Feeding management system

Abstract

To enable the feeding condition of feeding targets within a submerged fish preserve to be grasped in real time regardless of seawater turbidity, the angle of light, or the like.SOLUTION: A feeding management system 100 that manages the feeding condition of feeding targets within a submerged fish preserve 60, includes: an underwater camera 102 that acquires an image of the feeding targets inside the fish preserve 60; an acoustic wave device 103 that outputs acoustic waves into the submerged fish preserve 60 and detects reflected waves of the acoustic waves to acquire the distribution condition and swimming condition of the feeding targets in the fish preserve 60; and one or more display units 104 that display at least one of the real-time images acquired by the underwater camera 102 and the real-time distribution condition and swimming condition acquired by the acoustic wave device 103.SELECTED DRAWING: Figure 1B

Description

[Technical field]

[0001] The present invention relates to a feeding management system, and more particularly to a feeding management system that manages the feeding state of feeding subjects in a sunken fish cage. [Background technology]

[0002] In advanced aquaculture countries such as Norway, it is known that underwater cameras are used to observe the feeding conditions of subjects. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-001108 A Summary of the Invention [Problem to be solved by the invention]

[0004] As an example of using the underwater camera, paragraph 0041 of Patent Document 1 states, "As an example, the sensor 6 has underwater cameras 7 and 8. The underwater camera 7 acquires an image in the water of the corresponding fish cage 2 that allows the size of the aquatic organism to be recognized. For example, the underwater camera 7 is a stereo camera that can detect the distance from the underwater camera 7 to the aquatic organism. The stereo camera makes it possible to detect the size of the aquatic organism based on the size of the aquatic organism in the image and the distance to the aquatic organism." Paragraph 0042 states, "The underwater camera 8 is a camera that can detect remaining bait in the water of the corresponding fish cage 2. The underwater camera 8 is provided near the bottom of the fish cage 2 and faces upward. The remaining bait means bait that has been supplied to the fish cage 2 but not ingested by the aquatic organism. The underwater camera 8 facing upward near the bottom of the fish cage 2 makes it possible to detect remaining bait that has not been ingested by the aquatic organism that feeds near the water surface and has sunk further below the depth at which the aquatic organism feeds."

[0005] When feeding fish underwater in a sunken fish pen, it is possible to visually check the feeding with an underwater camera, but it is difficult to grasp the scattering of food from places far away from the underwater camera's installation position and the behavior of the fish school during feeding. As a result, feeding control for the feeding targets is insufficient.

[0006] Therefore, the present invention provides a feeding management system that can grasp and even predict the feeding status of the feeding subjects in a submerged fish pen in real time regardless of the turbidity of the seawater or the angle or intensity of the light. [Means for solving the problem]

[0007] The feeding management system of the present invention is a feeding management system that manages at least one of the feeding state and feeding condition of the feeding subjects in a submerged fish pen, and is equipped with a camera that acquires images of the feeding subjects in the pen, an ultrasonic device that acquires at least one of the distribution state and swimming state of the feeding subjects in the pen by outputting sound waves to the submerged fish pen and detecting the reflected sound waves, and one or more display units that display the real-time image acquired by the camera and at least one of the real-time distribution state and swimming state acquired by the ultrasonic device.

[0008] The above-mentioned ultrasonic device includes an imaging sonar that acquires at least one of the distribution and swimming conditions of the feeding targets in the fish pen and the aquatic organisms around the fish pen when viewed from the side or above, and a fish finder that acquires the distribution of the feeding targets in the fish pen for each water depth over time.

[0009] The above-mentioned feeding management system further includes an angle adjustment device to which an imaging sonar and a fish finder are attached and which can adjust the angles of the imaging sonar and the fish finder.

[0010] The above-mentioned camera captures images of the fish cage from upward, sideways, and downward directions.

[0011] The above-mentioned feeding management system comprises a feeding device that feeds the feeding targets in the fish pen, and a control unit that controls the amount or speed of feed supplied by the feeding device based on real-time images acquired by a camera and / or real-time distribution and swimming conditions acquired by an ultrasonic device. Effect of the Invention

[0012] According to the present invention, by using real-time images acquired by a camera and real-time distribution and swimming states acquired by an ultrasonic device, it is possible to grasp in real time at least one of the feeding states and feeding conditions of the subjects in a submerged fish pen, regardless of the turbidity of the seawater or the angle and intensity of the light. [Brief description of the drawings]

[0013] [Figure 1A] FIG. 2 is a diagram showing a feeding ship on which the feeding device is mounted. [Figure 1B] FIG. 1 is a block diagram showing the overall configuration of a feeding management system. [Figure 1C] FIG. 2 is a block diagram showing a hardware configuration of a control unit. [Diagram 2] FIG. [Diagram 3] A diagram showing the feeding hose and underwater diffusion section. [Figure 4] FIG. 13 is a diagram showing a double umbrella type underwater diffusion section. [Diagram 5] FIG. 13 is a diagram showing a three-pronged underwater diffusion section. [Figure 6] FIG. 1 shows a sink-float fish cage. [Figure 7] This is an upward-facing image taken by an upward-facing underwater camera. [Figure 8] This is a sideways image taken by a sideways underwater camera. [Figure 9] This is a downward-facing image taken by a downward-facing underwater camera. [Figure 10] Images taken by imaging sonar and fish finder. [Figure 11] This is an image of the fish pen taken from above by imaging sonar. [Figure 12] 4 is a flowchart showing a method for feeding subjects in a fish cage according to the first embodiment. [Figure 13] 13 is a flowchart showing a method for feeding subjects in a fish cage according to the second embodiment. [Figure 14] FIG. 14 is a diagram showing a method for determining the feeding state in S201 of the flowchart in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the scope of the present invention is not limited to the embodiments described here, and various modifications can be made without departing from the spirit of the present invention.

[0015] (First embodiment) <Feeding Ship 1> The feeding ship 1 is a ship for cultivating fish by supplying feed from the ship in the aquaculture industry. The feeding ship 1 of this embodiment supplies feed to a fish cage in which the feeding targets are housed. The feeding ship 1 of this embodiment supplies feed underwater when the fish cage is submerged. The feeding targets are seafood such as, for example, yellowtail, yellowtail tuna, amberjack, red sea bream, sea bass, tiger puffer, flounder, carp, kuruma prawn, spiny lobster, abalone, turban shell, and octopus.

[0016] As shown in FIG. 1A, the feeding vessel 1 includes a feeding device 10, which will be described later, and a crane 20 that suspends a feeding hose 25 of the feeding device 10 (see FIGS. 2 and 3).

[0017] <Feeding management system 100> The feeding management system 100 is a system that manages the feeding state and feeding condition of the feeding target in the sinking fish cage. The feeding management system 100 may manage at least one of the feeding state and feeding state of the feeding target. By grasping the feeding state and feeding state, it is possible to grasp the state of the feeding target and the state of the not-feeding target. As shown in FIG. 1B, the feeding management system 100 includes an underwater camera 102 that receives light from the feeding target in the sinking fish cage 60 and acquires real-time images of the feeding target in the fish cage 60, an acoustic device 103 that outputs sound waves (e.g., ultrasonic waves) to the sinking fish cage 60 and detects the reflected waves of the sound waves to acquire the real-time distribution state and swimming state of the feeding target in the fish cage 60, and a display unit 104 that displays the image acquired by the underwater camera 102 and the distribution state acquired by the acoustic device 103. The display unit 104 may be one or more. The sound waves output by the sonic device 103 are not limited to ultrasonic waves (sound waves that cannot be heard by the human ear, for example, sound waves of 20 kHz or higher).

[0018] The sonic device 103 includes an imaging sonar 131 that acquires the distribution and swimming state of the feeding targets in the fish cage 60 and the aquatic organisms around the fish cage 60 when viewed from the side or above the fish cage 60, and a fish finder 132 that acquires the distribution state of the feeding targets in the fish cage 60 for each water depth for each elapsed time. The imaging sonar 131 can grasp the inside and outside of the fish cage 60.

[0019] The underwater camera 102 takes images of the inside of the fish cage 60 facing upward, sideways, and downward. One underwater camera 102 may take images of the inside of the fish cage 60 facing upward, sideways, and downward, or a camera taking images of the inside of the fish cage 60 facing sideways from inside the fish cage 60, a camera taking images of the inside of the fish cage 60 facing upward, and a camera taking images of the inside of the fish cage 60 facing downward may be provided separately.

[0020] The feeding management system 100 also includes a feeding device 10 that feeds the feeding subjects in the fish cage 60, and a control unit 106 that controls the amount or speed of feed supplied by the feeding device 10.

[0021] <Control unit 106> Fig. 1C is a block diagram showing a hardware configuration of control unit 106. The hardware configuration of control unit 106 will be described with reference to Fig. 1C.

[0022] The control unit 106 includes a processor 161, a main memory unit 162, an auxiliary memory unit 163, a communication interface 164 (hereinafter, the interface is abbreviated as I / F), an input / output I / F 165, and a bus 166 that communicatively connects the above-mentioned modules. The processor 161 is a central processing unit that controls the operation of each unit of the control unit 106. The processor 161 is, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), or the like. The processor 161 deploys a program stored in the auxiliary memory unit 163 in an executable manner in a working area of ​​the main memory unit 162. The main memory unit 162 stores a program executed by the processor 161, data processed by the processor, and the like. The main memory unit 162 is, for example, a flash memory, a random access memory (RAM), a read only memory (ROM), or the like. The auxiliary storage unit 163 stores various programs such as an OS (Operating System) and various data. The auxiliary storage unit 163 is, for example, a solid state drive (SSD), a hard disk drive (HDD), or a combination thereof. The communication I / F 164 is a device for connecting the control unit to a network such as a LAN, and is, for example, a network interface controller (NIC). The input / output I / F 165 is, for example, a device controller that inputs and outputs data to and from input / output devices such as a mouse, keyboard, and display that are connected to the control unit.

[0023] The communication I / F 164 of the control unit 106 in this embodiment is connected to the imaging sonar 131 and the fish finder 132 so as to be able to communicate with them by wire or wirelessly. The communication I / F 164 receives data relating to the distribution and swimming state of the feed targets in the fish pen 60 from the imaging sonar 131. The processor 161 then processes the data and displays the distribution of the feed targets in the fish pen 60 on the display unit 104. The communication I / F 164 also receives data relating to the distribution of the feed targets in the fish pen 60 for each water depth from the fish finder 132 for each elapsed time. The processor 161 then processes the data and displays the distribution and swimming state of the feed targets in the fish pen 60 for each water depth on the display unit 104 for each elapsed time.

[0024] <Feeding device 10> The feeding device 10 is a device that feeds the feeding subjects in a submerged fish cage. As shown in Fig. 2, the feeding device 10 includes a pump 21 that pumps up seawater, a seawater hose 22 through which the seawater pumped up by the pump 21 flows, a feed delivery section 23 that delivers feed 26 to be fed to the feeding subjects, a junction section 24 where the seawater pumped up by the pump 21 and the feed 26 delivered by the feed delivery section 23 join together, and a feeding hose 25 that communicates with the junction section 24 and delivers a mixture of the seawater and feed 26 that joined at the junction section 24.

[0025] The inlet 25a, which is connected to the junction 24 of the feeding hose 25 and through which the mixture (seawater + bait) flows, is provided along the flow direction of the seawater flowing into the junction 24 (direction F in the figure). In other words, the flow direction of the seawater (direction F in the figure) coincides with the flow direction of the mixture (seawater + bait) (direction G in the figure), and the outlet of the seawater hose 22 and the inlet 25a of the feeding hose 25 are provided along the flow directions (directions F and G). As a result, the seawater delivered from the seawater hose 22 to the junction 24 flows into the feeding hose 25 with the same force. Because bait 26 is supplied to the junction 24 from the bait delivery section 23, the bait 26 is supplied to the feeding hose 25 together with the seawater.

[0026] The bait delivery section 23 is configured so that the direction in which the bait 26 is delivered from the bait delivery section 23 to the junction 24 (direction H in the figure) forms an acute angle with the flow direction (direction F) of the water flowing into the junction 24. As a result, the bait 26 delivered from the bait delivery section 23 flows without resisting the flow of seawater and enters the feeding hose 25. Note that the direction in which the bait 26 is delivered from the bait delivery section 23 to the junction 24 (direction H in the figure) may be at a right angle or an obtuse angle with respect to the flow direction (direction F) of the water flowing into the junction 24.

[0027] The top of junction 24 is open. Junction 24 is not a sealed space but an open space. That is, seawater and food 26 that join at junction 24 flow into feeding hose 25 under atmospheric pressure. That is, feeding device 10 of the present embodiment can supply the mixture (seawater + food) to feeding hose 25 under atmospheric pressure without using compressed air.

[0028] <Underwater diffusion section 30> The feeding device 10 includes an underwater diffusion unit 30 provided at the tip of the feeding hose 25. The underwater diffusion unit 30 diffuses the mixture delivered by the feeding hose 25 underwater. As shown in FIG. 3, the feeding hose 25 is hoisted by the crane 20 of the feeding vessel 1. The tip of the feeding hose 25 is provided with the underwater diffusion unit 30 which radially diffuses the mixture supplied from the feeding hose 25 underwater. The underwater diffusion unit 30 is provided with a weight 31 for submerging the underwater diffusion unit 30 underwater. The weight 31 is, for example, a sandbag.

[0029] As shown in Figures 3 and 4, underwater diffusion section 30 has a first conical section 41 that is provided at the tip of feeding hose 25 and has an opening that gradually widens toward the tip, and a second conical section 42 that is provided so as to overlap first conical section 41 with a gap between them. The mixture (seawater + food) delivered by feeding hose 25 is delivered into the water from between the inner circumferential surface of first conical section 41 and the outer circumferential surface of second conical section 42. The mixture that falls near the apex of second conical section 42 runs down the outer circumferential surface of second conical section 42 and diffuses radially.

[0030] The underwater diffusion unit 30 has a plurality of fixing parts 43 for fixing the underwater diffusion unit 30 to the lid net 69 of the fish pen 60. The underwater diffusion unit 30 is moved toward a mark on the lid net 69 of the fish pen 60, and the fixing parts 43 are engaged with the lid net 69 near the mark.

[0031] <Underwater diffusion section 50> The structure, shape, size, etc. of the underwater diffusion part are not limited to the underwater diffusion part 30 illustrated in FIG. 4. Another example of the underwater diffusion part 50 has three tube parts 51 that communicate with the tip of the feeding hose 25, as illustrated in FIG. 5. In the example of FIG. 5, the number of the tube parts 51 is three, but the number of the tube parts 51 may be two or four or more. The diffusion of the food is improved by arranging the multiple tube parts 51 at equal angular intervals. The mixture delivered by the feeding hose 25 is diffused into the water through the multiple tube parts 51.

[0032] An imaging unit 55 capable of capturing images at least in the vertically downward direction is attached to the underwater diffusion unit 50. The imaging unit 55 is, for example, a waterproof underwater camera. Images captured by the imaging unit 55 are displayed on a display unit 104 mounted on the feeding vessel 1 via wired or wireless communication. The imaging unit 55 may be attached to the underwater diffusion unit 30. An operator operating the crane 20 of the feeding vessel 1 can adjust the position of the underwater diffusion unit 50 while viewing the images captured by the imaging unit 55 displayed on the display unit 104.

[0033] The above-mentioned double umbrella type underwater diffusion unit 30 is used, for example, in a yellowtail fish pen, while the above-mentioned three-pronged type underwater diffusion unit 50 is used, for example, in an amberjack fish pen.

[0034] <Fish Tank 60> The fish cage 60 in this embodiment is a sink-and-float type fish cage. In the sink-and-float type fish cage 60, the cover net 69 of the fish cage 60 can sink to a depth of 8 m from the water surface. The size of the fish cage 60 is, for example, 20 m in length, 20 m in width, and 12 m in depth. The size of the fish cage 60 is not limited to these sizes. The fish cage 60 is attached to side panels 61 fixed to concrete 62, a jumbo float 63, or the like.

[0035] A plurality of floats 64 are provided on the water surface above the net cage 60. Ropes 65 for mooring the feeding vessel 1 are connected between the plurality of floats 64. In addition, an air inlet 66 for injecting / discharging air to make the net cage 60 float or sink is provided on the water surface above the net cage 60. The net cage 60 floats when air is injected from the air inlet 66, and sinks when air is discharged from the air inlet 66. In this embodiment, the net cage 60 is also sinking when feeding is performed using the feeding vessel 1.

[0036] Underwater cameras 102 for taking images of the cage 60 are provided inside, above, and below the cage 60. For example, a required number of underwater cameras 102 are dropped into and above the cage 60 from a feeding ship 1 moored above the submerged cage 60 before the start of feeding, and are all retrieved after feeding is completed. The upward-facing underwater camera 102 (102a) passes through the mesh of the cover net 69 and the bottom net of the cage 60 (e.g., 4.5 cm x 4.5 cm) and obtains an upward image of the cage 60 from under the bottom net. The sideways-facing underwater camera 102 (102b) passes through the mesh of the cover net 69 of the cage 60 and takes sideways images of the inside of the cage 60 inside the cage 60. This sideways-facing underwater camera 102 (102b) may rotate horizontally. In addition, the downward-facing underwater camera 102 (102c) captures a downward image of the net 69 of the net 69 of the net 60, or passes through the mesh of the net 69 of the net 69 of the net 60 and captures an image of the inside of the net 60 from the upper layer of the net 60.

[0037] An imaging sonar 131 and a fish finder 132 are provided near the fish cage 60. The feeding boat 1 is provided with the imaging sonar 131 and the fish finder 132 fixed to a horizontally rotatable bar 67. The imaging sonar 131 and the fish finder 132 are fixed to the horizontally rotatable bar 67. An angle adjustment device 68 capable of adjusting the angles of the imaging sonar 131 and the fish finder 132 is attached to the bar 67, and each of the imaging sonar 131 and the fish finder 132 is attached to the angle adjustment device 68. As a result, the imaging sonar 131 and the fish finder 132 are fixed at a desired angle. The bar 67 is configured to be movable in the water depth direction. As a result, the positions of the imaging sonar 131 and the fish finder 132 in the water depth direction can be adjusted.

[0038] Next, various screens displayed on the display unit 104 will be described.

[0039] <Upward image 700> 7 is an upward-facing image 700 captured by the upward-facing underwater camera 102 (102a). From the upward-facing image 700, the state of the fish and bait (flow amount, direction, dissipation, turbidity, etc.) near the bottom net of the fish cage 60 can be grasped.

[0040] <Landscape image 800> 8 is a sideways image 800 captured by the sideways underwater camera 102 (102b). The sideways image 800 makes it possible to determine at what depth fish are concentrated and the condition of the bait (flow amount, direction, dissipation, turbidity, etc.).

[0041] <Downward image 900> 9 is a downward-facing image 900 captured by the downward-facing underwater camera 102 (102c). The downward-facing image 900 allows the appearance of the fish and the condition of the bait (flow amount, direction, dissipation, turbidity, etc.) near the cover net 69 of the fish cage 60 to be understood.

[0042] <Image from imaging sonar> Image 1001 on the left side of Fig. 10 is an image showing the distribution of feeding targets in the fish pen 60, acquired by the imaging sonar 131. Image 1001 is an image of the inside of the fish pen 60 viewed from the side, and each white dot in the image corresponds to a single fish. In image 1001, white dots are concentrated in the upper right and middle layers, and it can be seen that fish are concentrated in those areas. On the other hand, there are no white dots in the lower layer in image 1001, and it can be seen that there are few fish in that area.

[0043] <Fish finder image> Image 1002 on the right side of Fig. 10 is an image showing the distribution of feeding targets in fish pen 60 at each water depth over time, obtained by fish finder 132. Image 1002 was obtained by outputting ultrasonic waves from fish finder 132 at an acute angle directly below. A horizontal axis 1003 of image 1002 indicates the elapsed time, and a vertical axis 1004 indicates the water depth. In the actual image, areas with active fish movement and areas with little fish movement are different colors.

[0044] In the example of Figure 10, an image obtained by combining image 1001 acquired by imaging sonar 131 and image 1002 acquired by fish finder 132 is displayed on display unit 104, but images 1001 and 1002 may be displayed on different display units, or images 1001 and 1002 may be switched and displayed on a single display unit.

[0045] <Image from imaging sonar> The image in Fig. 11 is an image 1100 showing the distribution of feeding targets in the fish pen 60 acquired by the imaging sonar 131. Unlike image 1001, image 1100 is an image of the fish pen 60 viewed from above, and each white dot in the image corresponds to one fish. In image 1100, the outline of the net lid 69 (upper surface) of the fish pen 60 is clearly displayed. Since no white dots are visible outside this outline but near the outline (fish outside the fish pen 60 are not gathering near the outline), it can be seen that no feed is flowing out.

[0046] <Flowchart> The operator of the feeding vessel 1 moored the feeding vessel 1 above the sunken fish pen 60 (S101).

[0047] The operator of the crane 20 operates the crane 20 provided on the feeding vessel 1 to suspend the feeding hose 25 of the feeding device 10 and lower the underwater diffusion unit 30 (or the underwater diffusion unit 50) provided at the tip of the feeding hose 25 (S102).

[0048] The operator operates the crane 20 to guide the underwater diffusion unit 30 (or the underwater diffusion unit 50) to a predetermined position while checking the position of the center of the fish cage 60 with the imaging unit 55 (underwater camera) and fixes it (S103). After the underwater diffusion unit 30 (or the underwater diffusion unit 50) is fixed, the underwater camera 102 and the sonic device 103 are set up. The underwater camera 102 and the sonic device 103 only need to be set up before feeding begins.

[0049] The feeding device 10 on the feeding vessel 1 mixes seawater with food and supplies the food to the feeding subjects in the fish cage 60 from the underwater diffusion section 30 (or the underwater diffusion section 50) disposed underwater via the feeding hose 25 (S104).

[0050] The underwater camera 102 acquires images of the school of fish in the fish pen 60 (S105). For example, the underwater camera 102a is set to face upward, the underwater camera 102b is set to face sideways, and the underwater camera 102c is set to face downward. These underwater cameras 102a to 102c are small cameras that can pass through the mesh of the fish pen 60. These underwater cameras 102a to 102c are attached to the ends of cables of about 30 m, and depending on the amount of cable wound, the underwater camera 102a is placed in the lower layer of the fish pen 60, the underwater camera 102b in the middle layer of the fish pen 60, and the underwater camera 102c in the upper layer of the fish pen 60.

[0051] However, due to their characteristics, the underwater cameras 102a to 102c have limitations in the angle of view, distance, and amount of light that they can capture, making it difficult to observe a wide area of ​​the fish pen 60 compared to the ultrasonic device 103.In particular, when the transparency of the seawater is poor, or there is insufficient light intensity, or depending on the angle of the light, it becomes difficult to observe the inside of the fish pen 60.

[0052] The images captured by the underwater cameras 102a to 102c are displayed on the display unit 104 (FIGS. 7 to 9). An observer of the display unit 104 checks the images displayed on the display unit 104 to confirm the feeding status, such as the outflow of feed to the outside of the fish pen 60 (S106).

[0053] Furthermore, the imaging sonar 131 and fish finder 132 of the sonic device 103 output ultrasonic waves to obtain an image of the school of fish in the fish pen 60 (S107). By adjusting the angles of the imaging sonar 131 and the fish finder 132, it is possible to grasp an overall picture of the inside and outside of the fish pen 60 from a bird's-eye view. Furthermore, depending on the angles of the imaging sonar 131 and the fish finder 132, it is possible to grasp the scattering of bait outside the fish pen 60 and the state of the fish outside the fish pen 60 that prey on the bait that has flowed out of the fish pen 60.

[0054] Each image acquired by the ultrasonic output of the sonic device 103 is displayed on the display unit 104 (FIGS. 10 and 11). An observer of the display unit 104 checks each image displayed on the display unit 104 to confirm the distribution of fish schools in the fish pen 60 and the speed of the fish schools in each layer (S108). For example, feeding and post-feeding fish can be distinguished by the color and density of the images acquired by the ultrasonic waves output from the fish finder 132.

[0055] Moreover, the observer of the display unit 104 checks the images displayed on the display unit 104 to check the feeding state, such as the outflow of feed to the outside of the fish cage 60 (S109).

[0056] After the confirmations in S106, S108, and S109 described above, the operator of the feeding apparatus 10 adjusts the amount and speed of the feed supplied to the feeding subjects in the fish cage 60 by adjusting the mixture amount of the feed and seawater (S110).

[0057] The sonic device 103 receives an image of the first feeding school of fish sinking and being replaced by another school of fish (S111). For example, the image captured by the sonic device 103 allows the water depth of the topmost school of fish that is feeding to be confirmed. Then, in the latter half of the feeding period, it can be seen that the water depth of the topmost school of fish that is feeding is getting deeper (the shoulders of the fish in the image are lowered).

[0058] The underwater camera 102 and the sonic device 103 then capture images of most of the fish finishing feeding and the feeding operation approaching completion (S112). At the end of the feeding period, the total amount of feed to be fed and the timing of the end of feeding can be estimated, and the amount of feed to be prepared can be adjusted early.

[0059] After the confirmation in S112 described above, the operator of the feeding device 10 adjusts the amount and speed of the feed supplied to the feeding subjects in the fish cage 60 by adjusting the mixture amount of feed and seawater until the end of feeding (S113).

[0060] Then, the operator determines when feeding is complete (S114) and stops the supply of food (S115).

[0061] The operator of the crane 20 retrieves the underwater camera 102, operates the crane 20 installed on the feeding vessel 1 to retrieve the feeding hose 25 and the underwater diffusion unit 30 (or the underwater diffusion unit 50) (S116), untie the mooring of the feeding vessel 1, and move the feeding vessel 1 and the feeding device 10 to the next fish pen (S117).

[0062] (Effects of the embodiment) In this embodiment, an underwater camera 102 that captures images of the feeding targets in the fish cage 60, an ultrasonic device 103 that captures the distribution and swimming state of the feeding targets in the submerged fish cage 60, and one or more display units 104 that display the real-time images captured by the underwater camera 102 and the distribution and swimming state captured by the ultrasonic device 103 are provided, so that the feeding state of the feeding targets in the submerged fish cage 60 can be grasped in real time and further predicted regardless of the turbidity of the seawater or the angle and strength of the light. Furthermore, by providing the ultrasonic device 103 in addition to the underwater camera 102, it is possible to grasp the scattering of food from a place far from the installation position of the underwater camera 102 and the behavior of the school of fish during feeding.

[0063] In addition, in this embodiment, since the feeding targets can be fed with the fish cage 60 submerged, there is no need to float the fish cage 60 for feeding. This reduces the risk of the feeding targets in the fish cage 60 being affected by the recent sea surface temperature due to global warming, ultraviolet rays, red tides, and parasites. It is possible to reduce the cost of medicinal bathing to prevent parasites. In addition, it is possible to feed the feeding targets at their natural habitat depth.

[0064] By using an imaging sonar 131 that acquires the distribution of feeding targets within the fish pen 60 and a fish finder 132 that acquires the distribution of feeding targets within the fish pen 60 at each water depth over time, the distribution of feeding targets can be confirmed using various images.

[0065] By providing an angle adjustment device 68 capable of adjusting the angles of the imaging sonar 131 and the fish finder 132, the entire picture inside and outside the fish cage 60 can be grasped from a bird's-eye view.

[0066] The underwater camera 102 takes images of the inside of the fish cage 60 from upward, sideways, and downward angles, making it possible to confirm the state of affairs around the bottom net inside the fish cage 60, the state of affairs at each water depth, and the state of affairs around the lid net 69.

[0067] Second embodiment In the first embodiment, the amount and speed of food supplied by the feeding device 10 were manually adjusted based on the images captured by the underwater camera 102 and the distribution state captured by the sonic device 103, but the adjustment of the amount and speed may be automated. Descriptions similar to those in the first embodiment will be omitted as appropriate.

[0068] The feeding management system of the second embodiment comprises a feeding device 10 that feeds the feeding subjects in a fish pen 60, and a control unit 106 that controls the amount or speed of feed supplied by the feeding device 10 based on images acquired by an underwater camera 102 and the distribution state acquired by an ultrasonic device 103.

[0069] 13, after the underwater camera 102 acquires an image of the school of fish in the fish pen 60 (S105) and the sonar device 103 (imaging sonar 131 and fish finder 132) acquires an image of the school of fish in the fish pen 60 (S107), the control unit 106 judges the feeding state of the feeding targets in the fish pen 60 (S201). The details of this feeding state judgment will be described later.

[0070] When the control unit 106 judges that the feeding state is in the early or middle stage of feeding based on the result of the feeding state judgment, it controls the feeding device 10 to adjust the supply amount and supply speed according to the early or middle stage, and adjusts the mixture amount of the food and seawater (S202).Then, it supplies the mixture of the seawater and the food through the feeding hose 25 at the adjusted supply amount and supply speed (S104).

[0071] On the other hand, when the control unit 106 determines that the feeding state is at the end of the feeding period based on the feeding state determination result, it controls the feeding device 10 to stop the supply of food (S203).

[0072] <Judging feeding status> The control unit 106 judges the feeding state in S201. First, as shown in Fig. 14, images acquired in advance (for example, images acquired by the underwater camera 102 and images acquired by the sonic device 103) are classified into an early-feeding image 1401, a middle-feeding image 1402, and an end-feeding image 1403. This classification may be performed manually by a person or by a trained classifier.

[0073] Then, the control unit 106 compares the acquired image 1404 of the subject acquired by the underwater camera 102 or the sonic device 103 with the early-feeding image 1401, the middle-feeding image 1402, and the end-feeding image 1403 to identify an image similar to the acquired image 1404. If the control unit 106 determines that the acquired image 1404 is most similar to the early-feeding image 1401, it determines that it is in the early feeding stage, if it is most similar to the middle-feeding image 1402, it determines that it is in the middle-feeding stage, and if it is most similar to the end-feeding image 1403, it determines that it is in the end-feeding stage.

[0074] The image similarity determination may be a method of comparing the feature amounts of images to be compared. In addition, when the acquired image 1404 is input, the judgment in S201 may be performed using a trained model that outputs the early, middle, or end stage of feeding. The trained model may be trained with the labeled early feeding image 1401, the middle feeding image 1402, and the end feeding image 1403 acquired in advance, or may be trained with unlabeled images.

[0075] Although the control unit 106 controls the amount or speed of feed supplied by the feeding device 10, it may also control the feeding position of the feeding device 10 relative to the fish cage 60. That is, the feeding management system may include the feeding device 10 that supplies feed to the feeding targets in the fish cage 60, and the control unit 106 that controls the feeding position of the feeding device 10 relative to the fish cage 60 based on the image acquired by the underwater camera 102 and the distribution state acquired by the sonic device 103.

[0076] (Modification) Although the present invention has been described above with reference to the embodiments, the embodiments are merely illustrative of the specific examples of the present invention, and the technical scope of the present invention should not be interpreted as being limited by these embodiments. In other words, the present invention can be embodied in various forms without departing from its technical concept or main features.

[0077] For example, although an example has been described in which the feeding apparatus 10 of this embodiment is mounted on the feeding ship 1, the feeding apparatus 10 may be installed as a marine or land-based facility.

[0078] The display unit 104 of this embodiment may be mounted on the feeding vessel 1, or may be installed in a facility on land. The display unit 104 may display images captured by the underwater camera 102 in a divided or sequential manner on one display unit, or may display images from each underwater camera on multiple display units. Although the display unit 104 dividedly displays the image from the imaging sonar 131 and the image from the fish finder 132 on one display unit, the image from the imaging sonar 131 and the image from the fish finder 132 may be displayed separately on two display units. [Explanation of symbols]

[0079] 1: Feeding vessel, 10: Feeding device, 20: Crane, 21: Pump, 22: Seawater hose, 23: Feed delivery section, 24: Junction section, 25: Feeding hose, 26: Feed, 30: Underwater diffusion section, 31: Sinker, 41: First cone section, 42: Second cone section, 50: Underwater diffusion section, 51: Tube section, 55: Imaging section, 60: Fish cage, 61: Side lining, 62: Concrete, 63: Jumbo float, 64: Float, 65: Rope, 66: Air inlet, 67: Bar, 68: Angle adjustment device, 100: Feeding management system, 102, 102a, 102b, 102c: Underwater camera, 103: Sonic device, 131: Imaging sonar, 132: Fish finder

Claims

1. A feeding management system for managing at least one of the feeding state and the feeding condition of a feeding subject in a sinking fish cage, A camera for acquiring an image of a feeding target in the fish cage; An acoustic device that outputs an acoustic wave to the sinking fish cage and detects the reflected wave of the acoustic wave to obtain at least one of the distribution state and the swimming state of the feeding target in the fish cage; and one or more display units that display the real-time image acquired by the camera and at least one of the real-time distribution state and the real-time swimming state acquired by the sonic device. A feeding management system characterized by the above.

2. The sonic device comprises: An imaging sonar that obtains at least one of the distribution and swimming states of the feeding targets in the fish cage and the aquatic organisms in the vicinity of the fish cage when viewed from the side or above the fish cage; and a fish finder that acquires the distribution state of the feeding targets in the fish cage for each water depth at each elapsed time. A feeding management system according to claim 1 .

3. an angle adjustment device to which the imaging sonar and the fish finder are attached and which can adjust the angles of the imaging sonar and the fish finder. A feeding management system according to claim 2 .

4. The camera captures images of the inside of the cage upward, sideways, and downward. A feeding management system according to claim 1 .

5. A feeding device that feeds the feeding targets in the fish cage; and a control unit that controls the amount or speed of food supplied by the feeding device based on the real-time image acquired by the camera and at least one of the real-time distribution state and the real-time swimming state acquired by the sonic device. A feeding management system according to claim 1 .

Images