In-water feeding device

Abstract

To provide an underwater feeding device capable of appropriately adjusting the amount and timing of feeding. 【Solution means】The underwater feeding device 1 includes a distribution detection unit 2 that detects the distribution state of fish in the fish basket, and a feeding control unit 3 that controls the feeding operation when the bait dispenser feeds the fish basket according to the distribution state of the fish. The distribution detection unit 2 includes an upper layer camera 2a that photographs the upper layer of the fish basket and acquires an upper layer image, and a lower layer camera 2b that photographs the lower layer of the fish basket and acquires a lower layer image. The feeding control unit 3 includes an area ratio calculation unit 6 and a comparison determination unit 7. The area ratio calculation unit 6 calculates the upper layer area ratio between the first upper layer area obtained by binarizing the upper layer image and the second upper layer area, and calculates the lower layer area ratio between the first lower layer area obtained by binarizing the lower layer image and the second lower layer area. The comparison determination unit 7 compares the upper layer area ratio with the lower layer area ratio, and outputs a first signal when the difference exceeds a preset threshold value.

Description

Technical Field

[0001] The present invention relates to an underwater feeding device for feeding fish in a live fish basket.

Background Art

[0002] Conventionally, in order to feed fish cultured in a live fish basket, a method of feeding a predetermined amount of feed every time a certain period of time elapses has been adopted. However, in this method, since feeding is performed regardless of the feeding behavior of the fish, for example, even when the fish has sufficiently eaten the feed, feeding may continue. Therefore, there have been problems such as an excessive amount of feed, an increase in unnecessary feed costs, and a deterioration in water quality. In order to solve such problems, in recent years, technologies for adjusting the amount of feed according to the feeding behavior of fish have been developed, and inventions related thereto have already been disclosed.

[0003] Patent Document 1 discloses an invention related to a device that determines an optimal feeding amount by optically measuring fish school behavior under the name of "aquatic organism position measuring device". The invention disclosed in Patent Document 1 is an aquatic organism position measuring device that measures the activity level of aquatic organisms in a breeding tank or a live fish basket, and includes a light emitting means that emits light to the breeding tank or the live fish basket, a light diffusing means that diffuses the emitted light to create a light surface and irradiates vertically from the side surface in the breeding tank or the live fish basket, a light sensing means that senses the passage of light on the front and side surfaces of the breeding tank or the live fish basket, and an aquatic organism position measuring means that obtains the activity level of the aquatic organism group based on the sensed passage or interruption of light and measures the position distribution of the aquatic organism group. In an invention having such characteristics, the light diffusing means senses the light surface that has passed through the live fish basket on the front and side surfaces to determine whether a fish school exists, and determines a fish school activity coefficient signal. Since this fish school activity coefficient signal is determined for the upper, middle, and lower layers of the live fish basket, the change in the feeding behavior associated with the feed requirement of the fish is captured and the feeding amount is quantified. Therefore, an appropriate amount of feed is always automatically fed.

Prior Art Documents

Patent Documents

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 11-289906 [Summary of the Invention] [Problems to be Solved by the Invention]

[0005] However, in the invention disclosed in Patent Document 1, the criteria for determining whether or not a fish school exists are not clear. Therefore, there is a possibility that changes in the feeding behavior of fish cannot be accurately captured. Thus, in the invention disclosed in Patent Document 1, there is a possibility that the amount and timing of the automatically fed bait may be inappropriate.

[0006] The present invention has been made in view of such conventional circumstances, and an object thereof is to provide an underwater feeding device capable of appropriately adjusting the amount and timing of feeding by determining the distribution state of fish in a fish basket accompanying the feeding behavior of fish based on clear criteria and controlling the feeding operation of a bait dispenser according to the determination result. [Means for Solving the Problems]

[0007] To achieve the above object, a first invention includes a distribution detection unit that detects the distribution state of fish in a fish basket, and a feeding control unit that controls the feeding operation when the bait dispenser feeds the fish basket corresponding to the distribution state, and the distribution detection unit is characterized in that it is installed in one or more layers in the depth direction of the fish basket. In the invention having such a configuration, the fish basket may be installed in either seawater or fresh water. Also, as the distribution detection unit, for example, imaging means for acquiring an image of fish or ultrasonic detection means for detecting a reflected wave obtained by reflecting ultrasonic waves emitted toward the fish hitting the fish can be considered. Further, the distribution detection unit may be installed not only in the upper layer near the water surface and the lower layer deeper than this upper layer but also only in the lower layer in the depth direction of the fish basket. Then, the feeding control unit controls the feeding operation when feeding the fishpond, for example, by sending a signal for controlling an opening / closing valve that opens and closes the discharge port of the tank provided in the feed dispenser to the feed dispenser. Also, when the discharge port of the tank is opened and closed by an opening / closing mechanism other than the opening / closing valve, the feeding control unit sends a signal for controlling this opening / closing mechanism.

[0008] In the invention having the above configuration, since the distribution detection unit is installed in one or more layers in the depth direction of the fishpond, the distribution state in the depth direction of the fishpond that changes with the feeding behavior of the fish is detected. Therefore, the feeding control unit controls the feeding operation when the feed dispenser feeds the fishpond in response to the detected distribution state of the fish.

[0009] The second invention is the first invention, wherein the distribution detection unit includes an upper layer camera that photographs the upper layer of the fishpond and obtains an upper layer image, and a lower layer camera that photographs the lower layer of the fishpond and obtains a lower layer image. The feeding control unit includes an area ratio calculation unit and a comparison determination unit. The area ratio calculation unit calculates the upper layer area ratio between a first upper layer area obtained by binarizing the upper layer image and a second upper layer area, and calculates the lower layer area ratio between a first lower layer area obtained by binarizing the lower layer image and a second lower layer area. Both the first upper layer area and the first lower layer area are the total areas of regions corresponding to fish, and both the second upper layer area and the second lower layer area are the total areas of regions not corresponding to fish. The comparison determination unit compares the upper layer area ratio with the lower layer area ratio, and when the difference exceeds a preset threshold value, outputs a first signal, and each time this first signal is output, calculates an adjustment increase integrated amount by adding a preset adjustment increase amount. The first signal causes the feed dispenser to discharge the adjustment increase integrated amount.

[0010] In the invention with such a configuration, when the upper layer area ratio is set as the first upper layer area with respect to the second upper layer area, and the lower layer area ratio is set as the first lower layer area with respect to the second lower layer area, both the upper layer area ratio and the lower layer area ratio indicate the distribution density of fish. At the start of feeding, since fish gather in the upper layer, the upper layer area ratio is larger than the lower layer area ratio. On the other hand, when fish have eaten enough bait, they move to a deeper depth, so the upper layer area ratio becomes smaller than the lower layer area ratio. Therefore, by determining whether the difference obtained by comparing the upper layer area ratio and the lower layer area ratio exceeds the threshold value, the distribution state of fish in the net cage associated with the feeding behavior of fish can be accurately grasped. Note that the threshold value is a positive number.

[0011] In the invention with the above configuration, in addition to the action of the first invention, when the difference between the upper layer area ratio and the lower layer area ratio exceeds the threshold value, the comparison determination unit outputs a first signal for causing the bait dispenser to release an adjusted increased integrated amount. On the other hand, when the difference between the upper layer area ratio and the lower layer area ratio does not exceed the threshold value, the comparison determination unit does not output the first signal. Therefore, the bait dispenser does not release bait. Thus, control of the feeding operation reflecting the distribution state of fish is realized.

[0012] The third invention is the second invention, wherein the feeding control unit includes a feeding amount determination unit and a feeding stop determination unit. After the latest adjusted increased integrated amount is calculated, when the difference does not exceed the threshold value, the comparison determination unit outputs a second signal. The feeding amount determination unit compares the latest adjusted increased integrated amount with a preset feeding adjustment amount after the latest adjusted increased integrated amount is calculated, and when the latest adjusted increased integrated amount is equal to or greater than the feeding adjustment amount, outputs an excess signal. The feeding stop determination unit outputs a stop signal for stopping the feeding operation when the second signal is output or when the excess signal is output. In the invention with such a configuration, in addition to the operation of the second invention, when the second signal is output, it means that the fish has eaten sufficiently and moved to a deeper depth. Therefore, further feeding is unnecessary. Also, when the excess signal is output, the latest adjusted cumulative amount exceeds the target feeding adjustment amount, and further feeding is unnecessary. Thus, the feeding stop determination unit outputs a stop signal at the earlier of the time when the second signal is output and the time when the excess signal is output.

[0013] In the fourth invention, in the first invention, the distribution detection unit includes an upper camera that photographs the upper layer of the fish basket and acquires an upper layer image, and a lower camera that photographs the lower layer of the fish basket and acquires a lower layer image. The feeding control unit includes an area ratio calculation unit and an adjustment unit. The area ratio calculation unit calculates the upper layer area ratio between a first upper layer area obtained by binarizing the upper layer image and a second upper layer area, and calculates the lower layer area ratio between a first lower layer area obtained by binarizing the lower layer image and a second lower layer area. Both the first upper layer area and the first lower layer area are the total areas of regions corresponding to fish, and both the second upper layer area and the second lower layer area are the total areas of regions not corresponding to fish. The adjustment unit includes a model generation unit and an estimation unit. The model generation unit generates a model by machine learning from teacher data in which at least the upper layer area ratio and the lower layer area ratio are input data and a control signal for controlling the feeding operation corresponding to this input data is output data. The estimation unit estimates a control signal corresponding to the estimation input data based on the model, with at least a new upper layer area ratio and a new lower layer area ratio as the estimation input data.

[0014] In the invention with such a configuration, the input data of the teacher data may include, in addition to the upper layer area ratio and the lower layer area ratio, the upper limit value and the lower limit value of the aforementioned upper layer area ratio. In the invention with the above configuration, in addition to the operation of the first invention, since the model generation unit learns the correlation between the input data and the control signal to generate a model, the control signal estimated by the estimation unit based on this model will at least reflect the new upper area ratio and the new lower area ratio. Therefore, the control of the feeding operation reflecting the distribution state of the fish is realized by the control signal.

Advantages of the Invention

[0015] According to the first invention, since the distribution state in the depth direction of the net that changes with the feeding behavior of the fish is detected, the feeding behavior of the fish can be grasped in detail. And since the feeding control unit controls the feeding operation of the bait dispenser corresponding to the detected distribution state of the fish, it is possible to prevent an excess or deficiency of the amount of bait. Therefore, it is possible to avoid the occurrence of wasted bait cost and the deterioration of water quality.

[0016] According to the second invention, in addition to the operation of the first invention, since the control of the feeding operation reflecting the distribution state of the fish is realized, the amount and timing of feeding can be adjusted to appropriate values. Therefore, it is possible to feed the fish evenly.

[0017] According to the third invention, in addition to the operation of the second invention, since the feeding stop determination unit outputs a stop signal at the earlier of the time when the second signal is output and the time when the excess signal is output, it is possible to save waste of the amount of bait.

[0018] According to the fourth invention, in addition to the operation of the first invention, since the control of the feeding operation reflecting the distribution state of the fish is realized, it can exhibit the same effects as the second invention. Also, by adding parameters other than the upper area ratio and the lower area ratio to the input data of the teacher data, it becomes possible to control the feeding operation with higher accuracy.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

Examples

[0020] The underwater feeding device 1 according to the first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 4. FIG. 1 is a configuration diagram of the underwater feeding device according to Example 1. FIG. 2 is a side view of the bamboo fish trap where the underwater feeding device according to Example 1 is installed. As shown in FIG. 1, the underwater feeding device 1 according to Example 1 includes a distribution detection unit 2 that detects the distribution state of fish in the bamboo fish trap, and a feeding control unit 3 that controls the feeding operation when the bait dispenser 60 feeds the bamboo fish trap according to the distribution state of the fish. The bait dispenser 60 has a known configuration and includes a tank 61 for storing bait, an opening and closing valve 62 for opening and closing the discharge port of the tank 61, a bait discharge pipe 63 for discharging bait downstream of the opening and closing valve 62, and a water discharge pipe 64 for discharging water. Hereinafter, the distribution detection unit 2 and the feeding control unit 3 will be described.

[0021] As shown in FIG. 2, the distribution detection unit 2 is installed in the upper layer 71 near the water surface 73 and the lower layer 72 in the depth direction D of the bamboo fish trap 70 where the fish F are cultured. Here, the lower layer 72 means a position deeper than the upper layer 71 and does not necessarily have to be the bottom layer. Specifically, the distribution detection unit 2 includes an upper layer camera 2a that captures the upper layer of the bamboo fish trap 70 from the side and acquires an upper layer image, and a lower layer camera 2b that captures the lower layer of the bamboo fish trap 70 from the side and acquires a lower layer image. Note that the food discharge pipe 63 through which the food dispenser 60 discharges the food 74 and the water discharge pipe 64 through which water is discharged open into the water below the water surface 73.

[0022] Returning to FIG. 1, the feeding control unit 3 includes a transmission / reception unit 4, a control unit 5, and a storage unit 10. Among these, the transmission / reception unit 4 receives the upper-layer image and the lower-layer image from the distribution detection unit 2 via the communication path C1, and transmits a first signal to the food dispenser 60 via the communication path C2 and receives a signal from the food dispenser 60. The control unit 5 is a central processing unit that controls the operation of the feeding control unit 3, and includes an area ratio calculation unit 6, a comparison determination unit 7, a feeding amount determination unit 8, and a feeding stop determination unit 9.

[0023] The area ratio calculation unit 6 calculates the upper-layer area ratio between the first upper-layer area obtained by binarizing the upper-layer image and the second upper-layer area, and calculates the lower-layer area ratio between the first lower-layer area obtained by binarizing the lower-layer image and the second lower-layer area. The first upper-layer area is the total area of the region corresponding to the fish F in the binarized upper-layer image. The second upper-layer area is the total area of the region not corresponding to the fish F in the binarized upper-layer image. Similarly, the first lower-layer area is the total area of the region corresponding to the fish F in the binarized lower-layer image, and the second lower-layer area is the total area of the region not corresponding to the fish F in the binarized lower-layer image.

[0024] The comparison determination unit 7 compares the upper-layer area ratio and the lower-layer area ratio, and outputs a first signal when the difference exceeds a preset threshold value. The output first signal is transmitted to the food dispenser 60 via the transmission / reception unit 4 and the communication path C2. As a result, the food dispenser 60 opens the on-off valve 62 and discharges the adjusted increase integration amount at the reference feeding speed.

[0025] After the latest adjusted increase integration amount is calculated, the feeding amount determination unit 8 compares this latest adjusted increase integration amount with a preset feeding adjustment amount, and outputs an excess signal when the latest adjusted increase integration amount calculated by the comparison determination unit 7 is equal to or greater than the feeding adjustment amount. When the second signal described later is output, or when an excess signal is output, the feeding stop determination unit 9 outputs a stop signal for stopping the feeding operation.

[0026] The storage unit 10 includes a parameter storage unit 11, an image storage unit 12, and an area ratio storage unit 13. Among these, the parameter storage unit 11 stores a plurality of types of feeding parameters necessary for the execution of the underwater feeding method 20 described with reference to FIGS. 3 and 4. The feeding parameters are preset by a person on a control screen (not shown) provided in the food dispenser 60. The image storage unit 12 stores the upper layer image and the lower layer image acquired by the distribution detection unit 2. The area ratio storage unit 13 stores the upper layer area ratio and the lower layer area ratio calculated by the area ratio calculation unit 6.

[0027] Next, the underwater feeding method executed by the underwater feeding device according to the first embodiment will be described with reference to FIGS. 3 and 4. FIGS. 3 and 4 are process diagrams of the underwater feeding method executed by the underwater feeding device according to the first embodiment. As shown in FIGS. 3 and 4, the underwater feeding method 20 includes a feeding parameter acquisition step in S21 to a feeding stop determination step in S29. Hereinafter, each step will be described.

[0028] As shown in FIG. 3, in the feeding parameter acquisition step in S21, the transmission / reception unit 4 acquires a plurality of types of preset feeding parameters via the communication path C1. The plurality of types of feeding parameters are the total feeding amount S (Kg), the feeding adjustment amount S1 (Kg) for reducing the total feeding amount S, the adjustment increase amount S2 (Kg), the reference feeding speed S3 (Kg / min), the threshold value K1 of the difference between the upper layer area ratio N1 and the lower layer area ratio N2, the water discharge time T1 (min), and the standby time T2 (min). Specifically, for example, when the total feeding amount S is 500 (Kg), the feeding adjustment amount S1 is 25 (Kg), which is 5 (%) of it. Also, the adjustment increase amount S2 is the amount added each time the comparison determination unit 7 outputs the first signal, and for example, it is 5 (Kg) for one first signal. The reference feeding speed S3 is the amount of food discharged by the food dispenser 60 per minute. These feeding parameters are stored in the parameter storage unit 11.

[0029] In the water discharge step of S22, the control unit 5 discharges water through the water discharge pipe 64 of the feed discharger 60 for a water discharge time T1. This step is for attracting the fish F to the upper layer 71 and reducing the remaining feed. In the feed discharge step of S23, the control unit 5 discharges the feed 74 through the feed discharge pipe 63 of the feed discharger 60 at the reference feeding rate S3 until the current feeding amount S0 (Kg) reaches (total feeding amount S - feeding adjustment amount S1) (Kg). Note that the current feeding amount S0 is the total discharge amount (Kg) of the feed discharged by the feed discharger 60, and is acquired by the transmission / reception unit 4 via the communication path C2.

[0030] In the image acquisition step of S24, the upper layer camera 2a and the lower layer camera 2b capture an upper layer image and a lower layer image, and the transmission / reception unit 4 acquires them via the communication path C1. In the area ratio calculation step of S25, the area ratio calculation unit 6 binarizes the upper layer image and the lower layer image respectively, and calculates an upper layer area ratio N1 and a lower layer area ratio N2.

[0031] In the first comparison and determination step of S26, the comparison and determination unit 7 compares the upper layer area ratio N1 and the lower layer area ratio N2, and outputs a first signal when the difference therebetween exceeds the threshold value K1. This first signal is, for example, for controlling the opening and closing time (min) of the opening and closing valve 62 of the feed discharger 60 from opening to closing. On the other hand, when the difference between the upper layer area ratio N1 and the lower layer area ratio N2 does not exceed the threshold value K1, the comparison and determination unit 7 does not output the first signal, does not calculate the adjustment increase integration amount S4, and executes the standby step of S28.

[0032] In the adjustment increase integration step of S27, the comparison and determination unit 7 adds a preset adjustment increase amount S2 every time it outputs the first signal to calculate an adjustment increase integration amount S4. Note that the initial value of the adjustment increase integration amount S4 when the first signal is not output even once is 0. Also, as will be described later, the adjustment increase integration step of S27 may be executed after the second comparison and determination step of S29-1 and after the feeding amount determination step of S29-2 respectively. Therefore, the adjustment increase integration amount S4 calculated last including these steps becomes the latest adjustment increase integration amount S4'.

[0033] The standby process of S28 is a process in which the control unit 5 stops the operation of the underwater feeding device 1 for the standby time T2 and waits for the fish F to feed and the associated movement. After this process, the image acquisition process of S24 and the area ratio calculation process of S25 are executed again, and the latest upper layer area ratio N1 and the latest lower layer area ratio N2 are obtained. Then, for the latest upper layer area ratio N1 and the latest lower layer area ratio N2, the second comparison determination process of S29-1 in the feeding stop determination process of S29 is executed.

[0034] The feeding stop determination process of S29 includes the second comparison determination process of S29-1 and the feeding amount determination process of S29-2, and these processes are executed in parallel. In the second comparison determination process of S29-1, after the comparison determination unit 7 calculates the latest adjustment increase integration amount S4' in the adjustment increase integration process of S27, the upper layer area ratio N1 and the lower layer area ratio N2 are compared, and when the difference does not exceed the threshold value K1, a second signal is output.

[0035] In the feeding amount determination process of S29-2, after the feeding amount determination unit 8 calculates the latest adjustment increase integration amount S4' in the adjustment increase integration process of S27, the latest adjustment increase integration amount S4' is compared with the feeding adjustment amount S1, and when the latest adjustment increase integration amount S4' is equal to or greater than the feeding adjustment amount S1, an excess signal is output. Therefore, in the feeding stop determination process of S29, when the feeding stop determination unit 9 receives a second signal from the comparison determination unit 7 or an excess signal from the feeding amount determination unit 8, the feeding stop determination unit 9 outputs a stop signal to stop the feeding operation of the feeder 60. As a result, the underwater feeding method 20 ends.

[0036] As described above, according to the underwater feeding device 1, the distribution state of the fish F in the fish basket 70 accompanying the feeding behavior of the fish F can be determined based on clear criteria such as the upper layer area ratio N1, the lower layer area ratio N2, the threshold value K1, and the feeding adjustment amount S1. Furthermore, by controlling the feeding operation of the feeder 60 according to the determination result, the feeding amount can be adjusted to an appropriate value. In addition, immediately before the first comparison determination step of S26 and the second comparison determination step of S29-1, an image acquisition step of S24 and an area ratio calculation step of S25 are executed respectively. Therefore, it is possible to detect in real time changes in the feeding speed and the density distribution of the fish F over time. Thus, it is possible to accurately grasp the timing for changing the feeding amount and the feeding speed.

[0037] Furthermore, by the first comparison determination step of S26 to the second comparison determination step of S29-1, control of the feeding operation reflecting the density distribution of the fish F in the upper layer 71 is realized. Therefore, when there are many fish F gathering in the upper layer 71, more feed can be given. After that, when the number of fish F in the upper layer 71 decreases, the feeding can be stopped. In addition, since the standby step of S28 is implemented after the adjustment increase integration step of S27, after the fish F that have eaten sufficiently move to a depth deeper than the upper layer, the fish F with insufficient food intake can move to the upper layer and feed. Thus, it becomes possible to feed the fish F evenly, so that the proportion of fish F that cannot contact the feed and fish F that overeat can be reduced.

[0038] In addition, by the feeding amount determination step of S29-2, when the latest adjustment increase integration amount S4' is equal to or greater than the feeding adjustment amount S1, the feeding operation is stopped. Therefore, it is possible to more accurately avoid the occurrence of wasted feed costs and the deterioration of water quality.

Embodiment

[0039] The underwater feeding device 1A according to the second embodiment of the present invention will be described in detail with reference to FIGS. 5 and 6. FIG. 5 is a configuration diagram of the underwater feeding device according to the second embodiment. As shown in FIG. 5, in the underwater feeding device 1A according to the second embodiment, an adjustment unit 14 is provided instead of the comparison determination unit 7 and the feeding amount determination unit 8 of the underwater feeding device 1. Further, a teacher data storage unit 17 and a model storage unit 18 are added to the storage unit 10 of the underwater feeding device 1. The configuration of the underwater feeding device 1A other than this is the same as the configuration of the underwater feeding device 1.

[0040] The adjustment unit 14 includes a model generation unit 15 and an estimation unit 16. Among these, the model generation unit 15 uses at least the upper area ratio N1 and the lower area ratio N2 as input data, and generates a model by machine learning from teacher data in which a control signal for controlling the feeding operation of the food dispenser 60 corresponding to this input data is used as output data. This machine learning is based on a known learning method. Also, the estimation unit 16 uses at least a new upper area ratio N1 and a new lower area ratio N2 as estimation input data, and estimates a control signal corresponding to the estimation input data based on the model generated by the model generation unit 15.

[0041] Note that the input data of the teacher data and the estimation input data may each include feeding parameters such as the aforementioned threshold value K1 and standby time T2. Specifically, for the new upper area ratio N1 and the new lower area ratio N2 of the estimation input data, those stored in the area ratio storage unit 13 are used, and for the other feeding parameters, those stored in the parameter storage unit 11 are used. The teacher data storage unit 17 stores teacher data for generating a model. The model storage unit 18 stores the model generated by the model generation unit 15.

[0042] Next, the underwater feeding method executed by the underwater feeding device according to the second embodiment will be described with reference to FIG. 6. FIG. 6 is a process diagram of the underwater feeding method executed by the underwater feeding device according to the second embodiment. As shown in FIG. 6, the underwater feeding method 40 executed by the underwater feeding device 1A includes a feeding parameter acquisition step in S41 to a feeding stop determination step in S48. Among these, the water discharge step in S42 to the area ratio calculation step in S45 are the same as the water discharge step in S22 to the area ratio calculation step in the underwater feeding method 20, respectively. Therefore, the feeding parameter acquisition step in S41, the control signal estimation step in S46, the current feeding amount acquisition step in S47, and the feeding stop determination step in S48 will be described below.

[0043] In the feeding parameter acquisition step of S41, the transceiver unit 4 acquires a plurality of preset types of feeding parameters via the communication path C2. The feeding parameters acquired by the transceiver unit 4 are, for example, the total feeding amount S, the feeding adjustment amount S1, the reference feeding speed S3, the water discharge time T1, and the threshold value K1. Among these, the threshold value K1 is used as the input data for estimation. However, the threshold value K1 may not be used as the input data for estimation. In this case, the threshold value K1 may not be acquired.

[0044] In the control signal estimation step of S46, the estimation unit 16 estimates a new upper layer area ratio N1, which is the input data for estimation, a new lower layer area ratio N2, and a control signal corresponding to the threshold value K1 based on the model generated by the model generation unit 15. Both the new upper layer area ratio N1 and the new lower layer area ratio N2 are values calculated by the area ratio calculation unit 6 in the area ratio calculation step of S45 and stored in the area ratio storage unit 13. Also, the threshold value K1 is a value stored in the parameter storage unit 11. And the estimated control signal, similar to the first signal, controls, for example, the opening and closing time of the opening and closing valve 62 of the feed discharger 60. The transceiver unit 4 transmits it to the feed discharger 60 via the communication path C2 and controls its feeding operation.

[0045] And after the control signal estimation step of S46, the feeding current amount acquisition step of S47 and the feeding stop determination step of S48 are executed. That is, in the underwater feeding method 40, in the image acquisition step of S44, the upper layer camera 2a and the lower layer camera 2b capture the upper layer image and the lower layer image, and every time the transceiver unit 4 acquires these, the estimation unit 16 estimates the control signal and controls the feeding operation of the feed discharger 60. In the feeding current amount acquisition step of S47, the transceiver unit 4 acquires the feeding current amount S0 from the feed discharger 60 via the communication path C2. In the feeding stop determination step of S48, when the current feeding amount S0 obtained is equal to or greater than the difference amount SU obtained by subtracting the feeding adjustment amount S1 from the total feeding amount S, the feeding stop determination unit 9 stops the feeding and completes the underwater feeding method 40. On the other hand, when the current feeding amount S0 is not equal to or greater than the difference amount SU, the feeding stop determination unit 9 causes the upper camera 2a, the lower camera 2b, and the transceiver 4 to execute the image acquisition step of S44 again.

[0046] As described above, according to the underwater feeding device 1A, since the control of the feeding operation reflecting the distribution state of the fish F is realized, the same effects as those of the underwater feeding device 1 can be exhibited. Further, according to the underwater feeding device 1A, the types of feeding parameters can be reduced as compared with the case of the underwater feeding device 1, so that the labor of the operation for a person to input the feeding parameters can be reduced.

[0047] Note that the underwater feeding device according to the present invention is not limited to that shown in the embodiment. For example, instead of the upper camera 2a and the lower camera 2b, ultrasonic detection means may be installed in at least one of the upper layer 71 and the lower layer 72 in the depth direction of the fish basket.

Industrial Applicability

[0048] The present invention can be used as an underwater feeding device for feeding fish in a fish basket.

Explanation of Signs

[0049] 1, 1A... underwater feeding device; 2... distribution detection unit; 2a... upper camera; 2b... lower camera; 3... feeding control unit; 4... transceiver; 5... control unit; 6... area ratio calculation unit; 7... comparison determination unit; 8... feeding amount determination unit; 9... feeding stop determination unit; 10... storage unit; 11... parameter storage unit; 12... image storage unit; 13... area ratio storage unit; 14... adjustment unit; 15... model generation unit; 16... estimation unit; 17... teacher data storage unit; 18... model storage unit; 20, 40... underwater feeding method; 60... bait release machine; 61... tank; 62... on-off valve; 63... bait release pipe; 64... water release pipe; 70... fish basket; 71... upper layer; 72... lower layer; 73... water surface; 74... bait

Claims

1. A distribution detection unit that detects the distribution state of fish in a fish basket, and a feeding control unit that controls the feeding operation when the feeder feeds the fish basket according to the distribution state, wherein the distribution detection unit is installed in one or more layers in the depth direction of the fish basket, and includes an upper layer camera that photographs the upper layer of the fish basket and acquires an upper layer image, and a lower layer camera that photographs the lower layer of the fish basket and acquires a lower layer image, the feeding control unit includes an area ratio calculation unit and a comparison determination unit, the area ratio calculation unit calculates the upper layer area ratio between a first upper layer area obtained by binarizing the upper layer image and a second upper layer area, and calculates the lower layer area ratio between a first lower layer area obtained by binarizing the lower layer image and a second lower layer area, both the first upper layer area and the first lower layer area are the total area of regions corresponding to the fish, and both the second upper layer area and the second lower layer area are the total area of regions not corresponding to the fish, the comparison determination unit compares the upper layer area ratio with the lower layer area ratio, and when the difference exceeds a preset threshold value, outputs a first signal, and each time this first signal is output, a preset adjustment increase amount is added to calculate an adjustment increase integration amount, the first signal causes the feeder to discharge the adjustment increase integration amount, and an underwater feeding device characterized by this.

2. the feeding control unit includes a feeding amount determination unit and a feeding stop determination unit, the comparison determination unit outputs a second signal when the difference does not exceed the threshold value after the latest adjustment increase integration amount is calculated, the feeding amount determination unit compares the latest adjustment increase integration amount with a preset feeding adjustment amount after the latest adjustment increase integration amount is calculated, and outputs an excess signal when the latest adjustment increase integration amount is equal to or greater than the feeding adjustment amount, the underwater feeding device according to claim 1, wherein the feeding stop determination unit outputs a stop signal for stopping the feeding operation when the second signal is output or when the excess signal is output.

3. A distribution detection unit that detects the distribution state of fish in a fish basket, and a feeding control unit that controls the feeding operation when the feeder feeds the fish basket according to the distribution state, The distribution detection unit is installed in one or more layers in the depth direction of the fishpond, and includes an upper-layer camera that photographs the upper layer of the fishpond and acquires an upper-layer image, and a lower-layer camera that photographs the lower layer of the fishpond and acquires a lower-layer image. The feeding control unit includes an area ratio calculation unit and an adjustment unit. The area ratio calculation unit calculates the upper-layer area ratio between a first upper-layer area obtained by binarizing the upper-layer image and a second upper-layer area, and calculates the lower-layer area ratio between a first lower-layer area obtained by binarizing the lower-layer image and a second lower-layer area. Both the first upper-layer area and the first lower-layer area are the total areas of regions corresponding to the fish, and both the second upper-layer area and the second lower-layer area are the total areas of regions not corresponding to the fish. The adjustment unit includes a model generation unit and an estimation unit. The model generation unit generates a model by machine learning from teacher data that uses at least the upper-layer area ratio and the lower-layer area ratio as input data and uses a control signal for controlling the feeding operation corresponding to this input data as output data. The estimation unit is characterized in that it uses at least a new upper-layer area ratio and a new lower-layer area ratio as estimation input data, and estimates the control signal corresponding to the estimation input data based on the model. An underwater feeding device.

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