CN109828606A - A kind of underwater net cage cruising inspection system - Google Patents
A kind of underwater net cage cruising inspection system Download PDFInfo
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- CN109828606A CN109828606A CN201910215094.7A CN201910215094A CN109828606A CN 109828606 A CN109828606 A CN 109828606A CN 201910215094 A CN201910215094 A CN 201910215094A CN 109828606 A CN109828606 A CN 109828606A
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- 238000007689 inspection Methods 0.000 title claims abstract description 64
- 238000012545 processing Methods 0.000 claims abstract description 30
- 238000013135 deep learning Methods 0.000 claims abstract description 27
- 241000251468 Actinopterygii Species 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 40
- 230000003287 optical effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 13
- 238000004458 analytical method Methods 0.000 claims description 12
- 238000012372 quality testing Methods 0.000 claims description 10
- 238000009360 aquaculture Methods 0.000 claims description 9
- 244000144974 aquaculture Species 0.000 claims description 9
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 9
- 229910052760 oxygen Inorganic materials 0.000 claims description 9
- 239000001301 oxygen Substances 0.000 claims description 9
- 241001269238 Data Species 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000013497 data interchange Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 208000010824 fish disease Diseases 0.000 abstract description 2
- 206010020718 hyperplasia Diseases 0.000 abstract description 2
- 238000003384 imaging method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000700670 Bryozoa Species 0.000 description 2
- 241000238586 Cirripedia Species 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 2
- 241000237536 Mytilus edulis Species 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 235000020638 mussel Nutrition 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
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- 238000000151 deposition Methods 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 230000006806 disease prevention Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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Abstract
The invention discloses a kind of underwater net cage cruising inspection system, including underwater robot, underwater sension unit, inspection control unit, communication unit, power supply unit and remote control centers waterborne；Underwater robot is connect with inspection control unit waterborne, underwater sension unit is mounted on underwater robot, and be connected on the circuit unit of underwater robot, communication unit is connect with inspection control unit waterborne and remote control center respectively, and power supply unit is connect with inspection control unit waterborne；Remote control center is based on built-in deep learning and processing model, the data sent for analyzing, handling and storing inspection control unit waterborne, the state for judging the cultivation shoal of fish in net cage state, net cage environment and net cage issues corresponding control instruction to inspection control unit waterborne according to judging result.The problems such as it can find in time and handle etting breakage, attachment hyperplasia, shoal of fish disease reduces cultivation risk, provides objective traceable data.
Description
Technical field:
The present invention relates to underwater robot technical field, in particular to a kind of underwater net cage inspection based on underwater robot
System.
Background technique:
Fish culture in net pen is the cabinet that certain shapes is assembled into using mesh sheet, be arranged in biggish waters, by mesh into
Water body exchanges inside and outside row net cage, makes to form a suitable fish life running water environment in net cage.It can be carried out using net cage highly dense
Degree culture fingerling or intensive culture marketable fish.Fish culture in net pen method has the spies such as motor-driven, flexible, easy, high yield, waters wide adaptability
Point has wide development prospect in China sea, freshwater aquaculture industry.It is periodically necessary work in breeding process to net cage inspection
Make, in order to find net cage breakage in time, prevents the shoal of fish from evading, natural enemy biology enters, and causes economic loss；Cleaning attachment in time
The low invertebrates such as algae, bryozoan, spiral shell, mussel and barnacle on net cage avoid blocking mesh, lead to net cage
Water filtering performance reduces, and influences water body exchange, is unfavorable for the supply of excrement in case, the exclusion of residual bait and natural bait, dissolved oxygen, finally
Cause the fish of net cage to be suffocated because of anoxic or eat because of filter keeps fish growth bad less than planktonic organism；And discovery is sick in time
Fish, dead fish accomplish the prevention of disease.
Summary of the invention:
Present invention aims to overcome that disadvantage of the existing technology, seeks to design a kind of underwater net cage cruising inspection system.
To achieve the goals above, underwater net cage cruising inspection system of the present invention, including underwater robot, underwater perception
Unit, inspection control unit, communication unit, power supply unit and remote control center waterborne；
Underwater robot is connect by wirelessly or non-wirelessly mode with inspection control unit waterborne, for underwater robot and under water
Sension unit provides the data interchange that electric energy realizes the two with inspection control unit waterborne simultaneously；
Underwater sension unit is mounted on underwater robot, and is connected on the circuit unit of underwater robot, with underwater
Robot enters progress data acquisition in water together, obtains underwater environment information and underwater robot movement state information；
The information that inspection control unit waterborne is used to receive underwater robot and underwater sension unit uploads, to underwater
People provides electric energy, and control underwater robot is run according to the cruise path of setting, and the underwater ring that communication control unit will acquire
Border information and underwater robot movement state information are sent to remote control center, while receiving the instruction of remote control center,
It sends an instruction to relevant device and controls its operation, and control the electric energy distribution of power supply unit；
Communication unit is connect with inspection control unit waterborne and remote control center respectively, realizes that inspection control waterborne is single
Data exchange between member and remote control center；
Power supply unit is connect with inspection control unit waterborne, is the underwater sension unit of entire underwater robot and its carrying
Electric energy is provided；
Remote control center is based on built-in deep learning and processing model, for analyzing, handling and storing inspection waterborne
The data that control unit is sent judge the state of the cultivation shoal of fish in net cage state, net cage environment and net cage, according to judging result
Corresponding control instruction is issued to inspection control unit waterborne；
Remote control center includes deep learning and processing unit, cruise administrative unit and database, deep learning and place
Reason unit and cruise administrative unit are connect with database respectively, and the deep learning and processing unit pass through to historical data
It practises, analysis, the causality for establishing detection data between the result that may cause, based on the causality of this foundation,
After obtaining the data that inspection control unit waterborne is sent, it can judge and handle in time；The cruise administrative unit is used for
It is sent out according to the processing result that user inputs information and/or deep learning and control progress processing unit to inspection control unit waterborne
Instruction is sent, the cruise path of underwater robot is set, while according to actual needs, controlling the corresponding component in underwater sension unit
It works；The database is used to store the data obtained and analysis as a result, in order to which information is inquired and is traced.
Underwater sension unit of the present invention includes acoustic sounding unit, optical detection unit, underwater robot location
One of unit and water quality testing unit are a variety of；Acoustic sounding unit is to obtain underwater sound data using Principles of Acoustics
Device；Optical detection unit is the device that underwater optics data are obtained using optical principle；Underwater robot location unit is to obtain
Take the device of the underwater position of underwater robot；Water quality testing unit is the device for obtaining water environment information.
Acoustic sounding unit of the present invention includes but is not limited to Multi-beam Imaging Sonar and avoidance sonar.The present embodiment
The optical detection unit being related to includes one of Underwater Camera, underwater laser scanner or a variety of.
Underwater robot location unit of the present invention includes inertial navigation set, Long baselines Underwater Navigation equipment, short
One of baseline Underwater Navigation equipment, ultra-short baseline Underwater Navigation equipment are a variety of.
Water quality testing unit of the present invention includes temperature sensor, salinity sensor, dissolved oxygen sensor and pH value
One of sensor, flow sensor are a variety of.
Net cage status checkout: underwater robot obtains the view of net cage when cruising inside and outside net cage along setting path in real time
Frequency evidence, and these video datas are transported to remote control center, deep learning and processing unit in remote control center
Video data is analyzed, based on the judge obtained to net cage historical data analysis stored in deep learning and processing unit
Feature judges net cage state.
Aquaculture organism state: underwater robot obtains the water quality data inside and outside net cage when cruising along setting path in real time,
And video data, and these data are transported to remote control center, the deep learning in remote control center and processing are single
The water quality data and video data that member will acquire are analyzed, and deep learning and processing unit are by the result and aquaculture organism of analysis
The analysis Characteristic Contrast of historical data, judges the state of aquaculture organism.
Compared with the prior art, the invention has the following beneficial effects: can find in time and handle etting breakage, attachment
The problems such as object hyperplasia, shoal of fish disease, reduces cultivation risk, and is recorded by partial data, effectively control cultivation risk, for cultivation
Process provides objective traceable data.
Detailed description of the invention:
Fig. 1 is the structure principle chart of underwater net cage cruising inspection system of the present invention.
Specific embodiment:
Below by specific embodiment and in conjunction with attached drawing, the invention will be further described.
Embodiment:
As shown in Figure 1, the underwater net cage cruising inspection system that the present embodiment is related to, including underwater robot 5, underwater sension unit
6, inspection control unit 3, communication unit 2, power supply unit 4 and remote control center 1 waterborne；
Underwater robot 5 is connect by wirelessly or non-wirelessly mode with inspection control unit 3 waterborne, be underwater robot 5 and
Underwater sension unit 6 provides the data interchange that electric energy realizes the two with inspection control unit 6 waterborne simultaneously；According to wireless connection
Mode, underwater robot 5, which is cruised, completes the supply of electric energy and the exchange of data when returning at inspection control unit 3 waterborne, if adopting
With wired connection mode, underwater robot 5 is connect by composite rope with inspection control unit 3 waterborne, can complete electric energy at any time
The exchange of supply and data.
Underwater sension unit 6 is mounted on underwater robot 5, and is connected on the circuit unit of underwater robot 5, with water
Lower robot 5 enters together carries out data acquisition in water, obtain underwater environment information and underwater robot movement state information；
Inspection control unit 3 waterborne is used to receive the information that underwater robot 5 and underwater sension unit 6 upload, to underwater
Robot 5 provides electric energy, and control underwater robot 5 is run according to the cruise path of setting, and communication control unit 2 will acquire
Underwater environment information and underwater robot movement state information are sent to remote control center 1, while receiving remote control center 1
Instruction, send an instruction to relevant device and control its operation, and control power supply unit 4 electric energy distribution；
Communication unit 2 is connect with inspection control unit 3 waterborne, realizes inspection control unit 3 waterborne and remote control center 1
Between data exchange；
Power supply unit 4 is connect with inspection control unit 3 waterborne, is the underwater perception of entire underwater robot 5 and its carrying
Unit 6 provides electric energy；
Remote control center 1 is based on built-in deep learning and processing model, for analyzing, handling and storing inspection waterborne
The data that control unit 3 is sent judge the state of the cultivation shoal of fish in net cage state, net cage environment and net cage, are tied according to judgement
Fruit issues corresponding control instruction to inspection control unit 3 waterborne, and the net cage state includes but is not limited to whether etting is damaged, is
It is no to have by the attached crop of biology (for example, algae, bryozoan, spiral shell, mussel and barnacle etc. low invertebrate) blocking；Net cage
Environment is primarily referred to as the aquatic environment in net cage, and dissolved oxygen content, pH value, temperature etc. are if appropriate for fish growth；Cultivate fish
The state of group's (or other biological) refer mainly to fish it is whether sick, whether death, The dead quantity etc.；
Remote control center 1 includes deep learning and processing unit, cruise administrative unit and database, deep learning and place
Reason unit and cruise administrative unit are connect with database respectively, and the deep learning and processing unit pass through to historical data
It practises, analysis, the causality for establishing detection data between the result that may cause, based on the causality of this foundation,
After obtaining the data that inspection control unit waterborne is sent, it can judge and handle in time, e.g., establish causality: dissolution
After oxygen content is lower than K, fish death will lead to, when the dissolved oxygen content that inspection control unit waterborne is sent is just below K, in time
It sending and instructs to inspection control unit 3 waterborne, control underwater robot 5 observes in net cage whether having dead fish, and dead fish is pulled out,
And means is taken to increase oxygen content in net cage；The cruise administrative unit is used to input information and/or deep learning according to user
The processing result for carrying out processing unit with control is sent to inspection control unit 3 waterborne to be instructed, and the cruise of underwater robot 5 is set
Path, while according to actual needs, the corresponding component controlled in underwater sension unit 6 works；The database is for depositing
The data obtained and analysis are stored up as a result, in order to which information is inquired and is traced.
The underwater sension unit 6 that the present embodiment is related to include but is not limited to acoustic sounding unit 61, optical detection unit 62,
One of underwater robot location unit 63 and water quality testing unit 64 are a variety of；Acoustic sounding unit 61 is to utilize acoustics original
Reason obtains the device of underwater sound data；Optical detection unit 62 is the device that underwater optics data are obtained using optical principle；
Underwater robot location unit 63 is the device for obtaining the underwater position of underwater robot；Water quality testing unit 64 is to obtain water
The device of environmental information, such as temperature, flow velocity, salinity, depth, dissolved oxygen, pH value.
The acoustic sounding unit 61 that the present embodiment is related to includes but is not limited to Multi-beam Imaging Sonar and avoidance sonar.More waves
Beam Imaging sonar can work in the relatively low environment of visibility, be mainly used for obtaining the number of the relatively low underwater environment of visibility
According to.It can be cooperated with Underwater Camera, use Multi-beam Imaging Sonar when low visibility, conversely, using underwater camera
Machine.For avoidance sonar for the barrier in real-time detection environment, inspection control unit 3 waterborne receives the preceding object of its transmission
Object information controls underwater robot avoiding obstacles in time.When robot cruises under water, acoustic sounding unit 61 is obtained in water
Acoustic data, acoustic data is conveyed to inspection control unit 3 waterborne, and be conveyed in long-range control by communication unit 2
The heart 1 is handled and is stored in database profession in remote control center 1.
The optical detection unit 62 that the present embodiment is related to includes but is not limited to Underwater Camera, in underwater laser scanner
One or more, Underwater Camera, underwater laser scanner can obtain the image information of underwater environment, in comparison,
The precision of underwater laser scanner is higher, can need to carry different equipment according to actual acquired data, can also carry simultaneously
Two equipment, accomplish to complement each other.When robot cruises under water, optical detection unit 62 obtains the optical data in water, will
Optical data is conveyed to inspection control unit 3 waterborne, and is conveyed to remote control center 1 by communication unit 2, is remotely controlling
Center 1 is handled and is stored in database profession.
The underwater robot location unit 63 that the present embodiment is related to includes but is not limited to inertial navigation set (IMU), long base
Line Underwater Navigation equipment (LBL), short baseline Underwater Navigation equipment (SBL), ultra-short baseline Underwater Navigation equipment (USBL) etc. are underwater
Positioning device sets Long baselines Underwater Navigation equipment (LBL), short baseline Underwater Navigation equipment (SBL), ultra-short baseline Underwater Navigation
Standby (USBL) is used cooperatively with inertial navigation set (IMU), overcomes the error accumulation problem of inertial navigation set, and Long baselines water
Lower positioning device (LBL), short baseline Underwater Navigation equipment (SBL) and ultra-short baseline Underwater Navigation equipment (USBL), three according to
Actual state is carried or is switched, and accurately positions to underwater robot, provides accurate data for cruise administrative unit.
When underwater robot is navigated along the path of setting, if in the position of underwater robot location unit measurement and the path of setting
Point it is consistent, then control underwater robot continue by setting route, if deviate setting path, control underwater robot
Front and rear, left and right moves up and down, close to setting path.When robot cruises under water, underwater robot location unit 63 is obtained
Location information is conveyed to inspection control unit 3 waterborne, and conveyed by communication unit 2 by the location information for taking underwater robot 5
To remote control center 1, is handled and be stored in database profession in remote control center 1.
The water quality testing unit 64 that the present embodiment is related to includes but is not limited to temperature sensor, salinity sensor, dissolved oxygen
One of sensor and pH sensor, flow sensor are a variety of.When robot cruises under water, water quality testing unit 64
Water quality data is conveyed to inspection control unit 3 waterborne by the water quality data inside and outside real-time monitoring net cage, and by communication unit 2
It is conveyed to remote control center 1, remote control center 1 is by data processing and stores in the database, inquires and chases after convenient for the later period
It traces back.
Carry out net cage status checkout: underwater robot obtains net cage when cruising inside and outside net cage along setting path in real time
Video data, and these video datas are transported to remote control center, deep learning and processing in remote control center
Unit analyzes video data, based on being obtained to net cage historical data analysis of being stored in deep learning and processing unit
Feature is judged, judges net cage state.Such as video data occurs indicating that etting occurs damaged, video data and occurs when which feature
Indicate that net cage is blocked by biological attachment object when which feature.
Carry out aquaculture organism status checkout: underwater robot obtains inside and outside net cage in real time when cruising along setting path
Water quality data and video data, and these data are transported to remote control center, the deep learning in remote control center
The water quality data and video data that will acquire with processing unit are analyzed, deep learning and processing unit by the result of analysis with
The analysis Characteristic Contrast of aquaculture organism historical data, judges the state of aquaculture organism.Such as when judging whether there is disease fish, dead fish
When, it can be obtained in a period using underwater laser scanner, the figure of the same fish of different time points, and carried out
Comparison, judges whether it moves, if sinks under water, if not moving and sinking under water for a long time, judges its death.
Claims (7)
1. underwater net cage cruising inspection system, which is characterized in that including underwater robot, underwater sension unit, inspection control waterborne is single
Member, communication unit, power supply unit and remote control center；
Underwater robot is connect by wirelessly or non-wirelessly mode with inspection control unit waterborne, is underwater robot and underwater perception
Unit provides the data interchange that electric energy realizes the two with inspection control unit waterborne simultaneously；
Underwater sension unit is mounted on underwater robot, and is connected on the circuit unit of underwater robot, with underwater
People enters progress data acquisition in water together, obtains underwater environment information and underwater robot movement state information；
The information that inspection control unit waterborne is used to receive underwater robot and underwater sension unit uploads, mentions to underwater robot
It for electric energy, controls underwater robot and is run according to the cruise path of setting, and the underwater environment letter that communication control unit will acquire
Breath and underwater robot movement state information are sent to remote control center, while receiving the instruction of remote control center, will refer to
The operation for being sent to relevant device and controlling it is enabled, and controls the electric energy distribution of power supply unit；
Communication unit is connect with inspection control unit waterborne and remote control center respectively, realize inspection control unit waterborne with
Data exchange between remote control center；
Power supply unit is connect with inspection control unit waterborne, is provided for entire underwater robot and its underwater sension unit of carrying
Electric energy；
Remote control center is based on built-in deep learning and processing model, for analyzing, handling and storing inspection control waterborne
The data that unit is sent, judge net cage state, in net cage environment and net cage the cultivation shoal of fish state, according to judging result to water
Upper inspection control unit issues corresponding control instruction.
2. underwater net cage cruising inspection system according to claim 1, which is characterized in that remote control center includes deep learning
With processing unit, cruise administrative unit and database, deep learning and processing unit and cruise administrative unit respectively with database
Connection, the deep learning and processing unit are established detection data and may cause by study, the analysis to historical data
As a result the causality between, based on the causality of this foundation, after obtaining the data that inspection control unit waterborne is sent,
It can judge and handle in time；The cruise administrative unit is used to input information and/or deep learning and control according to user
The processing result that system carries out processing unit is sent to inspection control unit waterborne to be instructed, and the cruise path of underwater robot is set,
Simultaneously according to actual needs, the corresponding component controlled in underwater sension unit works；The database is obtained for storing
Data and analysis as a result, in order to information inquire and trace.
3. underwater net cage cruising inspection system according to claim 2, which is characterized in that underwater sension unit includes acoustic sounding
One of unit, optical detection unit, underwater robot location unit and water quality testing unit are a variety of；Acoustic sounding unit
For the device for obtaining underwater sound data using Principles of Acoustics；Optical detection unit is to obtain underwater optics number using optical principle
According to device；Underwater robot location unit is the device for obtaining the underwater position of underwater robot；Water quality testing unit is
Obtain the device of water environment information.
4. underwater net cage cruising inspection system according to claim 3, which is characterized in that acoustic sounding unit include multi-beam at
As sonar and avoidance sonar.The optical detection unit that the present embodiment is related to includes Underwater Camera, in underwater laser scanner
It is one or more.
5. underwater net cage cruising inspection system according to claim 4, which is characterized in that underwater robot location unit includes used
One of property navigation equipment, Long baselines Underwater Navigation equipment, short baseline Underwater Navigation equipment, ultra-short baseline Underwater Navigation equipment
Or it is a variety of.
6. underwater net cage cruising inspection system according to claim 5, which is characterized in that water quality testing unit includes temperature sensing
One of device, salinity sensor, dissolved oxygen sensor and pH sensor, flow sensor are a variety of.
7. underwater net cage cruising inspection system according to claim 6, which is characterized in that carry out net cage status checkout: underwater machine
Device people obtains the video data of net cage when cruising inside and outside net cage along setting path in real time, and these video datas are conveyed
To remote control center, deep learning and processing unit in remote control center analyze video data, are based on depth
The judge feature obtained to net cage historical data analysis stored in study and processing unit, judges net cage state；It is cultivated
When biological aspect checks: underwater robot obtains the water quality data inside and outside net cage, and view when cruising along setting path in real time
Frequency evidence, and these data are transported to remote control center, the deep learning and processing unit in remote control center will obtain
The water quality data and video data taken is analyzed, and deep learning and processing unit are by the result of analysis and aquaculture organism history number
According to analysis Characteristic Contrast, judge the state of aquaculture organism.
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Cited By (13)
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| CN110196081A (en) * | 2019-07-11 | 2019-09-03 | 陈贞辉 | A kind of distributed environment monitoring data transfer check method |
| CN110608727A (en) * | 2019-11-06 | 2019-12-24 | 青岛罗博飞海洋技术有限公司 | Seaweed bed monitoring system and method |
| CN110692548A (en) * | 2019-09-26 | 2020-01-17 | 北京农业信息技术研究中心 | Wide-area breeding robot device with terahertz sensing and communication functions and method |
| CN111897350A (en) * | 2020-07-28 | 2020-11-06 | 谈斯聪 | Underwater robot device, and underwater regulation and control management optimization system and method |
| CN112034121A (en) * | 2020-07-30 | 2020-12-04 | 中国农业大学 | Three-dimensional detection method and system for deep water net cage water quality based on underwater robot |
| CN112977770A (en) * | 2021-02-22 | 2021-06-18 | 中国船舶科学研究中心 | Inspection device and inspection method for deep sea aquaculture net cage |
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| CN113016682A (en) * | 2021-03-12 | 2021-06-25 | 湖北海洋工程装备研究院有限公司 | Deepwater net cage monitoring system |
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| CN115424365A (en) * | 2022-08-11 | 2022-12-02 | 广东联塑精铟科技有限公司 | Real-time monitoring method and system for netting based on digital twinning |
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