Monitoring apparatus and monitoring method for aquatic organisms

Abstract

A monitoring apparatus (10) for aquatic organisms, which monitors the distribution of aquatic organisms within a monitored water area. The monitoring apparatus (10) comprises: an acoustic sensor (1), which emits an ultrasonic beam into water and receives reflected wave signals from aquatic organisms; an aquatic organism counting unit (2), which counts the aquatic organisms within a detection range of the acoustic sensor on the basis of the reflected wave signals; a detection region area calculation unit (3), which calculates a beam width at a predetermined depth on the basis of an extension angle of the ultrasonic beam, and calculates the area of a detection region at the predetermined depth on the basis of the beam width; and a living density calculation unit (4), which calculates, on the basis of the number of aquatic organisms counted and the area of the detection region, a density distribution of the aquatic organisms within the range of the monitored water area.

Description

Aquatic ecological organism monitoring device and monitoring method

[0001] This application claims priority to Chinese patent application No. 202410697985.1 filed on May 31, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0002] The present disclosure relates to the field of aquatic ecological organism monitoring, and more specifically, to an apparatus and method for dynamically monitoring the resource distribution of aquatic ecological organisms in rivers, lakes, and reservoirs. Background Art

[0003] In recent years, due to environmental changes, monitoring of aquatic ecosystems has received increasing attention. For example, the China Yangtze River Basin Water Ecology Monitoring Center, established in May 2020, is a specialized institution dedicated to monitoring the Yangtze River's water ecology. Its primary mission is to identify basic ecological data for the Yangtze River, explore patterns of ecological change, and provide first-hand information and technical support for its conservation. Its primary responsibilities include developing basin-wide water ecology monitoring plans, organizing routine water ecology monitoring, conducting specialized water ecology monitoring in key basins, and conducting emergency water ecology monitoring for major emergencies.

[0004] On the other hand, fish, a part of aquatic ecosystems, are often designed and implemented in reservoirs to facilitate migration between upstream and downstream rivers. These fishways are often designed and implemented based on empirical knowledge, based on the topography of the river and reservoir. However, the effectiveness of these fishways—for example, whether fish pass through them, when they pass through, and how many pass through—is not effectively monitored and controlled. Some reservoirs use boats to transport fish between upstream and downstream locations. While this allows for accurate information on fish numbers and sizes, it requires significant manpower and resources.

[0005] As a prior art, Patent Document 1 discloses a fish school behavior analysis method based on density distribution. It extracts fish school image frames based on videos recorded on-site with mobile phones and high-definition camera equipment, obtains the density map of a single image corresponding to a certain time point through a network model, and superimposes the time dimension with the two-dimensional spatial dimension to generate a density map with superimposed density values. The fish school density change value of each area is calculated, and the fish school density change difference calculated in all areas is accumulated to obtain the total fish school density change difference of the entire density map. Based on the comparison relationship between the total fish school density change difference and the threshold value, the fish school aggregation or dispersion behavior is determined. Obviously, this solution is not suitable for dynamic distribution monitoring of fish schools in rivers or near reservoir fishways.

[0006] Patent Document 2 discloses a method for evaluating the operation of fish passage facilities. A sonar fish finder is installed at the flat section of a multi-level fishway. The sonar fish finder's detection angle covers the entire pool of the flat section of the fishway. The number of fish within the flat pool of each level of the fishway is calculated; the fish passage efficiency of the entire fishway is calculated at various water flow rates; and the operation of the fish passage facility is evaluated. Although this solution can monitor the number of fish passing through the fishway, it cannot detect the total number of fish near the fishway in the reservoir, making it impossible to determine the actual fish passage effect. Therefore, there is an urgent need for a monitoring method for aquatic ecosystems, especially fish, in rivers, lakes, or reservoirs.

[0007] This disclosure is centered on China's national Yangtze River project and aims to obtain China's national standards. It monitors the distribution of aquatic ecological organisms inhabiting rivers, lakes, reservoirs and other designated water areas, and then monitors and grasps the trends of aquatic ecological organisms that change over time.

[0008] Prior art literature

[0009] Patent Document 1: CN117409368A

[0010] Patent Document 2: CN116296501A Summary of the Invention

[0011] The purpose of the present disclosure is to provide a monitoring device and a monitoring method for aquatic ecological organisms, which can monitor and visualize the resource distribution and time changes of aquatic ecological organisms living in a vast water area, thereby detecting the density distribution and dynamic changes of the distribution status of aquatic ecological organisms in a vast water area.

[0012] As one aspect of the present disclosure, a monitoring device for aquatic ecological organisms is provided for monitoring the distribution of aquatic ecological organisms in a monitored water area, wherein the device comprises: an acoustic sensor for irradiating an ultrasonic beam into water and receiving a reflected wave signal reflected by the aquatic ecological organisms; an aquatic ecological organism counting unit for counting the aquatic ecological organisms within the detection range of the acoustic sensor based on the reflected wave signal; a detection area area calculation unit for calculating the beam width at a specified depth based on the expansion angle of the ultrasonic beam, and calculating the area of ​​the detection area at the specified depth based on the beam width; and a habitat density calculation unit for calculating the density distribution of the aquatic ecological organisms within the monitored water area based on the number of the counted aquatic ecological organisms and the area of ​​the detection area.

[0013] In the above-mentioned monitoring device for aquatic ecological organisms, the monitored water area is divided into several cells. The habitat density calculation unit determines the cells that overlap with the detection area of ​​the acoustic sensor based on the position information of the acoustic sensor and the area information of the detection area, and sets the number of aquatic ecological organisms in these cells to the number of aquatic ecological organisms detected by the acoustic sensor, and sets the number of aquatic ecological organisms in the cells that do not overlap with the detection area of ​​the acoustic sensor to zero.

[0014] In the above-mentioned monitoring device for aquatic ecological organisms, the habitat density calculation unit uses the ratio of the area of ​​the overlapping part of the cell and the detection area of ​​the acoustic sensor to the area of ​​the detection area as the weighted value of the cell, and multiplies it by the number of aquatic ecological organisms in the cell to obtain the number of aquatic ecological organisms in the cell.

[0015] In the above-mentioned monitoring device for aquatic ecological organisms, a plurality of the acoustic sensors are arranged in an array or concentric circle shape, and the detection areas of adjacent acoustic sensors do not overlap. The habitat density calculation unit fills the number of aquatic ecological organisms in cells that have no overlapping parts with the detection areas of the acoustic sensors by interpolation based on the data of adjacent cells.

[0016] In the above-mentioned monitoring device for aquatic ecological organisms, a plurality of the acoustic sensors are arranged in an array or concentric circle shape, and the detection areas of adjacent acoustic sensors do not overlap. The habitat density calculation unit fills the number of aquatic ecological organisms in cells that have no overlapping parts with the detection areas of the acoustic sensors by interpolation based on the data of adjacent cells.

[0017] In the above-mentioned monitoring device for aquatic ecological organisms, the habitat density calculation unit obtains the density distribution of the aquatic ecological organisms within the monitored water area in real time, marks the distribution blocks of the aquatic ecological organisms at each moment, calculates the center of gravity position of each distribution block, connects the center of gravity positions of the distribution blocks with the same label to form a center of gravity vector, and uses the center of gravity vector to quantify the movement direction and movement speed of the aquatic ecological organisms.

[0018] In the above-mentioned monitoring device for aquatic ecological organisms, the habitat density calculation unit further includes a display unit for visualizing the density distribution of the aquatic ecological organisms within the monitored water area in real time.

[0019] As another aspect of the present disclosure, a method for monitoring aquatic ecological organisms is provided to monitor the distribution of aquatic ecological organisms in a monitored water area, which includes the following steps: obtaining detection data from multiple acoustic sensors; counting the aquatic ecological organisms within the detection range of each acoustic sensor based on the detection data; dividing the monitored water area into a number of cells and calculating the area of ​​each cell; obtaining the position information of each acoustic sensor and the area of ​​the detection area at a specified depth; for a cell that has an overlapping portion with the detection area of ​​the acoustic sensor, setting the number of aquatic ecological organisms in the cell to the number of aquatic ecological organisms detected by the acoustic sensor, and for a cell that has no overlapping portion with the detection area of ​​the acoustic sensor, setting the number of aquatic ecological organisms in the cell to zero.

[0020] In the above-mentioned method for monitoring aquatic ecological organisms, the weighted value of each cell is calculated based on the ratio of the area of ​​the overlapping part of the cell and the detection area to the area of ​​the entire detection area, and the number of aquatic ecological organisms in each cell is multiplied by the weighted value of the cell to obtain the number of aquatic ecological organisms in the cell.

[0021] The above-mentioned method for monitoring aquatic ecological organisms further includes: filling cells that do not overlap with the detection area of ​​the acoustic sensor by interpolation based on data of adjacent cells.

[0022] As another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program / instruction is stored, characterized in that when the computer program / instruction is executed by a processor, the steps of the above-mentioned method for monitoring aquatic ecological organisms are implemented.

[0023] As another aspect of the present disclosure, a computer program product is provided, comprising a computer program / instruction, wherein the computer program / instruction, when executed by a processor, implements the steps of the above-mentioned method for monitoring aquatic ecological organisms.

[0024] In the present disclosure, by visualizing the distribution of aquatic ecological biological resources in a wide area and their temporal changes, the density of aquatic ecological organisms in a river area can be clarified, the changes in the distribution status of aquatic ecological organisms in a river area can be clarified, and monitoring can be performed automatically and in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG1 is a functional block diagram of a device for monitoring aquatic ecosystems according to a first embodiment of the present disclosure.

[0026] FIG. 2 is a schematic diagram showing a detection area formed by emitting an ultrasonic beam from the acoustic sensor according to the first embodiment.

[0027] FIG3 is a schematic diagram showing an arrangement of a plurality of acoustic sensors in the aquatic ecosystem monitoring device 10 according to the first embodiment.

[0028] FIG. 4 shows an example of calculation of the area of ​​the detection region of the acoustic sensor in the first embodiment.

[0029] 5A and 5B are schematic diagrams showing a mode of detection by the acoustic sensor in the first embodiment.

[0030] 6A to 6C show an example of calculation of fish density distribution by the fish density calculation unit according to the first embodiment.

[0031] FIG. 7 shows the change of fish density distribution in the monitoring water area according to the first embodiment at different times as the fish move.

[0032] FIG8 shows an example of a weight value calculation method according to the first embodiment.

[0033] 9A to 9C show an example of calculation of fish density distribution by the habitat density calculation unit according to the second embodiment.

[0034] 10A to 10C show an example of calculation of fish density distribution by the habitat density calculation unit according to the third embodiment.

[0035] FIG. 11 shows the change in fish density distribution at different times as the fish move in the monitoring water area according to the third embodiment.

[0036] FIG12 is a schematic diagram showing the fish school centroid vector processing flow and processing results according to the fourth embodiment.

[0037] FIG13 is a schematic diagram showing the process of the method for monitoring aquatic ecological organisms disclosed in the present invention. DETAILED DESCRIPTION

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

[0039] The aquatic ecosystem monitoring device and method provided in this disclosure are used to monitor and visualize the resource distribution and temporal changes of aquatic ecosystems living in vast water bodies such as rivers, lakes, and reservoirs. To this end, solutions are proposed from the following aspects:

[0040] (1) Setting up multiple detection areas in the entire monitoring water area, obtaining water ecological biological information in the multiple detection areas, and obtaining the density and distribution information of the water ecological biological in the monitoring water area based on the information;

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

[0042] (3) Focus on monitoring the changes in distribution within the water area and calculating the movement vectors of aquatic ecological organisms;

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

[0044] In the following example implementations of the present disclosure, fish are used as an example of aquatic ecological organisms. It can be understood that in addition to being used to monitor fish or fish schools, the present disclosure can also be used to detect other aquatic ecological organisms such as finless porpoises, jellyfish, etc.

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

[0046] First embodiment

[0047] FIG1 shows a functional module block diagram of a water ecological organism monitoring device 10 according to the first embodiment of the present disclosure. The water ecological organism monitoring device 10 of this embodiment includes an acoustic sensor 1, a water ecological organism counting unit 2, a detection area area calculation unit 3, and a habitat density calculation unit 4. The connection method of each functional module is shown in FIG1 . The acoustic sensor 1 is connected to the water ecological organism counting unit 2 and the detection area area calculation unit 3, respectively. The water ecological organism counting unit 2 and the detection area area calculation unit 3 are connected to the habitat density calculation unit 4, respectively. Each functional module of the water ecological organism monitoring device 10 can be independently implemented by an independent hardware module, or can be implemented by software, a program, or implemented in one or more hardware modules or integrated circuits, or these functional modules can be implemented in different networks and / or processor devices and / or microcontroller devices.

[0048] The acoustic sensor 1 can be a sonar sensor, which is set on the water surface of the monitored water area, sends ultrasonic beams underwater, and receives ultrasonic beams reflected by underwater fish and other aquatic organisms, thereby detecting the shape, size and depth position of fish and other aquatic organisms.

[0049] Figure 2 shows a schematic diagram of the detection area formed by ultrasonic beams emitted by acoustic sensors according to the first embodiment. In the monitoring water area 20 shown in Figure 2, a first acoustic sensor 11 and a second acoustic sensor 12 are deployed, forming a first detection area 21 and a second detection area 22, respectively. The detection area refers to the planar area covered by the ultrasonic beam at the desired maximum detection depth. Therefore, the detection area varies with depth; the deeper the desired detection depth, the larger the detection area. Typically, the detection areas 21 and 22 of the deployed acoustic sensors do not overlap.

[0050] Figure 3 shows a schematic diagram of the configuration of multiple acoustic sensors in the aquatic ecosystem monitoring device 10 of the first embodiment. Multiple acoustic sensors can be deployed within the monitored water area, and can be arranged in an array, concentric circles, or other configurations within the monitored water area. Specifically, referring to Figure 3 , depending on the shape and size of the monitored water area, the acoustic sensors can be arranged in a square array, a rectangular array, an oblique array, a circular array, a concentric circle array, an arc array, a triangular array, a polygonal array, or any other arbitrary shape.

[0051] The detection area calculation unit 3 calculates the beam width at a specified depth based on the expansion angle of the ultrasonic beam of the acoustic sensor, and calculates the detection area area of ​​the acoustic sensor at the specified depth based on the beam width. FIG4 shows an example of the calculation of the detection area area of ​​the acoustic sensor in the first embodiment. Referring to FIG4 , the detection area calculation unit 3 calculates the radius R (or diameter, i.e., beam width) of the detection area 21 based on the expansion angle θ of the ultrasonic beam of the acoustic sensor 11 and the specified depth D using the formula R=D×tanθ. The area of ​​the detection area 21 can then be calculated using the radius R of the detection area 21. Typically, the expansion angle θ is fixed based on the performance of the acoustic sensor 11, while the specified depth D can be set according to actual conditions. The larger the specified depth D, the larger the area of ​​the detection area 21. The specified depth D may be one of the following: 1) a fixed depth or depth range is used as the specified depth D, such as 100m underwater or a depth between 100m and 120m underwater; 2) the depth of the bottom of the water in the detection area is used as the specified depth D; 3) the depth at which aquatic organisms (such as fish) are detected is used as the specified depth D. In addition, the specified depth D may also be determined by other factors, which are not particularly limited in this disclosure. The acoustic sensor 11 can detect information related to the size and number of aquatic organisms such as fish in the cone area between the location of the acoustic sensor 11 and the specified depth D, as shown in FIG4 .

[0052] The aquatic organism counting unit 2 counts the aquatic organisms, such as fish, detected by each acoustic sensor. Specifically, the working principle of the aquatic organism counting unit 2 is shown in Figures 5A and 5B. Figure 5A shows the detection mode of the aquatic organisms of the acoustic sensor. The acoustic sensors set on the water surface receive the ultrasonic beam reflection signals from the "aquatic organism monomer" in the water (for example, a fish), such as the reflection signals from the parts of the fish ① to ⑤. The waveform of the received signal is as shown in Figure 5B. By analyzing the waveform shown in Figure 5B, information reflecting the shape and body length of the fish can be obtained. By receiving all the reflection signals in the detection area, the aquatic organism counting unit 2 can calculate the number and body length information of the fish in the detection area.

[0053] The fish density calculation unit 4 receives the fish population information from each acoustic sensor of the aquatic organism counting unit 2, as well as the position information and detection area area information of each acoustic sensor calculated by the detection area calculation unit 3. It divides the entire monitoring water area 20 into a number of cells, and thereby calculates the fish density distribution within the entire monitoring water area 20. To improve the accuracy of the fish density distribution, the area of ​​each cell is typically set to be smaller than the area of ​​the detection area. The detection area area of ​​each acoustic sensor can be set to be the same or different. In this embodiment, the area of ​​each detection area is set to be the same.

[0054] Figures 6A to 6C illustrate an example of fish density distribution calculated by the fish density calculation unit 4 of the first embodiment. Figure 6A shows the entire monitoring water area 20 and the actual distribution of fish within that water area 20 at a specific moment. As shown in the right figure of Figure 6A , the entire monitoring water area 20 is first divided into, for example, 6×4 cells, which are numbered sequentially as c11, c12, ..., c16, ..., c41, c42, ..., c46.

[0055] Figure 6B shows a scenario where two acoustic sensors 11 and 12 are installed throughout the entire monitoring area 20. From left to right, the first acoustic sensor 11 and the second acoustic sensor 12 are positioned sequentially. Assume that the detection area 21 of the first acoustic sensor 11 is located within cells c21, c22, c31, and c32, and the detection area 22 of the second acoustic sensor 12 is located within cells c25, c26, c35, and c36. According to the fish distribution shown in Figure 6A, the first acoustic sensor 11 can detect two fish, while the second acoustic sensor 12 can only detect one. Therefore, cells c21, c22, c31, and c32, where the detection area 21 of the first acoustic sensor 11 is located, are each set to contain two fish, while cells c25, c26, c35, and c36, where the detection area 22 of the second acoustic sensor 12 is located, are each set to contain one fish. Cells not within the detection area of ​​an acoustic sensor are set to contain zero fish, resulting in the fish distribution diagram shown on the right side of Figure 6B.

[0056] Figure 6C shows a scenario where four acoustic sensors are deployed throughout the monitoring area. Similar to the method for deploying two acoustic sensors, the detection area of ​​the first acoustic sensor 11 is located within cells c11, c12, c21, and c22; the detection area of ​​the second acoustic sensor 12 is located within cells c15, c16, c25, and c26; the detection area of ​​the third acoustic sensor 13 is located within cells c31, c32, c41, and c42; and the detection area of ​​the fourth acoustic sensor 14 is located within cells c35, c36, c45, and c46. Based on the fish distribution shown in Figure 6A, the first acoustic sensor 11 detected six fish, the fourth acoustic sensor 14 detected three fish, and the second and third acoustic sensors 12 and 13 detected no fish. Therefore, cells c11, c12, c21, and c22, which are within the detection area of ​​the first acoustic sensor 11, are each set to have 6 fish. Cells c35, c36, c45, and c46, which are within the detection area of ​​the fourth acoustic sensor 14, are each set to have 3 fish. Cells c15, c16, c25, and c26, which are within the detection area of ​​the second acoustic sensor 12, and cells c31, c32, c41, and c42, which are within the detection area of ​​the third acoustic sensor 13, are each set to have 0 fish. Cells c13, c14, c23, c24, c33, c34, c43, and c44, which do not include the detection areas of the acoustic sensors, are also set to have 0 fish. This results in the fish distribution diagram shown in the right image of Figure 6C.

[0057] Figure 7 shows the time-varying changes in fish density distribution within the monitored waters as the fish move, according to the first embodiment. Assuming four acoustic sensors are installed throughout the monitored waters, the fish density distribution within the monitored waters is calculated over time at times T1, T2, T3, and T4 as the fish move, using the fish density calculation method shown in Figures 6B-6C.

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

[0059] Second embodiment

[0060] In the first embodiment, as shown in Figures 6B-6C , the number of fish detected by the acoustic sensor is set to the same number in each cell containing the detection area. In this embodiment, weighted values ​​are assigned to the cells containing the detection area, and the number of fish is reassigned to the cells based on the weighted values. This allows for a more accurate distribution of fish density in the monitored water area 20. Components identical to those in the first embodiment are numbered the same.

[0061] As an example of a weighted value, the number of fish schools is redistributed to each cell according to the proportion of the partial detection area contained in the cell to the entire detection area. FIG8 shows an example of a weighted value calculation method of this embodiment. Assuming that the area of ​​the detection area 21 is 10 and is evenly distributed in four adjacent cells, the area (repetition) of the partial detection area contained in each cell is one-fourth, that is, 2.5. Therefore, the weighted value of each cell is repetition ÷ area of ​​the detection area = 2.5 ÷ 10 = 0.25, that is, the weighted value of each cell is 0.25, and the weighted value multiplied by the number of fish schools detected by the acoustic sensor is the number of fish schools in the cell.

[0062] Figures 9A to 9C illustrate an example of fish density distribution calculated by the habitat density calculation unit 4 of the second embodiment. Similar to Figure 6A , Figure 9A shows the entire monitoring water area 20 and the actual distribution of fish within that water area at a specific moment, divided into 6×4 cells. Figure 9B illustrates the case where two acoustic sensors are installed throughout the entire monitoring water area 20, and Figure 9C illustrates the case where four acoustic sensors are installed throughout the entire monitoring water area 20.

[0063] In Figure 9B , based on the percentage of the partial detection area of ​​first acoustic sensor 11 contained in cells c21, c22, c31, and c32, weights are set to 0.1, 0.3, 0.2, and 0.4, respectively. Based on the percentage of the partial detection area of ​​second acoustic sensor 12 contained in cells c25, c26, c35, and c36, weights are set to 0.2, 0.4, 0.2, and 0.2, respectively. The weights of each cell are multiplied by the number of fish detected by the acoustic sensor in that cell and reallocated to that cell, yielding the fish density distribution at a specific moment in monitored water area 20, as shown in the right figure of Figure 9B .

[0064] In FIG9C , the weighted values ​​of cells c11, c12, c21, and c22 are set to 0.1, 0.3, 0.2, and 0.4, respectively, according to the proportion of the partial detection area of ​​the first acoustic sensor 11 contained in cells c11, c12, c21, and c22. The weighted values ​​of cells c15, c16, c25, and c26 are set to 0.2, 0.2, 0.3, and 0.4, respectively, according to the proportion of the partial detection area of ​​the second acoustic sensor 12 contained in cells c15, c16, c25, and c26. .3. Based on the proportion of the partial detection area of ​​third acoustic sensor 13 contained in cells c31, c32, c41, and c42, the weighted values ​​of cells c31, c32, c41, and c42 are set to 0.1, 0.4, 0.1, and 0.4, respectively. Based on the proportion of the partial detection area of ​​fourth acoustic sensor 14 contained in cells c35, c36, c45, and c46, the weighted values ​​of cells c35, c36, c45, and c46 are set to 0.2, 0.2, 0.3, and 0.3, respectively. The weighted values ​​of each cell are multiplied by the number of fish detected by the acoustic sensor in that cell and reallocated to that cell, resulting in the fish density distribution at a specific moment in monitored waters 20, as shown in the right figure of Figure 9C.

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

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

[0067] Third embodiment

[0068] In the first and second embodiments, as shown in Figures 6B-6C and 9B-9C , the number of fish in cells without detection areas is set to 0. In this embodiment, the number of fish in cells without detection areas is determined by interpolation based on the number of fish detected by adjacent acoustic sensors. This allows for a more accurate distribution of fish density in the monitored water area 20. Components identical to those in the first and second embodiments are numbered the same.

[0069] Figures 10A-10C illustrate an example of fish density distribution calculated by the habitat density calculation unit 4 of the third embodiment. After weighted calculation processing is performed on Figures 9B-9C of the second embodiment, the number of fish in cells not containing detection areas is determined by interpolation based on the number of fish in adjacent acoustic sensors. Similar to Figure 9A , Figure 10A shows the entire monitoring area 20 and the actual distribution of fish at a specific moment in time within that area, divided into 6×4 cells. Figure 10B illustrates the case where two acoustic sensors are installed throughout the entire monitoring area 20, while Figure 10C illustrates the case where four acoustic sensors are installed throughout the entire monitoring area 20.

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

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

[0072] Figure 11 shows the temporal variation of fish density distribution within the monitored waters at different times T1, T2, T3, and T4, as fish move, using the method of the third embodiment, with four acoustic sensors installed throughout the monitored waters. This variation in fish density is then dynamically displayed on the display unit. As shown in Figure 11 , color coding can also be used in the display, with cells with more fish being represented by darker colors, to more clearly demonstrate the distribution of fish density.

[0073] Although in this embodiment, the number of fish in cells that do not contain a detection area is determined by linear interpolation based on the number of fish detected by adjacent acoustic sensors, the present disclosure is not limited to this. For example, polynomial interpolation can also be used, and the interpolation direction is not limited to horizontal or vertical. Interpolation can also be performed in an oblique direction or in the direction of fish movement, or in a time-series manner.

[0074] Fourth embodiment

[0075] This embodiment is based on the first to third embodiments, and further calculates the center of gravity position of the fish school, and estimates the movement amount of the fish school based on the movement vector of the center of gravity position.

[0076] FIG12 is a schematic diagram showing the fish school centroid vector processing flow and processing results according to this embodiment.

[0077] In step 41, the temporal changes in fish density distribution at different times T1, T2, T3, and T4 are obtained using the processing described in the third embodiment. In step 43, the fish distribution blocks at each time are labeled. In step 45, the center of gravity of each fish distribution block is determined. In step 47, the center of gravity of the fish distribution blocks with the same label is tracked to obtain the fish center of gravity vector. In step 49, the movement of the fish is calculated based on the fish center of gravity vector and displayed in real time on the display unit. This allows the movement direction and speed of the fish to be quantified.

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

[0079] The above describes the aquatic ecological organism monitoring device of the present disclosure. Next, the aquatic ecological organism monitoring method of the present disclosure will be described.

[0080] FIG13 is a schematic flow chart of the aquatic ecological organism monitoring method disclosed herein.

[0081] First, in step 101, detection data of the acoustic sensor is acquired. Specifically, the acoustic sensor irradiates an ultrasonic beam having a specified expansion angle into the water, and detects aquatic organisms at a specified depth through reflected waves reflected by the aquatic organisms.

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

[0083] On the other hand, in step 102, the vast water area to be monitored is divided into a number of cells in advance, and the areas of the cells are calculated.

[0084] In step 104, the position information and detection area of ​​the acoustic sensor are obtained. The position information of the acoustic sensor is pre-set, and the detection area of ​​the acoustic sensor is calculated and obtained at a specified depth as shown in FIG4 .

[0085] In step 105, for cells in the detection area containing the acoustic sensor, the number is set to the number of aquatic ecological organisms detected by the acoustic sensor, and for cells in the detection area not containing the acoustic sensor, the number is set to 0, thereby obtaining the density distribution of aquatic ecological organisms in the monitored water area.

[0086] In step 106 , a weighted value of each cell is calculated based on the proportion of the partial detection area of ​​the acoustic sensor contained in the cell to the entire detection area.

[0087] In step 107, the density distribution of the aquatic ecological organisms obtained in step 105 is multiplied by a weighted value per cell.

[0088] In step 109, for cells that do not contain the detection area of ​​the acoustic sensor, data is filled in by horizontal or vertical interpolation based on the data of adjacent cells that contain the detection area of ​​the acoustic sensor, thereby obtaining a more accurate density distribution of aquatic organisms.

[0089] The above describes the aquatic ecological organism monitoring method disclosed in the present invention. The execution order of some steps can be adjusted as needed, and some steps can be deleted or added as needed.

[0090] The above is a preferred embodiment of the present disclosure, but the present disclosure is not limited thereto. Various changes, improvements and equivalent replacements made within the technical ideas and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A monitoring device for aquatic ecological organisms, which monitors the distribution of aquatic ecological organisms in the monitoring water area, wherein: include: Acoustic sensors irradiate ultrasonic beams into the water and receive reflected wave signals from aquatic organisms; an aquatic organism counting unit for counting aquatic organisms within a detection range of the acoustic sensor based on the reflected wave signal; a detection region area calculation unit that calculates a beam width at a predetermined depth based on a spread angle of the ultrasonic beam, and calculates an area of ​​the detection region at the predetermined depth based on the beam width; as well as The habitat density calculation unit calculates the density distribution of the aquatic ecological organisms within the monitored water area based on the number of the counted aquatic ecological organisms and the area of ​​the detection area.

2. The aquatic ecological organism monitoring device according to claim 1, wherein: The monitored water area is divided into several cells. The habitat density calculation unit determines the cells that overlap with the detection area of ​​the acoustic sensor based on the position information of the acoustic sensor and the area information of the detection area, and sets the number of aquatic organisms in these cells to the number of aquatic organisms detected by the acoustic sensor, and sets the number of aquatic organisms in the cells that do not overlap with the detection area of ​​the acoustic sensor to zero.

3. The monitoring device for aquatic ecological organisms according to claim 2, wherein: The habitat density calculation unit uses the ratio of the overlapping area of ​​the cell and the detection area of ​​the acoustic sensor to the area of ​​the detection area as the weighted value of the cell, and multiplies it by the number of aquatic organisms in the cell to obtain the number of aquatic organisms in the cell.

4. The monitoring device for aquatic ecological organisms according to claim 2, wherein: The acoustic sensors are arranged in an array or concentric circles, and the detection areas of adjacent acoustic sensors do not overlap. The habitat density calculation unit fills in the number of aquatic organisms in cells that do not overlap with the detection area of ​​the acoustic sensor by interpolation based on data of adjacent cells.

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

6. The aquatic ecological organism monitoring device according to any one of claims 1 to 5, wherein: The habitat density calculation unit obtains the density distribution of the aquatic ecological organisms within the monitored water area in real time, marks the distribution blocks of the aquatic ecological organisms at each moment, calculates the center of gravity position of each distribution block, connects the center of gravity positions of the distribution blocks with the same label to form a center of gravity vector, and uses the center of gravity vector to quantify the movement direction and movement speed of the aquatic ecological organisms.

7. The aquatic ecological organism monitoring device according to any one of claims 1 to 5, wherein: The habitat density calculation unit further includes a display unit for visualizing the density distribution of the aquatic ecological organisms within the monitored water area in real time.

8. A method for monitoring aquatic ecological organisms, wherein the distribution of aquatic ecological organisms in a monitoring water area is monitored, wherein: The following steps are involved: Acquiring detection data from multiple acoustic sensors; Counting the aquatic organisms within the detection range of each acoustic sensor according to the detection data; Divide the monitored water area into a number of cells and calculate the area of ​​each cell; obtaining the position information of each acoustic sensor and the area of ​​the detection area at a specified depth; For cells that have overlapping parts with the detection area of ​​the acoustic sensor, the number of aquatic organisms in the cell is set to the number of aquatic organisms detected by the acoustic sensor. For cells that do not have overlapping parts with the detection area of ​​the acoustic sensor, the number of aquatic organisms in the cell is set to zero.

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

10. The method for monitoring aquatic ecosystems according to claim 8 or 9, further comprising: Cells that do not overlap with the detection area of ​​the acoustic sensor are filled in by interpolation based on data from adjacent cells.

11. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the method for monitoring aquatic ecological organisms according to any one of claims 8 to 10 are implemented.

12. A computer program product comprising a computer program / instructions, wherein: When the computer program / instruction is executed by a processor, the steps of the method for monitoring aquatic ecological organisms according to any one of claims 8 to 10 are implemented.

Images