Monitoring device and monitoring method for aquatic organisms

Abstract

A monitoring device for aquatic organisms, used to monitor the distribution of aquatic organisms within a monitored water area, includes: an acoustic sensor that irradiates an ultrasonic beam into the water and receives reflected wave signals from aquatic organisms; an aquatic organism counting unit that counts aquatic organisms within the detection range of the acoustic sensor based on the reflected wave signals; a detection area calculation unit that calculates the beamwidth at a predetermined depth based on the spread angle of the ultrasonic beam and calculates the area of ​​the detection area at the predetermined depth based on the beamwidth; and a biodiversity calculation unit that calculates the density distribution of aquatic organisms within the monitored water area based on the counted number of aquatic organisms and the area of ​​the detection area.

Description

Technical Field

[0001] This disclosure relates to the field of aquatic biological monitoring, specifically to devices and methods for dynamically monitoring the resource distribution of aquatic organisms in rivers, lakes, and reservoirs. Background Technology

[0002] In recent years, due to environmental changes, the monitoring of aquatic ecosystems has received increasing attention. For example, the Yangtze River Basin Aquatic Ecological Monitoring Center was established in May 2020 as a specialized institution for monitoring the aquatic ecosystem of the Yangtze River Basin. Its main tasks are to ascertain basic ecological data of the Yangtze River, explore patterns of ecological change, and provide first-hand data and technical support for the protection of the Yangtze River. Its main responsibilities include formulating basin-wide aquatic ecological monitoring plans, organizing routine basin-wide aquatic ecological monitoring, special monitoring of key basins, and emergency monitoring of aquatic ecosystems during major emergencies.

[0003] On the other hand, for fish in aquatic ecosystems, fishways are usually constructed during reservoir building to facilitate their migration between upstream and downstream sections of rivers. In most cases, these fishways are designed and used based on experience and the topography of the river or reservoir. However, there are no suitable means to monitor and investigate the effectiveness of these fishways—for example, whether fish pass through them, when they pass through, and how many fish pass through—making them practically impossible to verify and control. Some reservoirs use boats to transport fish between upstream and downstream sections. While this allows for accurate information on fish numbers and sizes, it requires a significant investment of manpower and resources.

[0004] As prior art, patent document 1 discloses a method for analyzing fish behavior based on density distribution. This method extracts fish image frames from videos recorded on-site using mobile phones and high-definition cameras. It then obtains the density map of a single image at a specific time point through a network model, and overlays the time dimension with the two-dimensional spatial dimension to generate a density map with superimposed density values. The method calculates the fish density change value for each region, sums the differences in fish density changes across all regions, and obtains the total difference in fish density change for the entire density map. Based on the comparison between the total difference in fish density change and a threshold, it determines whether the fish are gathering or dispersing. Clearly, this method is not suitable for monitoring the dynamic distribution of fish near fishways in rivers or reservoirs.

[0005] Patent document 2 discloses a method for evaluating the operation of fish passage facilities. It involves installing sonar fish detectors at the gentler sections of multi-level fishways, with the detectors' detection angle covering the entire pond body in these gentler sections. The method calculates the number of fish within each level of the fishway's gentler section, calculates the overall fish passage efficiency at various water flow velocities, and evaluates the operation of the fish passage facility. While this method can monitor the number of fish passing through the fishway, it cannot detect the total number of fish near the fishway in the reservoir, thus failing to determine the actual fish passage effectiveness. Therefore, there is an urgent need for monitoring methods applicable to aquatic organisms, especially fish, in rivers, lakes, or reservoirs.

[0006] This disclosure focuses on the Yangtze River project, a national-level project in China, and aims to obtain Chinese national standards. It monitors the distribution of aquatic organisms in designated water areas such as rivers, lakes, and reservoirs, and further monitors and understands the dynamics of aquatic organisms over time.

[0007] Existing technical 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 method for aquatic organisms, which can monitor and visualize the resource distribution and temporal changes of aquatic organisms living in a wide water area, thereby detecting the dynamic changes in the density distribution and distribution status of aquatic organisms in a wide water area.

[0011] As one aspect of this disclosure, a monitoring device for aquatic organisms is provided to monitor the distribution of aquatic organisms in a monitored water area. The device includes: an acoustic sensor that irradiates an ultrasonic beam into the water and receives reflected wave signals from aquatic organisms; an aquatic organism counting unit that counts aquatic organisms within the detection range of the acoustic sensor based on the reflected wave signals; a detection area calculation unit that calculates the beamwidth at a predetermined depth based on the spread angle of the ultrasonic beam and calculates the area of ​​the detection area at the predetermined depth based on the beamwidth; and a biodiversity calculation unit that calculates the density distribution of the aquatic organisms within the monitored water area based on the counted number of aquatic organisms and the area of ​​the detection area.

[0012] In the aforementioned aquatic organism monitoring device, the monitored water area is divided into several cells. The organism density calculation unit determines the cells that overlap with the detection area of ​​the acoustic sensor based on the location information of the acoustic sensor and the area information of the detection area. The number of aquatic organisms in these cells is set to the number of aquatic organisms detected by the acoustic sensor, and the number of aquatic organisms in cells that do not overlap with the detection area of ​​the acoustic sensor is set to zero.

[0013] In the aforementioned aquatic organism monitoring device, the organism 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 it by the number of aquatic organisms in the cell to obtain the number of aquatic organisms in the cell.

[0014] The aforementioned aquatic organism monitoring device includes multiple acoustic sensors configured in an array or concentric circles. The detection areas of adjacent acoustic sensors do not overlap. The organism density calculation unit fills in the number of aquatic organisms in cells that do not overlap with the detection areas of the acoustic sensors by interpolation based on the data of adjacent cells.

[0015] The aforementioned aquatic organism monitoring device includes multiple acoustic sensors configured in an array or concentric circles. The detection areas of adjacent acoustic sensors do not overlap. The organism density calculation unit fills in the number of aquatic organisms in cells that do not overlap with the detection areas of the acoustic sensors by interpolation based on the data of adjacent cells.

[0016] In the aforementioned aquatic organism monitoring device, the habitat density calculation unit acquires 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 time, calculates the centroid position of each distribution block, connects the centroid positions of distribution blocks with the same number to form a centroid vector, and uses the centroid vector to quantify the movement direction and movement speed of the aquatic organisms.

[0017] In the aforementioned aquatic organism monitoring device, the biomass density calculation unit further includes a display unit to visualize the density distribution of the aquatic organisms within the monitored water area in real time.

[0018] As another aspect of this disclosure, a method for monitoring aquatic organisms is provided to monitor the distribution of aquatic organisms in a monitored water area, comprising the following steps: acquiring detection data from multiple acoustic sensors; counting the aquatic organisms within the detection range of each acoustic sensor based on the detection data; dividing the monitored water area into several cells and calculating the area of ​​each cell; acquiring the location information of each acoustic sensor and the area of ​​the detection area at a specified depth; setting the number of aquatic organisms in a cell that overlaps with the detection area of ​​the acoustic sensor to the number of aquatic organisms detected by the acoustic sensor, and setting the number of aquatic organisms in a cell that does not overlap with the detection area of ​​the acoustic sensor to zero.

[0019] In the above-mentioned method for monitoring aquatic organisms, the weighted value of each cell is calculated based on the ratio of the area of ​​the overlapping part of the cell and the detection area to the area of ​​the entire detection area. The number of aquatic organisms in each cell is multiplied by the weighted value of that cell to obtain the number of aquatic organisms in that cell.

[0020] The above-mentioned method for monitoring aquatic organisms further includes: filling in cells that do not overlap with the detection area of ​​the acoustic sensor by interpolation based on the data of adjacent cells.

[0021] As another aspect of this disclosure, a computer-readable storage medium is provided, on which a computer program / instructions are stored, characterized in that, when executed by a processor, the computer program / instructions implement the steps of the above-described method for monitoring aquatic organisms.

[0022] As another aspect of this disclosure, a computer program product is provided, including a computer program / instructions, wherein when the computer program / instructions are executed by a processor, they implement the steps of the above-described method for monitoring aquatic organisms.

[0023] Invention Effects

[0024] In this disclosure, by visualizing the distribution and temporal changes of aquatic biological resources over a wide area, the density of aquatic biological resources in river areas can be clearly identified, as well as the changes in the distribution of aquatic biological resources in river areas, and monitoring can be carried out automatically and in real time. Attached Figure Description

[0025] Figure 1 This is a functional block diagram illustrating the aquatic ecosystem monitoring device according to the first embodiment of this disclosure.

[0026] Figure 2A schematic diagram showing the detection area formed by the ultrasonic beam emitted by the acoustic sensor in the first embodiment.

[0027] Figure 3 This diagram illustrates the configuration of multiple acoustic sensors in the aquatic organism monitoring device 10 according to the first embodiment.

[0028] Figure 4 This section illustrates an example of calculating the area of ​​the detection region of the acoustic sensor in the first embodiment.

[0029] Figures 5A-5B This is a schematic diagram illustrating the detection mode of the acoustic sensor in the first embodiment.

[0030] Figures 6A-6C This illustrates an example of how the density calculation unit of the first embodiment calculates the density distribution of a fish population.

[0031] Figure 7 This indicates the change in fish density distribution within the monitored waters at different times as the fish move, according to the first embodiment.

[0032] Figure 8 This represents an example of the weighted value calculation method in the first implementation.

[0033] Figures 9A-9C This illustrates an example of how the habitat density calculation unit in the second embodiment calculates the fish density distribution.

[0034] Figures 10A-10C This illustrates an example of how the habitat density calculation unit in the third embodiment calculates the fish density distribution.

[0035] Figure 11 This indicates the change in fish density distribution within the monitored waters at different times as the fish move, according to the third embodiment.

[0036] Figure 12 A schematic diagram illustrating the fish school centroid vector processing flow and processing results of the fourth embodiment.

[0037] Figure 13 A schematic diagram illustrating the process of the monitoring method for aquatic organisms disclosed herein. Detailed Implementation

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

[0039] The aquatic organism monitoring device and method disclosed herein are used to monitor and visualize the resource distribution and temporal changes of aquatic organisms living in vast water bodies such as rivers, lakes, and reservoirs. Solutions are proposed in the following aspects:

[0040] (1) Set up multiple detection areas in the entire monitoring water area, obtain aquatic ecological biological information of multiple detection areas, and obtain the density and distribution information of aquatic ecological organisms in the monitoring water area based on the information.

[0041] (2) Display the distribution information in chronological order;

[0042] (3) Focusing on changes in the distribution of aquatic organisms within the monitored water area, calculate the movement vectors of aquatic organisms;

[0043] (4) The calculated vector is used to quantify the movement direction of aquatic organisms.

[0044] In the following example embodiments, fish are used as an example of aquatic organisms. It is understood that, in addition to monitoring fish or fish schools, this disclosure can also be used to detect other aquatic organisms such as finless porpoises and jellyfish.

[0045] The monitored water area refers to the vast water surface area that is to be investigated. It can be a section of a river, a part of a river, an area near the upstream of a fishway in a reservoir, an area near the downstream of a fishway in a reservoir, etc. It is usually a rectangular area on the water surface, but depending on the topography, a circular or other shaped area can also be selected.

[0046] First Implementation Method

[0047] Figure 1 A functional block diagram of an aquatic organism monitoring device 10 according to a first embodiment of this disclosure is shown. The aquatic organism monitoring device 10 of this embodiment includes an acoustic sensor 1, an aquatic organism counting unit 2, a detection area calculation unit 3, and a habitat density calculation unit 4. The connection method of each functional module is as follows: Figure 1 As shown, the acoustic sensor 1 is connected to the aquatic organism counting unit 2 and the detection area calculation unit 3, respectively. The aquatic organism counting unit 2 and the detection area calculation unit 3 are connected to the habitat density calculation unit 4, respectively. Each functional module of the aquatic organism monitoring device 10 can be implemented independently by a separate hardware module, or by software or a program, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0048] The acoustic sensor 1 can be a sonar sensor, which is set on the surface of the monitored water area to send ultrasonic beams into the water and receive ultrasonic beams reflected by aquatic organisms such as fish. This allows the sensor to detect the shape, size, and depth of the fish and other aquatic organisms.

[0049] Figure 2 A schematic diagram showing the detection area formed by the ultrasonic beam emitted by the acoustic sensor in the first embodiment. Figure 2 The monitored water area 20 is equipped with a first acoustic sensor 11 and a second acoustic sensor 12, forming a first detection area 21 and a second detection area 22, respectively. The detection area refers to the planar area that the ultrasonic beam can cover at the required maximum detection depth; therefore, the detection area varies with depth, and the deeper the required detection depth, the larger the area of ​​the detection area. Typically, the detection areas 21 and 22 of the configured acoustic sensors do not overlap.

[0050] Figure 3 This diagram illustrates the configuration of multiple acoustic sensors in the aquatic organism monitoring device 10 according to the first embodiment. Multiple acoustic sensors can be configured in the monitored water area, either in an array or in a concentric circle arrangement. Specifically, refer to... Figure 3 Depending on the shape and size of the monitored water area, multiple acoustic sensors can be configured as square arrays, rectangular arrays, oblique arrays, circular arrays, concentric circle arrays, arc arrays, triangular arrays, polygonal arrays, and arrays of any shape.

[0051] The detection area calculation unit 3 calculates the beamwidth at a specified depth based on the spread angle of the ultrasonic beam of the acoustic sensor, and calculates the detection area of ​​the acoustic sensor at the specified depth based on the beamwidth. Figure 4 This section illustrates an example of calculating the area of ​​the detection region of the acoustic sensor in the first embodiment. (Refer to...) Figure 4The detection area calculation unit 3 calculates the radius R (or diameter, i.e., beamwidth) of the detection area 21 using the formula R = D × tanθ, based on the spread angle θ of the ultrasonic beam from the acoustic sensor 11 and the specified depth D. Then, the area of ​​the detection area 21 can be calculated using the radius R. Normally, the spread angle θ is fixed depending on the performance of the acoustic sensor 11, while the specified depth D can be set according to actual conditions. The larger the specified depth D, the larger the area of ​​the detection area 21. The specified depth D can be one of the following: ① a fixed depth or depth range, such as 100m underwater or a depth between 100m and 120m underwater; ② the depth at the bottom of the detection area; ③ the depth at which aquatic organisms (e.g., fish) are detected. Alternatively, the specified depth D can also be determined by other factors, which are not specifically limited in this disclosure. The acoustic sensor 11 can detect areas from its installation position to the specified depth D, such as... Figure 4 Information regarding the size and quantity of aquatic organisms such as fish within the cone-shaped region shown.

[0052] The aquatic organism counting unit 2 counts each aquatic organism, such as fish, detected by each acoustic sensor. Specifically, the working principle of the aquatic organism counting unit 2 is as follows: Figures 5A-5B As shown, Figure 5A This describes the detection mode of the acoustic sensor for aquatic organisms. The acoustic sensor, positioned on the water surface, receives ultrasonic beam reflection signals from individual aquatic organisms (e.g., a fish), such as reflection signals from parts of the fish (① to ⑤). The waveform of the received signal is shown below. Figure 5B The shape shown is obtained through analysis. Figure 5B The waveform shown can provide information about the shape and length of the fish. The aquatic organism counting unit 2 can calculate the number and length of fish in the detection area by receiving all reflected signals in the detection area.

[0053] The fish density calculation unit 4 receives fish population information from each acoustic sensor in the aquatic organism counting unit 2, as well as location information of each acoustic sensor and area information of the detection area calculated by the detection area calculation unit 3. It then divides the entire monitored water area 20 into several cells, thereby calculating the fish density distribution within the entire monitored water area 20. To improve the accuracy of the fish density distribution, the area of ​​each 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 all detection areas are set to be the same.

[0054] Figures 6A-6CThis illustrates an example of how the density calculation unit 4 of the first embodiment calculates the density distribution of a fish population. Figure 6A This indicates the actual distribution of fish in the entire monitored water area 20 and at a specific moment within that area. For example... Figure 6A As shown in the right figure, the entire monitored water area 20 is first divided into, for example, 6×4 cells, and numbered sequentially as c11, c12, ..., c16, ..., c41, c42, ..., c46.

[0055] Figure 6B This indicates the configuration of two acoustic sensors 11 and 12 installed throughout the monitored water area 20, with the first acoustic sensor 11 and the second acoustic sensor 12 installed sequentially from left to right. It is assumed that the detection area 21 of the first acoustic sensor 11 is located within cells c21, c22, c31, and c32, and the detection area 22 of the second acoustic sensor 12 is located within cells c25, c26, c35, and c36. Figure 6A The fish distribution shown indicates that the first acoustic sensor 11 can detect 2 fish, while the second acoustic sensor 12 can only detect 1 fish. Therefore, cells c21, c22, c31, and c32, which are located in the detection area 21 of the first acoustic sensor 11, are set to contain 2 fish each, and cells c25, c26, c35, and c36, which are located in the detection area 22 of the second acoustic sensor 12, are set to contain 1 fish each. Cells outside the detection area of ​​the acoustic sensor are set to contain 0 fish, forming... Figure 6B The right image shows the distribution of the fish population.

[0056] Figure 6C This indicates the scenario where four acoustic sensors are installed across the entire monitored water area. Similar to the method for installing two acoustic sensors, the detection area of ​​the first acoustic sensor 11 is located within cells c11, c12, c21, and c22; the detection area of ​​the second acoustic sensor 12 is located within cells c15, c16, c25, and c26; the detection area of ​​the third acoustic sensor 13 is located within cells c31, c32, c41, and c42; and the detection area of ​​the fourth acoustic sensor 14 is located within cells c35, c36, c45, and c46. Figure 6AThe fish distribution shown indicates that 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, the cells c11, c12, c21, and c22, where the detection area of ​​the first acoustic sensor 11 is located, are set to contain 6 fish, and the cells c35, c36, c45, and c46, where the detection area of ​​the fourth acoustic sensor 14 is located, are set to contain 3 fish. The cells c15, c16, c25, and c26, where the detection area of ​​the second acoustic sensor 12 is located, and the cells c31, c32, c41, and c42, where the detection area of ​​the third acoustic sensor 13 is located, are set to contain 0 fish. The cells c13, c14, c23, c24, c33, c34, c43, and c44, which do not contain the detection areas of the acoustic sensors, are also set to contain 0 fish, forming... Figure 6C The right image shows the distribution of the fish population.

[0057] Figure 7 This illustrates the change in fish density distribution within the monitored water area according to the first embodiment, as the fish move, at different times. Assuming four acoustic sensors are installed throughout the monitored water area, according to... Figures 6B-6C The method shown is for calculating the fish density distribution. As the fish move, the fish density distribution in the monitored water area changes over time at different times T1, T2, T3, and T4.

[0058] The habitat density calculation unit 4 also includes a display unit (not shown), which displays the time sequence T1, T2, T3, and T4 sequentially. Figure 7 The fish density distribution in the monitored water area 20 is shown, thus visualizing the dynamic changes in the fish density distribution in the monitored water area 20.

[0059] Second Implementation Method

[0060] In the first embodiment, such as Figures 6B-6C As shown, the number of fish in each cell containing the detection area is set to the same number as the number of fish detected by the acoustic sensor. In this embodiment, a weighted value is set for the cells containing the detection area, and the number of fish in each cell is reassigned according to the weighted value. This allows for a more accurate acquisition of the fish density distribution in the monitored water area 20. Components identical to those in the first embodiment are labeled with the same reference numerals.

[0061] As an example of weighting, the number of fish in a cell is reassigned based on the proportion of the detection area contained in the cell to the entire detection area. Figure 8This illustrates an example of the weighted value calculation method in this embodiment. Assuming the area of ​​the detection region 21 is 10, evenly distributed among four adjacent cells, the area (repetition) of the detection region contained in each cell is one-quarter, or 2.5. Therefore, the weighted value of each cell is repetition ÷ area of ​​the detection region = 2.5 ÷ 10 = 0.25. That is, the weighted value of each cell is 0.25. The number of fish in that cell is obtained by multiplying the weighted value by the number of fish detected by the acoustic sensor.

[0062] Figures 9A-9C This illustrates an example of how the habitat density calculation unit 4 in the second embodiment calculates fish density distribution. Figure 6A same, Figure 9A This represents the entire monitoring area 20 and the actual distribution of fish populations at a certain moment within that monitoring area 20, and is divided into 6×4 cells. Figure 9B This indicates that two acoustic sensors were installed throughout the monitored water area (20). Figure 9C This indicates that four acoustic sensors were installed throughout the monitored water area (20).

[0063] exist Figure 9B In the calculation, based on the proportion of the detection area of ​​the first acoustic sensor 11 contained in cells c21, c22, c31, and c32, the weighting values ​​of cells c21, c22, c31, and c32 are set to 0.1, 0.3, 0.2, and 0.4, respectively. Similarly, based on the proportion of the detection area of ​​the second acoustic sensor 12 contained in cells c25, c26, c35, and c36, the weighting values ​​of cells c25, c26, c35, and c36 are set to 0.2, 0.4, 0.2, and 0.2, respectively. The weighting value of each cell is then multiplied by the number of fish detected by the acoustic sensor in that cell and redistributed to that cell to obtain the final weighting value. Figure 9B The figure on the right shows the fish density distribution at a certain moment in the monitored water area 20.

[0064] exist Figure 9CIn the above calculations, based on the proportion of the detection area of ​​the first acoustic sensor 11 contained in cells c11, c12, c21, and c22, the weighting values ​​for cells c11, c12, c21, and c22 are set to 0.1, 0.3, 0.2, and 0.4, respectively. Similarly, based on the proportion of the detection area of ​​the second acoustic sensor 12 contained in cells c15, c16, c25, and c26, the weighting values ​​for cells c15, c16, c25, and c26 are set to 0.2, 0.2, 0.3, and 0.3, respectively. Based on the proportion of the detection area of ​​the third acoustic sensor 13 contained in cells c31, c32, c41, and c42, the weighting values ​​of cells c31, c32, c41, and c42 are set to 0.1, 0.4, 0.1, and 0.4, respectively. Based on the proportion of the detection area of ​​the fourth acoustic sensor 14 contained in cells c35, c36, c45, and c46, the weighting values ​​of cells c35, c36, c45, and c46 are set to 0.2, 0.2, 0.3, and 0.3, respectively. The weighting values ​​of each cell are multiplied by the number of fish detected by the acoustic sensor in that cell and then redistributed to that cell to obtain the final weighting value. Figure 9C The figure on the right shows the fish density distribution at a certain moment in the monitored water area 20.

[0065] Similar to the first embodiment, as the fish move, at different times T1, T2, T3, and T4, the change in fish density distribution over time within the monitored water area 20 is determined according to the method of the second embodiment, and the change in fish density distribution over time is dynamically displayed in the display unit.

[0066] Although the proportion of the detection area contained in the cell is used as the weighting value in this embodiment, this disclosure is not limited to this. For example, the weighting value can also be determined by considering the movement direction of the fish school, or by considering the change of the fish school over time.

[0067] Third Implementation Method

[0068] In the first and second embodiments, such as Figures 6B-6C and Figures 9B-9C As shown, the number of fish in cells that do not contain a detection area is set to 0. In this embodiment, for cells that do not contain a detection area, the number of fish is determined by interpolation based on the number of fish in adjacent acoustic sensors. This allows for a more accurate acquisition of the fish density distribution in the monitored water area 20. Components identical to those in the first and second embodiments are labeled with the same reference numerals.

[0069] Figures 10A-10C This illustrates an example of the habitat density calculation unit 4 in the third embodiment calculating fish density distribution. It is based on the second embodiment. Figures 9B-9CAfter weighted calculation, for cells that do not contain a detection area, the number of fish in the cell is determined by interpolation based on the number of fish in adjacent acoustic sensors. Figure 9A same, Figure 10A This represents the entire monitoring area 20 and the actual distribution of fish populations at a certain moment within that monitoring area 20, and is divided into 6×4 cells. Figure 10B This indicates that two acoustic sensors were installed throughout the monitored water area (20). Figure 10C This indicates that four acoustic sensors were installed throughout the monitored water area (20).

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

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

[0072] Figure 11 This means that with four acoustic sensors installed throughout the monitored water area, the fish density distribution within the monitored water area is calculated over time at different times (T1, T2, T3, T4) as the fish move, according to the method of the third embodiment. The fish density distribution over time is then dynamically displayed on the display unit. For example... Figure 11 As shown, color coding can also be used in the display. For cells with more fish, a darker color can be used to represent them, which can more clearly show the distribution of fish density.

[0073] Although in this embodiment, for cells that do not contain a detection area, the number of fish in a school is determined by linear interpolation based on the number of fish in adjacent acoustic sensors, this disclosure is not limited to this. For example, a polynomial interpolation method can also be used, and the interpolation direction is not limited to horizontal or vertical. Interpolation can also be performed according to the diagonal direction or the direction of fish movement, or according to the time sequence.

[0074] Fourth Implementation Method

[0075] This embodiment is based on the first to third embodiments, further calculating the position of the fish's center of gravity, and estimating the amount of movement of the fish based on the movement vector of the center of gravity.

[0076] Figure 12 This diagram illustrates the process and results of the fish school centroid vector processing in this embodiment.

[0077] In step 41, the fish density distribution at different times T1, T2, T3, and T4 is obtained according to the processing of the third embodiment. In step 43, the fish distribution blocks at each time point are labeled. In step 45, the center of gravity position of each fish distribution block is determined. In step 47, the center of gravity positions of fish distribution blocks with the same label are tracked to obtain the fish center of gravity vector. In step 49, the movement of the fish is calculated based on the fish center of gravity vector and dynamically displayed in real time on the display unit. This allows for the quantification of the fish's movement direction and speed.

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

[0079] The above describes the monitoring device for aquatic organisms disclosed herein. The following describes the monitoring method for aquatic organisms disclosed herein.

[0080] Figure 13 This is a simplified flowchart of the monitoring method for aquatic organisms disclosed herein.

[0081] First, in step 101, the detection data of the acoustic sensor is acquired. Specifically, the acoustic sensor irradiates an ultrasonic beam with a specified spread angle into the water, and detects the aquatic organism at a specified depth by the reflected wave reflected by the aquatic organism.

[0082] Then, in step 103, the aquatic organisms within the detection range of the acoustic sensor are counted based on the acquired detection data.

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

[0084] In step 104, the location information and detection area of ​​the audio sensor are acquired. The location information of the audio sensor is preset, and the detection area of ​​the audio sensor, at a specified depth, is determined according to... Figure 4 The calculation is performed as shown.

[0085] In step 105, for cells containing a detection area with an acoustic sensor, the number of aquatic organisms detected by the acoustic sensor is set to 0, and for cells without a detection area containing an 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 based on the proportion of the detection area of ​​the audio 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 a weighted value for each cell.

[0088] In step 109, for cells in detection areas that do not contain acoustic sensors, the data is filled in using horizontal or vertical interpolation based on the data from adjacent cells in detection areas that do contain acoustic sensors. This results in a more accurate density distribution of aquatic organisms.

[0089] The above describes the monitoring method for aquatic organisms disclosed herein. The execution order of some steps can be adjusted as needed, and some steps can be deleted or added as required.

[0090] The above description represents a preferred embodiment of this disclosure, but this disclosure is not limited thereto. All changes, improvements, and equivalent substitutions made within the technical concept and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A monitoring device for aquatic organisms, used to monitor the distribution of aquatic organisms in a monitored water area, wherein, include: Multiple acoustic sensors project ultrasonic beams into the water and receive reflected wave signals from aquatic organisms. The aquatic organism counting unit counts aquatic organisms within the detection range of the acoustic sensor based on the reflected wave signal. The detection area calculation unit calculates the beamwidth at a specified depth based on the spread angle of the ultrasonic beam, and calculates the area of ​​the detection area at the specified depth based on the beamwidth; as well as The habitat density calculation unit calculates the density distribution of the aquatic organisms within the monitored water area based on the counted number of aquatic organisms and the area of ​​the detection zone. The monitored water area is divided into several cells. Based on the location information of the acoustic sensor and the area information of the detection area, the biodiversity calculation unit determines the cells that overlap with the detection area of ​​the acoustic sensor and sets the number of aquatic organisms in these cells to the number of aquatic organisms detected by the acoustic sensor. The number of aquatic organisms in cells that do not overlap with the detection area of ​​the acoustic sensor is set to zero.

2. The aquatic organism monitoring device according to claim 1, wherein, The habitat density calculation unit uses the ratio of the overlapping area of ​​the cell and the detection area of ​​the sound sensor to the area of ​​the detection area as the weighting value of the cell, and multiplies it by the number of aquatic organisms in the cell to obtain the number of aquatic organisms in the cell.

3. The aquatic organism monitoring device according to claim 1, wherein, The plurality of said acoustic sensors are configured in an array or concentric circles, and the detection areas of adjacent acoustic sensors do not overlap. The habitat density calculation unit fills in the number of aquatic organisms in cells that do not overlap with the detection area of ​​the acoustic sensor by interpolation based on the data of adjacent cells.

4. The aquatic organism monitoring device according to claim 2, wherein, The plurality of said acoustic sensors are configured in an array or concentric circles, and the detection areas of adjacent acoustic sensors do not overlap. The habitat density calculation unit fills in the number of aquatic organisms in 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 any one of claims 1-4, wherein, The habitat density calculation unit acquires the density distribution of aquatic organisms within the monitored water area in real time, marks the distribution blocks of aquatic organisms at each time, calculates the centroid position of each distribution block, connects the centroid positions of distribution blocks with the same number to form a centroid vector, and uses the centroid vector to quantify the movement direction and movement speed of the aquatic organisms.

6. The monitoring device for aquatic organisms according to any one of claims 1-4, wherein, The biodiversity calculation unit also includes a display unit to visualize the density distribution of aquatic organisms within the monitored water area in real time.

7. A method for monitoring aquatic organisms, wherein the distribution of aquatic organisms in a monitored water area is monitored, wherein, Includes the following steps: Acquire detection data from multiple audio sensors; Based on the detection data, the aquatic organisms within the detection range of each of the acoustic sensors are counted. The monitored water area is divided into several cells; Obtain the position information of each of the aforementioned acoustic sensors and the area of ​​the detection region at a specified depth; For cells that overlap with the detection area of ​​the sound sensor, the number of aquatic organisms in that cell is set to the number of aquatic organisms detected by the sound sensor; for cells that do not overlap with the detection area of ​​the sound sensor, the number of aquatic organisms in that cell is set to zero. Based on the number of aquatic organisms counted and the area of ​​the detection zone, the density distribution of the aquatic organisms within the monitored water area is calculated.

8. The method for monitoring aquatic organisms according to claim 7, further comprising: The weighted value of each cell is calculated based on the ratio of the area of ​​the overlapping part of the cell with the detection area to the area of ​​the entire detection area. The number of aquatic organisms in each cell is multiplied by the weighted value of that cell to obtain the number of aquatic organisms in that cell.

9. The method for monitoring aquatic organisms according to claim 7 or 8, further comprising: For cells that do not overlap with the detection area of ​​the sound sensor, they are filled by interpolation based on the data of adjacent cells.

10. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method for monitoring aquatic organisms as described in any one of claims 7 to 9.

11. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, they implement the steps of the method for monitoring aquatic organisms as described in any one of claims 7 to 9.

Images