The monitoring device for aquatic organisms according to claim 1, wherein The monitoring water area is divided into a plurality of cells, and the inhabitation density calculation unit determines the cells that overlap with the detection area of the acoustic sensor based on the position information of the acoustic sensor and the detection area area information, and sets the number of aquatic organisms in these cells as the number of aquatic organisms detected by the acoustic sensor, and sets the number of aquatic organisms in the cells that do not overlap with the detection area of the acoustic sensor to zero.

3. The monitoring device for aquatic organisms according to claim 2, wherein The inhabitation density calculation unit uses the ratio of the overlapping area of the cell and the detection area of the acoustic sensor to the area of the detection area as the weighting value of the cell, and multiplies the number of aquatic organisms in the cell by this weighting value to re - set the number of aquatic organisms in the cell.

4. The monitoring device for aquatic organisms according to claim 2, wherein There are a plurality of the acoustic sensors, which are arranged in an array shape or a concentric circle shape, and the detection areas of adjacent acoustic sensors do not overlap; The inhabitation density calculation unit fills in the number of aquatic organisms in the cells that do not overlap with the detection area of the acoustic sensor by interpolation based on the data of adjacent cells.

5. The monitoring device for aquatic organisms according to claim 3, wherein There are a plurality of the acoustic sensors, which are arranged in an array shape or a concentric circle shape, and the detection areas of adjacent acoustic sensors do not overlap; The inhabitation density calculation unit fills in the number of aquatic organisms in the cells that do not overlap with the detection area of the acoustic sensor by interpolation based on the data of adjacent cells.

6. The monitoring device for aquatic organisms according to any one of claims 1 - 5, wherein The inhabitation density calculation unit obtains in real - time the density distribution of the aquatic organisms within the monitoring water area, marks the distribution blocks of the aquatic organisms at each moment, calculates the centroid positions of each distribution block, connects the centroid positions of the distribution blocks with the same label to form a centroid vector, and quantifies the moving direction and moving speed of the aquatic organisms using the centroid vector.

7. The monitoring device for aquatic organisms according to any one of claims 1 - 5, wherein The habitat density calculation unit further includes a display unit that visualizes in real time the density distribution of the hydro-ecological organisms within the monitored water area.

8. A monitoring method for aquatic organisms, which monitors the distribution of aquatic organisms in the monitored water area. Among them, It includes the following steps: Obtain the detection data of multiple acoustic sensors; According to the detection data, count the hydro-ecological organisms within the detection range of each acoustic sensor; Divide the monitored water area into several cells and calculate the area of the cells. Obtain the position information of each acoustic sensor and the area of the detection area at a specified depth; For the cells that have an overlapping part with the detection area of the acoustic sensor, set the number of hydro-ecological organisms in this cell to the number of hydro-ecological organisms detected by this acoustic sensor. For the cells that have no overlapping part with the detection area of the acoustic sensor, set the number of hydro-ecological organisms in this cell to zero.

9. The method for monitoring hydro-ecological organisms according to claim 8, further comprising: Calculate the weighted value of each cell according to the ratio of the area of the overlapping part between the cell and the detection area to the area of the entire detection area, and multiply the number of hydro-ecological organisms in each cell by the weighted value of this cell to re-obtain the number of hydro-ecological organisms in this cell.

10. The method for monitoring hydro-ecological organisms according to claim 8 or 9, further comprising: For the cells that have no overlap with the detection area of the acoustic sensor, fill them in an interpolation manner based on the data of adjacent cells.

11. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by a processor, the steps of the method for monitoring hydro-ecological organisms according to any one of claims 8 to 10 are implemented.

12. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by a processor, the steps of the method for monitoring hydro-ecological organisms according to any one of claims 8 to 10 are implemented.

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