Feeding method, feeding system, and program

Abstract

To provide a feeding method, a feeding system, and a program that are effective for more efficient feeding. [Solution] The feeding method includes evaluating the amount of remaining food based on the results of detection of the environment inside the fish tank by a sensor installed in the fish tank, evaluating the feeding activity of the aquatic organisms inside the fish tank based on the results of detection of the environment inside the fish tank, generating a feeding speed command value based on the evaluation results of the remaining food amount and the evaluation results of the feeding activity, and controlling the feeder to feed at a feeding speed corresponding to the feeding speed command value.

Description

Technical Field

[0001] The present disclosure relates to a feeding method, a feeding system, and a program.

Background Art

[0002] Patent Document 1 discloses an automatic feeding system including an automatic feeder, a residual feed sensor that detects the amount of residual feed, and a control means that controls the feeding amount by the automatic feeder based on the amount of residual feed detected by the residual feed sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present disclosure provides a feeding method, a feeding system, and a program that are effective for more efficient feeding.

Means for Solving the Problems

[0005] A feeding method according to an aspect of the present disclosure includes evaluating the amount of residual feed based on a detection result of the environment inside the fish tank by a sensor installed in the fish tank, evaluating the feeding activity of the aquatic organisms in the fish tank based on the detection result of the environment inside the fish tank, generating a feeding speed command value based on the evaluation result of the amount of residual feed and the evaluation result of the feeding activity, and controlling a feeder to feed at a feeding speed corresponding to the feeding speed command value.

[0006] According to this feeding method, by calculating the feeding speed command value based on the evaluation result of the remaining feed amount, the feeding machine can be controlled to suppress the remaining feed. Further, by calculating the feeding speed command value based on the evaluation result of the feeding activity, the feeding machine can be controlled to suppress the shortage of feed in a situation where no remaining feed is present. Therefore, the excess or deficiency of the feeding amount can be suppressed. Accordingly, it is effective for more efficient feeding.

[0007] The feeding speed command value may be calculated such that the greater the remaining feed amount, the smaller the feeding speed command value, and the greater the feeding activity, the larger the feeding speed command value. In this case, the excess or deficiency of the feeding amount can be more reliably suppressed.

[0008] A feeding score may be calculated based on the evaluation result of the remaining feed amount and the evaluation result of the feeding activity, and the feeding speed command value may be calculated so that the feeding score follows the target score. In this case, by summarizing the evaluation result of the remaining feed amount and the evaluation result of the feeding activity into one feeding score, an appropriate feeding speed command value can be easily calculated.

[0009] The feeding score may be calculated such that the direction of change of the feeding score in response to an increase in the remaining feed amount is opposite to the direction of change of the feeding score in response to an increase in the feeding activity. In this case, a feeding score that more accurately represents the excess or deficiency situation of the feeding amount can be calculated.

[0010] In response to the evaluation result of the remaining feed amount exceeding a predetermined level, the influence degree of the feeding activity on the feeding score may be decreased. In this case, by increasing the influence degree of the remaining feed amount on the feeding score in response to the remaining feed amount exceeding the predetermined level, excessive feeding can be more reliably suppressed.

[0011] It may further include displaying the feeding score on a user interface. In this case, the ease of recognition of the excess or deficiency of feed by the operator can be improved.

[0012] The target score may be displayed on the user interface together with the feeding score. In this case, it is possible to further improve the ease of recognition of the excess or deficiency of food by the operator.

[0013] It may further include correcting the feeding speed command value based on a pre-planned feeding speed target value. In this case, it is possible to suppress the deviation between the actual feeding performance and the feeding plan while adjusting the feeding speed according to the feeding situation.

[0014] It may further include calculating a feeding speed target value according to time based on a feeding pattern representing the relationship between the elapsed time from the feeding start time to the feeding end time and the feeding speed. In this case, by changing the feeding speed target value according to time, it is possible to finely adjust the feeding amount according to the ecology of the aquatic organism.

[0015] The feeding start time of the feeding pattern may be changed according to the sunrise time, the feeding end time of the feeding pattern may be changed according to the sunset time, and a feeding speed target value according to time may be calculated based on the changed feeding pattern. By changing the feeding pattern according to the sunrise time and the sunset time, it is not necessary for the user to change the daily feeding start time, and the feeding setting becomes simpler.

[0016] It may further include evaluating the weight of the aquatic organism and calculating a daily feeding amount target value based on the evaluation result of the weight of the aquatic organism, and calculating a feeding speed target value according to time based on the feeding amount target value and the feeding pattern. In this case, by further basing on the evaluation result of the weight of the aquatic organism, it is possible to calculate a more efficient feeding speed target value.

[0017] A feeding speed target value according to time may be calculated so that the total feeding amount from the feeding start time to the feeding end time according to the feeding pattern matches the feeding amount target value. The evaluation result of the weight of the aquatic organism can be easily and appropriately reflected in the feeding speed target value.

[0018] Evaluating the weight of an aquatic organism may include obtaining a measurement result of the weight of the aquatic organism, evaluating the amount of food intake from the measurement time point of the weight of the aquatic organism to the evaluation target time point based on the feeding rate, estimating the weight gain rate of the aquatic organism from the measurement time point to the evaluation target time point based on the evaluation result of the food intake amount, and estimating the weight of the aquatic organism at the evaluation target time point based on the measurement result of the weight of the aquatic organism and the estimation result of the weight gain rate of the aquatic organism. In this case, by combining the measurement of the total weight with the estimation of the total weight based on the evaluation result of the food intake amount, it is possible to suppress the shortage of the increase in the feeding amount with respect to the increase in the weight of the aquatic organism.

[0019] It may further include estimating the number of aquatic organisms at the evaluation target time point based on the predicted reduction rate of the number of aquatic organisms. Obtain the measurement result of the weight per individual of the aquatic organism, and based on the measurement result of the weight per individual of the aquatic organism and the estimation result of the weight gain rate of the aquatic organism, estimate the weight per individual of the aquatic organism at the evaluation target time point, and based on the estimation result of the weight per individual and the estimation result of the number of individuals, estimate the total weight of the aquatic organism at the evaluation target time point. In this case, by further basing on the predicted reduction rate of the number of aquatic organisms, the total weight of the aquatic organism can be estimated with higher reliability.

[0020] It may further include displaying the feeding pattern on the user interface. In this case, the set feeding pattern can be easily recognized by the operator.

[0021] The sunrise time and sunset time may be displayed on the user interface together with the feeding pattern. In this case, the relationship between the sunrise time and sunset time and the set feeding pattern can be easily recognized by the operator.

[0022] Further include changing the feeding pattern based on an editing input for the feeding pattern displayed on the user interface, and calculating a target feeding rate value according to time based on the changed feeding pattern. In this case, by enabling the operator to change the feeding pattern through an editing input for the feeding pattern displayed on the user interface, the usability for the operator can be further improved.

[0023] Further include saving the feeding pattern displayed on the user interface based on a save command input, and reading out the saved feeding pattern and displaying it on the user interface based on a read command input. In this case, by making the set feeding pattern reusable, the usability for the operator can be further improved.

[0024] Further include assigning the saved feeding pattern to a shortcut object on the user interface based on an assignment command input, and reading out the saved feeding pattern and displaying it on the user interface according to the operation of the shortcut object. In this case, by making it easier to call the saved feeding pattern, the usability for the operator can be further improved.

[0025] Further include displaying the current feeding rate on the user interface for each of the plurality of aquaculture tanks. In this case, the feeding status in the plurality of aquaculture tanks can be easily recognized by the operator.

[0026] Further include displaying the current feeding rate and the achievement rate with respect to the target feeding amount on the user interface for each of the plurality of aquaculture tanks. In this case, the feeding status in the plurality of aquaculture tanks can be more easily recognized by the operator.

[0027] For each of a plurality of aquariums, it may further include displaying, on a user interface, a feeding rate represented by a ratio of the feeding amount to the total weight of the aquatic organisms and an increase rate of the total weight of the aquatic organisms. In this case, the appropriateness of the feeding situation can be easily recognized by the operator.

[0028] Displaying the feeding rate and the increase rate on the user interface may include displaying, on a coordinate having a first coordinate axis representing the magnitude of the feeding rate and a second coordinate axis representing the magnitude of the increase rate, a distribution chart in which the feeding rate and the increase rate are mapped for each of a plurality of aquariums. In this case, the appropriateness of the feeding situation can be more easily recognized by the operator.

[0029] For each growth coefficient representing the ratio of the feeding rate to the increase rate, a plurality of contour lines representing the relationship between the feeding rate and the increase rate may be further displayed on the distribution chart (a plurality of contour lines of the growth coefficient may be displayed on the distribution chart). In this case, the appropriateness of the feeding situation can be more easily recognized by the operator.

[0030] In the aquarium, the remaining feed amount may be evaluated based on an image of a camera installed upward below the feeding area of the aquatic organisms. In this case, the remaining feed amount can be evaluated with high reliability.

[0031] Based on the image of the camera, the feeding activity may be further evaluated. In this case, the feeding activity can also be evaluated with high reliability.

[0032] Based on the image of the camera, the amount of image change caused by the movement of the aquatic organisms may be calculated, and the feeding activity may be evaluated based on the amount of image change. In this case, the evaluation of the feeding activity based on the image of the camera can be easily performed.

[0033] The feeding activity may be evaluated such that the feeding activity decreases as the amount of image change increases. In this case, the feeding activity can be evaluated with higher reliability.

[0034] A feeding system according to one embodiment of the present disclosure includes a feeder that supplies feed into a fish basket containing aquatic organisms, a sensor that detects the environment inside the fish basket, and a feeding control device that adjusts the feeding rate by the feeder. The feeding control device includes a remaining feed evaluation unit that evaluates the amount of remaining feed based on the detection result of the environment inside the fish basket by the sensor, a feeding activity evaluation unit that evaluates the feeding activity of the aquatic organisms based on the detection result of the environment inside the fish basket, and a speed control unit that generates a feeding rate command value based on the evaluation result of the amount of remaining feed and the evaluation result of the feeding activity, and controls the feeder to feed at a feeding rate corresponding to the feeding rate command value.

[0035] A program according to one embodiment of the present disclosure causes a device to evaluate the amount of remaining feed based on the detection result of the environment inside the fish basket by a sensor installed in the fish basket, evaluate the feeding activity of the aquatic organisms inside the fish basket based on the detection result of the environment inside the fish basket, generate a feeding rate command value based on the evaluation result of the amount of remaining feed and the evaluation result of the feeding activity, and control the feeder to feed at a feeding rate corresponding to the feeding rate command value.

Advantages of the Invention

[0036] The present disclosure provides a feeding method, a feeding system, and a program that are effective for more efficient feeding.

Brief Description of the Drawings

[0037]

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Best Mode for Carrying Out the Invention

[0038] Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same reference numerals are given to the same elements or elements having the same function, and redundant descriptions are omitted.

[0039] 〔Aquaculture System〕 The aquaculture system 1 shown in FIG. 1 is a device used for aquaculture of aquatic organisms. Specific examples of aquatic organisms include, but are not limited to, salmon, yellowtail, etc. The aquaculture system 1 includes a plurality of fish cages 2 and a feeding system 3. The plurality of fish cages 2 each house one or more aquatic organisms. The feeding system 3 has a plurality of feeding devices 4 that supply feed into the plurality of fish cages 2 respectively. Each of the plurality of feeding devices 4 has a feeder 5 and a sensor 6.

[0040] The feeder 5 is driven by an electric motor or the like and supplies feed into the corresponding fish tank 2 at a feeding speed according to a control command. The feeding speed represents the amount of feed supplied into the fish tank 2 per unit time. The amount of feed is, for example, the amount (e.g., mass) of the supplied feed. The sensor 6 detects the environment (the environment inside the fish tank) in the corresponding fish tank 2. Detecting the environment inside the fish tank 2 means acquiring one or more types of environmental information that at least partially represent the environment inside the fish tank 2. Specific examples of the environmental information include the temperature inside the fish tank 2, the brightness inside the fish tank 2, the noise inside the fish tank 2, the image inside the fish tank 2, and the like.

[0041]

[0042] As an example, the sensor 6 has underwater cameras 7 and 8. The underwater camera 7 acquires an image in the water inside the corresponding fish tank 2 that can recognize the size of the aquatic organisms. For example, the underwater camera 7 is a stereo camera that can detect the distance from the underwater camera 7 to the aquatic organisms. According to the stereo camera, the size of the aquatic organisms can be detected based on the size of the aquatic organisms in the image and the distance to the aquatic organisms.

[0043] The feeding control device 100 adjusts the feeding speed by the feeding device 4 by controlling the power source (e.g., the above-mentioned electric motor or the like) of the feeder 5. For example, the feeding control device 100 is configured to calculate a feeding speed command value based on the detection result of the environment inside the fish tank by the sensor 6 and control the feeder 5 to feed at a feeding speed corresponding to the feeding speed command value.

[0044] ​For example, the feeding control device 100 may be configured to evaluate the remaining amount of feed based on the detection result of the environment inside the fish tank by the sensor 6, evaluate the feeding activity of the aquatic organisms in the fish tank 2 based on the detection result of the environment inside the fish tank, generate a feeding speed command value based on the evaluation result of the remaining amount of feed and the evaluation result of the feeding activity, and control the feeding device to feed at a feeding speed corresponding to the feeding speed command value.

[0045] In this case, the feeding control device 100 may calculate a feeding score based on the evaluation result of the remaining amount of feed and the evaluation result of the feeding activity, and calculate a feeding speed command value so as to make the feeding score follow the target score.

[0046] The feeding system 3 may further include a management device 200. The management device 200 can communicate with the feeding control devices 100 of a plurality of feeding devices 4 via a network line such as a local area network, and generates a feeding plan for each of the plurality of fish tanks 2. The feeding control device 100 controls the feeder 5 so that the feeding performance in the corresponding fish tank 2 does not deviate significantly from the feeding plan.

[0047] For example, the management device 200 calculates a target feeding speed value corresponding to the time based on a feeding pattern representing the relationship between the elapsed time from the feeding start time to the feeding end time and the feeding speed, and executes this every day. In this case, the feeding control device 100 may correct the feeding speed command value calculated as described above based on the target feeding speed value.

[0048] The management device 200 may further execute changing the feeding start time according to the sunrise time and changing the feeding end time according to the sunset time, and is configured to calculate a target feeding speed value corresponding to the time based on a feeding pattern in which the feeding start time is changed according to the sunrise time and the feeding end time is changed according to the sunset time.

[0049] Further, the management device 200 may further execute, for each of the plurality of aquariums 2, evaluating the weight of the aquatic organism and calculating a target daily feeding amount based on the evaluation result of the weight of the aquatic organism, and may be configured to calculate a target feeding rate corresponding to the time based on the target feeding amount and the feeding pattern.

[0050] FIG. 2 is a schematic diagram illustrating the configurations of the feeding control device 100 and the management device 200. For example, as shown in FIG. 2, the feeding control device 100 includes, as a functional configuration (hereinafter referred to as a "functional block"), a residual food evaluation unit 111, a feeding activity evaluation unit 112, a score calculation unit 113, and a speed control unit 114.

[0051] The residual food evaluation unit 111 evaluates the amount of residual food based on the detection result of the internal environment of the aquarium by the sensor 6. For example, the residual food evaluation unit 111 evaluates the amount of residual food based on the image captured by the underwater camera 8. For example, the residual food evaluation unit 111 processes the image captured by the underwater camera 8 to recognize the food grains and calculates a numerical value representing the amount of the food grains as the evaluation result of the amount of residual food. For example, the residual food evaluation unit 111 calculates the number of food grains in the image captured by the underwater camera 8 as the evaluation result of the amount of residual food. The residual food evaluation unit 111 may calculate, as the evaluation result of the amount of residual food, a value obtained by performing an operation such as multiplying the number of food grains by a predetermined coefficient.

[0052] The feeding activity evaluation unit 112 evaluates the feeding activity of the aquatic organisms in the aquarium 2 based on the detection result of the internal environment of the aquarium. The feeding activity evaluation unit 112 may evaluate the feeding activity based on the image of the underwater camera 8. For example, the feeding activity evaluation unit 112 calculates the amount of image change caused by the movement of the aquatic organisms based on the image of the underwater camera 8 and evaluates the feeding activity based on the amount of image change. For example, the feeding activity evaluation unit 112 calculates the average value of the amount of change in the pixel value of each pixel in the image of the underwater camera 8 as the amount of image change.

[0053] As described above, the underwater camera 8 is disposed near the bottom of the bamboo basket 2 and directed upward. Therefore, according to the underwater camera 8, it is possible to photograph the movement of aquatic organisms above it. When an aquatic organism is near the underwater camera 8, the amount of image change due to the movement of the aquatic organism increases. On the other hand, when an aquatic organism is away from the underwater camera 8 and near the water surface, the amount of image change due to the movement of the aquatic organism decreases. Since fish, which is an example of an aquatic organism, tends to feed near the water surface, the higher the feeding activity, the more aquatic organisms float up to near the water surface, and the amount of image change due to the movement of the aquatic organisms decreases. When the feeding activity is low, the number of aquatic organisms near the underwater camera 8 increases, so the amount of image change due to the movement of the aquatic organisms increases.

[0054] In response to this property, the feeding activity evaluation unit 112 may evaluate the feeding activity such that the higher the amount of image change, the lower the feeding activity. For example, the feeding activity evaluation unit 112 may calculate, as an evaluation result of the feeding activity, a value obtained by performing an operation such as multiplying the reciprocal of the numerical value representing the amount of image change by a predetermined coefficient. As a result, the higher the amount of image change, the lower the evaluation result of the feeding activity.

[0055] The score calculation unit 113 may calculate a feeding score based on the evaluation result of the remaining bait amount by the remaining bait evaluation unit 111 and the evaluation result of the feeding activity by the feeding activity evaluation unit 112. The score calculation unit 113 may calculate the feeding score such that the change direction of the feeding score corresponding to an increase in the remaining bait amount is opposite to the change direction of the feeding score corresponding to an increase in the feeding activity.

[0056] For example, the score calculation unit 113 may calculate the feeding score such that the higher the feeding activity, the higher the feeding score, and the more the remaining bait amount, the lower the feeding score. As an example, the score calculation unit 113 may calculate the feeding score by subtracting the evaluation result of the remaining bait amount from the evaluation result of the feeding activity. The score calculation unit 113 may also calculate the feeding score by performing an operation based on values obtained by weighting the evaluation result of the feeding activity and the evaluation result of the remaining bait amount, respectively.

[0057] For example, as indicated by the block 122 and the addition point 123, the score calculation unit 113 calculates a feeding score by adding a value obtained by multiplying the evaluation result of the remaining food amount by the remaining food evaluation unit 111 by -1 to the evaluation result of the feeding activity by the feeding activity evaluation unit 112.

[0058] Note that the score calculation unit 113 may calculate the feeding score so that the feeding score increases as the remaining food amount increases and the feeding score decreases as the feeding activity increases. As an example, the score calculation unit 113 may calculate the feeding score by subtracting the evaluation result of the feeding activity from the evaluation result of the remaining food amount. The score calculation unit 113 may also calculate the feeding score by performing an operation based on values obtained by weighting the evaluation result of the remaining food amount and the evaluation result of the feeding activity, respectively.

[0059] The feeding speed control unit 114 generates a feeding speed command value based on the evaluation result of the remaining food amount by the remaining food evaluation unit 111 and the evaluation result of the feeding activity by the feeding activity evaluation unit 112, and controls the feeder 5 to feed at a feeding speed corresponding to the feeding speed command value. The feeding speed control unit 114 may calculate the feeding speed command value so that the feeding score follows the target score. The feeding speed control unit 114 may calculate the feeding speed command value so that the feeding speed command value decreases as the remaining food amount increases and the feeding speed command value increases as the feeding activity increases.

[0060] For example, when the feeding score is calculated such that the feeding score increases as the feeding activity increases and the feeding score decreases as the remaining food amount increases, the feeding speed control unit 114 changes the feeding speed command value according to the deviation obtained by subtracting the target score from the feeding score. As the remaining food amount increases, the feeding score decreases, so the above deviation shifts in the negative direction and the feeding speed command value decreases. On the other hand, as the feeding activity increases, the feeding score increases, so the above deviation shifts in the positive direction and the feeding speed command value increases.

[0061] For example, as shown by the addition point 131 and the block 132, the speed control unit 114 performs proportional operation, proportional-integral operation, or proportional-integral-derivative operation, etc. on the deviation obtained by subtracting the target score sc_ref from the feeding score sc to calculate the speed correction value Δm. As shown by the addition point 133, the speed control unit 114 adds the speed correction value Δm to the generated feeding speed command value m to correct the feeding speed command value m. Thereby, the feeding speed command value is calculated such that the feeding speed command value decreases as the remaining feed amount increases, and the feeding speed command value increases as the feeding activity increases.

[0062] When the feeding score is calculated such that the feeding score increases as the remaining feed amount increases and the feeding score decreases as the feeding activity increases, the speed control unit 114 changes the feeding speed command value according to the deviation obtained by subtracting the remaining feed score from the target score. As the remaining feed amount increases, the feeding score increases, so the above deviation shifts in the negative direction and the feeding speed command value decreases. On the other hand, as the feeding activity increases, the feeding score decreases, so the above deviation shifts in the positive direction and the feeding speed command value increases.

[0063] The score calculation unit 113 may reduce the influence degree of the feeding activity on the feeding score in response to the evaluation result of the remaining feed amount exceeding a predetermined level. For example, the score calculation unit 113 has a calculation method switching unit 121. The calculation method switching unit 121 switches between the normal state and the remaining feed priority state in which the influence degree of the feeding activity on the feeding score is lower than that in the normal state.

[0064] For example, in the normal state, the calculation method switching unit 121 outputs the output of the addition point 123 as the feeding score. On the other hand, in the remaining feed priority state, the calculation method switching unit 121 outputs the output of the block 122 as the feeding score. The output of the block 122 is based only on the evaluation result of the remaining feed amount by the remaining feed evaluation unit 111. Therefore, in the illustrated example, in the remaining feed priority state, the influence degree of the feeding activity on the feeding score becomes zero.

[0065] When the remaining feed amount is below a predetermined level, the calculation method switching unit 121 sets the score calculation unit 113 to the normal state, and in response to the remaining feed amount exceeding the predetermined level, switches the score calculation unit 113 from the normal state to the remaining feed priority state. When the normal state switches to the remaining feed priority state, the value of the feeding score becomes lower, so the feeding speed command value becomes even smaller. As a result, the remaining feed amount decreases, and when it falls below the predetermined level, the calculation method switching unit 121 switches the remaining feed priority state to the normal state.

[0066] The feeding control device 100 may be further configured to correct the feeding speed command value based on a pre-planned feeding speed target value. For example, the speed control unit 114 may have a limiter 117. The limiter 117 limits the feeding speed command value to be less than or equal to the feeding speed target value calculated by the management device 200. For example, when the feeding speed command value m corrected by the speed correction value Δm exceeds the feeding speed target value, the limiter 117 changes the feeding speed command value m to the same value as the feeding speed target value. When the feeding speed command value m corrected by the speed correction value Δm is below the feeding speed target value, the limiter 117 does not change the feeding speed command value m. According to the limiter 117, when the feeding speed target value is zero, the feeding speed command value becomes zero.

[0067] Note that the process of correcting the feeding speed command value based on the feeding speed target value is not necessarily limited to the limit process exemplified by the limiter 117. For example, the feeding control device 100 may calculate the average value of the feeding speed command value m corrected by the speed correction value Δm and the feeding speed target value, and change the value of the feeding speed command value m to the average value. In calculating the above average value, the feeding control device 100 may assign a predetermined weight to each of the feeding speed command value m and the feeding speed target value.

[0068] The feeding control device 100 may be configured to be able to change the feeding speed command value even by manual operation. For example, the feeding control device 100 may further include a manual input acquisition unit 115 and an automatic / manual switching unit 116. The manual input acquisition unit 115 acquires the feeding speed command value determined by manual operation. The manual input acquisition unit 115 may acquire the feeding speed command value input by manual operation from the management device 200 with respect to the user interface 295 of the management device 200 described later. The automatic / manual switching unit 116 switches between an automatic mode in which the feeding machine 5 is controlled based on the feeding speed command value calculated by the speed control unit 114 and a manual mode in which the feeding machine 5 is controlled based on the feeding speed command value acquired by the manual input acquisition unit 115. In the manual mode, the speed control unit 114 controls the feeding machine 5 based on the feeding speed command value acquired by the manual input acquisition unit 115.

[0069] The automatic / manual switching unit 116 may acquire a switching command input by manual operation from the management device 200 with respect to the user interface 295 of the management device 200 described later, and switch between the automatic mode and the manual mode according to the acquired switching command.

[0070] As shown in FIG. 2, the management device 200 includes a body weight measurement unit 216, a body weight evaluation unit 211, a feeding amount target value calculation unit 212, a sunrise / sunset information acquisition unit 213, a feeding speed target value calculation unit 214, and a target score setting unit 215.

[0071] The body weight measurement unit 216 measures the body weight of the aquatic organism. Measuring the body weight of the aquatic organism means measuring the body weight of at least one aquatic organism in the fishpond 2, and also includes measuring the total body weight (total weight) of the aquatic organisms in the fishpond 2. In addition, measuring the body weight of the aquatic organism includes measuring a value having a certain degree of correlation with the body weight of the aquatic organism and estimating the body weight of the aquatic organism based on the measurement result.

[0072] As an example, the weight measurement unit 216 measures the size of the aquatic organism and the distance to the aquatic organism in the image based on the image captured by the underwater camera 7 described above, and estimates the weight per aquatic organism based on the measurement results. The weight measurement unit 216 may count the number of aquatic organisms in the aquaculture tank 2 based on the image captured by the underwater camera 7, and estimate the total weight of the aquatic organisms in the aquaculture tank 2 based on the estimation result of the weight per organism and the count result of the number of organisms. The weight measurement unit 216 may repeat the measurement of the weight of the aquatic organism at a predetermined measurement cycle.

[0073] The weight evaluation unit 211 evaluates the weight of the aquatic organism. Evaluating the weight of the aquatic organism includes measuring the weight of the aquatic organism and estimating the weight of the aquatic organism based on past data. Evaluating the weight of the aquatic organism includes evaluating the weight per aquatic organism and evaluating the total weight (total combined weight) of the aquatic organism.

[0074] For example, as an example of evaluating the weight of the aquatic organism, the weight evaluation unit 211 may execute obtaining the measurement result of the weight of the aquatic organism, evaluating the amount of food intake from the measurement time point of the weight of the aquatic organism to the evaluation target time point based on the feeding rate, estimating the weight increase rate of the aquatic organism from the measurement time point to the evaluation target time point based on the evaluation result of the amount of food intake, and estimating the weight of the aquatic organism at the evaluation target time point based on the measurement result of the weight of the aquatic organism and the estimation result of the weight increase rate of the aquatic organism. As an example of the measurement result of the weight of the aquatic organism, the weight evaluation unit 211 may obtain the measurement result of the weight of the aquatic organism by the weight measurement unit 216. The increase rate is a value representing the degree of increase in a dimensionless ratio. The increase rate may be the ratio of the increase amount to the amount before the increase, or the ratio of the increase amount to the amount after the increase. For example, the weight increase rate may be the ratio of the weight increase amount to the weight before the increase, or the ratio of the weight increase amount to the weight after the increase.

[0075] Note that the method for measuring the weight of aquatic organisms is not limited to the above measurement based on the images captured by the underwater camera 7. The weight evaluation unit 211 may obtain the measurement results of the weight directly obtained by landing one or more aquatic organisms.

[0076] The weight evaluation unit 211 may further execute estimating the number of aquatic organisms at the time of evaluation based on the predicted reduction rate of the number of aquatic organisms. In this case, the weight evaluation unit 211 may estimate the total weight of the aquatic organisms at the time of evaluation based on the predicted reduction rate of the number of aquatic organisms.

[0077] For example, the weight evaluation unit 211 obtains the measurement results of the weight per aquatic organism from the weight measurement unit 216, and estimates the weight per aquatic organism at the time of evaluation based on the measurement results of the weight per aquatic organism and the estimated results of the weight increase rate of the aquatic organisms. Then, based on the estimated results of the weight per individual and the estimated results of the number of individuals, the weight evaluation unit 211 may estimate the total weight of the aquatic organisms at the time of evaluation.

[0078] In estimating the number of aquatic organisms, the weight evaluation unit 211 may estimate the number of aquatic organisms at the time of evaluation based on the number measured before being put into the fish basket 2 and the predicted reduction rate. More specifically, the weight evaluation unit 211 may estimate the number of individuals reduced until the time of evaluation based on the number of individuals, the predicted reduction rate, and the elapsed time from the measurement time to the time of evaluation, and subtract the estimated results of the number of reduced individuals from the measured number of individuals to estimate the number of aquatic organisms at the time of evaluation.

[0079] The feeding amount target value calculation unit 212 calculates the daily feeding amount target value based on the evaluation results of the weight of the aquatic organisms. For example, the feeding amount target value calculation unit 212 multiplies the predetermined target feeding rate by the total weight to calculate the feeding amount target value. The feeding rate is the ratio of the daily feeding amount to the total weight of the aquatic organisms. The target feeding rate is the target value of the feeding rate.

[0080] The feeding amount target value calculation unit 212 may specify the target feeding rate for the date based on the feeding rate profile representing the relationship between the date and the feeding rate and the date for which the feeding amount target value is to be calculated, and multiply the specified target feeding rate by the total body weight to calculate the feeding amount target value.

[0081] The sunrise / sunset information acquisition unit 213 acquires information on the sunrise / sunset times. For example, the sunrise / sunset information acquisition unit 213 acquires information on the sunrise / sunset times via a wide area network from an information site that discloses information on the sunrise / sunset times. The information on the sunrise / sunset times may be stored in advance in the management device 200. In this case, the sunrise / sunset information acquisition unit 213 acquires information on the sunrise / sunset times based on the data stored in its own device.

[0082] The feeding speed target value calculation unit 214 calculates a feeding speed target value corresponding to the time based on a feeding pattern representing the relationship between the elapsed time from the start time of feeding to the end time of feeding and the feeding speed. The feeding pattern only needs to represent at least the relative change in the feeding speed corresponding to the change in time, and may not indicate the magnitude of the feeding speed at each time. In this case, other information is required to determine the feeding speed target value corresponding to the time based on the feeding pattern.

[0083] The feeding speed target value calculation unit 214 may use the above-described daily feeding amount target value as other information, and calculate a feeding speed target value corresponding to the time based on the feeding amount target value and the feeding pattern. For example, the feeding speed target value calculation unit 214 calculates a feeding speed target value corresponding to the time such that the total feeding amount from the start time of feeding to the end time of feeding according to the feeding pattern matches the feeding amount target value. As an example, the feeding speed target value calculation unit 214 may represent the feeding speed at each time as a ratio to the total daily feeding amount based on the feeding pattern, and multiply the ratio at each time by the feeding amount target value to calculate the feeding speed target value at each time.

[0084] The feeding speed target value calculation unit 214 may change the feeding start time of the feeding pattern according to the sunrise time, change the feeding end time of the feeding pattern according to the sunset time, and calculate the feeding speed target value corresponding to the time based on the changed feeding pattern.

[0085] By changing the feeding start time and the feeding end time, the time from the start of feeding to the end of feeding also changes. Hereinafter, this time is referred to as "feeding time", the feeding time before changing the feeding start time and the feeding end time is referred to as "feeding time before change", and the feeding time after changing the feeding start time and the feeding end time is referred to as "feeding time after change". The feeding speed target value calculation unit 214 may expand or contract the entire feeding pattern in the time axis direction at the ratio of the feeding time after change to the feeding time before change.

[0086] The feeding speed target value calculated by the feeding speed target value calculation unit 214 is used for correcting the feeding speed command value in the feeding control device 100 as described above. When the feeding speed command value is suppressed to be equal to or less than the feeding speed target value as in the case of the limit process described above, the actual value of the daily feeding amount will always be suppressed to be equal to or less than the feeding amount target value. To avoid this, the feeding speed target value calculation unit 214 may expand the feeding speed target value calculated based on the feeding amount target value and the feeding pattern by multiplying it by a predetermined magnification or the like.

[0087] The target score setting unit 215 sets the above-mentioned target score for the feeding score. The target score setting unit 215 may change the feeding score based on user input. For example, when the position of the line indicating the target score is changed by the user in the feeding score graph 400 described later, the target score setting unit 215 may set the target score accordingly.

[0088] The management device 200 may be further configured to display the above-described feeding pattern on the user interface. The management device 200 may be further configured to change the feeding pattern based on an editing input for the feeding pattern displayed on the user interface.

[0089] The management device 200 may be further configured to save the feeding pattern displayed on the user interface based on a save command input, and to read out the saved feeding pattern and display it on the user interface based on a read command input. The management device 200 may be further configured to assign the saved feeding pattern to a shortcut object (e.g., a shortcut button) on the user interface based on an assignment command input, and to read out the saved feeding pattern and display it on the user interface in response to an operation of the shortcut object.

[0090] Furthermore, the management device 200 may be further configured to display the above-described feeding rate profile on the user interface. The management device 200 may be further configured to change the feeding rate profile based on an editing input for the feeding rate profile displayed on the user interface.

[0091] For example, as shown in FIG. 3, the management device 200 includes a feeding pattern acquisition unit 221, a target feeding rate acquisition unit 222, a feeding pattern storage unit 223, a feeding pattern memory unit 224, a feeding pattern readout unit 225, and a shortcut processing unit 226.

[0092] The feeding pattern acquisition unit 221 displays a feeding pattern input screen on a user interface 295 described later, and acquires a feeding pattern based on the input to the feeding pattern input screen. For example, the feeding pattern acquisition unit 221 may display a feeding pattern on the feeding pattern input screen, and change the feeding pattern based on an edit input for the feeding pattern displayed on the feeding pattern input screen. When the feeding pattern acquisition unit 221 changes the feeding pattern, the above-described feeding rate target value calculation unit 214 calculates a feeding rate target value according to time based on the changed feeding pattern.

[0093] The feeding pattern acquisition unit 221 may display the sunrise time and the sunset time on the feeding pattern input screen together with the feeding pattern. The feeding pattern acquisition unit 221 may display the correspondence between the elapsed time in the feeding pattern and the sunrise time and the sunset time on the feeding pattern input screen.

[0094] The target feeding rate acquisition unit 222 displays a feeding rate input screen on a user interface 295 described later, and acquires a feeding rate profile based on the input to the feeding rate input screen. For example, the target feeding rate acquisition unit 222 may display a feeding rate profile on the feeding rate input screen, and change the feeding rate profile based on an edit input for the feeding rate profile displayed on the feeding rate input screen. When the target feeding rate acquisition unit 222 changes the feeding rate profile, the above-described feeding amount target value calculation unit 212 specifies the feeding rate profile of the date for which the feeding amount target value is to be calculated based on the changed feeding rate profile.

[0095] FIG. 4 is a diagram illustrating a planning screen that combines the above-described feeding pattern input screen and feeding rate input screen. The feeding pattern acquisition unit 221 and the target feeding rate acquisition unit 222 display the planning screen 300 shown in FIG. 4 for one of the plurality of fish cages 2 that is the input target for the feeding pattern and the feeding rate profile.

[0096] The planning screen 300 includes a feeding pattern input screen 310 and a feeding rate input screen 320. The planning screen 300 includes a numerical input section 311, a feeding pattern display section 312, an update button 313, a read button 314, a save button 315, and shortcut buttons 316, 317.

[0097] The numerical input section 311 includes a plurality of numerical input boxes 311a for each time. The feeding pattern acquisition unit 221 displays the input numerical values for the plurality of numerical input boxes 311a. As will be described later, since the numerical values displayed in the plurality of numerical input boxes 311a are acquired as a feeding pattern, displaying the input numerical values for the plurality of numerical input boxes 311a corresponds to an example of displaying the input feeding pattern.

[0098] The feeding pattern display section 312 displays the feeding pattern displayed in the numerical input section 311 as a graph. For example, the feeding pattern display section 312 displays the feeding pattern by a graph in which the horizontal axis represents the elapsed time and the vertical axis represents the relative magnitude of the feeding rate. The feeding pattern acquisition unit 221 changes the colors of the area corresponding to the time period from sunrise to sunset and the area corresponding to other time periods in the feeding pattern display section 312. As a result, the correspondence between the elapsed time in the feeding pattern and the sunrise time and sunset time is displayed in the feeding pattern display section 312.

[0099] The update button 313 is a button for instructing to update the feeding pattern based on the input to the numerical input section 311. When the update button 313 is operated (for example, clicked), the feeding pattern acquisition unit 221 changes the feeding pattern based on the numerical values displayed in the plurality of numerical input boxes 311a. For example, the feeding pattern acquisition unit 221 acquires, as the changed feeding pattern, the feeding pattern in which the numerical values displayed in the plurality of numerical input boxes 311a are associated with a plurality of times in the same correspondence as the display in the numerical input section 311.

[0100] The save button 315 is a button for performing a save command input that instructs to save the feeding pattern displayed on the numerical input section 311 and the feeding pattern display section 312. The read button 314 is a button for performing a read command input that instructs to read the saved feeding pattern. The shortcut buttons 316 and 317 are buttons for instructing to read a pre-assigned saved feeding pattern.

[0101] The feeding rate input screen 320 includes a numerical input section 321, a feeding rate profile display section 322, and an update button 323. The numerical input section 321 includes a plurality of numerical input boxes 321a for each period of a predetermined length. Each period is specified by, for example, a start month and day and an end month and day. The target feeding rate acquisition section 222 displays the input numerical value for each of the plurality of numerical input boxes 321a. As will be described later, the numerical values displayed in the plurality of numerical input boxes 321a are acquired as a feeding rate profile. Therefore, displaying the input numerical values for the plurality of numerical input boxes 321a corresponds to an example of displaying the input feeding rate profile.

[0102] The feeding rate profile display section 322 displays the feeding rate profile displayed on the numerical input section 321 in a graph. For example, the feeding rate profile display section 322 displays the feeding rate profile by a graph in which the horizontal axis represents the elapsed time and the vertical axis represents the magnitude of the feeding rate.

[0103] The update button 323 is a button for instructing to update the feeding rate profile based on the input to the numerical input section 321. When the update button 323 is operated (for example, clicked), the target feeding rate acquisition section 222 changes the feeding rate profile based on the numerical values displayed in the plurality of numerical input boxes 321a. For example, the target feeding rate acquisition section 222 acquires, as the changed feeding rate profile, a feeding rate profile in which the numerical values displayed in the plurality of numerical input boxes 321a are associated with the plurality of periods in the same correspondence as the display in the numerical input section 321.

[0104] Returning to FIG. 3, based on the input of a save command, the feeding pattern storage unit 223 stores the feeding pattern displayed on the user interface in the feeding pattern storage unit 224. For example, in response to the input of a save command by operating (e.g., clicking) the save button 315, the feeding pattern storage unit 223 causes the feeding pattern storage unit 224 to store the feeding pattern displayed on the numerical input unit 311 and the feeding pattern display unit 312.

[0105] Based on the input of a read command, the feeding pattern reading unit 225 reads out the saved feeding pattern and displays it on the user interface. For example, in response to the input of a read command by operating (e.g., clicking) the read button 314, the feeding pattern reading unit 225 displays a selection screen for the saved feeding pattern, reads out the selected feeding pattern from the feeding pattern storage unit 224, and displays it on the numerical input unit 311 and the feeding pattern display unit 312.

[0106] Based on the input of an assignment command, the shortcut processing unit 226 assigns the saved feeding pattern to the shortcut object on the user interface. For example, in response to the input of an assignment command by a secondary operation (e.g., right-click) on the shortcut buttons 316, 317, the shortcut processing unit 226 displays a selection screen for the saved feeding pattern, and assigns the selected feeding pattern to the shortcut buttons 316, 317.

[0107] In response to the operation of the shortcut object, the shortcut processing unit 226 reads out the saved feeding pattern and displays it on the user interface. For example, in response to the primary operation (e.g., left-click) on the shortcut buttons 316, 317, the shortcut processing unit 226 causes the feeding pattern reading unit 225 to read out the feeding pattern assigned to the shortcut buttons 316, 317 from the feeding pattern storage unit 224 and display it on the numerical input unit 311 and the feeding pattern display unit 312.

[0108] The management device 200 may be configured to display the feeding score on the user interface, may be configured to display the current feeding rate on the user interface for each of the plurality of aquariums 2, and may be configured to display the feeding rate and the growth rate of the total body weight of the aquatic organisms on the user interface for each of the plurality of aquariums 2. In addition to the feeding rate, the management device 200 may be configured to display the achievement rate with respect to the target feeding amount value on the user interface.

[0109] For example, the management device 200 further includes a feeding score display unit 231, a feeding amount calculation unit 233, a feeding status display unit 232, a feeding rate calculation unit 234, a growth rate calculation unit 235, and a distribution chart display unit 236. The feeding score display unit 231 displays the feeding score on the user interface. The feeding score display unit 231 may display the target score on the user interface together with the feeding score. For example, the feeding score display unit 231 displays the feeding scores for each of the plurality of aquariums 2 in a graph and displays a line representing the target score within the graph.

[0110] FIG. 5 is a diagram illustrating a display screen of the feeding score. The feeding score graph 400 shown in FIG. 5 represents the feeding scores for each of the plurality of aquariums 2 by bar graphs. In the feeding score graph 400, a plurality of bar graphs representing the feeding scores of the plurality of aquariums 2 are arranged along the vertical direction. As the feeding score increases in the negative direction, the feeding score display unit 231 extends the corresponding bar graph leftward from the zero line 411, and as the feeding score increases in the positive direction, the feeding score display unit 231 extends the corresponding bar graph rightward from the zero line 411.

[0111] The feeding score display unit 231 displays a target line 412 parallel to the zero line 411 within the feeding score graph 400. When an operation (such as a drag operation) to change the position of the target line 412 is performed in the feeding score graph 400, the feeding score display unit 231 changes the display position of the target line 412 according to the operation. Accordingly, the above-described target score setting unit 215 changes the target score based on the position of the changed target line 412.

[0112] The feeding amount calculation unit 233 calculates the actual feeding amount value by integrating the feeding speed command value in the feeding control device 100. The feeding status display unit 232 displays the current feeding speed for each of the plurality of aquaculture tanks 2 on the user interface. The feeding status display unit 232 may further display the achievement rate with respect to the feeding amount target value for each of the plurality of aquaculture tanks 2 on the user interface.

[0113] The feeding status display unit 232 may indicate the feeding speed and the achievement rate for each of the plurality of aquaculture tanks 2 numerically or graphically. The status screen 500 shown in FIG. 6 is an example of the screen displayed by the feeding status display unit 232. In the status screen 500, the feeding status display unit 232 displays, for each of the plurality of aquaculture tanks 2, the identification information of the aquaculture tank 2, the feeding speed [g / min], the total amount per day [kg] which is the actual feeding amount value on the date to which the current time belongs, and the total amount for the period [kg] which is the actual feeding amount value in the period to which the current time belongs. The feeding status display unit 232 displays the ratio [%] of the total amount per day to the feeding amount target value on the above date as an example of the above achievement rate. Further, the feeding status display unit 232 displays the ratio [%] of the total amount for the period to the total of the feeding amount target values in the above period as an example of the above achievement rate.

[0114] The feeding rate calculation unit 234 calculates the actual value of the daily feeding rate each time the feeding from the start time to the end time of feeding is completed. The growth rate calculation unit 235 calculates the growth rate of the total weight each time the weight is measured by the weight measurement unit 216. For example, the growth rate calculation unit 235 calculates the growth rate of the total weight per day based on the increase amount from the total weight based on the previous measurement result to the total weight based on the current measurement result and the period from the previous measurement to the current measurement.

[0115] The distribution chart display unit 236 displays the feeding rate and the growth rate of the total weight of the aquatic organisms on the user interface for each of the plurality of aquaculture ponds 2. For example, the distribution chart display unit 236 maps the feeding rate calculated by the feeding rate calculation unit 234 and the growth rate calculated by the distribution chart display unit 236 to coordinates having a first coordinate axis representing the magnitude of the feeding rate and a second coordinate axis representing the magnitude of the growth rate, and displays a distribution chart mapped for each of the plurality of aquaculture ponds 2. The distribution chart display unit 236 may further display a plurality of contour lines representing the relationship between the feeding rate and the growth rate on the distribution chart for each growth coefficient representing the ratio of the feeding rate to the growth rate (a plurality of contour lines of the growth coefficient may be displayed on the distribution chart).

[0116] FIG. 7 is a diagram illustrating a distribution chart displayed by the feeding rate calculation unit 234. The distribution chart 600 shown in FIG. 7 includes coordinates having a horizontal axis (first coordinate axis) representing the magnitude of the feeding rate and a vertical axis (second coordinate axis) representing the magnitude of the growth rate. The distribution chart display unit 236 maps a plurality of data points 612 representing the feeding rate and the growth rate for each of the plurality of aquaculture ponds 2 to the coordinates of the distribution chart 600. Further, the distribution chart display unit 236 displays a plurality of contour lines 611 on the distribution chart 600. According to the distribution chart display unit 236, it is possible to easily display the magnitude of the feeding rate and the growth rate in each aquaculture pond 2, and to easily display the magnitude of the growth coefficient in each aquaculture pond 2.

[0117] FIG. 8 is a diagram illustrating the hardware configuration of the feeding control device 100 and the management device 200. As shown in FIG. 8, the management device 200 has a circuit 290. The circuit 290 includes one or more processors 291, a memory 292, a storage 293, a communication port 294, and a user interface 295. The storage 293 stores, in a storage medium, a program that causes the management device 200 to calculate a target feeding speed value according to time based on a feeding pattern representing the relationship between the elapsed time from the start time of feeding to the end time of feeding and the feeding speed. For example, the storage 293 stores a program that causes the management device 200 to configure each of the above-described functional blocks. Specific examples of the storage medium constituting the storage 293 include a nonvolatile semiconductor memory or a hard disk.

[0118] The memory 292 temporarily stores the program loaded from the storage 293. Specific examples of the storage medium constituting the memory 292 include a RAM (Random Access Memory). One or more processors 291 execute information processing corresponding to the program loaded into the memory 292 and constitute each functional block. Intermediate calculation results generated by the information processing of one or more processors 291 are temporarily stored in the memory 292.

[0119] The communication port 294 communicates with the feeding control device 100 in response to a command from one or more processors 291. The user interface 295 includes a display device such as a liquid crystal monitor and input devices such as a keyboard and a mouse. The user interface 295 notifies one or more processors 291 of an input to the input device and displays an interface image on the display device in response to a command from one or more processors 291. In the user interface 295, the input device may be incorporated in the display device like a so-called touch panel.

[0120] 〔Feeding Method〕 Next, as an example of the feeding method, the feeding procedure executed by the feeding system 3 will be illustrated in detail. This procedure includes a feeding rate profile acquisition procedure, a feeding pattern acquisition procedure, a body weight evaluation procedure, a generation procedure for the target feeding speed value, an automatic feeding control procedure, a manual feeding control procedure, a display procedure for the feeding score, a display procedure for the feeding status, and a display procedure for the distribution chart. Each procedure will be illustrated in detail below.

[0121] (Feeding Rate Profile Acquisition Procedure) This procedure is executed by the management device 200 when the feeding planning function is called by the user interface 295. As shown in FIG. 9, the management device 200 first executes steps S01 and S02.

[0122] In step S01, the target feeding rate acquisition unit 222 displays a feeding rate input screen on the user interface 295. For example, the target feeding rate acquisition unit 222 displays the above-described planning screen 300 on the user interface 295. At this time, the target feeding rate acquisition unit 222 may display the acquired latest feeding rate profile on the numerical input unit 321 and the feeding rate profile display unit 322. If there is no acquired feeding rate profile, the target feeding rate acquisition unit 222 may display a predetermined initial profile on the numerical input unit 321 and the feeding rate profile display unit 322.

[0123] In step S02, the target feeding rate acquisition unit 222 checks whether there is an editing input for the feeding rate profile displayed on the feeding rate input screen 320. In step S02, if it is determined that there is an editing input, the management device 200 executes step S03. In step S03, the target feeding rate acquisition unit 222 updates the numerical input unit 321 and the feeding rate profile display unit 322 according to the editing input.

[0124] Next, the management device 200 executes step S04. If it is determined in step S02 that there is no editing input, the management device 200 executes step S04 without executing step S03. In step S04, the target feeding rate acquisition unit 222 checks whether there is an update command input by operating the update button 323. If it is determined in step S04 that there is no update command input, the management device 200 returns the process to step S02.

[0125] If it is determined in step S04 that there is an update command input, the management device 200 executes step S05. In step S05, the target feeding rate acquisition unit 222 changes the feeding rate profile based on the numerical values displayed in the plurality of numerical input boxes 321a.

[0126] Thereafter, the management device 200 returns the process to step S02. Thereafter, the management device 200 repeats steps S02 to S05 until the planning screen 300 is closed. The management device 200 executes the above procedure for each of the plurality of aquaculture tanks 2.

[0127] (Feeding pattern acquisition procedure) This procedure is also executed by the management device 200 when the above-described feeding planning function is called. This procedure includes displaying the feeding pattern on the user interface. This procedure may further include displaying the sunrise time and sunset time on the user interface together with the feeding pattern, and may further include changing the feeding pattern based on an editing input for the feeding pattern displayed on the user interface.

[0128] Further, this procedure may further include saving the feeding pattern displayed on the user interface based on a save command input, and reading out the saved feeding pattern and displaying it on the user interface based on a read command input. It may further include assigning the saved feeding pattern to a shortcut object on the user interface based on an assignment command input, and reading out the saved feeding pattern and displaying it on the user interface in response to an operation of the shortcut object.

[0129] As shown in FIG. 10, the management device 200 executes steps S11 and S12. In step S11, the feeding pattern acquisition unit 221 displays a feeding pattern input screen on the user interface 295. For example, the feeding pattern acquisition unit 221 displays the above-described planning screen 300 on the user interface 295. At this time, the feeding pattern acquisition unit 221 may display the latest acquired feeding pattern on the numerical input unit 311 and the feeding pattern display unit 312. If there is no acquired feeding pattern, the feeding pattern acquisition unit 221 may display a predetermined initial pattern on the numerical input unit 311 and the feeding pattern display unit 312.

[0130] In step S12, the feeding pattern reading unit 225 checks whether there is a read command input by operating the read button 314. In step S12, if it is determined that there is a read command input, the management device 200 executes steps S13 and S14.

[0131] In step S13, the feeding pattern reading unit 225 displays a selection screen for the saved feeding pattern. In step S14, the feeding pattern reading unit 225 reads out the selected feeding pattern from the feeding pattern storage unit 224 and displays it on the numerical input unit 311 and the feeding pattern display unit 312.

[0132] Next, the management device 200 executes step S15. If it is determined in step S12 that there is no read command input, the management device 200 executes step S15 without executing steps S13 and S14. In step S15, the shortcut processing unit 226 checks whether there is a main operation on the shortcut buttons 316 and 317. If it is determined in step S15 that there is a main operation on the shortcut buttons 316 and 317, the management device 200 executes step S16. In step S16, the shortcut processing unit 226 reads the feeding pattern assigned to the shortcut buttons 316 and 317 from the feeding pattern storage unit 224 and displays it on the numerical input unit 311 and the feeding pattern display unit 312.

[0133] Next, the management device 200 executes step S17. If it is determined in step S15 that there is no main operation on the shortcut buttons 316 and 317, the management device 200 executes step S17 without executing step S16. In step S17, the feeding pattern acquisition unit 221 checks whether there is an editing input for the feeding pattern displayed on the feeding pattern input screen 310. If it is determined in step S17 that there is an editing input, the management device 200 executes step S18. In step S18, the feeding pattern acquisition unit 221 updates the numerical input unit 311 and the feeding pattern display unit 312 according to the editing input.

[0134] Next, the management device 200 executes step S21. If it is determined in step S17 that there is no editing input, the management device 200 executes step S21 without executing step S18. In step S21, the feeding pattern acquisition unit 221 checks whether there is an update command input by operating the update button 313. If it is determined in step S21 that there is an update command input, the management device 200 executes step S22. In step S22, the feeding pattern acquisition unit 221 changes the feeding rate profile based on the numerical values displayed in the plurality of numerical input boxes 321a.

[0135] Next, the management device 200 executes step S23. If it is determined in step S21 that there is no update command input, the management device 200 executes step S23 without executing step S22. In step S23, it is confirmed whether there is a save command input by operating the save button 315. If it is determined in step S23 that there is a save command input, the management device 200 executes step S24. In step S24, the feeding pattern storage unit 223 causes the feeding pattern storage unit 224 to store the feeding pattern displayed on the numerical input unit 311 and the feeding pattern display unit 312.

[0136] Next, the management device 200 executes step S25. If it is determined in step S23 that there is no save command input, the management device 200 executes step S25 without executing step S24. In step S25, the shortcut processing unit 226 checks whether there is an assignment command input by secondary operations of the shortcut buttons 316 and 317. If it is determined in step S25 that there is an assignment command input, the management device 200 executes steps S26 and S27. In step S26, the shortcut processing unit 226 displays a selection screen for the saved feeding pattern. In step S27, the shortcut processing unit 226 assigns the selected feeding pattern to the shortcut buttons 316 and 317.

[0137] Thereafter, the management device 200 returns the process to step S12. If it is determined in step S25 that there is no assignment command input, the management device 200 returns the process to step S12 without executing steps S26 and S27. Thereafter, the management device 200 repeats steps S11 to S27 until the planning screen 300 is closed. The management device 200 executes the above procedure for each of a plurality of livestock 2.

[0138] (Weight evaluation procedure) This procedure includes measuring the weight of the aquatic organism, evaluating the amount of food intake from the time point of measuring the weight of the aquatic organism to the evaluation target time point based on the feeding rate, estimating the weight gain rate of the aquatic organism from the measurement time point to the evaluation target time point based on the evaluation result of the food intake amount, and estimating the weight of the aquatic organism at the evaluation target time point based on the measurement result of the total weight of the aquatic organism and the estimated result of the weight gain rate of the aquatic organism. This procedure further includes estimating the number of aquatic organisms at the evaluation target time point based on the number of aquatic organisms placed in the aquaculture tank 2, and may further estimate the total weight of the aquatic organisms at the evaluation target time point based on the estimated result of the number of aquatic organisms at the evaluation target time point. For example, based on the measurement result of the weight per aquatic organism and the estimated result of the weight gain rate of the aquatic organism, the weight per aquatic organism at the evaluation target time point may be estimated, and based on the estimated result of the weight per individual and the estimated result of the number of individuals, the total weight of the aquatic organisms at the evaluation target time point may be estimated.

[0139] As shown in FIG. 11, the management device 200 executes steps S31, S32, S33, S34, and S35. In step S31, the weight evaluation unit 211 acquires information on the number of individuals measured before being placed in the aquaculture tank 2. Hereinafter, the information on the number of individuals acquired in step S31 is referred to as "initial number of individuals". In step S32, the weight measurement unit 216 measures the weight per aquatic organism. In step S33, the weight evaluation unit 211 waits for the date to change. In step S34, the weight evaluation unit 211 estimates the current number of individuals based on the predicted reduction rate of the aquatic organism and the initial number of individuals. In step S34, the weight evaluation unit 211 may estimate the current number of individuals by subtracting the actual number of aquatic organisms that died after being placed in the aquaculture tank 2 from the initial number of individuals.

[0140] In step S35, the weight evaluation unit 211 checks whether the current time is the weight measurement timing. In step S35, if it is determined that the current time is the weight measurement timing, the management device 200 executes step S36. In step S35, if it is determined that the current time is not the weight measurement timing, the management device 200 executes step S37. In step S36, the weight measurement unit 216 measures the weight per aquatic organism. In step S37, the weight evaluation unit 211 estimates the weight per aquatic organism based on the feeding amount.

[0141] The weight evaluation unit 211 evaluates the feeding amount from the most recent weight measurement time to the present based on the feeding rate. For example, the weight evaluation unit 211 calculates the actual feeding amount value obtained by integrating the feeding rate from the most recent weight measurement time to the present as the evaluation result of the feeding amount. The weight evaluation unit 211 may calculate, as the evaluation result of the feeding amount, a value obtained by subtracting the estimated residual food amount from the actual feeding amount value. The weight evaluation unit 211 estimates the weight increase rate of the aquatic organism from the measurement time to the evaluation target time based on the evaluation result of the feeding amount, and estimates the current weight of the aquatic organism based on the measurement result of the weight of the aquatic organism and the estimated result of the weight increase rate of the aquatic organism.

[0142] After steps S36 and S37, the management device 200 executes step S38. In step S38, the weight evaluation unit 211 estimates the total weight of the aquatic organisms at the evaluation target time based on the estimated result of the weight per individual and the estimated result of the number of individuals. Then, the management device 200 returns the process to step S34. The management device 200 executes the above procedure for each of a plurality of aquariums 2.

[0143] (Feeding plan procedure) This procedure includes calculating a target feeding rate corresponding to the time based on a feeding pattern that represents the relationship between the elapsed time from the start feeding time to the end feeding time and the feeding rate. This procedure further includes changing the start feeding time according to the sunrise time and changing the end feeding time according to the sunset time, and calculating the target feeding rate corresponding to the time based on the feeding pattern in which the start feeding time is changed according to the sunrise time and the end feeding time is changed according to the sunset time.

[0144] This procedure further includes calculating a target daily feeding amount based on the evaluation result of the weight of the aquatic organism, and calculating the target feeding rate corresponding to the time based on the target feeding amount and the feeding pattern. For example, the target feeding rate corresponding to the time may be calculated so that the total feeding amount from the start feeding time to the end feeding time according to the feeding pattern matches the target feeding amount.

[0145] As shown in FIG. 12, the management device 200 executes steps S41, S42, S43, and S44. In step S41, the target feeding rate calculation unit 214 waits for the date to change. In step S42, the sunrise / sunset information acquisition unit 213 acquires the information on the sunrise and sunset times of the next day. In step S43, the target feeding amount calculation unit 212 calculates the target daily feeding amount based on the evaluation result of the weight of the aquatic organism. In step S44, the target feeding rate calculation unit 214 changes the start feeding time of the feeding pattern according to the sunrise time and changes the end feeding time of the feeding pattern according to the sunset time, and calculates the target feeding rate corresponding to the time based on the changed feeding pattern and the target feeding amount. Hereinafter, the target feeding rate corresponding to the time of one day is referred to as a "feeding plan".

[0146] The management device 200 repeatedly executes the above procedure for each of the plurality of aquariums 2. When the feeding pattern acquisition unit 221 described above changes the feeding pattern, the management device 200 calculates the target feeding rate corresponding to the time based on the changed feeding pattern.

[0147] (Automatic Feeding Control Procedure) This procedure includes evaluating the remaining feed amount based on the detection result of the environment inside the fish tank 2 by the sensor 6 installed in the fish tank 2, evaluating the feeding activity of the aquatic organisms in the fish tank 2 based on the detection result of the environment inside the fish tank 2, generating a feeding speed command value based on the evaluation result of the remaining feed amount and the evaluation result of the feeding activity, and controlling the feeder 5 to feed at a feeding speed corresponding to the feeding speed command value.

[0148] The feeding speed command value may be calculated such that the greater the remaining feed amount, the smaller the feeding speed command value, and the higher the feeding activity, the larger the feeding speed command value. A feeding score may be calculated based on the evaluation result of the remaining feed amount and the evaluation result of the feeding activity, and the feeding speed command value may be calculated so that the feeding score follows the target score. The feeding score may be calculated such that the change direction of the feeding score in response to an increase in the remaining feed amount is opposite to the change direction of the feeding score in response to an increase in the feeding activity. The influence degree of the feeding activity on the feeding score may be lowered in response to the remaining feed amount exceeding a predetermined level.

[0149] This procedure may further include correcting the feeding speed command value based on a pre-planned feeding speed target value.

[0150] In the fish tank 2, the remaining feed amount may be evaluated based on an image of the underwater camera 8 installed upward below the feeding area of the aquatic organisms, and the feeding activity may be further evaluated based on the image of the underwater camera 8. Based on the image of the underwater camera 8, the amount of image change caused by the movement of the aquatic organisms may be calculated, and the feeding activity may be evaluated based on the amount of image change. The feeding activity may be evaluated such that the higher the amount of image change, the lower the feeding activity.

[0151] As shown in FIG. 13, the feeding control device 100 executes steps S51, S52, S53, S54, and S55. In step S51, the speed control unit 114 waits for an update of the feeding plan. In step S52, the speed control unit 114 waits for the feeding start time in the new feeding plan. In step S53, the speed control unit 114 starts controlling the feeder 5 based on the new feeding plan. In step S54, the speed control unit 114 waits for the feeding end time in the new feeding plan. In step S55, the speed control unit 114 stops controlling the feeder 5 based on the new feeding plan. The feeding control device 100 repeatedly executes the above procedure.

[0152] FIG. 14 is a flowchart illustrating a control procedure that starts in step S53 and stops in step S55. As shown in FIG. 14, the feeding control device 100 executes steps S61, S62, S63, and S64. In step S61, the limiter 117 specifies a target feeding speed value corresponding to the current time based on the current time and the feeding plan. In step S62, the remaining feed evaluation unit 111 acquires an underwater image captured by the underwater camera 8. In step S63, the remaining feed evaluation unit 111 evaluates the amount of remaining feed based on the underwater image, and the feeding activity evaluation unit 112 evaluates the feeding activity based on the underwater image. In step S64, the calculation method switching unit 121 checks whether the evaluation result of the amount of remaining feed is below a priority threshold value, which is an example of the above predetermined level.

[0153] In step S64, if it is determined that the evaluation result of the amount of remaining feed is below the priority threshold value, the feeding control device 100 executes step S65. In step S64, if it is determined that the evaluation result of the amount of remaining feed exceeds the priority threshold value, the feeding control device 100 executes step S66.

[0154] In step S65, the calculation method switching unit 121 sets the score calculation unit 113 to the above-described normal state. As a result, the score calculation unit 113 calculates a feeding score based on the evaluation result of the remaining food amount and the evaluation result of the feeding activity by the calculation method in the normal state. In step S66, the calculation method switching unit 121 sets the score calculation unit 113 to the above-described remaining food priority state. As a result, the score calculation unit 113 calculates a feeding score based on at least the evaluation result of the remaining food amount by the calculation method in the remaining food priority state in which the influence degree of the feeding activity on the feeding score is lower than that in the normal state calculation method.

[0155] Next to steps S65 and S66, the feeding control device 100 executes steps S67 and S68. In step S67, the speed control unit 114 calculates a feeding speed command value so as to make the feeding score calculated by the score calculation unit 113 follow the target score. In step S68, the limiter 117 checks whether the calculated feeding speed command value exceeds the feeding speed target value. In step S68, when it is determined that the feeding speed command value exceeds the feeding speed target value, the feeding control device 100 executes step S71. In step S71, the limiter 117 changes the feeding speed command value to the same value as the feeding speed target value.

[0156] Next, the feeding control device 100 executes steps S72 and S73. In step S68, when it is determined that the feeding speed command value is lower than the feeding speed target value, the feeding control device 100 executes steps S72 and S73 without executing step S71. In step S72, the speed control unit 114 controls the feeder 5 to feed at the feeding speed corresponding to the feeding speed command value. In step S73, the feeding amount calculation unit 233 updates the calculation result of the actual feeding amount value by integrating the feeding speed command value. Thereafter, the feeding control device 100 returns the process to step S61. The feeding control device 100 repeats the above process at a predetermined control cycle.

[0157] (Manual feeding control procedure) This procedure is the one that the feeding control device 100 executes instead of the above-described steps S61 to S73 when the above-described automatic / manual switching unit 116 is in the manual mode. As shown in FIG. 15, the feeding control device 100 executes steps S81, S82, and S83. In step S81, the manual input acquisition unit 115 acquires a feeding speed command value determined by manual operation. In step S82, the speed control unit 114 controls the feeder 5 to feed at a feeding speed corresponding to the feeding speed command value. In step S83, the feeding amount calculation unit 233 updates the calculation result of the actual feeding amount value by integrating the feeding speed command value. The feeding control device 100 repeats the above processing at a predetermined control cycle.

[0158] (Feeding Score Display Procedure) This procedure is executed by the management device 200 when the feeding score display function is called by the user interface 295. This procedure further includes displaying the feeding score on the user interface 295. The target score may be displayed on the user interface 295 together with the feeding score.

[0159] As shown in FIG. 16, the management device 200 executes steps S91, S92, and S93. In step S91, the feeding score display unit 231 acquires, from each of the plurality of feeding control devices 100, the calculation result of the feeding score for the plurality of aquaculture tanks 2. In step S92, the feeding score display unit 231 displays the feeding score for each of the plurality of aquaculture tanks 2. For example, the feeding score display unit 231 displays the above-described feeding score graph 400. At this time, the feeding score display unit 231 displays the target line 412 within the feeding score graph 400. In step S93, the feeding score display unit 231 checks whether the current time is the update timing of the feeding score in each feeding control device 100 (for example, the timing when the above steps S65 and S66 are executed).

[0160] In step S93, if it is determined that the current is not the timing for updating the feeding score, the management device 200 executes step S94. In step S94, the feeding score display unit 231 checks whether there is an operation to change the position of the target line 412. In step S94, if it is determined that there is no operation to change the position of the target line 412, the management device 200 returns the process to step S93. Thereafter, the management device 200 waits for the current to become the timing for updating the feeding score or for an operation to change the position of the target line 412 to be performed.

[0161] In step S93, if it is determined that the current is the timing for updating the feeding score, the management device 200 executes steps S95 and S96. In step S95, the feeding score display unit 231 acquires, from each of the plurality of feeding control devices 100, the calculation results of the feeding scores for the plurality of fish cages 2, in the same manner as in step S91. In step S96, the feeding score display unit 231 updates the display of the feeding scores of each fish cage 2 in the feeding score graph 400.

[0162] In step S94, if it is determined that there is an operation to change the position of the target line 412, the management device 200 executes steps S97 and S98. In step S97, the feeding score display unit 231 changes the display position of the target line 412 according to the operation to change the position of the target line 412. In step S98, the target score setting unit 215 changes the target score based on the position of the changed target line 412. Thereafter, based on the changed target score, the control of the feeder 5 in each feeding control device 100 is executed. The management device 200 repeats steps S93 to S99 until the feeding score graph 400 is closed.

[0163] (Feeding status display procedure) This procedure is executed by the management device 200 when the feeding status display function is called by the user interface 295. This procedure includes displaying the current feeding rate for each of the plurality of aquaculture tanks 2 on the user interface 295. The achievement rate with respect to the target feeding amount may be further displayed on the user interface.

[0164] As shown in FIG. 17, the management device 200 executes steps S101, S102, S103, and S104. In step S101, the feeding status display unit 232 displays, for each of the plurality of aquaculture tanks 2, a screen for displaying the feeding rate on the user interface 295. For example, the feeding status display unit 232 displays the above-described status screen 500 on the user interface 295.

[0165] In step S102, the feeding amount calculation unit 233 acquires, from each of the plurality of feeding control devices 100, the feeding rate command values for each of the plurality of aquaculture tanks 2, and calculates the actual feeding amount values for each of the plurality of aquaculture tanks 2. In step S103, the feeding status display unit 232 calculates, for each of the plurality of aquaculture tanks 2, the achievement rate of the actual feeding amount value with respect to the target feeding amount. In step S104, the feeding status display unit 232 updates the status screen 500 based on the feeding rate command values acquired for each of the plurality of aquaculture tanks 2 in step S102, the actual feeding amount values calculated for each of the plurality of aquaculture tanks 2 in step S102, and the achievement rates for each of the plurality of aquaculture tanks 2 calculated in step S103. Thereafter, the management device 200 returns the process to step S102. The management device 200 repeats steps S102 to S104 until the status screen 500 is closed.

[0166] (Distribution Chart Display Procedure) This procedure is executed by the management device 200 when the display function of the distribution chart is called by the user interface 295. This procedure includes displaying the feeding rate and the growth rate of the total weight of the aquatic organisms for each of the plurality of aquaculture ponds 2 on the user interface 295. A distribution chart in which the feeding rate and the growth rate are mapped for each of the plurality of aquaculture ponds 2 may be displayed on coordinates having a first coordinate axis representing the magnitude of the feeding rate and a second coordinate axis representing the magnitude of the growth rate. A plurality of contour lines representing the relationship between the feeding rate and the growth rate may be further displayed on the distribution chart for each growth coefficient representing the ratio of the feeding rate to the growth rate.

[0167] As shown in FIG. 18, the management device 200 executes steps S111, S112, S113, S114, and S115. In step S111, the distribution chart display unit 236 displays on the user interface 295 a screen showing the feeding rate and the growth rate of the total weight of the aquatic organisms for each of the plurality of aquaculture ponds 2. For example, the distribution chart display unit 236 displays the above-described distribution chart 600 on the user interface 295. At this time, the distribution chart display unit 236 displays the above-described plurality of contour lines 611 on the distribution chart 600.

[0168] In step S112, the distribution chart display unit 236 waits for the measurement result of the weight by the weight measurement unit 216 to be updated. In step S113, the feeding rate calculation unit 234 calculates the actual value of the feeding rate for each of the plurality of aquaculture ponds 2. In step S114, the growth rate calculation unit 235 calculates the growth rate of the total weight of the aquatic organisms for each of the plurality of aquaculture ponds 2. In step S115, the distribution chart display unit 236 maps a plurality of data points 612 representing the feeding rate and the growth rate for each of the plurality of aquaculture ponds 2 to the coordinates of the distribution chart 600 based on the calculation results of steps S113 and S114. Thereafter, the management device 200 returns the process to step S112. The management device 200 repeats steps S112 to S115 until the distribution chart 600 is closed.

[0169] 〔Effects of this Embodiment〕 As described above, the feeding method executed by the feeding system 3 includes evaluating the remaining amount of feed based on the detection result of the environment inside the fish tank 2 by the sensor 66 installed in the fish tank 2, evaluating the feeding activity of the aquatic organisms in the fish tank 2 based on the detection result of the environment inside the fish tank 2, generating a feeding speed command value based on the evaluation result of the remaining amount of feed and the evaluation result of the feeding activity, and controlling the feeder 5 to feed at a feeding speed corresponding to the feeding speed command value.

[0170] According to this feeding method, by calculating the feeding speed command value based on the evaluation result of the remaining amount of feed, the feeder 5 can be controlled to suppress the remaining feed. Also, by further calculating the feeding speed command value based on the evaluation result of the feeding activity, the feeder 5 can be controlled to suppress the shortage of feed in the situation where there is no remaining feed. Therefore, the excess or deficiency of the feeding amount can be suppressed. Thus, it is effective for more efficient feeding.

[0171] The feeding speed command value may be calculated such that the higher the remaining amount of feed, the smaller the feeding speed command value, and the higher the feeding activity, the larger the feeding speed command value. In this case, the excess or deficiency of the feeding amount can be more reliably suppressed.

[0172] A feeding score may be calculated based on the evaluation result of the remaining amount of feed and the evaluation result of the feeding activity, and the feeding speed command value may be calculated so that the feeding score follows the target score. In this case, by summarizing the evaluation result of the remaining amount of feed and the evaluation result of the feeding activity into one feeding score, an appropriate feeding speed command value can be easily calculated.

[0173] The feeding score may be calculated such that the change direction of the feeding score in response to an increase in the remaining amount of feed is opposite to the change direction of the feeding score in response to an increase in the feeding activity. In this case, a feeding score that more accurately represents the excess or deficiency situation of the feeding amount can be calculated.

[0174] In response to the evaluation result of the remaining feed amount exceeding a predetermined level, the influence degree of feeding activity on the feeding score may be lowered. In this case, by increasing the influence degree of the remaining feed amount on the feeding score in response to the remaining feed amount exceeding the predetermined level, overfeeding can be more reliably suppressed.

[0175] It may further include displaying the feeding score on the user interface 295. In this case, it is possible to improve the ease with which the operator can recognize the excess or deficiency of feed.

[0176] The target score may also be displayed on the user interface 295 together with the feeding score. In this case, it is possible to further improve the ease with which the operator can recognize the excess or deficiency of feed.

[0177] It may further include correcting the feeding speed command value based on a pre-planned feeding speed target value. In this case, while adjusting the feeding speed according to the feeding situation, it is possible to suppress the deviation between the feeding performance and the feeding plan.

[0178] It may further include calculating a feeding speed target value corresponding to the time based on a feeding pattern representing the relationship between the elapsed time from the feeding start time to the feeding end time and the feeding speed. In this case, by changing the feeding speed target value according to the time, the feeding amount can be finely adjusted according to the ecology of the aquatic organisms.

[0179] The feeding start time of the feeding pattern may be changed according to the sunrise time, the feeding end time of the feeding pattern may be changed according to the sunset time, and a feeding speed target value corresponding to the time may be calculated based on the changed feeding pattern. By changing the feeding pattern according to the sunrise time and the sunset time, a more efficient feeding speed target value can be calculated.

[0180] Further including evaluating the weight of the aquatic organism and calculating a target daily feeding amount based on the evaluation result of the weight of the aquatic organism, a target feeding rate corresponding to the time may be calculated based on the target feeding amount and the feeding pattern. In this case, by further basing on the evaluation result of the weight of the aquatic organism, a more efficient target feeding rate can be calculated.

[0181] The target feeding rate corresponding to the time may be calculated such that the total feeding amount from the start feeding time to the end feeding time according to the feeding pattern matches the target feeding amount. The evaluation result of the weight of the aquatic organism can be easily and appropriately reflected in the target feeding rate.

[0182] Evaluating the weight of the aquatic organism includes obtaining the measurement result of the weight of the aquatic organism, evaluating the feeding amount from the measurement time point of the weight of the aquatic organism to the evaluation target time point based on the feeding rate, estimating the weight increase rate of the aquatic organism from the measurement time point to the evaluation target time point based on the evaluation result of the feeding amount, and estimating the weight of the aquatic organism at the evaluation target time point based on the measurement result of the weight of the aquatic organism and the estimation result of the weight increase rate of the aquatic organism. In this case, by combining the measurement of the total weight with the estimation of the total weight based on the evaluation result of the feeding amount, the delay in the increase of the feeding amount in accordance with the increase in the weight of the aquatic organism can be suppressed.

[0183] Further including estimating the number of individuals of the aquatic organism at the evaluation target time point based on the predicted reduction rate of the number of individuals of the aquatic organism, obtaining the measurement result of the weight per individual of the aquatic organism, estimating the weight per individual of the aquatic organism at the evaluation target time point based on the measurement result of the weight per individual of the aquatic organism and the estimation result of the weight increase rate of the aquatic organism, and estimating the total weight of the aquatic organism at the evaluation target time point based on the estimation result of the weight per individual and the estimation result of the number of individuals. In this case, by further basing on the predicted reduction rate of the number of individuals of the aquatic organism, the total weight of the aquatic organism can be estimated with higher reliability.

[0184] It may further include displaying the feeding pattern on the user interface 295. In this case, the set feeding pattern can be easily recognized by the operator.

[0185] The sunrise time and sunset time may be displayed on the user interface 295 together with the feeding pattern. In this case, the relationship between the sunrise time and sunset time and the set feeding pattern can be easily recognized by the operator.

[0186] It may further include changing the feeding pattern based on an editing input for the feeding pattern displayed on the user interface 295, and calculating a target feeding rate value according to the time based on the changed feeding pattern. In this case, by making it possible to change the feeding pattern by an editing input to the feeding pattern displayed on the user interface 295, the usability by the operator can be further improved.

[0187] It may further include saving the feeding pattern displayed on the user interface 295 based on a save command input, and reading out the saved feeding pattern and displaying it on the user interface 295 based on a read command input. In this case, by making the set feeding pattern reusable, the usability by the operator can be further improved.

[0188] It may further include assigning the saved feeding pattern to a shortcut object on the user interface 295 based on an assignment command input, and reading out the saved feeding pattern and displaying it on the user interface 295 according to the operation of the shortcut object. In this case, by making it easier to call the saved feeding pattern, the usability by the operator can be further improved.

[0189] For each of the plurality of aquaculture tanks 2 including the aquaculture tank 2, it may further include displaying the current feeding rate on the user interface 295. In this case, the feeding status in the plurality of aquaculture tanks 2 can be easily recognized by the operator.

[0190] For each of the plurality of aquaculture tanks 2 including the aquaculture tank 2, it may further include displaying the current feeding rate and the achievement rate with respect to the target feeding amount on the user interface 295. In this case, the feeding status in the plurality of aquaculture tanks 2 can be more easily recognized by the operator.

[0191] For each of the plurality of aquaculture tanks 2 including the aquaculture tank 2, it may further include displaying on the user interface 295 the feeding rate representing the feeding amount as a ratio to the total body weight of the aquatic organisms and the growth rate of the total body weight of the aquatic organisms. In this case, the appropriateness of the feeding status can be easily recognized by the operator.

[0192] Displaying the feeding rate and the growth rate on the user interface 295 may include displaying a distribution chart in which the feeding rate and the growth rate are mapped for each of the plurality of aquaculture tanks 2 on a coordinate having a first coordinate axis representing the magnitude of the feeding rate and a second coordinate axis representing the magnitude of the growth rate. In this case, the appropriateness of the feeding status can be more easily recognized by the operator.

[0193] For each growth coefficient representing the ratio of the feeding rate to the growth rate, a plurality of contour lines representing the relationship between the feeding rate and the growth rate may be further displayed on the distribution chart. In this case, the appropriateness of the feeding status can be more easily recognized by the operator.

[0194] In the aquaculture tank 2, the remaining feed amount may be evaluated based on an image of the underwater camera 8 installed upward below the feeding area of the aquatic organisms. In this case, the remaining feed amount can be evaluated with high reliability.

[0195] Based on the image of the underwater camera 8, the feeding activity may be further evaluated. In this case, the feeding activity can also be evaluated with high reliability.

[0196] Based on the image of the underwater camera 8, the amount of image change caused by the movement of the aquatic organism may be calculated, and the feeding activity may be evaluated based on the amount of image change. In this case, the evaluation of the feeding activity based on the image of the underwater camera 8 can be easily performed.

[0197] The feeding activity may be evaluated such that the higher the amount of image change, the lower the feeding activity. In this case, the feeding activity can be evaluated with higher reliability.

[0198] Although the embodiments have been described above, the present disclosure is not necessarily limited to the above-described embodiments, and various changes are possible without departing from the gist thereof.

Explanation of Signs

[0199] 1... Aquaculture system, 2... Aquarium, 3... Feeding system, 5... Feeder, 6... Sensor, 8... Underwater camera, 100... Feeding control device, 111... Residual feed evaluation unit, 112... Feeding activity evaluation unit, 114... Speed control unit, 295... User interface.

Claims

1. Evaluating the amount of remaining feed in the aquaculture tank based on the detection result of feed by one or more cameras installed upward below the feeding area of the aquatic organisms in the aquaculture tank; Calculating the amount of image change caused by the movement of the aquatic organisms based on the images of the one or more cameras, and evaluating the feeding activity of the aquatic organisms during feeding based on the amount of image change. A method for detecting the environment in an aquaculture tank, including this.

2. The method for detecting the environment in an aquaculture tank according to Claim 1, wherein the feeding activity is evaluated such that the feeding activity decreases as the amount of image change increases.

3. The method for detecting the environment in an aquaculture tank according to Claim 1 or 2, and Generating a feeding speed command value based on the evaluation result of the remaining feed amount and the evaluation result of the feeding activity, and controlling a feeder to feed based on the feeding speed command value. A feeding method, including this.

4. A feeder for supplying feed into an aquaculture tank containing aquatic organisms, One or more cameras installed upward below the feeding area of the aquatic organisms in the aquaculture tank, and A feeding control device for adjusting the feeding speed by the feeder, comprising: The feeding control device is A remaining feed evaluation unit that evaluates the amount of remaining feed in the aquaculture tank based on the detection result of the feed by the one or more cameras; A feeding activity evaluation unit that calculates the amount of image change caused by the movement of the aquatic organisms based on the images of the one or more cameras, and evaluates the feeding activity of the aquatic organisms based on the amount of image change; A feeding system having a speed control unit that generates a feeding speed command value based on the evaluation result of the remaining feed amount and the evaluation result of the feeding activity, and controls the feeder to feed based on the feeding speed command value.

5. Evaluating the amount of remaining feed in the aquaculture tank based on the detection result of feed by one or more cameras installed upward below the feeding area of the aquatic organisms in the aquaculture tank; Calculating the amount of image change caused by the movement of the aquatic organisms based on the images of the one or more cameras, and evaluating the feeding activity of the aquatic organisms based on the amount of image change; A program for causing a device to execute generating a feeding speed command value based on the evaluation result of the remaining feed amount and the evaluation result of the feeding activity, and controlling a feeder to feed based on the feeding speed command value.

Images