WO2012127424A1

WO2012127424A1 - Threat control system for fish ponds

Info

Publication number: WO2012127424A1
Application number: PCT/IB2012/051343
Authority: WO
Inventors: Eran MORAD
Original assignee: Morad Eran
Priority date: 2011-03-23
Filing date: 2012-03-21
Publication date: 2012-09-27

Abstract

A system for the control of an autonomous vehicle deployed in a fish farm including a communications facility of a control centre, being able to communicate with the autonomous vessel. An autonomous vehicle in a pond of the fish farm is typically a vessel trackable by the control centre. The autonomous vehicle is capable of following navigation instructions sent from said control centre. Data collecting devices are deployed in the proximity of said fish pond which can provide information that can be used for image recognition, image motion detection programs invocable by the control centre. A wireless communications module on board the autonomous vehicle can communicate with the control centre.

Description

THREAT CONTROL SYSTEM FOR FISH PONDS

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

[001 ] This application claims priority from patent application, filed on; and from provisional patent application US 61/465,612 filed on March 23, 201 1 .

TECHNICAL FIELD OF THE INVENTION

[002] The present invention relates to visual data collection, communications and data processing in relation to safety of fish ponds.

BACKGROUND OF THE INVENTION

[003] Fish farming can be practiced in secluded spaces in the ocean or in fish ponds or pools dug out in land or secluded in natural ponds or fjords. To achieve high yield from a volume of water available for growing fish in ponds, optimal growing conditions are to be kept and constant attendance is required. Feeding, disease combating and physical and chemical environment management are issues that must be take or by the grower in order to achieve profitability. Additionally, fish eating birds may be attracted to the fish ponds and hunt for fish in the ponds. Likewise, the fish, being an expensive food product also constitute constant attraction for thieves that may tend to take advantage of the spatial remoteness of some ponds and find a way to sneak in and steal fish.

BRIEF DESCRIPTION OF THE DRAWINGS [004] The present invention will be understood and appreciated more fully from the following detailed description taken in conjunction with the appended drawings in which:

[005] Fig. 1 is a diagram providing account of the sources of information feeding and being fed by the control centre;

[006] Fig. 2 is a diagram providing account of the functional modules associated with an autonomous vessel (AV) of the invention;

[007] Fig. 3 is a diagram describing the concept of two imaging sensors having overlapping fields of view detecting simultaneously a specific object;

[008] Fig.4 is a flow diagram showing the steps of providing water sampling data to the control centre;

[009] Fig. 5 is a flow diagram showing the steps followed in one scenario of the system finding a threat and activating a deterrence on the AV ;

[010] Fig. 6 is a flow diagram showing the steps followed in another scenario of the system finding a threat and activating a deterrence on the AV ;

DESCRIPTION OF EMBODIMENTS OF THE INVENTION

[01 1 ] In accordance with embodiments of the invention, an autonomous pond fairing vessel functions as a dynamically deployed active scare crow. In some embodiments of the invention the vessel also carries out a duty of a watch dog, alerting and possibly driving away human thieves. In a third aspect of the invention, the autonomous vehicle (AV) also performs as pond water sampling unit. To perform its duties, the AV is to be registered to the operational coordinate system. [012] In accordance with the present invention the AV or a plurality of

AVs, can communicate with a control centre (CC) that employs a computerized communications facility and a data processing facility. In order to explain the outgoing and incoming streams of information of the CC, reference is made to Fig. 1. Control centre 28 receives information related to location of AV 30, threat information (qualitative and quantitative) 32 and water parameter information 34. As regards the outgoing streams, data issued for changing the working parameters of the data collecting devices (DCDs) 42, instructions for navigating the AV 44, and instructions for activating deterrents aboard the AV 46.

[013] The AV is preferably constantly registered with respect to an operational geographical coordinate system (OGCS). Such a coordinate system can be a global system, or a local publically available coordinate system, or a specifically devised coordinate system that may be suitable for the fish farming administration at the locale.

[014] The CC therefore can obtain continuous information about the location of the AV versus the OGCS, in one of two ways, first, the AV constantly transmits location information to the CC that also has a map using the same OGCS, and the second way is that location information of the AV is obtained by photogrammetric methods processing imagery information received from two imaging systems at least, each of which having a location specified on the OGCS. It is indicated that the CC although including a computer system, does not necessarily make all the calculations necessary to carry out its task in its own hardware system. Since the CC is typically connected to a network, it can invoke programs for processing of data by programs residing over the network. If the CC s not connected to an external network, then all processing must be performed locally. [015] Properties of the AV

[016] In accordance with some embodiments of the present invention, the AV is an active vessel having a motor that can propel it throughout a pond in a velocity that is to be defined by operational needs. The motor may be fuel consuming or electrical, or may consume any form of energy to propel the AV. It also has a steering module that can except commands from the CC and maneuver the AV in the pond as will be discussed below. Those and further modules of the AV are listed in diagram of Fig. 2: AV 58 includes propulsion module 60, steering module 62, deterring module 64, wireless communications module 66. Optional modules are: navigation module 68 and sensor module 70. In one embodiment of the invention the AV does not bear any navigation equipment on board so that its location is determined solely by the sensors on the shore or otherwise connected to the ground. In such a case, the control centre employs the sensors (e.g. imaging, Radar) to track the AV by recognizing the AV and matching its place (registering) respective of the OGCS. In addition, in some embodiments, the AV may include a sensor module, for example a camera to send to the CC low angle images of objects in or around the pond, such is or are in addition to the sensors set around or between the ponds. Alternatively, a sensor module on board the AV may be dormant in regular course of duty, but may be activated upon alert. A microphone may also be deployed on the AV to detect voices, bird noises or any other vocal information. The track of the AV in its pond is either predefined and stored in a memory (either on board the AV or associated with the CC), or it follows navigation instructions sent from the CC.

[017] Propulsion options of the AV, is a matter of practicalities but each option can be weighed for such parameters as noise production, efficiency, weight etc. Broadly speaking, the AV is a vehicle that fares the water either in (regular boat, amphibian vehicle), below (submarine) or above (hover craft, helicopter). For a regular boat, water propellers, water pressure jets or wind propellers are each a practical option for providing power. For a submarine, water jet and propellers are viable options.

[018] In such cases that the AV bears a navigation system, the use of

GPS (global positioning system) is available. A GPS receiver on the AV, would provide an independent data about the location of the AV as regards the global coordinate system. In such a case as another coordinate system is used for reference, a transform function is to be used, between the systems. Implementing a differential GPS system requires at least one ground GPS station in addition to the GPS receiver on board the AV. In the case that a differential GPS is used, the VA can transmit to the CC a continuous stream of location data at the accuracy of tens of centimeters. Other navigation systems are available as well for example inertial navigation systems using accelerometers and gyroscopes. Compass is a well established navigation ade readily available in this case too.

[019] Imaging, data acquisition, spatial data acquisition

[020] Imaging data can be obtained from cameras in the visible range, near infra red cameras, and thermal infrared cameras typically for night vision. Radar data can be obtained by radar sensors. Spatial data relates to data which is not necessarily imaging data, for example range finders of various kinds notably LIDAR (light detection and ranging) LADAR, and (laser detection and ranging). Range finders using ultrasonic mechanical waves are called sonar. Although ultrasound imagery is known in medical diagnostics, there is some potential for outdoor imagery using such energy source and distribution thereof across the ponds.

[021 ] Data fusion technology may be applied in such cases as various sources of data are used, for example, near infrared and radar, video and radar and thermal infrared and radar. Radar has several advantages as it is functional in all kinds of weather when all optical data collecting systems are idle. Near infrared is a term used to denote the frequency band of the electromagnetic spectrum just beyond the visible, typically about 0.9 - 1.1 micrometer wavelength.

[022] Threat processing and AV tracking

A single type of DCD may be implemented for providing information to the CC. However a multiplicity of data collecting device types is usually advantageous. In the proximity of the ponds, such as in between the ponds or around the pond/s DCDs are set, typically upon poles or on mounds of soil, to ensure unobstructed view of one or several ponds. An extreme example is a helium tethered balloon that hovers high above, in which case large swaths of land can be monitored. With reference to Fig. 3 a typical situation is described, in which two video cameras, camera 84 and camera 86 are each posted at a different location, but their respective field of view cross each other such that an area, designated 90 and shown hatched, is such that any object 92 found inside that area is observable at once by both cameras. In such a case, the CC receiving the information from both cameras can invoke a photogrammetric algorithm to calculate the location of object 92 on the OGCS. Another algorithm that is potentially very important in the framework of the identification of threats is an algorithm known in the art as VMD (video motion detection), which is a well known means of analysing movement parameters (direction, velocity) in video streams.

[023] It is assumed that typically threats in the scene of fishponds are birds or thieves neither of which tend to lurk or ambush but arrive by moving, usually quite fast. The superpositioning of data from two imaging sensors (such as video cameras or thermal infrared night cameras or others) allow not only to register the object but also to measure its height, volume (such as a group of birds).

[024] Using radar sensors, some metric and spatial information can be obtained with one sensor only as the distance to object can be measured and calculated by measuring reflectance time from objects. It may be useful to put specific physical markers on the AV so that its position is discerned easily.

[025] Water parameter sampling

[026] In a different aspect of the invention, a sampling and analysis module is operative on board the AV. The AV, since deployed in the pond and can be actively maneuvered, may be used to sample and analyse water sample. Reference is made to Fig. 4 to describe sequence of events taking place once a AV is ordered by the CC to analyse water or is scheduled to do so by automatically following a stored schedule on board the AV. In step 104, sampling takes place by water being drawn by a small pump, into an interim container. The sample is prepared for example by filtering solids in step 106, analysis 108 may be carried out by applying autonomously implemented measuring modules such as dipping of electrodes into a collecting container. The data obtained is formatted 110, and sent to the CC 112.

[027] A non exclusive list of parameters that may be worthy subject to analysis in the framework of the AV activity are: pH level, oxidation level, nitrate/nitrite level, temperature, electrical conductivity, turbidity.

[028] Scenario examples

[029] In Figs. 5 and 6 two respective hypothetical scenarios of VA activation are presented in order to describe several of the diverse possible activation schemes. First, in Fig. 5, the image processing module of the CC, while gathering and processing data from the imaging sensors identify a new image (Nl) at a distance from a pond, at step 150. The system then records the successive locations of Nl over time, a continuous activity which is referred to hereinafter as tracking, when the system has measured the approach of Nl to a pond has taken place in step 154, for example by surpassing a preset threshold of a virtual border limits, the CC instructs the AV, sending it to the current location of Nl at step 156. The AV, having received the instruction moves to the location and activates a camera on board at step 158. The image processing module then can further investigate the images obtained from camera/s on board the AV to discern whether the Nl was that of birds, one or more at step 160. This can also be done manually if a person is on duty, being associated with the CC monitoring the field. The employment of persons to identify threats can be implemented more conveniently if the person on duty is physically present at a remote location receiving almost real time data over a communications network. If the Nl is not of birds the system then continues, in step 164 to examine the possibility that the image is that of one or more human figures. If humans are discerned, a security alarm is sent to the CC in step 168, which is to have protocol in such cases as theft is a possible cause for the existence of humans in the field of view. Returning to step 160, when birds are discerned, deterrence agents are to be activated, step 172. In another scenario, described with reference to Fig. 6, A Nl is acquired at a distance, step 150. If the Nl considered of significance, the system will track the Nl, step 152. Then if the Nl appears to surpass a certain threshold of distance from the pond, i.e. nearing the pond, at step 154, the AV is sent to current location of Nl, step 156. At step 178 the system further studies the Nl, for example by invoking a further sensor, e.g. an IR camera or Radar. If at step 180 the Nl is classified as one or more birds, the AV is sent to the current location of the AV and deterrence agents are activated, at step 182. If birds are not discerned at step 180, then at step 186 humans are sought after, and if the as arch is positive, a security alarm is sent to the CC.

[030] Deterrence module

[031] This term relates to one or more deterrence agents deployed on board the AV, all are activatable by a controller aboard the AV, which is connected to receiver also aboard the AV that gets instructions from the CC.

Deterrence towards birds can be affected by various noises produced by loudspeakers, and blowing instruments or percussion instruments musical or other. Towards humans the arrival of AV is may be sufficient to ward of intruders, but a loud speaker on the AV may be instructed to express meaningful utterances or intimidating sentences. One aspect of the invention is to match a threat with a deterrence. For example, a certain type of bird may be sensitive to a certain noise which may be less effective for another type of bird. Thieves are naturally different than birds and would be distracted just by having understood that they have been spotted. However, noises of shot guns or sirens may be effective. Conveniently all noises may be stored in memory on board the AV and produced as sound by activating an appropriate program. Especially for night operations, lights and flares may be considered effective.

[032] Multiple simultaneous threats

[033] Potentially, more than one threat may be encountered by the sensors at a single point in time. For example, several separate groups of birds approach a pond or a pond and an adjacent dry land which is considered close enough to be defined a threat. The CC, while considering the threats can formulate an optimal route within each pond, in order to achieve highest effective travel rout for the AV.

[034] In one aspect of the invention, an AV may be going through a stored travel program that can be constantly examined by the CC to prevent accident or mistakes.

[035] Docking and docks

In one aspect of the invention a dock is constructed in a pond to aid maintenance, refilling and provisioning the AV by fuel, batteries, flares and the like. The AV may be instructed to reach the dock at a certain time in order to facilitate such maintenance activities, or may be instructed to reach it upon demand. The dock is preferably constructed with a suitable access for a person to reach from the dry land and use the dock to reach the AV. Extent and complexity of pond field

The Invention relates to a case in which only one pond is present in a fish farm, in any geometrical shape. However, the fish farm may include several fish ponds arranged in a variety of arrangements and shapes. A single fish pond may be subdivided into several sectors each of which may be secluded in which case a AV would be required for each subdivision, in such a case every section is considered as a fish pond. As mentioned above, in such cases as extremely large area is monitored, a tethered balloon may be an option to monitor the pond by instruments installed therein. In another option, the installation of DCDs is not permanent and the use of aircraft for providing intermittent coverage is an option, providing that the aircraft is registered to the OGCS at the time of active monitoring of the pond/s.

Claims

1. A system for the control of an autonomous vehicle deployed in a fish farm, said system comprising:

• a communications facility of a control centre, being able to communicate at least with said autonomous vessel;

• an autonomous vehicle in at least one pond of said fish farm trackable by said control centre, and capable of following navigation instructions sent from said control centre;

• at least one data collecting device deployed in the proximity of said fish pond;

• image recognition, image motion detection programs invocable by said control centre, and

• a wireless communications module on board said autonomous vehicle for communicating with said control centre.

2. A system as in claim 1 , wherein said autonomous vehicle carries at least one sensor.

3. A system as in claim 1 , wherein said autonomous vehicle bears no navigation equipment.

4. A system as in claim 1 , wherein said autonomous vehicle is avessel.