CN103704164A - Fish behavior and nerve observation and research device and method - Google Patents
Fish behavior and nerve observation and research device and method Download PDFInfo
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- CN103704164A CN103704164A CN201310720188.2A CN201310720188A CN103704164A CN 103704164 A CN103704164 A CN 103704164A CN 201310720188 A CN201310720188 A CN 201310720188A CN 103704164 A CN103704164 A CN 103704164A
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Abstract
The invention discloses a fish behavior and nerve observation and research device and method. A side-face camera is installed on one side of a fish tank, and the other side of the fish tank is provided with an installation support. A top-surface camera, a stimulation controller, a rotating arm angle control stepping motor, a rotating arm and a rotating arm fixing support are installed on the installation support. Stimulation horizontal movement control devices are installed on the rotating arm, stimulation height control stepping motors are installed on the horizontal movement control devices and connected with height control connecting lines, the height control connecting lines are connected with stimulation points, and stimulation assemblies are installed on the stimulation points. A computer is used for controlling the cameras and the stimulation controller. The observation and research method includes the steps that three-dimensional calculation is performed on fish behaviors, calculation and analysis are performed on the fish behaviors, and fish nerve research is performed through sound, light, electricity, drug stimulation and fish behavior analysis. According to the fish behavior and nerve observation and research device and method, wider and deeper cognition to fish behaviors and nerves is performed, and the fish behavior and nerve observation and research device and method have a great effect in the field of human life science research.
Description
One, technical field
The present invention relates to animal life scientific domain, belong to animal behavior research category, specifically Fish behavior and neural observation and research device and method thereof.
Two, background technology
Fish are widely used in various physiology, pharmacology and the other diseases such as tumour, angiocardiopathy, ophthalmology disease, nervous system and the research for the treatment of mechanism in life science research.The finder of Fish behavior is most important for the research of fish, and research device is more tending towards variation.
Chinese patent 201120049737.4 < < zebra fish behavior inducing device > > have announced eye movement reaction and the optomotor response behaviouristics data analysis system of a kind of zebra fish.Chinese patent 201210064120.9 < < oceanic pasture fish vocal behavior controller > > announced a kind of at oceanic pasture to fish vocal behavior control system.The inducing device > > of a Chinese patent 201120237172.2 < < pet fish swimming behavior has announced a kind of pet fish swimming behavior inducing device.Mono-kind of Chinese patent 201210100988.X < < is applicable to the research small fishes ethological device of the light > > that becomes and has announced a kind of small fishes and drive the ethological research device of light.More than invention has all only related to the research of certain single behavior of fish, and the limitation of research is larger, does not all record three-dimensional behavior and the response to environment of fish.
Three, summary of the invention
The object of the invention is Fish behavior more to have the research of breadth and depth, particularly fish are at three-dimensional behavior record, the method of computational analysis is carried out in proposition to Fish behavior, behavior reaction when fish are stimulated by sound, optical, electrical, medicine, in conjunction with to Fish behavior Calculation results, carry out the neural research of fish.
The object of the invention is to reach like this: the side at fish culture box is installed side video camera, at the opposite side of fish culture box, mounting bracket is set, mounting bracket is inverted L shape, is a platform above, and there is a supporting bracket side.End face over against fish culture box on mounting bracket is installed end face video camera, and constant stimulus controller, cursor angle control step motor, cursor, cursor fixed support are installed on mounting bracket;
On two of the left and right cursor support arm A arm of cursor and cursor support arm B arm, symmetrical two irritation level mobile controllers are installed, on horizontally moving device, install respectively two and stimulate height control step motor, stimulate on height control step motor and be connected with highly control connection line, height control connection line connects respectively two the spread effect points in left and right, and two of left and right are installed on the spread effect point of two of left and right stimulates combination;
Calculator is connected with side video camera with calculator line, by end face video camera, is connected, by boost controller, is connected with boost controller with computer connection wire with calculator line with end face video camera by side video camera.
Between boost controller and spread effect point, be provided with stimulation control connection.
Boost controller is by stimulating control single chip computer, communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits form.Stimulate control single chip computer to be connected with communication interface circuit is two-way, stimulate control single chip computer to cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits are controlled.Two groups of boost control circuits comprise that A group stimulates to be controlled and B group stimulates and controls, A group stimulate control by height stepper motor A control circuit, move horizontally stepper motor A control circuit, loading pump A control circuit, sonic stimulation A control circuit, light stimulus A control circuit and form; B group stimulates to be controlled by height stepper motor B control circuit, moves horizontally stepper motor B control circuit, loading pump B control circuit, sonic stimulation B control circuit, light stimulus B control circuit and form.
Cursor by cursor toothed disc, cursor, connecting hole is installed from top to bottom and cursor support arm forms, and cursor toothed disc, cursor are installed connecting hole and cursor support arm integrated connection.Cursor is installed connection hole in the middle position of cursor support arm and cursor toothed disc, lower end connection of rotating arm support arm, upper end connection of rotating arm gear dish.Cursor support arm is divided into symmetrical cursor support arm A arm and cursor support arm B arm.Cursor toothed disc is installed connecting hole by cursor fixed support through cursor and is installed on mounting bracket with the angle control gear engagement being arranged on cursor angle control step motor, cursor.
Cursor fixed support is the tubular construction of the outer silk of band screw thread, below tubular construction, be connected with cursor supporting surface, middle body at tubular construction has end face video camera installing hole, cursor fixed support is installed connecting hole through cursor, cursor is supported on cursor supporting surface, upper outer at tubular construction is provided with silk screw thread outside the installation of cursor fixed support, and the cursor fixed support installation internal thread screw threads for fastening that cursor fixed support is installed outer silk screw thread and mounting bracket is fastened on mounting bracket.
Irritation level mobile controller comprises and moves horizontally stepper motor runner, moves horizontally crawler belt runner, moves horizontally crawler belt, moves horizontally stepper motor, moves horizontally crawler belt runner support.Move horizontally stepper motor, move horizontally crawler belt runner support and be arranged on cursor support arm, moving horizontally stepper motor runner is fixed on and moves horizontally on stepper motor, the two ends that move horizontally crawler belt are arranged on and move horizontally stepper motor runner and move horizontally on crawler belt runner, and be moved horizontally stepper motor runner and move horizontally the tension of crawler belt runner, move horizontally crawler belt and move to the left or to the right with moving horizontally the rotation forward or backwards of stepper motor runner.
Stimulate height control step motor to be arranged on respectively moving horizontally on crawler belt of two the irritation level mobile controllers in left and right.Stimulate height control step motor upper end to be provided with and highly control runner, one end of height control connection line is connected to highly to be controlled on runner, and the other end connects spread effect point.
Stimulating control line is spring-like elastic connecting line, is the combination of multiple line, comprises that sound stimulates the grug transportation tube line of connecting line, light stimulus linking number, electro photoluminescence connecting line, loading pump.
Stimulate combination to comprise sound, optical, electrical, medicine irritation, the loudspeaker that installation sound stimulates on spread effect point, the lamp of light stimulus, stimulating electrode, the outlet of grug transportation tube.Light stimulus comprises that ruddiness, blue light, green glow stimulate, and are respectively arranged with red colored lamp, blue lamp and green light in described light stimulus A control circuit and light stimulus B control circuit; Waterproofing design is done in the output of sound, light stimulus.Fish behavior is to carry out under computer program is controlled with neural observation and research method, first determine after one or 2 stimulation points stimulate by one or more in sound, optical, electrical, drug regimen, fish is three-dimensional coordinate position in fish culture box, then according to the three-dimensional coordinate of fish, carry out three-dimensional computations, the computational analysis to Fish behavior of Fish behavior, in conjunction with the behavioural analysis of fish and then carry out the neural research of fish.
Computer program control flow is: after starting, stimulus type be set be the multiple stimulation combinations such as sound, optical, electrical, medicine, the coordinate of one or two stimulation point is set, according to stimulating the stimulation circuits such as combination control sound, optical, electrical, loading, according to the coordinate control cursor angle control step motor of one or two stimulation point, height stepper motor A, B, horizontal motor A, B; Gather the image of end face video camera and side video camera, according to the linear equation in the coordinate place water of end face camera review calculating fish, and the straight line in water is defined as DY by the coordinate of fish, plane equation according to the coordinate of side camera review calculating fish in water, the plane by the coordinate of fish in water is defined as EMX, calculates the three-dimensional coordinate (Sx of fish according to straight line DY, plane EMX, Sy, Sz), finally according to the long coordinate record of fish, carry out the behavioural analysis of fish, finish.
Described definite fish three-dimensional coordinate (Sx, Sy, Sz) in fish culture box is to carry out in the following manner:
1), according to fish, the imager coordinate on end face video camera is taken pictures is determined the straight line DY at the Shui Zhong place, position of fish;
2), according to fish, the imager coordinate on side video camera is taken pictures is determined the plane EMX at the Shui Zhong place, position of fish;
3), according to unique intersection point of straight line DY and plane EMX, find the three-dimensional coordinate position (Sx, Sy, Sz) of fish in fish culture box.
Three-dimensional computations has following process: 1) install and calibration camera, 2) take pictures, 3) calculate fish the imager coordinate on taking a picture, 4) according to fish, the imager coordinate on end face video camera is taken pictures is determined the straight line at the Shui Zhong place, position of fish, 5) imager coordinate on taking pictures according to side video camera is determined the plane at the Shui Zhong place, position of fish, 6) according to end face video camera, determine that the straight line at Shui Zhong place, position of fish and the intersection point of the plane at the Shui Zhong place, position that side video camera is determined fish determine the coordinate of fish.
The process of the straight line of the position that the imager coordinate according to fish on end face video camera is taken pictures is determined fish in water is:
The straight line of the position that makes fish in water is through the X coordinate FX=(Mx-M/2 of end face water surface point) * nn * CH/f,
The straight line of the position of fish in water is through the Y coordinate FY=(My-N/2 of end face water surface point) * nn * CH/f,
The point of coordinate (FX, FY, HH) be fish place straight line in the corresponding points of Z=HH plane, be designated as a DM, the plane that order point DM and Z axis determine is DMZ; On plane DMZ, cross DM point and be parallel to Z axis and do straight line, making it is straight line DL, crosses to put DM and straight line DL negative direction is straight line DY, makes the angle of straight line DY and straight line DL negative direction be
Determine that fish is on straight line DY;
Described according to fish the imager coordinate on side video camera is taken pictures determine that the process of plane at the place, position of fish is: be: make EY=(Cx-M/2) * nn * CH/f, EZ=(Cy-N/2) * nn * CH/f point (LL, EY, EZ) be that fish is in the corresponding points of X=LL plane, be designated as an EM, the plane that order point EM and X-axis determine is face EMX, determines that plane EMX is the plane at the place, position of fish;
The three-dimensional coordinate of determining fish is to determine after cartesian coordinate system is set up: straight line DY and plane EMX exist a unique intersection point, this intersection point is exactly the physical location of fish, calculates the coordinate of this intersection point according to the equation of the equation of straight line DY and plane EMX, establishes it and is: (Sx, Sy, Sz);
The foundation of cartesian coordinate system is: the vertical line of the middle of fish culture box is Z axis, is upwards positive direction, middle, fish culture box side and with the straight line of lateral vertical be X-axis, be to the right positive direction, X, Z intersection point is (0,0,0) O point, crossing O point, to do the vertical line of plane X OZ be Y-axis, is outwards positive direction, the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at eight angles of fish box is respectively: (LL, WW, HH), (LL,-WW, HH), (LL, WW, HH), (LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (LL, WW,-HH), (LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side video camera is f, photosensitive sensor Pixel Dimensions is nn * nn, the horizontal pixel of end face video camera and side video camera adds up to M, longitudinally sum of all pixels is N, My is the Y coordinate of the fish that calculates of end face video camera, and Mx is the X coordinate of the fish that calculates of end face video camera, Cy is the Y coordinate of the fish that calculates of side video camera, and Cx is the X coordinate of the fish that calculates of side video camera.
The coordinate of video camera is set up: the pixel of photo of take is coordinate unit, and the upper left corner is (0,0) coordinate, and pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate.
The also process of calibration camera is installed is:
End face video camera is arranged on Z axis, and end face video camera imaging photosensitive sensor is vertical with Z axis, and Z axis is through end face photosensitive sensor centre, the both sides of end face photosensitive sensor respectively with X-axis, Y-axis is parallel;
Side video camera is arranged in X-axis, and side video camera imaging photosensitive sensor is vertical with X-axis, and X-axis is through side photosensitive sensor centre, and the both sides of side photosensitive sensor are parallel with Y-axis, Z axis respectively;
If the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at eight angles of fish box is respectively: (LL, WW, HH), (LL,-WW, HH), (LL, WW, HH), (LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (LL, WW,-HH), (LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side video camera is f, photosensitive sensor Pixel Dimensions is nn * nn, the horizontal pixel of end face video camera and side video camera adds up to M, longitudinally sum of all pixels is N,
Take pictures is to carry out in the following manner: end face and side video camera working method are set are respectively M-JPEG mode and make a video recording and take pictures, 25 frames per second;
Calculate fish the imager coordinate on taking a picture be according to carrying out as follows: calculate fish the imager coordinate on taking a picture be respectively end face video camera and side video camera photo to be carried out to following computing:
1) photo is converted to gray scale form,
2) experiment test goes out one higher than the brightness of fish, and be less than and there is no the binaryzation of the waters of fish brightness threshold value,
3) by binaryzation threshold value, picture is carried out to binaryzation calculating, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of employing 3 * 3 carries out open and close computing to image,
5) system point of employing 3 * 3 carries out repeatedly erosion operation to image, until in image, do not get 1 pixel,
6) select last to have the picture of 1 pixel, the pixel of photo of take is coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate, calculate all Y coordinate of pixel and mean value of X coordinate of 1 got, the mean value of end face video camera Y coordinate and X coordinate is designated as to My, Mx, and My is the Y coordinate of the fish that calculates of end face video camera, and Mx is the X coordinate of the fish that calculates of end face video camera; The mean value of side video camera Y coordinate and X coordinate is designated as to Cy, Cx, Cy is the Y coordinate of the fish that calculates of side video camera, Cx is the X coordinate of the fish that calculates of side video camera.
To Fish behavior process of calculation analysis, be: carve at a time, get the fish coordinate of front 2 frames of this moment as starting point, the fish coordinate of these constantly rear 2 frames is as terminal; Starting point and terminal are connected into straight line, according to the length L x of starting point, terminal point coordinate calculated line and the angle θ in coordinate system; If sampled images per second is fx frame, the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; According to the relation of angle θ and time calculate the turning to of fish, float, each action constantly such as sinking; According to the turning to of each action speed constantly and each moment, float, the behavior such as sinking, analytic statistics various actions performance data, carries out the behavioural analysis of fish.
Good effect of the present invention is: Fish behavior has been carried out more having to the research of breadth and depth, particularly fish are at three-dimensional behavior record, the method of computational analysis is carried out in proposition to Fish behavior, behavior reaction when fish are stimulated by sound, optical, electrical, medicine, in conjunction with to Fish behavior Calculation results, carry out the neural research of fish.Result of study obtains more extensively in the research of human life's scientific domain, actual application.
Four, accompanying drawing explanation
Fig. 1 is the structural representation of this Fish behavior and neural observation and research device.
Fig. 2 is mounting support structure schematic diagram.
Fig. 3 is cursor structural representation.
Fig. 4 is cursor fixing rack structure schematic diagram.
Fig. 5 is irritation level mobile device structural representation.
Fig. 6 stimulates height control step motor scheme of installation.
Fig. 7 is boost controller structured flowchart.
Fig. 8 is the single chip circuit figure in boost controller.
Fig. 9 is the communication interface circuit figure in boost controller.
Figure 10 is cursor angle control step motor, height control step motor, horizontal control step circuit for controlling motor figure.
Figure 11 is loading pump control circuit figure, and in figure, MG1 is loading pump.
Figure 12 is sonic stimulation control circuit figure.
Figure 13 is light stimulus control circuit figure.
Figure 14 is electro photoluminescence control circuit figure.
Figure 15 is that the three-dimensional coordinate of fish is determined schematic diagram.
Figure 16 is computer program flow chart.
In figure, 1 fish culture box, 2 side video cameras, 3 side video camera and computer connection wires, 4 calculators, 5 boost controllers and computer connection wire, 6 boost controllers, 7 cursor angle control step motors, 8 mounting brackets, 9 cursors, 10 cursor fixed supports, 11 end face video cameras, 12-1, 12-2 stimulates height control step motor, 13-1, 13-2 irritation level mobile controller, 14-1, 14-2 stimulates control line, 15-1, 15-2 highly controls line, 16-1, 16-2 spread effect point, 17 end face video cameras and calculator line, 27 cursor toothed discs, 28 cursors are installed connecting hole, 29-1 cursor supports A arm, 29-2 cursor supports B arm, 30 angle control gears, 31 fixing screw holes, 32 supporting brackets, 33 cursor fixed supports are installed internal thread screw thread, 34 cursor supporting surfaces, 35 cursor fixed supports are installed outer silk screw thread, 36 end face video camera installing holes, 37 cursor FX, 38 move horizontally stepper motor runner, 39 move horizontally crawler belt runner, 40 move horizontally crawler belt, 41 move horizontally stepper motor, 42 move horizontally crawler belt runner support, 43 highly control runner.
Five, embodiment
Referring to accompanying drawing 1-2.
This Fish behavior comprises fish culture box, calculator with neural observation and research device.A side at fish culture box is installed side video camera 2, at the opposite side of fish culture box, mounting bracket 8 is set, and mounting bracket is inverted L shape, is a platform above, and there is a supporting bracket 32 side.On mounting bracket 8, directly the end face of fish culture box is installed to end face video camera 11, constant stimulus controller 6, cursor angle control step motor 7, cursor, cursor fixed support are installed on mounting bracket 8.
Symmetrical two irritation level mobile controller 13-1,13-2 are installed on cursor, two of left and right are installed on horizontally moving device and stimulate height control step motor 12-1,12-2, stimulate on height control step motor 12-1,12-2 and be connected with height control connection line 15-1,15-2, height control connection line 15-1,15-2 connect respectively left and right two spread effect point 16-1,16-2.Two of left and right are installed on two the spread effect points in left and right stimulates combination, comprises respectively sound, optical, electrical, medicine irritation.
In the present embodiment, fish culture box is transparent cube fish culture box, can be made by transparent materials such as glass, lucite, and opened top, other face sealings are waterproof.Vertical with side video camera and the side close to keeps transparent, other three sides and bottom surface painted whites from side video camera.Side video camera is mounted in the video camera of the side of fish culture box, and shooting level direction is aimed at a side of fish culture box.Side video camera and computer connection wire send side camera video data to calculator.End face video camera is mounted in the video camera of fish culture box end face, takes the end face that direction is aimed at fish culture box.End face video camera and calculator line send end face camera data to calculator.Side video camera and end face video camera type selecting: the DS-2CD886MF-E type that Hangzhou Hikvision Digital Technology Co., Ltd produces, calculator is selected conventional computer.
Boost controller and computer connection wire 5 are for the communication connection of boost controller and calculator.Boost controller 6, under computer control, produces the required sound of test, the stimulus signal such as optical, electrical, or adds medicine.Boost controller is arranged on the top of mounting bracket 8.The loudspeaker that sound stimulates, the red colored lamp of light stimulus, green light and blue lamp are done water-proofing treatment.
Referring to accompanying drawing 3,4.Cursor angle control step motor is for controlling the angle of cursor.Cursor is used for installing irritation level mobile controller, and by the change of self angle, changes the angle of irritation level mobile controller.Cursor fixed support is for being fixed on mounting bracket by cursor.
Cursor fixed support has a cursor supporting surface 34, with cursor fixed support, outer silk screw thread 35 and cursor FX 37 are installed and connect into as a wholely, middle body has end face video camera installing hole 36 and guarantees that end face video cameras are over against the end face of fish culture box.Cursor fixed support is installed connecting hole 28 through cursor, cursor is supported on cursor supporting surface, cursor fixed support is installed outer silk screw thread 35 and is fastenedly connected with the cursor fixed support installation internal thread screw thread 33 on mounting bracket 8, and cursor 9 is fixed on mounting bracket 8.Cursor angle control step motor is controlled the rotation of cursor toothed disc by the angle control gear on limit mounted thereto.
Referring to Fig. 5,6.Irritation level mobile controller comprises and moves horizontally stepper motor runner 38, moves horizontally crawler belt runner 39, moves horizontally crawler belt 40, moves horizontally stepper motor 41, moves horizontally crawler belt runner support 42.Move horizontally stepper motor 41, move horizontally crawler belt runner support 42 and be arranged on cursor support arm, moving horizontally stepper motor runner 38 is fixed on and moves horizontally on stepper motor 41, the two ends that move horizontally crawler belt 40 are arranged on and move horizontally stepper motor runner 38 and move horizontally on crawler belt runner 39, and be moved horizontally stepper motor runner 38 and move horizontally 39 tensions of crawler belt runner, make to move horizontally crawler belt 40 and move to the left or to the right with moving horizontally the rotation forward or backwards of stepper motor runner 38.Stimulate height control step motor to be arranged on and move horizontally on crawler belt, can move horizontally with moving horizontally crawler belt control, and by rotation, control the height of spread effect point.Stimulate setting height(from bottom) control connection line on height control step motor to connect spread effect point.Irritation level mobile controller is for controlling the horizontal level that stimulates height control step motor.
Stimulate control line elastic connecting line to be used for connecting boost controller and spread effect point.Use elastic connecting line can be when height change, and elastic connecting line stretches with the height change of spread effect point.Stimulate solderless wrapped connection of height control connection line stimulating on the rotating disk of height control step motor, one connects spread effect point, stimulates height control step motor to rotate forward or backwards by height control connection line and regulates the height that connects spread effect point.
Spread effect point is the concrete installation site of sound, optical, electrical, medicine irritation.Spread effect point has two, during use, can use in pairs, also can be only with one.By the angle of cursor angle control step motor regulating rotary swing arm, by irritation level mobile controller, regulate the horizontal level that stimulates height control step motor, by stimulating height control step motor to regulate the height of spread effect point spread effect point can be moved to the optional position of fish culture box.
Referring to Fig. 7.Boost controller is by stimulating control single chip computer, communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits form, stimulate control single chip computer to be connected with communication interface circuit is two-way, stimulate control single chip computer to cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits are controlled.Two groups of boost control circuits comprise that A group stimulates control and B group to stimulate and controls, A group stimulates controls the correlation function module of controlling on cursor support arm A arm, by height stepper motor A control circuit, move horizontally stepper motor A control circuit, loading pump A control circuit, sonic stimulation A control circuit, light stimulus A control circuit and form.B group stimulates the correlation function module of controlling on cursor support arm B arm, by height stepper motor B control circuit, move horizontally stepper motor B control circuit, loading pump B control circuit, sonic stimulation B control circuit, light stimulus B control circuit.
Referring to accompanying drawing 8-10.Stimulate control single chip computer to be used for controlling communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, height stepping motor control circuit, to move horizontally stepping motor control circuit, loading pump control circuit, sonic stimulation control circuit, light stimulus control circuit.Communication interface circuit is for stimulating the communication connection between control single chip computer and calculator.Cursor angle stepping motor control circuit is stimulating control cursor angle stepper motor under control single chip computer control, thereby controls the angle of cursor.Electro photoluminescence control circuit is controlled electro photoluminescence output under stimulation control single chip computer is controlled.Height stepping motor control circuit is stimulating control height stepper motor under control single chip computer control, by the height of height step motor control spread effect point.Moving horizontally stepping motor control circuit is stimulating level of control under control single chip computer control to move stepper motor, by moving horizontally step motor control stimulation point from the distance of cursor central point, in conjunction with the angle of cursor, can control the plan-position of spread effect point.Cursor angle stepper motor, move horizontally stepper motor, three motors of height stepper motor in conjunction with the locus that can control stimulation point.
Stimulate single-chip microcomputer type selecting WeiTI company in control single chip computer circuit, MSP430F135.In cursor angle stepping motor control circuit, stepper motor driver M1 selects Leisai Electromechanical Tech. Dev. Co., Ltd., Shenzhen City to produce stepper motor driver, model: DM320C,: stepper motor M2: select Leisai Electromechanical Tech. Dev. Co., Ltd., Shenzhen City to produce stepper motor, model is 35HS01.All stepper motors adopt identical stepping motor control circuit, and in figure, the P1-P8 of each stepping motor control circuit is connected with the universal input/output interface of difference single-chip microcomputer.
Figure 11 is loading pump control circuit figure, and in figure, MG1 is loading pump.Loading pump control circuit is controlled loading pump work under stimulation control single chip computer is controlled, and by the control to loading pump, realizes the control to medicine irritation.
In Figure 12, sonic stimulation control circuit is controlled sonic stimulation signal under stimulation control single chip computer is controlled.Sound control circuit speech chip UC8, is ISD2560 type, and Taiwan winbond electronics corporation produces, and YU1-YU14 connects single-chip microcomputer input and output pin.
In Figure 13 light stimulus control circuit figure, D1, D2, D3 are respectively red colored lamp, green light, blue lamp.Light stimulus A control circuit and light stimulus B control circuit adopt identical control circuit, and the node R ED in figure, GREEN, BLUE are connected respectively different single-chip microcomputer input pins for light stimulus A and light stimulus B.Light stimulus control circuit is stimulating control single chip computer to control the luminous of red, green, blue-light-emitting pipe under controlling.
Figure 14 electro photoluminescence control circuit is circuit for producing high voltage, the be upset control of control single chip computer of this circuit.Stimulate control single chip computer control the connection of circuit for producing high voltage and cut off the electricity supply by control relay, at C3 two ends, produce high-tension electricity.C3 two ends produce high-tension electricity and deliver to respectively on the electric stimulation electrode of two spread effect points.
Utilize this Fish behavior and neural observation and research device to study, first determine after one or 2 stimulation points stimulate by one or more in sound, optical, electrical, drug regimen, fish is three-dimensional coordinate position in fish culture box, then according to the three-dimensional coordinate of fish, carry out three-dimensional computations, the computational analysis to Fish behavior of Fish behavior, in conjunction with the behavioural analysis of fish and then carry out the neural research of fish.
Referring to accompanying drawing 16.
Computer program control flow is: after starting, stimulus type be set be the multiple stimulation combinations such as sound, optical, electrical, medicine, the coordinate of one or two stimulation point is set, according to stimulating the stimulation circuits such as combination control sound, optical, electrical, loading, according to the coordinate control cursor angle control step motor of one or two stimulation point, height stepper motor A, B, horizontal motor A, B; Gather the image of end face video camera and side video camera, according to the linear equation in the coordinate place water of end face camera review calculating fish, and the straight line in water is defined as DY by the coordinate of fish, plane equation according to the coordinate of side camera review calculating fish in water, the plane by the coordinate of fish in water is defined as EMX, calculates the three-dimensional coordinate (Sx of fish according to straight line DY, plane EMX, Sy, Sz), finally according to the long coordinate record of fish, carry out the behavioural analysis of fish, finish.
Referring to accompanying drawing 15.
Setting up cartesian coordinate system: the vertical line of the middle of fish culture box is Z axis, is upwards positive direction, middle, fish culture box side and with the straight line of lateral vertical be X-axis, be to the right positive direction, X, Z intersection point is (0,0,0) O point, crossing O point, to do the vertical line of plane X OZ be Y-axis, is outwards positive direction, the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at eight angles of fish box is respectively: (LL, WW, HH), (LL,-WW, HH), (LL, WW, HH), (LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (LL, WW,-HH), (LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side video camera is f, photosensitive sensor Pixel Dimensions is nn * nn, the horizontal pixel of end face video camera and side video camera adds up to M, longitudinally sum of all pixels is N, My is the Y coordinate of the fish that calculates of end face video camera, and Mx is the X coordinate of the fish that calculates of end face video camera, Cy is the Y coordinate of the fish that calculates of side video camera, and Cx is the X coordinate of the fish that calculates of side video camera.
Determine that fish three-dimensional coordinate (Sx, Sy, Sz) in fish culture box is to carry out in the following manner:
1), according to fish, the imager coordinate on end face video camera is taken pictures is determined the straight line DY at the Shui Zhong place, position of fish;
2), according to fish, the imager coordinate on side video camera is taken pictures is determined the plane EMX at the Shui Zhong place, position of fish;
3), according to unique intersection point of straight line DY and plane EMX, find the three-dimensional coordinate position (Sx, Sy, Sz) of fish in fish culture box.
Three-dimensional computations has following process: 1) install and calibration camera, 2) take pictures, 3) calculate fish the imager coordinate on taking a picture, 4) according to fish, the imager coordinate on end face video camera is taken pictures is determined the straight line at the Shui Zhong place, position of fish, 5) imager coordinate on taking pictures according to side video camera is determined the plane at the Shui Zhong place, position of fish, 6) according to end face video camera, determine that the straight line at Shui Zhong place, position of fish and the intersection point of the plane at the Shui Zhong place, position that side video camera is determined fish determine the coordinate of fish.
The process of the straight line of the position that the imager coordinate according to fish on end face video camera is taken pictures is determined fish in water is:
The straight line of the position that makes fish in water is through the X coordinate FX=(Mx-M/2 of end face water surface point) * nn * CH/f,
The straight line of the position of fish in water is through the Y coordinate FY=(My-N/2 of end face water surface point) * nn * CH/f,
The point of coordinate (FX, FY, HH) be fish place straight line in the corresponding points of Z=HH plane, be designated as a DM, the plane that order point DM and Z axis determine is DMZ; On plane DMZ, cross DM point and be parallel to Z axis and do straight line, making it is straight line DL, crosses to put DM and straight line DL negative direction is straight line DY, makes the angle of straight line line DY and straight line DL negative direction be
Determine that fish is on straight line DY;
Imager coordinate according to fish on side video camera is taken pictures determines that the process of plane at the place, position of fish is: be: make EY=(Cx-M/2) * nn * CH/f, EZ=(Cy-N/2) * nn * CH/f point (LL, EY, EZ) be that fish is in the corresponding points of X=LL plane, be designated as an EM, the plane that order point EM and X-axis determine is face EMX, determines that plane EMX is the plane at the place, position of fish;
The three-dimensional coordinate of determining fish is to determine after cartesian coordinate system is set up: straight line DY and plane EMX exist a unique intersection point, this intersection point is exactly the physical location of fish, calculates the coordinate of this intersection point according to the equation of the equation of straight line DY and plane EMX, establishes it and is: (Sx, Sy, Sz);
The also process of calibration camera is installed is:
End face video camera is arranged on Z axis, and end face video camera imaging photosensitive sensor is vertical with Z axis, and Z axis is through end face photosensitive sensor centre, the both sides of end face photosensitive sensor respectively with X-axis, Y-axis is parallel;
Side video camera is arranged in X-axis, and side video camera imaging photosensitive sensor is vertical with X-axis, and X-axis is through side photosensitive sensor centre, and the both sides of side photosensitive sensor are parallel with Y-axis, Z axis respectively;
If the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at eight angles of fish box is respectively: (LL, WW, HH), (LL,-WW, HH), (LL, WW, HH), (LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (LL, WW,-HH), (LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side video camera is f, photosensitive sensor Pixel Dimensions is nn * nn, the horizontal pixel of end face video camera and side video camera adds up to M, longitudinally sum of all pixels is N,
Take pictures is to carry out in the following manner: end face and side video camera working method are set are respectively M-JPEG mode and make a video recording and take pictures, 25 frames per second;
Calculate fish the imager coordinate on taking a picture be according to carrying out as follows: calculate fish the imager coordinate on taking a picture be respectively end face video camera and side video camera photo to be carried out to following computing:
1) photo is converted to gray scale form,
2) experiment test goes out one higher than the brightness of fish, and be less than and there is no the binaryzation of the waters of fish brightness threshold value,
3) by binaryzation threshold value, picture is carried out to binaryzation calculating, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of employing 3 * 3 carries out open and close computing to image,
5) system point of employing 3 * 3 carries out repeatedly erosion operation to image, until in image, do not get 1 pixel,
6) select last to have the picture of 1 pixel, the pixel of photo of take is coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate, calculate all Y coordinate of pixel and mean value of X coordinate of 1 got, the mean value of end face video camera Y coordinate and X coordinate is designated as to My, Mx, and My is the Y coordinate of the fish that calculates of end face video camera, and Mx is the X coordinate of the fish that calculates of end face video camera; The mean value of side video camera Y coordinate and X coordinate is designated as to Cy, Cx, Cy is the Y coordinate of the fish that calculates of side video camera, Cx is the X coordinate of the fish that calculates of side video camera.
To Fish behavior process of calculation analysis, be: carve at a time, get the fish coordinate of front 2 frames of this moment as starting point, the fish coordinate of these constantly rear 2 frames is as terminal; Starting point and terminal are connected into straight line, according to the length L x of starting point, terminal point coordinate calculated line and the angle θ in coordinate system; If sampled images per second is fx frame, the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; According to the relation of angle θ and time calculate the turning to of fish, float, each action constantly such as sinking; According to the turning to of each action speed constantly and each moment, float, the behavior such as sinking, analytic statistics various actions performance data, carries out the behavioural analysis of fish.
Claims (10)
1. a Fish behavior is observed and research device with neural, comprise fish culture box, calculator, it is characterized in that: the side at fish culture box (1) is installed side video camera (2), opposite side at fish culture box arranges mounting bracket (8), mounting bracket is inverted L shape, be a platform above, there is a supporting bracket (32) side, end face over against fish culture box on mounting bracket (8) is installed end face video camera (11), at the upper constant stimulus controller (6) of installing of mounting bracket (8), cursor angle control step motor (7), cursor, cursor fixed support,
Two the cursor support arm A arms in left and right (29-1) and symmetrical two the irritation level mobile controller (13-1 of the upper installation of cursor support arm B arm (29-2) at cursor (9), 13-2), on horizontally moving device, install respectively two and stimulate height control step motor (12-1, 12-2), stimulate height control step motor (12-1, 12-2), be connected with height control connection line (15-1, 15-2), height control connection line (15-1, 15-2) connect respectively two the spread effect point (16-1 in left and right, 16-2), two of left and right are installed on two the spread effect points in left and right and stimulate combination,
Calculator (4) is connected with side video camera (2) with calculator line (3), by end face video camera, is connected, by boost controller, is connected with boost controller (6) with computer connection wire (5) with calculator line (17) with end face video camera (11) by side video camera;
Between boost controller and spread effect point (16-1,16-2), be provided with to stimulate and control line (14-1,14-2).
2. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: described boost controller (6) is by stimulating control single chip computer, communication interface circuit, cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits form, stimulate control single chip computer to be connected with communication interface circuit is two-way, stimulate control single chip computer to cursor angle stepping motor control circuit, electro photoluminescence control circuit, and two groups of boost control circuits are controlled; Two groups of boost control circuits comprise that A group stimulates to be controlled and B group stimulates and controls, A group stimulate control by height stepper motor A control circuit, move horizontally stepper motor A control circuit, loading pump A control circuit, sonic stimulation A control circuit, light stimulus A control circuit and form; B group stimulates to be controlled by height stepper motor B control circuit, moves horizontally stepper motor B control circuit, loading pump B control circuit, sonic stimulation B control circuit, light stimulus B control circuit and form.
3. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: described cursor (9) by cursor toothed disc (27), cursor, connecting hole (28) is installed from top to bottom and cursor support arm forms, cursor toothed disc (27), cursor are installed connecting hole (28) and cursor support arm integrated connection, cursor is installed the middle position of connecting hole (28) in cursor support arm and cursor toothed disc, upper end connection of rotating arm gear dish, lower end connection of rotating arm support arm; Cursor support arm is divided into symmetrical cursor support arm A arm (29-1) and cursor support arm B arm (29-2); Cursor toothed disc (27) is installed connecting hole (28) by cursor fixed support (10) through cursor and is installed on mounting bracket (8) with angle control gear (30) engagement being arranged on cursor angle control step motor (7), cursor (9);
Described cursor fixed support (10) is the tubular construction of band outer silk screw thread (35), below tubular construction, be connected with cursor supporting surface (34), middle body at tubular construction has end face video camera installing hole (36), cursor fixed support is installed connecting hole (28) through cursor, cursor is supported on cursor supporting surface (34), upper outer at tubular construction is provided with silk screw thread (35) outside the installation of cursor fixed support, cursor fixed support is installed outer silk screw thread (35), and (8 cursor fixed support installation internal thread screw thread (33) is fastenedly connected and is fixed on mounting bracket (8) with mounting bracket.
4. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: described irritation level mobile controller comprises and moves horizontally stepper motor runner (38), moves horizontally crawler belt runner (39), moves horizontally crawler belt (40), moves horizontally stepper motor (41), moves horizontally crawler belt runner support (42), move horizontally stepper motor (41), moving horizontally crawler belt runner support (42) is arranged on cursor support arm, moving horizontally stepper motor runner (38) is fixed on and moves horizontally on stepper motor (41), the two ends that move horizontally crawler belt (40) are arranged on and move horizontally stepper motor runner (38) and move horizontally on crawler belt runner (39), and be moved horizontally stepper motor runner (38) and move horizontally crawler belt runner (39) tension, moving horizontally crawler belt (40) moves to the left or to the right with moving horizontally the rotation forward or backwards of stepper motor runner (38),
The described highly control step motors (12-1,12-2) of two stimulations of installing on horizontally moving device, refer to and stimulate height control step motor to be arranged on respectively moving horizontally on crawler belt of left and right two irritation level mobile controller (13-1,13-2); Stimulate height control step motor upper end to be provided with and highly control runner (43), one end of height control connection line (15-1,15-2) is connected to highly controls runner (43) above, and the other end connects spread effect point (16).
5. Fish behavior as claimed in claim 1 is observed and research device with neural, it is characterized in that: described stimulation is controlled line (14) for spring connecting line, be the combination of multiple line, comprise that sound stimulates the grug transportation tube line of connecting line, light stimulus linking number, electro photoluminescence connecting line, loading pump;
Described stimulation combination comprises sound, optical, electrical, medicine irritation, the loudspeaker that installation sound stimulates on spread effect point, the lamp of light stimulus, stimulating electrode, the outlet of grug transportation tube; Described light stimulus comprises that ruddiness, blue light, green glow stimulate, and are respectively arranged with red colored lamp, blue lamp and green light in described light stimulus A control circuit and light stimulus B control circuit; Water-proofing treatment is done in the output of sound, light stimulus.
6. a Fish behavior is observed and research method with neural, it is characterized in that: under computer program is controlled, carry out, first determine after one or 2 stimulation points stimulate by one or more in sound, optical, electrical, drug regimen, fish is three-dimensional coordinate position in fish culture box, then according to the three-dimensional coordinate of fish, carry out three-dimensional computations, the computational analysis to Fish behavior of Fish behavior, in conjunction with the behavioural analysis of fish and then carry out the neural research of fish;
Computer program control flow is: after starting, stimulus type be set be the multiple stimulation combinations such as sound, optical, electrical, medicine, the coordinate of one or two stimulation point is set, according to stimulating the stimulation circuits such as combination control sound, optical, electrical, loading, according to the coordinate control cursor angle control step motor of one or two stimulation point, height stepper motor A, B, horizontal motor A, B; Gather the image of end face video camera and side video camera, according to the linear equation in the coordinate place water of end face camera review calculating fish, and the straight line in water is defined as DY by the coordinate of fish, plane equation according to the coordinate of side camera review calculating fish in water, the plane by the coordinate of fish in water is defined as EMX, calculates the three-dimensional coordinate (Sx of fish according to straight line DY, plane EMX, Sy, Sz), finally according to the long coordinate record of fish, carry out the behavioural analysis of fish, finish;
Described definite fish three-dimensional coordinate (Sx, Sy, Sz) in fish culture box is to carry out in the following manner:
1), according to fish, the imager coordinate on end face video camera is taken pictures is determined the straight line DY at the Shui Zhong place, position of fish;
2), according to fish, the imager coordinate on side video camera is taken pictures is determined the plane EMX at the Shui Zhong place, position of fish;
3), according to unique intersection point of straight line DY and plane EMX, find the three-dimensional coordinate position (Sx, Sy, Sz) of fish in fish culture box.
7. Fish behavior as claimed in claim 6 is observed and research method with neural, it is characterized in that: described three-dimensional computations has following process: 1) install and calibration camera, 2) take pictures, 3) calculate fish the imager coordinate on taking a picture, 4) according to fish, the imager coordinate on end face video camera is taken pictures is determined the straight line at the Shui Zhong place, position of fish, 5) imager coordinate on taking pictures according to side video camera is determined the plane at the Shui Zhong place, position of fish, 6) according to end face video camera, determine that the straight line at Shui Zhong place, position of fish and the intersection point of the plane at the Shui Zhong place, position that side video camera is determined fish determine the coordinate of fish.
8. Fish behavior as claimed in claim 6 is observed and research method with neural, it is characterized in that: the process of the straight line of the described position that imager coordinate on end face video camera is taken pictures is determined fish according to fish in water is:
The straight line of the position that makes fish in water is through the X coordinate FX=(Mx-M/2 of end face water surface point) * nn * CH/f,
The straight line of the position of fish in water is through the Y coordinate FY=(My-N/2 of end face water surface point) * nn * CH/f,
The point of coordinate (FX, FY, HH) be fish place straight line in the corresponding points of Z=HH plane, be designated as a DM, the plane that order point DM and Z axis determine is DMZ; On plane DMZ, cross DM point and be parallel to Z axis and do straight line, making it is straight line DL, crosses to put DM and straight line DL negative direction is straight line DY, makes the angle of straight line DY and straight line DL negative direction be
Determine that fish is on straight line DY;
Described according to fish the imager coordinate on side video camera is taken pictures determine that the process of plane at the place, position of fish is: be: make EY=(Cx-M/2) * nn * CH/f, EZ=(Cy-N/2) * nn * CH/f, point (LL, EY, EZ) be that fish is in the corresponding points of X=LL plane, be designated as an EM, the plane that order point EM and X-axis determine is face EMX, determines that plane EMX is the plane at the place, position of fish;
The three-dimensional coordinate of described definite fish is to determine after cartesian coordinate system is set up: straight line DY and plane EMX exist a unique intersection point, this intersection point is exactly the physical location of fish, calculates the coordinate of this intersection point according to the equation of the equation of straight line DY and plane EMX, establishes it and is: (Sx, Sy, Sz);
The foundation of described cartesian coordinate system is: the vertical line of the middle of fish culture box is Z axis, is upwards positive direction, middle, fish culture box side and with the straight line of lateral vertical be X-axis, be to the right positive direction, X, Z intersection point is (0,0,0) O point, crossing O point, to do the vertical line of plane X OZ be Y-axis, is outwards positive direction, the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at eight angles of fish box is respectively: (LL, WW, HH), (LL,-WW, HH), (LL, WW, HH), (LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (LL, WW,-HH), (LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side video camera is f, photosensitive sensor Pixel Dimensions is nn * nn, the horizontal pixel of end face video camera and side video camera adds up to M, longitudinally sum of all pixels is N, My is the Y coordinate of the fish that calculates of end face video camera, and Mx is the X coordinate of the fish that calculates of end face video camera, Cy is the Y coordinate of the fish that calculates of side video camera, and Cx is the X coordinate of the fish that calculates of side video camera.
The coordinate of video camera is: the pixel of photo of take is coordinate unit, and the upper left corner is (0,0) coordinate, and pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate.
9. Fish behavior as claimed in claim 7 is observed and research method with neural, it is characterized in that: the process of described installation calibration camera is:
End face video camera is arranged on Z axis, and end face video camera imaging photosensitive sensor is vertical with Z axis, and Z axis is through end face photosensitive sensor centre, the both sides of end face photosensitive sensor respectively with X-axis, Y-axis is parallel;
Side video camera is arranged in X-axis, and side video camera imaging photosensitive sensor is vertical with X-axis, and X-axis is through side photosensitive sensor centre, and the both sides of side photosensitive sensor are parallel with Y-axis, Z axis respectively;
If the length of fish box is 2LL, wide is 2WW, height is 2HH, the coordinate at eight angles of fish box is respectively: (LL, WW, HH), (LL,-WW, HH), (LL, WW, HH), (LL,-WW, HH), (LL, WW,-HH), (LL,-WW,-HH), (LL, WW,-HH), (LL,-WW,-HH), the coordinate of end face camera lens is (0, 0, HH+CH), the coordinate of side camera lens is (LL+CH, 0, 0), if the lens focus of end face video camera and side video camera is f, photosensitive sensor Pixel Dimensions is nn * nn, the horizontal pixel of end face video camera and side video camera adds up to M, longitudinally sum of all pixels is N,
Described taking pictures is to carry out in the following manner: end face and side video camera working method are set are respectively M-JPEG mode and make a video recording and take pictures, 25 frames per second;
Described calculating fish the imager coordinate on taking a picture be according to carrying out as follows: calculate fish the imager coordinate on taking a picture be respectively end face video camera and side video camera photo to be carried out to following computing:
1) photo is converted to gray scale form,
2) experiment test goes out one higher than the brightness of fish, and be less than and there is no the binaryzation of the waters of fish brightness threshold value,
3) by binaryzation threshold value, picture is carried out to binaryzation calculating, being less than binaryzation thresholding is 1, and being greater than binaryzation thresholding is 0,
4) system point of employing 3 * 3 carries out open and close computing to image,
5) system point of employing 3 * 3 carries out repeatedly erosion operation to image, until in image, do not get 1 pixel,
6) select last to have the picture of 1 pixel, the pixel of photo of take is coordinate unit, the upper left corner is (0,0) coordinate, pixel down sorts successively as Y coordinate, and the pixel of turning right sorts successively as X coordinate, calculate all Y coordinate of pixel and mean value of X coordinate of 1 got, the mean value of end face video camera Y coordinate and X coordinate is designated as to My, Mx, and My is the Y coordinate of the fish that calculates of end face video camera, and Mx is the X coordinate of the fish that calculates of end face video camera; The mean value of side video camera Y coordinate and X coordinate is designated as to Cy, Cx, Cy is the Y coordinate of the fish that calculates of side video camera, Cx is the X coordinate of the fish that calculates of side video camera.
10. Fish behavior as claimed in claim 6 is observed and research method with neural, it is characterized in that: describedly to Fish behavior process of calculation analysis, be: carve at a time, get the fish coordinate of front 2 frames of this moment as starting point, the fish coordinate of these rear 2 frames of moment is as terminal; Starting point and terminal are connected into straight line, according to the length L x of starting point, terminal point coordinate calculated line and the angle θ in coordinate system; If sampled images per second is fx frame, the time interval of starting point and terminal is tx=4/fx second; This parade speed of fish is Lx/tx in moment; According to the relation of angle θ and time calculate the turning to of fish, float, each action constantly such as sinking; According to the turning to of each action speed constantly and each moment, float, the behavior such as sinking, analytic statistics various actions performance data, carries out the behavioural analysis of fish.
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