Shape measurement system and shape measurement program

Abstract

To provide a shape measurement system and shape measurement program capable of acquiring a statistically sufficient amount of shape information without applying stress to a measurement object.SOLUTION: A shape measurement system includes a laser light source, a camera, a speed calculation unit, a shape calculation unit, an eye position estimation unit and a laser control unit. The laser light source applies a laser to a measurement object organism. The camera captures an image of reflected light from the laser measurement object organism. The speed calculation unit calculates a speed of the measurement object organism. The shape calculation unit calculates a three-dimensional shape of the measurement object organism on the basis of the data obtained by the camera and the speed. The eye position estimation unit estimates a position of an eye of the measurement object organism. The laser control unit continues to output the laser from the laser light source at timing when the laser is not applied to the eye of the measurement object organism, and stops the laser output from the laser light source at timing when the laser is applied to the eye of the measurement object organism.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The embodiments relate to a shape measurement system and a shape measurement program. [Background technology]

[0002] One known method for measuring the growth status of farmed fish involves periodically sampling a few of the farmed fish swimming in a fish pen and measuring shape information, such as the body length and weight, of the sampled fish. In large-scale fish farms, tens of thousands of farmed fish may be raised in fish pens. In this case, sampling only a few fish is a small sample compared to the total population, and it is not guaranteed that all farmed fish have similar body lengths and weights. As a result, it is expected that selecting farmed fish suitable for shipment will take a long time, and the limited data obtained will make it difficult to perform statistically valid growth management. Therefore, a measurement method that can obtain a statistically sufficient amount of shape information about the fish being measured is desirable. Furthermore, a measurement method that does not impose stress on the fish being measured is desirable. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-032975 Summary of the Invention [Problem to be solved by the invention]

[0004] The embodiments provide a shape measurement system and a shape measurement program that can obtain a statistically sufficient amount of shape information without applying stress to the measurement target. [Means for solving the problem]

[0005] A shape measurement system according to one embodiment includes a laser light source, a camera, a speed calculation unit, a shape calculation unit, an eye position estimation unit, and a laser control unit. The laser light source irradiates a laser onto a living organism to be measured. The camera captures the laser light reflected from the living organism to be measured. The speed calculation unit calculates the speed of the living organism to be measured. The shape calculation unit calculates the three-dimensional shape of the living organism to be measured based on the data obtained by the camera and the speed. The eye position estimation unit estimates the position of the eyes of the living organism to be measured. The laser control unit continues outputting a laser from the laser light source when the laser is not irradiated onto the eyes of the living organism to be measured, and stops outputting the laser from the laser light source when the laser is irradiated onto the eyes of the living organism to be measured. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a shape measurement system according to an embodiment. [Figure 2] FIG. 2 is a diagram showing the positional relationship between the laser light source and the camera with respect to the passageway. [Figure 3] FIG. 3 is a functional block diagram of a computer. [Figure 4] FIG. 4 is a diagram illustrating an example of a hardware configuration of a computer. [Figure 5] FIG. 5 is a flowchart showing the operation of the shape measurement system. [Figure 6] FIG. 6 is a diagram showing an example of the configuration of a shape measurement system according to the second modification. [Figure 7] FIG. 7 is a diagram showing an example of the configuration of a shape measurement system according to the third modification. [Figure 8] FIG. 8 is a diagram showing an example of the configuration of a shape measurement system according to the fourth modification. [Figure 9] FIG. 9 is a diagram showing an example of the configuration of a shape measurement system according to the fourth modification. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, embodiments will be described with reference to the drawings. FIG. 1 is a diagram showing an example of the configuration of a shape measurement system according to an embodiment. The shape measurement system 1 according to the embodiment can measure the shape of a living organism as a measurement target. The living organism as a measurement target is an organism that may feel stressed by irradiation with light. The living organism as a measurement target in the embodiment is, for example, farmed fish cultivated in a fish pen. On the other hand, the living organism as a measurement target in the embodiment is not necessarily limited to fish swimming in water, but may also be an animal running on the ground, a bird flying in the air, etc.

[0008] As shown in FIG. 1, the shape measurement system 1 includes a fish pen 11, a passage 12, a laser light source 13, a camera 14, sensors 15a and 15b, and a computer 16.

[0009] In the cage 11, a large number of farmed fish F are raised alive. In the embodiment, the size of the cage 11 is not limited. Also, one cage 11 is shown in FIG. 1 . The number of cages 11 may be two or more. Therefore, in the embodiment, tens of thousands of farmed fish F can be raised.

[0010] The passage 12 is, for example, a cylindrical passage, and at least one passage 12 is disposed in the cage 11. The passage 12 does not have to be cylindrical and may be a prismatic passage or the like. The passage 12 has openings at both ends. Therefore, the cultured fish F raised in the cage 11 can pass through the passage 12. Although exaggerated in FIG. 1 , the radial size of the passage 12 is basically large enough to allow only one cultured fish F to pass through. On the other hand, the axial size of the passage 12 may be determined appropriately. The cage 11 may be provided with multiple passages 12 of different sizes according to the growth stage of the cultured fish F. The passage 12 has a light-transmitting portion and a light-shielding portion. The light-transmitting portion is a portion that allows light of the same wavelength band as the laser light source 13 to pass through from the inside to the outside of the passage 12. The light-shielding portion is a portion that does not allow light of the same wavelength band as the laser light source 13 to pass through from the inside to the outside of the passage 12.

[0011] The laser light source 13 and camera 14 are an optical system for measuring the shape of the cultured fish F by the light-section method, and are arranged to face the light passage portion of each passage 12. The laser light source 13 irradiates the inside of the passage 12 with a sheet-like laser. The sheet-like laser is irradiated so as to cross the passage 12, i.e., perpendicular to the direction of movement of the cultured fish F. The camera 14 captures an image of the diffuse reflection of the laser by the cultured fish F as they pass through the passage 12.

[0012] FIG. 2 is a diagram showing the positional relationship of the laser light source and the camera with respect to the passage. As shown in FIG. 2, the passage 12 has a semi-cylindrical light-transmitting portion 12a and a semi-cylindrical light-shielding portion 12b. The light-transmitting portion 12a is formed in the passage 12 so as to face the laser light source 13 and the camera 14. The light-transmitting portion 12a may be, for example, a mesh portion made of a corrosion-resistant metal or the like. Alternatively, the light-transmitting portion 12a may be a semi-cylindrical portion made of a corrosion-resistant material that is transparent to light in the same wavelength band as the laser. Meanwhile, the light-shielding portion 12b is formed in the passage 12 so as to face the light-transmitting portion 12a. The light-shielding portion 12b may be, for example, an inner wall surface made of a material that is light-shielding to light in the same wavelength band as the laser. Alternatively, the light-shielding portion 12b may be a semi-cylindrical shutter mechanism that is mechanically driven to cover the passage 12.

[0013] When the cultured fish F are passing through the passage 12, the sheet-like laser L emitted from the laser light source 13 passes through the light passing section 12a and reaches the cultured fish F. The laser L is reflected on the surface of the cultured fish F. The camera 14 captures the diffuse reflected light DR of the cultured fish F. By adjusting the position of the camera 14, the camera 14 may be configured to capture the specular reflected light of the cultured fish F.

[0014] Here, the laser light source 13 may be a low-power laser light source using a semiconductor laser light source or the like, but is not limited thereto. The optical system for forming the sheet-shaped laser is not limited to a specific optical system, such as one using a slit or a microlens. Also, in FIG. 2, the laser light source 13 is disposed away from the passage 12. The laser light source 13 may be fixed to the light passage portion 12a of the passage 12.

[0015] Furthermore, the camera 14 is equipped with an image sensor that is sensitive to the wavelength band of the laser L. This image sensor may be, for example, a CMOS line sensor that is sensitive to the wavelength band of the laser L. Furthermore, in FIG. 2, the camera 14 is disposed away from the passage 12. The camera 14 may be fixed to the light passage portion 12a of the passage 12.

[0016] Returning to the description of FIG. 1, the sensors 15a and 15b are provided, for example, at one opening and the other opening of the passage 12 to detect the cultured fish F passing through the passage 12. The sensors 15a and 15b are equipped, for example, with image sensors capable of capturing color images, and can generate two-dimensional color images of the cultured fish F. The sensor that generates the color image may be provided only on the upstream side of the passage 12. Furthermore, three or more sensors that generate color images may be provided in the passage 12. Furthermore, the sensors 15a and 15b may be equipped with sensors other than image sensors, such as infrared sensors or photoelectric sensors. The photoelectric sensors used in the embodiment are preferably sensors sensitive to wavelengths in the ultraviolet to green wavelength range that are less likely to attenuate in water. Furthermore, when an active photoelectric sensor is used, it is preferable to use low-intensity light that is less likely to cause stress to the fish.

[0017] The computer 16 is connected to the laser light source 13, the camera 14, and the sensors 15a and 15b, and controls the operation of each of them. For example, the computer 16 switches the laser output from the laser light source 13 on and off. The computer 16 also performs processing to reconstruct the three-dimensional shape of the cultured fish F based on the sensor data received from the camera 14 and the speed of the cultured fish F passing through the passage 12. The computer 16 also counts the number of cultured fish F passing through the passage 12 and calculates the speed of the cultured fish F passing through the passage 12 based on images of the cultured fish F obtained from the sensor 15a or 15b. The computer 16 may also count the number of cultured fish F passing through the passage 12 and calculate the speed of the cultured fish F passing through the passage 12 from the number of times and the passage time of the cultured fish F using a sensor such as an infrared sensor or a photoelectric sensor installed in the passage 12 instead of an image sensor.

[0018] 3 is a functional block diagram of computer 16. Computer 16 has a speed calculation unit 161, a shape calculation unit 162, an eye position estimation unit 163, a head shape database (DB) 164, a laser control unit 165, a storage unit 166, and a display control unit 167.

[0019] The speed calculation unit 161 calculates the speed of the cultured fish F passing through the passage 12. For example, the speed calculation unit 161 may calculate the speed of the cultured fish F from the magnitude of the motion vector of the cultured fish F calculated based on multiple images obtained as a result of multiple imaging by the sensor 15a or the sensor 15b. The speed calculation unit 161 may calculate the speed of the cultured fish F using any method. For example, if a speedometer is provided in the passage 12, the speed calculation unit 161 may calculate the speed of the cultured fish F from the output of the speedometer.

[0020] The shape calculation unit 162 reconstructs the three-dimensional shape of the cultured fish F using a light section method based on the sensor data from the camera 14 and the speed of the cultured fish F obtained by the speed calculation unit 161. The reconstruction of the three-dimensional shape using the light section method will be described below.

[0021] Assuming that the cultured fish F moving through the passage 12 move very little in the radial direction of the passage 12, the distance between the camera 14 and the cultured fish F changes depending on the surface shape of the cultured fish F. Therefore, the laser irradiation position on the surface of the cultured fish F is identified from the sensor position where the laser is detected in the camera 14, and the three-dimensional shape of the part of the cultured fish F irradiated with the laser is reconstructed from the distance between the camera 14 and the cultured fish F calculated based on the principle of triangulation using the identified laser irradiation position. By repeatedly performing this process on the cultured fish F moving through the passage 12, the three-dimensional shape of the cultured fish F is reconstructed.

[0022] In reality, the speed of the cultured fish F is not constant. Some cultured fish F pass through the passage 12 quickly, while others pass through it slowly. On the other hand, because images are captured by the camera 14 at regular intervals, the interval at which sensor data for the cultured fish F is acquired in the axial direction of the passage 12 varies depending on the speed of the cultured fish F. Specifically, the interval at which sensor data is acquired for cultured fish F passing through the passage 12 at a fast speed is longer, and the interval at which sensor data is acquired for cultured fish F passing through the passage 12 at a slow speed is shorter. In order to correct for such differences in the interval at which sensor data is acquired due to speed, the shape calculation unit 162 corrects the interval at which sensor data is acquired in accordance with the speed calculated by the speed calculation unit 161, and then restores the three-dimensional shape of the cultured fish F.

[0023] 2, the laser from the laser light source 13 is irradiated only onto one side of the cultured fish F, and therefore the three-dimensional shape data reconstructed from the sensor data is also data on the three-dimensional shape of one side of the cultured fish F. However, the cultured fish F generally have a roughly mirror-symmetric shape with the plane containing the spine and the direction of gravity as the mirror plane. Therefore, once the three-dimensional shape of one side is reconstructed, the three-dimensional shape of the other side can be reconstructed as a mirror-inverted shape of one side.

[0024] Furthermore, the shape calculation unit 162 calculates shape information of the cultured fish F based on the calculated data of the three-dimensional shape of the cultured fish F. This shape information may include body length, etc. Furthermore, the shape information may include weight, etc. of the cultured fish F calculated by statistical methods from information such as body length.

[0025] The eye position estimation unit 163 estimates the position of the eyes of the cultured fish F from the shape of the tip of the head of the cultured fish F calculated by the shape calculation unit 162. The eye position estimation unit 163 obtains, for example, data on the head shape of a cultured fish that is similar to the shape of the tip of the head of the cultured fish F calculated by the shape calculation unit 162 from the head shape DB 164, and sets the eye positions of the head shape data obtained from the head shape DB 164 as the eye positions of the cultured fish F.

[0026] The head shape DB 164 stores data on the three-dimensional shape of the heads of farmed fish of various body lengths according to the growth period that the fish can be raised in the fish pen 11. The three-dimensional shape data of the heads of farmed fish stored in the head shape DB 164 may be data in the same format as the three-dimensional shape data of the farmed fish F calculated by the shape calculation unit 162.

[0027] The laser control unit 165 controls the on / off of the laser output from the laser light source 13. The laser control unit 165 turns on the laser output from the laser light source 13 when measuring the shape of the cultured fish F. On the other hand, the laser control unit 165 determines the timing at which the laser is to be irradiated onto the eyes of the cultured fish F based on the speed of the cultured fish F calculated by the speed calculation unit 161 and the eye position of the cultured fish F estimated by the eye position estimation unit 163, and turns off the laser output from the laser light source 13 at the timing at which the laser is to be irradiated onto the eyes of the cultured fish F. The laser control unit 165 also turns off the laser output when two or more cultured fish F are passing through the passage 12, based on the counting results using sensor data obtained from sensors 15a and 15b.

[0028] The memory unit 166 stores the three-dimensional shape data and shape information of the farmed fish F calculated by the shape calculation unit 162 in association with the measurement date and time, etc. The three-dimensional shape data and shape information of the farmed fish F can be used, for example, to determine the shipping of the farmed fish F and to manage their growth.

[0029] The display control unit 167 displays a three-dimensional model of the cultured fish F on the display device based on the three-dimensional shape data of the cultured fish F calculated by the shape calculation unit 162. The display control unit 167 also displays shape information on the display device.

[0030] Fig. 4 is a diagram showing an example of the hardware configuration of the computer 16. The computer 16 may be various types of terminal devices such as a personal computer (PC), a tablet terminal, etc. As shown in Fig. 4, the computer 16 has, as hardware, a processor 201, a ROM 202, a RAM 203, a storage 204, an input interface 205, a display device 206, and a communication device 207.

[0031] The processor 201 controls the overall operation of the shape measurement system 1. The processor 201 operates as the speed calculation unit 161, the shape calculation unit 162, the eye position estimation unit 163, the laser control unit 165, and the display control unit 167, for example, by executing a program stored in the storage 204. The processor 201 is, for example, a CPU (Central Processing Unit). The processor 201 may be an MPU (Micro-Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like. The processor 201 may be a single CPU or the like, or may be multiple CPUs or the like.

[0032] The ROM (Read Only Memory) 202 is a non-volatile memory. The ROM 202 stores a startup program and the like for the shape measurement system 1. The RAM (Random Access Memory) 203 is a volatile memory. The RAM 203 is used as a working memory for processing in the processor 201, for example.

[0033] The storage 204 is a storage such as a hard disk drive or a solid state drive. The storage 204 stores various programs executed by the processor 201, such as a shape measurement program. The storage 204 can also operate as the memory unit 166 and can store three-dimensional shape data of the farmed fish F and shape information calculated accordingly. The storage 204 can also store a head shape DB 164. The head shape DB 164 does not necessarily have to be stored in the storage 204. For example, the head shape DB 164 may be stored in the storage of a server that is communicatively connected to the computer 16.

[0034] The input interface 205 includes input devices such as a touch panel, a keyboard, a mouse, etc. When an input device of the input interface 205 is operated, a signal corresponding to the operation content is input to the processor 201. The processor 201 performs various processes according to this signal.

[0035] The display device 206 is a display device such as a liquid crystal display or an organic EL display. The display device 206 displays various images. The display device 206 may be a display device separate from the computer 16.

[0036] The communication device 207 is a communication device that enables the computer 16 to communicate with an external device such as a server. The communication device 207 may be a communication device for wired communication or a communication device for wireless communication.

[0037] Next, a description will be given of the operation of the shape measurement system 1 in the embodiment. Fig. 5 is a flowchart showing the operation of the shape measurement system 1. The processing of Fig. 5 is periodically executed by the processor 201.

[0038] In step S1, processor 201 determines whether or not cultured fish F have entered passage 12. For example, when the output of sensors 15a and 15b changes, it is determined that cultured fish F have entered passage 12. If it is not determined in step S1 that cultured fish F have entered passage 12, the processing of Figure 5 ends. If it is determined in step S1 that cultured fish F have entered passage 12, the processing proceeds to step S2.

[0039] In step S2, the processor 201 starts outputting a laser from the laser light source 13. When no cultured fish F are passing through the passage 12, the laser from the laser light source 13 passes through the light passing portion 12a of the passage 12 and is absorbed by the light blocking portion 12b. Therefore, the value of the sensor data obtained by the camera 14 remains almost unchanged. On the other hand, when cultured fish F are passing through the passage 12, the laser passes through the light passing portion 12a of the passage 12 and is reflected by the surface of the cultured fish F. At this time, the value of the sensor data obtained by the camera 14 changes depending on the detection position of the laser.

[0040] In step S3, the processor 201 determines whether the laser has hit the cultured fish F, i.e., whether a change has occurred in the sensor data of the camera 14. In step S3, the laser output continues until it is determined that the laser has hit the cultured fish F. If it is determined in step S3 that the laser has hit the cultured fish F, the processing proceeds to step S4.

[0041] In step S4, the processor 201 determines whether there is one farmed fish F inside the passage 12, for example, based on images of the inside of the passage 12 obtained by the sensors 15a and 15b. If it is determined in step S4 that there is not one farmed fish F inside the passage 12, the process proceeds to step S5. If it is determined in step S4 that there is one farmed fish F inside the passage 12, the process proceeds to step S6.

[0042] In step S5, the processor 201 stops the laser output from the laser light source 13. Then, the processing of FIG. 5 ends. If two or more farmed fish F are present inside the passage 12, errors are likely to occur in the results of the reconstruction of the three-dimensional shape of the farmed fish F. Therefore, when two or more farmed fish F are present inside the passage 12, the processing is interrupted. In this case, the laser output is also interrupted. The laser output is resumed at the start of the next processing of FIG. 5.

[0043] In step S6, the processor 201 reconstructs the three-dimensional shape of the tip of the head of the cultured fish F using a light-section method based on the speed of the cultured fish F and the sensor data sequentially obtained from the camera 14. The processor 201 then estimates the position of the eyes of the cultured fish F by comparing the three-dimensional shape data of the tip of the head of the cultured fish F with the three-dimensional shape data of the head of the cultured fish stored in the head shape DB 164.

[0044] In step S7, the processor 201 determines whether the laser will hit the eye of the cultured fish F, i.e., whether the position of the eye of the cultured fish F reaches the position of the laser irradiation from the laser light source 13, based on the speed of the cultured fish F and the estimated position of the eye. When the distance between the laser irradiation position in the passage 12 and the position of the eye of the cultured fish F is equal to or less than a threshold, it is determined that the laser will hit the eye of the cultured fish F. If it is determined in step S7 that the laser will not hit the eye of the cultured fish F, the processing proceeds to step S8. If it is determined in step S7 that the laser will hit the eye of the cultured fish F, the processing proceeds to S11.

[0045] In step S8, the processor 201 outputs a laser from the laser light source 13. When the laser output is not stopped, the processor 201 continues the laser output. On the other hand, when the laser output is stopped, the processor 201 resumes the laser output.

[0046] In step S9, the processor 201 reconstructs the three-dimensional shape of the cultured fish F by a light section method based on the speed of the cultured fish F and the sensor data sequentially obtained from the camera 14.

[0047] In step S10, processor 201 determines whether or not the restoration of the three-dimensional shape is complete. For example, it is determined that the restoration of the three-dimensional shape is complete when the sensor data obtained by camera 14 returns to a substantially constant value. If it is determined in step S10 that the restoration of the three-dimensional shape is not complete, the process returns to step S7. In this case, the shape restoration continues. If it is determined in step S10 that the restoration of the three-dimensional shape is complete, the process proceeds to step S11.

[0048] In step S11, if it is determined in step S7 that the laser will hit the eyes of the farmed fish F, the processor 201 stops the output of the laser from the laser light source 13. Thereafter, the processing returns to step S7.

[0049] In step S12, if it is determined in step S10 that the restoration of the three-dimensional shape is complete, the processor 201 calculates information such as body length based on the restored three-dimensional shape data of the cultured fish F. The processor 201 also calculates information such as weight from the information such as body length. The processor 201 then associates the three-dimensional shape data of the cultured fish F with the shape information and stores them, for example, in storage 204. The processor 201 also displays the three-dimensional model of the cultured fish F and the shape information on the display device 206. After the display is completed, the processing of FIG. 5 ends.

[0050] As described above, according to the embodiment, the three-dimensional shape of the cultured fish F is reconstructed with high accuracy by the light-section method, in which a sheet-shaped laser is irradiated onto the cultured fish F passing through the passage 12. As a result, shape information such as the body length and weight of the cultured fish F can also be calculated with high accuracy. Furthermore, in the embodiment, shape information of the cultured fish F is obtained each time the cultured fish F passes through the passage 12. In this way, a statistically sufficient amount of shape information can be obtained in the embodiment, so that it does not take much time to select cultured fish that can be shipped, and statistically effective growth management can be performed.

[0051] On the other hand, irradiating the eyes of the cultured fish F with a laser can be a cause of stress to the cultured fish F. Therefore, in this embodiment, the position of the eyes of the cultured fish F is estimated based on the three-dimensional shape of the tip of the head of the cultured fish F that is restored when it first passes through the passage 12, and the laser output is stopped at the time when it is expected that the laser will be irradiated onto the eyes of the cultured fish F. This allows the three-dimensional shape of the cultured fish F to be restored using the light section method without causing stress to the cultured fish F.

[0052] The passage 12 is also provided with a light passing section 12a and a light blocking section 12b. The light passing section 12a makes it possible to restore the three-dimensional shape of the cultured fish F by the light cutting method. Furthermore, the light blocking section 12b prevents the laser from being emitted outside the passage 12 even when the cultured fish F are not passing through the passage 12. This prevents the laser from being irradiated onto the cultured fish F outside the passage 12.

[0053] (Variation 1) Modifications to the embodiment will be described below. In the embodiment, the position of the eyes of the cultured fish F is estimated based on the shape of the tip of the head restored by the light-section method. However, this is not limited to this. For example, the position of the eyes of the cultured fish F may be estimated by detecting the position of the eyes of the cultured fish F in an image obtained by the sensor 15a or 15b. Alternatively, if data correlating the head shape with shapes that characterize the cultured fish F other than the head, such as the shape of the tail fin, is stored in the head shape DB 164, the position of the eyes of the cultured fish F may be estimated from other than the head shape, such as the shape of the tail fin. The shape of the tail fin may be measured from an image obtained by the sensor 15a or 15b. Alternatively, the shape of the tail fin may be measured by the light-section method using a laser light source provided at the opening of the passage 12, which emits a sheet-shaped laser from behind the cultured fish F, and a camera that captures the diffuse reflection light of the laser emitted from the light source toward the cultured fish F.

[0054] (Variation 2) In this embodiment, there is one laser light source 13. The speed of the cultured fish F passing through the passage 12 is measured using sensor data obtained by the sensor 15a or 15b, a speedometer, or the like.

[0055] Alternatively, the laser light sources may be two laser light sources 13a and 13b arranged along the moving direction of the cultured fish F, as shown in Fig. 6. By arranging two laser light sources 13a and 13b, the speed of the cultured fish F can be calculated from the distance between laser light source 13a and laser light source 13b and the time difference between the time when the cultured fish F passes the position irradiated with the laser from laser light source 13a and the time when the cultured fish F passes the position irradiated with the laser from laser light source 13b. The time when the cultured fish F passes the position irradiated with the laser from laser light source 13a and the time when the cultured fish F passes the position irradiated with the laser from laser light source 13b can be identified from the time when the sensor data of camera 14 changes.

[0056] Here, as described in the embodiment, one laser light source is sufficient to restore the three-dimensional shape of the cultured fish F. Therefore, for either laser light source 13a or laser light source 13b, whichever one the cultured fish F passes through the laser irradiation position first, the processor 201 may stop the laser output at the time it detects that the cultured fish F has passed through the laser irradiation position. The laser whose irradiation position the cultured fish F passed through first is the laser that is closer to the eyes of the cultured fish F. Therefore, by stopping the laser whose irradiation position the cultured fish F passed through first, the possibility of the laser being irradiated onto the eyes of the cultured fish F can be further reduced.

[0057] In the second modification described above, the speed of the cultured fish F passing through the passage 12 can be calculated by the laser.

[0058] (Variation 3) In this embodiment, the three-dimensional shape of the cultured fish F is restored by irradiating a laser from one laser light source 13 onto only one side of the cultured fish F. Even with this configuration, the cultured fish F generally have a roughly mirror-symmetrical shape with the plane containing the spine and the direction of gravity as the mirror plane, so the three-dimensional shape can be restored with high accuracy.

[0059] On the other hand, to obtain a more accurate three-dimensional shape, as shown in FIG. 7, the shape measurement system 1 may have multiple laser light sources that irradiate lasers from multiple directions perpendicular to the traveling direction of the cultured fish F. In FIG. 7, three laser light sources 131, 132, and 133 are provided so as to be perpendicular to the traveling direction of the cultured fish F. For example, the laser light source 131 is installed diagonally upward to the left with respect to the traveling direction of the cultured fish F and irradiates one side of the cultured fish F with a sheet-like laser L1. The laser light source 132 is installed downward with respect to the traveling direction of the cultured fish F and irradiates the bottom surface of the cultured fish F with a sheet-like laser L2. The laser light source 133 is installed diagonally upward to the right with respect to the traveling direction of the cultured fish F and irradiates the other side of the cultured fish F with a sheet-like laser L3. Because lasers are irradiated from multiple directions, the passage 12 is basically constituted by a light passing section 12a. Alternatively, the passage 12 may be provided with a shutter mechanism that differentiates the timing of laser output from the laser light sources 131, 132, and 133 so that when a laser is being output from one of the laser light sources, only the portion facing that laser light source becomes the light passing portion 12a and the other portion becomes the light blocking portion 12b. Furthermore, the laser light sources 131, 132, and 133 may be positioned offset from one another with respect to the traveling direction of the cultured fish F. In this case, the light passing portion 12a and the light blocking portion 12b may be provided only in the portion facing each laser light source.

[0060] Here, at least one of the laser light sources 131, 132, and 133 may be configured with two laser light sources for measuring the speed of the cultured fish F as described in the second modification.

[0061] Although not shown in Figure 7, cameras 14 that capture images of diffusely reflected light from the cultured fish F may also be installed corresponding to each laser light source. However, the number of laser light sources does not necessarily have to match the number of cameras. In other words, the number of cameras may be less than the number of laser light sources, as long as the cameras are installed in positions where they can capture images of diffusely reflected light from multiple surfaces of the cultured fish F. In this case, the cameras must be configured to be able to identify which laser light source the sensor data is based on.

[0062] As described above, in the third modification, the three-dimensional shape of the farmed fish F can be restored with higher accuracy by irradiating lasers for the light-section method from multiple directions.

[0063] Here, the technique of arranging multiple laser light sources around an object to be measured for three-dimensional shape, as in Variation 3, to reconstruct three-dimensional shapes in multiple directions based on the light-section method can also be applied to objects other than farmed fish F. For example, this technique can also be applied to a flying or free-falling organism as the object to be measured for three-dimensional shape. In this case, each laser light source is mounted on an aircraft such as a drone. The drone then emits lasers while flying to the side and below the flying or free-falling organism.

[0064] (Variation 4) In the embodiment, the laser light source 13 emits a laser from underwater toward the passage 12, and the camera 14 captures images from underwater. The water in the fish pen 11 may be contaminated with feces from the farmed fish F and debris that has entered from outside. Such feces, debris, etc. may obstruct the progression of the laser output from the laser light source 13 or become noise in the sensor data obtained by the camera 14. Therefore, in the fourth modification, the shape measurement system 1 further includes a configuration for removing debris, etc. that may obstruct the progression of the laser output from the laser light source 13 or become noise in the sensor data obtained by the camera 14.

[0065] 8 and 9 are diagrams showing an example of the configuration of the shape measurement system 1 of Modification 4. Fig. 8 is a side view showing the configuration of the shape measurement system 1 of Modification 4 when the passage 12 is viewed from behind the laser light source 13 and the camera 14. Fig. 9 is a diagram showing the configuration of the shape measurement system 1 of Modification 4 when viewed from behind one opening of the passage 12.

[0066] As shown in Fig. 8, in Modification 4, the opening of clean water supply pipe 17 and the opening of suction pipe 18 are arranged so as to sandwich the position in passage 12 where sheet-like laser L is irradiated. On the other hand, as shown in Fig. 9, in Modification 4, supply pipe 17 is arranged between laser light source 13 and camera 14 when viewed from behind the opening of passage 12. On the other hand, suction pipe 18 is arranged so as to sandwich passage 12 between supply pipe 17 and suction pipe 18. A filter 19 is installed between supply pipe 17 and suction pipe 18.

[0067] 8 and 9, water inside the passage 12 is sucked through the suction pipe 18 by a suction machine (not shown) as shown by arrow W2. The water that flows into the suction pipe 18 is filtered through the filter 19. The purified water obtained by filtering through the filter 19 is supplied from the supply pipe 17 to the light passing portion 12a of the passage 12 and the water within the imaging range of the camera 14 as shown by arrow W1. As the purified water flows, debris and the like in the water within the imaging range of the light passing portion 12a and the camera 14 is removed.

[0068] As described above, in the fourth modification, dust and the like are removed from the light passing portion 12a and the imaging range of the camera 14. This improves the accuracy of restoring the three-dimensional shape of the farmed fish F using the light section method.

[0069] 9 shows an example in which one laser light source is used. The configuration of the fourth modification can also be applied to the cases in which multiple laser light sources shown in the second and third modifications are installed.

[0070] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0071] 1 Shape measurement system, 11 fish cage, 12 passage, 12a light passing section, 12b light blocking section, 13, 13a, 13b, 131, 132, 133 laser light source, 14 camera, 15a, 15b sensor, 16 computer, 17 supply pipe, 18 suction pipe, 19 filter, 161 speed calculation section, 162 shape calculation section, 163 eye position estimation section, 164 head shape database (DB), 165 laser control section, 166 memory section, 167 display control section, 201 processor, 202 ROM, 203 RAM, 204 storage, 205 input interface, 206 display device, 207 communication device.

Claims

1. a laser light source that irradiates a laser onto a moving living thing to be measured; a camera that captures an image of the laser reflected from the living organism being measured; a velocity calculation unit that calculates the velocity of the living thing to be measured; a shape calculation unit that calculates a three-dimensional shape of the living thing to be measured based on the data obtained by the camera and the velocity; an eye position estimation unit that estimates the position of the eye of the living thing being measured; a laser control unit that controls the laser light source so as to continue outputting the laser from the laser light source when the laser is not irradiated onto the eyes of the living organism to be measured, and to stop outputting the laser from the laser light source when the laser is irradiated onto the eyes of the living organism to be measured; A shape measurement system having:

2. A passage configured to allow the living thing to be measured to pass through and having a light passing portion therein through which the laser can pass, the laser light source irradiates the sheet-shaped laser onto the light passing portion so as to cross the passage; The shape measurement system of claim 1 .

3. The laser light source includes a plurality of laser light sources arranged along a moving direction of the living thing to be measured, the velocity calculation unit calculates the velocity of the living thing to be measured based on a difference in time at which the living thing to be measured passes through irradiation positions of the lasers from the plurality of laser light sources; The shape measurement system of claim 1 .

4. The laser light source includes a plurality of laser light sources arranged perpendicular to the direction of travel of the living thing to be measured, The shape measurement system of claim 1 .

5. The organism to be measured is a farmed fish cultivated in a fish cage, a passage configured to allow the farmed fish to pass through and having a light passing portion therein through which the laser can pass; a suction pipe for sucking water from the passage; a filter for filtering the water sucked by the suction pipe; a supply pipe for supplying the filtered clean water into the water between the laser light source, the camera, and the passage; The shape measurement system of claim 1 further comprising:

6. Irradiating a moving living thing to be measured with a laser from a laser light source; capturing an image of the laser reflected from the living thing being measured by a camera; Calculating the velocity of the living thing being measured; calculating a three-dimensional shape of the living thing to be measured based on the data obtained by the camera and the velocity; Estimating the position of the eyes of the organism to be measured; controlling the laser light source so that laser output from the laser light source continues when the laser is not irradiated onto the eyes of the living thing being measured, and so that laser output from the laser light source stops when the laser is irradiated onto the eyes of the living thing being measured; A shape measurement program for running the above on a computer.

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