CN104996370A - Underwater fish orientation capturing system based on data communication - Google Patents
Underwater fish orientation capturing system based on data communication Download PDFInfo
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- CN104996370A CN104996370A CN201510443515.3A CN201510443515A CN104996370A CN 104996370 A CN104996370 A CN 104996370A CN 201510443515 A CN201510443515 A CN 201510443515A CN 104996370 A CN104996370 A CN 104996370A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 100
- 238000004891 communication Methods 0.000 title claims abstract description 29
- 238000012545 processing Methods 0.000 claims abstract description 75
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims description 27
- 230000008569 process Effects 0.000 claims description 25
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 24
- 238000001914 filtration Methods 0.000 claims description 16
- 230000011218 segmentation Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K74/00—Other catching nets or the like
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Abstract
The invention relates to an underwater fish orientation capturing system based on data communication. The system comprises a submersible main body, a sharpening identification apparatus and a digital signal processing apparatus. The sharpening identification apparatus and the digital signal processing apparatus are both arranged on the submersible main body. The sharpening identification apparatus is used for executing a sharpening processing on underwater images and detecting the presence of fishes under water. The digital signal processing apparatus and the sharpening identification apparatus are connected for processing fish-related information in the case of the presence of the fishes and transmitting the processing result to a device above water. The system of the invention can capture fishes under water in an accurate and oriented manner, thus increasing the efficiency of fishing.
Description
Technical field
The present invention relates to data communication field, particularly relate to the directed capture systems of a kind of body of fish under water based on data communication.
Background technology
In prior art, fishing practices too relies on manually, and the shoal of fish self adaptation cannot carried out under water is fished for, and causes fishing inefficiency.
For this reason, the present invention proposes the directed capture systems of a kind of body of fish under water based on data communication, can any position of underwater, carry out fish body self-adapting estimation for underwater environment and fish for, thus improving fishing efficiency.
Summary of the invention
In order to solve the technical problem that prior art exists, the invention provides the directed capture systems of a kind of body of fish under water based on data communication, be underwater fishing platform with submersible, utilize special submersible structure, Underwater Navigation equipment, self adaptation fish body identification equipment and self adaptation fishing mechanism complete fish body under water quick, accurately fish for.
According to an aspect of the present invention, provide the directed capture systems of a kind of body of fish under water based on data communication, described capture systems comprises submersible main body, sharpening identification equipment and digital signal processing appts, described sharpening identification equipment and described digital signal processing appts are all positioned in described submersible main body, described sharpening identification equipment is used for performing sharpening process to underwater picture, and detect whether there is fish body under water, described digital signal processing appts is connected with described sharpening identification equipment, for processing fish body relevant information when determining to there is fish body, and result is sent to waterborne.
More specifically, in the directed capture systems of the described body of fish under water based on data communication, also comprise: fishing net container, be arranged in described submersible main body, for holding fishing net under non-fishing state, described fishing net container comprises electronic snap close, relay and opening, when described electric lock is buckled in and receives fishing enabling signal, open described opening, when described electric lock is buckled in and receives recovery complete signal, close described opening, described relay is connected respectively with electronic snap close and power supply unit, for powering for described electronic snap close and controlling opening operation and the shutoff operation of described electronic snap close, fishing net release actuator, is arranged in described submersible main body, is connected with described fishing net, for controlling the release of described fishing net according to described fishing net release dynamics and described fishing net release angle, fishing net reclaims driver, is arranged in described submersible main body, is connected with described fishing net, for when receiving fishing end signal, controls described fishing net to be recovered to by described fishing net in described fishing net container, release motor, is arranged in described submersible main body, is connected with described fishing net release actuator, for described fishing net release actuator provides power to the control that fishing net discharges, reclaim motor, be arranged in described submersible main body, reclaim driver with described fishing net and be connected, provide power for described fishing net reclaims driver to the control that fishing net discharges, signal receiver waterborne, be arranged in described submersible main body, reclaim driver with described electronic snap close and described fishing net to be connected respectively, be connected with bank base treatment facility by cable, for be fully retrieved to personnel on the water after in described fishing net container at described fishing net operation under provide and reclaim complete signal, also for providing fishing end signal under the operation of personnel on the water, Underwater Camera, comprise hemispherical watertight transparent cover, floor light subset, CCD vision sensor and ultrasonic ranging subset, described hemispherical watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described ultrasonic ranging subset is for measuring the distance of described submersible main body distance front fish body, and to adjust the distance output as first-phase, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor comprises the underwater picture of objects ahead with acquisition to objects ahead shooting, described submersible main body comprises support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, manipulator, water proof sealing drum, transverse propeller, vertical screw, longitudinal spiral oar and three direct current generators, described support is used for described submersible main body to be fixed under water, described connecting hoop is fixedly connected with described support, described storage platform is connected with described connecting hoop respectively with described mechanical arm, described manipulator is connected with described mechanical arm, the forearm that described mechanical arm comprises large arm and is connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical screw and described longitudinal spiral oar, with the rotating by screw, for submersible main body provides the thrust power of 6 degree of freedom, portable hard drive, has prestored gray processing fish shape masterplate, and described gray processing fish shape masterplate obtains for taking obtained fish volume image execution gray processing process to benchmark fish body, buoy waterborne, is arranged on the top water surface of described submersible main body, power supply unit, be arranged on described buoy waterborne, comprise waterproof sealing cover, solar powered device, accumulator, change-over switch and electric pressure converter, described waterproof sealing cover is for holding described solar powered device, described accumulator, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, dump energy according to accumulator determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage, the Big Dipper positioning equipment, is arranged on described buoy waterborne, provides supply of electric power by described power supply unit, for receiving the Big Dipper locator data that the Big Dipper satellite sends, sonar detection equipment, is arranged on described buoy waterborne, provides supply of electric power by described power supply unit, for detecting the relative distance of described submersible main body to described buoy waterborne, and to adjust the distance output as second-phase, described sharpening identification equipment comprises gray processing process subset, Iamge Segmentation subset, background estimating subset, background elevator equipment, scattered light filtering subset and target recognin equipment, described gray processing process subset is connected with described CCD vision sensor, for performing gray processing process to obtain gray processing underwater picture to described underwater picture, described Iamge Segmentation subset is connected with described gray processing process subset, and the resolution based on described gray processing underwater picture carries out piecemeal to described gray processing underwater picture adaptively, to obtain each block image, described background estimating subset is connected with described Iamge Segmentation subset, background estimating process is performed to each block image: the gray value based on each pixel of each block image calculates the average gray of each block image, using the background gray levels of the average gray of acquisition as calculated block image, described background elevator equipment is connected with described background estimating subset, the gray value of each pixel of each block image being deducted background gray levels corresponding to this block image with what obtain each block image goes background grayscale sub-image, and the background grayscale sub-image of going of all block images is merged form background stripping image, described scattered light filtering subset is connected respectively with described background elevator equipment, described ultrasonic ranging subset and described floor light subset, adjust the distance and described floor light brightness to obtain described second-phase, and the scattered light composition removed with described floor light brightness and formed on objects ahead because floor light subset irradiates in described background stripping image of adjusting the distance based on described second-phase, peel off image to obtain sharpening background, described target recognin equipment is connected with described scattered light filtering subset and described portable hard drive, described sharpening background is peeled off image and gray processing fish shape stencil matching, the match is successful, then send fish body and obtain signal, split by described scattered light filtering subset by the fish body subgraph matched and export, also calculate fish body deviation angle under water according to the relative position of described fish body subgraph in described underwater picture, it fails to match, then send without fish body signal, described digital signal processing appts and described Underwater Camera, described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset, described sharpening identification equipment is connected respectively with described three direct current generators, for monitoring the duty of described three direct current generators, also for when receiving described fish body and obtaining signal, start described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset is to receive described the Big Dipper locator data, described second-phase is adjusted the distance and described first-phase is adjusted the distance, based on described the Big Dipper locator data, described second-phase is adjusted the distance and described first-phase is adjusted the distance calculates and exports fish body locator data, and by cable by described underwater picture, described sharpening background peels off image and described fish body locator data is transferred to bank base treatment facility, described digital signal processing appts receive described without fish body signal time, close described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset, wherein, described bank base treatment facility is positioned at water craft or position, bank, is connected with described digital signal processing appts by cable, described digital signal processing appts also reclaims driver with described electronic snap close, described fishing net release actuator and described fishing net and is connected respectively, when receiving described fish body and obtaining signal, adjust the distance according to first-phase and preset fishing net weight determination fishing net release dynamics, according to the fishing net of fish body deviation angle determination under water release angle, and send described fishing enabling signal to described electric lock garnishment.
More specifically, in the directed capture systems of the described body of fish under water based on data communication: described signal receiver waterborne is RS232 serial communication interface.
More specifically, in the directed capture systems of the described body of fish under water based on data communication: described gray processing process subset, described Iamge Segmentation subset, described background estimating subset, described background elevator equipment, described scattered light filtering subset and described target recognin integration of equipments are on one piece of surface-mounted integrated circuit.
More specifically, in the directed capture systems of the described body of fish under water based on data communication: described digital signal processing appts also monitors self resource occupation percentage in real time.
More specifically, in the directed capture systems of the described body of fish under water based on data communication: when described digital signal processing appts is less than predetermined percentage threshold at the resource occupation percentage of self, replace all operations of described background estimating subset, when the resource occupation percentage of self is more than or equal to predetermined percentage threshold, exit the replacement of all operations to described background estimating subset.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the directed capture systems of the body of fish under water based on data communication illustrated according to an embodiment of the present invention.
Reference numeral: 1 submersible main body; 2 sharpening identification equipments; 3 digital signal processing appts
Embodiment
Below with reference to accompanying drawings the embodiment of the directed capture systems of the body of fish under water based on data communication of the present invention is described in detail.
In prior art, fish body is salvaged and is too laid particular stress on manually, cannot formulate concrete salvaging strategy by underwater according to shoal of fish actual conditions.
In order to overcome above-mentioned deficiency, the present invention has built the directed capture systems of a kind of body of fish under water based on data communication, take submersible as fishing platform, adopts underwater environment self adaptation marine salvage equipment, carries out self adaptation fish for fish body under water.
Fig. 1 is the block diagram of the directed capture systems of the body of fish under water based on data communication illustrated according to an embodiment of the present invention, described capture systems comprises submersible main body, sharpening identification equipment and digital signal processing appts, described sharpening identification equipment and described digital signal processing appts are all positioned in described submersible main body, described sharpening identification equipment is used for performing sharpening process to underwater picture, and detect whether there is fish body under water, described digital signal processing appts is connected with described sharpening identification equipment, for processing fish body relevant information when determining to there is fish body, and result is sent to waterborne.
Then, continue to be further detailed the concrete structure of the directed capture systems of the body of fish under water based on data communication of the present invention.
Described capture systems also comprises: fishing net container, be arranged in described submersible main body, for holding fishing net under non-fishing state, described fishing net container comprises electronic snap close, relay and opening, when described electric lock is buckled in and receives fishing enabling signal, open described opening, when described electric lock is buckled in and receives recovery complete signal, close described opening, described relay is connected respectively with electronic snap close and power supply unit, for powering for described electronic snap close and controlling opening operation and the shutoff operation of described electronic snap close.
Described capture systems also comprises: fishing net release actuator, is arranged in described submersible main body, is connected with described fishing net, for controlling the release of described fishing net according to described fishing net release dynamics and described fishing net release angle.
Described capture systems also comprises: fishing net reclaims driver, is arranged in described submersible main body, is connected with described fishing net, for when receiving fishing end signal, controls described fishing net to be recovered in described fishing net container by described fishing net.
Described capture systems also comprises: release motor, is arranged in described submersible main body, is connected with described fishing net release actuator, for described fishing net release actuator provides power to the control that fishing net discharges; Reclaim motor, be arranged in described submersible main body, reclaim driver with described fishing net and be connected, provide power for described fishing net reclaims driver to the control that fishing net discharges.
Described capture systems also comprises: signal receiver waterborne, be arranged in described submersible main body, reclaim driver with described electronic snap close and described fishing net to be connected respectively, be connected with bank base treatment facility by cable, for be fully retrieved to personnel on the water after in described fishing net container at described fishing net operation under provide and reclaim complete signal, also for providing fishing end signal under the operation of personnel on the water.
Described capture systems also comprises: Underwater Camera, comprise hemispherical watertight transparent cover, floor light subset, CCD vision sensor and ultrasonic ranging subset, described hemispherical watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described ultrasonic ranging subset is for measuring the distance of described submersible main body distance front fish body, and to adjust the distance output as first-phase, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor comprises the underwater picture of objects ahead with acquisition to objects ahead shooting.
Described submersible main body comprises support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, manipulator, water proof sealing drum, transverse propeller, vertical screw, longitudinal spiral oar and three direct current generators, described support is used for described submersible main body to be fixed under water, described connecting hoop is fixedly connected with described support, described storage platform is connected with described connecting hoop respectively with described mechanical arm, described manipulator is connected with described mechanical arm, the forearm that described mechanical arm comprises large arm and is connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical screw and described longitudinal spiral oar, with the rotating by screw, for submersible main body provides the thrust power of 6 degree of freedom.
Described capture systems also comprises: portable hard drive, has prestored gray processing fish shape masterplate, and described gray processing fish shape masterplate obtains for taking obtained fish volume image execution gray processing process to benchmark fish body; Buoy waterborne, is arranged on the top water surface of described submersible main body.
Described capture systems also comprises: power supply unit, be arranged on described buoy waterborne, comprise waterproof sealing cover, solar powered device, accumulator, change-over switch and electric pressure converter, described waterproof sealing cover is for holding described solar powered device, described accumulator, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, dump energy according to accumulator determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage.
Described capture systems also comprises: the Big Dipper positioning equipment, is arranged on described buoy waterborne, provides supply of electric power by described power supply unit, for receiving the Big Dipper locator data that the Big Dipper satellite sends.
Described capture systems also comprises: sonar detection equipment, is arranged on described buoy waterborne, provides supply of electric power by described power supply unit, for detecting the relative distance of described submersible main body to described buoy waterborne, and to adjust the distance output as second-phase.
Described sharpening identification equipment comprises gray processing process subset, Iamge Segmentation subset, background estimating subset, background elevator equipment, scattered light filtering subset and target recognin equipment; Described gray processing process subset is connected with described CCD vision sensor, for performing gray processing process to obtain gray processing underwater picture to described underwater picture; Described Iamge Segmentation subset is connected with described gray processing process subset, and the resolution based on described gray processing underwater picture carries out piecemeal to described gray processing underwater picture adaptively, to obtain each block image; Described background estimating subset is connected with described Iamge Segmentation subset, background estimating process is performed to each block image: the gray value based on each pixel of each block image calculates the average gray of each block image, using the background gray levels of the average gray of acquisition as calculated block image; Described background elevator equipment is connected with described background estimating subset, the gray value of each pixel of each block image being deducted background gray levels corresponding to this block image with what obtain each block image goes background grayscale sub-image, and the background grayscale sub-image of going of all block images is merged form background stripping image; Described scattered light filtering subset is connected respectively with described background elevator equipment, described ultrasonic ranging subset and described floor light subset, adjust the distance and described floor light brightness to obtain described second-phase, and the scattered light composition removed with described floor light brightness and formed on objects ahead because floor light subset irradiates in described background stripping image of adjusting the distance based on described second-phase, peel off image to obtain sharpening background; Described target recognin equipment is connected with described scattered light filtering subset and described portable hard drive, described sharpening background is peeled off image and gray processing fish shape stencil matching, the match is successful, then send fish body and obtain signal, split by described scattered light filtering subset by the fish body subgraph matched and export, also calculate fish body deviation angle under water according to the relative position of described fish body subgraph in described underwater picture, it fails to match, then send without fish body signal.
Described digital signal processing appts and described Underwater Camera, described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset, described sharpening identification equipment is connected respectively with described three direct current generators, for monitoring the duty of described three direct current generators, also for when receiving described fish body and obtaining signal, start described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset is to receive described the Big Dipper locator data, described second-phase is adjusted the distance and described first-phase is adjusted the distance, based on described the Big Dipper locator data, described second-phase is adjusted the distance and described first-phase is adjusted the distance calculates and exports fish body locator data, and by cable by described underwater picture, described sharpening background peels off image and described fish body locator data is transferred to bank base treatment facility, described digital signal processing appts receive described without fish body signal time, close described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset.
Described bank base treatment facility is positioned at water craft or position, bank, is connected with described digital signal processing appts by cable.
Described digital signal processing appts also reclaims driver with described electronic snap close, described fishing net release actuator and described fishing net and is connected respectively, when receiving described fish body and obtaining signal, adjust the distance according to first-phase and preset fishing net weight determination fishing net release dynamics; According to the fishing net of fish body deviation angle determination under water release angle, and send described fishing enabling signal to described electric lock garnishment.
Alternatively, in the directed capture systems of the described body of fish under water based on data communication: described signal receiver waterborne is RS232 serial communication interface; Described gray processing process subset, described Iamge Segmentation subset, described background estimating subset, described background elevator equipment, described scattered light filtering subset and described target recognin integration of equipments are on one piece of surface-mounted integrated circuit; Described digital signal processing appts also monitors self resource occupation percentage in real time; Described digital signal processing appts is when the resource occupation percentage of self is less than predetermined percentage threshold, replace all operations of described background estimating subset, when the resource occupation percentage of self is more than or equal to predetermined percentage threshold, exit the replacement of all operations to described background estimating subset.
Alternatively, gray processing process subset, Iamge Segmentation subset, background estimating subset, background elevator equipment, scattered light filtering subset and target recognin equipment adopt different fpga chips to realize.
In addition, FPGA (Field-Programmable Gate Array), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit design that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, being burned onto fast on FPGA and testing, is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as decoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as trigger (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to designer with being connected, so FPGA can complete required logic function.
Adopt the directed capture systems of the body of fish under water based on data communication of the present invention, for salvaging pattern backward technology problem artificial in prior art, adopt submersible to be device for use in fishing trawl carrier, introduce self adaptation fishing operation, underwater position fixing technique, sharpening image processing techniques and high-precision image recognition technology and realize salvaging the self adaptation of the shoal of fish under water.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. the directed capture systems of the body of fish under water based on data communication, described capture systems comprises submersible main body, sharpening identification equipment and digital signal processing appts, described sharpening identification equipment and described digital signal processing appts are all positioned in described submersible main body, described sharpening identification equipment is used for performing sharpening process to underwater picture, and detect whether there is fish body under water, described digital signal processing appts is connected with described sharpening identification equipment, for processing fish body relevant information when determining to there is fish body, and result is sent to waterborne.
2., as claimed in claim 1 based on the directed capture systems of the body of fish under water of data communication, it is characterized in that, described capture systems also comprises:
Fishing net container, be arranged in described submersible main body, for holding fishing net under non-fishing state, described fishing net container comprises electronic snap close, relay and opening, when described electric lock is buckled in and receives fishing enabling signal, opens described opening, when described electric lock is buckled in and receives recovery complete signal, close described opening, described relay is connected respectively with electronic snap close and power supply unit, for powering for described electronic snap close and controlling opening operation and the shutoff operation of described electronic snap close;
Fishing net release actuator, is arranged in described submersible main body, is connected with described fishing net, for controlling the release of described fishing net according to described fishing net release dynamics and described fishing net release angle;
Fishing net reclaims driver, is arranged in described submersible main body, is connected with described fishing net, for when receiving fishing end signal, controls described fishing net to be recovered to by described fishing net in described fishing net container;
Release motor, is arranged in described submersible main body, is connected with described fishing net release actuator, for described fishing net release actuator provides power to the control that fishing net discharges;
Reclaim motor, be arranged in described submersible main body, reclaim driver with described fishing net and be connected, provide power for described fishing net reclaims driver to the control that fishing net discharges;
Signal receiver waterborne, be arranged in described submersible main body, reclaim driver with described electronic snap close and described fishing net to be connected respectively, be connected with bank base treatment facility by cable, for be fully retrieved to personnel on the water after in described fishing net container at described fishing net operation under provide and reclaim complete signal, also for providing fishing end signal under the operation of personnel on the water;
Underwater Camera, comprise hemispherical watertight transparent cover, floor light subset, CCD vision sensor and ultrasonic ranging subset, described hemispherical watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described ultrasonic ranging subset is for measuring the distance of described submersible main body distance front fish body, and to adjust the distance output as first-phase, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor comprises the underwater picture of objects ahead with acquisition to objects ahead shooting,
Described submersible main body comprises support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, manipulator, water proof sealing drum, transverse propeller, vertical screw, longitudinal spiral oar and three direct current generators, described support is used for described submersible main body to be fixed under water, described connecting hoop is fixedly connected with described support, described storage platform is connected with described connecting hoop respectively with described mechanical arm, described manipulator is connected with described mechanical arm, the forearm that described mechanical arm comprises large arm and is connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical screw and described longitudinal spiral oar, with the rotating by screw, for submersible main body provides the thrust power of 6 degree of freedom,
Portable hard drive, has prestored gray processing fish shape masterplate, and described gray processing fish shape masterplate obtains for taking obtained fish volume image execution gray processing process to benchmark fish body;
Buoy waterborne, is arranged on the top water surface of described submersible main body;
Power supply unit, be arranged on described buoy waterborne, comprise waterproof sealing cover, solar powered device, accumulator, change-over switch and electric pressure converter, described waterproof sealing cover is for holding described solar powered device, described accumulator, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, dump energy according to accumulator determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage,
The Big Dipper positioning equipment, is arranged on described buoy waterborne, provides supply of electric power by described power supply unit, for receiving the Big Dipper locator data that the Big Dipper satellite sends;
Sonar detection equipment, is arranged on described buoy waterborne, provides supply of electric power by described power supply unit, for detecting the relative distance of described submersible main body to described buoy waterborne, and to adjust the distance output as second-phase;
Described sharpening identification equipment comprises gray processing process subset, Iamge Segmentation subset, background estimating subset, background elevator equipment, scattered light filtering subset and target recognin equipment; Described gray processing process subset is connected with described CCD vision sensor, for performing gray processing process to obtain gray processing underwater picture to described underwater picture; Described Iamge Segmentation subset is connected with described gray processing process subset, and the resolution based on described gray processing underwater picture carries out piecemeal to described gray processing underwater picture adaptively, to obtain each block image; Described background estimating subset is connected with described Iamge Segmentation subset, background estimating process is performed to each block image: the gray value based on each pixel of each block image calculates the average gray of each block image, using the background gray levels of the average gray of acquisition as calculated block image; Described background elevator equipment is connected with described background estimating subset, the gray value of each pixel of each block image being deducted background gray levels corresponding to this block image with what obtain each block image goes background grayscale sub-image, and the background grayscale sub-image of going of all block images is merged form background stripping image; Described scattered light filtering subset is connected respectively with described background elevator equipment, described ultrasonic ranging subset and described floor light subset, adjust the distance and described floor light brightness to obtain described second-phase, and the scattered light composition removed with described floor light brightness and formed on objects ahead because floor light subset irradiates in described background stripping image of adjusting the distance based on described second-phase, peel off image to obtain sharpening background; Described target recognin equipment is connected with described scattered light filtering subset and described portable hard drive, described sharpening background is peeled off image and gray processing fish shape stencil matching, the match is successful, then send fish body and obtain signal, split by described scattered light filtering subset by the fish body subgraph matched and export, also calculate fish body deviation angle under water according to the relative position of described fish body subgraph in described underwater picture, it fails to match, then send without fish body signal;
Described digital signal processing appts and described Underwater Camera, described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset, described sharpening identification equipment is connected respectively with described three direct current generators, for monitoring the duty of described three direct current generators, also for when receiving described fish body and obtaining signal, start described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset is to receive described the Big Dipper locator data, described second-phase is adjusted the distance and described first-phase is adjusted the distance, based on described the Big Dipper locator data, described second-phase is adjusted the distance and described first-phase is adjusted the distance calculates and exports fish body locator data, and by cable by described underwater picture, described sharpening background peels off image and described fish body locator data is transferred to bank base treatment facility, described digital signal processing appts receive described without fish body signal time, close described the Big Dipper positioning equipment, described sonar detection equipment, described ultrasonic ranging subset,
Wherein, described bank base treatment facility is positioned at water craft or position, bank, is connected with described digital signal processing appts by cable;
Wherein, described digital signal processing appts also reclaims driver with described electronic snap close, described fishing net release actuator and described fishing net and is connected respectively, when receiving described fish body and obtaining signal, adjust the distance according to first-phase and preset fishing net weight determination fishing net release dynamics; According to the fishing net of fish body deviation angle determination under water release angle, and send described fishing enabling signal to described electric lock garnishment.
3., as claimed in claim 2 based on the directed capture systems of the body of fish under water of data communication, it is characterized in that:
Described signal receiver waterborne is RS232 serial communication interface.
4., as claimed in claim 2 based on the directed capture systems of the body of fish under water of data communication, it is characterized in that:
Described gray processing process subset, described Iamge Segmentation subset, described background estimating subset, described background elevator equipment, described scattered light filtering subset and described target recognin integration of equipments are on one piece of surface-mounted integrated circuit.
5., as claimed in claim 2 based on the directed capture systems of the body of fish under water of data communication, it is characterized in that:
Described digital signal processing appts also monitors self resource occupation percentage in real time.
6., as claimed in claim 5 based on the directed capture systems of the body of fish under water of data communication, it is characterized in that:
Described digital signal processing appts is when the resource occupation percentage of self is less than predetermined percentage threshold, replace all operations of described background estimating subset, when the resource occupation percentage of self is more than or equal to predetermined percentage threshold, exit the replacement of all operations to described background estimating subset.
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Application publication date: 20151028 |