CN113805162B - Fish growth detection method and device based on ultrasonic phased array - Google Patents
Fish growth detection method and device based on ultrasonic phased array Download PDFInfo
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- CN113805162B CN113805162B CN202111370179.6A CN202111370179A CN113805162B CN 113805162 B CN113805162 B CN 113805162B CN 202111370179 A CN202111370179 A CN 202111370179A CN 113805162 B CN113805162 B CN 113805162B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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Abstract
The application provides a fish growth detection method and device based on an ultrasonic phased array, which are applied to the field of fishery culture and comprise the following steps: obtaining a fish area to be detected; scanning the unit area in a dynamic focusing mode according to the acoustic wave transmitting array, and receiving reflected echoes through the acoustic wave receiving array elements to obtain echo signals; superposing the echo signals in a signal delay mode, extracting envelope signals, and judging whether to focus or not according to the envelope signals; if so, recording the time of the echo return, and multiplying the time by the speed to obtain a first edge distance and a second edge distance; and calculating the first edge distance and the second edge distance according to a triangular formula to obtain the fish size of the unit area, and summarizing to obtain the fish size of the fish area to be detected. The scheme adopts an ultrasonic phased array technology to realize deflection and focusing of beams, and adopts a dynamic focusing mode to scan, thereby improving the comprehensiveness and accuracy of detection.
Description
Technical Field
The invention relates to the field of fishery culture, in particular to a fish growth detection method and device based on an ultrasonic phased array.
Background
In fishery culture production, the growth condition of fish needs to be periodically monitored, and a basis is provided for scientific culture, however, due to technical limitation, the general monitoring method can only artificially observe the growth condition of fish, and is difficult to quantitatively monitor data such as fish size, and if the periodic quantitative monitoring of the growth of fish in a feeding pond can be realized, more accurate fish growth data can be provided, and an accurate basis can be provided for production activities.
The ultrasonic phased array technology is originated from the phased array radar technology, and has been developed for more than 20 years. The ultrasonic phased array technology is firstly applied to the field of ultrasonic images, then is gradually applied to the aspects of industrial nondestructive testing and the like, and also has application in the fields of marine landform detection, anti-submarine sonar and the like. The ultrasonic phased array technology realizes controllable acoustic beam deflection and focusing by controlling the delay of the excitation pulse time of each array element in a transducer array, thereby scanning a measured object in a dynamic focusing mode, and realizing detection in different directions, namely three-dimensional detection according to echoes of targets in different directions.
Among the prior art, some adopt the two-bit image of shooting fish to carry out data analysis, the size shape of final definite fish, but this technique exists and can not the omnidirectional carries out size measurement to fish to data processing volume is great, there is the lower problem of degree of accuracy, some adopt the infrared grating technique, the image of the fish that will pass through this grating remains, carry out data analysis, confirm the size shape of fish, but this technique is used in fixed migration passageway and carries out fish detection, and can not have more extensive application scope, the suitability is relatively poor.
Disclosure of Invention
The application provides a fish growth detection method and device based on an ultrasonic phased array, and aims to solve the problems that detection in the problems is not comprehensive enough, precision is not high, and the application range is small, so that the applicability is low.
In order to achieve the purpose, the following technical scheme is adopted in the application:
obtaining a fish area to be detected;
scanning a unit region in a dynamic focusing mode according to a sound wave transmitting array, receiving reflected echoes by a sound wave receiving array element to obtain echo signals, wherein the sound wave transmitting array is generated by arranging a predetermined number of piezoelectric ceramic ultrasonic transducers in a square mode, each piezoelectric ceramic ultrasonic transducer is an array element, the unit region is obtained by dividing the fish region to be detected according to a preset format, and the sound wave receiving array element is an adjacent array element of a central array element of the sound wave transmitting array;
superposing the echo signals in a signal delay mode, extracting envelope signals, and judging whether to focus or not according to the envelope signals;
if so, recording the time of the echo return, and multiplying the time by the speed to obtain a first edge distance and a second edge distance, wherein the speed is the propagation speed of the sound wave in the water;
and calculating the first edge distance and the second edge distance according to a triangular formula to obtain the fish size of the unit area, and summarizing to obtain the fish size of the fish area to be detected.
Preferably, the scanning the unit region by using a dynamic focusing method according to the acoustic wave transmitting array, and receiving the reflected echo by the acoustic wave receiving array element to obtain an echo signal includes:
array element carries out the sound wave transmission according to being not more than respectively in the sound wave emission array time of echo signal delay, according to supersound phased array principle realizes the deflection and the focus of sound wave adopt the dynamic focus mode to scan in proper order all unit areas in proper order, will corner array element in the adjacent array element of sound wave emission array center array element is as sound wave receiving array element, according to sound wave receiving array element receives the echo of testee reflection in the unit area obtains echo signal.
Preferably, the receiving the echo reflected by the measured object in the unit region according to the acoustic wave receiving array element to obtain an echo signal includes:
and the acoustic wave receiving array element detects the echo signal by using an operational amplifier and an analog-to-digital converter as a receiving end, and converts an analog signal of the waveform of the echo signal to obtain an echo signal in a digital signal form.
Preferably, the superimposing the echo signals in a signal delay manner and then extracting envelope signals, and determining whether to focus according to the envelope signals, includes:
taking the time of the echo signal returning to the acoustic wave receiving array element from the object to be measured as the delay time, superposing the echo signal in the acoustic wave receiving array element according to the delay time to obtain a superposed echo signal, and calculating the superposed echo signal according to an envelope calculation formula
Calculating to obtain an envelope signal, wherein z (t) is the envelope signal,
and
a new signal obtained by band-pass filtering and low-pass filtering said echo signal, theta being an arbitrary phase value, E (t) being a representative function of the input signal,
is an initial phase;
and judging whether the envelope shape is focused or not according to the envelope signal, judging that the envelope shape is not focused if the envelope shape comprises a plurality of wave crests, judging that the envelope shape is focused if the envelope shape is a single wave crest, and enabling the envelope signal to be focused if the envelope shape is focused, wherein the object to be measured exists.
Preferably, if the time of the echo return is recorded, and the time is multiplied by the velocity to obtain the first edge distance and the second edge distance, the method includes:
if the envelope signal is focused, calculating the time of the echo signal reaching the acoustic wave receiving array element according to a transit time algorithm to obtain the return time;
and multiplying the return time by the propagation speed according to a four-rule operation algorithm to obtain the transmission distance of the echo signal, and taking the corresponding transmission distance in focusing as a first edge distance and a second edge distance respectively when the envelope of the echo signal is changed from focusing to non-focusing.
A fish growth detection device based on an ultrasonic phased array comprises:
an acquisition module: the method comprises the steps of obtaining a fish area to be detected;
an acoustic wave scanning module: the device is used for scanning the unit area in a dynamic focusing mode according to the acoustic wave transmitting array and receiving reflected echoes through the acoustic wave receiving array elements to obtain echo signals;
the fish detection module: the echo signal is superposed according to a signal delay mode, then an envelope signal is extracted, and whether focusing is carried out or not is judged according to the envelope signal;
the sound wave reflection distance calculation module: if yes, recording the time of the echo return, and multiplying the time by the speed to obtain a first edge distance and a second edge distance;
fish size calculation module: and the first edge distance and the second edge distance are calculated according to a triangular formula to obtain the fish size of the unit area, and the fish size of the fish area to be detected is obtained through summarizing.
Preferably, the fish detection module includes:
an echo signal envelope calculation module: the time for returning the echo signals from the object to be measured to the acoustic wave receiving array element is used as the delay time, the echo signals are superposed in the acoustic wave receiving array element according to the delay time to obtain superposed echo signals, and the superposed echo signals are calculated according to an envelope calculation formula
Calculating to obtain an envelope signal, wherein z (t) is the envelope signal,
and
a new signal obtained by band-pass filtering and low-pass filtering said echo signal, theta being an arbitrary phase value, E (t) being a representative function of the input signal,
is an initial phase;
the judging module for the existence of the detected object: and the device is used for judging whether the envelope shape is focused or not according to the envelope signal, judging that the envelope shape is not focused if the envelope shape contains a plurality of wave crests, judging that the envelope shape is focused if the envelope shape is a single wave crest, and enabling the envelope signal to exist in the object to be measured when the envelope signal is focused.
Preferably, the acoustic wave reflection distance calculation module includes:
a return time calculation module: the time for the echo signal to reach the acoustic wave receiving array element is calculated according to a transit time algorithm to obtain the return time;
an edge distance calculation module: and the processing unit is used for multiplying the return time by the propagation speed according to a four-rule operation algorithm to obtain the transmission distance of the echo signal, and when the envelope of the echo signal is changed from focusing to non-focusing, the transmission distance corresponding to the focusing is taken as a first edge distance and a second edge distance respectively.
An ultrasonic phased array based fish growth detection apparatus comprising a memory and a processor, the memory storing one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement an ultrasonic phased array based fish growth detection method as claimed in any one of the preceding claims.
A computer readable storage medium storing a computer program which, when executed by a computer, implements an ultrasonic phased array based fish growth detection method as claimed in any one of the preceding claims.
The invention has the following beneficial effects:
when the acoustic wave emission array emits acoustic waves, the deflection and focusing of acoustic wave beams can be realized through the principle of an ultrasonic phased array, so that the detected object in a unit area can be detected by adjusting the emission time, the detected object can be detected in all directions, and the detection is more comprehensive; the dynamic focusing mode is adopted for scanning, the dynamic focusing compensation can be carried out on the focusing deviation in different directions, so that the accuracy of detecting the unit area is improved, the accuracy of the final fish size measurement is also improved, the ultrasonic phased array technology is adopted for monitoring the fish growth in different areas, the application range is improved, and the applicability of the technical scheme is improved; the array elements in the acoustic wave transmitting array sequentially transmit acoustic waves according to the time not longer than the delay time of the echo signals, and the transmitting sequence can improve the scanning speed of the unit area, so that the efficiency of the whole technical scheme is improved; echo signals are superposed in the sound wave receiving array element according to the delay time, so that the superposed echo signals are greatly enhanced, a larger amplitude is generated, extraction of envelope signals in subsequent steps is facilitated, whether the envelope shapes are focused or not is judged, whether detected fishes exist in a unit area or not is judged conveniently, the precision of fish detection is improved, and the accuracy of the whole scheme is improved; when the fish size is measured, the time is calculated by adopting a transit time algorithm, the length is calculated by adopting a triangular formula, and the accuracy of a calculation result is improved by adopting a scientific and effective technical means, so that the fish size is measured more accurately.
Drawings
FIG. 1 is a flow chart of a method for detecting fish growth based on an ultrasonic phased array according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of an acoustic wave emitting array implemented according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for extracting an envelope from an echo signal after superposition and determining whether to focus according to the envelope according to an embodiment of the present invention;
fig. 4 is a schematic diagram of implementing a delay from a measured object P point transmitting echo to an acoustic wave receiving array element according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of two states of envelope signal focusing and defocusing realized by the embodiment of the invention;
FIG. 6 is a flow chart of a method for calculating a first edge distance and a second edge distance according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an embodiment of the present invention for determining an edge distance of a measured object;
FIG. 8 is a schematic diagram of a fish growth detection device based on an ultrasonic phased array according to an embodiment of the invention;
FIG. 9 is a schematic diagram of a fish detection module 30 in a fish growth detection apparatus based on an ultrasonic phased array according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a sound wave reflection distance calculation module 40 in a fish growth detection device based on an ultrasonic phased array according to an embodiment of the present invention;
fig. 11 is a schematic diagram of an electronic device for implementing a fish growth detection apparatus based on an ultrasonic phased array according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
The terms "first," "second," and the like in the claims and in the description of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, it being understood that the terms so used are interchangeable under appropriate circumstances and are merely used to describe a distinguishing manner between similar elements in the embodiments of the present application and that the terms "comprising" and "having" and any variations thereof are intended to cover a non-exclusive inclusion such that a process, method, system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, and the terms used herein in the specification of the present application are for the purpose of describing particular embodiments only and are not intended to limit the present application.
Example 1
As shown in fig. 1, a fish growth detection method based on an ultrasonic phased array includes the following steps:
s11, obtaining a fish area to be detected;
s12, scanning the unit area in a dynamic focusing mode according to the acoustic wave transmitting array, and receiving reflected echoes through the acoustic wave receiving array elements to obtain echo signals;
s13, superposing the echo signals in a signal delay mode, extracting envelope signals, and judging whether the signals are focused or not according to the envelope signals;
s14, if yes, recording the time of the echo return, and multiplying the time by the speed to obtain a first edge distance and a second edge distance;
and S15, calculating the first edge distance and the second edge distance according to a triangular formula to obtain the fish size of the unit area, and summarizing to obtain the fish size of the fish area to be detected.
In embodiment 1, a fish area to be detected is determined, the fish area is used as a fish area to be detected, the technical scheme is set, a deflection angle of a phased array is 30 degrees, piezoelectric ceramic ultrasonic transducers with the diameter of 1.2cm and the main frequency of 500KHz are selected to form an ultrasonic phased array, namely a sound wave transmitting array, 25 piezoelectric ceramic ultrasonic transducers are arranged in a square to form a 5 x 5 array, receiving array elements adopt piezoelectric ceramic ultrasonic transducers which are integrated with each other for receiving and transmitting, the central transmitting frequency is 500KHz of the main frequency, the transmitting sound pressure is 10V, when the echo signal frequency is the main frequency, the receiving sensitivity can reach-65 dB, the electrostatic capacity is 1800 +/-30% PF, the sound beam angle is 60, the distance between two adjacent transducer arrays is 0.5mm, as shown in fig. 2, array element No. 13 is used as a central array element, array elements No. 7, No. 9, No. 17 and No. 19 are used as signal receiving elements, the acoustic wave receiving array element is used for sequentially scanning a scanned area, namely a fish area to be detected, into 100 points by 100 points under the same plane by adopting a dynamic focusing mode, and the transmission of the array elements needs a certain delay time to realize the deflection and focusing of acoustic wave beams, so that the detected object can be detected from multiple directions, the sum of the time of a transmission period between the array elements and the time of the delay time of each array element is smaller than the delay time of the acoustic wave receiving array element for superposing echo signals, the transmitted acoustic waves can most possibly generate the same phase at the detected object, all the array elements in the acoustic wave transmitting array sequentially transmit the acoustic waves to the detected object in a unit area according to the transmission period, the detected object reflects the transmitted acoustic waves to generate echoes, an operational amplifier and an A/D converter are adopted in the acoustic wave receiving array element to be used as receiving ends of the echo signals to detect and connect in parallel Receiving echo signals reflected by a measured object, converting analog signals of the received echo signals into echo signals in a digital signal form, obtaining the echo signals after conversion, then superposing the echo signals obtained by the acoustic wave receiving array elements according to certain delay time, extracting the superposed echo signals, extracting envelope signals, judging according to the envelope waveforms of the envelope signals, if the envelope signals are focused, the fish measured object exists in a unit area, if the envelope signals are not focused, the fish measured object does not exist, if the judgment result is focused, recording the return time of returning the echo from the measured object to the acoustic wave receiving array elements, multiplying the return time by the propagation speed of the acoustic waves in water, calculating to obtain the distances between two edges of the measured object in the same direction and the receiving array elements, wherein the distances are the first edge distance and the second edge distance respectively, then according to the triangular calculation formula c = a + b-2 × a × b × cosC, the dimension length c in this direction of the object to be measured is obtained through the calculation of the first edge distance a and the second edge distance b, the dimension lengths in each direction are collected to obtain the fish sizes in the cell regions, and all the cell regions are collected to obtain the fish sizes of all the fishes in the fish region to be measured. The beneficial effect of this embodiment is: when the acoustic wave emission array emits acoustic waves, the deflection and focusing of acoustic wave beams can be realized through the principle of the ultrasonic phased array, so that the detected object in a unit area can be detected by adjusting the emission time, the detected object can be detected in all directions, the detection is more comprehensive, the dynamic focusing mode is adopted for scanning, the dynamic focusing compensation can be carried out on the focusing deviation in different directions, the accuracy of the detection of the unit area is improved, the accuracy of the final fish size measurement is also improved, the fish growth can be monitored in different areas by adopting the ultrasonic phased array technology, the application range is improved, the applicability of the technical scheme is improved, the array elements in the acoustic wave emission array emit the acoustic waves sequentially according to the time not more than the time delay of echo signals, the scanning speed of the unit area can be improved through the emission sequence, therefore, the efficiency of the whole technical scheme is improved, the echo with the strongest energy is generated at the position of the measured object, a more visual result can be obtained in the subsequent operation, the accuracy of the detection result is convenient, and in the sound wave receiving array element, the operational amplifier and the A/D converter are adopted as the receiving end, so that the receiving efficiency of the echo signal is improved, the signal conversion speed is accelerated, and the operation of delaying and superposing the echo signal is convenient.
Example 2
As shown in fig. 3, a method for extracting an envelope from a superimposed echo signal and determining whether to focus according to the envelope includes the following steps:
s21, taking the time of the echo signal returning to the acoustic wave receiving array element from the object to be measured as the delay time, superposing the echo signal in the acoustic wave receiving array element according to the delay time to obtain a superposed echo signal, and calculating the superposition echo signal according to an envelope calculation formula
Calculating to obtain an envelope signal, wherein z (t) is the envelope signal,
and
a new signal obtained by band-pass filtering and low-pass filtering said echo signal, theta being an arbitrary phase value, E (t) being a representative function of the input signal,
is an initial phase;
and S22, judging whether the envelope shape is focused or not according to the envelope signal, judging that the envelope shape is not focused when the envelope shape comprises a plurality of wave crests, judging that the envelope shape is focused when the envelope shape is a single wave crest, and enabling the envelope signal to be focused when the envelope signal is focused to exist in the object to be measured.
In embodiment 2, echo signals are first superimposed in a signal delay manner in an acoustic wave receiving array element, as shown in fig. 4, a measured object with a P point as a unit area is set, the time for transmitting echoes to the acoustic wave receiving array elements 7, 9, 17, and 19 is T7, T9, T17, and T19, after 4 array elements receive echoes, delay, i.e., phase shift operation is performed by T7, T9, T17, and T19, signals with different phases are superimposed, if the P point is a focus point, the superimposed signals are greatly enhanced, if the P point is not a focus point, the superimposed signals are cancelled, the amplitude is small, thereby determining whether the measured object exists in the P point, after the superimposed echo signals are obtained, the acquired echo signals i (T) are subjected to bandpass filtering with the central frequency of fc, and other interferences such as noise are removed, and signals x (T), then generating a pair of orthogonal signals u (t) and v (t) with the same frequency as the center frequency fc of the ultrasonic pulse signal x (t), wherein u (t) = sin (2 pi fct + theta), v (t) = cos (2 pi fct + theta), theta is an arbitrary phase value, and multiplying the generated orthogonal signals sin (2 pi fct + theta) and cos (2 pi fct + theta) with the input signal x (t) respectively to obtain two signals
And
，
transforming the formula into:
，
the two signals are combined
And
low-pass filtering is respectively carried out, and the 2fc frequency signals in the above two expressions are filtered to obtain
And
) The two signals are used for controlling the power of the power supply,
，
，
and
the two signals are orthogonal, and after square summation, the two signals are squared to obtain z (t) signals, namely envelope signals of echo signals
After the envelope signal is obtained, whether fish exists in the unit area scanned by the acoustic wave emitting array is judged by judging whether the envelope shape is focused or not, namely whether a measured object exists or not, if the measured object is focused, the unit area is not focused, as shown in fig. 5, if the envelope contains a plurality of wave crests, the unit area is judged to be unfocused, and if the measured object is a single wave crest, the unit area is judged to be in a focused state. The beneficial effect of this embodiment is: echo signals are superposed in the sound wave receiving array element according to the delay time, so that the superposed echo signals are greatly enhanced, a larger amplitude is generated, extraction of envelope signals in subsequent steps is facilitated, whether the envelope shapes are focused or not is judged, and whether detected signals exist in a unit area or not is judged convenientlyThe accuracy of fish detection is improved and the accuracy of the whole scheme is improved by the detected fish, and the envelope shape is described in an icon form, so that whether the fish is focused or not can be judged more visually.
Example 3
As shown in fig. 6, a method for obtaining a first edge distance and a second edge distance by calculation includes the following steps:
s31, focusing the envelope signal, and calculating the time of the echo signal reaching the acoustic wave receiving array element according to a transit time algorithm to obtain the return time;
and S32, multiplying the return time by the propagation speed according to a four-rule operation algorithm to obtain the transmission distance of the echo signal, and taking the transmission distance corresponding to the focusing as a first edge distance and a second edge distance respectively when the envelope of the echo signal is changed from focusing to unfocusing.
In embodiment 3, first, whether the envelope is focused is judged, when the envelope is focused, it is proved that an object to be measured exists in the unit area, then, the return time of the echo returning from the object to be measured to the acoustic wave receiving array element is calculated, the TOF algorithm, that is, the transit time algorithm, is adopted to calculate the return time, after the return time is obtained, calculation is performed according to multiplication in four arithmetic operations, the return time is multiplied by the propagation speed of the acoustic wave in water, generally 1450m/s, then, the distance between the object to be measured and the acoustic wave receiving array element can be obtained, the obtained distance is the distance between all focused positions in the object to be measured and the acoustic wave receiving array element, in order to obtain the size length of the direction of the object to be measured, the distance between the edge of the direction of the object to be measured and the acoustic wave receiving array element is calculated, as shown in fig. 7, the edge position is scanned, l1 is focused, L2 is in the unfocused position, the position of the scanning edge can be judged, the amplitude of the echo gradually decreases, the position of the scanning edge can be judged, the edge distance of two ends of the measured object can be determined through the judgment, and the edge distance is set as a first edge distance and a second edge distance respectively. The beneficial effect of this embodiment does: the return time is calculated by adopting a transit time algorithm, so that the calculated time is more accurate, the precision of the scheme detection result is improved, the edge distance of the detected object is determined, the omnibearing calculation can be carried out during the subsequent calculation of the size of the detected object, the calculation of the corresponding direction can be carried out according to the obtained edge distances in different directions, and a more comprehensive fish size detection result is obtained.
Example 4
As shown in fig. 8, a fish growth detecting apparatus based on an ultrasonic phased array includes:
the acquisition module 10: the method comprises the steps of obtaining a fish area to be detected;
the acoustic wave scanning module 20: the device is used for scanning the unit area in a dynamic focusing mode according to the acoustic wave transmitting array and receiving reflected echoes through the acoustic wave receiving array elements to obtain echo signals;
the fish detection module 30: the echo signal is superposed according to a signal delay mode, then an envelope signal is extracted, and whether focusing is carried out or not is judged according to the envelope signal;
acoustic wave reflection distance calculation module 40: if yes, recording the time of the echo return, and multiplying the time by the speed to obtain a first edge distance and a second edge distance;
fish size calculation module 50: and the first edge distance and the second edge distance are calculated according to a triangular formula to obtain the fish size of the unit area, and the fish size of the fish area to be detected is obtained through summarizing.
One embodiment of the above apparatus is: firstly, in the acquisition module 10, the fish region to be measured is acquired, then in the acoustic scanning module 20, the unit area is scanned in a dynamic focusing mode according to the acoustic wave transmitting array, reflected echoes are received by the acoustic wave receiving array elements to obtain echo signals, then, in the fish detection module 30, the echo signals are superimposed according to a signal delay mode, envelope signals are extracted, whether the signals are focused or not is judged according to the envelope signals, then, in the acoustic reflection distance calculation module 40, if the judgment is yes, the time of the echo return is recorded, the time is multiplied by the speed to obtain a first edge distance and a second edge distance, and finally, in the fish size calculation module 50, and calculating the first edge distance and the second edge distance according to a triangular formula to obtain the fish size of the unit area, and summarizing to obtain the fish size of the fish area to be detected.
Example 5
As shown in fig. 9, a fish detection module 30 in a fish growth detection apparatus based on an ultrasonic phased array includes:
echo signal envelope calculation module 31: the time for returning the echo signals from the object to be measured to the acoustic wave receiving array element is used as the delay time, the echo signals are superposed in the acoustic wave receiving array element according to the delay time to obtain superposed echo signals, and the superposed echo signals are calculated according to an envelope calculation formula
Calculating to obtain an envelope signal, wherein z (t) is the envelope signal,
and
a new signal obtained by band-pass filtering and low-pass filtering said echo signal, theta being an arbitrary phase value, E (t) being a representative function of the input signal,
is an initial phase;
the measured object existence judging module 32: and the device is used for judging whether the envelope shape is focused or not according to the envelope signal, judging that the envelope shape is not focused if the envelope shape contains a plurality of wave crests, judging that the envelope shape is focused if the envelope shape is a single wave crest, and enabling the envelope signal to exist in the object to be measured when the envelope signal is focused.
One embodiment of the above apparatus is: firstly, in an echo signal envelope calculation module 31, returning the echo signal from the object to be measured to the acoustic wave receiving array elementThe time is taken as the delay time, the echo signals are superposed in the acoustic wave receiving array element according to the delay time to obtain superposed echo signals, and the superposed echo signals are calculated according to an envelope calculation formula
Calculating to obtain an envelope signal, then judging whether the envelope shape is focused or not according to the envelope signal in a judging module 32 for existence of the measured object, judging that the envelope shape is not focused when the envelope shape comprises a plurality of wave crests, judging that the envelope shape is focused when the envelope shape is a single wave crest, and finally, when the envelope signal is focused, the measured object exists.
Example 6
As shown in fig. 10, a sound wave reflection distance calculation module 40 in the fish growth detection apparatus based on the ultrasonic phased array includes:
return time calculation module 41: the time for the echo signal to reach the acoustic wave receiving array element is calculated according to a transit time algorithm to obtain the return time;
edge distance calculation module 42: and the processing unit is used for multiplying the return time by the propagation speed according to a four-rule operation algorithm to obtain the transmission distance of the echo signal, and when the envelope of the echo signal is changed from focusing to non-focusing, the transmission distance corresponding to the focusing is taken as a first edge distance and a second edge distance respectively.
One embodiment of the above apparatus is: firstly, in the return time calculation module 41, if the envelope signal is focused, the time of the echo signal reaching the acoustic wave receiving array element is calculated according to a transit time algorithm to obtain a return time, then, in the edge distance calculation module 42, the return time is multiplied by the propagation speed according to a four-rule operation algorithm to obtain the transmission distance of the echo signal, and finally, when the envelope of the echo signal is changed from focused to unfocused, the transmission distance corresponding to the focused time is taken as a first edge distance and a second edge distance respectively.
Example 7
As shown in fig. 11, an electronic device comprises a memory 701 and a processor 702, wherein the memory 701 is used for storing one or more computer instructions, and the one or more computer instructions are executed by the processor 702 to implement any one of the methods described above.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the electronic device described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
A computer readable storage medium storing a computer program which, when executed, causes a computer to implement any of the methods as described above.
Illustratively, a computer program may be divided into one or more modules/units, one or more modules/units are stored in the memory 701 and executed by the processor 702, and the I/O interface transmission of data is performed by the input interface 705 and the output interface 706 to accomplish the present invention, and one or more of the modules/units may be a series of computer program instruction segments describing the execution of the computer program in a computer device.
The computer device may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The computer device may include, but is not limited to, the memory 701 and the processor 702, and those skilled in the art will appreciate that the present embodiment is merely an example of a computer device and is not a limitation of computer devices, and may include more or less components, or combine certain components, or different components, for example, the computer device may further include an input 707, a network access device, a bus, etc.
The processor 702 may be a Central Processing Unit (CPU), other general-purpose processor 702, a digital signal processor 802 (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general purpose processor 702 may be a microprocessor 702 or the processor 702 may be any conventional processor 702 or the like.
The storage 701 may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. The memory 701 may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) card, a flash memory card (FlashCard) or the like provided on the computer device, further, the memory 701 may also include both an internal storage unit and an external storage device of the computer device, the memory 701 is used for storing a computer program and other programs and data required by the computer device, the memory 701 may also be used for temporarily storing the program code in the output unit 708, and the aforementioned storage media include various media capable of storing program codes, such as a usb disk, a removable hard disk, a ROM703, a RAM704, a disk, or an optical disk.
The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the claims of the present invention.
Claims (9)
1. A fish growth detection method based on an ultrasonic phased array is characterized by comprising the following steps:
obtaining a fish area to be detected;
scanning a unit region in a dynamic focusing mode according to a sound wave transmitting array, receiving reflected echoes by a sound wave receiving array element to obtain echo signals, wherein the sound wave transmitting array is generated by arranging a predetermined number of piezoelectric ceramic ultrasonic transducers in a square mode, each piezoelectric ceramic ultrasonic transducer is an array element, the unit region is obtained by dividing the fish region to be detected according to a preset format, and the sound wave receiving array element is an adjacent array element of a central array element of the sound wave transmitting array;
superposing the echo signals in a signal delay mode, extracting envelope signals, and judging whether the envelope shape is focused or not according to the envelope signals;
if the judgment result is focusing, recording the time of the echo return, and multiplying the time by the speed to obtain a first edge distance and a second edge distance, wherein the speed is the propagation speed of sound waves in water, the first edge distance and the second edge distance are the distances between two edges of a measured object and a receiving array element in the same direction, and the measured object is a fish measured object;
according to the triangle formula
And calculating the first edge distance and the second edge distance to obtain the fish size of the unit area and obtain the fish size of the fish area to be detected, wherein c is the size length of the detected object in the same direction, the fish size of the unit area is obtained in a gathering manner, a is the first edge distance, b is the second edge distance, and cosC is the cosine value of the included angle of the ab edge.
2. The fish growth detection method based on the ultrasonic phased array as claimed in claim 1, wherein the scanning of the unit area by dynamic focusing according to the acoustic wave transmitting array and the reception of the reflected echo by the acoustic wave receiving array elements to obtain an echo signal comprises:
array element carries out the sound wave transmission according to being not more than respectively in the sound wave emission array time of echo signal delay, according to supersound phased array principle realizes the deflection and the focus of sound wave adopt the dynamic focus mode to scan in proper order all unit areas in proper order, will corner array element in the adjacent array element of sound wave emission array center array element is as sound wave receiving array element, according to sound wave receiving array element receives the echo of testee reflection in the unit area obtains echo signal.
3. The fish growth detection method based on the ultrasonic phased array as claimed in claim 2, wherein the step of superposing the echo signals in a signal delay manner, extracting envelope signals, and judging whether the envelope shapes are focused or not according to the envelope signals comprises the steps of:
taking the time of the echo signal returning to the acoustic wave receiving array element from the object to be measured as delay time, superposing the echo signal in the acoustic wave receiving array element according to the delay time to obtain a superposed echo signal, and calculating the superposed echo signal according to an envelope calculation formula
Calculating to obtain an envelope signal, wherein z (t) is the envelope signal,
and
a new signal obtained by band-pass filtering and low-pass filtering the echo signal
And said
The two signals are in quadrature, theta is an arbitrary phase value, E (t) is a representative function of the input signal,
is an initial phase;
and judging whether the envelope shape is focused or not according to the envelope signal, judging that the envelope shape is not focused if the envelope shape comprises a plurality of wave crests, judging that the envelope shape is focused if the envelope shape is a single wave crest, and enabling the measured object to exist when the envelope shape is focused.
4. The method as claimed in claim 3, wherein if the determination result is focus, recording the time of the echo return, and multiplying the time by the velocity to obtain a first edge distance and a second edge distance, comprises:
if the envelope shape is focused, calculating the time of the echo signal reaching the acoustic wave receiving array element according to a transit time algorithm to obtain the return time;
and multiplying the return time and the speed according to a four-rule operation algorithm to obtain the transmission distance of the echo signal, and when the envelope of the echo signal is changed from focusing to unfocusing, taking the corresponding transmission distance when the focusing is changed to unfocusing as a first edge distance and a second edge distance respectively, wherein the transmission distance comprises the distances between all focusing positions in the object to be measured and the acoustic wave receiving array element.
5. A fish growth detection device based on an ultrasonic phased array is used for realizing the fish growth detection method based on the ultrasonic phased array in claim 1, and is characterized by comprising the following steps:
an acquisition module: the method comprises the steps of obtaining a fish area to be detected;
an acoustic wave scanning module: the device is used for scanning the unit area in a dynamic focusing mode according to the acoustic wave transmitting array and receiving reflected echoes through the acoustic wave receiving array elements to obtain echo signals;
the fish detection module: the echo signal is superposed according to a signal delay mode, then an envelope signal is extracted, and whether the envelope shape is focused or not is judged according to the envelope signal;
the sound wave reflection distance calculation module: when the judgment result is focusing, recording the time of the echo return, and multiplying the time by the speed to obtain a first edge distance and a second edge distance, wherein the first edge distance and the second edge distance are the distances between two edges of the measured object in the same direction and the receiving array element, and the measured object is a fish measured object;
fish size calculation module: for formulation according to triangles
And calculating the first edge distance and the second edge distance to obtain the fish size of the unit area and obtain the fish size of the fish area to be detected, wherein c is the size length of the detected object in the same direction, the fish size of the unit area is obtained in a gathering manner, a is the first edge distance, b is the second edge distance, and cosC is the cosine value of the included angle of the ab edge.
6. The ultrasonic phased array based fish growth detection apparatus as claimed in claim 5, wherein the fish detection module comprises:
an echo signal envelope calculation module: the time for returning the echo signals from the object to be measured to the sound wave receiving array element is used as delay time, the echo signals are superposed in the sound wave receiving array element according to the delay time to obtain superposed echo signals, and the superposed echo signals are calculated according to an envelope calculation formula
Calculating to obtain an envelope signal, wherein z (t) is the envelope signal,
and
a new signal obtained by band-pass filtering and low-pass filtering the echo signal
And said
The two signals are in quadrature, theta is an arbitrary phase value, E (t) is a representative function of the input signal,
is an initial phase;
the judging module for the existence of the detected object: and the device is used for judging whether the envelope shape is focused or not according to the envelope signal, judging that the envelope shape is not focused if the envelope shape contains a plurality of wave crests, judging that the envelope shape is focused if the envelope shape is a single wave crest, and enabling the measured object to exist when the envelope shape is focused.
7. The ultrasonic phased array based fish growth detection device according to claim 5, wherein the sound wave reflection distance calculation module comprises:
a return time calculation module: the time for the echo signal to reach the acoustic wave receiving array element is calculated according to a transit time algorithm to obtain the return time;
an edge distance calculation module: and the device is used for multiplying the return time and the speed according to a four-rule operation algorithm to obtain the transmission distance of the echo signal, and when the envelope of the echo signal is changed from focusing to non-focusing, the corresponding transmission distance when the focusing is changed to non-focusing is taken as a first edge distance and a second edge distance respectively, wherein the transmission distance comprises the distances between all focusing positions in the object to be measured and the sound wave receiving array element.
8. An ultrasonic phased array based fish growth detection apparatus, comprising a memory and a processor, wherein the memory is used for storing one or more computer instructions, and the one or more computer instructions are executed by the processor to realize the ultrasonic phased array based fish growth detection method according to any one of claims 1-4.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer, implements an ultrasound phased array based fish growth detection method according to any one of claims 1 to 4.
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